Clamping jaw mechanism and pouring system

Abstract

This invention relates to the field of lens manufacturing technology, specifically disclosing a gripper mechanism and a casting system. The gripper mechanism includes a fixed gripper, a movable gripper, and a detection element. The movable gripper can move between a clamping position and a separating position. When the movable gripper is in the separating position, the adhesive tape can enter between the fixed gripper and the movable gripper. When the movable gripper is in the clamping position, it approaches the fixed gripper to clamp the adhesive tape. The fixed gripper has a first detection hole, and the movable gripper has a second detection hole. The detection element is located on the fixed gripper. When the movable gripper is in the separating position, light from the detection element can pass through the first detection hole. When the movable gripper is in the clamping position, light from the detection element can pass through both the first and second detection holes. This design allows the detection element to determine if the adhesive tape is not clamped, even if it is not ultimately clamped, thus solving the problem of subsequent invalid tape-tearing actions or environmental pollution caused by the tape not being clamped.

Description

Technical Field

[0001] This invention relates to the field of lens manufacturing technology, and in particular to a gripper mechanism and a casting system. Background Technology

[0002] The lens mold consists of two single molds that fit together to form a mold cavity. The lens mold has a gating hole on its periphery that connects to the mold cavity; typically, the gating hole is sealed with adhesive tape. During casting, the gating system's gripper mechanism holds the head of the adhesive tape, thus tearing the tape open as the gripper mechanism moves, exposing the gating hole.

[0003] Before gripping the tape, one of the grippers in the clamping mechanism needs to scoop up the tape, and then the other gripper engages to hold the tape. To improve the success rate of tape gripping, a detection device is generally used to detect whether the tape has been scooped up. When the scooped-up tape triggers the detection device, the other gripper activates.

[0004] However, the tape is prone to warping when it is scooped up, which can cause it to pop out during clamping due to elastic contact with the grippers. This means the tape is not properly held. Once the two grippers have finished clamping, it is impossible to determine whether the tape is between them. The judgment made before clamping is irrelevant. If the tape pops out during clamping, the subsequent tape-tearing action will be ineffective. Furthermore, the subsequent pouring process may pour resin or other lens materials onto the outside, causing environmental pollution.

[0005] Therefore, there is an urgent need to study a gripper mechanism and a casting system to solve the problem that the tape may not be gripped and could lead to ineffective tearing or environmental pollution. Summary of the Invention

[0006] The purpose of this invention is to provide a gripper mechanism and a casting system to solve the problem in the prior art where the tape is not gripped but cannot be determined, which may lead to invalid tape-tearing actions or environmental pollution.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The gripper mechanism includes:

[0009] Fixed gripper;

[0010] The movable gripper can move between a clamping position and a separating position. When the movable gripper is in the separating position, the tape can enter between the fixed gripper and the movable gripper. When the movable gripper is in the clamping position, the movable gripper moves close to the fixed gripper to clamp the tape.

[0011] The detection component has a fixed gripper with a first detection hole and a movable gripper with a second detection hole. When the movable gripper is in the separated position, the light emitted by the detection component can pass through the first detection hole. When the movable gripper is in the clamping position, the first detection hole and the second detection hole at least partially overlap in the direction of the light emitted by the detection component, and the light emitted by the detection component can pass through the first detection hole and the second detection hole.

[0012] As an optional technical solution for the gripper mechanism, the gripper mechanism further includes an interceptor, which is disposed on the movable gripper. At least a portion of the interceptor extends in a direction parallel to the axial direction of the second detection hole to form an interception section.

[0013] As an optional technical solution of the gripper mechanism, when the movable gripper is in the gripping position, the length of the tape gripped between the movable gripper and the fixed gripper is L1, the length of the intercepting part is L2, and L2≥L1.

[0014] As an optional technical solution for the aforementioned gripper mechanism, the interceptor includes a connecting part, the interceptor being disposed on the connecting part, the connecting part having a fixing hole and a clearance channel, the clearance channel being located between the fixing hole and the interceptor, a fixing screw passing through the fixing hole and threadedly engaging with the fixing screw hole of the movable gripper, and when the movable gripper is in the gripping position, in the light direction of the detection element, the first detection hole, the second detection hole, and the clearance channel can be sequentially connected.

[0015] As an optional technical solution for the aforementioned gripper mechanism, the movable gripper forms a movable clamping surface on the side facing the fixed gripper, wherein,

[0016] The extending direction of the intercepting part is perpendicular to the movable clamping surface; and / or

[0017] The movable clamping surface is perpendicular to the axis of the second detection hole.

[0018] As an optional technical solution of the aforementioned gripper mechanism, the fixed gripper includes a gripper body and a shovel portion connected together, the extension directions of the gripper body and the shovel portion are set at an obtuse angle, and the gripper body and the shovel portion are connected by an arc transition.

[0019] As an optional technical solution of the gripper mechanism, the movable gripper is hinged to the fixed gripper. When the movable gripper is in the separated position, the projection of the movable gripper is located outside the projection contour of the first detection hole in the extension direction of the first detection hole.

