A film sheet automatic feeding robot

Abstract

The present invention discloses an automatic feeding robot for thin film sheets, comprising a frame, a control cabinet, a suction device, a shaking device and a brush device installed on the frame, wherein a working platform is provided on the frame, a positioning device for driving the working platform to perform three-axis movement and positioning is provided at the bottom of the working platform, the control cabinet is connected with the suction device, the shaking device, the brush device and the positioning device by electrical signals, the suction device is arranged above the working platform, the suction surface of the suction device faces the working platform, the shaking device is transmission-connected with the suction device, the brush device is arranged in the interval area between the working platform and the suction device, and the sweeping surface of the brush device faces the suction device.

Description

Technical Field

[0001] The invention relates to the field of mechanical equipment, and in particular to an automatic film sheet feeding robot. Background Art

[0002] In the process of processing thin film sheets, it is necessary to take out the sheets one by one from the sheet pile. When taking out these stacked thin film sheets, because the thin film sheets are thin, the surface is smooth and transparent, the traditional manual material taking method is used. It is necessary to take out the thin film sheets one by one from the sheet pile and send them to the processing equipment. The process is complicated and the work efficiency is low. At the same time, the labor cost is high, and it is difficult to process and produce large quantities of thin film sheets. Therefore, it is necessary to use an automatic feeding device for thin film sheets to automatically feed the thin film sheets. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides an automatic film sheet feeding robot.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A film sheet automatic feeding robot comprises a frame, a control cabinet, a suction device, a shaking device and a brush device installed on the frame, wherein a working platform is provided on the frame, and a positioning device for driving the working platform to perform three-axis movement and positioning is provided at the bottom of the working platform, the control cabinet is connected with the suction device, the shaking device, the brush device and the positioning device by electrical signals, the suction device is arranged above the working platform, the suction surface of the suction device faces the working platform, the shaking device is transmission-connected to the suction device, the brush device is arranged in the interval area between the working platform and the suction device, and the sweeping surface of the brush device faces the suction device.

[0006] In the present invention, the suction device includes a plurality of suction nozzles, a suction bracket for fixing the suction nozzles, a double lifting device for driving the suction bracket for secondary lifting, a pressure regulating switch for adjusting the negative pressure value of the suction nozzles, and a vacuum pump. The suction nozzles are installed below the suction bracket, and the double lifting device is fixedly installed on the frame. The vacuum pump, the pressure regulating switch and the suction nozzles are connected in sequence by air circuits.

[0007] In the present invention, the double lifting device includes a primary cylinder, a secondary cylinder, and a connecting frame for connecting the primary cylinder and the secondary cylinder. The primary cylinder is fixedly mounted on a frame, the connecting frame is connected to the piston rod of the primary cylinder, the secondary cylinder is mounted on the connecting frame, and the piston rod of the secondary cylinder is connected to a suction bracket.

[0008] In the present invention, the shaking device includes a shaking bracket installed on a frame, a shaking motor installed on the shaking bracket, a transmission shaft connected to the shaking motor, a transmission main wheel connected to both ends of the transmission shaft, a transmission belt sleeved on the transmission main wheel, and a transmission secondary wheel arranged in pairs with the transmission main wheel. The suction device is provided with a transmission member that cooperates with the transmission belt, and the transmission member is relatively fixedly connected to the transmission belt.

[0009] In the present invention, a slide rail for guiding the movement of the suction device is provided on the frame, and a slide groove for cooperating with the slide rail is provided on the suction device.

[0010] In the present invention, the transmission main wheel is connected with a transmission main shaft, the transmission main wheel is supported and mounted on a slide rail through the transmission main shaft, and a coupling is provided between the transmission main shaft and the transmission shaft.

[0011] In the present invention, the brush device includes a brush bracket fixedly connected to a frame, a shaft seat installed on the brush bracket, a rotating shaft supported and rotated by the shaft seat at both ends, a plurality of brush wheels sleeved on the rotating shaft, and a brush motor transmission-connected to the rotating shaft, and the brush motor is fixedly installed on the brush bracket.

[0012] In the present invention, the brush device is installed on a side of the brush bracket facing away from the material suction zone, and the brush bracket is provided with a through groove for the brush wheel to pass through and extend into the material suction zone.

