A blanking, stacking and laminating device

Abstract

The purpose of the present invention is to provide a blanking, stacking and coating device that solves the problems of blanking, stacking, coating and cleaning of products. The device includes a conveying mechanism, a positioning mechanism, a manipulator and a coating mechanism, and is characterized in that a guide plate is provided at the output end of the conveying mechanism, and the guide plate is connected to the receiving end of the positioning mechanism. The positioning mechanism is located within the grasping range of the manipulator, and the delivery area of ​​the manipulator is located within the coating area of ​​the coating mechanism. The positioning mechanism can be rotated by a certain angle. Since the positioning mechanism can be flipped 180°, the manipulator can grab products from both directions. Therefore, when stacking products, the manipulator can also stack them according to the front and back sides of the products. Each time the manipulator stacks a layer, it is coated by the coating mechanism, thereby solving the problems of blanking, stacking, coating and cleaning of products.

Description

Technical Field

[0001] The present invention relates to the field of transportation, and in particular to a blanking, stacking and laminating device. Background Art

[0002] Currently, the products can be palletized, but the products that have been palletized are not coated. Therefore, the coating of the products requires additional equipment or manpower. The products that have been palletized are finished products, so they need to be packaged as soon as possible to keep them clean and avoid contamination.

[0003] Application publication number: CN109051843A, discloses an automatic unloading and stacking device for PCB boards. When the workpiece is centered, the flipping and stacking device is started to flip and stack the workpiece, that is, the clamping and flipping mechanism is started, the cylinder rod of the stacking lifting cylinder of the clamping part is extended, driving the stacking rotating cylinder, stacking clamping cylinder and stacking clamping plate on it to move downward at the same time, and then the clamping part adjusts the clamping position through the clamping drive part, the clamping drive motor is started, driving the clamping drive active pulley to rotate, thereby driving the clamping drive synchronous belt to move, so that the clamping part on the clamping drive synchronous belt is moved closer to the middle, thereby The stacking clamping plate on the clamping part clamps the workpiece, and then the cylinder rod of the stacking clamping cylinder of the clamping part moves upward, driving the workpiece upward, and the stacking rotary cylinder is started, driving the stacking clamping cylinder and the workpiece to rotate a certain angle, and then the horizontal movement drive module of the clamping and flipping mechanism is started, and the horizontal movement drive motor of the clamping and flipping mechanism drives the horizontal movement drive slider of the clamping and flipping mechanism to move, so that the clamping and flipping mechanism connected to the horizontal movement drive slider of the clamping and flipping mechanism moves horizontally at the same time for stacking. When it reaches the unloading trolley, the clamping part drives the stacking clamping plate to separate from the workpiece through the clamping drive part, completing a stacking operation.

[0004] Application publication number: CN108249168A discloses a positioning device and a material unloading and stacking system. Paragraph

[0034] of its specification states that the positioning assembly also includes a first mounting seat for mounting the rolling element. The rolling element primarily includes a first bearing (a high-precision bearing may be selected) and a fastener for mounting the first bearing. The bearing is a standard component. Using the first bearing to manufacture the rolling element helps ensure that the vertices of all rolling elements are located in the same plane, thereby ensuring high-precision positioning of the container in the Z direction. The bearing also has high mechanical strength and stability, making it less susceptible to deformation or wear. It should be noted that the rolling element may also utilize other high-precision rollers or other rolling elements. The rolling element is used for positioning and does not carry material.

[0005] Therefore, how to keep the materials clean after unloading and palletizing needs to be solved. Summary of the Invention

[0006] The purpose of the present invention is to provide a blanking, stacking and coating device, which solves the problems of blanking, stacking, coating and cleaning of products.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] The present invention provides a blanking, stacking and laminating device, which includes a conveying mechanism, a positioning mechanism, a manipulator and a laminating mechanism. The device is characterized in that a guide plate is provided at the output end of the conveying mechanism, the guide plate is connected to the receiving end of the positioning mechanism, the positioning mechanism is located within the grasping range of the manipulator, the delivery area of ​​the manipulator is located within the laminating area of ​​the laminating mechanism, and the positioning mechanism can be rotated by a certain angle.

[0009] Optionally, it includes a conveying mechanism, a positioning mechanism, a manipulator and a laminating mechanism, and is characterized in that a guide plate is provided at the output end of the conveying mechanism, the guide plate is connected to the receiving end of the positioning mechanism, the positioning mechanism is located within the grasping range of the manipulator, the delivery area of ​​the manipulator is the same as the laminating area of ​​the laminating mechanism, and the positioning mechanism can be rotated by a certain angle.

[0010] Furthermore, a clamping mechanism is provided on the bracket, and the clamping mechanism is located at the discharge end of the conveyor belt. The clamping mechanism includes a stand and a protective cover, and the protective cover is provided on the stand. A clamping groove is provided on the stand, and the open end of the clamping groove extends to the outer edge of the stand.

[0011] Furthermore, a screw rod, a first clamping plate and a second clamping plate are provided on the stand, the first clamping plate and the second clamping plate are both mounted on the screw rod, the screw rod spans the clamping groove, and the first clamping plate and the second clamping plate are both located in the clamping groove, the first clamping plate and the second clamping plate both extend along the length direction of the conveyor belt, and the feed end formed by the first clamping plate and the second clamping plate is a flared mouth.

[0012] Optionally, the positioning mechanism includes a driving wheel, a driven wheel and a positioning motor, the driving end of the positioning motor is connected to the driving wheel by a chain, a first connecting plate and a second connecting plate are arranged between the driving wheel and the driven wheel, the two ends of the first connecting plate are respectively connected, and the two ends of the second connecting plate are respectively connected to the driving wheel and the driven wheel, the first connecting plate and the second connecting plate are arranged at a certain distance from each other, a feed hole is provided on the driving wheel, and a discharge hole is provided on the driven wheel, and the first connecting plate and the second connecting plate are respectively located on both sides of the feed hole and the discharge hole.

[0013] Furthermore, a first support wheel and a second support wheel are arranged in cooperation with the driving wheel, and the driving wheel can be rotatably mounted on the first support wheel and the second support wheel. A third support wheel and a fourth support wheel are arranged in cooperation with the driven wheel, and the driven wheel can be rotatably mounted on the third support wheel and the fourth support wheel. At least one positioning screw is arranged between the first connecting plate and the second connecting plate.

[0014] Furthermore, a first motor and a first sprocket are provided on the first connecting plate, a first carrying chain is provided between the first motor and the first sprocket, and the first carrying chain is simultaneously mounted on the first motor and the first sprocket, a second motor and a second sprocket are provided on the second connecting plate, a second carrying chain is provided between the second motor and the second sprocket, and the second carrying chain is simultaneously mounted on the second sprocket and the second sprocket, the first carrying chain and the second carrying chain are both located between the first connecting plate and the second connecting plate, and there is a gap between the first carrying chain and the second carrying chain.

[0015] Furthermore, a first support plate is provided on the first connecting plate, the first support plate is located between the first motor and the first sprocket, the bottom of the first loading chain is overlapped on the upper part of the first support plate, and a second support plate is provided on the second connecting plate, the second support plate is located between the second sprocket and the second sprocket, and the bottom of the second loading chain is overlapped on the upper part of the second support plate.

[0016] Optionally, the laminating mechanism includes a linear module and an adsorption platform, the adsorption platform is arranged on the linear module, and the adsorption platform covers the delivery range of the robot.

