WO2022068157A1 - 一种组装前撕膜流水线 - Google Patents

一种组装前撕膜流水线 Download PDF

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Publication number
WO2022068157A1
WO2022068157A1 PCT/CN2021/083535 CN2021083535W WO2022068157A1 WO 2022068157 A1 WO2022068157 A1 WO 2022068157A1 CN 2021083535 W CN2021083535 W CN 2021083535W WO 2022068157 A1 WO2022068157 A1 WO 2022068157A1
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WO
WIPO (PCT)
Prior art keywords
product
film
assembly
driver
tearing
Prior art date
Application number
PCT/CN2021/083535
Other languages
English (en)
French (fr)
Inventor
缪磊
袁文卿
Original Assignee
苏州富强科技有限公司
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Filing date
Publication date
Application filed by 苏州富强科技有限公司 filed Critical 苏州富强科技有限公司
Publication of WO2022068157A1 publication Critical patent/WO2022068157A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00—Unpacking of articles or materials, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only

Definitions

  • the invention relates to the field of non-standard automation, in particular to a film tearing assembly line before assembly.
  • the technical problem to be solved by the present invention is to provide a pre-assembling film tearing line that can improve the efficiency of flat film tearing and the success rate of film tearing.
  • the present invention is to solve the above-mentioned technical problem and the film tearing line before assembly includes:
  • Product feeding device in which a plurality of trays for holding products are stacked;
  • a product tearing film mechanism which is arranged downstream of the product feeding device in the feeding direction;
  • the product handling mechanism includes: bases respectively arranged on both sides of the product feeding device, a conveying beam slidably connected to the two bases, a grabbing component slidably connected to the conveying beam, Take the traverse drive and the conveying drive connected by the components and the conveying beam drive.
  • the product feeding device includes:
  • the rack is provided with a product feeding station, a tray recovery station and a product transfer station arranged in sequence along a straight direction, and the relay conveying mechanism is connected to the product feeding device at the product transfer station. adjacent;
  • a product feeding assembly a tray recycling assembly and a product positioning assembly respectively located at the product feeding station, tray recovery station and product transfer station;
  • a horizontal drive assembly the power output end of which is in driving connection with the product positioning assembly.
  • the product tearing film mechanism is provided with a tearing film assembly for peeling off the film on the product;
  • the film includes:
  • annular film body adapted to and attached to the annular product
  • clamping ears connected to the outside of the membrane body and extending outward;
  • the tearing film assembly includes a tearing film driver and a tearing film clamping jaw driven by the tearing film driver;
  • the grabbing assembly includes a suction nozzle body for adsorbing annular products;
  • the annular product is handled by the gripping mechanism such that the gripping lugs extend into the gripping ends of the tear-off jaws.
  • the film body is formed with an easily broken indentation near the clamping ear;
  • the film tearing driver includes a rotating driver and a clamping driver that is drivingly connected to the power output end of the rotating driver, and the film tearing jaw is drivingly connected to the power output end of the clamping driver;
  • the rotary driver drives the clamping driver to rotate, so that the film body is disconnected from the indentation under the traction of the clamping ears. so that the membrane body is divided into:
  • the grabbing mechanism further includes a rotary drive assembly that is drive-connected to the power output end of the drive assembly, and the suction nozzle body is drive-connected to the power output end of the rotary drive assembly;
  • the rotation driver drives the clamping driver to rotate, so that the clamping ears are lifted
  • the annular product drives the annular product to move relative to the film tearing jaw through the driving component and the rotating driving component, so that The area of the lifting section increases, and the area of the fitting section decreases accordingly.
  • the inside of the suction nozzle body is hollow and is opened at the bottom to form an opening, and the periphery of the opening is provided with a plurality of suction holes arranged in a circumferential direction;
  • a limiting block is detachably installed inside the suction nozzle body, a forming groove is formed on the limiting block, and the ear part on the inner ring of the product is pressed into the forming groove to form the shape of the ear part.
  • the product positioning assembly periodically reciprocates and translates between the product loading station, the tray recovery station and the transfer station under the driving of the horizontal drive assembly.
  • the grab assembly reciprocates and slides along the transport beam under the drive of the traverse driver, and the transport beam is driven by the transport driver in the tray recovery station and the middle.
  • the grabbing component picks up a single product at the product transfer station and transports the product to the product tearing film mechanism. The product is transported to the relay conveyor.
  • the relay transmission mechanism includes:
  • the relay base is provided with a matching slide rail extending along the extension direction of the rack;
  • a relay driver which is drive-connected with the receiving seat 484;
  • the relay base is also provided with a sliding guide rod, the extension direction of the sliding guide rod is consistent with the extension direction of the matching slide rail, and the receiving seat is sleeved on the sliding guide rod ;
  • a product positioning fixture is installed on the receiving seat.
  • the tray is provided with a lifting positioning groove at the bottom thereof, and the product positioning assembly includes:
  • a lift driver which is drivingly connected with the horizontal drive assembly
  • stage which is drive-connected with the power output end of the lift driver and fitted into the lift positioning groove of a corresponding tray;
  • a tray positioning assembly is arranged on the stage, and the tray positioning assembly includes:
  • an even number of ejectors radially arranged in the circumferential direction of the stage are in driving connection with the power output end of the positioning driver.
  • One of the above technical solutions has the following advantages or beneficial effects: because it adopts a product handling mechanism, a relay transmission mechanism, a product feeding device and a product tearing film mechanism to cooperate, so that the products are fed in batches with the tray tray. , After the product is transferred to the product tearing film mechanism, the film tearing operation is performed first. After the film is peeled off, the product is transferred to the relay conveying mechanism, so as to be transferred to the next station through the relay conveying mechanism.
  • the process design is reasonable. , the feeding, film tearing and transfer after film tearing are continuous, and no additional positioning steps are required. At the same time, it also saves the manipulator, shortens the operation interval, can improve the efficiency of flat film tearing and the success rate of film tearing, and saves Equipment preparation cost.
  • Another technical solution in the above-mentioned technical solutions has the following advantages or beneficial effects: because the radially arranged jacks can center and position the tray in the horizontal circumferential direction through the lifting positioning groove, so that the tray positioning assembly is oriented to the tray. At the same time of lifting and lifting, the tray can be positioned horizontally, and the process of horizontal positioning and then lifting can be changed into horizontal positioning and lifting action synchronously, which saves positioning time and further improves feeding. efficiency.
  • Another technical solution in the above technical solutions has the following advantages or beneficial effects: because the product is adsorbed by the suction nozzle body and driven by the driving device, the product moves to the position of the product tearing film mechanism, and the forming assembly and the tearing film assembly respectively realize the push of the inner ring.
  • the ear part is used to adjust the shape of the product and grip the film and peel the film from the product. The whole process of tearing the film is smooth, the film is not easy to remain, and has a high film tearing efficiency and success rate.
  • Fig. 1 is a top view of a film tearing line before assembly proposed according to an embodiment of the present invention
  • FIG. 2 is a perspective view of a relay conveying mechanism in a tear-off film line before assembly according to an embodiment of the present invention
  • FIG. 3 is a perspective view of a product feeding device in a tear-off film line before assembly according to an embodiment of the present invention
  • FIG. 4 is a perspective view of the product feeding device in the synchronous feeding assembly line proposed according to an embodiment of the present invention after the tray tray is hidden;
  • FIG. 5 is a schematic diagram of a separation device for a product positioning assembly in a synchronous feeding assembly line proposed according to an embodiment of the present invention
  • FIG. 6 is a bottom view of a tray and a stage proposed according to an embodiment of the present invention.
  • FIG. 7 is a side view of a product positioning assembly proposed according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of a feeding driver proposed according to an embodiment of the present invention.
  • FIG. 9 is a schematic perspective view of a kickback check proposed according to an embodiment of the present invention.
  • FIG. 10 is a top view of the anti-kickback proposed according to an embodiment of the present invention.
  • FIG. 11 is a top view of the anti-return snap along A-A according to an embodiment of the present invention.
  • FIG. 12 is a top view of the anti-return snap along B-B according to an embodiment of the present invention.
  • FIG. 13 is a schematic three-dimensional structure diagram of a film tearing mechanism in an embodiment of the present invention.
  • FIG. 14 is a schematic three-dimensional structure diagram of a tear-off film assembly in an embodiment of the present invention.
  • 15 is a schematic three-dimensional structure diagram of a support in an embodiment of the present invention.
  • 16 is a schematic three-dimensional structure diagram of a stage in an embodiment of the present invention.
  • 17 is a schematic three-dimensional structure diagram of a molding assembly in an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of a forming head in an embodiment of the present invention.
  • FIG. 19 is a schematic three-dimensional structure diagram of a grabbing mechanism in a preferred embodiment of the present invention.
  • FIG. 20 is a schematic three-dimensional structure diagram of a suction assembly in an embodiment of the present invention.
  • FIG. 21 is an exploded schematic diagram of a suction assembly in an embodiment of the present invention.
  • 22 is a schematic three-dimensional structure diagram of a limit block in an embodiment of the present invention.
  • Fig. 23 is a schematic diagram of forming and processing in an embodiment of the present invention.
  • FIG. 24 is a schematic three-dimensional structure diagram of an annular product in an embodiment of the present invention.
  • the film tearing line before assembly includes:
  • Product feeding device 3 wherein a plurality of trays for holding products are stacked;
  • a relay conveying mechanism 48 which is adjacent to the product feeding device 3;
  • the product tearing film mechanism 42 is arranged downstream of the product feeding device 3 in the feeding direction;
  • the product handling mechanism 4 includes: bases 46 respectively arranged on both sides of the product feeding device 3 , a conveying beam 47 slidably connected to the two bases 46 , and a grabbing assembly 43 slidably connected to the conveying beam 47 . and a traverse drive 44 and a conveyance drive 41 which are respectively connected to the grabbing assembly 43 and the conveyance beam 47 in a driving manner.
  • the product feeding device 3 includes:
  • the rack 38 is provided with a product loading station 35, a tray recovery station 36 and a product transfer station 37 arranged in sequence along a straight direction, and the relay transmission mechanism 48 is located in the product transfer station 37. is adjacent to the product feeding device 3;
  • the product feeding assembly 31, the tray recycling assembly 33 and the product positioning assembly 32 respectively disposed at the product feeding station 35, the tray recovery station 36 and the product transfer station 37;
  • the power output end of the horizontal drive assembly 34 is drive-connected with the product positioning assembly 32 .
  • the product positioning assembly 32 periodically reciprocates and translates between the product loading station 35, the tray recovery station 36 and the transfer station 37 under the drive of the horizontal drive assembly 34;
  • the cross beam 38 is erected between the carrier positioning station 113 of the loading conveyor 11 and the product transfer station 37 of the rack 38 , and the grabbing assembly 39 is driven along the transporting drive by the transporting drive.
  • the cross beam 38 slides back and forth to switch back and forth between the carrier positioning station 113 and the product transfer station 37 .