[0020] As an optional technical solution for the gripper mechanism, the gripper mechanism further includes a gripper drive component, which includes a telescopic cylinder. The telescopic cylinder includes a cylinder barrel and a piston rod. The piston rod extends and retracts relative to the cylinder barrel. The cylinder barrel is hinged to the fixed gripper, and the piston rod is hinged to the movable gripper.

[0021] As an optional technical solution for the gripper mechanism, at least a portion of the detection element is disposed within the first detection hole, and the front sidewall of the detection element is flush with or located within the first detection hole of the fixed gripper.

[0022] The casting system includes the gripper mechanism described in any of the above technical solutions.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention provides a gripper mechanism and a casting system. The gripper mechanism includes a fixed gripper and a movable gripper. A first detection hole is provided on the fixed gripper, and a second detection hole is provided on the movable gripper. When the movable gripper is in the separated position, light from the detector can pass through the first detection hole to determine whether the tape has been scooped up. When the movable gripper is in the clamping position, light from the detector can pass through both the first and second detection holes. In use, when the tape is clamped, light from the detector can pass through the tape, thus determining that the tape is clamped. When the tape bounces during the clamping process and is not clamped, light from the detector passes directly through the first and second detection holes and cannot pass through the tape, thus determining that the tape is not clamped. This allows for accurate determination of whether the tape is clamped when the movable and fixed grippers are clamping. When it is determined that the tape is not clamped, subsequent actions can be stopped and personnel can be notified for handling, or the tape can be clamped again. This solves the problem of subsequent invalid tape-tearing actions or environmental pollution caused by tape not being clamped. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the gripper mechanism from a first-view perspective in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the gripper mechanism from a second perspective in an embodiment of the present invention;

[0027] Figure 3 This is a partial structural diagram of the gripper mechanism in an embodiment of the present invention, showing the movable gripper in the separated position;

[0028] Figure 4 This is a schematic diagram of the gripper mechanism for scooping tape in an embodiment of the present invention, with the movable gripper located in the clamping position;

[0029] Figure 5 This is a schematic diagram of the gripper mechanism holding the tape in an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the gripper mechanism tearing the tape in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the casting system in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the adhesive-tearing mechanism from a first-view perspective in an embodiment of the present invention;

[0033] Figure 9 This is a schematic diagram of the adhesive-tearing mechanism from a second perspective in an embodiment of the present invention;

[0034] Figure 10 This is a schematic diagram of the adhesive-tearing mechanism from a third-view perspective in an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the transmission mechanism in an embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram of the casting mechanism in an embodiment of the present invention.

[0037] In the picture:

[0038] 1000, Material; 1100, Mold to be poured; 1200, Adhesive tape; 1300, Adhesive tearing part;

[0039] 100. Gripper mechanism; 110. Fixed gripper; 111. Fixed clamping surface; 112. Gripper body; 113. Shovel part; 114. First detection hole; 120. Movable gripper; 121. First plate; 122. Second plate; 1221. Second detection hole; 1222. Movable clamping surface; 130. Detection component; 131. Front sidewall; 140. Interceptor component; 141. Interceptor part; 142. Connecting part; 1421. Fixed hole; 1422. Clearance channel; 150. Gripper drive component; 151. Cylinder; 152. Piston rod; 160. Adhesive-removing elastic component;

[0040] 200. Transmission mechanism; 210. First production line; 220. Second production line; 230. Transfer assembly; 231. Transfer base; 232. Double-headed cylinder; 233. Positioning component; 234. Transfer bracket; 235. Transfer component; 2351. Transfer mounting part; 2352. Transfer actuating part; 2353. Transfer shielding part;

[0041] 300. Casting mechanism; 310. Casting support; 320. Casting head; 321. Casting drive component; 330. Lighting component; 340. Identification component; 350. Camera;

[0042] 400, Adhesive-removing mechanism; 410, Mounting bracket; 420, Lateral movement component; 421, Lateral movement drive component; 430, Lifting component; 431, Lifting drive component; 440, Tilting component; 441, Tilting drive component; 450, Fixing component; 451, Fixing drive component; 460, Adhesive-removing base; 461, Linear module; 462, Limiting part; 470, Stop drive component; 471, Stop component. Detailed Implementation

[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Furthermore, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0047] like Figures 1 to 6 As shown, this embodiment provides a gripper mechanism 100, which is used in a casting system to grip tape 1200 to tear tape 1200 from the mold to be cast 1100. This avoids tape 1200 popping out of gripper mechanism 100 during the gripping process without being detected, which would render subsequent tape tearing action ineffective, or even cause resin to be poured to the outside during the subsequent casting process, resulting in contamination.

