CN204368495U - Liquid crystal module class wrapping device - Google Patents

Liquid crystal module class wrapping device Download PDF

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Publication number
CN204368495U
CN204368495U CN201420845700.6U CN201420845700U CN204368495U CN 204368495 U CN204368495 U CN 204368495U CN 201420845700 U CN201420845700 U CN 201420845700U CN 204368495 U CN204368495 U CN 204368495U
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CN
China
Prior art keywords
spaced papers
feeding spaced
axis
liquid crystal
pair
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CN201420845700.6U
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Chinese (zh)
Inventor
余章凯
陈博鉴
叶坤
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KUNSHAN JINGXUN ELECTRONIC TECHNOLOGY Co Ltd
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KUNSHAN JINGXUN ELECTRONIC TECHNOLOGY Co Ltd
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Publication of CN204368495U publication Critical patent/CN204368495U/en
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Abstract

The utility model discloses a kind of liquid crystal module class wrapping device and include stream waterline, four axis robot, liquid crystal module sorting mechanism, tray delivery mechanism, liquid crystal module fetching device and feeding spaced papers connecting gear, four axis robot, liquid crystal module sorting mechanism, tray delivery mechanism, liquid crystal module fetching device and feeding spaced papers connecting gear are all fixed in frame, four axis robot are positioned at the left end of frame, pan feeding conveyor line is positioned at the work area of four axis robot, liquid crystal module sorting mechanism is adjacent with four axis robot, liquid crystal module fetching device is adjacent with liquid crystal module sorting mechanism and be positioned at the rear end of frame, tray delivery mechanism docks with liquid crystal sorting mechanism and is positioned at the front end of frame, feeding spaced papers connecting gear is adjacent with tray delivery mechanism and be positioned at the right-hand member of frame.The utility model is simple to operate, class wrapping efficiency is high and the liquid crystal module class wrapping device that accurate rate is high.

Description

Liquid crystal module class wrapping device
Technical field
The utility model relates to liquid crystal module production field, particularly relates to a kind of liquid crystal module class wrapping device.
Background technology
Along with reaching its maturity of flat display technology, flat-panel monitor occupies the increasing market share, and it obtains increasing application owing to having frivolous, the plurality of advantages such as power consumption is low, radiation is little, screen flicker free, rich color at numerous areas such as mobile phone, computing machine and household electrical appliances.
Usually, flat-panel monitor mainly comprises liquid crystal module and plasma display.Along with liquid crystal module is widely used in numerous areas, in the production process of liquid crystal module, the liquid crystal module having different grade occurs, this classifies in the liquid crystal module of production latter end to different size with regard to needing, thus need detecting device to stamp different bar codes according to the size of product to it, and according to the information of bar code, class wrapping is carried out to liquid crystal module by class wrapping mechanism.But traditional class wrapping method is all rely on artificial cooperation, be thus unfavorable for Automated condtrol, and class wrapping efficiency is not high, thus affects the production efficiency of liquid crystal module.Therefore, be necessary to provide a kind of simple to operate, class wrapping efficiency is high and the liquid crystal module class wrapping device that accurate rate is high to overcome above-mentioned defect.
Utility model content
The purpose of this utility model be to provide a kind of simple to operate, class wrapping efficiency is high and the liquid crystal module class wrapping device that accurate rate is high.
To achieve these goals, the utility model provides a kind of liquid crystal module class wrapping device and comprises: pan feeding conveyor line, for transmitting the liquid crystal module to be sorted with different grade; Four axis robot, for carrying the liquid crystal module to be sorted on pan feeding conveyor line; Liquid crystal module sorting mechanism, for receiving the liquid crystal module to be sorted of four axis robot carryings, and according to different grade, classifies to liquid crystal module to be sorted; Tray delivery mechanism, for transmit empty pallet, stacking be loaded with liquid crystal module pallet and transmit the pallet that heap poststack is fully loaded with liquid crystal module; Liquid crystal module fetching device, for the empty pallet by liquid crystal module sorting mechanism moving to the correspondence that tray delivery mechanism transmits through the liquid crystal module of classification; And feeding spaced papers connecting gear, after the liquid crystal module through classification being moved on corresponding empty pallet when liquid crystal module fetching device, feeding spaced papers is moved into place in the liquid crystal module of passing through classification on empty pallet; Four axis robot, liquid crystal module sorting mechanism, tray delivery mechanism, liquid crystal module fetching device and feeding spaced papers connecting gear are all fixed in frame, four axis robot are positioned at the left end of frame, pan feeding conveyor line is positioned at the work area of four axis robot, liquid crystal module sorting mechanism is adjacent with four axis robot, liquid crystal module fetching device is adjacent with liquid crystal module sorting mechanism and be positioned at the rear end of frame, tray delivery mechanism docks with liquid crystal sorting mechanism and is positioned at the front end of frame, and feeding spaced papers connecting gear is adjacent with tray delivery mechanism and be positioned at the right-hand member of frame.
Preferably, four axis robot comprise manipulator mount pad, first rotating arm, the second pivot arm, telescopic arm, the 3rd pivot arm and manipulator suction nozzle, manipulator mount pad is fixed in frame, the left end of first rotating arm is installed in rotation on manipulator mount pad, the right-hand member of first rotating arm is connected rotationally with the left end of the second pivot arm, telescopic arm vertically telescopically is arranged on the right-hand member of the second pivot arm, 3rd pivot arm is installed in rotation on the lower end of telescopic arm, and manipulator suction nozzle is arranged on the lower end of the 3rd pivot arm.
Preferably, liquid crystal module sorting mechanism comprises: many transport stream waterlines, classification carrying mechanism, is transported to a wherein transport stream waterline for the liquid crystal module to be sorted with different grade four axis robot transmitted, first bar code reader, for read be positioned at described in wherein on a transport stream waterline and there is the grade information of the liquid crystal module of bar code in front, and grade information is sent to control end, second bar code reader, has the grade information of the liquid crystal module of bar code for reading the back side in classification carrying mechanism handling process, and grade information is sent to control end, control end, for the grade information sent according to the first bar code reader and the second bar code reader, sends corresponding move, with classification travel mechanism, for the move sent according to control end, the liquid crystal module with different grade information is moved to other corresponding transport stream waterline respectively, classification carrying mechanism, many transport stream waterlines, first bar code reader, second bar code reader and classification travel mechanism are installed in frame, one end of classification carrying mechanism is adjacent with many transport stream waterlines, the other end of classification carrying mechanism is adjacent with four axis robot, first bar code reader bit is in the top of a described wherein transport stream waterline, second bar code reader bit is below classification carrying mechanism, classification travel mechanism is positioned at the top of many transport stream waterlines, first bar code reader and the second bar code reader are all electrically connected with the input end of control end, classification travel mechanism is electrically connected with the mouth of control end.
Preferably, classification carrying mechanism comprises rotating table, rotating disk, multiple carrying assembly and rotary drive motor, rotating table is arranged in frame, the housing that rotary drive motor is arranged on rotating table is connected with the S. A. of rotating table, rotating disk is arranged on the S. A. of rotating table, and multiple carrying assembly is fixed on rotating disk and along the even circumferential of rotating disk and distributes.
Preferably, each carrying assembly comprises classification carrying cylinder, drive plate, carrying suction nozzle and inductor, classification carrying cylinder is fixed on rotating disk by carrying and installation plate along Z-direction, the piston rod that drive plate carries cylinder with classification is connected, carrying suction nozzle is arranged on drive plate along Z-direction, and inductor is fixed on the lower surface of carrying and installation plate.
Preferably, classification travel mechanism comprises mobile support saddle, mobile suction nozzle, drive mobile suction nozzle along the X-axis classification travel mechanism of X-direction movement, drive mobile suction nozzle along the Y-axis classification travel mechanism of Y direction movement and drive mobile suction nozzle along the Z axis classification travel mechanism of Z-direction movement, mobile support saddle) be fixed in frame along Y direction across many transport stream waterlines, X-axis classification travel mechanism is located on mobile support saddle along X-direction, Y-axis classification travel mechanism classifies with X-axis, and travel mechanism is vertical to be connected, Z axis classification travel mechanism and Y-axis travel mechanism of classifying is connected and all vertical with X-axis travel mechanism and Y-axis travel mechanism of classifying of classifying, mobile suction nozzle is arranged on the lower end of Z axis classification travel mechanism and is positioned at the top of many transport stream waterlines, X-axis classification travel mechanism, Y-axis classification travel mechanism and Z axis classification travel mechanism are all electrically connected with the mouth of control end.
Preferably, X-axis classification travel mechanism comprises X-axis classification driver train, X-axis classification guide rail and X-axis classification slide block, X-axis classification driver train and X-axis classification guide rails assembling are on mobile support saddle, X-axis classification driver train and X-axis are classified slide block) be connected and drive X-axis slide block of classifying to classify slide on rails in X-axis, X-axis classification guide rail is arranged along X-direction, and X-axis classification driver train is electrically connected with the mouth of control end, Y-axis classification travel mechanism comprises connecting sliding rail, connection sliding block, Y-axis bearing, Y-axis classification driver train, Y-axis classification guide rail and Y-axis classification slide block, connecting sliding rail to be fixed on mobile support saddle and to classify guide rail parallel with X-axis, connection sliding block is slidably mounted on connecting sliding rail, along Y direction, across many transport stream waterlines, and classify with X-axis respectively in the two ends of Y-axis bearing, slide block is connected with connection sliding block Y-axis bearing, Y-axis classification driver train and Y-axis classification guide rails assembling are on Y-axis bearing, Y-axis classification driver train and Y-axis slide block of classifying is connected and drives Y-axis slide block of classifying to classify slide on rails in Y-axis, Y-axis classification guide rail is arranged along Y direction, Y-axis classification driver train is electrically connected with the mouth of control end, Z axis classification travel mechanism comprises Z axis classification driver train, Z axis classification guide rail and Z axis classification slide block, Z axis classification driver train and Z axis classification guide rail are all arranged on Y-axis classification slide block by Z axis classification connecting panel, Z axis classification driver train and Z axis slide block of classifying is connected and drives Z axis slide block of classifying to move up and down relative to mobile support saddle along Z axis guide rail of classifying, Z axis classification guide rail and X-axis guide rail and Y-axis guide rail of classifying of classifying is all vertical, mobile suction nozzle is arranged on the lower end of Z axis classification slide block by mobile suction nozzle connecting panel, Z axis classification driver train is electrically connected with the mouth of control end.
Preferably, tray delivery mechanism comprises pallet input/output mechanism and pallet travel mechanism; Wherein, pallet input/output mechanism comprises: pallet transmits support; Pallet input mechanism, for transporting stacking empty pallet;
Pallet output mechanism, for being transported out by the stacking pallet of fully loaded liquid crystal module, to carry out vanning operation; Wherein, pallet input mechanism and pallet output mechanism are arranged on lower floor and the upper strata that pallet transmits support respectively; Pallet travel mechanism comprises: pallet traversing carriage; Receive lift system, for receiving stacking empty pallet that pallet input mechanism transports and described stacking empty pallet being promoted to the upper strata of pallet traversing carriage; Tray conveying mechanism, for transporting the stacking empty pallet receiving lift mechanism lifts in batches, each transport one deck pallet, to load liquid crystal module on every layer of pallet; Tray transport mechanism, the individual layer transported for transporting tray conveying mechanism is successively fully loaded with the pallet of liquid crystal module, and by the tray transport of the fully loaded liquid crystal module in stackable pallet mechanism to pallet output mechanism; Stackable pallet mechanism, carries out stacking for the pallet individual layer transported in batches being fully loaded with liquid crystal module; Wherein, pallet transmits to prop up and is set up in by pallet traversing carriage, pallet traversing carriage is connected with frame, tray conveying mechanism, tray transport mechanism and stackable pallet mechanism are installed in the upper strata of pallet traversing carriage, tray conveying mechanism docks with stackable pallet mechanism, the lower end receiving lift system is arranged on the lower floor of pallet traversing carriage and docks with pallet input mechanism, the upper end receiving lift system is positioned at the centre of tray conveying mechanism, and tray transport mechanism is positioned at the centre of stackable pallet mechanism and docks with the upper end receiving lift system.
Preferably, receive lift system comprise a pair reception belt, two to reception belt pulley, receive adapter shaft, lifting motor, lifting slide unit for a pair and promote pushing block, receive the lower floor that adapter shaft is installed in parallel in pallet traversing carriage respectively in the horizontal direction for a pair, the two ends of each reception adapter shaft are arranged with one respectively and receive belt pulley, and a pair of being positioned on same vertical curve receives on belt pulley and be provided with a reception belt; Lifting motor and promote the side that the mount pad of slide unit is fixed on pallet traversing carriage, lifting motor drives the slide plate promoting slide unit to move up and down, thus drives the lifting pushing block be connected with slide plate to move up and down, and lifting pushing block docks with the mouth receiving belt for a pair.