  • the rack 38 is formed with a shuttle channel located below the product feeding assembly 31 and the tray recovery assembly 33 , and the product positioning assembly 32 is driven by the horizontal drive assembly 34 to move Reciprocating translation in the shuttle channel. Due to the arrangement of the shuttle channel, the space utilization rate is further improved, the structure of the product feeding device is more compact, the action paths of each other are shorter, and the feeding efficiency is further improved.
  • the tray has a lifting positioning groove at the bottom thereof, and the product positioning assembly 32 includes:
  • the object stage 325 which is connected with the power output end of the lift driver 323 in a driving manner and fits into the lifting positioning groove of a corresponding tray;
  • the tray positioning assembly 324 is disposed on the stage 325, and the tray positioning assembly 324 includes:
  • An even number of ejectors 3242 radially arranged in the circumferential direction of the stage 325 are in driving connection with the power output end of the positioning driver 3241 . Since the radially arranged jacking members can center and position the tray in the horizontal circumferential direction through the lifting positioning groove, the tray positioning assembly can also lift the tray in the horizontal direction while lifting the tray. Positioning, the original process of horizontal positioning and then lifting is changed to horizontal positioning and the lifting action is synchronized, which saves positioning time and further improves the feeding efficiency.
  • the top members 3242 move away from or approach each other to extend or retract from the edge of the stage 325;
  • the edge of the 325 extends out, its outer end abuts against the inner side of the lifting and positioning groove to support and position the tray 321 in the radial direction;
  • the lifting member retracts from the edge of the stage 325, The outer end thereof is separated from the inner side of the lifting positioning groove so as to unlock the positioning of the tray 321 in the radial direction.
  • the stage 325 and the lifter 3242 are completely located in the lift-up positioning groove.
  • the object stage 325 is also provided with a positioning slide rail. It should be understood that the top holder 3242 is arranged in the positioning slide rail to limit the movement direction of the top holder 3242. The object stage 325 is recessed downward to form a positioning slide rail. This embodiment saves space and can further increase the internal space of the jacking assembly.
  • the jacking members 3242 are arranged to consist of at least one positioning subset, each positioning subset including a pair of oppositely disposed jacking members 3242, and a corresponding pair in each positioning subset Under the driving of the positioning driver 3241, the jacks 3242 approach or move away from each other.
  • the lifting positioning groove is a polygon surrounded by at least four sides, the positioning subset is provided with one, and the moving direction of the lifting member 3242 in the positioning subset is the same as that of the lifting positioning groove.
  • One of the diagonals coincides. Since the moving direction of the jacking member coincides with one of the diagonal lines of the lifting positioning groove, the centering and positioning of the tray in the horizontal direction can still be achieved on the premise of reducing the number of pairs of the jacking member as much as possible. Simplified structure.
  • the product positioning assembly 32 further includes two limit plates 322 arranged opposite to each other, and the two limit plates 322 are arranged at intervals to form a lifting positioning channel between them. 325 and tray positioning assembly 324 are arranged in the jacking positioning channel.
  • the limiting plate 322 is formed with an upper limiting skirt 3221, and the upper limiting skirt 3221 is combined with the limiting plate 322 at the inner side of a corresponding one of the limiting plates 322 and is at least approximately oriented along the horizontal direction. the inner extension of the jacking positioning channel;
  • the limiting plate 322 is formed with a lower limiting skirt 3222 located directly below the upper limiting skirt 3221 , the lower limiting skirt 3222 is combined with the limiting plate 322 on the inner side of a corresponding one of the limiting plates 322 and At least approximately along the horizontal direction, it extends toward the inside of the lifting positioning channel; the tray is located between the corresponding pair of the upper limit skirts 3221 and the lower limit skirts 3222 .
  • the upper limit skirt can limit the top of the tray and adjust the levelness of the tray under the cooperation of the lift driver.
  • the lower limit skirt can support the tray.
  • the projection of the upper limit skirt 3221 and/or the lower limit skirt 3222 on the horizontal plane at least partially overlaps with the projection of the tray on the horizontal plane.
  • the tray plate there are at least two lift drivers 323 located at both ends of the stage 325 respectively, so that the heights of the two ends of the stage 325 are kept at the same level, which further makes the tray plate
  • the heights of the two ends of the tray 321 are kept the same, and at the same time, the two ends of the stage 325 are symmetrically arranged with limiting plates 322 to further ensure that the two ends of the tray 321 are on the same horizontal plane, which constitutes a double guarantee.
  • the product feeding assembly 31 includes: at least two lifting drives 313, which are fixedly installed at the product feeding station on the rack 38; at least two Clamping driver racks 311, each of the clamping drivers 311 is drivingly connected to the power output end of a corresponding one of the lifting drivers 313;
  • the two lifting drivers 313 are arranged opposite to each other and spaced apart to limit the unloading channel between the lifting drivers 313, and the power output end of each clamping driver 311 is connected to a supporting plate 3112 in a driving manner. 3112 approach or move away under the driving of the respective clamping drivers 311 .
  • the clamping driver 311 further includes a fixing portion 3111, and the fixing portion 3111 and the material support plate 3112 form a certain angle, preferably 90 degrees, and are self-contained.
  • the cross-sectional area of the end of the support plate 3112 away from the clamping driver 311 is gradually decreasing along the direction in which the upper clamping driver 311 is close to the tray.
  • cross-sectional area of the end of the support plate 3112 away from the clamping driver 311 is gradually decreasing along the direction in which the clamping driver 311 is close to the tray.
  • the jacking driver 323 is activated to move the stage 325 upward until the tray positioning member 324 fixes the tray 321 On the stage 325; further, the clamping driver 311 is activated, and moves away from the tray in the horizontal direction until the tray 3112 is lifted away from the tray 321, and then the lift driver 313 rises upward
  • the height of one tray is higher, so that the tray 3112 is inserted into the gap between the tray and the next tray, so as to support the remaining trays stored on the product feeding assembly 31 .
  • the lifting driver 323 is activated again, the stage 325 moves downward, and at the same time, the lifting driver 313 drops downward by the height of a tray, which is convenient for the next feeding action.
  • the cross-sectional area of the end of the support plate 3112 is gradually decreasing along the direction in which the clamping driver 311 is close to the tray, so as to facilitate the insertion of the support plate 3112 into the tray and the lower tray. in the gap of a tray
  • the tray recovery assembly 33 includes at least two sets of anti-return buckles 331 fixedly mounted on the rack 38 at the recovery station, and each set of the anti-return buckles 331 includes:
  • a fixing base 3312 which is fixedly mounted on the frame 38;
  • a non-return member 3311 which is rotatably connected with the fixing base 3312 so that the non-return member 3311 can rotate relative to the fixing base 3312 to switch between the unlocked state and the locked state;
  • the reset member 3314 is provided in the fixing seat 3312 and elastically acts on the non-return member 3311 , so that the non-return member 3311 rotates in a locking direction to remove the the unlocked state is reset to the locked state;
  • the non-return member 3311 includes: a rotating segment 33111, which is rotatably connected with the fixing seat 3312; A guide slope is formed, and the guide slope slopes outward from the bottom thereof, and the reset member 3314 acts between the upper inner side of the rotating section and the fixed seat 3312 .
  • the fixing member 3312 and the non-return member 3311 are provided with lateral through holes at the same level, and a rotating shaft 3313 is arranged in the lateral through holes;
  • the non-return member 3311 is provided with longitudinal through holes perpendicular to the transverse through holes, although not shown in the figure, it should be understood that the longitudinal through holes are provided with fixing bolts 3315, preferably bolts , which is detachably connected to the rotating shaft 3313 .
  • the inclination angle between the outer side of the rotating section 33111 of each set of anti-return buckles 331 and the horizontal plane is ⁇
  • the included angle between the inner side of the non-return piece 3311 and the fixing piece 3312 is ⁇
  • the tray 321 is in the recovery process. Press the non-return piece 3311 close to the fixing piece 3312 in the middle.
  • the product positioning assembly 32 is driven by the horizontal drive assembly 34 to move to the position just below the tray recovery assembly 33, and the The jacking driver 323 is activated to lift the tray 321 up, and passes the check 331 during the ascending process. Since the upper outer side of the rotating section 33111 and the outer side of the supporting section 33112 are formed with guide slopes, the rotating section The inclination angle between the outer side of 33111 and the horizontal plane is ⁇ , and the angle between the inner side of the non-return member 3311 and the fixing member 3312 is ⁇ , so in the process of the tray 321 rising, the non-return member 3311 is in the tray tray.
  • the state is the unlocked state; when the raised height of the tray 321 exceeds the anti-return buckle 331, under the action of the reset member 3314, the non-return member 3311 returns to its original state.
  • the locked state the tray 321 is supported on the horizontal plane formed by the anti-kickback 331 and the fixed section 3312, the next tray 321 to be recovered repeats the above actions, and the previous tray 321 that has been recovered is stacked on the next tray 321 to be recovered. Above the recovered tray 321, the tray 321 is finally recovered, and this action is repeated to recover the tray.
  • the feeding process of the product along with the tray is as follows: the product positioning assembly 32 moves to the right under the product feeding assembly 31 under the action of the horizontal drive assembly 34, and the lift driver 323 drives the stage 325 rises, and a pair of jacking members 3242 approach or move away from each other under the driving of the positioning driver 3241, so as to hold and position the tray from the lifting positioning groove at the bottom of the lowermost tray 321.
  • the lift drive 323 drives the tray 321 to descend into the shuttle channel, and the horizontal drive assembly 34 moves the tray 321 along the shuttle channel to the product transfer station 37 to wait for the grabbing component. 43 Grab and transport.
  • the grab assembly 43 reciprocates and slides along the conveying beam 47 driven by the traverse drive 44 , and the conveying beam 47 is driven by the conveying drive 41 on the tray.
  • the recycling station 36 and the relay transfer mechanism 48 slide back and forth, so that the grasping assembly 43 grasps a single product at the product transfer station 37 and transports the product to the product tearing mechanism 42.
  • the film on the product 45 After being torn off, the grasping assembly 43 transports the product 45 to the relay conveying mechanism 48 again.
  • the relay transmission mechanism 48 includes:
  • the relay base 481 is provided with a matching slide rail 482 extending along the extending direction of the rack 38;
  • a relay driver which is drive-connected with the receiving seat 484;
  • the relay base 481 is also provided with a sliding guide rod 483, the extension direction of the sliding guide rod 483 is consistent with the extension direction of the matching slide rail 482, and the receiving seat 484 is sleeved on the On the sliding guide rod 483 ; a product positioning fixture 485 is installed on the receiving seat 484 .
  • a product positioning fixture 485 is installed on the receiving seat 484 .
