CN116408964A - Wireless earphone charging box iron sheet and protective film assembly machine - Google Patents

Abstract

The invention discloses a wireless earphone charging box iron sheet and protective film assembly machine, comprising an earphone charging box positioning device for positioning the earphone charging box, and an iron sheet material tray for positioning the iron sheet material tray on which the iron sheet is placed Positioning device, protective film supply tray for supplying protective film strips, protective film backing paper recovery tray for recycling protective film backing paper, protective film for peeling the protective film on the protective film strip from the backing paper Peeling mechanism, used to tear off the release film on the surface of the protective film attached to the earphone charging box, used to completely tear off the pre-peeled protective film on the protective film peeling mechanism and stick it on the earphone The first manipulator mechanism on the charging box, the second manipulator mechanism for assembling the iron sheets on the iron plate to the surface of the protective film pasted on the earphone charging box one by one, and the control for controlling the actions of the first and second manipulators system, the invention realizes the automatic assembly of the protective film and iron sheet on the earphone charging box, saving labor.

Description

Wireless earphone charging box iron sheet and protective film assembly machine

technical field

The invention relates to the technical field of automation equipment, in particular to a wireless earphone charging box iron sheet and protective film assembly machine.

Background technique

In the production process of the earphone charging box, a protective film needs to be pasted on the circuit board in the earphone charging box, and then the iron sheet product is assembled on the protective film. The protective film is used to isolate the iron sheet product and the circuit board. Currently, it is manually operated. Mode, that is, manually tear off a piece of protective film and paste it on the designated position in the earphone charging box, then manually take out the iron sheet product from the material tray, paste it on the upper side of the protective film, manually paste the protective film and assemble the iron sheet The efficiency is extremely low, and because each person has a different effect of attaching the protective film and assembling the iron sheet, the position of the protective film and the iron sheet after assembly is not accurate, and the stability is difficult to guarantee. If the protective film and the iron sheet are misaligned, it is easy to cause the circuit board Short circuit, the protective film is also easily contaminated by human hands during the bonding process, which will cause trouble for the stability of the subsequent use of the earphone charging box.

Contents of the invention

In order to overcome the above-mentioned defects, the present invention provides a wireless earphone charging box iron sheet and protective film assembly machine. Manual operation is eliminated, and the assembly efficiency, assembly position accuracy and stability of the protective film and iron sheet are improved.

The technical solution adopted by the present invention to solve its technical problems: a wireless earphone charging box iron sheet and protective film assembly machine, including a frame, an earphone charging box positioning device, an iron sheet material tray positioning device, a protective film feeding tray, Protective film bottom paper recovery tray, protective film peeling mechanism, release film tearing mechanism, first manipulator mechanism, second manipulator mechanism and control system, the earphone charging box positioning device is set on the frame, and the earphone charging box is positioned The device can stop and position the earphone charging box. The protective film feeding tray and the protective film backing paper recovery tray are respectively rotatably installed on the frame. The protective film feeding tray is wound with a protective film material roll and a protective film backing paper. The recovery tray can actively wrap the backing paper of the protective film roll that is drawn from the protective film supply tray and passes through the protective film peeling mechanism. The protective film peeling mechanism can separate the protective film product and the release film on it from the backing paper , the first manipulator mechanism can grab the protective film product separated by the protective film separation mechanism and stick it to the designated position of the earphone charging box on the earphone charging box positioning device. The manipulator can tear off the release film attached to the surface of the protective film on the earphone charging box, the iron sheet material tray positioning device can stop and position the iron sheet material tray, and the second manipulator mechanism can grab the iron sheet material tray one by one The iron sheet product is installed on the iron sheet, and the control system controls the recovery tray of the protective film bottom paper, the tear-off manipulator, the first manipulator mechanism and the second manipulator mechanism.

As a further improvement of the present invention, the iron sheet material tray positioning device includes a positioning pallet capable of stopping and positioning on one side of the frame, at least two positioning pins are arranged on the positioning pallet, and the iron sheet material tray can be held on the On the upper side of the positioning pallet, the positioning pin can be inserted in the positioning hole of the iron sheet material tray.

As a further improvement of the present invention, there is also an automatic feeding mechanism for iron sheet trays, including a feeding conveying mechanism, a feeding bin, a pallet fork, a telescopic driving device for a pallet fork, a feeding bracket, a feeding lifting driving device, a feeding Bracket and inserting lifting drive device, the cylindrical upper material bin is fixedly installed on the frame, the upper material bin can hold the stacked iron sheet material trays in the horizontal direction, and the loading bracket can be lifted and moved. On the frame, the feeding lifting drive device drives the lifting movement of the feeding bracket, and the inserting bracket can move up and down and is installed on the feeding bracket with a thickness of an iron sheet tray, and the inserting lifting drive device drives the inserting bracket to reciprocate and lift. At least two pallet forks can be installed on the inserting bracket for relative movement in the horizontal direction. Each pallet fork can slide horizontally and insert into the lower side of the iron sheet material tray at the specified height at the lower end of the upper hopper and support the stacked iron sheet material trays. The pallet fork telescopic drive device drives the pallet fork to slide back and forth to lift up or put down the whole stack of iron sheet trays, and the feeding conveying mechanism can drive the positioning pallet to reciprocate between the directly below the loading bin and the designated position , The control system controls the start and stop actions of the pallet fork telescopic drive device, the feeding lifting drive device, the inserting lifting drive device and the feeding conveying mechanism.

As a further improvement of the present invention, there is also an automatic empty tray recovery device, including an empty tray tray, tray lifting drive, lifting slide, lifting frame, suction cup, lifting drive, empty tray conveyor belt and empty tray The disk limit baffle, the lifting slideway is fixedly installed on the designated position of the frame, the empty material tray tray can be installed on the lifting slideway sliding along the longitudinal direction, the empty material tray tray can support the empty material tray, and the tray lifting drive device Drive the empty material tray to move down intermittently or straight up. The lifting frame can be moved up and down and installed on the lifting slide. The lifting frame is located directly above the empty material tray. Several suction cups are fixed on the lower side of the lifting frame. Connected with the negative pressure air circuit, the suction cup can absorb and position the edge of the iron plate on the pallet under negative pressure, and the lifting drive device drives the lifting frame to move up and down. The starting end of the belt is located directly below the lifting slide, and there is a hollow part in the middle of the empty sheet conveyor belt to avoid the empty tray tray, and the lower edge of the empty tray held on the empty tray tray can just be held on the empty tray On the conveyor belt, the empty tray limit baffle is fixedly installed on both sides of the empty tray to the conveying end, the empty tray limit baffle can prevent the empty tray from continuing to be conveyed along the empty tray conveyor belt, and the control system controls Tray lift drive, suction cups, lift drive and empty tray conveyor action.