Preferably, tray conveying mechanism comprises carrying motor, transmission shaft, a pair carrying slide unit, a pair carrying slide block, a pair carrying cylinder and a pair handling hand, carrying motor is fixed on the upper strata of pallet traversing carriage, the bearing of a pair carrying slide unit is fixed on the upper strata of pallet traversing carriage along Y direction, the output shaft of carrying motor is connected with transmission shaft and drives transmission shaft to rotate, thus a pair carrying slide block that band is automatically connected in transmission shaft two ends slides on a pair carrying slide unit, a pair carrying cylinder is separately fixed on a pair carrying slide block, the piston rod of a pair carrying cylinder is connected with a pair handling hand respectively, thus drive a pair handling hand to do relative motion along X-direction, promote the upper end of slide unit and be positioned at the space that a pair carrying slide unit and transmission shaft surround.
Preferably, tray transport mechanism comprises a pair transmission belt, two pairs of transmission belt wheels and a pair transmission adapter shaft, a pair transmission adapter shaft is installed in parallel in the upper strata of pallet traversing carriage respectively in the horizontal direction, the two ends of each transmission adapter shaft are arranged with a transmission belt wheel respectively, be positioned on a pair transmission belt wheel on same vertical curve and be provided with a transmission belt, a pair transmission belt docks with the upper end promoting slide unit.
Preferably, stackable pallet mechanism comprises pallet lifting assembly and carries a pair stack operation part that slide unit docks respectively with a pair; Pallet lifting assembly is positioned at the centre of a pair transmission belt, for successively the individual layer of a pair transmission belt transport being fully loaded with the tray lift of liquid crystal module and sending the pallet of stacking fully loaded liquid crystal module to a pair transmission belt; Each stack operation part comprises stacking bearing, stacking lift cylinder, stacking translation cylinder and stacking hand, stacking bearing is fixed on the upper strata of pallet traversing carriage, stacking lift cylinder is vertically mounted on stacking bearing, stacking translation cylinder is horizontally disposed with and is connected by the piston rod of stacking connecting panel with stacking lift cylinder, and the piston rod of stacking translation cylinder is connected with stacking hand.
Preferably, pallet input mechanism comprises input pulley assembly and input lifting assembly, input pulley assembly comprises a pair input belt, two to input belt pulley and a pair input adapter shaft, a pair input adapter shaft is vertically arranged on the two ends that pallet transmits support lower floor respectively, the two ends of each input adapter shaft are arranged with an input belt pulley respectively, are positioned on a pair input belt pulley on same level line and are provided with an input belt, input lifting assembly is between a pair input belt and input lifting assembly comprises input motor, input cylinder, input stay bearing plate, belt is transported in a pair input, belt pulley and a pair input transport adapter shaft are transported in two pairs of inputs, input cylinder is fixed on the lower floor that pallet transmits support, the piston rod of input cylinder is connected with input stay bearing plate, the two ends that adapter shaft is arranged on input stay bearing plate respectively are in the horizontal direction transported in a pair input, the two ends that adapter shaft is transported in each input are arranged with an input respectively and transport belt pulley, a pair input be positioned on same vertical curve is transported on belt pulley and is provided with an input transport belt, the input output shaft of motor and a pair input are transported adapter shaft and are connected and drive a pair input to transport adapter shaft and rotate, thus drive a pair input to transport belt rotation, a pair input is transported belt and is docked with the input end receiving belt for a pair.
Preferably, pallet output mechanism comprises output pulley assembly and exports lifting assembly, export pulley assembly to comprise a pair output belt, two and export adapter shaft to output belt pulley and a pair, export adapter shaft for a pair and be vertically arranged on the two ends that pallet transmits support upper strata respectively, the two ends of each output adapter shaft are arranged with one respectively and export belt pulley, and a pair of being positioned on same level line exports on belt pulley and be provided with an output belt, output lifting assembly is between a pair output belt and output lifting assembly comprises output motor, export cylinder, export stay bearing plate, belt is transported in a pair output, two pairs export transport belt pulley and a pair output transport adapter shaft, export cylinder and be fixed on the upper strata that pallet transmits support, the piston rod exporting cylinder is connected with output stay bearing plate, a pair output is transported adapter shaft and is arranged on the two ends exporting stay bearing plate respectively in the horizontal direction, each two ends of transporting adapter shaft that export are arranged with an output transport belt pulley respectively, a pair output be positioned on same vertical curve is transported on belt pulley and is provided with an output transport belt, output shaft and a pair output of output motor are transported adapter shaft and are connected and drive a pair output to transport adapter shaft and rotate, thus drive a pair output to transport belt rotation, a pair output is transported belt and is docked with a pair transmission belt.
Preferably, liquid crystal module fetching device comprises and picks and places mobile support saddle, pick and place suction nozzle, drive and pick and place suction nozzle and pick and place travel mechanism along the X-axis of X-direction movement, drive and pick and place suction nozzle and pick and place travel mechanism along the Y-axis of Y direction movement, drive pick and place suction nozzle pick and place travel mechanism along the Z axis of Z-direction movement and drive pick and place that suction nozzle rotates pick and place rotating mechanism, pick and place mobile support saddle to be fixed in frame and adjacent with pallet traversing carriage along Y direction across many transport stream waterlines, X-axis picks and places travel mechanism and is located at along X-direction and picks and places on mobile support saddle, Y-axis picks and places travel mechanism and picks and places with X-axis that travel mechanism is vertical to be connected, Z axis picks and places travel mechanism and Y-axis and picks and places travel mechanism and be connected and pick and place travel mechanism and Y-axis with X-axis to pick and place travel mechanism all vertical, pick and place rotating mechanism and be installed in rotation on the lower end that Z axis picks and places travel mechanism, pick and place suction nozzle and be arranged on the lower end that picks and places rotating mechanism and the top being positioned at many transport stream waterlines.
Preferably, feeding spaced papers connecting gear comprises feeding spaced papers supply assembly and feeding spaced papers picks and places assembly, feeding spaced papers supply assembly comprises feeding spaced papers support, feeding spaced papers lifting mechanism, feeding spaced papers travel mechanism and feeding spaced papers supporting mechanism, feeding spaced papers travel mechanism is arranged on the feeding spaced papers supporting mechanism parallel motion on feeding spaced papers support feeding spaced papers support also driving and is located in feeding spaced papers travel mechanism, and feeding spaced papers lifting mechanism to be vertically fixed on feeding spaced papers support and to drive feeding spaced papers supporting mechanism relative spacing paper travel mechanism to move up and down, feeding spaced papers picks and places assembly and comprises feeding spaced papers bearing, feeding spaced papers sucking disc mechanism, drive feeding spaced papers sucking disc mechanism along the X-axis feeding spaced papers travel mechanism of X-direction movement, drive feeding spaced papers sucking disc mechanism along the Z axis feeding spaced papers travel mechanism of Z-direction movement and the feeding spaced papers rotating mechanism driving the rotation of feeding spaced papers sucking disc mechanism, feeding spaced papers bearing is located at by feeding spaced papers support, feeding spaced papers bearing is connected with frame, X-axis feeding spaced papers travel mechanism is located on feeding spaced papers bearing along X-direction, Z axis feeding spaced papers travel mechanism is connected with X-axis feeding spaced papers travel mechanism is vertical, feeding spaced papers rotating mechanism is fixedly connected with Z axis feeding spaced papers travel mechanism, feeding spaced papers sucking disc mechanism is arranged on the lower end of feeding spaced papers rotating mechanism and is positioned at the top of feeding spaced papers lifting mechanism.
Preferably, feeding spaced papers lifting mechanism comprises feeding spaced papers lift drive mechanism, feeding spaced papers lifting slider, feeding spaced papers lifting sliding rail and feeding spaced papers pushing block, feeding spaced papers lift drive mechanism and feeding spaced papers lifting sliding rail are all arranged on feeding spaced papers support along Z-direction, feeding spaced papers lift drive mechanism is connected with feeding spaced papers pushing block and drives the feeding spaced papers lifting slider be fixedly connected with feeding spaced papers pushing block to slide along feeding spaced papers lifting sliding rail, thus drives feeding spaced papers supporting mechanism to move up and down.
Preferably, feeding spaced papers lift drive mechanism comprises lifting motor, bearing seat, bearing, screw mandrel and nut, lifting motor and bearing seat are fixed on the side of feeding spaced papers support, bearing carrier ring is located in bearing seat, one end of screw mandrel is installed within the bearing, the other end of screw mandrel is connected with lifting motor and is driven by lifting motor and rotate, nut is arranged on screw mandrel, and the middle part of feeding spaced papers pushing block is fixed on nut and with the mobile feeding spaced papers lifting slider being fixed on feeding spaced papers pushing block two ends that drives of nut slides along feeding spaced papers lifting sliding rail.
Preferably, feeding spaced papers travel mechanism comprises feeding spaced papers movable base, feeding spaced papers moving guide rail and feeding spaced papers mobile guide post, feeding spaced papers moving guide rail to be fixed on feeding spaced papers support and relative with feeding spaced papers pushing block, feeding spaced papers movable base offers and moves chute with the feeding spaced papers of feeding spaced papers moving guide rail bearing fit, feeding spaced papers mobile guide post is fixed on feeding spaced papers movable base, on each feeding spaced papers mobile guide post, slip cap is provided with mobile guide contiguous block, mobile guide contiguous block is fixedly connected with feeding spaced papers supporting mechanism, feeding spaced papers pushing block drives feeding spaced papers supporting mechanism to move up and down along feeding spaced papers mobile guide post.
Preferably, feeding spaced papers supporting mechanism comprises feeding spaced papers stay bearing plate, feeding spaced papers positioning guide rail, feeding spaced papers positioning sliding block, feeding spaced papers adjustment strut bar and locating support, a pair feeding spaced papers positioning guide rail to be fixed on feeding spaced papers stay bearing plate and parallel with feeding spaced papers moving guide rail, the two pairs of feeding spaced papers positioning sliding blocks respectively with a pair feeding spaced papers positioning guide rail bearing fit, first column is fixed on feeding spaced papers positioning sliding block, second column to be fixed on locating support and between feeding spaced papers positioning guide rail, feeding spaced papers adjustment strut bar is located at and is also located on feeding spaced papers stay bearing plate slidably between a pair feeding spaced papers positioning sliding block on same feeding spaced papers positioning guide rail, feeding spaced papers to be placed on feeding spaced papers adjustment strut bar and to be positioned at the space that the first column and the second column surround, feeding spaced papers stay bearing plate is fixedly connected with mobile guide contiguous block, locating support is fixed on the lower surface of feeding spaced papers positioning guide rail and vertical with feeding spaced papers positioning guide rail.
Preferably, X-axis feeding spaced papers travel mechanism comprises X-axis feeding spaced papers driver train, X-axis feeding spaced papers guide rail and X-axis feeding spaced papers slide block, X-axis feeding spaced papers guide rail and X-axis feeding spaced papers driver train are arranged on feeding spaced papers bearing, X-axis feeding spaced papers driver train is connected with X-axis feeding spaced papers slide block and drives X-axis feeding spaced papers slide block at X-axis feeding spaced papers slide on rails, X-axis feeding spaced papers guide rail along feeding spaced papers bearing horizontally set and be positioned at the top of feeding spaced papers lifting mechanism; Z axis feeding spaced papers travel mechanism comprises Z axis feeding spaced papers driver train, Z axis feeding spaced papers guide rail and Z axis feeding spaced papers slide block, Z axis feeding spaced papers driver train and Z axis feeding spaced papers guide rail are all arranged on X-axis feeding spaced papers slide block by the first connecting panel, and Z axis feeding spaced papers driver train is connected with Z axis feeding spaced papers slide block and drives Z axis feeding spaced papers slide block to move up and down relative to feeding spaced papers bearing along Z axis feeding spaced papers guide rail; Feeding spaced papers rotating mechanism comprises feeding spaced papers rotating machine and rotary connection post, feeding spaced papers rotating machine is fixedly connected with Z axis feeding spaced papers slide block by the second connecting panel, the output shaft of feeding spaced papers rotating machine is connected with the upper end of rotary connection post and driven rotary joint pin rotates, and feeding spaced papers sucking disc mechanism is arranged on the lower end of rotary connection post and is positioned at above feeding spaced papers pushing block.