[0013] In the present invention, the brush bracket is a steel plate structure, the brush bracket is vertically mounted on the frame, and the brush bracket, the suction device and the working platform form a suction area for placing the film sheet.

[0014] In the present invention, the frame is also provided with a drag chain for protecting circuit wires and gas line pipes, and the circuit wires and gas line pipes on the frame are connected to the suction device, the shaking device, and the brush device through the drag chain.

[0015] The beneficial effects of the present invention are as follows: a suction device is arranged on the working platform, and the film sheet placed on the working platform is sucked by the suction device, and a double lifting device is arranged in the suction device. The piston rod of the secondary cylinder in the double lifting device contracts to make the film sheet rise to the position of the brush wheel of the brush device, and the brush device and the shaking device work simultaneously to make the film sheet shake back and forth and be swept by the brush wheel to prevent two or more film sheets from being sucked and fed at the same time. After shaking and sweeping, the piston rod of the primary cylinder is extended to make the film sheet rise one more level, and then the shaking motor in the shaking device rotates to drive the entire suction device together with the film sheet to move, and the film sheet is sent to the next process equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0017] Figure 1 This is a schematic diagram of the overall installation structure of this embodiment;

[0018] Figure 2 This is a schematic diagram of the installation structure of the brush device of this embodiment;

[0019] Figure 3 It is a structural schematic diagram of the suction device of this embodiment;

[0020] Figure 4 for Figure 3 Rear view of

[0021] Figure 5 This is the electrical control connection schematic diagram of this embodiment;

[0022] Figure 6 is a schematic diagram of the structure of the shaking device of this embodiment;

[0023] Figure 7 for Figure 6 Left view of;

[0024] Figure 8 It is the front view of this embodiment;

[0025] Fig. 9 This is a schematic diagram of the structure of the brush device of this embodiment;

[0026] Fig.10 for Fig. 9 Rear view of

[0027] Fig.11 This is a schematic diagram of the installation structure of the working platform of this embodiment;

[0028] Fig.12 This is a schematic diagram of the installation structure of the positioning device of this embodiment;

[0029] Fig.13 This is a schematic diagram of the structure of the forward and backward movable bracket of this embodiment;

[0030] Fig.14 This is a schematic diagram of the structure of the mounting frame of this embodiment;

[0031] Fig.15 This is a control principle diagram of the positioning device of this embodiment;

[0032] Fig.16 This is a flowchart of the workflow of this embodiment. DETAILED DESCRIPTION

[0033] To make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Example

[0034] like Figures 1 to 16 As shown, this embodiment discloses an automatic feeding robot for thin film sheets, including a frame 1, a control cabinet 2, a suction device 3 installed on the frame 1, a shaking device 4, and a brush device 5. The frame 1 is provided with a working platform 11, and the bottom of the working platform 11 is provided with a positioning device 6 for driving the working platform 11 to perform three-axis movement and positioning. The control cabinet 2 is electrically connected with the suction device 3, the shaking device 4, the brush device 5, and the positioning device 6. The suction device 3 is arranged above the working platform 11, and the suction surface of the suction device 3 faces the working platform 11. The shaking device 4 is transmission-connected to the suction device 3. The brush device 5 is arranged in the interval area between the working platform 11 and the suction device 3, and the sweeping surface of the brush device 5 faces the suction device 3.

[0035] In the present invention, the suction device 3 includes a plurality of suction nozzles 31, a suction bracket 32 ​​for fixing the suction nozzle 31, a double lifting device 33 for driving the suction bracket 32 ​​to perform two-stage lifting, a pressure regulating switch 34 for adjusting the negative pressure value of the suction nozzle 31, and a vacuum pump 35. The suction nozzle 31 is installed below the suction bracket 32, and the double lifting device 33 is fixedly installed on the frame 1. The vacuum pump 35, the pressure regulating switch 34 and the suction nozzle 31 are connected by gas circuits in sequence. The suction device 3 is arranged above the working platform 11, and the film sheet is sucked by the suction nozzle 31 in the suction device 3, and then the film sheet is raised to the transportation height by the double lifting device 33 in the suction device 3, and then the suction device 3 is transported together with the film sheet to the film sheet processing equipment, and the suction action of the suction nozzle 31 of the suction device 3 is closed, and the film sheet falls freely under the action of gravity, completing the feeding process. In this process, automatic material collection and feeding are fully realized, which greatly reduces labor costs and improves production efficiency.