[0017] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0018] The present invention provides a blanking, stacking and coating device. Since the positioning mechanism can be flipped 180 degrees, the robot can grab products from both the front and back directions. Therefore, when the robot stacks products, it can also stack them according to the front and back sides of the products. Each layer stacked by the robot is coated by the coating mechanism, thus solving the problem of blanking, stacking, coating and cleaning of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Hereinafter, some specific embodiments of the present invention will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0020] Figure 12 is a perspective schematic diagram of a blanking, stacking and laminating device according to an embodiment of the present invention;

[0021] Figure 2 yes Figure 1 shown in a rear plan view;

[0022] Figure 3 yes Figure 1 Right side view shown;

[0023] Figure 4 This is the right view of the transmission mechanism;

[0024] Figure 5 It is the left side view of the transmission mechanism;

[0025] Figure 6 is a top view of the guide plate;

[0026] Figure 7 is a bottom view of the guide plate;

[0027] Figure 8 It is the right side view of the positioning mechanism;

[0028] Figure 9 yes Figure 8 An enlarged view of part A is shown;

[0029] Figure 10 is a side view of the positioning mechanism;

[0030] Figure 11 It is a top view of the positioning mechanism;

[0031] Figure 12 It is the left view of the positioning mechanism;

[0032] Figure 13 yes Figure 12 An enlarged view of part B is shown;

[0033] Figure 14 1. It is a schematic diagram of the positions of the first cylinder and the second cylinder;

[0034] Figure 15 is a left side view of the positioning mechanism without the first connecting plate and the second connecting plate;

[0035] Figure 16 is a right side view of the positioning mechanism without the first connecting plate and the second connecting plate;

[0036] Figure 17 It is the position diagram of the guardrail in the positioning mechanism;

[0037] Figure 18 It is a three-dimensional diagram of the robot;

[0038] Figure 19 It is a schematic diagram of the external structure of the fixed plate and the telescopic plate;

[0039] Figure 20 It is a schematic diagram of the structure between the fixed plate and the telescopic plate;

[0040] Figure 21 It is a three-dimensional diagram of the laminating mechanism;

[0041] Figure 22 It is a top view of the laminating mechanism;

[0042] Figure 23 yes Figure 22 An enlarged view of portion C is shown;

[0043] Figure 24 It is a three-dimensional diagram of the laminating mechanism without the flat plate;

[0044] Figure 25 yes Figure 24 An enlarged view of portion D is shown;

[0045] Figure 26 This is a top view of the laminating mechanism without the adsorption rack;

[0046] Figure 27 It is an enlarged view of the blocking mechanism and the clamping mechanism;

[0047] Figure 28 This is an enlarged view of the base plate.

[0048] The description of the accompanying drawings is as follows:

[0049] 1. Conveying mechanism; 2. Positioning mechanism; 3. Robot; 4. Laminating mechanism; 5. Guide plate; 6. Clamping mechanism;

[0050] 8. Pneumatic slip ring; 81. Support rod; 82. Adsorption bracket; 83. First folding plate; 84. Second folding plate;

[0051] 7. Blocking mechanism; 11. Bracket; 12. Conveyor belt; 13. First guide block; 14. Second guide block; 21. Driving wheel;

[0052] 22. Driven wheel; 23. Positioning motor; 24. Positioning screw; 25. First connecting plate; 26. Second connecting plate; 27. First motor; 28. Second motor; 29. ​​Gap; 210. Feed hole; 220. Discharge hole; 215. First limit block; 216. First limit sensor; 217. First limit post; 225. Second limit block; 226. Second limit sensor; 227. Second limit post; 223. Through hole;

[0053] 211, first support wheel; 212, second support wheel; 221, third support wheel; 222, fourth support wheel; 250, first compression main board; 254, second compression board;

[0054] 257, first guide rail; 258, first slider; 259, first compression plate;

[0055] 260, second compression main plate; 270, first sprocket; 271, first loading chain; 280, second sprocket; 281, second loading chain; 29, gap; 253, first balancing block; 263, second balancing block;

[0056] 273, first support plate; 283, second support plate; 291, first cylinder; 292, second cylinder;

[0057] 293, curved plate; 294, curved groove; 295, fixed rod; 296, second guide rail; 298, second slider;

[0058] 31. Telescopic motor; 32. Fixed plate; 33. Telescopic screw rod;

[0059] 34. Telescopic plate; 40. Bottom plate;

[0060] 41. Linear module; 42. Adsorption platform; 51. Support rod;

[0061] 52, extension portion; 53, first folding plate; 531, first push rod; 532, first push plate;

[0062] 54, second folding plate; 541, second push rod; 542, second push plate;

[0063] 61. Stand; 62. Protective cover; 63. Clamping groove; 64. Clamping screw; 65. First clamping plate; 66. Second clamping plate; 71. Driving cylinder; 72. Blocking rod; 76. Sensor;

[0064] 131, first movable plate; 141, second movable plate; 132, first movable hole; 142, second movable hole;

[0065] 210, feed hole; 220, discharge hole; 211, first support wheel; 212, second support wheel; 221, third support wheel; 224, fourth support wheel; 231, protective shell; 256, rotating shaft; 270, first sprocket; 271, first loading chain; 280, second sprocket; 281, second loading chain. DETAILED DESCRIPTION

[0066] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0067] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0069] like Figure 1 and Figure 2 and Figure 3 As shown, it includes a conveying mechanism 1, a positioning mechanism 2, a manipulator 3 and a laminating mechanism 4. A guide plate 5 is provided at the output end of the conveying mechanism 1, and the guide plate 5 is docked with the receiving end of the positioning mechanism 2. The height of the conveying mechanism 1 is higher than that of the positioning mechanism 2, so the workpiece 100 enters the guide plate 5 from the conveying mechanism 1, and then the workpiece 100 slides freely from the guide plate 5 to the receiving end of the positioning mechanism 2, and the workpiece 100 is positioned on the positioning mechanism 2.

[0070] The positioning mechanism 2 is located within the grasping range of the manipulator 3, that is, after the workpiece 100 is positioned on the positioning mechanism 2, the manipulator 3 can grasp it. A visual positioning camera is provided at the grasping end of the manipulator 3. The manipulator 3 determines the position of the workpiece 100 on the positioning mechanism 2 through the visual positioning camera, and then the manipulator 3 grasps the workpiece 100 and places it in the set position.

[0071] The delivery area of ​​the manipulator 3 is located in the coating area of ​​the coating mechanism 4. The manipulator 3 grabs the workpiece 100 and places it in the setting area. Then the coating mechanism 4 covers the placed workpiece 100 with a layer of film. Every time the manipulator 3 delivers a layer of product, the corresponding coating mechanism 4 covers it with a layer of film. The coating mechanism 4 covers the workpiece 100 with a layer of film, which can keep the workpiece 100 clean and avoid friction between the upper and lower layers of the workpiece 100, that is, reduce friction damage to the workpiece 100.

[0072] The positioning mechanism 2 can rotate a certain angle. In the present invention, the positioning mechanism 2 can rotate 180°. The positioning mechanism 2 rotates 180° from the original path as needed, and the workpiece 100 is positioned on the positioning mechanism 2 with a fixed surface. However, when the manipulator 3 places the workpiece 100, in order to make the contact parts of the upper and lower adjacent layers of workpieces 100 the same, the workpiece 100 must be flipped 180° on the positioning mechanism 2 together with the positioning mechanism 2. In this way, when the manipulator 3 grabs the workpiece 100, the adjacent batches of workpieces 100 on the positioning mechanism 2 are also equivalent to rotating 180°, that is, the adjacent batches of workpieces 100 are in the positive and negative positions, and the positive and negative positions are circulated continuously.

[0073] The conveying mechanism 1 includes a bracket 11 and a conveyor belt 12. The conveyor belt 12 is rotatably arranged on the bracket 11. A motor (not shown in the figure) cooperates with the conveyor belt 121. A first guide block 13 and a second guide block 14 are movably arranged on the bracket 11. The first guide block 13 and the second guide block 14 are respectively located on both sides of the conveyor belt 12. The first guide block 13 and the second guide block 14 are arranged side by side. There is a channel between the first guide block 13 and the second guide block 14. The first guide block 13 and the second guide block 14 can both rotate a certain angle on the bracket 11. When the workpiece 100 moves on the conveyor belt 12, the workpiece 100 will deviate to the second guide block 14 after touching the first guide block 13. Part of the product moves away from the gap between the first guide block 13 and the second guide block 14. If the workpiece 100 touches the second guide block 14 again, it will move through the channel between the first guide block 13 and the second guide block 14.

