WO2022121167A1

WO2022121167A1 - Thin film tearing assembly line

Info

Publication number: WO2022121167A1
Application number: PCT/CN2021/083536
Authority: WO
Inventors: 缪磊; 袁文卿
Original assignee: 苏州富强科技有限公司
Priority date: 2020-12-08
Filing date: 2021-03-29
Publication date: 2022-06-16
Also published as: CN112660534A; CN112660534B

Abstract

A thin film tearing assembly line. A thin film (693) is attached to the lower surface of a workpiece body (692) and protrudes out from the edge of the workpiece body to form at least one clamping portion. The thin film tearing assembly line comprises: a workpiece feeding device (3), wherein a plurality of trays used for containing workpieces are stacked; a workpiece conveying mechanism (63) provided above the workpiece feeding device; and a workpiece film tearing mechanism (61) provided at the downstream of the feeding direction of the workpiece feeding device, wherein the workpiece film tearing mechanism comprises: a bearing platform (615), a supporting portion (6151) outwards protruding being provided on the bearing platform, the supporting portion being used for receiving the workpiece body, and the clamping portion protruding to the edge of the supporting portion, so that the lower portion of the clamping portion is suspended; and a clamping module, at least one group of clamping jaws (6113) being provided on the clamping module, and each group of clamping jaws corresponding to a corresponding clamping portion. The thin film tearing assembly line can achieve the automatic tearing of a thin film and prevent the workpiece from being polluted and damaged in the process.

Description

A film tearing assembly line

technical field

The invention relates to the field of non-standard automation, in particular to a film tearing assembly line.

Background technique

In the field of non-standard automation, it is well known to use assembly lines of different structures to realize the assembly of workpieces. In the process of researching and realizing workpiece assembly, the inventor found that the assembly line in the prior art has at least the following problems:

Since the surface of the workpiece is attached with a protective film, the film needs to be torn off before assembly. The common treatment method in the market is to tear off the film manually or with a film tearing device, and then assemble the workpiece. This method is easy to cause the workpiece to be contaminated and damaged during the film tearing and multiple circulation processes, and the process is cumbersome, resulting in low film tearing efficiency.

In view of this, it is necessary to develop an integrated assembly line for tearing off the film, which is used to tear off the protective film attached to the surface of the workpiece before the workpiece is loaded.

SUMMARY OF THE INVENTION

In order to overcome the problems existing in the above assembly line, the technical problem to be solved by the present invention is to provide a film tearing line that can automatically tear off the film and prevent the workpiece from being polluted and damaged in the process. The protective film attached to the surface of the workpiece is torn off, which improves the film tearing efficiency and ensures the assembly quality.

As far as the film tearing assembly line is concerned, the film tearing assembly line for solving the above-mentioned technical problems of the present invention includes:

A workpiece feeding device, in which a plurality of trays for holding workpieces are stacked;

a workpiece handling mechanism, which is erected on the workpiece feeding device; and

A workpiece film tearing mechanism, which is arranged downstream of the workpiece feeding device in the feeding direction, and the workpiece film tearing mechanism includes:

A support table is provided with a support portion extending outward, the support portion is used to receive the workpiece body, and the clamping portion protrudes from the edge of the support portion so that the lower portion of the clamping portion is suspended in the air ;as well as

a clamping module, which is provided with at least one group of clamping claws, and each group of clamping claws is opposite to a corresponding one of the clamping parts;

Wherein, the clamping module includes a clamping installation frame and a film stripping driver installed on the clamping installation frame, and the power output end of the film stripping driver is drivingly connected with the clamping claw. After the gripping claw clamps the corresponding gripping portion, the film stripping driver drives the gripping claw to move downward, and the gripping claw pulls the gripping portion to bend downward relative to the edge of the workpiece body so that the film is lifted from the edge of the workpiece body.