  • the product tearing film mechanism 42 is provided with a film tearing assembly 421 for peeling off the film 454 on the product 45;
  • the film 454 includes:
  • An annular film body 4541 adapted to the annular product 45 and attached to the annular product 45;
  • clamping ears 4542 which are connected to the outside of the membrane body 4541 and extend outward;
  • the tearing film assembly 421 includes a tearing film driver and a tearing film clamping jaw 4214 driven by the tearing film driver;
  • the grabbing assembly 43 includes a suction nozzle body 436 for sucking the annular product 45;
  • the annular product 45 is carried by the gripping assembly 43 so that the clamping lugs 4542 protrude into the clamping ends of the tear film jaws 4214 .
  • the annular product 45 includes an annular product body and ears 452 arranged on the inner ring of the product body;
  • the film 454 includes an annular membrane body 4541 , which is adapted to the annular product 45 and attached to the annular On the product 45, and the clamping ears 4542, which are connected to the outside of the film body 4541 and extend outward, and at the same time, the film body 4541 is formed with easily broken indentations 4543 near the clamping ears 4542;
  • the film tearing mechanism 4 includes a grabbing assembly 43 and a product tearing film mechanism 42; wherein, the grabbing assembly 43 has a built-in suction assembly for sucking the annular product 45 and a driving assembly for driving the suction assembly, and the suction assembly has a built-in suction nozzle body 436,
  • the annular product 45 is adsorbed on the suction nozzle body 436, and the annular product 45 is driven by the driving component, so as to transfer/carry the annular product 45; as shown in Figs.
  • the tear-off assembly 421 includes a tear-off driver and a tear-off gripper 4214 driven by the tear-off driver.
  • the drive assembly is used to drive the grab assembly 43 to move;
  • the mouth body 436 is adsorbed and driven by the drive assembly, so that the annular product 45 moves close to the film tearing jaw 4214.
  • the clamping ear 4542 extends into the clamping part of the film tearing jaw 4214, the tearing film jaw 4214 will clamp the ear 4542 is clamped, thereby peeling the film 454 from the annular product 45.
  • the drive assembly includes a first drive assembly 41 and a second drive assembly 44.
  • the first drive assembly 41 and the second drive assembly 44 are driven together to facilitate the movement of the suction nozzle body 436 in the direction of the horizontal plane.
  • a vertical drive assembly 431 is also provided, and the vertical drive assembly 431 drives the suction nozzle body 436 to move in the vertical direction;
  • the suction nozzle body 435 is moved in the three-axis directions of X, Y, and Z, so as to realize the movement of the annular product 45 in the film tearing device;
  • the second drive assembly 44 is installed on the movable end of the first drive assembly 41, and the movable end is the power output end of the drive after the drive module is transmitted, so that the movable parts in the drive are in the drive module.
  • the outer part It moves in a certain direction under the action of transmission, and the outer part can be connected with the movable part, so that the outer part moves with the movable part, and the movable part that drives the outer part to move is called the movable end of the driver;
  • the first drive The component 41 drives the second driving component 44 to move along the X-axis direction;
  • the grabbing component 43 is mounted on the movable end of the second driving component 44, and the second driving component 44 drives the grabbing component 43 to move along the Y-axis direction;
  • the nozzle body 436 is arranged on the movable end of the vertical drive assembly 431, so that the vertical drive assembly 431 drives the suction nozzle body 436 to move along the Z-axis direction, so that the first drive assembly 41, the second drive assembly 44, and the vertical drive assembly 431 drive the suction nozzle body 436 Move;
  • the first drive assembly 41 further includes a guide assembly, and the second drive assembly 44 is overlapped between the first drive assemblies 41.
  • the guide assembly By setting the guide assembly, the movement of the second drive assembly 44 is made more stable.
  • the gravitational support position of the grabbing component 43 is on the guide component and the movable end of the first driving component 41 , thereby reducing the supporting force on each force bearing point and improving the service life of the driving component.
  • the film tearing driver includes a rotating driver 4213 and a clamping driver that is drivingly connected to the power output end of the rotating driver 4213, and the film tearing jaw 4214 is drivingly connected to the power output end of the clamping driver; 4214 After clamping the clamping ears 4542, the rotating driver 4213 drives the clamping driver to rotate so that the film body 4541 is disconnected from the indentation 4543 under the traction of the clamping ears 4542 and the film body 4541 is divided into: adhered to the annular product 45 and the lifting section lifted from the annular product 45 under the traction of the clamping ears 4542.
  • the grab assembly 43 further includes a rotary drive assembly 434 that is drive-connected to the power output end of the drive assembly, and the suction nozzle body 436 is drive-connected to the power output end of the rotary drive assembly 434; when the rotation driver 4213 drives the clamp drive to rotate, After the clamping ears 4542 are lifted, the annular product 45 drives the annular product 45 to move relative to the tear film clamping jaw 4214 through the driving component and the rotating driving component 434, so that the area of the lifting section is increased, and the area of the fitting section is correspondingly reduced;
  • the rotary drive assembly 434 drives the suction nozzle body 436 to rotate, and at the same time, the vertical drive assembly 431 drives the suction nozzle body 436 to move along the Z-axis direction, so that the lifting trend of the lifting section gradually spreads to the abutting section until the film body and the ring The product is completely disengaged, allowing the annular product 45 on the nozzle body 436 to rapidly separate the film 454.
  • the film tearing device further includes a forming component 424, the product film tearing mechanism 42 further includes a support 423, and the forming component 424 is installed on the support 423, wherein the forming component 424 includes a forming head 4242 and a pushing module 4241; For forming the ear portion 452 of the annular product 45 , the pushing module 4241 is used to push the forming head 4242 .
  • the support 423 includes a working substrate 4231 , a carrier 425 is mounted on one side of the working substrate 4231 , and a mounting plate 4233 is mounted on the other side of the working substrate 4231 .
  • the carrier 425 is mounted on the working substrate 4231 .
  • the corresponding mounting plate 4233 is fixed on the lower surface of the working base plate 423; wherein, the mounting plate 4233 is used to receive the forming assembly 424; There are push holes 4252 penetrating the upper and lower surfaces to form a receiving ring suitable for the annular product 45.
  • the suction component sucks the annular product 45
  • the annular product 45 is transferred and pressed down on the receiving ring, and the module 4241 is pushed to drive the forming head 4242. Enter the pushing hole 4252 to push the ear portion 452 of the annular product 45 into the nozzle body 436;
  • the ring-shaped product 45 is moved to the carrier 425 after being adsorbed by the suction component.
  • the carrier 425 and the suction component press the product body 451 to fix the ring-shaped product 45;
  • the 452 is pushed until its projected position falls within the range of the product body 451 , so that the subsequent assembly process can push other products, specifically, the ears 452 originally in the horizontal position to be pushed and deformed to be vertical.
  • the shapes of the carrier 425 and the suction nozzle body 436 are basically the same as the shape of the annular product body.
  • the receiving ring and the suction nozzle body 436 clamp the product body to facilitate the forming process of the forming head 4242 and the ear portion 452. to change its shape.
  • the carrier 425 is also provided with a clamping notch 4251.
  • the rotary drive component 434 rotates the suction nozzle body 436, so that the clamping lugs 4542 fall into the clamping notch 4251 and are removed from the clamping notch 4251.
  • the clamping gap 4251 protrudes radially outward, and then the clamping ears 4542 are opposite to the film tearing jaw 4214;
  • the film tearing assembly 421 includes a linear driving module 4211, and the linear driving module 4211 drives the rotating driver 4213 toward the clamping gap.
  • the linear drive module 4211 drives the rotary driver 4213 to move along the Y-axis direction, and drives the film tearing jaws 4214 to be positioned close to each other.
  • the forming head 4242 is used to form the ear portion 452 of the annular product 45, and the pushing module 4241 is used to push the forming head 4242;
  • the suction assembly includes a suction nozzle body 436;
  • the carrier 425 is provided with a push hole 4252 penetrating the upper and lower surfaces to form a receiving ring suitable for the annular product 45, and the suction assembly transfers the annular product 45 after sucking the annular product 45 and presses it down on the receiving ring, pushing
  • the module 4241 drives the forming head 4242 into the pushing hole 4252 to push the ear portion 452 of the annular product 45 into the nozzle body 436;
  • the ring-shaped product 45 is moved to the carrier 425 after being adsorbed by the suction component.
  • the carrier 425 and the suction component press the product body 451 to fix the ring-shaped product 45;
  • the 452 is pushed until its projected position falls within the range of the product body 451 , so that the subsequent assembly process can push other products, specifically, the ears 452 originally in the horizontal position to be pushed and deformed to be vertical.
  • the shapes of the carrier 425 and the suction nozzle body 436 are basically the same as the shape of the annular product body 451 , and the receiving ring and the suction nozzle body 436 clamp the product body 451 to facilitate the forming of the ear 452 by the forming head 4242 . processed to change its shape.
  • the suction assembly includes a suction nozzle mounting seat 435, a suction nozzle body 436, and a limit block 437;
  • the annular product 45 includes an annular The product body 451 and the ear portion 452 arranged on the inner ring of the product body 451, because the position of the ear portion 452 is in the subsequent assembly process to cause interference, in order to avoid the interference phenomenon, the ear portion 452 needs to be pushed to its projected position falls within the scope of the product body 451;
  • the suction nozzle mounting seat 435 is hollow inside to form a vacuum generating chamber; the suction nozzle body 436 is hollow inside and opens at the bottom to form an opening, so that the shape of the suction nozzle body 436 is annular, corresponding to the product body 451,
  • the periphery of the opening is provided with a plurality of circumferentially arranged adsorption holes 4361;
  • the limit block 437 is detachably installed inside the suction nozzle body 436, and the limit block 437 is provided with a molding groove 4371 for limiting the product,
  • the ear portion 452 on the annular product 45 can extend into the forming groove 4371, it is convenient for the ear portion 452 to be pressed into the forming groove by a forming mechanism adapted to the forming groove 4371 according to the inner shape of the forming groove 4371.
  • the ear portion 452 is formed into a relatively simple shape to meet the adaptation of the subsequent assembly process, and the detachable installation limit block 437 is used to facilitate the replacement of different limit blocks 437 of the molding groove 4371, so as to adjust the molding.
  • the shape of the ear portion 452 can meet the requirements of different shapes of the ear portion 452;
  • a plurality of air passages 4363 are opened in the side wall of the suction nozzle body 436, and each air passage 4363 starts from the corresponding suction hole 4361 and leads to the vacuum generating chamber.
  • the suction nozzle body 436 passes through the suction hole 4361, the air passage 4363 and the The vacuum generating chambers on the suction nozzle mounting base 435 are connected, which facilitates the formation of negative pressure at the suction hole 4361 to absorb annular products; since the suction nozzle body 436 is provided with a built-in air path 4363, at the same time, according to the extension path of the air path 4363, the The suction channel is set into three sections, which not only avoids the interference of the traditional external air path to the movement path of the suction port mechanism, but also avoids the problem that the traditional external air path occupies a large space.
  • the side wall of the suction nozzle mounting seat 435 is provided with a suction hole 4351 for communicating with an external negative pressure generating device.
  • the nozzle body 436 can absorb the product body 452 from a plurality of positions, reducing the suction force at each position of the adsorption holes 4361, so that the annular product can be adsorbed.