[0036] In the present invention, the double lifting device 33 includes a primary cylinder 331, a secondary cylinder 332, and a connecting frame 333 for connecting the primary cylinder 331 and the secondary cylinder 332. The primary cylinder 331 is fixedly mounted on the frame 1, the connecting frame 333 is connected to the piston rod of the primary cylinder 331, the secondary cylinder 332 is mounted on the connecting frame 333, and the piston rod of the secondary cylinder 332 is connected to the suction bracket 32. The primary cylinder 331 and the secondary cylinder 332 are arranged facing each other, and the extension direction of the piston rod of the primary cylinder 331 is opposite to the extension direction of the secondary cylinder 332. When the suction nozzle 31 descends to absorb the film sheet, the piston rod of the primary cylinder 331 is first contracted to drive the secondary cylinder 332 and the suction nozzle 31 to descend to the middle position, and then the piston rod of the secondary cylinder 332 is extended to drive the suction nozzle 31 to descend to the lower position to absorb the film sheet. After the suction nozzle 31 absorbs the film sheet, it rises and the piston rod of the secondary cylinder 332 is first contracted, and the suction nozzle 31 rises to the middle position together with the film sheet. During the suction, two or more film sheets may be stuck together. Therefore, a brush device 5 for brushing and separating the film sheets is provided in the middle position. The brush in the brush device 5 rotates to separate the two or more film sheets sucked from each other, thereby realizing the process of sucking the materials one by one. After the separation is completed, the piston rod of the primary cylinder 331 is extended, and the suction nozzle 31 rises to the upper position together with the single film sheet.

[0037] As a preferred embodiment, the double lifting device 33 also includes an air source 334, a first-level solenoid valve 335 and a second-level solenoid valve 336 for controlling the actions of the first-level cylinder 331 and the second-level cylinder 332 respectively. The first-level cylinder 331, the first-level solenoid valve 335, and the air source 334 are connected in sequence, and the second-level cylinder 332, the second-level solenoid valve 336, and the air source 334 are connected in sequence.

[0038] As a preferred embodiment, a negative pressure sensor 36 for detecting the negative pressure value of the air path is provided on the connecting air path between the pressure regulating switch 34 and the suction nozzle 31. The pressure regulating switch 34 is provided with a plurality of interfaces 341, and each interface 341 is connected to a suction nozzle 31. A plurality of suction nozzles 31 are arranged at intervals along the length direction of the suction bracket 32. The suction nozzle 31 is connected to the suction bracket 32 ​​by magnetism. A suction solenoid valve 37 is provided between the pressure regulating switch 34 and the vacuum pump 35. Through the negative pressure detection function of the negative pressure sensor 36, it is possible to accurately detect whether the film sheet is sucked into the suction nozzle 31 to avoid empty suction action. At the same time, in the present invention, after the control cabinet 2 receives the empty suction action signal from the negative pressure sensor 36 three times, the machine is controlled to stop, and it is assumed that there is no film sheet in the working platform 11 by default, and the suction work is completed, thereby improving the intelligence of the present invention.

[0039] As a preferred embodiment, the output end of the control cabinet 2 is connected to the primary solenoid valve 335 , the secondary solenoid valve 336 , and the material suction solenoid valve 37 , and the input end of the control cabinet 2 is connected to the negative pressure sensor 36 .

[0040] As a preferred embodiment, the double lifting device 33 is connected to the middle part of the material suction bracket 32, and guide components 38 for balancing the lifting of the material suction bracket 32 ​​are provided at both ends of the material suction bracket 32. The guide components 38 include a guide cylinder 382 fixed on the frame 1 and a guide rod 381 fixed on the material suction bracket 32, and the guide rod 381 is sleeved in the guide cylinder 382.