[0074] In the present invention, the first guide block 13 and the second guide block 14 are staggered, that is, the workpiece 100 touches the first guide block 13 first, or the workpiece 100 moves away from the first guide block 13 and then touches the second guide block 14. The workpiece 100 touches the first guide block 13 first, and the workpiece 100 will move away from the channel between the first guide block 13 and the second guide block 14. Some of the workpiece 100 will touch the second guide block 14, and then the workpiece 100 will move away from the channel between the first guide block 13 and the second guide block 14.

[0075] like Figure 4 and Figure 5As shown, a first movable plate 131 is arranged in cooperation with the first guide block 13, and the two ends of the first movable plate 131 are connected to the two sides of the bracket 11, and the conveyor belt 12 is at the bottom of the first movable plate 131 and is separated by a certain distance. A first movable hole 132 is provided on the first movable plate 131, and the first guide block 13 is connected to the first movable hole 132 by screws. The position of the first guide block 13 in the first movable hole 132 is adjustable. Similarly, a second movable plate 141 is arranged in cooperation with the second guide block 14, and the two ends of the second movable plate 141 are connected to the two sides of the bracket 11, and the conveyor belt 12 is at the bottom of the second movable plate 141 and is separated by a certain distance. A second movable hole 142 is provided on the second movable plate 141, and the second guide block 14 is connected to the second movable hole 142 by screws. The position of the second guide block 14 in the second movable hole 142 is adjustable.

[0076] A clamping mechanism 6 is provided on the bracket 11, and the clamping mechanism 6 is located at the discharge end of the conveyor belt 12. The clamping mechanism 6 includes a stand 61 and a protective cover 62. The stand 61 is mounted on the bracket 11, and the stand 61 spans the bracket 11. The protective cover 62 is covered on the stand 61. A clamping groove 63 is provided on the stand 61, and the open end of the clamping groove 63 extends to the outer edge of the stand 61. In the present invention, the opening direction of the clamping groove 63 is consistent with the moving direction of the workpiece 100.

[0077] A clamping screw 64, a first clamping plate 65 and a second clamping plate 66 are provided on the stand 61. The first clamping plate 65 and the second clamping plate 66 are both sleeved on the screw 64. The first clamping plate 65 and the second clamping plate 66 are sleeved on the screw 64 in a forward and reverse threaded manner. When the screw 64 rotates, the first clamping plate 65 and the second clamping plate 66 move closer to or away from each other. The clamping screw 64 spans the clamping groove 63. The first clamping plate 65 and the second clamping plate 66 are both located in the clamping groove 63. The first clamping plate 65 and the second clamping plate 66 are The first clamping plate 65 and the second clamping plate 66 are separated from the conveyor belt 12 by a certain distance in height. Both extend along the length direction of the conveyor belt 12. The distance between the first clamping plate 65 and the second clamping plate 66 is determined according to the size of the workpiece 100. The feed end formed by the first clamping plate 65 and the second clamping plate 66 is a flared opening. The flared opening is located at a position where the first clamping plate 65 and the second clamping plate 66 are close to the second guide block 14. The width of the first clamping plate 65 and the second clamping plate 66 here is wider than that at other positions, and then gradually becomes a uniform width.

[0078] The discharging end of the clamping mechanism 6 is provided with a blocking mechanism 7, which includes a driving cylinder 71 and a blocking rod 72. The blocking rod 72 is connected to the driving end of the driving cylinder 71. The driving cylinder 71 is provided on the second clamping plate 66. The blocking rod 72 is located between the first clamping plate 65 and the second clamping plate 66. A position sensor 76 is provided in conjunction with the driving cylinder 71. The sensor 76 is provided on the first clamping plate 65 or the second clamping plate 66. The sensor 76 adopts an infrared sensor. When the conveyor belt 12 transports the workpiece 100, the workpiece 100 passes through the sensor. After a certain number of sensing lines of the sensor 76 are moved, the sensor 76 sends a signal to the PLC controller, and the PLC controller sends instructions to the motor (not shown in the figure) and the driving cylinder 71, and the motor stops rotating (not shown in the figure), and then the conveyor belt 12 stops, and the driving cylinder 71 drives the blocking rod 72 to move downward, and the blocking rod 72 blocks the workpiece 100 behind. Although the conveyor belt 12 is stationary, the workpiece 100 will slide forward due to inertia, and the workpiece 100 passes through the sensing line of the sensor 76, and the workpiece 100 slides into the positioning mechanism 2 through the guide plate 5.

[0079] like Figure 6 and Figure 7 As shown, the guide plate 5 is connected to the discharge end of the conveyor belt 12, and the guide plate 5 is movable.

[0080] On the positioning mechanism 2, the bottom of the guide plate 5 is hingedly connected to a support rod 51, and the support rod 51 is rotatably set on the bracket 11. When the support rod 51 rotates a certain angle on the bracket 11, the guide plate 5 will also tilt at a corresponding angle accordingly. The output end of the guide plate 5 is connected to the receiving end of the positioning mechanism 2. The output end of the guide plate 5 is provided with an extension part 52, and the extension part 52 extends into the positioning mechanism 2.

[0081] The two sides of the guide plate 5 are folded upward by 90° to form a first folding plate 53 and a second folding plate 54. A first push rod 531 and a first push plate 532 are provided on the first folding plate 53, and a second push rod 541 and a second push plate 542 are provided on the second folding plate 54. The first push rod 531 is connected to the first folding plate 53 by a thread, and the second push rod 541 is also connected to the second folding plate 54 by a thread. The first push plate 532 is arranged at the end of the first push rod 531, and the second push plate 542 is arranged at the end of the second push rod 541. The first push plate 532 and the second push plate 542 are both between the first folding plate 53 and the second folding plate 54, and the first push plate 532 and the second push plate 542 are arranged opposite to each other.

[0082] Because the guide plate 5 is tilted at a certain angle, the end of the first push plate 532 close to the conveyor belt 12 is bent toward the first folding plate 53, and the end of the second push plate 542 close to the conveyor belt 12 is bent toward the second push plate 542. The first push plate 532 and the second push plate 542 are arranged in parallel with each other at a distance, so that the width of the inlet end of the first push plate 532 and the second push plate 542 is wider than the part where neither the first push plate 532 nor the second push plate 542 is bent.

[0083] like Figure 8 and Figure 9 and Figure 10 As shown, the positioning mechanism 2 includes a driving wheel 21, a driven wheel 22 and a positioning motor 23. The driving wheel 21, the driven wheel 22 and the positioning motor 23 are all arranged on the base plate 40. The driving end of the positioning motor 23 is connected to the driving wheel 21 through a chain, that is, the driving end of the positioning motor 23 drives the driving wheel 21 to rotate through the chain. A first connecting plate 25 is provided between the driving wheel 21 and the driven wheel 22. And the second connecting plate 26, the two ends of the first connecting plate 25 and the two ends of the second connecting plate 26 are respectively connected to the driving wheel 21 and the driven wheel 22, the driving wheel 21 drives the driven wheel 22 to rotate through the first connecting plate 25 and the second connecting plate 26, the first connecting plate 25 and the second connecting plate 26 are arranged at a certain distance apart, so that there is space between the first connecting plate 25 and the second connecting plate 26, a feed hole 210 is provided on the driving wheel 21, and a discharge hole 220 is provided on the driven wheel 22, the feed hole 210 and the discharge hole 220 are equal in size, and the axis of the feed hole 210 is the same as the axis of the discharge hole 220, the first connecting plate 25 and the second connecting plate 26 are respectively located on both sides of the feed hole 210 and the discharge hole 220, at least one positioning screw rod 24 is arranged between the first connecting plate 25 and the second connecting plate 26, and the positioning motor 23 is connected to the PLC controller signal.