Optionally, the workpiece handling mechanism includes: a left base and a right base respectively arranged on both sides of the workpiece feeding device, a handling beam slidably connected to the left base and the right base, and a feeding beam slidably connected to the handling beam. The grasping component and the unloading grasping component, the grasping driver drivingly connected with the feeding grasping component and the unloading grasping component, and the transporting driver drivingly connected with the transporting beam.

Optionally, the workpiece feeding device includes:

The frame is provided with a workpiece feeding station, a tray recovery station and a workpiece transfer station arranged in sequence along a straight direction, and the relay transmission mechanism is connected with the workpiece feeding device at the workpiece transfer station. adjacent;

The workpiece feeding assembly, the tray recycling assembly and the workpiece positioning assembly respectively located at the workpiece feeding station, the tray recovery station and the workpiece transfer station; and

A horizontal drive assembly, the power output end of which is in driving connection with the workpiece positioning assembly.

Optionally, the workpiece positioning assembly periodically reciprocates and translates between the workpiece loading station, tray recovery station and transfer station under the driving of the horizontal drive assembly.

Optionally, the loading and unloading grasping components and the unloading grasping components are driven by the grasping driver to reciprocate and slide along the transport beam, and the transport beam is driven by the transport driver. There is a reciprocating slip between the tray recovery station and the workpiece tearing mechanism, so that the feeding and grabbing assembly grabs a single workpiece at the workpiece transfer station every time and transports the workpiece to the workpiece tearing mechanism, and the workpiece is placed on the workpiece. After the film is torn off, the unloading and grabbing assembly transports the workpiece back to the tray at the workpiece transfer station.

Optionally, the clamping claw pulls the clamping portion to move in an oblique downward direction relative to the bearing surface of the material receiving table, so that the clamping portion and the The angle α formed between the films gradually decreases until it forms an acute angle.

Optionally, the number of the film stripping drivers is at least one, and the power output end of each of the film stripping drivers is drivingly connected to a corresponding one of the clamping claws.

Optionally, the clamping parts are protruded from the edges on opposite sides of the workpiece body, the number of the clamping claws is two groups, the clamping claws correspond to the opposite clamping parts, and the film stripping The driver drives the corresponding gripping jaws to move.

Optionally, the clamping module also clamps a film driver, and the clamping claw is drivingly connected to the power output end of the film film driver;

The clamping claw includes an installation part and a clamping part, the installation part is installed on the power output end of the film driver; the clamping part extends from the installation part along the extension direction of the support part out.

Optionally, the workpiece film tearing mechanism further includes a drive assembly for driving the clamping mounting frame; the clamping installation frame is driven by the driving assembly, so that the clamping claws face the corresponding clamping move in the direction of the head.

One of the above technical solutions has the following advantages or beneficial effects: because it can automatically tear off the film and prevent the workpiece from being polluted and damaged in the process, it can be used to attach the protective film to the surface of the workpiece before the workpiece is loaded. Tear off, improve the tearing efficiency and ensure the assembly quality.

One of the above technical solutions has the following advantages or beneficial effects: because it adopts the workpiece handling mechanism, the workpiece feeding device and the workpiece tearing film mechanism to cooperate, so that after the workpiece is loaded in batches with the tray, the workpiece handling mechanism Transfer to the workpiece tearing film mechanism to first perform the film tearing operation, and then transfer the workpiece back to the tray for recycling after the film tearing is completed. The positioning step also saves the manipulator, shortens the operation interval, can improve the efficiency of flat film tearing and the success rate of tearing the film, and can also save the cost of equipment preparation.