[0048] It is worth noting that the material 1000 includes a mold 1100 to be poured and adhesive tape 1200. The mold 1100 has a pouring cavity and a pouring hole connecting to the pouring cavity. The base of the adhesive tape 1200 is attached to the mold 1100 and rotated around to seal the pouring hole. Before pouring, the pouring hole needs to be sealed with adhesive tape 1200. During pouring, the adhesive tape 1200 needs to be torn open to open the pouring hole. After pouring, the pouring hole needs to be sealed again with adhesive tape 1200. When tearing the adhesive tape 1200, the clamping jaws 110 need to abut against the material 1000, and then the material 1000 is rotated so that its head is lifted by the clamping jaws 110. Finally, the movable jaws 1200 clamp the adhesive tape 1200.

[0049] In this embodiment, the mold 1100 to be cast can be a lens mold for producing lenses. In other embodiments, the mold 1100 to be cast can also be other molds used for casting.

[0050] like Figures 1 to 3 As shown, the gripper mechanism 100 includes a fixed gripper 110, a movable gripper 120, and a detection element 130. The movable gripper 120 can move between a clamping position and a separating position. When the movable gripper 120 is in the separating position, the tape 1200 can enter between the fixed gripper 110 and the movable gripper 120. When the movable gripper 120 is in the clamping position, it approaches the fixed gripper 110 to clamp the tape 1200. The fixed gripper 110 has a first detection hole 114, and the movable gripper 120 has a second detection hole 1221. The detection element 130 is located on the fixed gripper 110. When the movable gripper 120 is in the separating position, light from the detection element 130 can pass through the first detection hole 114 to detect the tape 1200 located on one side of the fixed gripper 110 and blocking the first detection hole 114.

[0051] When the movable gripper 120 is in the clamping position, the first detection hole 114 and the second detection hole 1221 at least partially overlap in the direction of the light emitted by the detection element 130, and the light from the detection element 130 can pass through the first detection hole 114 and the second detection hole 1221 to detect the tape 1200 clamped between the fixed gripper 110 and the movable gripper 120.

[0052] The above configuration ensures that when the tape 1200 is lifted, it will fit against the fixed gripper 110 and block the first detection hole 114. The light from the detection element 130 can pass through the first detection hole 114, thus partially passing through the tape 1200 and partially reflecting back, indicating that the tape 1200 has been lifted. At this time, the movable gripper 120 can move to the clamping position. When the movable gripper 120 moves to the clamping position, if the tape 1200 is clamped, the light from the detection element 130 will still partially reflect after passing through the tape 1200 and the second detection hole 1221, indicating that the clamping is successful. When the tape 1200 pops out and is not clamped, the light from the detection element 130 will directly pass through the first detection hole 114 and the second detection hole 1221 without reflection, indicating that the clamping has failed. The movement can then be stopped in time, and the staff can be notified or the tape can be clamped again. At the same time, it can effectively prevent the gripper mechanism 100 from running empty while holding the tape 1200, which would prevent the pouring hole from opening, and can also prevent a series of problems such as resin being injected into the outside during subsequent pouring, causing pollution.

[0053] It should be noted that during the movement of the movable gripper 120 to the clamping position, the fixed gripper 110 remains stationary to reduce the possibility of the tape 1200 bouncing and increase the success rate of clamping the tape 1200. Furthermore, the detection principle of detecting the tape 1200 by having some light pass through the detection element 130 and some light reflected back is well known to those skilled in the art and will not be described in detail here.

[0054] In use, even with the second detection hole 1221 present, after the tape 1200 is ejected, if the tape 1200 adheres to the side of the movable gripper 120 away from the fixed gripper 110, light can still partially pass through the tape 1200 and be partially reflected. Therefore, the detection element 130 still has the possibility of misjudgment. To further solve the above problem, in this embodiment, the gripper mechanism 100 also includes an interceptor 140, which is disposed on the movable gripper 120. At least a portion of the interceptor 140 extends in a direction parallel to the axis of the second detection hole 1221 to form an intercepting part 141. This design allows the interception unit 141 to intercept the curled tape 1200, preventing the unclamped tape 1200 from sticking to the side of the movable gripper 120 away from the fixed gripper 110. This allows light to pass directly through the second detection hole 1221, which can determine if the clamping has failed and stop the movement in time to notify the staff or re-clamp. At the same time, the interception unit 141 does not block the light passing through the second detection hole 1221, thereby improving the detection accuracy.

[0055] Combination Figure 4As shown, in some embodiments, when the movable gripper 120 is in the gripping position, the length of the tape 1200 gripped between the movable gripper 120 and the fixed gripper 110 is L1, and the length of the intercepting part 141 is L2, where L2 ≥ L1. This configuration improves the success rate of intercepting the tape 1200, preventing the tape 1200 from being too long and causing some of it to cross the intercepting part 141 and move to the side of the movable gripper 120 away from the fixed gripper 110, thereby blocking the second detection hole 1221 and improving the success rate of determining that the tape 1200 is not gripped.

