Automatic coil laminator with visual inspection function

Abstract

The present invention discloses a coil automatic plastic sealing machine with a visual inspection function, comprising a main frame, on which a drying feeding device and a feeding device arranged side by side are arranged, and a material tray transfer device is arranged between the drying feeding device and the feeding device; the main frame is also provided with a four-axis manipulator and a six-axis manipulator for transferring materials, and an injection molding machine assembly and a blowing and suction device are arranged on the side of the main frame; a translation device is arranged below the six-axis manipulator, and a first visual inspection device, a second visual inspection device and a laser overflow glue removal device are arranged above the translation device in sequence; a glue punching port device is arranged at the end of the translation device, and a crushing device for crushing a material handle is arranged inside the main frame. The present invention arranges the first visual inspection device and the second visual inspection device in sequence on the assembly line, so as to detect the front and back sides of the product in sequence; the six-axis manipulator is used to quickly remove defective products, and the overall processing efficiency of the product is high and the inspection process can be carried out continuously.

Description

Technical Field

[0001] The invention belongs to the technical field of product molding detection, and in particular relates to an automatic coil plastic sealing machine with a visual detection function. Background Art

[0002] The solenoid valve usually includes a coil assembly, which includes a coil frame. The outer layer of the coil frame is formed into a plastic-sealed shell after being molded by a mold; the coil frame can be formed into an injection molded product after being injected by the mold. The injection molded product often has a lot of overflow, which requires the molded product to be inspected and the overflow removal process to be performed. The existing patent document with publication number CN204854787U discloses a high-speed feature extraction device for assembly line visual inspection, including an assembly line and a machine base, the assembly line is located on the machine base, the assembly line includes a first visual inspection assembly line and a second visual inspection assembly line, a flipping device is provided between the first visual inspection assembly line and the second visual inspection assembly line, and a visual inspection device is provided on both the first visual inspection assembly line and the second visual inspection assembly line; the prior art detects the front and back sides of the product through the first visual inspection assembly line and the second visual inspection assembly line, and flips the product through the flipping device; the position of the product is easy to change during the flipping process, so the positioning of the product is not accurate enough, the visual inspection device is prone to errors in camera shooting and scanning, and the synchronization of product inspection of the same batch is poor. At the same time, the product needs to be turned over during the inspection process, and the inspection efficiency is low; secondly, after the product inspection is completed, it is impossible to quickly remove unqualified products, and they need to be removed in the next process, which makes the overall product processing efficiency low. Therefore, it is necessary to design an automatic coil plastic sealing machine with visual inspection function. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention designs an automatic coil plastic sealing machine with a visual inspection function. The present invention sequentially arranges a first visual inspection device and a second visual inspection device on the assembly line to sequentially inspect the front and back sides of the product. Defective products are quickly removed by a six-axis manipulator, the overall product processing efficiency is high and the inspection process can be carried out continuously.

[0004] The inventive objective of the present invention is achieved through the following technical scheme: an automatic coil plastic sealing machine with a visual inspection function, comprising a main frame, on which a drying and feeding device and a unloading device are arranged side by side, and a material tray transferring device is arranged between the drying and feeding device and the unloading device; the main frame is also provided with a four-axis manipulator and a six-axis manipulator for transferring materials, and an injection molding machine assembly and a dust blowing and suction device are arranged on the side of the main frame; a translation device is provided below the six-axis manipulator, and a first visual inspection device, a second visual inspection device and a laser overflow glue removal device are arranged above the translation device in sequence; a glue punching port device is provided at the end of the translation device, and a crushing device for crushing the material handle is provided inside the main frame.

[0005] Preferably, the drying and feeding device includes two loading bins arranged side by side and adjacent to each other, each of the loading bins is provided with a lifting assembly for conveying products; the unloading device includes a unloading area, the unloading area and the loading bin are adjacent to each other, and a lifting assembly is also provided in the unloading area; a drying device connected to the loading bin is provided in the main frame, the drying device includes a fan and a heating tank, and the heating tank is connected to the loading bin; the tray transfer device is arranged horizontally just above the loading bin and the unloading area, and a first transfer plate and a second transfer plate are provided at the end of the main frame close to the injection molding machine assembly, and a four-axis manipulator is provided at the end of the tray transfer device.