[0084] The driving wheel 21 is provided with a first support wheel 211 and a second support wheel 212, and the driving wheel 21 can be rotatably mounted on the first support wheel 211 and the second support wheel 212, that is, the driving wheel 21 is in rolling contact with the first support wheel 211 and the second support wheel 212 at the same time, and the first support wheel 211 and the second support wheel 212 rollingly support the driving wheel 21, and the driven wheel 22 is provided with a third support wheel 221 and a fourth support wheel 222, and the driven wheel 22 can be rotatably mounted on the third support wheel 221 and the fourth support wheel 222. On the support wheel 222, the driven wheel 22 is in rolling contact with the third support wheel 221 and the fourth support wheel 222 at the same time. The third support wheel 221 and the fourth support wheel 222 support the driven wheel 22 by rolling. The first support wheel 211, the second support wheel 212, the third support wheel 221 and the fourth support wheel 222 are all provided with grooves. The driving wheel 21 is clamped in the groove of the first support wheel 211 and the groove of the second support wheel 212, and the driven wheel 22 is clamped in the groove of the third support wheel 221 and the groove of the fourth support wheel 222.

[0085] A first compression main plate 250 and a second compression main plate 260 are provided between the first connecting plate 25 and the second connecting plate 26. A first motor 27 and a first sprocket 270 are provided on the first compression main plate 250. A first loading chain 271 is provided between the first motor 27 and the first sprocket 270. The first loading chain 271 is simultaneously sleeved on the first motor 27 and the first sprocket 270. The driving end of the first motor 27 rotates, driving the first sprocket 270 to rotate through the first loading chain 271. A second motor 28 and a second sprocket 280 are provided on the second compression main plate 260. A second loading chain 281 is arranged between the second motor 28 and the second sprocket 280. The second loading chain 281 is simultaneously mounted on the second sprocket 280 and the second sprocket 280. The driving end of the second motor 28 drives the second sprocket 280 to rotate through the second loading chain 281. At least two positioning screw rods 24 are also arranged. The first compression main board 250 and the second compression main board 260 both pass through the positioning screw rod 24. The first motor 27 and the second motor 28 are both stepper motors, and can also be two servo motors. The first motor 27 and the second motor 28 are both connected to the PLC controller signal.

[0086] The first loading chain 271 and the second loading chain 281 are both located between the first compression main plate 250 and the second compression main plate 260. The first loading chain 271 and the second loading chain 281 are arranged opposite to each other. There is a gap 29 between the first loading chain 271 and the second loading chain 281. The extension part 52 extends between the first loading chain 271 and the second loading chain 281, that is, the extension part 52 is in the gap 29. The first loading chain 271 and the second loading chain 281 are at the same height and parallel. The two ends of the first loading chain 271 are flush with the two ends of the second loading chain 281. The workpiece 100 that slides down from the guide plate 5 enters the first loading chain 271 and the second loading chain 281. Under the common rotation of the first loading chain 271 and the second loading chain 281, the workpiece 100 moves from the feed hole 210 to the discharge hole 220.

[0087] A gas-electric slip ring 8 is provided outside the discharge hole 220. The axis of the gas-electric slip ring 8 is aligned with the axis of the driving wheel 21 and the axis of the driven wheel 22. The gas-electric slip ring 8 is supported by a support rod 81. A first folding plate 83 and a second folding plate 84 are provided on the rotating shaft of the gas-electric slip ring 8. The first folding plate 83 and the second folding plate 84 are both connected to the driven wheel 22. The first folding plate 83 and the second folding plate 84 are formed as one piece. The gas-electric slip ring 8 is aligned with the center of the discharge hole 220. The first folding plate 83 and the second folding plate 84 are both bent 90 degrees. The gas-electric slip ring 8 can transmit signals, avoid signal interference, and reduce cable wiring.

[0088] In order to keep the first connecting plate 25 balanced and less rocking, a first balancing block 253 is provided on the outer wall of the first connecting plate 25. In order to keep the second connecting plate 26 balanced and less rocking, a second balancing block 263 is provided on the outer wall of the second connecting plate 26. The first balancing block 253 and the second balancing block 263 both have a certain weight. When the driving wheel 21 and the driven wheel 22 rotate to a certain angle and want to stop, the driving wheel 21 and the driven wheel 22 cannot stop due to the action of inertia. The driving wheel 21 and the driven wheel 22 collide with the first limiting column 217 and the second limiting column 227 respectively, and the driving wheel 21 and the driven wheel 22 will rotate back. The first balancing block 253 and the second balancing block 263 have a downward gravity, which reduces the number of times the first connecting plate 25 and the second connecting plate 26 rotate back, and correspondingly the rocking of the first connecting plate 25 and the second connecting plate 26 is reduced.

[0089] like Figure 11 and Figure 12 and Figure 13As shown, further, the first limit post 217 and the second limit post 227 both play a blocking role, so the position of the first limit post 217 and the position of the second limit post 227 may move, so that the driving wheel 21 and the driven wheel 22 cannot contact the first limit post 217 and the second limit post 227 respectively at the same time, and accordingly, the first limit sensor 216 and the second limit sensor 226 cannot send signals at the same time, so an abnormality will occur, which may prompt manual inspection.

[0090] If the position of the first limit column 217 and the position of the second limit column 227 change, in order to prevent the corresponding first limit sensor 216 and the second limit sensor 226 from being damaged, springs are provided on the first limit sensor 216 and the second limit sensor 226, so that the first limit sensor 216 and the second limit sensor 226 have a buffering effect to prevent damage.

[0091] A first support plate 273 is provided on the first compression main board 250. The first support plate 273 is located between the first motor 27 and the first sprocket 270. The first support plate 273 supports the bottom surface of the upper half of the rotation path of the first loading chain 271. That is, the first support plate 273 is attached to the bottom surface of the upper half of the first loading chain 271. In this way, when the first loading chain 271 carries the workpiece 100, the first loading chain 271 will not bend downward, but will be kept in the rotation path of the first support plate 273. Balance, a second support plate 283 is provided on the second compression main board 260, and the second support plate 283 is located between the second motor 28 and the second sprocket 280. The second support plate 283 supports the upper half of the second loading chain 281, and the second support plate 283 is attached to the bottom surface of the upper half of the rotation path of the second loading chain 281. In this way, when the second loading chain 281 carries the workpiece 100, the second loading chain 281 will not bend downward, but will maintain balance under the action of the second support plate 283.

[0092] An arc-shaped plate 293 is provided corresponding to the driven wheel 22, and an arc-shaped groove 294 is provided on the arc-shaped plate 293. The arc-shaped groove 294 extends along the circumferential direction of the arc-shaped plate 293. A through hole 223 is provided on the driven wheel 22, and a fixing rod 295 is provided in the arc-shaped groove 294. The driven wheel 22 rotates to a certain angle and stops to prevent external force from causing the driven wheel 22 and the driving wheel 21 to rotate. The driven wheel 22 must be fixed, and the fixing rod 295 passes through the arc-shaped groove 294 forward, and then the fixing rod 295 extends into the through hole 223, so that the driven wheel 22 is fixed and will not rotate under the action of external force. The position where the fixing rod 295 is fixed on the arc-shaped groove 294 is movable, and the fixing rod 295 can be a two-section telescopic rod.