As a further improvement of the present invention, the protective film peeling mechanism includes a peeling bracket, a peeling slide and a protective film receiving platform, the peeling slide is fixedly installed between the two side walls of the peeling bracket, and one end of the peeling slide forms a sharp angle structure, The protective film feeding platform is fixedly installed on the peeling bracket. The protective film feeding platform is connected with one end of the peeling slide table with a sharp angle structure. The sharp corner structure of the table, the backing paper of the strip is turned through the gap between the sharp corner structure of the peeling slide table and the protective film receiving platform, and finally wound on the protective film backing paper recycling tray, and the protective film product is separated from the backing paper One end is held on the surface of the protective film receiving platform.

As a further improvement of the present invention, there are a number of negative pressure air holes on the upper surface of the peeling slide table, and the negative pressure air holes communicate with the external negative pressure air passage, and the upper surface of the peeling slide table is located on both sides of the width direction of the material strip. An L-shaped pressing block is fixedly arranged, and the edges on both sides of the backing paper of the material belt are just inserted into the channel formed between the pressing block and the peeling slide table.

As a further improvement of the present invention, a pressure maintaining mechanism is also provided, including a pressure maintaining bracket, a pressure head, a pressure head driving device, a pressure maintaining device, a pressure sensing device and a pressure timing device, and the pressure maintaining bracket is fixedly installed on the frame On the top, the indenter can be installed on the pressure holding bracket that can move up and down in the longitudinal direction. The indenter driving device drives the indenter to move up and down. The indenter can press the iron surface at the designated position of the earphone charging box. The pressure sensing device can The pressure between the iron sheet and the indenter is sensed and transmitted to the control system. The pressure maintaining device is fixedly installed on the frame. The pressure maintaining device can provide the set down force for the indenter, and the pressure timing device can monitor the pressing time. Timing and electrical communication with the control system, the control system controls the start and stop of the pressure head driving device and the pressure maintaining device.

As a further improvement of the present invention, the earphone charging box positioning device includes an earphone charging box positioning carrier, a carrier positioning mechanism, an incoming material sensing device and a main line, and the earphone charging box positioning carrier can fix and position the earphone to be assembled The charging box, the main line is set on the frame, and the main line can transport the earphone charging box positioning carrier forward sequentially through the designated position for assembling the iron sheet and pasting the protective film and the pressure holding position facing the pressure holding mechanism. The incoming material sensing device is fixedly installed on the side wall of the main flow line. The incoming material sensing device can sense the positioning carrier of the earphone charging box that is about to reach the designated position and the holding position and send a signal to the control system. The carrier positioning mechanism includes a carrier The stop device, the fixed frame fixedly installed on the side wall of the main flow line, the lifting tray arranged under the main flow line, the jacking drive device and the stop drive device fixedly installed on the frame, the carrier stop device can move Installed on the frame, the movement of the carrier stop device can stop or break away from the side wall of the earphone charging box positioning carrier on the main line along the front side of the conveying direction, and the earphone charging box positioning carrier is provided on the main line The hollow part that runs through the top and bottom of the opposite, the lifting tray can be moved up and down and placed directly below the main line, and the jacking tray can move upward through the hollow part on the main line to hold the earphone charging box at the designated position on the main line for positioning The carrier, the upper side wall of the positioning carrier of the earphone charging box is tightly pressed against the lower surface of the fixed frame, the lower surface of the fixed frame is also provided with a positioning slot, and the upper side wall of the positioning carrier of the earphone charging box There is a positioning protrusion on the top, and the positioning protrusion can be inserted into the positioning slot on the lower side of the fixed frame. The jacking drive device and the stop drive device respectively drive the jacking tray and the carrier stop device to reciprocate , the control system controls the start and stop actions of the jacking drive device and the stopper drive device.

As a further improvement of the present invention, a gripper is installed on the moving end of the tear-off manipulator of the release film tear-off mechanism, and the gripper can tighten the side edge of the release film stretching out from the edge of the protective film product, and the release film is torn off. The separation mechanism is also provided with a dust collection module, the dust collection module includes a dust suction bracket, a dust suction cover, a suction duct and a negative pressure fan, the dust suction bracket is fixedly installed on the frame, and the dust collection cover is installed on On the dust bracket, the opening of the dust collection cover is directly facing the product of the earphone charging box on the positioning device of the earphone charging box. The system controls the operation of the negative pressure fan.

As a further improvement of the present invention, an earphone charging box position detection device, a protective film position detection device, a film pasting position detection device, an iron sheet grasping position detection device, and an iron sheet detection device are also provided. The earphone charging box position detection device includes The first slide rail, the first detection bracket, the first detection drive device, the first light source and the first detection camera, the first slide rail extending along the conveying direction of the main flow line are fixedly installed on the side wall of the main flow line, and the first detection bracket can Slidingly installed on the first detection bracket, the first detection driving device drives the first detection bracket to move along the extension direction of the first slide rail, the first light source and the first detection camera are fixedly installed on the first detection bracket, the first The detection camera and the first light source can be located directly above the earphone charging box at the designated position, the first light source can illuminate the earphone charging box at the designated position, and the first detection camera can image and transmit the image to the earphone charging box directly below it. Believe in the control system;

The protective film position detection device includes a second slide rail, a second detection bracket, a second detection camera, a second light source and a second detection drive device, and the second slide rail extends along the peeling direction of the protective film and is fixedly installed on the frame , the second detection bracket is slidably installed on the second slide rail, the second detection camera and the second light source are fixedly installed on the second detection bracket, and the second detection driving device drives the second detection bracket along the extending direction of the second slide rail Movement, the second light source can illuminate the protective film torn off from the backing paper, and the second detection camera can perform real-time imaging of the protective film torn off from the backing paper and send a signal to the control system;

The film sticking position detection device includes a third detection bracket, a third detection camera, a third light source and a prism, the third detection bracket is fixedly installed on the side wall of the main line at a designated position, and the third detection camera, the third light source and the prism are respectively fixedly installed On the third detection bracket, the third light source can illuminate the side of the earphone charging box product at the designated position on the mainstream line. One side of the prism is directly facing the side of the earphone charging box product at the designated position on the main line. The camera is facing directly, and the third detection camera can image the image refracted by the prism and send a signal to the control system;

The iron sheet grasping position detection device includes a fourth detection bracket, a fourth detection camera and a fourth light source, the fourth detection bracket is fixedly installed on the frame, and the fourth detection bracket is located between the iron sheet tray positioning device and the protective film stripping Directly above the mechanism, the fourth light source can irradiate the surface of the iron sheet tray on the iron sheet tray positioning device and the surface of the protective film peeling mechanism, and the fourth detection camera can irradiate the iron sheet tray and protective film located directly below it. Imaging and signaling to the control system;

The iron sheet detection device includes a fifth light source and a fifth detection camera, the fifth light source can irradiate the arc magnet product grabbed by the second manipulator mechanism directly above the fifth detection camera, and the fifth detection camera can irradiate the product located at The iron sheet product directly above it is imaged and transmitted to the control system,

The control system can control the start and stop actions of the first detection drive device and the second detection drive device, and the control system can also control the data transmitted by the first detection camera, the second detection camera, the third detection camera, the fourth detection camera and the fifth detection camera. The image is analyzed and calculated to obtain the position data of the earphone charging box on the mainstream line, the position data of the iron sheet product on the iron sheet tray, the data of whether the iron sheet is qualified, the position and angle data of the iron sheet on the second manipulator, and the protection The pre-peeling position data of the film on the protective film peeling mechanism, the position data after the protective film is peeled off, and the bonding position data of the protective film pasted on the earphone charging box.