[0056] To facilitate the connection between the interceptor 140 and the movable gripper 120, in some embodiments, the interceptor 140 includes a connecting portion 142, with the interceptor portion 141 disposed on the connecting portion 142. The connecting portion 142 has a fixing hole 1421 and a clearance channel 1422. The clearance channel 1422 is located between the fixing hole 1421 and the interceptor portion 141. A fixing screw passes through the fixing hole 1421 and is threadedly engaged with the fixing screw hole of the movable gripper 120. When the movable gripper 120 is in the clamping position, along the light direction of the detector 130, the first detection hole 114, the second detection hole 1221 and the clearance channel 1422 can be connected in sequence, that is, the light of the detector 130 can pass through the first detection hole 114, the second detection hole 1221 and the clearance channel 1422. This design facilitates reducing the size of the frame of the movable gripper 120 on the lower side and left and right sides of the second detection hole 1221; at the same time, it maximizes the area of ​​the second detection hole 1221 while keeping the clamping area of ​​the movable gripper 120 unchanged, thereby expanding the detection range and preventing the movable gripper 120 from blocking light, thus improving detection accuracy; finally, it also reduces the weight of the movable gripper 120 and makes it easier to drive.

[0057] In some embodiments, the extending direction of the intercepting part 141 is perpendicular to the movable clamping surface 1222 of the movable gripper 120, and the movable clamping surface 1222 is perpendicular to the axis of the second detection hole 1221. The movable clamping surface 1222 is the surface of the movable gripper 120 facing the fixed gripper 110. This arrangement creates a sharp angle structure between the intercepting part 141 and the movable clamping surface 1222, preventing the tape 1200 from moving past the movable gripper 120 to the side of the movable gripper 120 away from the fixed gripper 110; at the same time, it also avoids obstructing the second detection hole 1221. Furthermore, the orientation of the intercepting part 141 ensures that when the movable gripper 120 is in the separated position, the projection of the intercepting part 141 is located outside the projection outline of the first detection hole 114 in the extending direction of the first detection hole 114, and will not obstruct the light from the detection element 130. Finally, the arrangement of the movable clamping surface 1222 perpendicular to the axis of the second detection hole 1221 allows the light from the detection piece 130 to pass perpendicularly through the tape 1200, which helps to control the light passing through the tape 1200 and the reflected light, thereby improving the success rate of detection.

[0058] The interception section 141 is plate-shaped, designed to minimize mass and reduce drive costs while still achieving the interception function. Furthermore, the interception section 141 is provided with several weight-reduction holes. These weight-reduction holes are elongated and spaced apart along the left-right direction, extending parallel to the axis of the second detection hole 1221. This arrangement ensures that the interception section 141 has a minimal mass and, because the intersection line formed by the intercepted tape 1200 and the interception section 141 extends along the left-right direction, it is effectively intercepted by the spacing between the weight-reduction holes, guaranteeing the interception success rate of the interception section 141 and preventing the tape 1200 from getting stuck in the weight-reduction holes.

[0059] For ease of installation, in some embodiments, at least a portion of the detection element 130 is disposed within the first detection hole 114, and the front sidewall 131 of the detection element 130 is flush with or located within the fixing clamping surface 111 of the fixing claw 110. This arrangement allows the first detection hole 114 to serve as space for fixing the detection element 130 while still allowing light to pass through, reducing the volume of the claw mechanism 100 and saving costs. The movable clamping surface 1222 and the fixed clamping surface 111 are arranged opposite to each other.

[0060] Combination Figures 4 to 6 As shown, in use, the adhesive tape 1200 adhered to the mold 1100 to be poured needs to be scraped off first by the fixed gripper 110 of the gripper mechanism 100. Then, the adhesive tape 1200 is held between the fixed gripper 110 and the movable gripper 120 by the movable gripper 120. Finally, the gripper mechanism 100 is moved along the tearing direction N, and in conjunction with the rotation of the mold 1100 to be poured, the adhesive tape 1200 is torn off, thereby exposing the pouring hole on the mold 1100 to be poured.

[0061] In some embodiments, the fixed gripper 110 includes a gripper body 112 and a shovel portion 113 connected to each other. The angle between the extending direction of the gripper body 112 and the extending direction of the shovel portion 113 is set at an obtuse angle, and the gripper body 112 and the shovel portion 113 are connected by an arc transition.

[0062] This design allows for a larger angle between the shovel 113 and the tape 1200, provided that the tearing direction N is fixed. This facilitates the shovel 113 being inserted into the gap between the tape 1200 and the mold to be poured 1100. The angle of the claw body 112 is smaller, allowing the tape 1200 to bend and move upwards with the claw body 112 during the rotation of the mold to be poured 1100, thus being scooped up. The extension directions of the claw body 112 and the shovel 113 are at an obtuse angle, which avoids obvious creases in the tape 1200, preventing it from failing to be pasted onto the mold to be poured 1100 later, and also preventing the tape 1200 from bending too much and jumping when held by the movable claw 120.

[0063] Combination Figure 5 As shown, in some embodiments, during use, the angle A1 between the claw body 112 and the vertical direction is smaller than the angle A2 between the shovel portion 113 and the vertical direction. Optionally, 0 < A1 < A2. Exemplarily, A2 is between 70° and 85°, and A1 is between 35° and 70°.