Preferably, feeding spaced papers sucking disc mechanism comprises: multiple component suction nozzle, for drawing feeding spaced papers; Flow divider valve, for controlling the vacuum pressure in each component suction nozzle, makes the vacuum pressure in each component suction nozzle keep identical; Vacuum pump, for vacuumizing multiple component suction nozzle; Vacuum indicator, for measuring the vacuum pressure in component suction nozzle in real time; Filter, for the impurity in filtered air and dust; And electromagnetic valve, for controlling the opening and closing of vacuum pump, to control air-breathing and the venting of component suction nozzle; Multiple component suction nozzle, flow divider valve and electromagnetic valve are installed on feeding spaced papers sucker stand, multiple component suction nozzle, flow divider valve, electromagnetic valve are connected successively with vacuum pump, the two ends of filter are connected with electromagnetic valve with flow divider valve respectively, and joint is connected by T-pipe joint with flow divider valve, vacuum indicator and filter respectively.
Preferably, component suction nozzle comprises suction nozzle stay bearing plate, suction nozzle bearing, Compress Spring, soup stick, suction nozzle and toggle joint, suction nozzle stay bearing plate is fixed on feeding spaced papers sucker stand by securing device, soup stick is arranged on suction nozzle stay bearing plate, the upper end of soup stick is connected with flow divider valve by tracheae, the lower end of soup stick is connected with suction nozzle, suction nozzle bearing is fixed on suction nozzle stay bearing plate by compact heap, the lower end of soup stick is from top to bottom successively through compact heap, suction nozzle stay bearing plate, suction nozzle bearing is connected with suction nozzle with Compress Spring, conflict with suction nozzle bearing and suction nozzle respectively in the top and bottom of Compress Spring, toggle joint is arranged on the upper end of soup stick and is connected with flow divider valve by tracheae.
Compared with prior art, because liquid crystal module sorting machine of the present utility model adopts mechanical automation operation, thus simple to operate, classification effectiveness is high and accurate rate is high.
By following description also by reference to the accompanying drawings, the utility model will become more clear, and these accompanying drawings are for explaining embodiment of the present utility model.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model liquid crystal module class wrapping device angle.
Fig. 2 is the structural representation of another angle of the utility model liquid crystal module class wrapping device.
Fig. 3 is the structural representation of four axis robot in Fig. 1.
Fig. 4 is the structural representation of liquid crystal module sorting mechanism in Fig. 1.
Fig. 5 is the enlarged drawing of I part in Fig. 4.
Fig. 6 is the structural representation of carrying mechanism of classifying in Fig. 4.
Fig. 7 is the structural representation of travel mechanism of classifying in Fig. 4.
Fig. 8 is the structural representation of a tray delivery mechanism angle in Fig. 1.
Fig. 9 is the structural representation of another angle of tray delivery mechanism in Fig. 1.
Figure 10 is the structural representation of pallet input/output mechanism in Fig. 8.
Figure 11 is the enlarged diagram of part A in Figure 10.
Figure 12 is the enlarged diagram of part B in Figure 10.
Figure 13 is the structural representation inputting lifting assembly in Figure 10.
Figure 14 is the structural representation exporting lifting assembly in Figure 10.
Figure 15 is the structural representation of the pallet travel mechanism in Fig. 8.
Figure 16 is the enlarged diagram of C part in Figure 15.
Figure 17 is the enlarged diagram of D part in Figure 15.
Figure 18 is the structural representation of lifting subassembly in Figure 15.
Figure 19 is the structural representation of tray conveying mechanism in Figure 15.
Figure 20 is the structural representation of stackable pallet assembly in Figure 15.
Figure 21 is the structural representation of liquid crystal module fetching device in Fig. 1.
Figure 22 is the structural representation of feeding spaced papers connecting gear in Fig. 1.
Figure 23 is the structural representation of the feeding spaced papers supply assembly in Figure 22.
Figure 24 is the structural representation of the feeding spaced papers lifting mechanism in Figure 23.
Figure 25 is the structural representation of feeding spaced papers travel mechanism in Figure 23 and feeding spaced papers supporting mechanism.
Figure 26 is the enlarged diagram of E part in Figure 25.
Figure 27 is the structural representation that in Figure 22, feeding spaced papers picks and places assembly.
The structural representation that Figure 28 is Figure 27 ZhongZZhou feeding spaced papers travel mechanism, feeding spaced papers rotating mechanism is connected with feeding spaced papers sucking disc mechanism.
Figure 29 is the structural representation of feeding spaced papers sucking disc mechanism in Figure 27.
Figure 30 is the structural representation of component suction nozzle in Figure 29.
Detailed description of the invention
With reference now to accompanying drawing, describe embodiment of the present utility model, element numbers similar in accompanying drawing represents similar element.
As shown in Figure 1-2, the liquid crystal module class wrapping device of the present embodiment comprises: pan feeding conveyor line 10, four axis robot 20, liquid crystal module sorting mechanism 30, tray delivery mechanism 40, liquid crystal module fetching device 50 and feeding spaced papers connecting gear 60.Pan feeding conveyor line 10 has the liquid crystal module to be sorted of different grade for transmitting, four axis robot 20 are for carrying the liquid crystal module to be sorted on pan feeding conveyor line 10, the liquid crystal module to be sorted that liquid crystal module sorting mechanism 30 is carried for receiving four axis robot 20, and according to different grade, liquid crystal module to be sorted is classified, tray delivery mechanism 40 is for transmitting empty pallet, the stacking pallet being loaded with liquid crystal module piles with transmitting the pallet that poststack is fully loaded with liquid crystal module, liquid crystal module fetching device 50 is for the empty pallet by liquid crystal module sorting mechanism 30 moving to the correspondence that tray delivery mechanism 40 transmits through the liquid crystal module of classification, feeding spaced papers connecting gear 60 is after moving on corresponding empty pallet when liquid crystal module fetching device 50 by the liquid crystal module through classification, feeding spaced papers is moved into place in the liquid crystal module of passing through classification on empty pallet.
Four axis robot 20, liquid crystal module sorting mechanism 30, tray delivery mechanism 40, liquid crystal module fetching device 50 and feeding spaced papers connecting gear 60 are all fixed in frame 70, four axis robot 20 are positioned at the left end of frame 70, pan feeding conveyor line 10 is positioned at the work area of four axis robot 20, liquid crystal module sorting mechanism 30 is adjacent with four axis robot 20, liquid crystal module fetching device 50 is adjacent with liquid crystal module sorting mechanism 30 and be positioned at the rear end of frame 70, tray delivery mechanism 40 docks with liquid crystal sorting mechanism 30 and is positioned at the front end of frame 70, feeding spaced papers connecting gear 60 is adjacent with tray delivery mechanism 40 and be positioned at the right-hand member of frame 70.
Particularly, as shown in Figure 3, four axis robot 20 comprise manipulator mount pad 21, first rotating arm 22, second pivot arm 23, telescopic arm 24, the 3rd pivot arm 25 and manipulator suction nozzle 26.Manipulator mount pad 21 is fixed on the left end of frame 70, the left end of first rotating arm 22 is installed in rotation on manipulator mount pad 21, the right-hand member of first rotating arm 22 is connected rotationally with the left end of the second pivot arm 23, telescopic arm 24 vertically telescopically is arranged on the right-hand member of the second pivot arm 23,3rd pivot arm 25 is installed in rotation on the lower end of telescopic arm 24, and manipulator suction nozzle 26 is arranged on the lower end of the 3rd pivot arm 25.
Particularly, as shown in figs. 4-7, liquid crystal module sorting mechanism 30 comprises classification carrying mechanism 31, first bar code reader 32, second bar code reader 33, control end (not shown), classification travel mechanism 34 and four transport stream waterlines.Article four, transport stream waterline comprises the first transport stream waterline 35, second transport stream waterline 36, the 3rd transport stream waterline 37 and the 4th transport stream waterline 38.
One end of classification carrying mechanism 31 is adjacent with four axis robot 20, and the classify other end of carrying mechanism 31 and the first transport stream waterline 35, second transport stream waterline 36, the 3rd transport stream waterline 37 are adjacent with the 4th transport stream waterline 38.Classification carrying mechanism 31 is transported to the first transport stream waterline 35 for the liquid crystal module to be sorted of being carried by pan feeding conveyor line 10.First transport stream waterline 35, second transport stream waterline 36, the 3rd transport stream waterline 37 and the 4th transport stream waterline 38 are parallel to each other, for the liquid crystal module be placed on it being transported to the pallet that tray delivery mechanism 40 transmits.First bar code reader 32 is positioned at the top of the first transport stream waterline 35, to be positioned on the first transport stream waterline 35 and there is the grade information of the liquid crystal module of bar code in front, and described grade information is sent to control end for reading.Second bar code reader 33 to be arranged in frame 70 and to be positioned at the below of carrying suction nozzle 3233, has the grade information of the liquid crystal module of bar code, and described grade information is sent to control end for reading the back side in classification carrying mechanism 31 handling process.The input end of control end is electrically connected with the first bar code reader 32 and the second bar code reader 33, the mouth of control end is electrically connected with classification travel mechanism 34, for the grade information sent according to the first bar code reader 32 and Article 2 reader 33, send corresponding move.Classification travel mechanism 34 to be arranged in frame 70 and to be positioned at the top of the first transport stream waterline 35, second transport stream waterline 36, the 3rd transport stream waterline 37 and the 4th transport stream waterline 38, the liquid crystal module with different grade information is moved to respectively the second transport stream waterline 36 of correspondence, the 3rd transport stream waterline 37 and the 4th transport stream waterline 38 for the move that sends according to control end.
With reference to figure 6, classification carrying mechanism 31 comprises rotating table 311, rotating disk 312, four carrying assembly 313 and rotary drive motor 314.Rotating table 311 is arranged in frame 70, and the housing that rotary drive motor 314 is arranged on rotating table 311 is connected with the S. A. of rotating table 311, and rotating disk 312 is arranged on the S. A. of rotating table 311.Rotary drive motor 314 drives the S. A. of rotating table 311 to rotate, thus drives rotating disk 312 to rotate.Four carrying assemblies 313 are distributed on rotating disk 312 along the even circumferential of rotating disk 312.
Each carrying assembly 313 comprises classification carrying cylinder 3131, drive plate 3132, carrying suction nozzle 3133 and inductor 3134.Classification carrying cylinder 3131 is fixed on rotating disk 312 by carrying and installation plate 3135 along Z-direction, and the piston rod that drive plate 3132 carries cylinder 3131 with classification is connected, and carrying suction nozzle 3133 is arranged on drive plate 3132 along Z-direction.Inductor 3134 is fixed on the lower surface of carrying and installation plate 3135, whether is positioned at its dead ahead for responding to carrying suction nozzle 3133.
With reference to figure 7, classification travel mechanism 34 comprise mobile support saddle 341, mobile suction nozzle 342, drive mobile suction nozzle 342 along X-direction movement X-axis classification travel mechanism 343, drive mobile suction nozzle 342 along Y direction movement Y-axis classification travel mechanism 344 and drive mobile suction nozzle 342 along Z-direction movement Z axis classification travel mechanism 345.
X-axis classification travel mechanism 343 comprises X-axis classification driver train 3431, X-axis classification guide rail 3432 and X-axis classification slide block 3433.Wherein, X-axis classification guide rail 3432 is arranged along X-direction.X-axis classification driver train 3431 comprises drive motor, bearing seat, bearing, screw mandrel and nut.X-axis classification guide rail 3432, drive motor and bearing seat are fixed on the rear portion of mobile support saddle 341, bearing carrier ring is located in bearing seat, one end of screw mandrel is installed within the bearing, the other end of screw mandrel is connected with drive motor and is driven by drive motor and rotate, nut is arranged on screw mandrel, and X-axis classification slide block 3433 is fixed on nut and with the movement of nut and slides along X-axis classification guide rail 3432.
Y-axis classification travel mechanism 344 comprises connecting sliding rail 3441, connection sliding block 3442, Y-axis bearing 3443, Y-axis classification driver train 3444, Y-axis classification guide rail 3445 and Y-axis classification slide block 3446.Connecting sliding rail 3441 is fixed on the front portion of mobile support saddle 341 and parallel with X-axis guide rail 3432 of classifying, connection sliding block 3442 is slidably mounted on connecting sliding rail 3441, Y-axis bearing 3443 along Y direction across the first transport stream waterline 35, second transport stream waterline 36, and classify with X-axis respectively in the two ends of Y-axis bearing 3443, slide block 3433 is fixedly connected with connection sliding block 3,442 3rd transport stream waterline 37 with the 4th transport stream waterline 38, Y-axis classification driver train 3444 and Y-axis classification guide rail 3445 are arranged on Y-axis bearing 3443, Y-axis classification driver train 3444 and Y-axis slide block 3446 of classifying is connected and drives Y-axis slide block 3446 of classifying to slide on Y-axis classifies guide rail 3445, Y-axis classification guide rail 3445 is arranged along Y direction.