[0093] A first cylinder 291 is provided on the first compression main board 250 , and a second cylinder 292 is provided on the second compression main board 260 . The first cylinder 291 and the second cylinder 292 are both driving cylinders, and the first cylinder 291 and the second cylinder 292 are both located between the first compression main board 250 and the second compression main board 260 .

[0094] like Figure 14 As shown, a first limit block 215 is provided on the driving wheel 21, and a first limit sensor 216 and a first limit column 217 are provided in cooperation with the first limit block 215. A second limit block 225 is provided on the driven wheel 22, and a second limit sensor 226 and a second limit column 227 are provided in cooperation with the second limit block 225. When the driving wheel 21 and the driven wheel 22 rotate 180 degrees together, the first limit block 215 contacts the first limit sensor 216 and the first limit column 217 at the same time, and the first limit sensor 216 sends a signal to the PLC controller. The PLC controller sends an instruction to the positioning motor 23, and the positioning motor 23 stops rotating. However, since the driving wheel 21 still has inertia, the driving wheel 21 will be blocked by the first limit column 217. Similarly, the second limit block 225 contacts the second limit sensor 226 and the second limit column 227 at the same time. The second limit sensor 226 sends a signal to the PLC controller, and the PLC controller sends a signal to send an instruction to the positioning motor 23. The positioning motor 23 stops rotating. However, since the driven wheel 22 has inertia, the driven wheel 22 will be blocked by the second limit column 227.

[0095] like Figure 15 and Figure 16 and Figure 17 As shown, the drive of the first cylinder 291 is connected to the first compression plate 259. The first guide rail 257 and the first slider 258 are also provided on the first compression main plate 250. The first slider 258 is provided on the first guide rail 257. The first compression plate 259 is connected to the first slider 258. The first compression plate 259 extends along the upper length direction of the first loading chain 271. Under the drive of the first cylinder 291, the first compression plate 259 covers the workpiece 100, and the workpiece 100 is on the first loading chain 271 and the second loading chain 281, so that the first compression plate 259 presses a part of the workpiece 100.

[0096] At the same time, the second compression plate 254 is connected to the driving end of the second cylinder 292, and a second guide rail 296 and a second slider 298 are also provided on the second compression main plate 260. The second slider 298 is provided on the second guide rail 296, and the second compression plate 254 is connected to the second slider 298. The second compression plate 254 and the first compression plate 259 are arranged in parallel and spaced apart, and the second compression plate 254 and the first compression plate 259 have the same length. Under the drive of the second cylinder 292, the second compression plate 294 covers the workpiece 100, so that the first compression plate 259 and the second compression plate 294 respectively cover both sides of the workpiece 100.

[0097] The first cylinder 291 and the second cylinder 292 are both servo cylinders. The driving distances of the first cylinder 291 and the second cylinder 292 are determined according to the size of the workpiece 100 . At the same time, the first cylinder 291 and the second cylinder 292 are both connected to the PLC controller signal.

[0098] At least one first guide rail 257 and one first slider 258 are provided, and two or more can be provided respectively. At least one second guide rail 296 and one second slider 298 are provided, and two or more can be provided respectively. Under the rotation of the positioning screw 24, the distance between the first compression main board 250 and the second compression main board 260 can be adjusted, and accordingly, the distance between the first loading chain 271 and the second loading chain 281 can also be adjusted.

[0099] A barrier rod 300 is provided between the first compression main board 250 and the second compression main board 250. The barrier rod 300 is located above the first loading chain 271 and the second loading chain 281. When the first loading chain 271 and the second loading chain 281 carry the workpiece 100 together, the movement of the workpiece 100 will be stopped by the barrier rod 300, thereby preventing the workpiece 100 from sliding off the first loading chain 271 and the second loading chain 281. The height of the barrier rod 300 is adjustable. The barrier rod 300 is located at the discharge end of the first compression plate 259 and the second compression plate 294.

[0100] like Figure 18 and Figure 19 and 20As shown, the manipulator 3 is provided with a telescopic motor 31 and a fixed plate 32, the driving end of the telescopic motor 31 is connected to a telescopic screw rod 33, the telescopic plate 34 is sleeved on the telescopic screw rod 33, and the fixed plate 32 is provided with a first telescopic guide rail 321 and a second telescopic guide rail 322, the first telescopic guide rail 321 and the second telescopic guide rail 322 are respectively arranged in parallel on both sides of the fixed plate 32, and a first telescopic slider 35 and a second telescopic slider 36 are slidingly arranged on the first telescopic guide rail 321, and the telescopic plate 34 is arranged on the first telescopic slider 35 and the second telescopic slider 36. When the telescopic motor 31 drives the telescopic screw rod 33 to rotate, the telescopic plate 34 can move up and down through the first telescopic slider 35 and the second telescopic slider 36.

[0101] A first slide rail 37 and a second slide rail 38 are arranged between the first telescopic slider 35 and the second telescopic slider 36. The first slide rail 37 and the second slide rail 38 are arranged parallel to each other. Both ends of the first slide rail 37 and the second slide rail 38 are connected to the first telescopic slider 35 and the second telescopic slider 36 respectively. Manipulator linear modules 39 are also arranged on the first slide rail 37 and the second slide rail 38. The number of manipulator linear modules 39 can be determined according to the number of workpieces 100 to be grasped each time.

[0102] Two or more manipulator linear modules 39 can be set, and the manipulator linear module 39 is connected to the visual positioning camera 30 through a signal. The distance between the adjacent manipulator linear modules 39 can be fixed by manual adjustment, or can be determined by the visual positioning camera 30 according to the distance between the workpiece 100. The manipulator linear module 39 moves on the first slide rail 37 and the second slide rail 38 at the same time. A grabbing rod 391 is provided on the manipulator linear module 39, and a gripper 392 is provided on the grabbing rod 391. In the present invention, the two ends of the grabbing rod 391 are respectively connected to the manipulator linear module 39 and the gripper 392. After the visual positioning camera 30 determines the position of the workpiece 100, the manipulator linear module 39 moves on the first slide rail 37 and the second slide rail 38. When the visual camera shoots all the workpieces 100 without any gaps between them and all the workpieces 100 are within the shooting range, the robot 3 carries the gripper 392 and aims at the workpiece 100 from above, and then the gripper 392 drops to a certain height. After the gripper 392 grabs the workpiece 100, the gripper 392 grabs the workpiece 100 and rises together with it. Then the robot 3 carries the gripper 392 to grab the workpiece 100 and moves it above the delivery area. The delivery position is determined by the visual positioning camera 30. Then the robot 3 carries the workpiece 100 for precise positioning, and the gripper 392 delivers the workpiece 100 precisely to the delivery area. The robot 3 is also connected to the PLC controller signal.

[0103] In the present invention, the workpiece 100 moves on the first loading chain 271 and the second loading chain 281. When multiple workpieces 100 are within the shooting range of the visual positioning camera 30 and the distance between adjacent workpieces 100 is equal, the robot 3 will carry the gripper 392 to locate. The gripper 392 can grasp the workpiece 100 by adsorption, electromagnetic attraction or internal support. The gripper 392 enters the center hole of the flange, and then the gripper 392 supports the flange from the inside. The gripper 392 can be replaced with different gripping methods, and the front workpiece 100 will be blocked by the barrier 300.

[0104] The manipulator 3 is also provided with a cover 340, which covers the outside of the telescopic plate 34, so that the cover 340 also covers the telescopic screw rod 33 to prevent dust from getting on the telescopic screw rod 33 and affecting the precision of the telescopic screw rod 33. Circular holes are provided on both the fixed plate 32 and the telescopic plate 34, through which some components between the fixed plate 32 and the telescopic plate 34 can be observed, and the weight of the fixed plate 32 and the telescopic plate 34 can also be reduced.