[0064] In some embodiments, the movable gripper 120 is hinged to the fixed gripper 110. When the movable gripper 120 is in the separated position, the projection of the movable gripper 120 is located outside the projection contour of the first detection hole 114 in the extending direction of the first detection hole 114. A gripper drive 150 is disposed on the fixed gripper 110, and the output end of the gripper drive 150 is drively connected to the movable gripper 120.

[0065] The above structure allows the movable gripper 120 to form a flared structure with the fixed gripper 110 when the movable gripper 120 is in the separated position, preventing the movable gripper 120 from obstructing the tape 1200 when the fixed gripper 110 scoops it up. Additionally, it facilitates the guidance of the tape 1200 so that it can easily enter between the fixed gripper 110 and the movable gripper 120. Finally, when the movable gripper 120 is in the separated position, its projection is located outside the projection contour of the first detection hole 114 in the extending direction of the first detection hole 114, thus not obstructing the light from the detection element 130.

[0066] Combination Figure 2 As shown, in some embodiments, the gripper drive 150 includes a telescopic cylinder, which includes a cylinder 151 and a piston rod 152. The piston rod 152 extends and retracts relative to the cylinder 151. The cylinder 151 is hinged to the fixed gripper 110, and the piston rod 152 is hinged to the movable gripper 120. The movable gripper 120 includes a first plate 121 and a second plate 122 arranged at an angle. A hinge portion is provided between the first plate 121 and the second plate 122. The movable gripper 120 is hinged to the fixed gripper 110 through the hinge portion. The second plate 122 can press against the clamping end of the fixed gripper 110 to clamp the tape 1200. The cylinder 151 of the telescopic cylinder is hinged to the fixed gripper 110, and the piston rod 152 of the telescopic cylinder is hinged to the first plate 121. The first plate 121 and the second plate 122 are arranged perpendicularly. The second detection hole 1221 and the interceptor 140 are both located on the second plate 122. This configuration reduces the size of the movable gripper 120 in the front-to-back direction and ensures that the second detection hole 1221 is not obstructed when light passes through the detection element 130, thereby guaranteeing the effectiveness of the detection.

[0067] The piston rod 152 is adjustable in length so that when the movable gripper 120 is in the separated position, the angle between the second plate 122 and the fixed gripper 110 is adjustable to accommodate the tape 1200 with different degrees of bending after being scooped up.

[0068] Combination Figures 7 to 12 As shown, this embodiment also provides a casting system, which includes a transfer mechanism 200, a casting mechanism 300, and a tape-tearing mechanism 400. The tape-tearing mechanism 400 includes a gripper mechanism 100. The transfer mechanism 200 is used to transfer material 1000. The tape-tearing mechanism 400 can pick up material 1000 from the transfer mechanism 200 and tear the tape 1200 on the mold to be cast 1100 so that the casting hole of the mold to be cast 1100 is exposed. The casting mechanism 300 has a casting head 320, which is used to pour resin into the mold to be cast 1100 after the tape 1200 is torn.

[0069] Combination Figure 8 As shown, in some embodiments, the adhesive-tearing mechanism 400 further includes a mounting frame 410, a transverse member 420, a lifting member 430, a flipping member 440, a fixing member 450, and an adhesive-tearing base 460. The transverse member 420 is slidably mounted on the mounting frame 410 in the left-right direction; the lifting member 430 is slidably mounted on the transverse member 420 in the vertical direction; the flipping member 440 is rotatably mounted on the lifting member 430, and the flipping axis of the flipping member 440 extends in the front-back direction; the fixing member 450 is rotatably mounted on the flipping member 440, and the flipping member 440 can rotate the axis of the fixing member 450 from the vertical direction to the left-right direction; the adhesive-tearing base 460 is slidably mounted on the transverse member 420 in the adhesive-tearing direction N, and the gripper mechanism 100 is mounted on the adhesive-tearing base 460. The transverse drive 421 is mounted on the mounting bracket 410 and is connected to the transverse component 420 via a transmission connection; the lifting drive 431 is mounted on the transverse component 420 and is connected to the lifting component 430 via a transmission connection; the tilting drive 441 is mounted on the lifting component 430 and is connected to the tilting component 440 via a transmission connection; and the fixing drive 451 is mounted on the tilting component 440 and is connected to the fixing component 450 via a transmission connection. A linear module 461 is mounted on the transverse component 420, and its output end reciprocates along the peeling direction N and is connected to the peeling base 460 via a transmission connection. The peeling action is initiated when the axis of the fixing component 450 is tilted to the left or right. The transmission mechanism 200 is located to the left of the casting mechanism 300. After the peeling mechanism 400 picks up the material 1000, it needs to be transferred to the right side of the casting mechanism 300 for casting. The fixing component 450 is a suction cup that can adhere to the end of the mold 1100 to be cast. The vertical direction is the up-down direction.

[0070] The above configuration allows the tearing action to be performed simultaneously during the movement of the transverse component 420, so that the transfer of material 1000 and the tearing process partially overlap, thereby improving the casting efficiency to a certain extent.