One of the above technical solutions has the following advantages or beneficial effects: because the clamping claw is driven to move downward by the film stripping driver, the clamping claw pulls the clamping part to bend downwards so that the film is lifted from the edge of the workpiece body, and the film is lifted from the edge of the workpiece body. With the continuous downward movement of the film stripping driver, the area of the part of the film lifted from the edge of the workpiece body increases, and the area of the bonding section where the film and workpiece are adhered decreases accordingly, reducing the area of the bonding section, thereby reducing the gap between the film and the workpiece. The adhesive force of the peeling mechanism is simple, and the work is reliable and convenient.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, rather than limit the present invention. in:

1 is a perspective view of a film tearing assembly line proposed according to an embodiment of the present invention;

2 is a top view of a film tearing assembly line proposed according to an embodiment of the present invention;

3 is a perspective view of a product feeding device in a film tearing assembly line proposed according to an embodiment of the present invention;

4 is a perspective view of a product feeding device in a film tearing assembly line proposed according to an embodiment of the present invention after hiding a tray;

5 is a schematic diagram of a separation device for a product positioning assembly in a film tearing assembly line proposed according to an embodiment of the present invention;

6 is a bottom view of a tray and a stage proposed according to an embodiment of the present invention;

7 is a side view of a product positioning assembly proposed according to an embodiment of the present invention;

8 is a schematic structural diagram of a feeding driver proposed according to an embodiment of the present invention;

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 three-dimensional structural schematic diagram 1 of a workpiece film tearing mechanism in a film tearing assembly line proposed according to an embodiment of the present invention;

Fig. 14 is a three-dimensional structural schematic diagram 2 of a workpiece film tearing mechanism in a film tearing assembly line proposed according to an embodiment of the present invention;

Fig. 15 is a partial enlarged schematic view of Fig. 14;

16 is a schematic three-dimensional structural diagram of a drive member of a workpiece film tearing mechanism in a film tearing assembly line proposed according to an embodiment of the present invention;

17 is a schematic diagram of the movement direction of the driving member of the driving member of the workpiece film tearing mechanism in the film tearing assembly line proposed according to an embodiment of the present invention;

Fig. 18 is the partial structural representation of the workpiece film tearing mechanism in the film tearing assembly line proposed according to one embodiment of the present invention;

19 is a schematic three-dimensional structural diagram of a clamping claw in a film tearing assembly line proposed according to an embodiment of the present invention;

20 is a schematic three-dimensional structure diagram of a workpiece in a film tearing assembly line proposed according to an embodiment of the present invention;

FIG. 21 is a working schematic diagram of a workpiece in a film tearing off line according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the drawings, the shapes and dimensions may be exaggerated for clarity, and the same reference numerals will be used throughout the drawings to refer to the same or like parts.

Unless otherwise defined, technical or scientific terms used herein should have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first", "second" and similar terms used in the description of the patent application and the claims of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Likewise, words such as "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one. Words like "include" or "include" mean that the elements or items appearing before "including" or "including" cover the elements or items listed after "including" or "including" and their equivalents, and do not exclude other component or object. "Up", "Down", "Left", "Right", etc. are only used to represent the relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In the following description, terms such as center, thickness, height, length, front, back, rear, left, right, top, bottom, upper, lower, etc. are defined relative to the configurations shown in the various figures. , in particular, "height" corresponds to the size from top to bottom, "width" corresponds to the size from left to right, "depth" corresponds to the size from front to back, they are relative concepts, so it is possible to These or other orientations should not be construed as limiting terms because they vary accordingly in different positions and different usage states.

Terms referring to attachment, coupling, etc. (eg, "connected" and "attached") refer to the fixed or attached relationship, as well as the movable or rigid attachment or relationship of these structures to each other, directly or indirectly, through intervening structures, unless The other way is explicitly stated.

Referring to the embodiment shown in FIG. 20 , the film 693 is attached to the lower surface of the workpiece body 692 and protrudes from the edge of the workpiece body 692 to form at least one clamping portion.