[0105] like Figure 21 and Figure 22 and Figure 23 As shown, the coating mechanism 4 includes a coating motor 410 and a connecting member 420. The driving section of the coating motor 410 is connected to the first coating slider 43 and the second coating slider 44. The first coating slider 43 and the second coating slider 44 are respectively arranged on the first coating guide rail 45 and the second coating guide rail 46. The connecting member 420 is vertically arranged on the first coating slider 43 and the second coating slider 44. A lifting motor 47 is provided on the connecting member 420. The driving end of the lifting motor 47 is connected to the lifting plate 48 through a gear. The connecting member 42 is also provided with a first guide block 421, a second guide block 422, a third guide block 423 and a fourth guide block 424, which are connected to the first coating slider 45 and the second coating slider 46. The lifting motor 47 is provided in conjunction with a lifting plate 48, on which a first guide bar 481 and a second guide bar 482 are symmetrically provided, and the first guide block 421, the second guide block 422, the third guide block 423 and the fourth guide block 424 are located at the four vertices of a rectangle, the first guide block 421 and the third guide block 423 are parallel and at the same height, the second guide block 422 and the fourth guide block 424 are parallel and at the same height, the first guide block 421 is above the second guide block 422, and the third guide block 423 is higher than the fourth guide block 424. The lifting motor 47 and the laminating motor 410 are both servo motors, and are both connected to the PLC controller signal.

[0106] The first guide bar 481 is slidably engaged in the first guide block 421 and the second guide block 422. The first guide block 421 and the second guide block 422 are on a straight line. The second guide bar 482 is slidably engaged in the third guide block 423 and the fourth guide block 424. A rack is provided on the lifting plate 48. The driving end of the lifting motor 47 is engaged with the rack on the lifting plate 48 through a gear. In this way, the driving end of the lifting motor 47 can make the lifting plate 48 rise or fall.

[0107] A lifting connecting plate 49 is provided at the bottom end of the lifting plate 48, and an adsorption frame 50 is connected to the bottom surface of the lifting connecting plate 49. A plurality of adsorption heads 501 are evenly arranged on the adsorption frame 50, and the adsorption end of the adsorption head 501 faces downward. A flat plate 821 is provided at the lower part of the adsorption frame 50. The upper surface area of ​​the flat plate 821 is larger than the lower surface area of ​​the adsorption frame 50. A plurality of grooves 820 are provided on the flat plate 821, and the grooves 820 extend on the flat plate 821. A plurality of grooves 820 are evenly arranged on the flat plate 821. An adsorption bracket 82 is provided at the bottom of the flat plate 821. The first coating guide rail 45 and the second coating guide rail 46 are both located outside the adsorption bracket 82. The first coating guide rail 45 and the second coating guide rail 46 are arranged in parallel and spaced apart. A pneumatic gripper 830 is movably provided in the groove 820, and the pneumatic gripper 830 is connected to the PLC controller signal.

[0108] A stretching motor 831 and a stretching wheel 832 are provided on the adsorption bracket 82, and a belt 833 is provided on the driving end of the stretching motor 831, and the belt 833 is also provided on the stretching wheel 832. A stretching plate 834 is provided on the belt 833, and a first stretching rod 835 and a second stretching rod 836 are also provided on the adsorption bracket 82. The first stretching rod 835 and the second stretching rod 836 are arranged in parallel and at a distance. The stretching plate 834 is connected to the first stretching rod 835 through a slide rail and a slider, and the stretching plate 834 is connected to the second stretching rod 836 through a slide rail and a slider, that is, the driving end of the stretching motor 831 drives the stretching wheel 832 to rotate through the belt 833, and at the same time, the belt 833 drives the stretching plate 834 to move back and forth on the first stretching rod 835 and the second stretching rod 836. The stretching motor 831 is a servo motor, and the stretching motor 831 is connected to the PLC controller signal.

[0109] like Figure 24 and Figure 25 and Figure 26As shown, a pneumatic gripper 830 is provided on the stretching plate 834. The number of pneumatic grippers 830 is not limited. A plurality of pneumatic grippers 830 are evenly provided on the stretching plate 834. The pneumatic gripper 830 is equivalent to a manipulator. The pneumatic gripper 830 is used to pull the film 200. The film 200 is used to cover a layer of workpiece 100. A first pressing plate cylinder 591 and a second pressing plate cylinder 592 are also provided on the adsorption bracket 82. The first pressing plate cylinder 591 and the second pressing plate cylinder 592 are respectively located on the adsorption bracket. 82 on both sides, and the first pressure plate cylinder 591 and the second pressure plate cylinder 592 are respectively arranged on two support plates, and the driving end of the first pressure plate cylinder 591 and the driving end of the second pressure plate cylinder 592 are simultaneously connected with the pressure plate 59, and the pressure plate 59 presses the film 200 under the common drive of the first pressure plate cylinder 591 and the second pressure plate cylinder 592, and the first pressure plate cylinder 591 and the second pressure plate cylinder 592 are both servo motors, and the first pressure plate cylinder 591 and the second pressure plate cylinder 592 are both connected to the PLC controller signal.

[0110] A cutting slide 85, a cutting screw 86 and a cutting motor 90 are arranged above the adsorption bracket 82. The cutting motor 90 is movably arranged on the cutting screw 86. The cutting screw 86 and the cutting slide 85 are arranged in parallel. A support member for supporting the cutting slide 85 and the cutting screw 86 is provided on the adsorption bracket 82. A cutting slider 87 is provided on the cutting motor 90. The cutting slider 87 is slidably set on the cutting slide 85. The cutting slide 85 is on the upper part of the cutting screw 86. A cutting cylinder 88 is provided on the cutting slider 87. The cutting cylinder 88 is also a driving cylinder. A knife seat 89 is provided at the driving end of the cutting cylinder 88. A cutter 90 is provided at the bottom of the knife seat 89. A stroke groove 91 is provided on the knife seat 89. The cutter 90 can adjust the height of the cutter 90 by moving up and down in the stroke groove 91. The cutting cylinder 88 is connected to the PLC controller signal.

[0111] A pad 57 is provided on the adsorption bracket 82. The pad 57 is located directly below the cutter 90. A cutting slit 58 is provided on the pad 57. A first cover cylinder 571 and a second cover cylinder 572 are provided on the upper parts of both sides of the pad 57. The driving end of the first cover cylinder 571 and the driving end of the second cover cylinder 572 are connected to the cover 68 at the same time. A knife slit 69 is provided on the cover 68. The cutter 90 is in the knife slit 69. The knife slit 69 is located in the positive direction of the cutting slit 58. The film 200 is laid flat on the pad 57. 7, and then the first cover plate cylinder 571 and the second cover plate cylinder 572 jointly drive the cover plate 68 to cover the pad 57, so that the film 200 is pressed by the pad 57 and the cover plate 68, and the cutter 90 is driven by the cutting cylinder 88 to cut the film 200 downward. A proximity switch is set at each end of the pad 57. The first cover plate cylinder 571 and the second cover plate cylinder 572 are both servo motors. The first cover plate cylinder 571 and the second cover plate cylinder 572 are both connected to the PLC controller signal.

[0112] Furthermore, in order to enable the pneumatic gripper 830 to better grip the film 200, gripper grooves 78 are provided on both the pad 57 and the cover plate 68. The gripper groove 78 on the pad 57 is located directly below the groove on the cover plate 68, so that the pneumatic gripper 830 can move between the two grooves to grip the film 200. At the same time, a gripper groove 78 is also provided on the cover plate 68. The gripper groove 78 on the pad 57 is located below the gripper groove 78 on the cover plate 68.

[0113] When the cutter 90 cuts the film 200 downward, the proximity switch sends a signal to the PLC controller, the PLC controller sends a signal to the cutting screw 86, and then the cutting screw 86 rotates, the cutting slider 87 starts to move, and the cutter 90 starts to move to cut the film 200 accordingly. The cutter 90 moves within the knife gap 69 and the cutting gap 58. After the cutter 90 completes cutting the film 200, another proximity switch sends a signal to the PLC controller, and the PLC controller sends an instruction to the cutting screw 86 to rotate, and then the cutter 90 resets.