The beneficial effects of the present invention are: the present invention realizes the automatic feeding of protective film and iron sheet products, and the automatic and precise assembly of protective film and iron sheet products in the earphone charging box, and the bonding position of protective film and iron sheet is accurate, The earphone charging box realizes automatic conveying and positioning, and avoids manual feeding. The invention realizes the precise assembly of protective film and iron sheet products in the earphone charging box, ensuring the assembly of protective film and iron sheet products in each earphone charging box The position is accurate, which avoids the subsequent detachment of the improper assembly and the misalignment and short circuit of the protective film and the iron sheet, which ensures the stability of the earphone charging box in the later use. It avoids the pollution of the protective film caused by manual sticking of the protective film, improves the assembly quality of the earphone charging box, greatly saves labor, and reduces the production cost of the enterprise.

Description of drawings

Fig. 1 is a perspective view of the present invention;

Fig. 2 is the front view of the present invention;

Fig. 3 is the top view of the present invention;

Fig. 4 is the right view of the present invention;

Fig. 5 is a perspective view of the protective film feeding mechanism of the present invention;

Fig. 6 is a three-dimensional view of the release film tearing mechanism of the present invention;

Fig. 7 is a front view of the release film tearing mechanism of the present invention;

Fig. 8 is the positioning device of the earphone charging box of the present invention;

Fig. 9 is a three-dimensional view of the return line of the present invention;

Fig. 10 is a perspective view of the iron sheet feeding mechanism of the present invention;

Fig. 11 is a perspective view of the feeding and conveying mechanism of the present invention;

Fig. 12 is a perspective view of the first part of the automatic empty tray recovery device of the present invention;

Fig. 13 is a perspective view of the first part of the automatic empty tray recovery device of the present invention;

Fig. 14 is a perspective view of the pressure maintaining mechanism of the present invention;

Fig. 15 is a perspective view of the pressure maintaining device of the present invention;

Fig. 16 is a perspective view of the carrier stop device of the present invention;

Fig. 17 is a perspective view of the position detection device of the earphone charging box of the present invention;

18 is a perspective view of the protective film position detection device of the present invention;

Fig. 19 is a perspective view of the film sticking position detection device of the present invention;

Fig. 20 is a perspective view of the iron sheet grasping position detection device of the present invention.

Detailed ways

Embodiment: A wireless earphone charging box iron sheet and protective film assembly machine, including a frame 1, an earphone charging box positioning device, an iron sheet material tray positioning device, a protective film feeding tray 2, and a protective film bottom paper recycling tray 3 , a protective film peeling mechanism 4, a release film tearing mechanism 5, a first manipulator mechanism 6, a second manipulator mechanism 7 and a control system, the earphone charging box positioning device is arranged on the frame 1, and the earphone charging box positioning device can Stopping and positioning the earphone charging box, the protective film feeding tray 2 and the protective film bottom paper recovery tray 3 are respectively rotatably installed on the frame 1, and the protective film feeding tray 2 is wound with a protective film material roll, and the protective film The backing paper recovery tray 3 can actively wrap the backing paper of the protective film material roll drawn from the protective film feeding tray 2 and passes through the protective film peeling mechanism 4, and the protective film peeling mechanism 4 can remove the protective film product and the release film on it. The film is separated from the bottom paper together. The first manipulator mechanism 6 can grab the protective film product separated by the protective film separation mechanism and stick it to the designated position of the earphone charging box on the earphone charging box positioning device. The release film tearing mechanism 5 includes a tear-off manipulator 8, which can tear off the release film attached to the surface of the protective film on the earphone charging box, the iron sheet material tray positioning device can stop and position the iron sheet material tray, and the second manipulator mechanism 7. It can grab the iron sheet products on the iron sheet tray one by one and install them on the iron sheet. The control system controls the protective film bottom paper recovery tray 3, the tear-off manipulator 8, the first manipulator mechanism 6 and the second manipulator mechanism 7 action.

The earphone charging box is positioned on the earphone charging box positioning device. After the protective film material tape is drawn out from the protective film feeding tray 2, it enters the protective film peeling mechanism 4 after being guided by one or more guide rollers. The protective film peeling mechanism 4 will The protective film product and the release film on its surface are peeled off from the backing paper, and the backing paper is finally wound on the protective film backing paper recycling tray 3, and the first manipulator mechanism 6 is provided with a suction nozzle, which will pull it from the bottom The protective film product peeled off from the paper and the release film on the surface are sucked together, and it is attached to the designated position of the earphone charging box, and then the tear-off manipulator 8 of the release film tear-off mechanism 5 removes the surface of the protective film. The release film is torn off, and meanwhile, the iron sheet material tray for placing the iron sheet is fixedly positioned on the iron sheet material tray positioning device, and the second manipulator mechanism 7 is also provided with a suction nozzle, and the second manipulator mechanism 7 puts the iron sheet into position. The iron sheets on the sheet material tray are sucked one by one and assembled to the location where the charging box of the earphone charging box is attached with a protective film on the positioning device of the earphone charging box. The protective film realizes the isolation of the iron sheet and the circuit board. Fully automatic assembly of protective film and iron sheet, high assembly efficiency, accurate assembly position, saving labor and reducing production costs.

The iron sheet material tray positioning device includes a positioning pallet 9 that can be stopped and positioned on one side of the frame 1. The positioning pallet 9 is provided with at least two positioning pins, and the iron sheet material tray can be supported on the positioning pallet 9. On the upper side, the positioning pin can be inserted into the positioning hole of the iron sheet material tray. After the iron sheet material tray is put on the positioning supporting plate 9, the positioning pin on the positioning supporting plate 9 is inserted in the positioning hole of the iron sheet material tray, so as to realize the stop positioning of the iron sheet material tray.