  • the 45 is uniformly stressed, which avoids damage to the annular product 45 .
  • the opening on the suction nozzle body 436 facilitates the insertion of the ear portion 45 of the annular product 45 , which prevents the suction nozzle body 436 from touching the ear portion 452 and changing the position of the ear portion 452 during the process of grasping the annular product 45 . , it is ensured that the projection position of the ear portion 452 falls within the range of the product body 451 , which ensures the normal operation of subsequent assembly work and improves the automation efficiency.
  • a notch 4362 is formed on the side wall of the suction nozzle body 436, and a limit block 437 is embedded in the notch 4362.
  • the limit block 437 corresponds to the ear 452 of the product, the limit block 437 and the suction nozzle
  • the main body 436 is detachably connected to facilitate the disassembly of the limiting block 437 .
  • the limiting block 437 includes a mounting section and a molding section.
  • the molding section is integrally combined with the mounting section at one end of the mounting section and extends downward.
  • the limiting block 437 is mounted on the top wall of the nozzle body 436 through the mounting section.
  • the forming section is embedded in the slot 4362; in this preferred embodiment, the limiting block 437 is L-shaped, wherein the mounting section includes a fixed end 437a, the fixed end 437a is installed on the open top surface, and the forming section includes a connection
  • the part 437c and the limiting end 437d, the connecting part 437c and the limiting end 437d are arranged in the notch 4362; the downward extending trend from the installation section to the molding section includes the turning part 437b, and the position of the turning part 437b is provided with a limiting column, through the
  • the limit post is connected with the suction nozzle body 436 to limit the position of the limit block 437 , so that the limit block 437 is connected stably with the suction nozzle body 436 , and the limit block 437 is prevented from shifting during operation.
  • the cross-sectional area of the connecting portion 437c close to the limiting end 437d gradually decreases, and the cross-sectional area of the limiting end 437d away from the connecting portion 437c increases gradually, so that the end of the limiting block 437 embedded in the notch 4362 is V-shaped , a forming groove 4371 for concave inward is formed between the connecting portion 437c and the limiting end 437d.
  • the moving direction of the pushing module 4241 pushing the forming head 4242 is inclined relative to the ear portion 452 of the annular product 45 , because, during the bending process of the pushing ear portion 452 , the After the forming head 4242 cancels the pushing force on the ear portion 452, the ear portion 452 will recover to a certain extent.
  • the distance for pushing the ear portion 452 should be greater than the theoretical ear portion 452.
  • the distance from the ear 452 to the fixed position is reserved for the return distance of the ear 452 to ensure that the ear 452 is still within the fixed position after the return. Therefore, the moving direction of the forming head 4242 is inclined relative to the ear 452, which is convenient for the ear 452 to reach the fixed position.
  • the projection position falls within the position range of the product body 451;
  • the forming head 4242 includes a forming end 4242a, and one end of the forming head 4242 that pushes the annular product 45 includes a forming end 4242a;
  • the extended first limiting portion 4242b when the forming end 4242a pushes the ear portion 452 into the nozzle body 436, the first limiting portion 4242b collides with the bottom of the annular product 45, thereby restricting the forming head 4242 from extending. into the depth of the molding groove 4371.
  • the upper surface of the forming end 4242a is in contact with the ear portion 452, which is used to push the ear portion 452; Fitted in the forming groove 4371, it is used to form the shape of the ear portion 452, and the forming end 4242a is convex, wherein the upper top surface of the forming end 4242a is fitted with the ear portion 452 in a horizontal position before forming, and the forming head 424 Push the ear portion 452 so that the ear portion 452 is turned over until the ear portion 452 is out of contact with the upper top surface.
  • the side of the forming end 4242a that is adjacent to the upper top surface and connected to the first limiting portion 4242b is the pressing surface.
  • the pressing surface fits against the ear portion 452, and the forming head 4242 is driven by the pushing module 4241 to push the ear portion 452 toward the forming groove 4371, so that the pressing surface and the forming groove 4371 clamp the ear portion 452 to the final forming
  • the desired shape of the ear 452 is obtained.
  • a second limiting portion 4242c is provided on the other end of the forming head 4242 corresponding to the product, and the pushing hole 4252 restricts the passage of the second limiting portion 4242c, thereby limiting the movement distance of the forming head 4242, avoiding the forming head. 4242 collides with the inner side wall of the nozzle body 436 .
  • the forming end 4242a is connected to the first limiting portion 4242b so that a V-shaped recess is formed therebetween for the turning position where the product body 451 and the ear portion 452 are connected, so that the concave formed by the forming end 4242a and the first limiting portion 4242b corresponds to the limiting end 437d to ensure the shape of the turning position where the product body 451 and the ear portion 452 are connected.