Z axis classification travel mechanism 345 comprises Z axis classification driver train, Z axis classification guide rail and Z axis classification slide block, Z axis classification driver train and Z axis classification guide rail all by Z axis classify connecting panel (not shown) be arranged on Y-axis classification slide block 3446 on, Z axis classification driver train and Z axis slide block of classifying is connected and drives Z axis slide block of classifying to move up and down relative to mobile support saddle 341 along Z axis guide rail of classifying, Z axis classification guide rail and X-axis guide rail 3432 and Y-axis guide rail 3445 of classifying of classifying is all vertical, mobile suction nozzle 342 is arranged on the lower end of Z axis classification slide block by mobile suction nozzle connecting panel 3421 and is positioned at the first transport stream waterline 35, second transport stream waterline 36, the top of the 3rd transport stream waterline 37 and the 4th transport stream waterline 38.
X-axis classification driver train 3431, Y-axis classification driver train 3444 and Z axis classification driver train are all electrically connected with the mouth of control end.And Y-axis classification driver train 3444 and Z axis classification driver train also can adopt structure or other structure of X-axis classification driver train 3431, are not repeating at this.
As shown in Fig. 8-20, tray delivery mechanism 40 comprises pallet input/output mechanism 41 and pallet travel mechanism 42.
With reference to figure 10-14, pallet input/output mechanism 41 comprises pallet and transmits support 411, for transporting the pallet input mechanism 412 of stacking empty pallet and the pallet output mechanism 413 for being transported out by the stacking pallet of fully loaded liquid crystal module.
Particularly, as illustrated in figures 11 and 13, pallet input mechanism 412 comprises input pulley assembly 4121 and input lifting assembly 4122.Input pulley assembly 4121 comprises a pair input belt 41211, two to input belt pulley 41212 and a pair input adapter shaft 41213.A pair input adapter shaft 41213 is vertically arranged on the two ends that pallet transmits support 411 lower floor respectively, the two ends of each input adapter shaft 41213 are arranged with an input belt pulley 41212 respectively, are positioned on a pair input belt pulley 41212 on same level line and are provided with an input belt 41211.Input lifting assembly 4122 comprises input motor 41221, input cylinder 41222, input stay bearing plate 41223 and input and transports part 41224, and input is transported part 41224 and comprised a pair input and transport belt 41225, two and transport belt pulley 41226 and a pair input to input and transport adapter shaft 41227.Input cylinder 41222 is fixed on by input air cylinder base 41228 lower floor that pallet transmits support 411, the piston rod of input cylinder 41222 is connected with input stay bearing plate 41223, the two ends that adapter shaft 41227 is arranged on input stay bearing plate 41223 respectively are in the horizontal direction transported in a pair input, the two ends that adapter shaft 41227 is transported in each input are arranged with an input respectively and transport belt pulley 41226, a pair input be positioned on same vertical curve is transported on belt pulley 41226 and is provided with an input transport belt 41225, a pair input is transported belt 41225 and is received belt 42,211 a pair and dock.Input motor 41221 is arranged on input stay bearing plate 41223 and the input output shaft of motor 41221 and a pair input are transported adapter shaft 41227 and be connected and drive a pair input to transport adapter shaft 41227 and rotate, thus drive a pair input transport belt 41225 to rotate, and then send the stacking empty pallet that a pair input is transported on belt 41225 to a pair reception belt 42211.Input lifting assembly 4122 is between a pair input belt 41211.
As shown in figures 12 and 14, pallet output mechanism 413 comprises output pulley assembly 4131 and exports lifting assembly 4132.Export pulley assembly 4131 and comprise a pair output belt 41311, two to output belt pulley 41312 and a pair output adapter shaft 41313, export adapter shaft 41313 for a pair and be vertically arranged on the two ends that pallet transmits support 411 upper strata respectively, the two ends of each output adapter shaft 41313 are arranged with one respectively and export belt pulley 41312, and a pair of being positioned on same level line exports on belt pulley 41312 and be provided with an output belt 41311.Output lifting assembly 4132 comprises output motor 41321, output cylinder 41322, output stay bearing plate 41323 and exports transport part 41324, and output transport part 41324 comprises a pair output transport belt 41325, two to output transport belt pulley 41326 and a pair output transport adapter shaft 41327.Export cylinder 41322 and be fixed on by exporting air cylinder base 41328 upper strata that pallet transmits support 411, the piston rod exporting cylinder 41322 is connected with output stay bearing plate 41323, a pair output is transported adapter shaft 41327 and is arranged on the two ends exporting stay bearing plate 41323 respectively in the horizontal direction, each two ends of transporting adapter shaft 41327 that export are arranged with an output transport belt pulley 41326 respectively, a pair output be positioned on same vertical curve is transported on belt pulley 41326 and is provided with an output transport belt 41325, a pair output is transported belt 41325 and is docked with a pair transmission belt 4241.Output motor 41321 is arranged on and exports on stay bearing plate 41323 and the output shaft of output motor 41321 and a pair output are transported adapter shaft 41327 and is connected and drives a pair output to transport adapter shaft 41327 and rotate, thus drive a pair output transport belt 41325 to rotate, and then the pallet of the stacking fully loaded liquid crystal module of a pair output being transported on belt 41325 is sent to vanning operation.Export lifting assembly 4132 to export between belt 41311 at a pair.
As shown in figs. 15 to 20, pallet travel mechanism 42 comprises pallet traversing carriage 421, receives lift system 422, tray conveying mechanism 423, tray transport mechanism 424 and stackable pallet mechanism 425.Pallet transmits support 411 and is connected with pallet traversing carriage 412, and pallet traversing carriage 412 is connected with frame 70.
Wherein, receive lift system 422 and comprise receiving unit 4221 and lifting subassembly 4222.Receiving unit 4221 transports the stacking empty pallet of belt 41225 transport for receiving a pair input, lifting subassembly 4222 is promoted to the upper strata of pallet traversing carriage 421 for the stacking empty pallet received by receiving unit 4221.
With reference to Figure 16, receiving unit 4221 comprises a pair reception belt 42211, two pairs receive belt pulley 42212 and receive adapter shaft 42,213 a pair, receive the lower floor that adapter shaft 42213 is installed in parallel in pallet traversing carriage 421 respectively in the horizontal direction for a pair, the two ends of each reception adapter shaft 42213 are arranged with one respectively and receive belt pulley 42212, a pair of being positioned on same vertical curve receives on belt pulley 42212 and is provided with a reception belt 42211, one end of a pair reception belt 42211 is transported belt 41225 with a pair input and is docked, receive the stacking empty pallet that belt 41225 transmission is transported in a pair input.
With reference to Figure 17, lifting subassembly 4222 comprises lifting motor 42221, promotes slide unit 42222 and promote pushing block 42223, the mount pad (not shown) of lifting motor 42221 and lifting slide unit 42222 is fixed on the side of pallet traversing carriage 421 by erection & lift plate 42224, lifting motor 42221 drives the slide plate (not shown) promoting slide unit 42222 to move up and down, thus driving the lifting pushing block 42223 that is connected with slide plate to move up and down, lifting pushing block 42223 docks with the other end receiving belt 42211 for a pair.
As shown in figure 19, tray conveying mechanism 423 is for transporting the stacking empty pallet receiving and promote pushing block 42223 and promote in batches, each transport one deck pallet, to load liquid crystal module on every layer of pallet, it comprises carrying motor 4231, transmission shaft 4232, a pair carrying slide unit 4233, a pair carrying slide block 4234, a pair carrying cylinder 4235 and a pair handling hand 4236.Carrying motor 4231 is fixed on the upper strata of pallet traversing carriage 421, the bearing (not shown) of a pair carrying slide unit 4233 is fixed on the upper strata of pallet traversing carriage 421 by carrying contiguous block 4237 along Y direction, the output shaft of carrying motor 4231 is connected with the left end of transmission shaft 4232 by retarder (not shown) and is driven transmission shaft 4232 to rotate.The left end of transmission shaft 4232 is connected with a pair screw mandrel (not shown) respectively by bevel-gear sett (not shown) with right-hand member, and a pair carrying slide block 4234 is connected on a pair screw mandrel.The transmission shaft 4232 rotated drives screw mandrel to rotate, thus drives carrying slide block 4234 to slide along carrying slide unit 4233 by screw mandrel.A pair carrying cylinder 4235 is fixed on a pair carrying slide block 4234 respectively by cylinder contiguous block 4238, the piston rod of a pair carrying cylinder 4235 is connected with a pair handling hand 4236 respectively, thus drive a pair handling hand 4236 to do relative motion along X-direction, promote the upper end of slide unit 42222 and be positioned at the space that a pair carrying slide unit 4233 and transmission shaft 4232 surround.
As shown in figure 18, tray transport mechanism 424 is fully loaded with the pallet of liquid crystal module for the individual layer transporting a pair handling hand 4236 transport successively, and transport belt 41325 to a pair output the tray transport of the fully loaded liquid crystal module on the lifting stay bearing plate of pallet lifting assembly 4251, it comprises a pair transmission belt 4241, two pairs of transmission belt wheels 4242 and a pair transmission adapter shaft 4243, a pair transmission adapter shaft 4243 is installed in parallel in the upper strata of pallet traversing carriage 421 respectively in the horizontal direction, the two ends of each transmission adapter shaft 4243 are arranged with a transmission belt wheel 4242 respectively, be positioned on a pair transmission belt wheel 4242 on same vertical curve and a transmission belt 4241 is installed, a pair transmission belt 4241 docks with the upper end promoting slide unit 42222 and is positioned at the centre of a pair handling hand 4236, thus the pallet that the individual layer a pair handling hand 4236 transported is fully loaded with liquid crystal module is sent on the lifting stay bearing plate of pallet lifting assembly 4251.
As shown in figure 20, stackable pallet mechanism 425 carries out stacking for the pallet individual layer transported in batches being fully loaded with liquid crystal module, and it comprises pallet lifting assembly 4251 and stack assemblies 4252.
Wherein, pallet lifting assembly 4251 is for being fully loaded with the tray lift of liquid crystal module by the individual layer that a pair transmission belt 4241 transports and sending the pallet of stacking fully loaded liquid crystal module to a pair transmission belt 4241 successively, and it comprises lifting pedestal (not shown), lift cylinder (not shown) and lifting stay bearing plate (not shown).Lifting pedestal is fixed on the upper strata of pallet traversing carriage 421 and is positioned at the centre of a pair transmission belt 4241, and lift cylinder is fixed on lifting pedestal, and the piston rod of lift cylinder is connected with lifting stay bearing plate.
Stack assemblies 4252 holds up successively for the pallet that the individual layer promoted by the lift cylinder of pallet lifting assembly 4251 is fully loaded with liquid crystal module and carries out stacking with the pallet individual layer of lifting being fully loaded with liquid crystal module, and the pallet of stacking fully loaded liquid crystal module is placed on the lifting stay bearing plate of pallet lifting assembly 4251, it comprises a pair stack operation part 4253 carried slide unit 4233 respectively with a pair and dock.Each stack operation part 4253 comprises stacking bearing 42531, stacking lift cylinder 42532, stacking translation cylinder 42533 and stacking hand 42534.Stacking bearing 42531 is fixed on the upper strata of pallet traversing carriage 421, stacking lift cylinder 42532 is vertically mounted on stacking bearing 42531, stacking translation cylinder 42533 is horizontally disposed with and is connected by the piston rod of stacking connecting panel 42535 with stacking lift cylinder 42532, the piston rod of stacking translation cylinder 42533 is connected with stacking hand 42534, a pair stacking bearing 42531 with carry slide unit 4,233 a pair and dock.