1 and 2, it can be seen that the film tearing assembly line 6 includes:

A workpiece feeding device 3, wherein a plurality of trays for holding workpieces are stacked;

a workpiece handling mechanism 63, which is erected on the workpiece loading device 3; and

The workpiece film tearing mechanism 61 is arranged downstream of the workpiece feeding device 3 in the feeding direction, and the workpiece film tearing mechanism 61 includes:

The receiving table 615 is provided with a supporting portion 6151 extending outward, the supporting portion 6151 is used to receive the workpiece body 692, and the clamping portion protrudes to the edge of the supporting portion 6151 to allow the the lower part of the clamping part is suspended; and

The clamping module, on which at least one group of clamping claws 6113 is arranged, each group of clamping claws 6113 is opposite to a corresponding one of the clamping parts;

Wherein, the clamping module includes a clamping mounting frame 612 and a film stripping driver 6111 installed on the clamping installation frame 612 , and the power output end of the film stripping driver 6111 is drivingly connected with the clamping claw 6113 , after the clamping claw 6113 clamps the corresponding clamping part, the stripping driver 6111 drives the clamping claw 6113 to move downward, and the clamping claw 6113 pulls the clamping part relative to the corresponding clamping part. The edge of the workpiece body 692 is bent downward so that the film 693 is lifted from the edge of the workpiece body 692 .

Further, the workpiece conveying mechanism 63 includes: a left base 632 and a right base 631 respectively arranged on both sides of the workpiece feeding device 3, a conveying beam 634 slidably connected to the left base 632 and the right base 631, and the conveying beam 634. The material loading and grabbing assembly 633 and the unloading grabbing assembly 636 that are slidably connected to the beam 634 , the grabbing driver that is drivingly connected to the material feeding and grabbing assembly 633 and the unloading grabbing assembly 636 , and the conveying beam 634 are drivingly connected. Transport drive 635.

3 to 12, the workpiece feeding device 3 includes:

The frame 38 is provided with the workpiece loading station 35, the tray recovery station 36 and the workpiece transfer station 37 arranged in sequence along a straight direction, and the relay transmission mechanism 48 is in the workpiece transfer station 37. is adjacent to the workpiece feeding device 3;

the workpiece loading assembly 31, the tray recovery assembly 33 and the workpiece positioning assembly 32 respectively disposed at the workpiece loading station 35, the tray recovery station 36 and the workpiece transfer station 37; and

The power output end of the horizontal drive assembly 34 is connected with the workpiece positioning assembly 32 in a driving manner.

Further, the workpiece positioning assembly 32 periodically reciprocates and translates between the workpiece 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 workpiece transfer station 37 of the frame 38 , and the grabbing assembly 39 is driven along the transporting drive by the transporting driver. The cross beam 38 slides back and forth to switch back and forth between the carrier positioning station 113 and the workpiece transfer station 37 . When the workpiece is loaded, the workpiece is stacked in the tary tray and is loaded into the workpiece feeding assembly 31 along with the tray at the workpiece feeding station 35, and the workpiece positioning assembly 32 is driven by the horizontal drive assembly 34. At the station 35, the tray is taken out together with the workpiece and then moved to the workpiece transfer station 37.

Referring to FIGS. 3 to 6 , the frame 38 is formed with a shuttle channel located below the workpiece loading assembly 31 and the tray recovery assembly 33 , and the workpiece positioning assembly 32 is driven by the horizontal drive assembly 34 . 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 workpiece feeding device is more compact, the mutual action paths are shorter, and the feeding efficiency is further improved.

Referring to FIGS. 4 to 7 , it is clearly shown in detail that the tray plate is provided with a lifting positioning groove at the bottom thereof, and the workpiece positioning assembly 32 includes:

Lifting driver 323, which is in driving connection with the horizontal driving assembly 34;

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:

positioning driver 3241; and

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.

Further, under the driving of the positioning driver 3241, the top members 3242 move away from or approach each other to extend or retract from the edge of the stage 325; When 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; when 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. Referring to FIG. 4 with reference to FIG. 5 , the stage 325 and the lifter 3242 are completely located in the lift-up positioning groove.

Further, 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.

Referring again to FIGS. 4 to 7 , the jacking members 3242 are arranged to be composed of at least one positioning subset, each positioning subset includes 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.

Further, 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.