There is also an automatic feeding mechanism 64 for iron sheet material trays, including a feeding conveying mechanism 10, a feeding bin 11, a pallet fork 12, a pallet fork telescopic drive device 13, a feeding bracket 14, a feeding lifting drive device 15, a material inserting Bracket 16 and material insertion lifting drive device 17, the upper feeding bin 11 that is cylindrical is fixedly installed on the frame 1, and the stacked iron sheet feeding trays can be stopped and accommodated in the horizontal direction in the upper feeding bin 11, and the feeding bracket 14 is installed on the frame 1 that can move up and down, and the lifting and lowering drive device 15 drives the lifting movement of the feeding bracket 14, and the inserting bracket 16 is installed on the feeding bracket 14 that can lift and move an iron plate thickness. The lifting drive device 17 drives the insertion bracket 16 to move up and down reciprocally. At least two pallet forks 12 can be installed on the insertion bracket 16 for relative movement in the horizontal direction. The lower side of the iron sheet material tray and hold up the entire stack of iron sheet material trays. The pallet fork telescopic drive device 13 drives the pallet fork 12 to reciprocate and slide to realize the lifting or lowering of the entire stack of iron sheet material trays. The mechanism 10 can drive the positioning pallet 9 to reciprocate between the directly below the loading bin 11 and the designated position, and the control system controls the pallet fork telescopic driving device 13, the feeding lifting driving device 15, the inserting lifting driving device 17 and the feeding and conveying Mechanism 10 starts and stops action. The whole stack of full iron sheet trays is placed in the upper material bin 11 and is held by the pallet fork 12. When the positioning pallet 9 reaches the bottom of the upper material bin 11, both the feeding bracket 14 and the insertion bracket 16 are lowered. When it is in place, the pallet fork 12 slides and shrinks horizontally at the same time, put the entire stack of full iron sheet pallets on the positioning pallet 9, the last iron pallet is just fixed on the positioning pallet 9, and then the inserting bracket 16 resets and rises The height of the thickness of an iron pallet, the pallet fork 12 slides out horizontally, inserts the lower end of the second pallet at the bottom of the whole stack of iron pallets, and finally the loading bracket 14 resets and rises to a certain height, and the pallet fork 12 will remove the bottom one tray All other trays are stacked up. At this time, a certain height difference is formed between the stacked trays, the positioning bottom plate and the single tray on it, and the positioning bottom plate can smoothly transport an iron sheet tray away from the upper bin 11. And transport it to the designated position and wait for the first manipulator mechanism 6 to take the material. The feeding conveyor mechanism 10 can be a conveyor belt mechanism or a screw nut mechanism driven by a motor to realize the linear reciprocating motion of the positioning bottom plate on the linear guide rail, or through the cylinder mechanism Realize the linear reciprocating motion of the positioning bottom plate on the linear guide rail. This kind of equivalent replacement structure is easy for those skilled in the art to think of according to this patent. It belongs to the protection scope of this patent. This structure realizes the single-disk automatic discharge of the iron plate , without manual continuous feeding, saving the cost of feeding, and in this way, the iron sheet tray will not interfere with the first manipulator mechanism 6 during the feeding process, and the feeding is safe and convenient.

Also be provided with empty material tray automatic recovery device 65, comprise empty material tray tray 18, tray lifting drive device 19, lift slideway 20, material lifting frame 21, suction cup 22, lifting drive device 23, empty material tray conveyer belt 24 and empty material tray. Tray limit baffle 25, the lifting slideway 20 is fixedly installed on the designated position of the frame 1, the empty tray tray 18 can be longitudinally slid on the lifting slideway 20, and the empty tray tray 18 can hold Empty material tray, tray lifting drive device 19 drives the empty material tray tray 18 to descend intermittently or straight up, and the material lifting frame 21 can be installed on the lifting slideway 20 capable of lifting and moving, and the material lifting frame 21 is located at the front of the empty material tray tray 18. Above, several suction cups 22 are fixedly installed on the lower side of the lifting frame 21, and each suction cup 22 is connected with the negative pressure air circuit. The suction cups 22 can absorb and position the edge of the iron sheet material tray on the pallet 9 under negative pressure, and the lifting drive device 23 drives the lifting frame 21 lifting and reciprocating movement, the empty material tray conveyor belt 24 is installed on the frame 1, the starting end of the empty material tray conveyor belt 24 is located directly below the lifting slideway 20, and there is a tray for avoiding the empty material tray in the middle of the empty sheet conveyor belt 18, the lower edge of the empty tray supported on the empty tray tray 18 can just be supported on the empty tray conveyor belt 24, and the empty tray limit baffle 25 is fixedly installed on the empty tray to convey to the conveyor belt. On both sides of the end, the empty tray limit baffle 25 can prevent the empty tray from being conveyed forward along the empty tray conveyor belt 24, and the control system controls the tray lifting drive device 19, the suction cup 22, the lifting drive device 23 and the empty tray conveying With 24 actions. The iron sheet material tray automatic feeding mechanism 64 sends the iron sheet material tray on the positioning pallet 9 and the empty material tray tray 18 directly above, and the second manipulator mechanism 7 takes away all the iron sheets on the iron sheet material tray , the suction cup 22 on the material lifting frame 21 sucks the edge position of the empty material tray, then the material lifting frame 21 rises, so that the empty material tray is separated from the positioning pallet 9, and the positioning pallet 9 returns to reset with the feeding conveying mechanism 10, and the material is lifted Frame 21 descends and empty material tray is placed on empty material tray tray 18, and empty tray tray 18 drops the height of a tray thickness after receiving empty tray, waits for positioning pallet 9 to send next iron sheet tray, when iron After the iron sheets on the sheet material tray were all taken away, the empty material tray was lifted by the lifting frame 21 again, and the pallet 9 to be positioned was reset and left the opening, and the empty material tray was stacked on the empty material tray tray 18 by the lifting frame 21 again. On the empty material tray, the empty material tray tray 18 is lowered to a height of the tray thickness again, and in this way, the automatic recycling and stacking of the empty trays is realized to form a whole stack of empty trays. When the empty tray tray 18 drops to the specified After the height is reached, the empty tray enters the hollow part in the middle of the conveyor belt, and the stacked empty trays on the empty tray tray 18 are placed flat on the empty tray conveyor belt 24, and are transported to the outside of the equipment along with the empty tray conveyor belt 24 , when it is delivered to the end of the empty tray conveyor belt 24, it is blocked by the empty tray limit baffle 25 and cannot continue to be conveyed forward. At this time, the entire stack of empty trays can be taken away, and the empty tray tray 18 rises Resetting, preferably, guide baffles are set on both sides of the empty tray conveyor belt 24, so that the entire stack of empty trays can be transported forward in a stable and orderly stacked state, and placed in the conveying process to scatter.