With reference to Figure 21, liquid crystal module fetching device 50 comprise pick and place mobile support saddle 51, pick and place suction nozzle 52, drive pick and place suction nozzle 52 pick and place travel mechanism 53 along the X-axis of X-direction movement, drive pick and place suction nozzle 52 pick and place travel mechanism 54 along the Y-axis of Y direction movement, drive pick and place suction nozzle 52 pick and place travel mechanism 55 along the Z axis of Z-direction movement and drive pick and place that suction nozzle 52 rotates pick and place rotating mechanism 56.Pick and place mobile support saddle 51 along Y direction across the first transport stream waterline 35, second transport stream waterline 36, 3rd transport stream waterline 37 and the 4th transport stream waterline 38 to be also fixed in frame 70 and adjacent with pallet traversing carriage 421, X-axis picks and places travel mechanism 53 and is located at along X-direction and picks and places on mobile support saddle 51, Y-axis picks and places travel mechanism 54 and picks and places with X-axis that travel mechanism 53 is vertical to be connected, Z axis picks and places travel mechanism 55 and Y-axis and picks and places travel mechanism 54 and be connected and pick and place travel mechanism 53 and Y-axis with X-axis to pick and place travel mechanism 54 all vertical, pick and place rotating mechanism 56 and be installed in rotation on the lower end that Z axis picks and places travel mechanism 55, pick and place suction nozzle 52 be arranged on the lower end that picks and places rotating mechanism 56 and be positioned at the first transport stream waterline 35, second transport stream waterline 36, the top of the 3rd transport stream waterline 37 and the 4th transport stream waterline 38.
As shown in figs. 22-28, feeding spaced papers connecting gear 60 comprises feeding spaced papers supply assembly 61 and feeding spaced papers picks and places assembly 62.
Wherein, feeding spaced papers supply assembly 61 comprises feeding spaced papers support 611, feeding spaced papers lifting mechanism 612, feeding spaced papers travel mechanism 613 and feeding spaced papers supporting mechanism 614.Feeding spaced papers support 611 is connected with frame 70.Feeding spaced papers lifting mechanism 612 comprises feeding spaced papers lift drive mechanism 6121, feeding spaced papers lifting slider 6122, feeding spaced papers lifting sliding rail 6123 and feeding spaced papers pushing block 6124.Feeding spaced papers lift drive mechanism 6121 comprises lifting motor 61211, bearing seat 61212, bearing 61213, screw mandrel 61214 and nut 61215.Feeding spaced papers lifting sliding rail 6123, lifting motor 61211 and bearing seat 61212 are fixed on the side of feeding spaced papers support 611, bearing 61213 is set in bearing seat 61212, one end of screw mandrel 61214 is arranged in bearing 61213, the other end of screw mandrel 61214 is connected with lifting motor 61211 and is driven by lifting motor 61211 and rotate, nut 61215 is arranged on screw mandrel 61214, the middle part of feeding spaced papers pushing block 6124 is fixed on nut 61215 and with the mobile feeding spaced papers lifting slider 6122 being fixed on feeding spaced papers pushing block 6124 two ends that drives of nut 61215 slides along feeding spaced papers lifting sliding rail 6123.
Feeding spaced papers travel mechanism 613 comprises feeding spaced papers movable base 6131, feeding spaced papers moving guide rail 6132 and feeding spaced papers mobile guide post 6133.Feeding spaced papers movable base 6131 is provided with the scale that the length direction along feeding spaced papers support 611 is arranged.Relative with feeding spaced papers pushing block 6124 on the upper surface that feeding spaced papers moving guide rail 6132 is fixed on feeding spaced papers support 611, feeding spaced papers movable base 6131 offers and moves chute (not shown) with the feeding spaced papers of feeding spaced papers moving guide rail 6132 bearing fit, and feeding spaced papers movable base 6131 is fixed with moving handle 6134, feeding spaced papers movable base 6131 can be promoted by handle 6134 and move along feeding spaced papers moving guide rail 6132.Feeding spaced papers mobile guide post 6133 is fixed on four angles of feeding spaced papers movable base 6131, and on each feeding spaced papers mobile guide post 6133, slip cap is provided with mobile guide contiguous block 6135.
Feeding spaced papers supporting mechanism 614 comprises feeding spaced papers stay bearing plate 6141, feeding spaced papers positioning guide rail 6142, feeding spaced papers positioning sliding block 6143, feeding spaced papers adjustment strut bar 6144 and locating support 6145.Feeding spaced papers stay bearing plate 6141 is fixedly connected with mobile guide contiguous block 6135, and feeding spaced papers pushing block 6124 drives feeding spaced papers stay bearing plate 6141 to move up and down along feeding spaced papers mobile guide post 6133.Parallel with feeding spaced papers moving guide rail 6132 on the bottom surface that a pair feeding spaced papers positioning guide rail 6142 is fixed on feeding spaced papers stay bearing plate 6141.The two pairs of feeding spaced papers positioning sliding blocks 6143 respectively with a pair feeding spaced papers positioning guide rail 6142 bearing fit, the first column 6146 is fixed on feeding spaced papers positioning sliding block 6143.Locating support 6145 is fixed on the lower surface of feeding spaced papers positioning guide rail 6142 and vertical with feeding spaced papers positioning guide rail 6142, and the second column 6147 to be fixed on locating support 6145 and between feeding spaced papers positioning guide rail 6132.A pair feeding spaced papers adjustment strut bar 6144 is located between a pair feeding spaced papers positioning sliding block 6143 on same feeding spaced papers positioning guide rail 6142, the end of feeding spaced papers adjustment strut bar 6144 is provided with projection (not shown), feeding spaced papers stay bearing plate 6141 offers the adjustment chute (not shown) coordinated with projection, the two ends of feeding spaced papers adjustment strut bar 6144 are provided with adjustment handle 6148, can adjust the distance between a pair feeding spaced papers adjustment strut bar 6144 by adjustment handle 6148.Feeding spaced papers 80 be placed on feeding spaced papers adjustment strut bar 6144 on and between the first column 6146 and the second column 6147, first column 6146 and the second column 6147 not only can limit the position of feeding spaced papers 80, but also feeding spaced papers 80 can be divided into some groups equably, so that feeding spaced papers picks and places assembly 62 grabbing interval paper 80.Feeding spaced papers stay bearing plate 6141 is provided with the scale that the length direction along feeding spaced papers support 611 is arranged.By adjusting the distance between the Distance geometry a pair feeding spaced papers adjustment strut bar 6144 between two pairs of feeding spaced papers positioning sliding blocks 6143, thus the different feeding spaced papers corresponding with the liquid crystal module of different size of size can be placed.It should be noted that, the feeding spaced papers supporting mechanism 614 of the present embodiment includes the structure of three groups of identical support feeding spaced papers, namely feeding spaced papers positioning sliding block 6143, feeding spaced papers adjustment strut bar 6144, first column 6146 and the second column 6147 is comprised, can adjust according to the number of the liquid crystal module on pallet the number of getting feeding spaced papers and facilitate feeding spaced papers to pick and place assembly 62 grabbing interval paper like this, thus improve the efficiency of classification and packaging.
As shown in figure 27, feeding spaced papers picks and places assembly 62 and comprises feeding spaced papers bearing 621, X-axis feeding spaced papers travel mechanism 622, Z axis feeding spaced papers travel mechanism 623, feeding spaced papers rotating mechanism 624 and feeding spaced papers sucking disc mechanism 625.It is other that feeding spaced papers support 611 is located at by feeding spaced papers bearing 621, and feeding spaced papers bearing 621 comprises multiple supporting leg 6211 and supports transverse slat 212, and multiple supporting leg 6211 is fixed on and supports on transverse slat 6212, supports the top that transverse slat 6212 is positioned at feeding spaced papers pushing block 6124.
X-axis feeding spaced papers travel mechanism 622 comprises X-axis feeding spaced papers driver train 6221, X-axis feeding spaced papers guide rail 6222 and X-axis feeding spaced papers slide block (not shown), X-axis feeding spaced papers guide rail 6222 and X-axis feeding spaced papers driver train 6221 are arranged on and support on transverse slat 6212, X-axis feeding spaced papers driver train 6221 is connected with X-axis feeding spaced papers slide block and drives X-axis feeding spaced papers slide block to slide on X-axis feeding spaced papers guide rail 6222, and X-axis feeding spaced papers guide rail 6222 is along the horizontally set supporting transverse slat 6212.
Z axis feeding spaced papers travel mechanism 623 comprises Z axis feeding spaced papers driver train 6231, Z axis feeding spaced papers guide rail (not shown) and Z axis feeding spaced papers slide block (not shown), Z axis feeding spaced papers driver train 6231 and Z axis feeding spaced papers guide rail are all arranged on X-axis feeding spaced papers slide block by the first connecting panel 6232, and Z axis feeding spaced papers driver train 6231 is connected with Z axis feeding spaced papers slide block and drives Z axis feeding spaced papers slide block to move up and down relative to supporting transverse slat 6212 along Z axis feeding spaced papers guide rail.
Feeding spaced papers rotating mechanism 624 comprises feeding spaced papers rotating machine 6241 and rotary connection post 6242, feeding spaced papers rotating machine 6241 is fixedly connected with Z axis feeding spaced papers slide block by the second connecting panel 6233, the output shaft of feeding spaced papers rotating machine 6241 is connected with the upper end of rotary connection post 6242 and driven rotary joint pin 6242 rotates, and feeding spaced papers sucking disc mechanism 625 is arranged on the lower end of rotary connection post 6242 and is positioned at above feeding spaced papers pushing block 6124.
It should be noted that, due to the structure that X-axis feeding spaced papers travel mechanism 622 and Z axis feeding spaced papers travel mechanism 623 also can adopt the lifting mechanism of feeding spaced papers supply assembly 61, do not repeating at this.
With reference to figure 29-30, feeding spaced papers sucking disc mechanism 625 comprises feeding spaced papers sucker stand 6251, feeding spaced papers sucker bearing 6252, multiple component suction nozzle 6253, flow divider valve 6254, vacuum indicator 6255, filter 6256, electromagnetic valve 6257 and vacuum pump (not shown).Multiple component suction nozzle 6253, flow divider valve 6254, vacuum indicator 6255, filter 6256 and electromagnetic valve 6257 are installed on feeding spaced papers sucker stand 6251.Multiple component suction nozzle 6253, flow divider valve 6254, filter 6256, electromagnetic valve 6257 are connected successively with vacuum pump, vacuum indicator 6255 is connected with flow divider valve 6254 and filter 6256 by T-pipe joint (not shown), and namely three joints of T-pipe joint are connected with flow divider valve 6254, vacuum indicator 6255 and filter 6256 respectively.
Particularly, each component suction nozzle 6253 comprises suction nozzle stay bearing plate 62531, suction nozzle bearing 62532, Compress Spring 62533, soup stick 62534, feeding spaced papers suction nozzle 62535 and toggle joint 62536.Suction nozzle stay bearing plate 62531 is fixed on feeding spaced papers sucker stand 6251 by securing device 62537, suction nozzle bearing 102 is fixed on suction nozzle stay bearing plate 62531 by compact heap 62538, the lower end of soup stick 62534 is connected with feeding spaced papers suction nozzle 62535 with Compress Spring 62533 through compact heap 62538, suction nozzle stay bearing plate 62531, suction nozzle bearing 62532 from top to bottom successively, conflicts with suction nozzle bearing 62532 and feeding spaced papers suction nozzle 62535 respectively in the top and bottom of Compress Spring 62533.Toggle joint 62536 be arranged on soup stick 62534 upper end and by tracheae (not shown) and flow divider valve 6254.Wherein, securing device 62537 comprises screw rod 62538, pad 62539 and binding 62540, and screw rod 62538 is threaded with suction nozzle stay bearing plate 62531 through pad 62539,62540 free ends being fixed on screw rod 62538.
The working process of liquid crystal module class wrapping device of the present utility model is elaborated below in conjunction with Fig. 1-30.
Pan feeding conveyor line 10 transmission is placed on it the liquid crystal module to be sorted with different grade, and the liquid crystal module to be sorted on pan feeding conveyor line 10 is transported on intermediate conveyor conveyor line 27 by rotation and expanding-contracting action by four axis robot 20.
Liquid crystal module to be sorted on intermediate conveyor conveyor line 27 is transported on the first transport stream waterline 35 by four the carrying suction nozzles 3133 rotated by liquid crystal module sorting mechanism 30 successively, in the process of carrying, the second bar code reader 33 reads the back side to be had the grade information of the liquid crystal module of bar code and this grade information is sent to control end.The first bar code reader 32 above first transport stream waterline 35 reads and is positioned at the grade information that there is the liquid crystal module of bar code on the first transport stream waterline 35 and front, and described grade information is also sent to control end, the grade information that control end sends according to the first bar code reader 32 and the second bar code reader 33 sends corresponding move.Classification travel mechanism 34 drives mobile suction nozzle 342 to move along X-direction, Y direction and Z-direction according to the move that control end sends, thus the liquid crystal module to be sorted with different grade information on the first transport stream waterline 35 is moved to respectively on the second corresponding transport stream waterline 36, the 3rd transport stream waterline 37 or the 4th transport stream waterline 38, be about to the liquid crystal module do not belonged on the first transport stream waterline 35 and move to respectively on the second transport stream waterline 36, the 3rd transport stream waterline 37 or the 4th transport stream waterline 38.First transport stream waterline 35, second transport stream waterline 36, the 3rd transport stream waterline 37 and the 4th transport stream waterline 38 carry the liquid crystal module be placed on it respectively.