Further, the workpiece 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 the two, the object platform 325 and tray positioning assembly 324 are arranged in the jacking positioning channel.

Further, 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 . When the tray is located between the corresponding pair of the upper limit skirts and the lower limit skirt, 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. Positioning, the lower limit skirt can support the tray.

Further, 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.

Specifically, referring to FIG. 7 again, 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.

4 to 8, it can be seen that the workpiece feeding assembly 31 includes: at least two lifting drivers 313, which are fixedly installed at the workpiece feeding station on the frame 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;

Wherein, 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 .

Further, 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.

Further, 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 clamping driver 311 is close to the tray.

In a specific embodiment, when the workpiece positioning assembly 32 is moved to just below the workpiece loading assembly 31 , 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 workpiece feeding assembly 31 . At this time, when 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.

Further, 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

3 and 9 again, 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; and

Referring to FIG. 11 in conjunction with FIG. 10 , 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;

Wherein, 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 .

Referring now to FIG. 9 and FIG. 10 , the fixing member 3312 and the non-returning member 3311 are provided with lateral through holes at the same level, and a rotating shaft 3313 is arranged in the lateral through holes; in order to prevent the rotating shaft 3313 from separating from 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 .

Further, 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 α, and the included angle between the inner side of the non-return piece 3311 and the fixing piece 3312 is β, and the tray 321 is in the recovery process. Press the non-return piece 3311 close to the fixing piece 3312 in the middle.

After the tray 321 on the workpiece positioning assembly 32 is emptied from the transfer station 37, the workpiece 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 α, and the angle between the inner side of the non-return member 3311 and the fixing member 3312 is β, so in the process of the tray 321 rising, the non-return member 3311 is in the tray tray. When the tray 321 is squeezed, it will gradually approach the fixing member 3312. At this time, 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. In the locked state, the tray 321 is supported on the horizontal plane formed by the anti-return buckle 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.

To sum up, the loading process of the workpiece along with the tray is as follows: the workpiece positioning assembly 32 is moved directly under the workpiece loading 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. After the 321 is held and stably positioned by the jack, the lift driver 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 workpiece transfer station 37 to wait for the grabbing component. 43 Grab and transport.

Referring to FIGS. 1 and 2 again, the loading and unloading grasping components 633 and the unloading grasping components 636 reciprocately slide along the conveying beam 634 under the driving of the grasping driver, and the conveying beam 634 is in the Driven by the conveying driver 635, it reciprocates and slides between the tray recovery station 36 and the workpiece tearing film mechanism 61, so that the feeding and grabbing assembly 633 grabs a single workpiece at the workpiece transfer station 37 each time. The workpiece is transported to the workpiece film tearing mechanism 61 , and after the film on the workpiece is torn off, the unloading and grabbing assembly 636 transports the workpiece back to the tray at the workpiece transfer station 37 .

13 to 16, it should be understood that if it is desired to keep the workpiece in position more fixedly, a locking mechanism should also be provided between the workpiece and the loading table 615, wherein, for the convenience of the clamping portion protruding from the supporting portion 6151, Therefore, the locking mechanism can be selected as a suction mechanism, and the workpiece is pressed onto the support portion 6151 by the suction mechanism to ensure that the position of the workpiece is fixed.

At the same time, in the workpiece tearing film mechanism 61, the area of the part lifted from the edge of the workpiece body 692 by the film 693 increases, and the area of the bonding section where the film 693 and the workpiece body 692 are adhered is correspondingly reduced, and the area of the bonding section is reduced. The adhesive force per unit area is fixed, and the bonding area between the film 693 and the workpiece body 692 is reduced, so that the total adhesive force between the film 693 and the workpiece body 692 is reduced.

When the adhesive force between the film 693 and the workpiece body 692 is sufficiently small, the suction mechanism drives the workpiece body 692 to peel the workpiece body 692 from the film 693 to ensure the integrity of the workpiece body 692 .