[0041] In the present invention, the shaking device 4 includes a shaking bracket 41 installed on the frame 1, a shaking motor 42 installed on the shaking bracket 41, a transmission shaft 43 connected to the shaking motor 42, a transmission main wheel 44 connected to both ends of the transmission shaft 43, a transmission belt 45 sleeved on the transmission main wheel 44, and a transmission secondary wheel 46 arranged in pairs with the transmission main wheel 44. The suction device 3 is provided with a transmission member 39 connected to the transmission belt 45. The transmission member 39 is relatively fixedly connected to the transmission belt 45. The transmission member 39 is fixedly installed on the suction bracket 32. When the transmission belt 45 reciprocates, the transmission action of the transmission member 39 causes the entire suction device 3 to reciprocate. In this embodiment, The shaking motor 42 adopts a servo motor to improve the control accuracy of its movement. At the same time, the control cabinet 2 obtains an action feedback signal to improve the action reliability of the present invention. The present invention uses a transmission connection relationship between the suction device 3 and the shaking device 4, so that after the film sheet is sucked, the film sheet is driven to rise to the middle position through the double upgrading device, and then the shaking motor 42 in the shaking device 4 performs forward and reverse movements, so that the suction device 3 and the film sheet perform reciprocating shaking movements together, thereby separating the film sheets that are stuck together and realizing the function of single-piece material picking. The present invention realizes fully automatic material picking and feeding actions, reduces manual material picking costs, and greatly improves the processing and production efficiency of film sheets.

[0042] As a preferred embodiment, the frame 1 is provided with a slide rail 12 for guiding the movement of the suction device 3, and the suction device 3 is provided with a slide groove 391 for cooperating with the slide rail 12. The transmission main wheel 44 is connected with a transmission main shaft 47, and the transmission main wheel 44 is supported and installed on the slide rail 12 through the transmission main shaft 47, and a coupling 48 is provided between the transmission main shaft 47 and the transmission shaft 43. The shaking bracket 41 is a T-shaped structure, and the shaking bracket 41 is installed on the frame 1 across the working platform 11, and the transmission shaft 43 is arranged in parallel with the shaking bracket 41.

[0043] In the present invention, the brush device 5 includes a brush bracket 51 fixedly connected to the frame 1, a shaft seat 52 installed on the brush bracket 51, a rotating shaft 53 supported for rotation by the shaft seat 52 at both ends, a plurality of brush wheels 54 sleeved on the rotating shaft 53, and a brush motor 55 transmission-connected to the rotating shaft 53, and the brush motor 55 is fixedly installed on the brush bracket 51. In this embodiment, the brush motor 55 is connected to the rotating shaft 53 with a belt drive. Through the coordinated action of the suction device 3 and the brush device 5, the suction device 3 sucks the film sheet and then rises to the middle position by the contraction action of the secondary cylinder 332. Then, the brush wheel 54 in the brush device 5 rotates, so that the film sheet sucked in the suction device 3 is washed and separated during the rotation of the brush wheel 54, thereby realizing the function of single-piece material picking. After washing and separation, it rises to the upper position by the contraction action of the primary cylinder 331 to complete the material picking process. The present invention realizes fully automated material picking and feeding action, reduces the cost of manual material picking, and greatly improves the processing and production efficiency of film sheets.

[0044] As a preferred embodiment, the brush device 5 is installed on the side of the brush bracket 51 facing away from the suction zone, and the brush bracket 51 is provided with a through slot 511 for the brush wheel 54 to pass through and extend into the suction zone. The brush bracket 51 is a steel plate structure, and the brush bracket 51 is vertically installed on the frame 1. The brush bracket 51, the suction device 3 and the working platform 11 form a suction zone for placing film sheets. The number of through slots 511 is the same as the number of brush wheels 54, and each through slot 511 corresponds to a brush wheel 54, and a plurality of brush wheels 54 are arranged in a horizontally spaced arrangement.

[0045] As a preferred embodiment, the frame 1 is also provided with a drag chain for protecting circuit wires and gas line pipes. The circuit wires and gas line pipes on the frame 1 are connected to the suction device 3, the shaking device 4, and the brush device 5 through the drag chain. The drag chain is not drawn in the drawings of the specification. The setting of the drag chain can protect the connected circuit wires and gas line pipes in the present invention, and at the same time make the connection of the circuit and gas line neater and the distribution orderly.