Stacking empty pallet is transported on input stay bearing plate 41223 by the belt 41211 that inputs for a pair of pallet input/output mechanism 41, and input cylinder 41222 promotes input stay bearing plate 41223 and the stacking empty pallet on input stay bearing plate 41223 is transported on a pair reception belt 42211 by a pair input transport belt 41225.Receive belt 42211 for a pair stacking empty pallet to be transported on lifting pushing block 42223, promote pushing block 42223 under the driving of lifting motor 42221, stacking empty pallet is risen to the upper strata of pallet traversing carriage 421.Stacking empty pallet is transported on a pair transmission belt 4241 by a pair handling hand 4236 in batches, each transport one deck empty pallet, in the process of transporting, by the movement along X-direction, Y direction, Z-direction of liquid crystal module fetching device 50 and rotating, the liquid crystal module laid respectively on the first transport stream waterline 35, second transport stream waterline 36, the 3rd transport stream waterline 37 and the 4th transport stream waterline 38 through classification is placed on the empty pallet of every layer.The pallet of fully loaded liquid crystal module is transported on the lifting stay bearing plate of pallet lifting assembly by a pair transmission belt 4241, the pallet of the fully loaded liquid crystal module on lifting stay bearing plate promotes by lift cylinder, a pair stacking hand 42534 carries out the motion of horizontal direction and vertical direction under the driving of stacking lift cylinder 42532 and stacking translation cylinder 42533, thus the pallet of the fully loaded liquid crystal module on lifting stay bearing plate is held up, then be elevated stay bearing plate under the driving of lift cylinder under remove the pallet that one deck under lifting is fully loaded with liquid crystal module, when lift cylinder by lifting stay bearing plate on lower one deck be fully loaded with liquid crystal module pallet rise time, the pallet that ground floor is first fully loaded with liquid crystal module by a pair stacking hand 42534 puts down, then hold up together with pallet ground floor and the second layer being fully loaded with liquid crystal module, circulate in this way, until by after the stackable pallet of whole fully loaded liquid crystal module, again the pallet of whole fully loaded liquid crystal module is positioned on lifting stay bearing plate.Finally, lifting stay bearing plate declines and is sent on a pair transmission belt 4241 by the pallet of stacking fully loaded liquid crystal module under the driving of lift cylinder, the pallet of stacking fully loaded liquid crystal module is transported to a pair output and transports on belt 41325 by a pair transmission belt 4241, a pair output is transported belt 41325 and is transported on a pair output belt 41311 by the pallet of stacking fully loaded liquid crystal module again, to be transported in vanning operation.
Wherein, after the liquid crystal module of having classified is placed on every one deck empty pallet, all need to place feeding spaced papers in every layer of liquid crystal module, to prevent the pallet wearing and tearing liquid crystal module be placed on it.Particularly, the feeding spaced papers stay bearing plate 6141 that feeding spaced papers connecting gear 60 is loaded with feeding spaced papers 80 by moving handle 6134 promotion on feeding spaced papers movable base 6131 moves near feeding spaced papers lifting mechanism 612 place along feeding spaced papers positioning guide rail 6142.Feeding spaced papers pushing block 6124 moves up under the driving of feeding spaced papers lift drive mechanism 6121, thus drive the feeding spaced papers stay bearing plate 6141 be positioned at above feeding spaced papers pushing block 6124 to move up along feeding spaced papers mobile guide post 6133, thus realize the lifting of feeding spaced papers 80.When feeding spaced papers 80 reaches specified altitude assignment position, feeding spaced papers picks and places the X-axis feeding spaced papers travel mechanism 622 of assembly 62, Z axis feeding spaced papers travel mechanism 623 and feeding spaced papers rotating mechanism 624 and drives feeding spaced papers sucking disc mechanism 625 to move, vertically move and do 360 ° of rotary motions in the horizontal direction respectively, thus is positioned in the pallet of fully loaded liquid crystal module by three groups of feeding spaced papers 80 by feeding spaced papers sucking disc mechanism 625.When after feeding spaced papers 80 completion of discharge, feeding spaced papers pushing block 6124 moves downward under the driving of feeding spaced papers lift drive mechanism 6121 prepares until feeding spaced papers is transported complete for promoting next group feeding spaced papers 80.
More than in conjunction with most preferred embodiment, the utility model is described, but the utility model is not limited to the embodiment of above announcement, and should contain various carry out according to essence of the present utility model amendment, equivalent combinations.

Claims (23)

1. a liquid crystal module class wrapping device, is characterized in that, comprising:
Pan feeding conveyor line (10), for transmitting the liquid crystal module to be sorted with different grade;
Four axis robot (20), for carrying the liquid crystal module to be sorted on pan feeding conveyor line (10);
Liquid crystal module sorting mechanism (30), for receiving the liquid crystal module to be sorted that four axis robot (20) are carried, and according to different grade, classifies to liquid crystal module to be sorted;
Tray delivery mechanism (40), for transmit empty pallet, stacking be loaded with liquid crystal module pallet and transmit the pallet that heap poststack is fully loaded with liquid crystal module;
Liquid crystal module fetching device (50), for moving to the empty pallet of the correspondence that tray delivery mechanism (40) transmits by upper for liquid crystal module sorting mechanism (30) liquid crystal module through classification; And
Feeding spaced papers connecting gear (60), after moving on corresponding empty pallet when liquid crystal module fetching device (50) by the liquid crystal module through classification, moves into place in the liquid crystal module of passing through classification on empty pallet by feeding spaced papers;
Four axis robot (20), liquid crystal module sorting mechanism (30), tray delivery mechanism (40), liquid crystal module fetching device (50) and feeding spaced papers connecting gear (60) are all fixed in frame (70), four axis robot (20) are positioned at the left end of frame (70), pan feeding conveyor line (10) is positioned at the work area of four axis robot (20), liquid crystal module sorting mechanism (30) is adjacent with four axis robot (20), liquid crystal module fetching device (50) is adjacent with liquid crystal module sorting mechanism (30) and be positioned at the rear end of frame (70), tray delivery mechanism (40) docks with liquid crystal sorting mechanism (30) and is positioned at the front end of frame (70), feeding spaced papers connecting gear (60) is adjacent with tray delivery mechanism (40) and be positioned at the right-hand member of frame (70).
2. liquid crystal module class wrapping device as claimed in claim 1, it is characterized in that, four axis robot (20) comprise manipulator mount pad (21), first rotating arm (22), second pivot arm (23), telescopic arm (24), 3rd pivot arm (25) and manipulator suction nozzle (26), manipulator mount pad (21) is fixed in frame (70), the left end of first rotating arm (22) is installed in rotation on manipulator mount pad (21), the right-hand member of first rotating arm (22) is connected rotationally with the left end of the second pivot arm (23), telescopic arm (24) vertically telescopically is arranged on the right-hand member of the second pivot arm (23), 3rd pivot arm (25) is installed in rotation on the lower end of telescopic arm (24), manipulator suction nozzle (26) is arranged on the lower end of the 3rd pivot arm (25).
3. liquid crystal module class wrapping device as claimed in claim 1, it is characterized in that, liquid crystal module sorting mechanism (30) comprising:
Many transport stream waterlines (35,36,37,38);
Classification carrying mechanism (31), the liquid crystal module to be sorted with different grade for four axis robot (20) being transmitted is transported to a wherein transport stream waterline (35);
First bar code reader (32), for read be positioned at described in wherein transport stream waterline (35) is upper and there is the grade information of the liquid crystal module of bar code in front, and grade information is sent to control end;
Second bar code reader (33), has the grade information of the liquid crystal module of bar code for reading the back side in classification carrying mechanism (31) handling process, and grade information is sent to control end;
Control end, for the grade information sent according to the first bar code reader (32) and the second bar code reader (33), sends corresponding move; With
Classification travel mechanism (34), moves to corresponding other transport stream waterline (36,37,38) for the move sent according to control end respectively by the liquid crystal module with different grade information;
Classification carrying mechanism (31), many transport stream waterlines (35, 36, 37, 38), first bar code reader (32), second bar code reader (33) and classification travel mechanism (34) are installed in frame (70), one end of classification carrying mechanism (31) and many transport stream waterlines (35, 36, 37, 38) adjacent, the other end of classification carrying mechanism (31) is adjacent with four axis robot (20), the top of a wherein transport stream waterline (35) described in the first bar code reader (32) is positioned at, second bar code reader (33) is positioned at classification carrying mechanism (31) below, classification travel mechanism (34) is positioned at many transport stream waterlines (35, 36, 37, 38) top, first bar code reader (32) and the second bar code reader (33) are all electrically connected with the input end of control end, classification travel mechanism (34) is electrically connected with the mouth of control end.
4. liquid crystal module class wrapping device as claimed in claim 3, it is characterized in that, classification carrying mechanism (31) comprises rotating table (311), rotating disk (312), multiple carrying assembly (313) and rotary drive motor (314), rotating table (311) is arranged in frame (70), the housing that rotary drive motor (314) is arranged on rotating table (311) is connected with the S. A. of rotating table (311), rotating disk (312) is arranged on the S. A. of rotating table (311), multiple carrying assembly (313) is fixed on the upper and even circumferential along rotating disk of rotating disk (312) and distributes.
5. liquid crystal module class wrapping device as claimed in claim 4, it is characterized in that, each carrying assembly (313) comprises classification carrying cylinder (3131), drive plate (3132), carrying suction nozzle (3133) and inductor (3134), classification carrying cylinder (3131) is fixed on rotating disk (312) by carrying and installation plate (3135) along Z-direction, the piston rod that drive plate (3132) carries cylinder (3131) with classification is connected, carrying suction nozzle (3133) is arranged on drive plate (3132) along Z-direction, inductor (3134) is fixed on the lower surface of carrying and installation plate (3135).
6. liquid crystal module class wrapping device as claimed in claim 3, it is characterized in that, classification travel mechanism (34) comprises mobile support saddle (341), mobile suction nozzle (342), drive mobile suction nozzle (342) along X-axis classification travel mechanism (343) of X-direction movement, drive mobile suction nozzle (342) along Y-axis classification travel mechanism (344) of Y direction movement and drive mobile suction nozzle (342) along Z axis classification travel mechanism (345) of Z-direction movement, mobile support saddle (341) along Y direction across many transport stream waterlines (35, 36, 37, 38) and be fixed in frame (70), X-axis classification travel mechanism (343) is located on mobile support saddle (341) along X-direction, Y-axis classification travel mechanism (344) is classified with X-axis, and travel mechanism (343) is vertical to be connected, Z axis classification travel mechanism (345) and Y-axis travel mechanism (344) of classifying is connected and all vertical with X-axis travel mechanism (343) and Y-axis travel mechanism (344) of classifying of classifying, mobile suction nozzle (342) is arranged on the lower end of Z axis classification travel mechanism (345) and is positioned at many transport stream waterlines (35, 36, 37, 38) top, X-axis classification travel mechanism (343), Y-axis classification travel mechanism (344) and Z axis classification travel mechanism are all electrically connected with the mouth of control end.
7. liquid crystal module class wrapping device as claimed in claim 6, it is characterized in that, X-axis classification travel mechanism (343) comprises X-axis classification driver train (3431), X-axis classification guide rail (3432) and X-axis classification slide block (3433), X-axis classification driver train (3431) and X-axis classification guide rail (3432) are arranged on mobile support saddle (341), X-axis classification driver train (3431) with X-axis classify slide block (3433) be connected and drive X-axis classify slide block (3433) X-axis classify guide rail (3432) go up slide, X-axis classification guide rail (3432) is arranged along X-direction, X-axis classification driver train (3431) is electrically connected with the mouth of control end, Y-axis classification travel mechanism (344) comprises connecting sliding rail (3441), connection sliding block (3442), Y-axis bearing (3443), Y-axis classification driver train (3444), Y-axis classification guide rail (3445) and Y-axis classification slide block (3446), it is upper and parallel with X-axis guide rail (3432) of classifying that connecting sliding rail (3441) is fixed on mobile support saddle (341), connection sliding block (3442) is slidably mounted on connecting sliding rail (3441), Y-axis bearing (3443) along Y direction across many transport stream waterlines (35, 36, 37, 38) and classify with X-axis respectively in the two ends of Y-axis bearing (3443), slide block (3433) is connected with connection sliding block (3442), Y-axis classification driver train (3444) and Y-axis classification guide rail (3445) are arranged on Y-axis bearing (3443), Y-axis classification driver train (3444) with Y-axis classify slide block (3446) be connected and drive Y-axis classify slide block (3446) Y-axis classify guide rail (3445) go up slide, Y-axis classification guide rail (3445) is arranged along Y direction, Y-axis classification driver train (3444) is electrically connected with the mouth of control end, Z axis classification travel mechanism (345) comprises Z axis classification driver train, Z axis classification guide rail and Z axis classification slide block, Z axis classification driver train and Z axis classification guide rail are all arranged in Y-axis classification slide block (3446) by Z axis classification connecting panel, Z axis classification driver train and Z axis slide block of classifying is connected and drives Z axis slide block of classifying to move up and down relative to mobile support saddle (341) along Z axis guide rail of classifying, Z axis classification guide rail and X-axis guide rail (3432) and Y-axis guide rail (3445) of classifying of classifying is all vertical, mobile suction nozzle (342) is arranged on the lower end of Z axis classification slide block by mobile suction nozzle connecting panel (3421), Z axis classification driver train is electrically connected with the mouth of control end.