[0006] The coil frame is placed on the lifting assembly and then preheated in the loading bin. Since the coil frame preheating time is slow, two loading bins are set up for synchronous preheating. After the coil frame is preheated, it is horizontally moved to the four-axis robot by the tray transfer device, and then transported to the injection molding machine assembly by the four-axis robot for injection molding. Since the coil frames in the two loading bins are preheated synchronously, the injection molding machine assembly can continue to work, so the idle coil frame has a shorter waiting time for injection molding, and the overall injection molding efficiency of the coil frame is higher. After the injection molding product inspection is completed, it returns to the unloading area after the laser overflow glue removal process and the glue port flushing process, and then is transported away by the lifting assembly in the unloading area.

[0007] Preferably, the lifting assembly includes a mounting base plate, on which a first track is arranged in a pair, and a first slide is arranged on the first track; a first screw rod is provided on the mounting base plate and is rotatably connected to the mounting base plate, and a first motor is provided on the back side of the mounting base plate, and the first motor and the first screw rod are transmitted by gears; the first screw rod is inserted into the first slide plate and meshes with the first slide plate, and the first motor drives the first slide plate to move along the first track when working; a pair of support arms are provided on the first slide plate, and a first positioning cylinder is provided on the support arm, and a first positioning plate is provided on the positioning cylinder; a second positioning cylinder is provided on the first slide plate, and a second positioning plate is provided on the second positioning cylinder.

[0008] When the first motor is working, it drives the first screw rod to rotate. When the first screw rod rotates, the first slide plate moves up and down along the first track, so as to facilitate the control of the up and down movement of the coil frame; the coil frame is often placed in a material frame as a whole, and the material frame is placed on the support arm; the two axial directions of the material frame are synchronously positioned by the first positioning plate and the second positioning plate, so that the material tray transfer device can accurately and reliably grasp the material frame, thereby transferring the coil frame in the material frame to the position of the four-axis manipulator.

[0009] Preferably, the tray transfer device includes a linear screw module, on which a second slide plate capable of linear axial movement relative to the linear screw module is provided; the second slide plate is provided with a second track, on which a lifting slide plate is provided, on which a lifting cylinder is provided, and the piston shaft of the lifting cylinder is connected to the lifting slide plate; there is a third track on the lifting slide plate, on which a material clamping arm arranged in pairs is provided; the lifting slide plate is provided with a second screw rod rotatably connected thereto, the second screw rod is inserted into the material clamping arm and meshed with the latter; a second motor and a third motor are provided at the end of the second screw rod, and a coupling is provided between the second motor and the second screw rod; a transmission belt is provided between the third motor and the coupling.

[0010] The lifting cylinder controls the lifting slide to move up and down along the second track, so as to facilitate the control of the lifting and lowering of the material clamping arm, so as to clamp the material frame in the upper bin; when the second motor is working, it drives the second screw to rotate, and when the second screw rotates, it drives the material clamping arm to move along the third track; when the third motor is working, it drives the second screw to rotate through the transmission belt and the coupling, so the second motor and the third motor respectively control the two rotation directions of the second screw, so as to facilitate the control of the material clamping arm to move closer to or away from each other, so as to facilitate the grabbing or putting down of the material frame. The linear screw module is an existing publicly available moving device, which drives the screw to rotate through the motor, and a second slide is provided on the screw, so that the linear screw module can conveniently control the horizontal movement of the second slide when working.

[0011] Preferably, the first transfer plate is arranged close to the injection molding machine assembly, and the second transfer plate is arranged close to the first visual inspection device; the four-axis manipulator is arranged directly above the first transfer plate and the second transfer plate; the injection molding machine assembly is arranged close to the initial end of the translation device, and a six-axis manipulator is provided between the injection molding machine assembly and the translation device.