[0114] The PLC controller sends instructions to the adsorption head 501, and then the cut film 200 is adsorbed by multiple adsorption heads 501. The PLC controller sends instructions to the lifting motor 47. The lifting motor 47 is a servo motor. The lifting motor 47 drives the adsorption head 501 to descend to a certain height to adsorb the film 200. Then the lifting motor 47 drives the lifting plate 48 to rise to a certain height. The adsorption rack 50 carries multiple adsorption heads 501 and rises to a certain height with the lifting plate 48. Then the PLC controller sends instructions to the coating motor 410. The coating motor 410 drives the connecting member 420 to move together through the movement of the first coating slider 43 and the second coating slider 44, and the lifting plate 48 is slidably connected to the connecting member 420 through the first guide block 421, the second guide block 422, the third guide block 423 and the fourth guide block 424.

[0115] The coating motor 410 drives the cut film 200 to the top of a layer of workpieces 100 after stacking. Then, the PLC controller sends an instruction to the lifting motor 47. The lifting motor 47 drives the lifting plate 48 to descend a certain height to the top of a layer of workpieces 100. The multiple adsorption heads 501 release the cut film 200 at the same time. At this time, the cut film 200 covers the upper surface of a layer of workpieces 100. Then, under the instruction of the PLC controller, the lifting motor 47 drives the lifting plate 48 to reset, and correspondingly, the multiple adsorption heads 501 reset, and the coating motor 410 also resets.

[0116] After the aforementioned cutter 90 is reset, the PLC controller sends a command to the pneumatic gripper 830, and the pneumatic gripper 830 rotates through the belt 833 at the driving end of the stretching motor 831, driving the pneumatic gripper 830 to grab the film 200. After the pneumatic gripper 830 grabs the film 200, the PLC controller sends a command to the first cover plate cylinder 571 and the second cover plate cylinder 572, as well as to the first pressure plate cylinder 591 and the second pressure plate cylinder 592. The driving end of the first cover plate cylinder 571 and the driving end of the second cover plate cylinder 572 are reset together, and no Then cover it with the pad 57, and there is a film 200 between the pad 57 and the cover plate 68. The driving end of the first pressure plate cylinder 591 and the driving end of the second pressure plate cylinder 592 are also reset together, so that the pressure plate 59 is away from the film 200. The PLC controller then sends instructions to the pneumatic gripper 830 and the stretching motor 831. The stretching motor 831 resets the pneumatic gripper 830 by rotating the driving end, and then the pneumatic gripper 830 releases the film 200. Before starting the PLC controller, you must manually set the program and align the tool position, that is, the cutting point of the cutter 90 must be manually determined first.

[0117] like Figure 27 , which is an enlarged view of the blocking mechanism 7 and the clamping mechanism 6 .

[0118] like Figure 28 As shown, on the bottom plate 40, a first concave ring 213 is provided on the outer periphery of the first support wheel 211, a second concave ring 214 is provided on the second support wheel 212, a third concave ring 223 is provided on the third support wheel 221, and a fourth concave ring 224 is provided on the fourth support wheel 222. The driving wheel 21 is clamped in the first concave ring 213 and the second concave ring 214, and the driven wheel 22 is clamped in the third concave ring 223 and the fourth concave ring 224. The first concave ring 213 surrounds the outer periphery of the first support wheel 211, the second concave ring 214 surrounds the outer periphery of the second support wheel 212, the third concave ring 223 surrounds the outer periphery of the third support wheel 221, and the fourth concave ring 224 surrounds the fourth support wheel 222. The first support wheel 211 has a first supporting portion at the bottom, the second support wheel 212 has a second supporting portion at the bottom, the third support wheel 221 has a third supporting portion at the bottom, and the fourth support wheel 222 has a fourth supporting portion at the bottom.

[0119] The workflow is as follows:

[0120] First, the front and back sides of the workpiece 100 (flange) to be transported on the conveyor belt 12 must be determined, and the PLC controller must be set to determine whether this batch of workpieces 100 need to be flipped. If they do not need to be flipped, the number of pieces that the robot 3 can carry at one time must be determined based on the size of the workpiece. Because the length of the flipping mechanism 2 is fixed, when a certain number of workpieces 100 pass through the sensor 76, the sensor 76 sends a signal to the PLC controller, and the PLC controller sends a command to the drive cylinder 71. The drive cylinder 71 drives the blocking rod 72 to drop a certain height, and then the blocking rod 72 blocks the workpiece coming from behind, and also stops the drive conveyor belt 12. The motor (not shown in the figure) causes the workpiece to slide from the guide plate 5 into the turning mechanism 2. A certain number of workpieces 100 are carried by the first loading chain 271 and the second loading chain 281. The front workpiece 100 is blocked by the barrier 300, and the following workpieces are successively blocked by the front workpiece 100. The PLC controller sends a command to the robot 3. The visual camera (not shown in the figure) on the robot 3 monitors the distance between adjacent workpieces 100 in real time. When all workpieces 100 are within the visual range of the visual camera and the distance between adjacent workpieces 100 is equal, the visual camera sends a signal to the PLC controller.

[0121] At the same time, the PLC controller sends instructions to the linear module 39, and the linear module 39 adjusts the distance between adjacent linear modules 39 according to the distance between adjacent workpieces 100. The PLC controller also sends instructions to the first motor 27 and the second motor 28, and the first motor 27 and the second motor 28 stop running.

[0122] Then the PLC controller sends instructions to the first cylinder 291 and the second cylinder 292 to start the first cylinder 291 and the second cylinder 292. The first cylinder 291 drives the first compression plate 259 to press down one side of the workpiece 100, and the second cylinder 292 drives the second compression plate 294 to press down the other side of the workpiece 100. In this way, both sides of the workpiece 100 are pressed down respectively. When the first cylinder 291 and the second cylinder 292 jointly drive the distance to be completed, the PLC controller sends instructions to the manipulator 3 again, and the gripper 392 grabs the workpiece 100 according to the positioning. After the workpiece 100 is grabbed, the manipulator 3 sends instructions to the PLC controller again. The device sends a signal, and the PLC controller instructs the first cylinder 291 and the second cylinder 292. The first cylinder 291 and the second cylinder 292 respectively drive the first compression plate 259 and the second compression plate 294 to reset. The PLC controller sends an instruction to the manipulator 3, and the gripper 392 grabs the workpiece 100 and lifts it, and moves it to the corresponding delivery area. Then the PLC controller sends an instruction to the manipulator 3, and the manipulator 3 resets. Finally, the PLC controller starts the laminating mechanism 4 for laminating. After the laminating mechanism 4 completes the laminating, the PLC controller sends an instruction to the laminating mechanism 4 to reset. In this way, the process without flipping is completed, and the cycle continues.

[0123] After the gripper 392 grabs the workpiece 100 and rises, the visual camera sends a signal to the PLC controller, and the PLC controller sends instructions to the drive cylinder 71 and the motor (not shown in the figure) that drives the conveyor belt 12. The drive cylinder 71 drives the blocking rod 72 to rise and reset, and the conveyor belt 12 continues to transport the workpiece 100, and then the workpiece 100 enters the flipping mechanism 2 again.