The protective film peeling mechanism 4 includes a peeling bracket 26, a peeling slide 27 and a protective film receiving platform 28. The peeling slide 27 is fixedly installed between the two side walls of the peeling bracket 26, and one end of the peeling slide 27 forms a sharp angle structure. The protective film material receiving platform 28 is fixedly installed on the peeling bracket 26, the protective film material receiving platform 28 is connected with one end of the peeling slide table 27 with a sharp angle structure, and the material tape drawn from the protective film feeding tray 2 is torn off the release film After bypassing the sharp corner structure of the stripping slide 27, the backing paper of the material tape is turned through the gap between the sharp corner structure of the stripping slide 27 and the protective film receiving platform 28 and finally wound on the protective film backing paper recovery tray 3 On the top, the end of the protective film product separated from the backing paper is just supported on the surface of the protective film receiving platform 28 .

The backing paper and the protective film products attached to its surface are transported forward along the peeling slide 27. When it reaches the sharp corner structure at one end of the peeling slide 27, the backing paper turns along the sharp corner structure. The release film has a certain hardness, and it cannot turn with the backing paper, and then one end of it is separated from the backing paper to form a tilted state, and is supported by the surface of the protective film receiving platform 28, which is convenient for the first manipulator mechanism 6 to carry out Grabbing and tearing off, this mechanism realizes the automatic peeling off of the protective film. In addition, it can also be other peeling methods, such as suction cup 22 sucking it from the backing paper, which belongs to those skilled in the art according to this patent. The equivalent replacement structure belongs to the protection scope of this patent.

There are several negative pressure air holes on the upper side surface of the stripping slide table 27, and the negative pressure air holes are connected with the external negative pressure air circuit. Shaped pressing block, the edges on both sides of the backing paper of the strip are just inserted in the channel formed between the pressing block and the peeling slide 27.

When the backing paper slides forward on the peeling slide 27, it is subjected to the negative pressure suction of the negative pressure air hole, and it is close to the surface of the peeling slide 27, and the backing paper passes between the binder block and the peeling slide 27 to form a guide. The channel realizes the guidance of the material belt, and the above structure prevents the backing paper from warping on the peeling slide 27, ensures accurate peeling position of the protective film, stable peeling, and avoids invalid peeling.

A pressure maintaining mechanism 66 is also provided, including a pressure maintaining bracket 29, a pressure head 30, a pressure head driving device 31, a pressure maintaining device 32, a pressure sensing device and a pressure timing device. The pressure maintaining bracket 29 is fixedly installed on the frame 1 On the top, the indenter 30 is installed on the pressure holding bracket 29, which can move up and down in the longitudinal direction, and the indenter driving device 31 drives the indenter 30 to move up and down, and the indenter 30 can press the iron sheet surface at the designated position of the earphone charging box , the pressure sensing device can sense the pressure between the iron sheet and the indenter 30 and transmit it to the control system, the pressure maintaining device 32 is fixedly installed on the frame 1, and the pressure maintaining device 32 can provide the set down force for the indenter 30 , The pressure timing device can time the pressing time and is electrically connected and communicated with the control system, and the control system controls the start and stop actions of the pressure head driving device 31 and the pressure holding device 32 . After the protective film and the iron sheet on the earphone charging box are pasted sequentially, the surface of the iron sheet is pressed by the pressure head 30, and a certain pressure is maintained for a set time to realize the stable bonding of the iron sheet in the earphone charging box, avoiding vibration, etc. Wait for it to fall off.

The earphone charging box positioning device includes an earphone charging box positioning carrier 33, a carrier positioning mechanism, an incoming material sensing device 34, and a main line 35. The earphone charging box positioning carrier 33 can fix and position the earphone charging box to be assembled, The main line 35 is set on the frame 1, and the main line 35 can transport the positioning carrier 33 of the earphone charging box forward sequentially through the designated position for assembling the iron sheet and pasting the protective film and the holding pressure facing the pressure holding mechanism 66. position, the incoming material sensing device 34 is fixedly installed on the side wall of the main flow line 35, the incoming material sensing device 34 can sense the positioning carrier 33 of the earphone charging box that is about to reach the designated position and the pressure holding position and send a signal to the control system, the said carrier The tool positioning mechanism includes a carrier stop device 36, a fixed frame 37 fixedly installed on the side wall of the main flow line 35, a jacking tray 38 arranged below the main line line 35, and a jacking drive device 39 fixedly installed on the frame 1 And the stop driving device 40, the carrier stop device 36 is movably installed on the frame 1, the movement of the carrier stop device 36 can stop or break away from the earphone charging box positioning carrier 33 on the main line 35 along the conveying direction On the side wall on the front side, the mainstream line 35 is provided with a hollowed-out part that runs up and down directly opposite to the positioning carrier 33 of the earphone charging box. The tray 38 can move upward through the hollow part on the main line 35 to hold up the earphone charging box positioning carrier 33 at the specified position on the main line 35 , and the upper side wall of the earphone charging box positioning carrier 33 is tightly against the lower side of the fixed frame 37 On the surface, the lower surface of the fixed frame 37 is also provided with a positioning slot, and the upper side wall of the positioning carrier 33 of the earphone charging box is provided with a positioning protrusion, and the positioning protrusion can be inserted into the fixed frame In the positioning slot on the lower side of 37, the jacking drive device 39 and the stopper drive device 40 respectively drive the jacking tray 38 and the carrier stopper device 36 to reciprocate, and the control system controls the jacking drive device 39 and the stopper drive device 40 start and stop action. The earphone charging box is fixed and positioned in advance by the earphone charging box positioning carrier 33, and the earphone charging box and the earphone charging box can be positioned on the earphone charging box positioning carrier 33 through a positioning slot and a pressing mechanism that are consistent with the shape of the earphone charging box. The tool 33 is precisely and stably positioned into an integrated structure. By setting the main line 35 on the frame 1, the automatic forward transport of the earphone charging box carrier is realized. When it is transported to the designated position, it is blocked by the carrier stopper 36 , cannot continue to be transported forward, then the jacking tray 38 rises to jack up the earphone charging box carrier, and finally the earphone charging box carrier is clamped between the jacking tray 38 and the fixed frame 37, while the earphone charging box carrier The positioning protrusion is plugged into the positioning slot on the positioning frame to achieve horizontal positioning, thereby forming an accurate and stable positioning of the earphone charging box carrier. This mechanism realizes automatic continuous feeding and positioning of the earphone charging box, avoiding manual The feeding and positioning operations can also be set on the return line of the main line 35 parallel and reversely conveyed. When the earphone charging box is pasted with the protective film of the iron sheet box and kept under pressure, when it arrives at the next station, the worker puts the earphone The charging box is removed from the earphone charging box carrier, and the empty earphone charging box carrier is placed on the return line 41 to transport it back to realize the recycling of the earphone charging box carrier, without manual handling and turnover, saving labor and turnover boxes .