[0046] As a preferred embodiment, the positioning device 6 includes a front-and-back moving device 61, a left-and-right moving device 62, and an up-and-down moving device 63 for driving the working platform 11 to move forward and backward, left-and-right, and up-and-down, respectively. The front-and-back moving device 61, the left-and-right moving device 62, and the up-and-down moving device 63 are all connected to the circuit of the control cabinet 2. The front-and-back moving device 61, the left-and-right moving device 62, and the up-and-down moving device 63 are all controlled by screw transmission. By arranging the front-and-back moving device 61, the left-and-right moving device 62, and the up-and-down moving device 63 on the working platform 11, the working platform 11 can realize the function of three-axis mobile positioning under the drive of the three. At the same time, the three are driven by the servo motor to drive the screw transmission, so that the movement accuracy of the working platform 11 is improved.

[0047] As a preferred embodiment, a sensor for detecting the upper and lower heights of the working platform 11 is provided on the frame 1, and the sensing surface of the sensor faces the side of the working platform 11. The sensor, the control cabinet 2, and the up-and-down moving device 63 are connected in sequence by electrical signals. In this embodiment, the sensor is an infrared sensor 64. By setting the sensor at a position flush with the film sheet suction position on the frame 1, the up-and-down moving device 63 is controlled to work through the sensing function of the sensor, so that the top film sheet of the film sheet stack placed on the working platform 11 is always located at the film sheet suction position.

[0048] As a preferred embodiment, the working platform 11 is provided with a front and rear through groove 111 for connecting the front and rear moving device 61, and a left and right through groove 112 for connecting the left and right moving device 62. The end of the up and down moving device 63 is fixedly connected to the bottom of the working platform 11, and the ends of the front and rear moving device 61 and the left and right moving device 62 extend into the front and rear through groove 111 and the left and right through groove 112 respectively. In this embodiment, the front and rear through groove 111 is provided with one and is arranged along the front and rear direction, and the end of the front and rear moving bracket 612 is fixedly connected to the front and rear through groove 111; the left and right through grooves 112 are provided with three pairs, each pair of left and right through grooves 112 is arranged along the left and right direction, and the three pairs of left and right through grooves 112 are evenly spaced and arranged in the front and rear direction, and each left and right through groove 112 is respectively connected to a left and right moving rod 621.

[0049] As a preferred embodiment, the front-to-back moving device 61 includes a front-to-back moving rod 611 with one end extending into the front-to-back through groove 111, a front-to-back moving bracket 612 connected to the other end of the front-to-back moving rod 611, a front-to-back moving support rod 613 for supporting the front-to-back moving bracket 612, a front-to-back moving screw 614 for driving the front-to-back moving bracket 612 to move, and a front-to-back moving motor 615 for driving the front-to-back moving screw 614 to rotate. Both ends of the front-to-back moving bracket 612 are provided with through holes 6121 for the front-to-back moving support rod 613 to pass through. The front-to-back moving support rod 613 is fixedly installed on the frame 1 through the through holes 6121. A threaded hole 6122 for cooperating with the front-to-back moving screw 614 for transmission is opened in the middle of the front-to-back moving bracket 612. The front-to-back moving screw 614 is connected to the front-to-back moving motor 615 through the threaded hole 6122.

[0050] As a preferred embodiment, the left-right moving device 62 includes a left-right moving rod 621 with one end extending into the left-right through groove 112, a left-right moving bracket 622 connected to the other end of the left-right moving rod 621, two left-right moving screws 623 arranged at both ends of the left-right moving bracket 622 to support and drive the movement of the left-right moving bracket 622, and a left-right moving motor 624 connected to one of the left-right moving screws 623. The two ends of the left-right moving screws 623 are movably mounted on the frame 1, and the two left-right moving screws 623 are transmission connected. In the present invention, the structure of the front-rear moving device 61 can also be implemented using the structure of the left-right moving device 62, which has the same technical effect as this embodiment.

[0051] As a preferred embodiment, the up and down moving device 63 is a screw-type electric push rod, including an up and down moving motor 631 and an up and down moving push rod 632. The up and down moving motor 631 is transmission connected to the up and down moving push rod 632. The telescopic end of the up and down moving push rod 632 is fixedly connected to the working platform 11, and the up and down moving device 63 is installed upright.

[0052] As a preferred embodiment, the front-rear moving device 61, the left-right moving device 62, and the up-down moving device 63 are all driven by servo motors.

[0053] As a preferred embodiment, the front-to-back moving rod 611 is arranged along the up-down direction, the front-to-back moving bracket 612 is arranged along the left-to-right direction, and the front-to-back moving support rod 613 and the front-to-back moving screw rod 614 are both arranged along the front-to-back direction.