  • the grabbing component 43 also has a built-in connecting bracket 432 and a detection component 433.
  • the detection component 433 and the rotary drive component 434 are connected to form a whole through the connection bracket 432.
  • the support plate 4321 of the assembly 434 and the power output end of the vertical drive assembly 431 are drive-connected with the connecting bracket 432, so that the connecting bracket 432 drives the detection assembly 433 and the rotary drive assembly 434 to move along the Y-axis direction, and the positioning is detected by the detection assembly 433.
  • the suction nozzle body 435 is moved to a position corresponding to the carrier 425.
  • the suction nozzle body 435 is close to the positioning seat 4232, so that the annular
  • the clamping ears 4542 correspond to the clamping gaps 4251, which is convenient for the film tearing jaws 4214 to clamp the clamping ears 454;
  • the tear film assembly 421 also includes a connecting plate 4212, and the tear film assembly 421 is connected by the connecting plate 4212 to form an integral structure.
  • the clamping driver is installed on the rotatable end of the rotating driver 4213, and the film tearing jaw 4214 is installed on the clamping end of the clamping driver, so that the tearing film assembly 421 is convenient to realize linear movement, clamping the film and turning over Film work.
  • the film tearing step of the film tearing device specifically includes, the driving component drives the suction component to move, so that the suction nozzle body 436 absorbs the annular product and moves close to the carrier 425, the detection component 433 detects the positioning, and after the positioning is completed, the suction nozzle body 436 accurately
  • the annular product is placed on the carrier 425, and the push module 4241 pushes the forming head 424, so that the forming head 4242 pushes the ear portion 452 into the nozzle body 436, while the forming component 424 forms the ear portion 452,
  • the module 4211 is linearly driven Drive the film tearing jaw 4214 to move toward the clamping notch 4251 on the stage 425, so that the tearing film jaw 4214 clamps the clamping ears 4542, and after clamping the film, the driver 4213 is rotated to drive the tearing film jaw 4214 to rotate, so that The film 454 is disconnected from the indentation 4543 under the traction of the clamping ears 4542 clamped by the
  • Rotation drives the annular product 45 to rotate in the direction of the horizontal plane.
  • the vertical drive assembly 431 drives the suction nozzle body 436 to rise, so that the lifting trend of the lifting section of the film 454 gradually spreads to the fitting section until the film body 4541 and the annular product 45 are completely separated.
  • the film 454 is torn off from the product body, and the film 454 is quickly and conveniently torn from the body of the annular product 45 through the above film tearing step, and the film tearing efficiency is higher.
  • a waste box 422 is arranged between the film tearing assembly 421 and the support 423.
  • the linear driving module 4211 drives the film tearing jaw 4214 to move away from the positioning seat 4232 along the Y-axis direction.
  • the driving module 4211 drives the tear-off film 4214 holding the tear-off film 454 to move above the waste box 422 , and the tear-off film 4214 places the tear-off film in the waste box 422 .

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Abstract

一种组装前撕膜流水线，包括：产品上料装置（3），其中码放有多个用于盛放产品的tray盘；中继传送机构（48），与产品上料装置（3）相邻接；产品搬运机构，架设于产品上料装置（3）之上；以及产品撕膜机构（42），设于产品上料装置（3）的上料方向上的下游；产品搬运机构（4）包括：分别布置于产品上料装置（3）两侧的底座（46）、滑动连接于两个底座（46）上的搬运横梁（47）、与搬运横梁（47）滑动连接的抓取组件（43）以及分别与抓取组件（43）及搬运横梁（47）传动连接的横移驱动器（44）与搬运驱动器（41）。该方案能够提高撕膜效率并提高撕膜成功率。

Description

一种组装前撕膜流水线 技术领域
本发明涉及非标自动化领域，特别涉及一种组装前撕膜流水线。
背景技术
在非标自动化中，采用不同结构形式的撕膜装置来在产品组装前将产品上的薄膜进行撕除是众所周知的。在研究和实现撕除产品薄膜的过程中，发明人发现现有技术中的撕膜装置至少存在如下问题：
结构设置不合理，导致撕膜工序繁琐、不连贯，不仅撕膜效率低下还容易出现撕除不净的问题。
有鉴于此，实有必要开发一种组装前撕膜流水线，用以解决上述问题。
发明内容
为了克服上述组装前撕膜流水线/方法所存在的问题，本发明所要解决的技术问题是提供一种能够提高平撕膜效率并提高撕膜成功率的组装前撕膜流水线。
就组装前撕膜流水线而言，本发明为解决上述技术问题的组装前撕膜流水线包括：
产品上料装置，其中码放有多个用于盛放产品的tray盘；
中继传送机构，其与所述产品上料装置相邻接；
产品搬运机构，其架设于所述产品上料装置之上；以及
产品撕膜机构，其设于所述产品上料装置的上料方向上的下游；
其中，产品搬运机构包括：分别布置于所述产品上料装置两侧的底座、滑动连接于两个底座上的搬运横梁、与所述搬运横梁滑动连接的抓取组件以及分别与与所述抓取组件及搬运横梁传动连接的横移驱动器与搬运驱动器。
可选的，所述产品上料装置包括：
机架，其上设有沿一直线方向依次设置的产品上料工位、tray盘回收工位及产品转移工位，所述中继传送机构在所述产品转移工位处与产品上料装置相邻接；
分别设于所述产品上料工位、tray盘回收工位及产品转移工位处的产品上料组件、tray盘回收组件及产品定位组件；以及
水平驱动组件，其动力输出端与所述产品定位组件传动连接。
可选的，产品撕膜机构上设置有用于剥离产品上的薄膜的撕膜组件；所述薄膜包括：
环状的膜本体，其与所述环形产品相适应并贴附于所述环形产品上；以及
夹持耳，其连接至所述膜本体的外侧并向外延伸；
其中，所述撕膜组件包括撕膜驱动器及由所述撕膜驱动器驱动的撕膜夹爪；所述抓取组件包括用于吸附环形产品的吸嘴本体；
所述环形产品通过所述抓取机构搬运，使得所述夹持耳伸入所述撕膜夹爪的夹紧端。
可选的，所述膜本体在所述夹持耳附近形成有易拉断的压痕；
所述撕膜驱动器包括转动驱动器以及与转动驱动器的动力输出端传动连接的夹持驱动器，所述撕膜夹爪与所述夹持驱动器的动力输出端传动连接；
所述撕膜夹爪将所述夹持耳夹紧后所述转动驱动器驱动所述夹持驱动器旋转以使得所述膜本体在所述夹持耳的牵引下从所述压痕处断开并使得所述膜本体被分成：
与所述环形产品粘连的贴合段；
及在所述夹持耳的牵引下从所述环形产品上掀起的掀起段。
可选的，所述抓取机构还包括与所述驱动组件的动力输出端传动连接的旋转驱动组件，所述吸嘴本体与所述旋转驱动组件的动力输出端传动连接；
当所述转动驱动器驱动所述夹持驱动器旋转，使得所述夹持耳掀起后，所述环形产品通过所述驱动组件及旋转驱动组件驱使所述环形产品相对所述撕膜夹爪运动，使得所述掀起段的面积增大，所述贴合段的面积相应减少。
可选的，所述吸嘴本体的内部中空并在其底部敞开形成敞口，所述敞口的外围设有多个周向布置的吸附孔；以及
所述吸嘴本体的内部可拆卸安装有限位块，所述限位块上形成有成型凹槽，产品内环上的耳部压入所述成型凹槽以成型所述耳部的形状。
可选的，所述产品定位组件在所述水平驱动组件的驱动下周期性地在所述产品上料工位、tray盘回收工位及转移工位间往复平移。
可选的，所述抓取组件在所述横移驱动器的驱动下沿着所述搬运横梁往复滑移，所述搬运横梁在所述搬运驱动器的驱动下在所述tray盘回收工位及中继传送机构间往复滑移，从而抓取组件每次在产品转移工位处抓取单个产品后将个该产品搬运至产品撕膜机构，产品上的薄膜被撕除后，抓取组件又将该产品搬运至中继传送机构中。
可选的，所述中继传送机构包括：
中继底座，其上设有沿着机架的延伸方向延伸的配接滑轨；
承接座，其与所述配接滑轨滑动配接；以及
中继驱动器，其与所述承接座484传动连接；
其中，所述中继底座上还设有滑动导向杆，所述滑动导向杆的延伸方向与所述配接滑轨的延伸方向相一致，所述承接座穿套于所述滑动导向杆之上；所述承接座上安装有产品定位治具。
可选的，所述tray盘在其底部开设有顶升定位槽，所述产品定位组件包括：
升降驱动器，其与所述水平驱动组件传动连接；
载物台，其与升降驱动器的动力输出端传动连接并配合至相应一个tray盘的顶升定位槽中；
tray盘定位组件，其设于所述载物台上，所述tray盘定位组件包括：
定位驱动器；以及