[0071] If the angle between the extending direction of the clamping end of the fixed gripper 110 and the tape 1200 is too small, during the process of finding the head of the tape 1200, when the clamping end of the fixed gripper 110 comes into contact with the tape 1200, the tape 1200 is prone to accumulate and be damaged as the material 1000 continues to rotate; if the angle is too large, it will be unable to enter the gap between the tape 1200 and the mold to be poured 1100, thus making it impossible to scoop up the tape 1200.

[0072] Combination Figure 9 As shown, the angle α between the tearing direction N and the vertical direction is an acute angle. The fixed gripper 110 is located on the tearing base 460. The shovel part 113 of the fixed gripper 110 extends downward and forward. The shovel part 113 abuts against the tearing part 1300 of the material 1000. The vertical plane passing through the axis of the material 1000 is located in front of the tearing part 1300, and the material 1000 turns backward at the tearing part 1300.

[0073] The above-described structure allows for the individual operation of the fixing member 450 or the coordinated operation of the fixing member 450 and the adhesive-tearing base 460 to meet the adhesive-tearing requirements of materials 1000 with different diameters. For example, when the diameter of the material 1000 decreases, the fixing member 450 moves upward while the adhesive-tearing base 460 remains stationary, or the fixing member 450 moves upward while the adhesive-tearing base 460 moves forward, so that the gripper mechanism 100 contacts the material 1000, thereby facilitating the scooping up of the adhesive tape 1200. That is, the smaller the diameter, the smaller the distance from the point of contact between the gripper mechanism 100 and the material 1000 to the standard vertical plane, which is the vertical plane passing through the axis of the material 1000.

[0074] The upward movement of the fixing member 450 and the forward movement of the adhesive-tearing base 460 can adjust the angle at which the gripping end of the gripper mechanism 100 is inserted into the tape 1200 to the optimal value. It should be noted that the optimal angle for the gripping end of the gripper mechanism 100 to be inserted into the tape 1200 can be 100°-150°. Of course, it can also be determined according to the actual situation and is not limited to the above.

[0075] In some embodiments, the tearing direction N is parallel to the tangential direction of the material 1000 at the tearing portion 1300, so that after the gripper mechanism 100 clamps the tape 1200, the tearing base 460 can move directly to avoid interference between the gripper mechanism 100 and the mold to be poured 1100. In other words, the tearing direction N is tangent to the material 1000 at the tearing portion 1300, or in other words, when the gripping end of the gripper mechanism 100 abuts against the tearing portion 1300 of the material 1000, the movement path of the gripping end of the gripper mechanism 100 when the tearing base 460 is moved is perpendicular to the radius of the mold to be poured 1100 passing through the tearing portion 1300, so as to avoid scratching the mold to be poured 1100.

[0076] In some embodiments, the adhesive-tearing mechanism 400 includes a stop drive 470 and a stop 471. The stop drive 470 is disposed on the transverse member 420, and the stop 471 is disposed at the output end of the stop drive 470 and can move between a stop position and a yield position along the stop direction. The stop 471 in the stop position is located below the gripper mechanism 100 and can press against the tape 1200 on the mold to be poured 1100. The stop 471 in the yield position is located outside the material 1000 and has a gap with it. With the stop 471, when the gripper mechanism 100 tears the tape 1200, it can press against the connection between the tape 1200 and the mold to be poured 1100, minimizing the area to be torn by the tape 1200 and preventing excessive tape 1200 from accumulating and interfering with the pouring process. The stop direction is parallel to the adhesive-tearing direction N.

[0077] Alternatively, during the reverse rotation of the fixing member 450, tape 1200 can be applied to the side wall of the mold 1100 to be poured to seal the pouring hole.

[0078] Generally, the outer periphery of the mold 1100 to be poured is circular. However, due to manufacturing process limitations, the outer periphery of the mold 1100 to be poured has a raised structure, i.e., a non-circular structure. To avoid interference between the raised structure and the gripper mechanism 100, and in combination with... Figure 2 As shown, in some embodiments, the fixed gripper 110 is provided with a rotating part. The fixed gripper 110 is hinged to the adhesive-tearing base 460 through the rotating part and can rotate between an initial position and a clearance position. The gripping end of the fixed gripper 110 moves backward so that the fixed gripper 110 rotates from the initial position to the clearance position. In the initial position, the gripping end of the fixed gripper 110 abuts against the adhesive-tearing part 1300 of the material 1000.

[0079] With the above structure, during the rotation of the material 1000, the fixed gripper 110 and the adhesive tearing part 1300 on the outer periphery of the material 1000 slide and engage until the tape 1200 is scooped up. Then, the movable gripper 120 approaches the fixed gripper 110 to clamp the tape 1200. During the rotation of the material 1000, when the protruding structure on the outer periphery of the casting mold 110 rotates to abut against the fixed gripper 110, the fixed gripper 110 flips backward to avoid interference with the protruding structure.