[0054] As a preferred embodiment, the left-right moving rod 621 is arranged along the up-down direction, the left-right moving bracket 622 is arranged along the front-back direction, and the left-right moving screw 623 is arranged along the left-right direction.

[0055] As a preferred embodiment, a mounting frame 633 for moving the up-and-down moving device 63 forward and backward, left and right is provided at the bottom of the up-and-down moving device 63, a sliding groove 6331 for moving the up-and-down moving device 63 forward and backward, left and right is provided on the mounting frame 633, the up-and-down moving device 63 is installed on the sliding groove 6331, and a track 6332 for moving the mounting frame 633 left and right, or forward and backward is provided on the corresponding frame 1, the mounting frame 633 is installed on the track 6332, and through the setting of the sliding groove 6331 and the track 6332, when the working platform 11 moves forward and backward, left and right, the up-and-down moving device 63 can slide through the sliding groove 6331 and the track 6332.

[0056] The present invention also includes a control system, which controls the operation of each action component in the manipulator to achieve an automated control process. The control system is embedded in the control cabinet 2. When the present invention is working, the first step is to start the manipulator, and the control system controls the manipulator to perform an initialization action. The working platform 11, the first-level cylinder 331, and the second-level cylinder 332 are all reset to an initial state, that is, the working platform 11 is in an unloaded high-position state, the piston rod of the first-level cylinder 331 is in an extended state, and the piston rod of the second-level cylinder 332 is in a retracted state, so that the suction nozzle 31 in the suction device 3 is in a high-position state.

[0057] In the second step, the film sheets to be fed are stacked and placed on the working platform 11. The front and rear moving device 61, the left and right moving device 62, and the up and down moving device 63 in the positioning device 6 are moved and positioned respectively through the control buttons on the control cabinet 2, so that the film sheets on the working platform 11 are in the material suction area, and are positioned in the front and rear, left and right, and up and down directions. In the up and down directions, adjustments are made through the signal detection of the infrared sensor so that the top position of the film sheet stack is always flush with the sensing surface of the infrared sensor.

[0058] The third step is to start sucking the material. The first-stage cylinder 331 contracts and the second-stage cylinder 332 extends, so that the suction nozzle 31 contacts the film sheet. The suction solenoid valve 37 is energized, and the suction nozzle 31 sucks the film sheet. During this process, the negative pressure sensor 36 detects the negative pressure value between the suction nozzle 31 and the pressure regulating switch 34 and feeds it back to the control system. If the control system determines that the negative pressure value is positive for three consecutive times, it determines that there is no film sheet in the working platform 11, and controls the robot to stop.

[0059] In the fourth step, after sucking up the film sheet, the secondary cylinder 332 contracts, so that the sucked film sheet is in a middle position flush with the brush wheel 54, and the brush device 5 and the shaking device 4 operate simultaneously, so that the sucked film sheet is swept by the brush wheel 54 and shaken back and forth, so that the two or more film sheets sucked up by the suction nozzle 31 are separated, realizing the single-piece suction work.

[0060] Step 5: After the sweeping and shaking are completed, the first-stage cylinder 331 extends to raise the sucked single film sheet to a high-level position.

[0061] In the sixth step, the shaking motor 42 rotates and drives the suction device 3 together with the sucked film sheet to be transported forward to the processing equipment of the next process through the conveyor belt. The suction solenoid valve 37 in the suction device 3 fails to reset, and there is no negative pressure in the suction nozzle 31. The film sheet falls to the processing equipment of the next process under the action of gravity.

[0062] Step 7: After the feeding is completed, the robot returns to its initial state to suck the next film sheet, and the cycle continues.

[0063] The above description is only a preferred embodiment of the present invention. Any technical solution that achieves the purpose of the present invention by substantially the same means belongs to the protection scope of the present invention.