偶数个在所述载物台的周向上呈放射状布置的顶持件，其与所述定位驱动器的动力输出端传动连接。
上述技术方案中的一个技术方案具有如下优点或有益效果：由于其采用了产品搬运机构、中继传送机构、产品上料装置与产品撕膜机构相配合，使得产品随着tray盘批量上料后，经产品搬运机构转移至产品撕膜机构中先进行撕膜作业，撕膜完成后再将产品转移至中继传送机构中，以通过中继传送机构转移至下个工位，其工序设计合理，上料、撕膜及撕膜后转移作业连贯，并且不需要额外的定位步骤，同时还节省了机械手，缩短了操作间隔，能够提高平撕膜效率并提高撕膜成功率，此外还能够节省设备制备成本。
上述技术方案中的另一个技术方案具有如下优点或有益效果：由于放射状布置的顶持件能够通过顶升定位槽对tray盘在水平周向上进行对中定位，使得tray盘定位组件在对tray盘进行上升顶升的同时还能对tray盘进行水平方向上的定位，把原先需要先水平定位后顶升的工序变为水平定位与顶升动作同步进行，节省了定位时间，进一步提高了上料效率。
上述技术方案中的另一个技术方案具有如下优点或有益效果：由于通过吸嘴本体吸附产品，由驱动装置驱使，产品移动至产品撕膜机构位置处，成型组件与撕膜组件分别实现推动内环耳部以调整产品形状以及夹取薄膜并将薄膜从产品上剥离，整个撕膜作业过程流畅、薄膜不易残留，具有较高的撕膜效率及撕膜成功率。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例的附图作简单介绍，显而易见地，下面描述中的附图仅仅涉及本发明的一些实施例，而非对本发明的限制，其中：
图1为根据本发明一个实施方式提出的组装前撕膜流水线的俯视图；
图2为根据本发明一个实施方式提出的组装前撕膜流水线中的中继传送机构的立体图；
图3为根据本发明一个实施方式提出的组装前撕膜流水线中产品上料装置的立体图；
图4为根据本发明一个实施方式提出的同步上料流水线中产品上料装置隐藏了tray盘后的立体图；
图5为根据本发明一个实施方式提出的同步上料流水线中产品定位组件的分离装置的示意图；
图6为根据本发明一个实施方式提出的tray盘及载物台的仰视图；
图7为根据本发明一个实施方式提出的产品定位组件的侧视图；
图8为根据本发明一个实施方式提出的上料驱动器的结构示意图；
图9为根据本发明一个实施方式提出的止回扣的立体示意图；
图10为根据本发明一个实施方式提出的止回扣的俯视图；
图11为根据本发明一个实施方式提出的止回扣沿A-A的俯视图；
图12为根据本发明一个实施方式提出的止回扣沿B-B的俯视图；
图13为本发明在一实施例中撕膜机构的立体结构示意图；
图14为本发明在一实施例中撕膜组件的立体结构示意图；
图15为本发明在一实施例中支座的立体结构示意图；
图16为本发明在一实施例中载台的立体结构示意图；
图17为本发明在一实施例中成型组件的立体结构示意图；
图18为本发明在一实施例中成型头的示意图；
图19为本发明在一优选实施例中抓取机构的立体结构示意图；
图20为本发明在一实施例中吸取组件的立体结构示意图；
图21为本发明在一实施例中吸取组件的爆炸示意图；
图22为本发明在一实施例中限位块的立体结构示意图；
图23为本发明在一实施例中成型加工简图；
图24为本发明在一实施例中环形产品的立体结构示意图。
具体实施方式
下面将结合本发明实施方式中的附图，对本发明实施方式中的技术方案进行清楚、完整的描述，显然，所描述的实施方式仅仅是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在附图中，为清晰起见，可对形状和尺寸进行放大，并将在所有图中使用相同的附图标记来指示相同或相似的部件。
除非另作定义，此处使用的技术术语或者科学术语应当为本发明所属领域内具有一般技能的人士所理解的通常意义。本发明专利申请说明书以及权利要求书中使用的“第一”、“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”、“一”或者“该”等类似词语也不表示数量限制，而是表示存在至少一个。“包括”或者“包含”等类似的词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同，并不排除其他元件或者物件。“上”、“下”、“左”、“右”等仅用于表示相对位置关系，当被描述对象的绝对位置改变后，则该相对位置关系也可能相应地改变。
在下列描述中，诸如中心、厚度、高度、长度、前部、背部、后部、左边、右边、顶部、底部、上部、下部等用词是相对于各附图中所示的构造进行定义的，特别地，“高度”相当于从顶部到底部的尺寸，“宽度”相当于从左边到右边的尺寸，“深度”相当于从前到后的尺寸，它们是相对的概念，因此有可能会根据其所处不同位置、不同使用状态而进行相应地变化，所以，也不应当将这些或者其他的方位用于解释为限制性用语。
涉及附接、联接等的术语(例如，“连接”和“附接”)是指这些结构通过中间结构彼此直接或间接固定或附接的关系、以及可动或刚性附接或关系，除非以其他方式明确地说明。
根据本发明的一实施方式结合图1～图3的示出，可以看出，组装前撕膜流水线包括：
产品上料装置3，其中码放有多个用于盛放产品的tray盘；
中继传送机构48，其与所述产品上料装置3相邻接；
产品搬运机构4，其架设于所述产品上料装置3之上；以及
产品撕膜机构42，其设于所述产品上料装置3的上料方向上的下游；
其中，产品搬运机构4包括：分别布置于所述产品上料装置3两侧的底座46、滑动连接于两个底座46上的搬运横梁47、与所述搬运横梁47滑动连接的抓取组件43以及分别与与所述抓取组件43及搬运横梁47传动连接的横移驱动器44与搬运驱动器41。
参照图3～图5，所述产品上料装置3包括：
机架38，其上设有沿一直线方向依次设置的产品上料工位35、tray盘回收工位36及产品转移工位37，所述中继传送机构48在所述产品转移工位37处与产品上料装置3相邻接；
分别设于所述产品上料工位35、tray盘回收工位36及产品转移工位37处的产品上料组件31、tray盘回收组件33及产品定位组件32；以及
水平驱动组件34，其动力输出端与所述产品定位组件32传动连接。
进一步地，所述产品定位组件32在所述水平驱动组件34的驱动下周期性地在所述产品上料工位35、tray盘回收工位36及转移工位37间往复平移；所述搬运横梁38架设于所述装载传送带11的载具定位工位113与所述机架38的产品转移工位37之间，所述抓取组件39在所述搬运驱动器的驱动下沿着所述搬运横梁38往复滑移以在所述载具定位工位113与产品转移工位37之间往复切换。产品上料时，产品被码放在tary盘中并在产品上料工位35处随tray盘一同上料至产品上料组件31中，产品定位组件32在水平驱动组件34的驱动下运动至上料工位35处将tray盘连同产品一同取出随后运动至产品转移工位37处。
参照图4及图5，所述机架38上形成有位于产品上料组件31及tray盘回收组件33的下方的穿梭通道，所述产品定位组件32在所述水平驱动组件34的驱动下在所述穿梭通道中往复平移。由于穿梭通道的设置，进一步提高了空间利用率，使得产品上料装置的结构更为紧凑，彼此动作路径更短，上料效率得到进一步提高。
参照图5及图6，其清楚详细地示出了所述tray盘在其底部开设有顶升定位槽，所述产品定位组件32包括：
升降驱动器323，其与所述水平驱动组件34传动连接；
载物台325，其与升降驱动器323的动力输出端传动连接并配合至相应一个tray盘的顶升定位槽中；
tray盘定位组件324，其设于所述载物台325上，所述tray盘定位组件324包括：
定位驱动器3241；以及
偶数个在所述载物台325的周向上呈放射状布置的顶持件3242，其与所述定位驱动器3241的动力输出端传动连接。由于放射状布置的顶持件能够通过顶升定位槽对tray盘在水平周向上进行对中定位，使得tray盘定位组件在对tray盘进行上升顶升的同时还能对tray盘进行水平方向上的定位，把原先需要先水平定位后顶升的工序变为水平定位与顶升动作同步进行，节省了定位时间，进一步提高了上料效率。
进一步地，所述顶持件3242在所述定位驱动器3241的驱动下彼此远离或靠近以从所述载物台325边缘伸出或缩回；当所述顶持件3242从所述载物台325边缘伸出时，其外端与所述顶升定位槽的内侧相抵从而在径向对tray盘321进行顶持定位；当所述顶持件从所述载物台325边缘缩回时，其外端与所述顶升定位槽的内侧相分离从而对tray盘321在径向上的定位进行解锁。结合4图参考5图所示，所述载物台325与所述顶持件3242完全处于所述顶升定位槽内。
进一步地，所述载物台325上还设有定位滑轨，应当理解，所述顶持件3242设置在定位滑轨内，以限制顶持件3242的运动方向，具体优选的是，所述载物台325向下凹陷形成定位滑轨，此种实施例节省空间，可以进一步增大顶升组件的内部空间。
再次参照图5及图6，所述顶持件3242被布置为由至少一个定位子集构成，每个定位子集包括相对设置的一对顶持件3242，每个定位子集中的相应一对顶持件3242在所述定位驱动器3241的驱动下彼此靠近或远离。
进一步地，所述顶升定位槽为至少四条侧边围绕而成的多边形，所述定位子集设有一个，所述定位子集中的顶持件3242的运动方向与所述顶升定位槽的其中一条对角线相重合。由于顶持件的运动方向与所述顶升定位槽的其中一条对角线相重合可以在尽量减少顶持件对数的前提下仍能实现对tray盘在水平方向上的对中定位，进一步简化了结构。
进一步地，所述产品定位组件32还包括两块彼此相对设置的限位板322，两块所述限位板322间隔设置以形成位于两者之间的顶升定位通道，所述载物台325及tray盘定位组件324布置于所述顶升定位通道中。
进一步地，所述限位板322形成有上限位裙部3221，所述上限位裙部3221在相应一块所述限位板322的内侧结合该限位板322并且至少近似地沿着水平方向朝向所述顶升定位通道的内部延伸；
所述限位板322形成有位于所述上限位裙部3221正下方的下限位裙部3222，所述下限位裙部3222在相应一块所述限位板322的内侧结合该限位板322并且至少近似地沿着水平方向朝向所述顶升定位通道的内部延伸；tray盘位于相应一对所述上限位裙部3221与下限位裙部3222之间。当tray盘位于相应一对所述上限位裙部与下限位裙部之间时，上限位裙部能够对tray盘的顶部进行限位并在升降驱动器的配合下，对tray盘的水平度进行定位，下限位裙部则能够 对tray盘进行承托。
进一步地，所述上限位裙部3221和/或下限位裙部3222在水平面上的投影与tray盘在水平面上的投影至少部分重叠。
具体的，再次参考图7，所述顶升驱动器323至少设有两个，分别位于所述载物台325的两端，使得所述载物台325两端的高度保持在同一水平面进一步使得tray盘321两端的高度保持一致，同时，所述载物台325的两端对称设置有限位板322进一步使得所述tray盘321两端处于同一水平面上，组成双重保证。
结合图4与图7的示出可以看出，所述产品上料组件31包括：至少两个升降驱动器313，其固定安装于所述机架38上的产品上料工位处；至少两个夹持驱动器机架311，每个所述夹持驱动器311与相应一个所述升降驱动器313的动力输出端传动连接；
其中，两两升降驱动器313相对且间隔设置以限制出位于升降驱动器313之间的下料通道，每个夹持驱动器311的动力输出端传动连接有托料板3112，两两所述托料板3112在各自夹持驱动器311的驱动下靠近或远离。
进一步地，所述夹持驱动器311还包括固定部3111，所述固定部3111与所述托料板3112成一定角度优选为90度且自成一体。所述托料板3112远离夹持驱动器311的一端的横截面积沿着所述上夹持驱动器311靠近tray盘的方向呈逐渐递减之势。
进一步地，所述托料板3112远离夹持驱动器311的一端的横截面积沿着所述夹持驱动器311靠近tray盘的方向呈逐渐递减之势。
在具体实施方式中，当产品定位组件32移动至产品上料组件31的正下方时，顶升驱动器323启动，使所述载物台325向上运动，直至tray盘定位件324将tray盘321固定在载物台325上；进一步地，所述夹持驱动器311启动，水平方向上向远离tray盘的方向运动，直至托料板3112托离所述tray盘321，随后所述升降驱动器313向上升高一个tray盘的高度，使得托料板3112插入所述tray盘与下一tray盘的空隙中，从而支撑起余下存储在产品上料组件31上的tray盘。此时，顶升驱动器323再次启动时载物台325向下运动，同时，所述升降驱动器313向下下降一个tray盘的高度，方便下一次上料动作。
进一步地，所述托料板3112其端部的横截面积沿着所述夹持驱动器311靠近tray盘的方向呈逐渐递减之势，以方便所述托料板3112插入所述tray盘与下一tray盘的空隙中
再次结合图4及图10，所述tray盘回收组件33包括固定安装于所述机架38上的回收工位处的至少两组止回扣331，每组所述止回扣331包括：
固定座3312，其固定安装于所述机架38上；
止回件3311，其与所述固定座3312转动连接使得所述止回件3311能够相对所述固定座3312转动以在解锁状态及锁止状态间切换；以及
结合图10参考图11，复位部件3314，所述复位部件设于所述固定座3312中并弹性作用于所述止回件3311，使得所述止回件3311沿一锁止方向旋转以从所述解锁状态复位至所述锁止状态；