[0080] To ensure the fixed gripper 110 returns to its initial position, in some embodiments, the center of gravity of the fixed gripper 110 is located behind and above the rotating part, so that the fixed gripper 110 stops in its initial position. The adhesive-removing base 460 is provided with a limiting part 462. When no external force is applied, under its own weight, the fixed gripper 110 rotates to its initial position and abuts against the limiting part 462, causing the gripping end of the fixed gripper 110 to tend to move forward, thus clamping the material 1000. In use, after the protruding structure of the material 1000 has rotated past, the fixed gripper 110 returns to its initial position under the action of gravity.

[0081] To ensure the fixed gripper 110 returns to its initial position, in some embodiments, the gripper mechanism 100 further includes a tear-off elastic member 160. The tear-off elastic member 160 applies an elastic force to the fixed gripper 110 to stop it in its initial position. When the fixed gripper 110 is in its initial position, its gripping end abuts against the tear-off portion 1300 of the material 1000. The tear-off base 460 is provided with a limiting portion 462, which abuts against the fixed gripper 110 when it is in its initial position. In use, after the protruding structure of the material 1000 rotates, the fixed gripper 110 returns to its initial position under the action of the tear-off elastic member 160.

[0082] Furthermore, the action of the tearing elastic element 160 ensures that the fixed gripper 110 always abuts against the tearing part 1300 of the material 1000, preventing the head of the tape 1200 from being missed. Finally, after the tape 1200 is torn, an elastic force is always applied to the tape 1200. Firstly, this keeps the tape 1200 taut, preventing it from obstructing the pouring hole; secondly, it prevents excessive force from being applied to the tape 1200, which could cause the tape 1200 to break or the material 1000 to detach from the fixing element 450, or the tape 1200 to detach from between the fixed gripper 110 and the movable gripper 120.

[0083] In the conveying mechanism 200, the axis of the material 1000 extends in the vertical direction; when the adhesive is peeled off, the axis of the material 1000 extends in the horizontal direction.

[0084] Combination Figure 11As shown, the conveying mechanism 200 includes a production line. When the material 1000 is conveyed on the production line, its axis extends vertically. After the fixing member 450 adsorbs the end face of the material 1000, the flipping member 440 rotates, causing the axis of the material 1000 to extend horizontally. Subsequently, in conjunction with the gripper mechanism 100 on the adhesive tearing mechanism 400, the adhesive tape 1200 is moved, and during the rotation of the fixing member 450, the mold to be poured 1100 is rotated, completing the tearing action of the adhesive tape 1200. After the adhesive tape 1200 is torn, the pouring hole of the mold to be poured 1100 is exposed. Under the action of the transverse member 420, the mold to be poured 1100 is transferred to the bottom of the pouring head 320 to complete the pouring and form the poured part. After the pouring is completed, the adhesive tearing base 460 is moved in the opposite direction and the fixing member 450 is rotated in the opposite direction, which can stick the adhesive tape 1200 to the pouring hole. Throughout the process, especially after being removed from the transfer mechanism 200, there is no need to position the mold 1100 to be poured, which improves pouring efficiency and reduces the number of positioning mechanisms, thus lowering costs.

[0085] Specifically, the conveying mechanism 200 includes a first production line 210, a second production line 220, and a transfer component 230. The first production line 210 is used to move the material 1000 from the first loading position to the first unloading position. The transfer component 230 is used to transfer the material 1000 from the first unloading position to the transfer position. The second production line 220 is used to transfer the casting from the second loading position to the second unloading position. The fixing member 450 of the adhesive peeling mechanism 400 can pick up the material 1000 from the transfer position and transfer the casting to the second loading position. The transfer assembly 230 includes a transfer base 231 and a double-headed cylinder 232 located below the transfer base 231. Each of the two output ends of the double-headed cylinder 232 has two positioning elements 233. The four positioning elements 233 extend vertically and are located around the transfer base 231. The two output ends of the double-headed cylinder 232 extend and retract to bring the four positioning elements 233 closer together or further apart. When the four positioning elements 233 are close together, they can position the material 1000 on the transfer base 231 to the transfer position. The transfer assembly 230 also includes a transfer bracket 234 and a transfer member 235. The transfer bracket 234 is located between the first production line 210 and the second production line 220. The transfer member 235 slides along the transfer bracket 234 in the left-right direction and can transfer between the first production line 210 and the transfer base 231 to transfer the material 1000 on the first production line 210 to the transfer base 231.

[0086] The transfer member 235 includes a transfer mounting part 2351, a transfer actuating part 2352 and a transfer blocking part 2353 provided on the transfer mounting part 2351. The transfer blocking part 2353 is used to stop the material 1000 on the first production line 210, and the transfer actuating part 2352 is used to transfer the material 1000 from the first production line 210 to the transfer seat 231 when the transfer member 235 moves to the right.

[0087] Generally, the axis of the gating hole is perpendicular to the axis of the mold 1100 to be cast. In some different product models, the axis of the gating hole is not perpendicular to the axis of the mold. Due to the presence of the flipper 440, after the tape 1200 is torn, the flipper 440 can be rotated at a certain angle so that the axis of the gating hole extends in the vertical direction to facilitate casting.