Claims

1. A film sheet automatic feeding robot, characterized in that: The invention comprises a frame (1), a control cabinet (2), a material suction device (3), a shaking device (4), and a brush device (5) installed on the frame (1); a working platform (11) is provided on the frame (1); a positioning device (6) for driving the working platform (11) to perform three-axis movement and positioning is provided at the bottom of the working platform (11); the control cabinet (2) is electrically connected to the material suction device (3), the shaking device (4), the brush device (5), and the positioning device (6); the material suction device (3) is arranged above the working platform (11); the suction surface of the material suction device (3) faces the working platform (11); the shaking device (4) is transmission-connected to the material suction device (3); the brush device (5) is arranged in a spacing area between the working platform (11) and the material suction device (3); the sweeping surface of the brush device (5) faces the material suction device (3); The positioning device (6) comprises a front-to-back moving device (61), a left-to-right moving device (62), and an up-to-down moving device (63) for driving the working platform (11) to move forward and backward, left-to-right, and up-to-down, respectively; the front-to-back moving device (61), the left-to-right moving device (62), and the up-to-down moving device (63) are all connected to the circuit of the control cabinet (2); and the front-to-back moving device (61), the left-to-right moving device (62), and the up-to-down moving device (63) are all controlled by screw drive; The frame (1) is provided with a sensor for detecting the up and down height of the working platform (11), the sensing surface of the sensor faces one side of the working platform (11), and the sensor, the control cabinet (2), and the up and down moving device (63) are connected in sequence by electrical signals; The working platform (11) is provided with a front and rear through slot (111) for connecting the front and rear moving device (61) and a left and right through slot (112) for connecting the left and right moving device (62). The end of the up and down moving device (63) is fixedly connected to the bottom of the working platform (11). The ends of the front and rear moving device (61) and the left and right moving device (62) extend into the front and rear through slot (111) and the left and right through slot (112) respectively. The front and rear through slot (111) is provided with one and is arranged along the front and rear direction. The end of the front and rear moving bracket (612) is fixedly connected to the front and rear through slot (111). The left and right through slots (112) are provided with three pairs. Each pair of left and right through slots (112) is arranged along the left and right direction. The three pairs of left and right through slots (112) are evenly spaced and arranged in the front and rear direction. Each left and right through slot (112) is respectively connected to a left and right moving rod (621). The forward and backward moving device (61) comprises a forward and backward moving rod (611) with one end extending into the forward and backward through groove (111), a forward and backward moving bracket (612) connected to the other end of the forward and backward moving rod (611), a forward and backward moving support rod (613) for supporting the forward and backward moving bracket (612), a forward and backward moving screw rod (614) for driving the forward and backward moving bracket (612) to move, and a forward and backward moving motor (615) for driving the forward and backward moving screw rod (614) to rotate, both ends of the forward and backward moving bracket (612) are provided with through holes (6121) for the forward and backward moving support rod (613) to pass through, the forward and backward moving support rod (613) is fixedly mounted on the frame (1) through the through holes (6121), a threaded hole (6122) for cooperating with the forward and backward moving screw rod (614) for transmission is provided in the middle of the forward and backward moving bracket (612), and the forward and backward moving screw rod (614) passes through the threaded hole (6122) to be connected to the forward and backward moving motor (615); The left-right moving device (62) comprises a left-right moving rod (621) with one end extending into the left-right through slot (112), a left-right moving bracket (622) connected to the other end of the left-right moving rod (621), two left-right moving screw rods (623) arranged at both ends of the left-right moving bracket (622) to support and drive the left-right moving bracket (622) to move, and a left-right moving motor (624) connected to one of the left-right moving screw rods (623), the two ends of the left-right moving screw rods (623) being movably mounted on the frame (1), and the two left-right moving screw rods (623) are drivingly connected to each other; The up-and-down moving device (63) is a screw-type electric push rod, comprising an up-and-down moving motor (631) and an up-and-down moving push rod (632); the up-and-down moving motor (631) is in transmission connection with the up-and-down moving push rod (632); the telescopic end of the up-and-down moving push rod (632) is fixedly connected to the working platform (11); and the up-and-down moving device (63) is installed vertically; the front-and-back moving device (61), the left-and-right moving device (62), and the up-and-down moving device (63) are all driven by servo motors; the front-and-back moving rod (611) is arranged along the up-and-down direction, the front-and-back moving bracket (612) is arranged along the left-and-right direction, and the front-and-back moving support rod (613) and the front-and-back moving screw (614) are both arranged along the front-and-back direction; the left-and-right moving rod (621) is arranged along the up-and-down direction, the left-and-right moving bracket (622) is arranged along the front-and-back direction, and the left-and-right moving screw (623) is arranged along the left-and-right direction; A mounting frame (633) for moving the up-and-down moving device (63) forward and backward or left and right is provided at the bottom of the up-and-down moving device (63); a sliding groove (6331) for moving the up-and-down moving device (63) forward and backward or left and right is provided on the mounting frame (633); the up-and-down moving device (63) is mounted on the sliding groove (6331); a track (6332) for moving the mounting frame (633) left and right or forward and backward is provided on the corresponding frame (1); and the mounting frame (633) is mounted on the track (6332).