The tear-off manipulator 8 moving end of described release film tear-off mechanism 5 is equipped with gripper, and described gripper can tighten the release-type film side that stretches out protective film product edge, and release-type film tear-off mechanism 5 also returns A dust collection module is provided. The dust collection module includes a dust suction bracket, a dust suction cover 42, a suction duct and a negative pressure fan. The dust suction bracket is fixedly installed on the frame 1, and the dust suction cover 42 is installed on the On the bracket, the opening of the dust collection cover 42 is directly facing the earphone charging box product on the positioning device of the earphone charging box. The control system controls the operation of the negative pressure fan. After the protective film is attached to the earphone charging box, the jaws on the tear-off manipulator 8 clamp the edge of the upper release film that extends out of the edge of the protective film at a set distance. With the movement of the tear-off manipulator 8, the release film is removed from the protective film. The surface is torn off, and then the jaws loosen the release film, and the release film is quickly sucked away under the negative pressure in the dust cover 42, wherein the tear-off manipulator 8 includes a horizontal slide 43 and a horizontal slide 43 that move horizontally and vertically. The vertical slider 68, the jaw fixing seat 69, the horizontal slider driving device, the vertical slider driving device, and the rotary driving device drive the horizontal slider to move in the horizontal direction through the horizontal slider driving device, and drive the horizontal slider to move in the horizontal direction through the vertical slider driving device. The device drives the vertical slider to slide in the longitudinal direction so that the jaws and the edge of the release film are facing and tightened, and then the rotating drive device drives the clamping jaw holder to rotate a certain angle around the horizontal axis, first tearing the release film at an angle, and then The release film is torn off by horizontal and vertical motions, and the release film is quickly torn off. The tear-off manipulator 8 can also be a multi-axis hinged manipulator. This type of structure belongs to the equivalent replacement structure that can be easily imagined by those skilled in the art according to this patent. The protection scope of this patent.

It is also provided with an earphone charging box position detection device 44, a protective film position detection device 45, a film position detection device 46, an iron sheet grasping position detection device 47 and an iron sheet detection device 67. The earphone charging box position detection device 44 includes a first A slide rail 48, a first detection bracket 49, a first detection drive device 50, a first light source 51 and a first detection camera 52, the first slide rail 48 extending along the conveying direction of the main flow line 35 is fixedly installed on the side wall of the main flow line 35 Above, the first detection bracket 49 is slidably mounted on the first detection bracket 49, the first detection driving device 50 drives the first detection bracket 49 to move along the extending direction of the first slide rail 48, the first light source 51 and the first detection camera 52 is fixedly installed on the first detection bracket 49, the first detection camera 52 and the first light source 51 can be located directly above the earphone charging box at the designated position, and the first light source 51 can illuminate the earphone charging box at the designated position, The first detection camera 52 can image the earphone charging box directly below it and send a signal to the control system;

The protective film position detection device 45 includes a second slide rail 53, a second detection bracket 54, a second detection camera 55, a second light source 56 and a second detection drive device 57, and the second slide rail 53 extends along the peeling direction of the protective film is fixedly installed on the frame 1, the second detection bracket 54 is slidably mounted on the second slide rail 53, the second detection camera 55 and the second light source 56 are fixedly installed on the second detection bracket 54, and the second detection drive The device 57 drives the second detection bracket 54 to move along the extension direction of the second slide rail 53, the second light source 56 can irradiate the protective film torn off on the backing paper, and the second detection camera 55 can detect the protective film torn off from the backing paper. Real-time imaging and transmission to the control system;

Film sticking position detection device 46 comprises the 3rd detection support 58, the 3rd detection camera 59, the 3rd light source and prism 60, the 3rd detection support 58 is fixedly installed on the side wall of the main flow 35 of designated position, the 3rd detection camera 59, the 3rd detection camera 59, the 3rd detection camera 59, the 3rd light source and prism 60, The three light sources and the prism 60 are respectively fixedly installed on the third detection bracket 58, the third light source can illuminate the side of the earphone charging box product at the specified position on the main line 35, and the side of the prism 60 and the earphone charging box product at the specified position on the main line 35 The side is facing directly, and the other side of the prism 60 is facing the third detection camera 59, and the third detection camera 59 can image the image refracted by the prism 60 and send a signal to the control system;

The iron sheet grasping position detection device 47 includes a fourth detection bracket 61, a fourth detection camera 62 and a fourth light source 63. The fourth detection bracket 61 is fixedly installed on the frame 1, and the fourth detection bracket 61 is located on the iron sheet material. Right above the disc positioning device and the protective film peeling mechanism 4, the fourth light source 63 can irradiate the surface of the iron sheet material tray on the iron sheet material tray positioning device and the surface of the protective film peeling mechanism 4, and the fourth detection camera 62 can irradiate the surface located on the iron sheet material tray positioning device. The iron plate and protective film directly below are imaged and sent to the control system;

Iron sheet detection device 67 comprises the 5th light source and the 5th detection camera, and described 5th light source can be positioned at the arc magnet product that the second manipulator mechanism 7 grabs of the 5th detection camera directly above is irradiated, and the 5th detection camera can Imaging the iron sheet product directly above it and sending a signal to the control system,

The control system can control the first detection drive device 50 and the second detection drive device 57 to start and stop actions, and the control system can also control the first detection camera 52, the second detection camera 55, the third detection camera 59, the fourth detection camera 62 and The image transmitted by the fifth detection camera is analyzed and calculated to obtain the position data of the earphone charging box on the main line 35, the position data of the iron sheet product on the iron sheet tray, the data on whether the iron sheet is qualified, and the iron sheet is placed on the second manipulator. The position and angle data of the protective film, the pre-peeling position data of the protective film on the protective film peeling mechanism 4, the position data after the protective film is peeled off, and the pasting position data of the protective film pasted on the earphone charging box. The control system judges the to-be-assembled position of the earphone charging box on the main line 35, the grasping position of the iron sheet on the iron sheet tray, and the protective film on the protective film peeling mechanism 4 according to the images of the first, second, third, and fourth detection cameras The pre-stripped position to be grasped, the position where the protective film is torn off the backing paper, and the position where the protective film is assembled into the earphone charging box to be attached to the iron sheet are used to control the movement of the first manipulator mechanism 6 and the second manipulator mechanism 7 in three-dimensional space And the second and second manipulators rotate the suction nozzle around the vertical shaft to adjust the angle of the iron sheet, so as to realize the precise bonding of the protective film and the precise assembly of the iron sheet to avoid assembly misalignment.