[0124] If the workpiece 100 is to be flipped, the flipping batch and the non-flipping batch can be set in the PLC controller first, and then the non-flipping batch can be operated as described above. If the workpiece 100 is to be flipped, then the PLC controller sends instructions to the first cylinder 291 and the second cylinder 292 to start the first cylinder 291 and the second cylinder 292. The first cylinder 291 drives the first compression plate 259 to press down one side of the workpiece 100, and the second cylinder 292 drives the second compression plate 294 to press down the other side of the workpiece 100. After the two sides of the workpiece 100 are pressed respectively, the PLC controller sends an instruction to the positioning motor 23 to start, and the positioning motor 23 drives the driving wheel 21 and the driven wheel 22 to rotate 180 degrees, and the first limit sensor After the sensor 216 sends a signal to the PLC controller, the PLC controller sends an instruction to the positioning motor 23 to shut down, and then repeats the steps that do not require flipping. After the gripper 392 leaves the flipping mechanism 2, the visual camera sends a signal to the PLC controller, and the PLC controller sends an instruction to the positioning motor 23 to turn on. The positioning motor 23 drives the active wheel 21 and the driven wheel 22 to rotate 180° and reset. The second limit sensor 226 sends a signal to the PLC controller. At this time, the PLC controller sends an instruction to the drive cylinder 71 and the motor (not shown in the figure) that drives the conveyor belt 12. The drive cylinder 71 drives the blocking rod 72 to rise and reset. The conveyor belt 12 continues to transport the workpiece 100, and then the workpiece 100 enters the flipping mechanism 2 again.

[0125] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A blanking, stacking and laminating device, comprising a conveying mechanism (1), a positioning mechanism (2), a manipulator (3) and a laminating mechanism (4), characterized in that: The output end of the transmission mechanism (1) is provided with a guide plate (5), and the guide plate (5) is connected to the receiving end of the positioning mechanism (2). The positioning mechanism (2) is located within the grasping range of the manipulator (3), and the delivery area of ​​the manipulator (3) is located within the laminating area of ​​the laminating mechanism (4). The positioning mechanism (2) includes a driving wheel (21), a driven wheel (22) and a positioning motor (23). The driving end of the positioning motor (23) is connected to the driving wheel (21) through a chain. A first connecting plate (25) is provided between the driving wheel (21) and the driven wheel (22). ) and a second connecting plate (26), a first compression main plate (250) and a second compression main plate (260) are provided between the first connecting plate (25) and the second connecting plate (26), two ends of the first connecting plate (25) and two ends of the second connecting plate (26) are respectively connected to the driving wheel (21) and the driven wheel (22), the first connecting plate (25) and the second connecting plate (26) are provided at a certain distance, the driving wheel (21) is provided with a feeding hole (210), the driven wheel (22) is provided with a discharging hole (220), the first connecting plate (2 5) and the second connecting plate (26) are respectively located on both sides of the feed hole (210) and the discharge hole (220), at least one positioning screw (24) is provided between the first connecting plate (25) and the second connecting plate (26), the first compression main plate (250) and the second compression main plate (260) both pass through the positioning screw (24), a first motor (27) and a first sprocket (270) are provided on the first compression main plate (250), a first loading chain (271) is provided between the first motor (27) and the first sprocket (270), A second motor (28) and a second sprocket (280) are provided on the second compression main board (260), a second loading chain (281) is provided between the second motor (28) and the second sprocket (280), the first loading chain (271) and the second loading chain (281) are both located between the first connecting plate (25) and the second connecting plate (26), a gap (29) is provided between the first loading chain (271) and the second loading chain (281), and the distance between the first loading chain (271) and the second loading chain (281) is adjustable; A first cylinder (291) and a second cylinder (292) are respectively provided on the first compression main plate (250) and the second compression main plate (260); the first cylinder (291) and the second cylinder (292) respectively drive and connect the first compression plate (259) and the second compression plate (254); the first compression plate (259) and the second compression plate (254) respectively cover both sides of the workpiece; The coating mechanism (4) includes a coating motor (410) and a connecting member (420), wherein a lifting motor (47) is provided on the connecting member (420), a gear at the driving end of the lifting motor (47) is connected to a lifting plate (48), a lifting connecting plate (49) is provided at the bottom end of the lifting plate (48), and a suction rack (50) is connected to the bottom surface of the lifting connecting plate (49), a plurality of suction heads (501) are evenly arranged on the suction rack (50), a flat plate (821) is provided at the lower part of the suction rack (50), an suction bracket (82) is provided at the bottom of the flat plate (821), and a suction bracket (82) is provided at the bottom of the suction rack (50). A stretching motor (831) and a stretching wheel (832) are provided on the attached bracket (82); a belt (833) is provided on the driving end of the stretching motor (831); the belt (833) is also provided on the stretching wheel (832); a stretching plate (834) is provided on the belt (833); a pneumatic gripper (830) is provided on the stretching plate (834); the pneumatic gripper (830) is used to pull a film, and the film is used to be laid on a layer of workpieces; a cutting slide rail (85), a cutting screw (86) and a cutting motor (90) are provided above the adsorption bracket (82); The positioning mechanism (2) can be turned 180 degrees, and the manipulator (3) can grasp the workpiece in both the positive and negative directions. Therefore, when stacking the workpiece, the manipulator (3) can stack the workpiece according to the positive and negative sides. Each layer stacked by the manipulator (3) is coated by the coating mechanism (4).

2. The blanking, stacking and laminating device according to claim 1, characterized in that: The conveying mechanism (1) comprises a conveyor belt (12) and a bracket (11), wherein the conveyor belt (12) is rotatably arranged on the bracket (11), and a first guide block (13) and a second guide block (14) are movably arranged on the bracket (11), and the first guide block (13) and the second guide block (14) are respectively located on both sides of the conveyor belt (12).

3. The blanking, stacking and laminating device according to claim 2, characterized in that: A clamping mechanism (6) is provided on the bracket (11), and the clamping mechanism (6) is located at the discharge end of the conveyor belt (12). The clamping mechanism (6) includes a stand (61) and a protective cover (62). The protective cover (62) is provided on the stand (61). A clamping groove (63) is provided on the stand (61), and an open end of the clamping groove (63) extends to the outer edge of the stand (61).

4. The blanking, stacking and laminating device according to claim 3, characterized in that: A screw rod (64), a first clamping plate (65) and a second clamping plate (66) are provided on the stand (61), the first clamping plate (65) and the second clamping plate (66) are both sleeved on the screw rod (64), the screw rod (64) spans the clamping groove (63), and the first clamping plate (65) and the second clamping plate (66) are both located in the clamping groove (63), the first clamping plate (65) and the second clamping plate (66) extend along the length direction of the conveyor belt (12), and the feed end formed by the first clamping plate (65) and the second clamping plate (66) is a flared end.

5. The blanking, stacking and laminating device according to claim 4, characterized in that: A blocking mechanism (7) is provided at the discharge end of the clamping mechanism (6), the blocking mechanism (7) comprising a driving cylinder (71) and a blocking rod (72), the blocking rod (72) being connected to the driving end of the driving cylinder (71), and the blocking rod (72) being located between the first clamping plate (65) and the second clamping plate (66).

6. The blanking, stacking and laminating device according to claim 1, characterized in that: A first support plate (251) is provided on the first connecting plate (25), the first support plate (251) is located between the first motor (27) and the first sprocket (270), the bottom of the first loading chain (271) is overlapped on the upper part of the first support plate (251), and a second support plate (261) is provided on the second connecting plate (26), the second support plate (261) is located between the second sprocket (280) and the second sprocket (280), and the bottom of the second loading chain (281) is overlapped on the upper part of the second support plate (261).

7. The blanking, stacking and laminating device according to claim 1, characterized in that: A first supporting wheel (211) and a second supporting wheel (212) are arranged in cooperation with the driving wheel (21); the driving wheel (21) is rotatably mounted on the first supporting wheel (211) and the second supporting wheel (212); a third supporting wheel (221) and a fourth supporting wheel (222) are arranged in cooperation with the driven wheel (22); the driven wheel (22) is rotatably mounted on the third supporting wheel (221) and the fourth supporting wheel (222).

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