8. liquid crystal module class wrapping device as claimed in claim 1, it is characterized in that, tray delivery mechanism (40) comprises pallet input/output mechanism (41) and pallet travel mechanism (42);
Wherein, pallet input/output mechanism (41) comprising:
Pallet transmits support (411);
Pallet input mechanism (412), for transporting stacking empty pallet;
Pallet output mechanism (413), for being transported out by the stacking pallet of fully loaded liquid crystal module, to carry out vanning operation;
Wherein, pallet input mechanism (412) and pallet output mechanism (413) are arranged on lower floor and the upper strata that pallet transmits support (411) respectively;
Pallet travel mechanism (42) comprising:
Pallet traversing carriage (421);
Receive lift system (422), for receiving stacking empty pallet that pallet input mechanism (412) transports and described stacking empty pallet being promoted to the upper strata of pallet traversing carriage (421);
Tray conveying mechanism (423), for transporting the stacking empty pallet receiving lift system (422) and promote in batches, each transport one deck pallet, to load liquid crystal module on every layer of pallet;
Tray transport mechanism (424), the individual layer transported for transporting tray conveying mechanism (423) is successively fully loaded with the pallet of liquid crystal module, and by the tray transport of the fully loaded liquid crystal module in stackable pallet mechanism (425) to pallet output mechanism (413);
Stackable pallet mechanism (425), carries out stacking for the pallet individual layer transported in batches being fully loaded with liquid crystal module;
Wherein, pallet transmits support (411) and is located at pallet traversing carriage (421) side, pallet traversing carriage (421) is connected with frame (70), tray conveying mechanism (423), tray transport mechanism (424) and stackable pallet mechanism (425) are installed in the upper strata of pallet traversing carriage (421), tray conveying mechanism (423) docks with stackable pallet mechanism (425), the lower end receiving lift system (422) is arranged on the lower floor of pallet traversing carriage (421) and docks with pallet input mechanism (412), the upper end receiving lift system (422) is positioned at the centre of tray conveying mechanism (423), tray transport mechanism (424) is positioned at the centre of stackable pallet mechanism (425) and docks with the upper end receiving lift system (422).
9. liquid crystal module class wrapping device as claimed in claim 8, it is characterized in that, receive lift system (422) and comprise a pair reception belt (42211), two pairs receive belt pulley (42212), receive adapter shaft (42213) a pair, lifting motor (42221), promote slide unit (42222) and promote pushing block (42223), receive the lower floor that adapter shaft (42213) is installed in parallel in pallet traversing carriage (421) respectively in the horizontal direction for a pair, the two ends of each reception adapter shaft (42213) are arranged with one respectively and receive belt pulley (42212), a pair of being positioned on same vertical curve receives on belt pulley (42212) and is provided with reception belt (42211), the mount pad of lifting motor (42221) and lifting slide unit (42222) is fixed on the side of pallet traversing carriage (421), lifting motor (42221) drives the slide plate promoting slide unit (42222) to move up and down, thus driving the lifting pushing block (42223) that is connected with slide plate to move up and down, lifting pushing block (42223) is docked with the mouth receiving belt (42211) for a pair.
10. liquid crystal module class wrapping device as claimed in claim 9, it is characterized in that, tray conveying mechanism (423) comprises carrying motor (4231), transmission shaft (4232), a pair carrying slide unit (4233), a pair carrying slide block (4234), a pair carrying cylinder (4235) and a pair handling hand (4236), carrying motor (4231) is fixed on the upper strata of pallet traversing carriage (421), the bearing of a pair carrying slide unit (4233) is fixed on the upper strata of pallet traversing carriage (421) along Y direction, the output shaft of carrying motor (4231) is connected with transmission shaft (4232) and drives transmission shaft (4232) to rotate, thus band is automatically connected in a pair carrying slide block (4234) at transmission shaft (4232) two ends a pair upper slip of carrying slide unit (4233), a pair carrying cylinder (4235) is separately fixed on a pair carrying slide block (4234), the piston rod of a pair carrying cylinder (4235) is connected with a pair handling hand (4236) respectively, thus drive a pair handling hand (4236) to do relative motion along X-direction, the upper end promoting slide unit (42222) is positioned at the space that a pair carrying slide unit (4233) and transmission shaft (4232) surround.
11. liquid crystal module class wrapping devices as claimed in claim 10, it is characterized in that, tray transport mechanism (424) comprises a pair transmission belt (4241), two pairs of transmission belts wheel (4242) and a pair transmission adapter shaft (4243), a pair transmission adapter shaft (4243) is installed in parallel in the upper strata of pallet traversing carriage (421) respectively in the horizontal direction, the two ends of each transmission adapter shaft (4243) are arranged with transmission belt wheel (4242) respectively, be positioned on a pair transmission belt wheel (4242) on same vertical curve and a transmission belt (4241) is installed, a pair transmission belt (4241) is docked with the upper end promoting slide unit (42222).
12. liquid crystal module class wrapping devices as claimed in claim 11, it is characterized in that, stackable pallet mechanism (425) comprises pallet lifting assembly (4251) and carries a pair stack operation part (4253) that slide unit (4233) docks respectively with a pair, pallet lifting assembly (4251) is positioned at the centre of a pair transmission belt (4241), for successively the individual layer that a pair transmission belt (4241) is transported being fully loaded with the tray lift of liquid crystal module and sending the pallet of stacking fully loaded liquid crystal module to a pair transmission belt (4241), each stack operation part (4253) comprises stacking bearing (42531), stacking lift cylinder (42532), stacking translation cylinder (42533) and stacking hand (42534), stacking bearing (42531) is fixed on the upper strata of pallet traversing carriage (421), stacking lift cylinder (42532) is vertically mounted on stacking bearing (42531), stacking translation cylinder (42533) is horizontally disposed with and is connected by the piston rod of stacking connecting panel (42535) with stacking lift cylinder (42532), the piston rod of stacking translation cylinder (42533) is connected with stacking hand (42534).
13. liquid crystal module class wrapping devices as claimed in claim 12, it is characterized in that, pallet input mechanism (412) comprises input pulley assembly (4121) and input lifting assembly (4122), input pulley assembly (4121) comprises a pair input belt (41211), two pairs of inputs belt pulley (41212) and a pair input adapter shaft (41213), a pair input adapter shaft (41213) is vertically arranged on the two ends that pallet transmits support (411) lower floor respectively, the two ends of each input adapter shaft (41213) are arranged with input belt pulley (41212) respectively, be positioned on a pair input belt pulley (41212) on same level line and input belt (41211) is installed, input lifting assembly (4122) is positioned between a pair input belt (41211) and input lifting assembly (4122) comprises input motor (41221), input cylinder (41222), input stay bearing plate (41223), belt (41225) is transported in a pair input, belt pulley (41226) and a pair input transport adapter shaft (41227) are transported in two pairs of inputs, input cylinder (41222) is fixed on the lower floor that pallet transmits support (411), the piston rod of input cylinder (41222) is connected with input stay bearing plate (41223), the two ends that adapter shaft (41227) is arranged on input stay bearing plate (41223) respectively are in the horizontal direction transported in a pair input, the two ends that adapter shaft (41227) is transported in each input are arranged with an input respectively and transport belt pulley (41226), a pair input be positioned on same vertical curve is transported on belt pulley (41226) and is provided with input transport belt (41225), the output shaft of input motor (41221) and a pair input are transported adapter shaft (41227) and are connected and drive a pair input to transport adapter shaft (41227) and rotate, thus drive a pair input to transport belt (41225) rotation, a pair input is transported belt (41225) and is docked with the input end receiving belt (42211) for a pair.
14. liquid crystal module class wrapping devices as claimed in claim 13, it is characterized in that, pallet output mechanism (413) comprises output pulley assembly (4131) and exports lifting assembly (4132), export pulley assembly (4131) and comprise a pair output belt (41311), two pairs export belt pulley (41312) and export adapter shaft (41313) a pair, export adapter shaft (41313) for a pair and be vertically arranged on the two ends that pallet transmits support (411) upper strata respectively, the two ends of each output adapter shaft (41313) are arranged with one respectively and export belt pulley (41312), a pair of being positioned on same level line exports on belt pulley (41312) and is provided with output belt (41311), export lifting assembly (4132) to be positioned between a pair output belt (41311) and to export lifting assembly (4132) and comprise output motor (41321), export cylinder (41322), export stay bearing plate (41323), belt (41325) is transported in a pair output, two pairs export transport belt pulley (41326) and a pair output transport adapter shaft (41327), export cylinder (41322) and be fixed on the upper strata that pallet transmits support (411), the piston rod exporting cylinder (41322) is connected with output stay bearing plate (41323), a pair output is transported adapter shaft (41327) and is arranged on the two ends exporting stay bearing plate (41323) respectively in the horizontal direction, each two ends of transporting adapter shaft (41327) that export are arranged with output transport belt pulley (41326) respectively, a pair output be positioned on same vertical curve is transported on belt pulley (41326) and is provided with output transport belt (41325), output shaft and a pair output of output motor (41321) are transported adapter shaft (41327) and are connected and drive a pair output to transport adapter shaft (41327) and rotate, thus drive a pair output to transport belt (41325) rotation, a pair output is transported belt (41325) and is docked with a pair transmission belt (4241).
15. liquid crystal module class wrapping devices as claimed in claim 3, it is characterized in that, liquid crystal module fetching device (50) comprises and picks and places mobile support saddle (51), pick and place suction nozzle (52), driving picks and places suction nozzle (52) and picks and places travel mechanism (53) along the X-axis of X-direction movement, driving picks and places suction nozzle (52) and picks and places travel mechanism (54) along the Y-axis of Y direction movement, what driving picked and placeed along the Z axis of Z-direction movement, suction nozzle (52) picks and places that travel mechanism (55) and driving pick and place that suction nozzle (52) rotates picks and places rotating mechanism (56), pick and place mobile support saddle (51) along Y direction across many transport stream waterlines (35, 36, 37, 38) and to be fixed on frame (70) upper and adjacent with pallet traversing carriage (421), X-axis picks and places travel mechanism (53) and is located at along X-direction and picks and places on mobile support saddle (51), Y-axis picks and places travel mechanism (54) and picks and places with X-axis that travel mechanism (53) is vertical to be connected, Z axis picks and places travel mechanism (55) and Y-axis and picks and places travel mechanism (54) and be connected and pick and place travel mechanism (53) and Y-axis with X-axis to pick and place travel mechanism (54) all vertical, pick and place rotating mechanism (56) and be installed in rotation on the lower end that Z axis picks and places travel mechanism (55), pick and place suction nozzle (52) be arranged on the lower end that picks and places rotating mechanism (56) and be positioned at many transport stream waterlines (35, 36, 37, 38) top.