Claims (10)

1. A wireless earphone charging box iron sheet and protection film kludge, its characterized in that: including frame (1), earphone charging box positioner, iron sheet charging tray positioner, protection film feed tray (2), protection film base stock retrieves charging tray (3), protection film peeling mechanism (4), tear from release mechanism (5), first manipulator mechanism (6), second manipulator mechanism (7) and control system from the type membrane, earphone charging box positioner locates in the frame, and earphone charging box positioner can stop location earphone charging box, and protection film feed tray and protection film base stock retrieve the charging tray and can pivoted install in the frame respectively, and the winding has the protection film feed reel on the protection film feed tray, and protection film base stock retrieves the base stock that the charging tray can initiatively twine from the protection film feed tray and draw forth and pass through protection film peeling mechanism, and protection film peeling mechanism can separate from the type membrane on with the base stock together, and first manipulator mechanism can snatch the protection film product that separates through protection film separating mechanism and paste it to earphone charging box on the earphone charging box positioner pointed position, and release mechanism includes that the type membrane feed tray and protection film base stock roll can rotate respectively, tear from mechanical hand mechanism and release mechanism from the second manipulator mechanism to release mechanism from the type membrane control film base stock reel, tear off mechanism and can take off mechanical hand mechanism from the second manipulator mechanism to release film base stock reel surface to the protection film roll, tear off mechanism from the second manipulator mechanism and can take one by one piece of protection film to control mechanism from the second.

2. The wireless headset charging box iron sheet and protective film assembly machine of claim 1, wherein: the iron sheet tray positioning device comprises a positioning supporting plate (9) capable of being stopped and positioned on one side of the frame, at least two positioning pins are arranged on the positioning supporting plate, the iron sheet tray can be supported on the upper side of the positioning supporting plate, and the positioning pins can be inserted into positioning holes of the iron sheet tray.

3. The wireless headset charging box iron sheet and protective film assembly machine of claim 2, wherein: the automatic feeding mechanism for the iron sheet material tray is further provided with the automatic feeding mechanism (64), the automatic feeding mechanism comprises a feeding conveying mechanism (10), a feeding bin (11), a tray fork (12), a tray fork telescopic driving device (13), a feeding support (14), a feeding lifting driving device (15), a material inserting support (16) and a material inserting lifting driving device (17), the cylindrical feeding bin is fixedly arranged on a rack, the iron sheet material tray which can be stacked can be held by the feeding bin in a stopping manner in the horizontal direction, the feeding support can be arranged on the rack in a lifting manner, the feeding lifting driving device drives the feeding support to move in a lifting manner, the material inserting support can move in a lifting manner, the tray fork telescopic driving device drives the material inserting support to move in a reciprocating manner, at least two tray forks can move relatively in the horizontal direction and are arranged on the material inserting support, the iron sheet material tray lower side of a specified height of the feeding bin can be inserted into the water smoothing kinetic energy of each tray fork, the iron sheet material tray stack is lifted up, the tray telescopic driving device drives the tray fork to slide reciprocally to realize the lifting of the stacking of the iron sheet material tray or the tray can move reciprocally in the lifting mechanism in the vertical direction, the lifting driving device can control the lifting mechanism to move reciprocally, and the lifting device can move reciprocally, and the tray lifting device can move reciprocally and control and can move and control the lifting device.

4. The wireless headset charging box iron sheet and protective film assembly machine of claim 3, wherein: the automatic empty tray recycling device (65) is also arranged, and comprises an empty tray (18), a tray lifting driving device (19), a lifting slideway (20), a lifting frame (21), suckers (22), a lifting driving device (23), an empty tray conveying belt (24) and an empty tray limit baffle (25), wherein the lifting slideway is fixedly arranged at a specified position of the frame, the empty tray can be longitudinally and slidably arranged on the lifting slideway, the empty tray can be supported by the empty tray lifting driving device, the tray lifting driving device drives the empty tray to intermittently descend or linearly ascend, the lifting frame can be arranged on the lifting slideway in a lifting manner, the lifting frame is positioned right above the empty tray, a plurality of suckers are fixedly arranged at the lower side of the lifting frame, each sucker is communicated with a negative pressure air channel, the sucking disc can negative pressure adsorb iron sheet charging tray edge on location layer board, promotes drive arrangement drive and carries the lifting reciprocating motion of material frame, empty charging tray conveyer belt is installed in the frame, and empty charging tray conveyer belt initiating terminal is located under the lifting slideway, is equipped with the fretwork portion that is used for dodging empty charging tray in the middle of the empty charging tray conveyer belt, and empty charging tray lower side limit that holds on the empty charging tray just can hold on empty charging tray conveyer belt, and empty charging tray limit baffle fixed mounting carries to the terminal both sides of transportation in empty charging tray, and empty charging tray limit baffle can prevent empty charging tray to continue to carry forward along empty charging tray conveyer belt, and control system control tray lifting drive device, sucking disc, lifting drive device and empty charging tray conveyer belt action.

5. The wireless headset charging box iron sheet and protective film assembly machine of claim 1, wherein: the protection film stripping mechanism comprises a stripping support (26), a stripping sliding table (27) and a protection film receiving platform (28), wherein the stripping sliding table is fixedly arranged between two side walls of the stripping support, a sharp angle structure is formed at one end of the stripping sliding table, the protection film receiving platform is fixedly arranged on the stripping support, one end of the protection film receiving platform, which is provided with the sharp angle structure, is connected with one end of the stripping sliding table, a material belt led out from a protection film feeding disc is torn off from a release film and bypasses the sharp angle structure of the stripping sliding table, base paper of the material belt is diverted through a gap between the sharp angle structure of the stripping sliding table and the protection film receiving platform and finally wound on a protection film base paper recovery tray, and one end, which is separated from the base paper, of the protection film product is just supported on the surface of the protection film receiving platform.

6. The wireless headset charging box iron sheet and protective film assembly machine of claim 5, wherein: the upper side surface of the stripping sliding table is provided with a plurality of negative pressure air holes which are communicated with an external negative pressure air passage, the two sides of the upper side surface of the stripping sliding table, which are positioned in the direction of the width of the material belt, are respectively and fixedly provided with L-shaped material pressing blocks, and the edges of the two sides of the base paper of the material belt are just inserted into a channel formed between the material pressing blocks and the stripping sliding table.