[0012] The first transfer plate is used to place coil racks waiting for injection molding, and the second transfer plate is used to place finished injection molding products that have been processed. When there are finished injection molding products on the second transfer plate, the six-axis robot will immediately work to clamp the finished injection molding products to the translation device for visual inspection. When there are coil racks on the first transfer plate, the six-axis robot will grab the coil racks and process them on the injection molding machine assembly; the first transfer plate will be empty, and then the four-axis robot will immediately work to clamp the new coil rack and place it on the idle first transfer plate; after the finished injection molding products are inspected, laser glue removal and glue punching processes are required. After all the processes of the finished injection molding products are completed, the six-axis robot will first clamp the processed finished injection molding products and place them on the second transfer plate, and then the four-axis robot will clamp the processed finished injection molding products to the unloading device. Because the inspection process of the finished injection molding products takes time, and the injection molding process of the coil rack also takes time, there is a spare gap on the second transfer plate, which is used to temporarily place the finished injection molding products that have completed all the processes, and then the four-axis robot will immediately clamp the finished injection molding products away.

[0013] Preferably, the injection molding machine assembly includes an injection molding frame, on which an injection molding upper mold and an injection molding lower mold are provided; a dust blowing and suction device is provided at a position of the injection molding frame near the injection molding lower mold, and the dust blowing and suction device includes a dust blowing and suction base plate, a first side plate, a second side plate and a mounting frame; the dust blowing and suction base plate is provided with a first rack and a fourth track, the first side plate and the second side plate are arranged in pairs, and the fourth track is provided with a first side plate slidably connected thereto; a transmission shaft is provided between the two first side plates, and a first gear arranged in pairs is provided on the transmission shaft, and each of the first gear and the first rack are meshed with each other; a driving motor is provided on one of the first side plates, and the motor shaft of the driving motor is connected to the transmission shaft; a first rack is provided on the first side plate and is slidably connected thereto The second side plate is provided with a fifth track and a second rack; the second rack and the first gear are also meshed with each other, and the first side plate is synchronously mounted on the fifth track; when the driving motor drives the transmission shaft to rotate, the first side plate and the second side plate move synchronously in the same direction; the second side plate is provided with a mounting frame slidably connected to it, the mounting frame is provided with a sixth track, and the second side plate is mounted on the sixth track; an adjusting screw for adjusting the height of the mounting frame is provided between the mounting frame and the second side plate; a translation cylinder is provided on the side of the mounting frame, and a mold blowing plate that can move horizontally relative to it is provided inside the mounting frame, and the mold blowing plate is connected to the translation cylinder; a first dust hood is also provided on the side of the mounting frame.

[0014] The coil frame is placed in the injection molding machine assembly for injection molding, so that a plastic shell is formed on the outside of the coil frame; there will be a lot of dust during the injection molding process of the coil frame, so the dust is removed by the dust blowing and suction device to keep the injection molded product clean. The mold blowing plate of the dust blowing and suction device can be extended and retracted relative to the injection molding machine frame, and the injection molding upper mold and the injection molding lower mold are opened after the product is formed; the mold blowing plate and the first dust suction cover are integrally extended into the injection molding machine frame to blow dust from the injection molded product. After the dust blowing is completed, the mold blowing plate and the first dust suction cover are synchronously moved away from the injection molding frame; the specific working process of the dust blowing and suction device is as follows: when the driving motor is working, it drives the transmission shaft to rotate, and the first rack and the first gear are meshed with each other, so that the first side plate can move relative to the dust blowing and suction base plate; because the second rack and the first gear are also meshed with each other, the second side plate can move relative to the first side plate; because the first rack and the second rack are arranged on both sides of the first gear, the first side plate and the second side plate can move synchronously in the same direction relative to the dust blowing and suction base plate, and a mounting frame is provided on the second side plate, so that the mounting frame drives the mold blowing plate to move faster and the dust blowing efficiency is higher.

[0015] Preferably, the translation device includes a linear screw module, on which a third transfer plate capable of linear axial movement relative to the linear screw module is provided; the end of the main frame close to the injection molding machine assembly is provided with a first transfer plate and a second transfer plate, the first transfer plate, the second transfer plate and the third transfer plate are all provided with positioning columns, and the edges of the first transfer plate and the second transfer plate are also provided with positioning protrusions; the first visual inspection device includes a first bracket, on which a first inspection platform fixedly connected thereto is provided; the first bracket is also provided with a first visual camera capable of extending and retracting relative thereto, the first visual camera and the first bracket are connected by a first screw, and the first visual camera is directly below the first inspection platform; the second visual inspection device is arranged close to the laser de-overflowing glue device, the second visual inspection device includes a second bracket, on which a second inspection platform fixedly connected thereto is provided; the second bracket is also provided with a second visual camera capable of extending and retracting relative thereto, the second visual camera and the second bracket are connected by a second screw, and the second visual camera is directly above the second inspection platform.