其中，所述止回件3311包括：转动段33111，其与所述固定座3312转动连接；以及承托段33112，其固定至所述转动段33111的上部外侧并且所述承托段33112的外侧形成有引导斜面，所述引导斜面从其底部出发向外倾斜，所述复位部件3314作用于所述转动段的上部内侧与所述固定座3312之间。
现在结合图10及图11，所述固定件3312与所述止回件3311设有处于同一水平高度的横向通孔，所述横向通孔内设有转轴3313；为避免转轴3313脱离所述横向通孔，所述止回件3311上设有与横向通孔相垂直的纵向通孔，虽然没有在图中示出，应当理解，所述纵向通孔内设有固定栓3315，优选的是螺栓，与所述转轴3313可拆卸连接。
进一步地，每组止回扣331的转动段33111的外侧与水平面的倾斜角为α，且所述止回件3311内侧与所述固定件3312之间的夹角为β，tray盘321在回收过程中挤压所述止回件3311靠近固定件3312。
当所述产品定位组件32上的tray盘321在转移工位37上被取空后，所述产品定位组件32在水平驱动组件34的驱动下移至tray盘回收组件33的正下方，所述顶升驱动器323启动，将所述tray盘321上升，在上升过程中经过所述止回扣331，由于所述转动段33111的上部外侧并且所述承托段33112的外侧形成有引导斜面，转动段33111的外侧与水平面的倾斜角为α，且所述止回件3311内侧与所述固定件3312之间的夹角为β，所以在tray盘321上升的过程中，止回件3311在tray盘321的挤压下会逐渐向固定件3312靠近此时状态为解锁状态；当tray盘321的上升的高度超过止回扣331后，在复位部件3314的作用下，所述止回件3311恢复到原来的锁止状态，所述tray盘321被支撑在止回扣331与固定段3312形成的水平面上，下一个待回收的tray盘321重复以上动作，上一个已回收的tray盘321被堆叠在下一个待回收的tray盘321的上方，最终实现tray盘321回收，重复循环此动作实现回收tray盘。
综上所述，产品随同tray盘的上料过程为：所述产品定位组件32在水平驱动组件34的作用下移动到所述产品上料组件31的正下方，顶升驱动器323驱动载物台325上升，一对顶持件3242在所述定位驱动器3241的驱动下彼此靠近或远离，以从最下面的tray盘321底部的顶升定位槽对该tray盘进行顶持并定位，待tray盘321被顶持件顶持定位稳定后，升降驱动器323带动tray盘321下降至穿梭通道中，水平驱动组件34带着该tray盘321沿着穿梭通道移动到产品转移工位37上等待抓取组件43进行抓取搬运。
参照图1，所述抓取组件43在所述横移驱动器44的驱动下沿着所述搬运横梁47往复滑移，所述搬运横梁47在所述搬运驱动器41的驱动下在所述tray盘回收工位36及中继传送机构48间往复滑移，从而抓取组件43每次在产品转移工位37处抓取单个产品后将该产品搬运至产品撕膜机构42，产品45上的薄膜被撕除后，抓取组件43又将该产品45搬运至中继传送机构48中。
参照图2，所述中继传送机构48包括：
中继底座481，其上设有沿着机架38的延伸方向延伸的配接滑轨482；
承接座484，其与所述配接滑轨482滑动配接；以及
中继驱动器，其与所述承接座484传动连接；
其中，所述中继底座481上还设有滑动导向杆483，所述滑动导向杆483的延伸方向与所述配接滑轨482的延伸方向相一致，所述承接座484穿套于所述滑动导向杆483之上；所述承接座484上安装有产品定位治具485。抓取组件43每次在产品转移工位37处抓取单个产品后将该产品搬运至产品撕膜机构42，产品45上的薄膜被撕除后，抓取组件43又将该产品45搬运至中继传送机构48中，随后承接座484在所述中继驱动器的驱动下沿着配接滑轨482向下一个工位滑移，在滑移过程中产品定位治具485能够对其中的产品稳定夹持定位，从而节约了额外的定位步骤，提高了上料效率。
参照图13～图14，产品撕膜机构42上设置有用于剥离产品45上的薄膜454的撕膜组件421；所述薄膜454包括：
环状的膜本体4541，其与所述环形产品45相适应并贴附于所述环形产品45上；以及
夹持耳4542，其连接至所述膜本体4541的外侧并向外延伸；
其中，所述撕膜组件421包括撕膜驱动器及由所述撕膜驱动器驱动的撕膜夹爪4214；所述抓取组件43包括用于吸附环形产品45的吸嘴本体436；
所述环形产品45通过所述抓取组件43搬运，使得所述夹持耳4542伸入所述撕膜夹爪4214的夹紧端。
参考如图13所示，环形产品45包括环形的产品本体以及设置在产品本体内环上的耳部452；薄膜454包括环状的膜本体4541，其与环形产品45相适应并贴附于环形产品45上，以及夹持耳4542，其连接至膜本体4541的外侧并向外延伸，同时，膜本体4541在夹持耳4542附近形成有易拉断的压痕4543；
撕膜机构4包括抓取组件43、产品撕膜机构42；其中，抓取组件43内置有用于吸附环形产品45的吸取组件及驱动吸取组件的驱动组件，吸取组件其内置有吸嘴本体436，环形产品45吸附在吸嘴本体436，环形产品45通过驱动组件驱使，从而实施转移/搬运环形产品45；参考图13、14所示，产品撕膜机构42，其上设置有用于夹取贴附在环形产品45上薄膜454的撕膜组件421，撕膜组件421包括撕膜驱动器及由撕膜驱动器驱动的撕膜夹爪4214，驱动组件用于驱使抓取组件43移动；环形产品45通过吸嘴本体436吸附，由驱动组件带动，从而使得环形产品45移动靠近撕膜夹爪4214，当夹持耳4542伸入撕膜夹爪4214的夹紧部时，撕膜夹爪4214将夹持耳4542夹紧，进而将薄膜454从环形产品45上剥离下来。
具体地，驱动组件包括第一驱动组件41、第二驱动组件44，通过第一驱动组件41、第二驱动组件44配合驱使下，便于吸嘴本体436在水平面方向上移动；抓取组件43内还设置有垂直驱动组件431，垂直驱动组件431驱使吸嘴本体436在垂直方向上移动；
通过第一驱动组件41、第二驱动组件44、垂直驱动组件431，以便于吸嘴本体435在X、Y、Z三轴方向上移动，以实现环形产品45在该撕膜设备内的移动；具体地，第二驱动组件44安装在第一驱动组件41的可移动端上，其中的可移动端为驱动器的动力输出端通过传动模组传动后，使得驱动器内的可动部件在传动模组传动作用下按一定的方向移 动，外部部件可与可动部件连接，从而使得外部部件随着可动部件运动，而带动外部部件移动的可动部件被称为驱动器的可移动端；第一驱动组件41驱使第二驱动组件44沿X轴方向移动；抓取组件43安装在第二驱动组件44的可移动端上，第二驱动组件44驱使抓取组件43沿Y轴方向移动；吸嘴本体436设置在垂直驱动组件431的可移动端上，使得垂直驱动组件431驱动吸嘴本体436沿Z轴方向移动，从而第一驱动组件41、第二驱动组件44、垂直驱动组件431驱动吸嘴本体436移动；
第一驱动组件41还包括导向组件，将第二驱动组件44搭接在第一驱动组件41之间，通过设置导向组件，使得第二驱动组件44运动更加稳定，通过将第二驱动组件44以及抓取组件43的重力支撑位置在导向组件以及第一驱动组件41的可移动端上，从而减小了每一个受力点上的支持力，以提高驱动组件的使用寿命。
在一优选实施例中，撕膜驱动器包括转动驱动器4213以及与转动驱动器4213的动力输出端传动连接的夹持驱动器，撕膜夹爪4214与夹持驱动器的动力输出端传动连接；撕膜夹爪4214将夹持耳4542夹紧后转动驱动器4213驱动夹持驱动器旋转以使得膜本体4541在夹持耳4542的牵引下从压痕4543处断开并使得膜本体4541被分成：与环形产品45粘连的贴合段；及在夹持耳4542的牵引下从环形产品45上掀起的掀起段。
具体地，抓取组件43还包括与驱动组件的动力输出端传动连接的旋转驱动组件434，吸嘴本体436与旋转驱动组件434的动力输出端传动连接；当转动驱动器4213驱动夹持驱动器旋转，使得夹持耳4542掀起后，环形产品45通过驱动组件及旋转驱动组件434驱使环形产品45相对撕膜夹爪4214运动，使得掀起段的面积增大，贴合段的面积相应减少；在本优选实施例中，旋转驱动组件434驱使吸嘴本体436转动，同时，垂直驱动组件431驱动吸嘴本体436沿Z轴方向上移动，使得掀起段的掀起趋势逐渐向贴合段蔓延直至膜本体与环形产品完全脱离，使得吸嘴本体436上的环形产品45快速地将薄膜454分离出来。
该撕膜装置还包括成型组件424，产品撕膜机构42还包括支座423，成型组件424安装在支座423上，其中，成型组件424包括成型头4242以及推动模组4241；成型头4242用于成型环形产品45的耳部452，推动模组4241用于推动成型头4242。
如图15、16所示，支座423包括工作基板4231，工作基板4231的一面上安装有载台425，工作基板4231的另一面上安装有安装板4233，具体地，载台425安装在工作基板423的上表面上，对应的安装板4233固定在工作基板423的下表面；其中，安装板4233用于承接成型组件424；成型头4242的运动方向相对于工作基板4231倾斜，载台425上开设有贯穿上下表面的顶推孔4252以形成与环形产品45相适应的承接环，吸取组件吸取环形产品45后将环形产品45转移并下压至承接环上，推动模组4241驱动成型头4242进入顶推孔4252以将环形产品45的耳部452顶推至吸嘴本体436内；
环形产品45通过吸取组件吸附后移动至载台425，载台425以及吸取组件压紧产品本体451，从而固定环形产品45；在环形产品45固定后，推动模组4241推动成型头4242，耳部452被推动至其投影位置落在产品本体451的范围， 以便于后续装配过程将其他产品，具体地，将原处于水平位置的耳部452顶推变形至竖直。
具体的，载台425以及吸嘴本体436的形状与环形的产品本体形状基本上呈一致，承接环以及吸嘴本体436夹紧产品本体，以方便对成型头4242对耳部452实施成型加工，以改变其形状。
载台425上还开设有夹持缺口4251，当吸取组件将环形产品搬运至载台425上时，旋转驱动组件434转动吸嘴本体436，使得夹持耳4542落于夹持缺口4251中并从夹持缺口4251中沿径向向外突出，进而夹持耳4542与撕膜夹爪4214相对；撕膜组件421包括直线驱动模组4211，通过直线驱动模组4211驱动转动驱动器4213朝向夹持缺口4251方向移动，使得撕膜夹爪4214伸入夹持缺口4251夹取夹持耳4542；具体地，直线驱动模组4211驱动转动驱动器4213沿Y轴方向移动，并带动撕膜夹爪4214靠近定位座4232；
成型头4242用于成型环形产品45的耳部452，推动模组4241用于推动成型头4242；吸取组件包括吸嘴本体436；
进一步地，载台425上开设有贯穿上下表面的顶推孔4252以形成与环形产品45相适应的承接环，吸取组件吸取环形产品45后将环形产品45转移并下压至承接环上，推动模组4241驱动成型头4242进入顶推孔4252以将环形产品45的耳部452顶推至吸嘴本体436内；
环形产品45通过吸取组件吸附后移动至载台425，载台425以及吸取组件压紧产品本体451，从而固定环形产品45；在环形产品45固定后，推动模组4241推动成型头4242，耳部452被推动至其投影位置落在产品本体451的范围，以便于后续装配过程将其他产品，具体地，将原处于水平位置的耳部452顶推变形至竖直。
具体的，载台425以及吸嘴本体436的形状与环形的产品本体451形状基本上呈一致，承接环以及吸嘴本体436夹紧产品本体451，以方便对成型头4242对耳部452实施成型加工，以改变其形状。
为了方便耳部452顶推避免吸取组件与耳部452产生干涉；如图20-22所示，吸取组件包括吸嘴安装座435、吸嘴本体436、限位块437；环形产品45包括环形的产品本体451以及设置在产品本体451内环上的耳部452，由于，耳部452的位置在进行后续装配加工中，以产生干涉，为了避免干涉现象，耳部452需要被推动至其投影位置落在产品本体451的范围；
具体地，吸嘴安装座435，其内部中空以形成真空发生室；吸嘴本体436，其内部中空并在其底部敞开形成敞口，使得吸嘴本体436的形状呈环形，对应产品本体451，敞口的外围设有多个周向布置的吸附孔4361；限位块437，其可拆卸安装于吸嘴本体436的内部，限位块437上设置有用于限位产品的成型凹槽4371，同时，由于，环形产品45上的耳部452可伸入成型凹槽4371，便于根据成型凹槽4371的内部形状，耳部452通过与成型凹槽4371相适配的成型机构被压入成型凹槽4371内，将耳部452成型较为简单的形状以满足后续装配过程的适配，通过可拆卸安装的限位块437，方便进行更换成型凹槽4371不同的限位块437，从而调整成型出的耳部452的形状，以满足不同耳部452形状需求；
其中，吸嘴本体436的侧壁内开设有多根气路4363，每根气路4363从相对应的吸附孔4361出发引导至真空发生室，吸嘴本体436通过吸附孔4361、气路4363与吸嘴安装座435、上的真空发生室连通，便于吸附孔4361处形成负压 以吸附环形产品；由于吸嘴本体436上设置有内置式的气路4363，同时根据气路4363的延伸路径将吸取通道设置成三段，不仅避免了传统外置式气路对吸口机构的运动路径产生干扰，还避免了传统外置式气路占用空间较大的问题。
进一步地，吸嘴安装座435的侧壁上开设有用于连通外部负压产生设备的吸气孔4351，吸气孔4351与吸附孔4361连通，吸附孔4361处形成负压，使得吸嘴本体436吸附环形产品，通过在敞口周向布置的多个吸附孔4361，以使得吸嘴本体436从多个位置处吸附产品本体452，减小了每个吸附孔4361位置处的吸力，使得环形产品45受力均匀，避免了环形产品45的损坏。