It can be understood from the above that the film stripping driver 6111 is used to bend the clamping portion on the film 693 so that the clamping portion and thus the edge of the workpiece body 692 are lifted; When the 6151 bends the origin to bend the clamping part, if the vertical direction is downward, the clamping part is tensioned by the clamping claw 6113, and in the process of downward movement, the clamping part is easily broken due to the force and stretching. Affect the tear film effect.

In order to improve the success rate of tearing the film, the following scheme is adopted in this preferred embodiment. Specifically, the clamping claw 6113 pulls the clamping portion to move in an oblique downward direction relative to the bearing surface of the bearing table 615, so that the clamping The angle formed between the part and the film 693 attached to the workpiece body 692 gradually decreases until it forms an acute angle.

By studying the force between the film 693 and the workpiece body 692, during the film tearing process, when the direction of the film tearing corresponds to the direction of the resultant force of the adhesive support force and the shearing force, the force applied during the tearing process is used to Overcome the adhesive support force and the shear force to do work. At this time, all the actions applied are used for the film tearing work, so the efficiency is high. When the direction of the film tearing force corresponds to the resultant direction of the adhesive support force and the shear force, please refer to Figure 9 As shown, where a is the initial position, b is the end position, and the diagonal angle α forming the included angle between the clamping portion and the film 693 attached to the workpiece body 692 is an acute angle. Since the two angles are the same, it can be regarded as an acute angle. The same angle α; therefore, in the solution adopted in this preferred embodiment, the film tearing efficiency is higher and less labor is needed.

According to the basic functions of the film peeling mechanism described above, those skilled in the art will understand that it includes a single film peeling driver 6111 driving a single clamping claw 6113, a single film peeling driver 6111 driving a plurality of clamping claws 6113 and each film peeling driver 6111 corresponding to The solution of driving a corresponding one clamping claw 6113, wherein a single film stripping driver 6111 drives a single clamping claw 6113 is similar in structure to the solution in which each film stripping driver 6111 drives a corresponding clamping claw 6113;

The solution in which a single film stripping driver 6111 drives multiple clamping claws 6113 should also include a transmission assembly, which is not shown in detail, so that the same film stripping driver 6111 passes through the transmission assembly, so that multiple clamping claws 6113 work simultaneously, and multiple clamping claws 6113 work simultaneously. The clamping claw 6113 is driven by the film stripping driver 6111 to close and close below the support portion 6151 , but in this solution, it is difficult to perform the clamping claw 6113 alone, and it is difficult to achieve a relatively complex film tearing work.

Referring to Figures 16 and 17, in this preferred embodiment, the number of film stripping drivers 6111 is at least one, and the power output end of each film stripping driver 6111 is drive-connected to a corresponding clamping claw 6113;

Specifically, the clamping portions protrude from the edges on opposite sides of the workpiece body 692, the number of clamping claws 6113 is two groups, the clamping claws 6113 correspond to the opposite clamping portions, and the film stripping driver 6111 drives the corresponding clamping claws 6113 to move , by lifting the clamping parts on both sides, the film tearing efficiency is accelerated; at the same time, it is convenient to control the clamping claws 6113 individually, so as to facilitate the driving of the two clamping claws 6113, so that the clamping claws 6113 lift different areas to meet the workpiece requirements. The body 692 and the film 693 need to be peeled off.

Reference will now be made to FIG. 16, which shows the clamping module in more detail, which also clamps the film driver 6112, and the clamping jaws 6113 are in driving connection with the power output of the film driver 6112;

Referring now to FIG. 19, the structure of the clamping claw 6113 is shown in detail. The clamping claw 6113 includes a mounting portion 6113a and a clamping portion 6113b. The mounting portion 6113a is mounted on the power output end of the film driver 6112; the clamping portion 6113b Extending from the mounting portion 6113a along the extending direction of the support portion 6151, the contact surface of the clamping claw 6113 and the film 693 is increased, so that the clamping claw 6113 can clamp the film 693.