2. The film sheet automatic feeding robot according to claim 1, characterized in that: The material suction device (3) comprises a plurality of suction nozzles (31), a material suction bracket (32) for fixing and mounting the suction nozzles (31), a double lifting device (33) for driving the suction bracket (32) to perform two-stage lifting, a pressure regulating switch (34) for regulating the negative pressure value of the suction nozzle (31), and a vacuum pump (35); the suction nozzle (31) is mounted below the material suction bracket (32); the double lifting device (33) is fixedly mounted on the frame (1); and the vacuum pump (35), the pressure regulating switch (34) and the suction nozzle (31) are connected in sequence by gas circuits.

3. The film sheet automatic feeding robot according to claim 2, characterized in that: The double lifting device (33) comprises a primary cylinder (331), a secondary cylinder (332), and a connecting frame (333) for connecting the primary cylinder (331) and the secondary cylinder (332); the primary cylinder (331) is fixedly mounted on the frame (1); the connecting frame (333) is connected to the piston rod of the primary cylinder (331); the secondary cylinder (332) is mounted on the connecting frame (333); and the piston rod of the secondary cylinder (332) is connected to the material suction bracket (32).

4. The film sheet automatic feeding robot according to claim 1, characterized in that: The shaking device (4) comprises a shaking bracket (41) mounted on the frame (1), a shaking motor (42) mounted on the shaking bracket (41), a transmission shaft (43) drivingly connected to the shaking motor (42), a transmission main wheel (44) connected to both ends of the transmission shaft (43), a transmission belt (45) sleeved on the transmission main wheel (44), and a transmission secondary wheel (46) arranged in pair with the transmission main wheel (44), and the suction device (3) is provided with a transmission member (39) connected to the transmission belt (45), and the transmission member (39) is relatively fixedly connected to the transmission belt (45).

5. The film sheet automatic feeding robot according to claim 4, characterized in that: The frame (1) is provided with a slide rail (12) for guiding the movement of the suction device (3), and the suction device (3) is provided with a slide groove (391) for cooperating with the slide rail (12).

6. The film sheet automatic feeding robot according to claim 5, characterized in that: The transmission main wheel (44) is connected to a transmission main shaft (47), and the transmission main wheel (44) is supported and mounted on the slide rail (12) via the transmission main shaft (47). A coupling (48) is provided between the transmission main shaft (47) and the transmission shaft (43).

7. The film sheet automatic feeding robot according to claim 1, characterized in that: The brush device (5) comprises a brush bracket (51) fixedly connected to the frame (1), a shaft seat (52) mounted on the brush bracket (51), a rotating shaft (53) supported and rotated at both ends by the shaft seat (52), a plurality of brush wheels (54) sleeved on the rotating shaft (53), and a brush motor (55) drivingly connected to the rotating shaft (53); the brush motor (55) is fixedly mounted on the brush bracket (51).

8. The film sheet automatic feeding robot according to claim 7, characterized in that: The brush support (51) is a steel plate structure and is vertically mounted on the frame (1). The brush support (51), the suction device (3) and the working platform (11) form a suction area for placing film sheets.

9. The film sheet automatic feeding robot according to claim 8, characterized in that: The brush device (5) is mounted on a side of the brush support (51) facing away from the material suction zone, and the brush support (51) is provided with a through slot (511) for the brush wheel (54) to pass through and extend into the material suction zone.

10. The film sheet automatic feeding robot according to claim 1, characterized in that: The frame (1) is also provided with a drag chain for protecting circuit wires and gas line pipes. The circuit wires and gas line pipes on the frame (1) are connected to the suction device (3), the shaking device (4), and the brush device (5) through the drag chain.

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