16. liquid crystal module class wrapping devices as claimed in claim 1, is characterized in that, feeding spaced papers connecting gear (60) comprises feeding spaced papers supply assembly (61) and feeding spaced papers picks and places assembly (62);
Feeding spaced papers supply assembly (61) comprises feeding spaced papers support (611), feeding spaced papers lifting mechanism (612), feeding spaced papers travel mechanism (613) and feeding spaced papers supporting mechanism (614), feeding spaced papers travel mechanism (613) is arranged on feeding spaced papers support (611) and goes up and drive feeding spaced papers supporting mechanism (614) parallel motion on feeding spaced papers support (611) be located in feeding spaced papers travel mechanism (613), feeding spaced papers lifting mechanism (612) is vertically fixed on feeding spaced papers support (611) and goes up and drive feeding spaced papers supporting mechanism (614) relative spacing paper travel mechanism (613) to move up and down,
Feeding spaced papers picks and places assembly (62) and comprises feeding spaced papers bearing (621), feeding spaced papers sucking disc mechanism (625), drive feeding spaced papers sucking disc mechanism (625) along the X-axis feeding spaced papers travel mechanism (622) of X-direction movement, drive the feeding spaced papers rotating mechanism (624) that feeding spaced papers sucking disc mechanism (625) rotates along the Z axis feeding spaced papers travel mechanism (623) of Z-direction movement and driving feeding spaced papers sucking disc mechanism (625), it is other that feeding spaced papers support (611) is located at by feeding spaced papers bearing (621), feeding spaced papers bearing (621) is connected with frame (70), X-axis feeding spaced papers travel mechanism (622) is located on feeding spaced papers bearing (621) along X-direction, Z axis feeding spaced papers travel mechanism (623) is connected with X-axis feeding spaced papers travel mechanism (622) is vertical, feeding spaced papers rotating mechanism (624) is fixedly connected with Z axis feeding spaced papers travel mechanism (623), feeding spaced papers sucking disc mechanism (625) is arranged on the lower end of feeding spaced papers rotating mechanism (624) and is positioned at the top of feeding spaced papers lifting mechanism (612).
17. liquid crystal module class wrapping devices as claimed in claim 16, it is characterized in that, feeding spaced papers lifting mechanism (612) comprises feeding spaced papers lift drive mechanism (6121), feeding spaced papers lifting slider (6122), feeding spaced papers lifting sliding rail (6123) and feeding spaced papers pushing block (6124), feeding spaced papers lift drive mechanism (6121) and feeding spaced papers lifting sliding rail (6123) are all arranged on feeding spaced papers support (611) along Z-direction, feeding spaced papers lift drive mechanism (6121) is connected with feeding spaced papers pushing block (6124) and drives the feeding spaced papers lifting slider (6122) be fixedly connected with feeding spaced papers pushing block (6124) to slide along feeding spaced papers lifting sliding rail (6123), thus drive feeding spaced papers supporting mechanism (614) to move up and down.
18. liquid crystal module class wrapping devices as claimed in claim 17, it is characterized in that, feeding spaced papers lift drive mechanism (6121) comprises lifting motor (61211), bearing seat (61212), bearing (61213), screw mandrel (61214) and nut (61215), lifting motor (61211) and bearing seat (61212) are fixed on the side of feeding spaced papers support (611), bearing (61213) is set in bearing seat (61212), one end of screw mandrel (61214) is arranged in bearing (61213), the other end of screw mandrel (61214) is connected with lifting motor (61211) and is driven by lifting motor (61211) and rotate, nut (61215) is arranged on screw mandrel (61214), the middle part of feeding spaced papers pushing block (6124) is fixed on the feeding spaced papers lifting slider (6122) being fixed on feeding spaced papers pushing block (6124) two ends on nut (61215) and with the mobile drive of nut (61215) and slides along feeding spaced papers lifting sliding rail (6123).
19. liquid crystal module class wrapping devices as claimed in claim 18, it is characterized in that, feeding spaced papers travel mechanism (613) comprises feeding spaced papers movable base (6131), feeding spaced papers moving guide rail (6132) and feeding spaced papers mobile guide post (6133), it is upper and relative with feeding spaced papers pushing block (6124) that feeding spaced papers moving guide rail (6132) is fixed on feeding spaced papers support (611), feeding spaced papers movable base (6131) offers and moves chute with the feeding spaced papers of feeding spaced papers moving guide rail (6132) bearing fit, feeding spaced papers mobile guide post (6133) is fixed on feeding spaced papers movable base (6131), the upper slip cap of each feeding spaced papers mobile guide post (6133) is provided with mobile guide contiguous block (6135), mobile guide contiguous block (6135) is fixedly connected with feeding spaced papers supporting mechanism (614), feeding spaced papers pushing block (6124) drives feeding spaced papers supporting mechanism (614) to move up and down along feeding spaced papers mobile guide post (6133).
20. liquid crystal module class wrapping devices as claimed in claim 19, it is characterized in that, feeding spaced papers supporting mechanism (614) comprises feeding spaced papers stay bearing plate (6141), feeding spaced papers positioning guide rail (6142), feeding spaced papers positioning sliding block (6143), feeding spaced papers adjustment strut bar (6144) and locating support (6145), it is upper and parallel with feeding spaced papers moving guide rail (6132) that a pair feeding spaced papers positioning guide rail (6142) is fixed on feeding spaced papers stay bearing plate (6141), the two pairs of feeding spaced papers positioning sliding blocks (6143) respectively with a pair feeding spaced papers positioning guide rail (6142) bearing fit, first column (6146) is fixed on feeding spaced papers positioning sliding block (6143), second column (6147) is fixed on locating support (6145) and goes up and be positioned between feeding spaced papers positioning guide rail (6142), feeding spaced papers adjustment strut bar (6144) to be located between a pair feeding spaced papers positioning sliding block (6143) being positioned on same feeding spaced papers positioning guide rail (6142) and to be located on feeding spaced papers stay bearing plate (6141) slidably, it is upper and be positioned at the space that the first column (6146) and the second column (6147) surround that feeding spaced papers (80) is placed on feeding spaced papers adjustment strut bar (6144), feeding spaced papers stay bearing plate (6141) is fixedly connected with mobile guide contiguous block (6135), locating support (6145) is fixed on the lower surface of feeding spaced papers positioning guide rail (6142) and vertical with feeding spaced papers positioning guide rail (6142).
21. liquid crystal module class wrapping devices as claimed in claim 20, it is characterized in that, X-axis feeding spaced papers travel mechanism (62) comprises X-axis feeding spaced papers driver train (6221), X-axis feeding spaced papers guide rail (6222) and X-axis feeding spaced papers slide block, X-axis feeding spaced papers guide rail (6222) and X-axis feeding spaced papers driver train (6221) are arranged on feeding spaced papers bearing (621), X-axis feeding spaced papers driver train (6221) is connected with X-axis feeding spaced papers slide block and drives X-axis feeding spaced papers slide block above to slide at X-axis feeding spaced papers guide rail (6222), X-axis feeding spaced papers guide rail (6222) along feeding spaced papers bearing (621) horizontally set and be positioned at the top of feeding spaced papers lifting mechanism (61), Z axis feeding spaced papers travel mechanism (623) comprises Z axis feeding spaced papers driver train (6231), Z axis feeding spaced papers guide rail and Z axis feeding spaced papers slide block, Z axis feeding spaced papers driver train (6231) and Z axis feeding spaced papers guide rail are all arranged on X-axis feeding spaced papers slide block by the first connecting panel (6232), and Z axis feeding spaced papers driver train (6231) is connected with Z axis feeding spaced papers slide block and drives Z axis feeding spaced papers slide block to move up and down relative to feeding spaced papers bearing (621) along Z axis feeding spaced papers guide rail, feeding spaced papers rotating mechanism (624) comprises feeding spaced papers rotating machine (6241) and rotary connection post (6242), feeding spaced papers rotating machine (6241) is fixedly connected with Z axis feeding spaced papers slide block by the second connecting panel (6233), the output shaft of feeding spaced papers rotating machine (6241) is connected with the upper end of rotary connection post (6242) and driven rotary joint pin (6242) rotates, and feeding spaced papers sucking disc mechanism (625) is arranged on the lower end of rotary connection post (6242) and is positioned at feeding spaced papers pushing block (6124) top.
22. liquid crystal module class wrapping devices as claimed in claim 21, it is characterized in that, feeding spaced papers sucking disc mechanism (625) comprising:
Multiple component suction nozzle (6253), for drawing feeding spaced papers;
Flow divider valve (6254), for controlling the vacuum pressure in each component suction nozzle (6253), makes the vacuum pressure in each component suction nozzle (6253) keep identical;
Vacuum pump, for vacuumizing multiple component suction nozzle (6253);
Vacuum indicator (6255), for measuring the vacuum pressure in component suction nozzle (6253) in real time;
Filter (6256), for the impurity in filtered air and dust; With
Electromagnetic valve (6257), for controlling the opening and closing of vacuum pump, to control air-breathing and the venting of component suction nozzle (6253);
Multiple component suction nozzle (6253), flow divider valve (6254) and electromagnetic valve (6257) are installed on feeding spaced papers sucker stand (6251), multiple component suction nozzle (6253), flow divider valve (6254), electromagnetic valve (6257) are connected successively with vacuum pump, the two ends of filter (6256) are connected with electromagnetic valve (6257) with flow divider valve (6254) respectively, and joint is connected by T-pipe joint with flow divider valve (6254), vacuum indicator (6255) and filter (6256) respectively.
23. liquid crystal module class wrapping devices as claimed in claim 22, it is characterized in that, component suction nozzle (6253) comprises suction nozzle stay bearing plate (62531), suction nozzle bearing (62532), Compress Spring (62533), soup stick (62534), suction nozzle (62535) and toggle joint (62536), suction nozzle stay bearing plate (62531) is fixed on feeding spaced papers sucker stand (6251) by securing device (62537), soup stick (62534) is arranged on suction nozzle stay bearing plate (62531), the upper end of soup stick (62534) is connected with flow divider valve (6254) by tracheae, the lower end of soup stick (62534) is connected with suction nozzle (62535), suction nozzle bearing (62532) is fixed on suction nozzle stay bearing plate (62531) by compact heap (62538), the lower end of soup stick (62534) is from top to bottom successively through compact heap (62538), suction nozzle stay bearing plate (62531), suction nozzle bearing (62532) is connected with suction nozzle (62535) with Compress Spring (62533), conflict with suction nozzle bearing (62532) and suction nozzle (62535) respectively in the top and bottom of Compress Spring (62533), toggle joint (62536) is arranged on the upper end of soup stick (62534) and is connected with flow divider valve (6254) by tracheae.
CN201420845700.6U 2014-12-26 2014-12-26 Liquid crystal module class wrapping device Withdrawn - After Issue CN204368495U (en)

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CN201420845700.6U CN204368495U (en) 2014-12-26 2014-12-26 Liquid crystal module class wrapping device

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CN201420845700.6U CN204368495U (en) 2014-12-26 2014-12-26 Liquid crystal module class wrapping device

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CN204368495U true CN204368495U (en) 2015-06-03

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104528038A (en) * 2014-12-26 2015-04-22 昆山精讯电子技术有限公司 Liquid crystal module classified packaging device
CN105268650A (en) * 2015-10-28 2016-01-27 林蓉瑶 Registered letter sorting device
CN105460275A (en) * 2015-12-28 2016-04-06 南通同洲电子有限责任公司 Automatic sorting equipment for set top boxes
CN105711881A (en) * 2016-02-03 2016-06-29 京东方科技集团股份有限公司 LCM packaging equipment
CN106144433B (en) * 2016-08-25 2018-05-04 山东临工工程机械有限公司 Two casees method automatic butt loading and unloading devices
CN110902053A (en) * 2019-12-13 2020-03-24 苏州精濑光电有限公司 Automatic packaging equipment for display panel
CN112275657A (en) * 2020-10-13 2021-01-29 珠海市科迪电子科技有限公司 Multi-face size measuring method
KR20210062107A (en) * 2019-11-19 2021-05-31 주식회사 씨엔아이 Logistics transport system Using a Picking Robot

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104528038A (en) * 2014-12-26 2015-04-22 昆山精讯电子技术有限公司 Liquid crystal module classified packaging device
CN105268650A (en) * 2015-10-28 2016-01-27 林蓉瑶 Registered letter sorting device
CN105268650B (en) * 2015-10-28 2017-07-14 陈光敏 A kind of registered letter sorting equipment
CN105460275A (en) * 2015-12-28 2016-04-06 南通同洲电子有限责任公司 Automatic sorting equipment for set top boxes
CN105711881A (en) * 2016-02-03 2016-06-29 京东方科技集团股份有限公司 LCM packaging equipment
CN106144433B (en) * 2016-08-25 2018-05-04 山东临工工程机械有限公司 Two casees method automatic butt loading and unloading devices
KR20210062107A (en) * 2019-11-19 2021-05-31 주식회사 씨엔아이 Logistics transport system Using a Picking Robot
KR102290526B1 (en) 2019-11-19 2021-08-19 주식회사 씨엔아이 Logistics transport system Using a Picking Robot
CN110902053A (en) * 2019-12-13 2020-03-24 苏州精濑光电有限公司 Automatic packaging equipment for display panel
CN112275657A (en) * 2020-10-13 2021-01-29 珠海市科迪电子科技有限公司 Multi-face size measuring method

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