Further, the workpiece tearing film mechanism 61 also includes a driving assembly 613 for driving the clamping mounting frame 612;

The clamping mounting bracket 612 is driven by the driving assembly 613, so that the clamping claw 6113 moves toward the corresponding clamping portion.

A film box 616 is arranged between the loading table 615 and the driving assembly 613. The film box 616 is placed at a position close to the loading table 615. The clamping claw 6113 is driven by the driving assembly 613 to move the captured film 693 to the film The film 693 is put into the film box 616 at the position of the box 616, so as to ensure that the waste of the film 693 is collected and recycled.

Further, a limit assembly 614 is also included, and the limit assembly 614 is provided with a baffle plate 6141, and the baffle plate 6141 is disposed on the moving path of the film 693 driven by the drive assembly 613;

The projection of the film blocking plate 6141 falls in the film box 616 . When the clamping claw 6113 drives the film 693 to move to the blocking film plate 6141 , the blocking film plate 6141 restricts the movement of the film 693 , so that the film 693 falls into the film box 616 .

Since the film 693 is fixed on the clamping claw 6113 by the clamping force of the clamping claw 6113, in order to guide the film 693 of the clamping claw 6113 into the film box 616, the film 693 is blocked by the blocking plate 6141, and then falls below The film box 616.

A seat 617 is provided below the film box 616; the seat 617 has a central hole and an opening on the side close to the drive assembly 613, so that the movable end of the drive assembly 613 extends into the opening of the seat 617 .

Specifically, the clamping mounting bracket 612 includes a support body and a fixed end 6121. The support body is vertically disposed on the movable end of the drive assembly 613, and the fixed end 6121 is integrally combined with one end of the support body and is perpendicular to the support. The seat body extends in the direction, and the fixed end 6121 is installed on the movable end of the drive assembly 613;

The extension direction of the fixed end 6121 is toward the opening, so that the movable end of the driving assembly 613 drives the fixed end 6121 to extend into the seat 617, which is convenient to reduce the footprint of the entire mechanism.

The number of apparatuses and processing scales described here are intended to simplify the description of the present invention. Applications, modifications and variations to the present invention will be apparent to those skilled in the art.

Elements of the different implementations described herein may be combined to form other embodiments not specifically recited above. Components may not be considered within the structures described herein without adversely affecting its operation. Furthermore, various individual components may be combined into one or more individual components to perform the functions described herein.

In addition, although the embodiment of the present invention has been disclosed above, it is not limited to the application listed in the description and the embodiment, and it can be applied to various fields suitable for the present invention. Additional modifications may readily be effected, therefore, the invention is not limited to the specific details and illustrations herein shown and described without departing from the general concept defined by the appended claims and the scope of equivalents.

Claims

A film tearing off assembly line, the film (693) is attached to the lower surface of the workpiece body (692) and protrudes from the edge of the workpiece body (692) to form at least one clamping portion, wherein the film tearing off assembly line comprises :

A workpiece feeding device (3), wherein a plurality of trays for holding workpieces are stacked;

a workpiece handling mechanism (63), which is erected on the workpiece loading device (3); and

A workpiece film tearing mechanism (61), which is arranged downstream of the workpiece feeding device (3) in the feeding direction, and the workpiece film tearing mechanism (61) includes:

A support table (615), on which is provided a support portion (6151) extending outward, the support portion (6151) is used to receive the workpiece body (692), and the clamping portion protrudes from the support to the support portion (6151) the edge of the part (6151) so that the clamping part is suspended below; and

a clamping module, which is provided with at least one group of clamping claws (6113), and each group of clamping claws (6113) is opposite to a corresponding one of the clamping parts;