进一步地，吸嘴本体436上的敞口便于环形产品45的耳部45伸入，避免了在抓取环形产品45的过程中吸嘴本体436触碰到耳部452，改变耳部452的位置，保证了耳部452处于其投影位置落在产品本体451范围内，保障了后续装配工作正常进行，提高了自动化效率。
在一优选实施例中，吸嘴本体436的侧壁上开设有槽口4362，槽口4362内嵌设有限位块437，限位块437对应产品的耳部452，限位块437与吸嘴本体436可拆卸连接，方便拆卸限位块437。
具体地，限位块437包括安装段以及成型段，成型段在安装段的一端一体式地结合安装段并向下延伸，限位块437通过安装段安装至吸嘴本体436的顶壁上，成型段嵌设于槽口4362内；在本优选实施例中，限位块437呈L型，其中，安装段包括固定端437a，固定端437a安装在敞口的顶面上，成型段包括连接部437c以及限位端437d，连接部437c以及限位端437d设置在槽口4362；安装段至成型段的向下延伸趋势的部分包括转折部437b，转折部437b位置处设置有限位柱，通过限位柱与吸嘴本体436连接限制限位块437的位置，使得限位块437与吸嘴本体436连接稳定，避免了限位块437在工作过程中出现偏移。
其中，连接部437c靠近限位端437d的横截面积逐渐减小，限位端437d远离连接部437c横截面积逐渐增大，使得限位块437的嵌设在槽口4362的一端呈V型，连接部437c与限位端437d间形成用于向内凹陷的成型凹槽4371。
如图17、18所示，在一优选实施例中，推动模组4241推动成型头4242运动方向相对于环形产品45的耳部452倾斜，由于，在推动耳部452弯折的过程中，在成型头4242撤销对耳部452的推力后，耳部452将出现一定程度的回复，为了保证耳部452调整到固定的位置范围内，因此需要对耳部452的推动的距离应大于理论上耳部452到固定位置的距离，预留出耳部452回复的距离，保证耳部452回复后仍在固定的位置范围内，因此成型头4242运动方向相对于耳部452倾斜，方便耳部452至投影位置落在产品本体451的位置范围内；
成型头4242包括成型端4242a，成型头4242顶推环形产品45的一端包括成型端4242a；成型头4242通过与推动模组4241的动力输出端传动连接，成型端4242a的侧壁上设置有向外延伸的第一限位部4242b，当成型端4242a将所述耳部452顶推至吸嘴本体436内时，第一限位部4242b与环形产品45的底部相抵触，从而限制成型头4242伸入成型凹槽4371的深度。
如图23所示，具体地，成型端4242a的上顶面与耳部452接触，其用于顶推耳部452；成型端4242a与第一限位 部4242b连接的一面，将耳部452压合在成型凹槽4371内，其用于成型耳部452形状，成型端4242a呈凸起型，其中，成型端4242a的上顶面与成型前处于水平位置的耳部452贴合，成型头424顶推耳部452，使得耳部452翻转至耳部452与上顶面脱离接触，此时，成型端4242a相邻上顶面的同时与第一限位部4242b连接的一面为压合面，压合面贴合耳部452，在成型头4242受推动模组4241驱动作用下，将耳部452顶推向成型凹槽4371，使得压合面与成型凹槽4371夹压耳部452最终成型出需要的耳部452形状。
更进一步地，成型头4242上对应接触产品的另一端上设置有第二限位部4242c，顶推孔4252限制第二限位部4242c通过，进而限制成型头4242的运动距离，避免了成型头4242与吸嘴本体436的内侧壁碰撞。
成型端4242a与第一限位部4242b连接使得其间形成V型凹部用于产品本体451与耳部452相连接的转折位置，使得成型端4242a与第一限位部4242b形成的凹部对应限位端437d上的尖端，以保证产品本体451与耳部452相连接的转折位置处的形状。
如图19所示，抓取组件43还内置有连接支架432、检测组件433，通过连接支架432将检测组件433与旋转驱动组件434连接形成一整体，连接支架432上安装有用于承放旋转驱动组件434的支撑板4321，垂直驱动组件431的动力输出端与连接支架432传动连接，以使得连接支架432带动检测组件433、旋转驱动组件434沿Y轴方向移动，通过检测组件433检测定位，在第一驱动组件41、第二驱动组件44的驱动下以使得吸嘴本体435移动至对应载台425的位置处，在由垂直驱动组件431驱使，吸嘴本体435靠近定位座4232，从而使得环形产品移动至承接环处，夹持耳4542对应夹持缺口4251，方便撕膜夹爪4214夹取夹持耳454；
撕膜组件421还包括连接板4212，通过连接板4212将该撕膜组件421连接形成一整体结构，其结构包括，连接板4212安装直线驱动模组4211的可移动端上，转动驱动器4213安装连接板4212上，夹持驱动器安装在转动驱动器4213的可转动端上，撕膜夹爪4214安装在夹持驱动器的夹紧端上，从而使得撕膜组件421便于实现直线移动、夹紧薄膜以及翻转薄膜的工作。
该撕膜设备的撕膜步骤具体包括，驱动组件驱使吸取组件移动，使得吸嘴本体436吸附环形产品移动靠近载台425，检测组件433检测定位，在定位完成后，吸嘴本体436精准地将环形产品放置在载台425上，推动模组4241推动成型头424，使得成型头4242顶推耳部452至吸嘴本体436内，在成型组件424成型耳部452的同时，直线驱动模组4211驱动撕膜夹爪4214朝向载台425上的夹持缺口4251方向移动，使得撕膜夹爪4214将夹持耳4542夹紧，在夹紧薄膜后转动驱动器4213驱动撕膜夹爪4214转动，使得薄膜454在撕膜夹爪4214夹紧的夹持耳4542牵引下从压痕4543处断开，使得夹爪4214夹紧处的薄膜绕Y轴翻转，再由旋转驱动组件434驱使吸嘴本体435转动，带动环形产品45在水平面方向上旋转，同时，垂直驱动组件431带动吸嘴本体436上升，使得薄膜454掀起段的掀起趋势逐渐向贴合段蔓延直至膜本体4541与环形产品45完全脱离，从而将薄膜454撕离产品本体，通过上述撕膜步骤快速便捷地将薄膜454撕离环形产品45的本体，撕膜效率更高。
撕膜组件421与支座423间设置有废料盒422，在将薄膜454撕离环形产品45后，直线驱动模组4211带动撕膜夹爪4214沿Y轴方向远离定位座4232，此时，直线驱动模组4211驱使夹取有撕离薄膜454的撕膜夹爪4214移动至废料盒422上方，撕膜夹爪4214将撕离薄膜放置在废料盒422内。
这里说明的设备数量和处理规模是用来简化本发明的说明的。对本发明的应用、修改和变化对本领域的技术人员来说是显而易见的。
本文中所描述的不同实施方案的零部件可经组合以形成上文未具体陈述的其它实施例。零部件可不考虑在本文中所描述的结构内而不会不利地影响其操作。此外，各种单独零部件可被组合成一或多个个别零部件以执行本文中所描述的功能。
此外，尽管本发明的实施方案已公开如上，但其并不仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。

Claims (10)

  1. 一种组装前撕膜流水线，其特征在于，包括：
    产品上料装置(3)，其中码放有多个用于盛放产品的tray盘；
    中继传送机构(48)，其与所述产品上料装置(3)相邻接；
    产品搬运机构(4)，其架设于所述产品上料装置(3)之上；以及
    产品撕膜机构(42)，其设于所述产品上料装置(3)的上料方向上的下游；
    其中，产品搬运机构(4)包括：分别布置于所述产品上料装置(3)两侧的底座(46)、滑动连接于两个底座(46)上的搬运横梁(47)、与所述搬运横梁(47)滑动连接的抓取组件(43)以及分别与与所述抓取组件(43)及搬运横梁(47)传动连接的横移驱动器(44)与搬运驱动器(41)。
  2. 如权利要求1所述的组装前撕膜流水线，其特征在于，所述产品上料装置(3)包括：
    机架(38)，其上设有沿一直线方向依次设置的产品上料工位(35)、tray盘回收工位(36)及产品转移工位(37)，所述中继传送机构(48)在所述产品转移工位(37)处与产品上料装置(3)相邻接；
    分别设于所述产品上料工位(35)、tray盘回收工位(36)及产品转移工位(37)处的产品上料组件(31)、tray盘回收组件(33)及产品定位组件(32)；以及
    水平驱动组件(34)，其动力输出端与所述产品定位组件(32)传动连接。
  3. 如权利要求1或2所述的组装前撕膜流水线，其特征在于，产品撕膜机构(42)上设置有用于剥离产品(45)上的薄膜(454)的撕膜组件(421)；所述薄膜(454)包括：
    环状的膜本体(4541)，其与所述环形产品(45)相适应并贴附于所述环形产品(45)上；以及
    夹持耳(4542)，其连接至所述膜本体(4541)的外侧并向外延伸；
    其中，所述撕膜组件(421)包括撕膜驱动器及由所述撕膜驱动器驱动的撕膜夹爪(4214)；所述抓取组件(43)包括用于吸附环形产品(45)的吸嘴本体(436)；
    所述环形产品(45)通过所述抓取机构(43)搬运，使得所述夹持耳(4542)伸入所述撕膜夹爪(4214)的夹紧端。
  4. 如权利要求3所述的组装前撕膜流水线，其特征在于，所述膜本体(4541)在所述夹持耳(4542)附近形成有易拉断的压痕(4543)；
    所述撕膜驱动器包括转动驱动器(4213)以及与转动驱动器(4213)的动力输出端传动连接的夹持驱动器，所述撕膜夹爪(4214)与所述夹持驱动器的动力输出端传动连接；
    所述撕膜夹爪(4214)将所述夹持耳(4542)夹紧后所述转动驱动器(4213)驱动所述夹持驱动器旋转以使得所述膜本体(4541)在所述夹持耳(4542)的牵引下从所述压痕(4543)处断开并使得所述膜本体(4541)被分成：
    与所述环形产品(45)粘连的贴合段；
    及在所述夹持耳(4542)的牵引下从所述环形产品(45)上掀起的掀起段。
  5. 如权利要求4所述的组装前撕膜流水线，其特征在于，所述抓取机构(43)还包括与所述驱动组件的动力输出端传动连接的旋转驱动组件(434)，所述吸嘴本体(436)与所述旋转驱动组件(434)的动力输出端传动连接；
    当所述转动驱动器(4213)驱动所述夹持驱动器旋转，使得所述夹持耳(4542)掀起后，所述环形产品(45)通过所述驱动组件及旋转驱动组件(434)驱使所述环形产品(45)相对所述撕膜夹爪(4214)运动，使得所述掀起段的面积增大，所述贴合段的面积相应减少。
  6. 如权利要求3所述的组装前撕膜流水线，其特征在于，所述吸嘴本体(436)的内部中空并在其底部敞开形成敞口，所述敞口的外围设有多个周向布置的吸附孔(4361)；以及
    所述吸嘴本体(436)的内部可拆卸安装有限位块(437)，所述限位块(437)上形成有成型凹槽(4371)，产品(45)内环上的耳部(452)压入所述成型凹槽(4371)以成型所述耳部(452)的形状。
  7. 如权利要求1或2所述的组装前撕膜流水线，其特征在于，所述产品定位组件(32)在所述水平驱动组件(34)的驱动下周期性地在所述产品上料工位(35)、tray盘回收工位(36)及转移工位(37)间往复平移。
  8. 如权利要求1或2所述的组装前撕膜流水线，其特征在于，所述抓取组件(43)在所述横移驱动器(44)的驱动下沿着所述搬运横梁(47)往复滑移，所述搬运横梁(47)在所述搬运驱动器(41)的驱动下在所述tray盘回收工位(36)及中继传送机构(48)间往复滑移，从而抓取组件(43)每次在产品转移工位(37)处抓取单个产品后将个该产品搬运至产品撕膜机构(42)，产品(45)上的薄膜被撕除后，抓取组件(43)又将该产品(45)搬运至中继传送机构(48)中。
  9. 如权利要求8所述的组装前撕膜流水线，其特征在于，所述中继传送机构(48)包括：
    中继底座(481)，其上设有沿着机架(38)的延伸方向延伸的配接滑轨(482)；
    承接座(484)，其与所述配接滑轨(482)滑动配接；以及
    中继驱动器，其与所述承接座484传动连接；
    其中，所述中继底座(481)上还设有滑动导向杆(483)，所述滑动导向杆(483)的延伸方向与所述配接滑轨(482)的延伸方向相一致，所述承接座(484)穿套于所述滑动导向杆(483)之上；所述承接座(484)上安装有产品定位治具(485)。
  10. 如权利要求1或2所述的组装前撕膜流水线，其特征在于，所述tray盘在其底部开设有顶升定位槽，所述产品定位组件(32)包括：
    升降驱动器(323)，其与所述水平驱动组件(34)传动连接；
    载物台(325)，其与升降驱动器(323)的动力输出端传动连接并配合至相应一个tray盘的顶升定位槽中；
    tray盘定位组件(324)，其设于所述载物台(325)上，所述tray盘定位组件(324)包括：
    定位驱动器(3241)；以及
    偶数个在所述载物台(325)的周向上呈放射状布置的顶持件(3242)，其与所述定位驱动器(3241)的动力输出端传动连接。
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