[0088] Combination Figure 12 As shown, to accommodate materials 1000 of different diameters, in some embodiments, the casting mechanism 300 includes a casting support 310, wherein the casting head 320 is slidably disposed on the casting support 310 in a vertical direction. This arrangement allows the casting hole to move upwards as the diameter of the material 1000 increases. By moving the casting head 320 upwards, it can accommodate the upwardly moved casting hole, thus enabling it to accommodate materials 1000 of different diameters.

[0089] The casting mechanism 300 also includes an illumination element 330 and an identification element 340. The identification element 340 is slidably mounted on the casting support 310 in a vertical direction, and the illumination element 330 is movably mounted on the casting support 310 to illuminate the material 1000. A casting drive element 321 is mounted on the casting support 310, and its output end moves vertically. Both the identification element 340 and the casting head 320 are connected to the output end of the casting drive element 321. The illumination drive element is mounted on the casting support 310, and the illumination element 330 is located at its output end. The illumination drive element drives the illumination element 330 to move closer to or further away from the casting head 320 to accommodate casting molds 1100 of different diameters, and can avoid obstruction when the casting mold 1100 moves to the casting position.

[0090] In some embodiments, the casting mechanism 300 further includes a camera 350, which is used to capture images of the mold 1100 to be cast and the casting head 320 during casting to analyze whether the position of the mold 1100 to be cast is accurate. Specifically, it is used to determine the distance between the casting head 320 and the casting hole in the left-right direction.

[0091] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A gripper mechanism, characterized in that, include: Fixed gripper (110); A movable gripper (120) is movable between a clamping position and a separating position. When the movable gripper (120) is in the separating position, the tape (1200) can enter between the fixed gripper (110) and the movable gripper (120). When the movable gripper (120) is in the clamping position, the movable gripper (120) is close to the fixed gripper (110) to clamp the tape (1200). The detection element (130) has a fixed gripper (110) with a first detection hole (114) and a movable gripper (120) with a second detection hole (1221). When the movable gripper (120) is in the separated position, the light emitted by the detection element (130) can pass through the first detection hole (114). When the movable gripper (120) is in the clamping position, the first detection hole (114) and the second detection hole (1221) at least partially overlap in the direction of the light emitted by the detection element (130), and the light emitted by the detection element (130) can pass through the first detection hole (114) and the second detection hole (1221). The gripper mechanism (100) further includes an interceptor (140), which is disposed on the movable gripper (120). At least a portion of the interceptor (140) extends in a direction parallel to the axis of the second detection hole (1221) to form an interception section (141). When the movable gripper (120) is in the gripping position, the length of the tape (1200) gripped between the movable gripper (120) and the fixed gripper (110) is L1, the length of the intercepting part (141) is L2, and L2≥L1; The interceptor (140) includes a connecting part (142), the interceptor (141) is disposed on the connecting part (142), the connecting part (142) is provided with a fixing hole (1421) and a clearance channel (1422), the clearance channel (1422) is located between the fixing hole (1421) and the interceptor (141), the fixing screw passes through the fixing hole (1421) and is threadedly engaged with the fixing screw hole of the movable gripper (120), when the movable gripper (120) is in the clamping position, in the light direction of the detection element (130), the first detection hole (114), the second detection hole (1221) and the clearance channel (1422) can be connected in sequence.

2. The gripper mechanism according to claim 1, characterized in that, The movable gripper (120) forms a movable clamping surface (1222) on the side facing the fixed gripper (110), wherein, The extending direction of the intercepting part (141) is perpendicular to the movable clamping surface (1222); and / or The movable clamping surface (1222) is perpendicular to the axis of the second detection hole (1221).

3. The gripper mechanism according to claim 1, characterized in that, The fixed gripper (110) includes a gripper body (112) and a shovel (113) connected to each other. The extension directions of the gripper body (112) and the shovel (113) are set at an obtuse angle, and the gripper body (112) and the shovel (113) are connected by a circular arc transition.

4. The gripper mechanism according to claim 1, characterized in that, The movable gripper (120) is hinged to the fixed gripper (110). When the movable gripper (120) is in the separated position, the projection of the movable gripper (120) is located outside the projection contour of the first detection hole (114) in the extending direction of the first detection hole (114).

5. The gripper mechanism according to claim 4, characterized in that, The gripper mechanism (100) further includes a gripper drive (150), which includes a telescopic cylinder. The telescopic cylinder includes a cylinder (151) and a piston rod (152). The piston rod (152) extends and retracts relative to the cylinder (151). The cylinder (151) is hinged to the fixed gripper (110), and the piston rod (152) is hinged to the movable gripper (120).

6. The gripper mechanism according to any one of claims 1-5, characterized in that, At least a portion of the detection element (130) is disposed within the first detection hole (114), and the front sidewall (131) of the detection element (130) is flush with or located within the first detection hole (114) of the clamping surface of the fixed claw (110).

7. A gating system, characterized in that, Includes the gripper mechanism (100) according to any one of claims 1-6.

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