Wherein, the clamping module includes a clamping mounting frame (612) and a film stripping driver (6111) mounted on the clamping installation frame (612), and the power output end of the film stripping driver (6111) is connected to the The clamping claws (6113) are connected in a driving manner. After the clamping claws (6113) clamp the corresponding clamping parts, the film stripping driver (6111) drives the clamping claws (6113) downward. Moving, the clamping claw (6113) pulls the clamping portion to bend downward relative to the edge of the workpiece body (692) so that the film (693) is lifted from the edge of the workpiece body (692).
The film tearing assembly line according to claim 1, wherein the workpiece handling mechanism (63) comprises: a left base (632) and a right base (631) respectively arranged on both sides of the workpiece feeding device (3) , a conveying beam (634) slidably connected to the left base (632) and the right base (631), a feeding and grabbing assembly (633) and a discharging grabbing assembly (636) slidably connected to the conveying beam (634) ), a grasping driver (635) drivingly connected with the feeding and grasping assembly (633) and the unloading grasping assembly (636), and a transporting driver (635) drivingly connected with the transporting beam (634).
The film tearing assembly line according to claim 2, wherein the workpiece feeding device (3) comprises:

A frame (38) is provided with a workpiece feeding station (35), a tray recovery station (36) and a workpiece transfer station (37), which are sequentially arranged along a straight direction, and the relay transmission mechanism ( 48) adjacent to the workpiece feeding device (3) at the workpiece transfer station (37);

The workpiece feeding assembly (31), the tray recycling assembly (33) and the workpiece positioning are respectively arranged at the workpiece feeding station (35), the tray recovery station (36) and the workpiece transfer station (37). assembly (32); and

A horizontal drive assembly (34), the power output end of which is in driving connection with the workpiece positioning assembly (32).
The film tearing assembly line according to claim 3, characterized in that, the workpiece positioning assembly (32) is periodically driven at the workpiece loading station (35) by the horizontal driving assembly (34). , Reciprocating translation between the tray recovery station (36) and the transfer station (37).
The film tearing assembly line according to claim 4, characterized in that the loading and grabbing assembly (633) and the unloading grabbing assembly (636) are driven along the conveying beam by the grabbing driver (634) Reciprocating sliding, the conveying beam (634) reciprocating sliding between the tray recovery station (36) and the workpiece film tearing mechanism (61) under the driving of the conveying driver (635) , so that the feeding and grabbing assembly (633) grabs a single workpiece at the workpiece transfer station (37) each time and transports the workpiece to the workpiece tearing film mechanism (61). The material grabbing assembly (636) in turn transports the workpiece back to the tray at the workpiece transfer station (37).
The film tearing assembly line according to claim 1, characterized in that the clamping claw (6113) pulls the clamping portion to move in an oblique downward direction relative to the bearing surface of the material bearing table (615), so as to The included angle α formed between the clamping portion and the film (693) attached to the workpiece body (692) is gradually reduced until it forms an acute angle.
The film peeling line according to claim 1, characterized in that the number of the film peeling drivers (6111) is at least one, and the power output end of each of the film peeling drivers (6111) is connected to a corresponding one of the clips Claw transmission connection.
The film tearing assembly line according to claim 7, characterized in that, the clamping portions protrude from the edges on opposite sides of the workpiece body (692), and the number of the clamping claws (6113) is two groups, The clamping claws (6113) correspond to the opposite clamping portions, and the film stripping driver (6111) drives the corresponding clamping claws (6113) to move.
The film tearing assembly line according to claim 1, wherein the clamping module further clamps a film driver (6112), and the clamping claw (6113) and the power output of the film driver (6112) end drive connection;

The clamping claw (6113) includes an installation part (6113a) and a clamping part (6113b), the installation part (6113a) is installed on the power output end of the film driver (6112); the clamping part (6113b) protrudes from the mounting portion (6113a) along the extending direction of the support portion (6151).
The film tearing assembly line according to any one of claims 1 to 9, wherein the workpiece film tearing mechanism further comprises a driving component (613) for driving the clamping mounting frame (612); the The clamping mounting bracket (612) is driven by the driving assembly (613), so that the clamping claw (6113) moves toward the direction corresponding to the clamping portion.