7. The automatic film laminating device for the earphone charging case according to claim 1, wherein: the pressure maintaining mechanism (66) is further arranged and comprises a pressure maintaining support (29), a pressure head (30), a pressure head driving device (31), a pressure retaining device (32), a pressure sensing device and a pressure applying timing device, wherein the pressure maintaining support is fixedly arranged on the frame, the pressure head can be arranged on the pressure maintaining support along the longitudinal lifting motion, the pressure head driving device drives the pressure head to move in a lifting mode, the pressure head can compress the surface of an iron sheet positioned at the appointed position of the earphone charging box, the pressure sensing device can sense the pressure between the iron sheet and the pressure head and transmit signals to the control system, the pressure retaining device is fixedly arranged on the frame, the pressure retaining device can provide set down force for the pressure head, the pressure applying timing device can time the pressing time and is in electric connection communication with the control system, and the control system controls the pressure head driving device and the pressure retaining device to start and stop.

8. The wireless headset charging box iron sheet and protective film assembly machine of claim 7, wherein: the earphone charging box positioning device comprises an earphone charging box positioning carrier (33), a carrier positioning mechanism, an incoming material sensing device (34) and a main flow line (35), wherein the earphone charging box positioning carrier can fixedly position an earphone charging box to be assembled, the main flow line is arranged on a frame, the main flow line can sequentially convey the earphone charging box positioning carrier forwards through a designated position for assembling an iron sheet and a protective film and a pressure maintaining position opposite to the pressure maintaining mechanism, the incoming material sensing device is fixedly arranged on the side wall of the main flow line, the incoming material sensing device can sense the earphone charging box positioning carrier which is about to reach the designated position and the pressure maintaining position and transmits signals to a control system, the carrier positioning mechanism comprises a carrier stop device (36), a fixed frame (37) fixedly arranged on the side wall of the main flow line, a jacking tray (38) arranged below the main flow line, a jacking driving device (39) fixedly arranged on the frame and a stop driving device (40), the carrier stop device can move on the frame or be separated from the earphone charging box positioning carrier on the main flow line, the carrier can move towards the front side of the main flow line along the main flow line, the front side wall opposite to the main flow line is provided with a hollow carrier positioning tray, the carrier can move towards the front side of the main flow line, the main flow line can move towards the upper side of the main flow line, the charging box positioning tray is arranged on the side opposite to the main flow line, the surface of the main flow line is fixedly arranged on the side of the main flow line, the carrier positioning tray can move towards the front side of the main flow line, and the charging box positioning tray is positioned on the front side of the main flow line, and the front side of the carrier positioning device, and the earphone charging box is positioned on the front side. The earphone charging box positioning carrier upper side wall is tightly provided with a positioning bulge, the positioning bulge can be inserted into a positioning slot on the lower side surface of the fixed frame, the jacking driving device and the stopping driving device respectively drive the jacking tray and the carrier stopping device to reciprocate, and the control system controls the jacking driving device and the stopping driving device to start and stop.

9. The wireless headset charging cartridge iron sheet and protective film assembly machine of claim 1 or 8, wherein: install the clamping jaw from tearing from the mechanical hand motion end of tearing from the mould film and leaving the mechanism, the clamping jaw can tighten and stretch out the mould film side from the protection film product edge, still is equipped with dust absorption module from the mould film and tears from the mechanism, and dust absorption module includes dust absorption support, suction hood (42), induced draft pipeline and negative pressure fan, dust absorption support fixed mounting is in the frame, and the suction hood is installed on the dust absorption support, and the suction hood opening is just right with the earphone charging box product on the earphone charging box positioner, and the suction hood both ends communicate with negative pressure fan box suction hood respectively, and the suction hood can supply to pass through from the mould film, control system control negative pressure fan operation.

10. The wireless headset charging box iron sheet and protective film assembly machine of claim 9, wherein: the earphone charging box position detection device comprises a first sliding rail (48), a first detection support (49), a first detection driving device (50), a first light source (51) and a first detection camera (52), the first sliding rail is fixedly arranged on the side wall of a main streamline along the conveying direction of the main streamline, the first detection support can be slidably arranged on the first detection support, the first detection driving device drives the first detection support to move along the extending direction of the first sliding rail, the first light source and the first detection camera are fixedly arranged on the first detection support, the first detection camera and the first light source can be positioned right above the earphone charging box at the designated position, the first light source can irradiate the earphone charging box at the designated position, and the first detection camera can image and signal the earphone charging box right below the earphone charging box and is positioned on the control system;

The protective film position detection device comprises a second sliding rail (53), a second detection support (54), a second detection camera (55), a second light source (56) and a second detection driving device (57), wherein the second sliding rail is fixedly arranged on the frame and extends along the stripping direction of the protective film, the second detection support can be slidably arranged on the second sliding rail, the second detection camera and the second light source are fixedly arranged on the second detection support, the second detection driving device drives the second detection support to move along the extending direction of the second sliding rail, the second light source can irradiate the protective film torn off from the base paper, and the second detection camera can image the protective film torn off from the base paper in real time and transmit signals to the control system;

the film pasting position detection device comprises a third detection support (58), a third detection camera (59), a third light source and a prism (60), wherein the third detection support is fixedly arranged on the side wall of a main flow line at a specified position, the third detection camera, the third light source and the prism are respectively fixedly arranged on the third detection support, the third light source can irradiate the side surface of an earphone charging box product at the specified position on the main flow line, one side of the prism is opposite to the side surface of the earphone charging box product at the specified position on the main flow line, the other side of the prism is opposite to the third detection camera, and the third detection camera can image an image refracted by the prism and transmit the image to a control system;

The iron sheet grabbing position detection device comprises a fourth detection support (61), a fourth detection camera (62) and a fourth light source (63), wherein the fourth detection support is fixedly arranged on the frame, the fourth detection support is positioned right above the iron sheet tray positioning device and the protective film stripping mechanism, the fourth light source can irradiate the surface of the iron sheet tray on the iron sheet tray positioning device and the surface of the protective film stripping mechanism, and the fourth detection camera can image the iron sheet tray and the protective film which are positioned right below the fourth detection camera and transmit signals to the control system;

the iron sheet detection device comprises a fifth light source and a fifth detection camera, the fifth light source can irradiate the arc magnet product which is positioned right above the fifth detection camera and grabbed by the second manipulator mechanism, the fifth detection camera can image the iron sheet product which is positioned right above the fifth detection camera and send out signals to the control system,

the control system can control the first detection driving device and the second detection driving device to start and stop, and can analyze and calculate the images transmitted by the first detection camera, the second detection camera, the third detection camera, the fourth detection camera and the fifth detection camera to obtain the position data of the earphone charging box on the main flow line, the position data of the iron sheet product on the iron sheet charging tray, whether the iron sheet is qualified or not, the position and angle data of the iron sheet on the second manipulator, the pre-stripping position data of the protective film on the protective film stripping mechanism, the position data after the stripping of the protective film is completed and the laminating position data of the protective film on the earphone charging box.

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