[0016] The linear screw module is an existing publicly available moving device. The motor drives the screw to rotate. The screw is provided with a third transfer plate, so that the linear screw module can conveniently control the horizontal movement of the third transfer plate when working. By setting the positioning column, it is convenient to position the coil frame and the injection molded product in two-dimensional space, so that the six-axis manipulator can accurately clamp the product. The positions of the first transfer plate and the second transfer plate relative to the main frame remain fixed, and the positions of the first detection platform and the second detection platform relative to the main frame also remain fixed; because the products are placed on the first transfer plate and the second transfer plate in an orderly manner, the six-axis manipulator can reliably clamp the entire row of products. When the injection molded product is being inspected, when the third transfer plate is aligned with the first inspection platform, the translation device controls the third transfer plate to stop moving, and the first visual camera takes photos of the injection molded product for comparison; similarly, when the third transfer plate is aligned with the second inspection platform, the translation device controls the third transfer plate to stop moving, and the second visual camera takes photos of the injection molded product for comparison, and when the third transfer plate stops moving, the six-axis manipulator can reliably clamp each injection molded product; the lower end face of the injection molded product is inspected by the first visual camera, and the upper end face of the injection molded product is inspected by the second visual camera, so that the injection molded product can be inspected as a whole; in the initial proofreading stage of the inspection, the positions of the first visual camera and the second visual camera are adjusted to make the inspection process more accurate.

[0017] Preferably, a control panel is provided on the main frame, and the control panel is electrically connected to the first visual inspection device, the second visual inspection device and the six-axis manipulator; a defective product recovery frame is provided at the initial end of the translation device, and when the first visual inspection device and the second visual inspection device detect defective products, the six-axis manipulator clamps the defective products and places them in the defective product recovery frame; the laser de-glueing device comprises a mounting lifting platform arranged in pairs and a laser head arranged in pairs, and an adjusting screw rod rotatably connected to the mounting lifting platform is arranged inside the mounting lifting platform; a supporting platform slidably connected to the mounting lifting platform is provided on the outer side of the mounting lifting platform, the supporting platform is stuck on the mounting lifting platform and the adjusting screw rod is inserted into the supporting platform; the supporting platform and the adjusting screw rod are meshed with each other, and a handle is provided at the end of the adjusting screw rod, and when the handle is rotated, the supporting platform moves up and down relative to the mounting lifting platform; a laser head fixedly connected to the mounting lifting platform is provided on the supporting platform, and the laser head faces the translation device; a second dust hood is arranged directly above the translation device, and a dust collection piece arranged in pairs is arranged inside the second dust hood.

[0018] During the inspection, the photo is compared with the template photo in the control panel. If there is a deviation, it is a defective product. The finished injection molded product is in a stationary state during the inspection process, and each finished injection molded product has its own corresponding coordinates. When the finished injection molded product is unqualified, the control panel sends a command to the six-axis robot to quickly clamp the defective product and place it in the defective product recycling box. After the inspection of the finished injection molded product is completed, it automatically moves to the next process. By setting up two upper and lower laser heads, the two end faces of the finished injection molded product can be simultaneously de-glueed. Before de-glueing, adjust the height of the support platform in advance through the handle so that the laser head is close to the finished injection molded product. Dust and odor will be generated during the de-glueing process, and a large amount of dust and waste will be sucked away by the dust collector here.

[0019] Preferably, the glue punching port device includes a glue punching frame, on which a glue punching cylinder and a glue punching upper mold are provided; the piston shaft of the glue punching cylinder is connected to the glue punching upper mold; the bottom of the glue punching frame is provided with a glue punching bottom plate arranged toward the glue punching upper mold, and the side of the glue punching bottom plate is provided with a rodless cylinder, and the rodless cylinder is provided with a first blowing plate which can move axially relative to the rodless cylinder.

[0020] After injection molding, the coil frame will form a handle frame on the outermost layer of the finished injection molded product, and the finished injection molded product will be impacted by the punching mold, so that the finished injection molded product can be separated from the handle frame; dust and impurities will be generated during the impact of the punching mold, and the first blowing plate will be driven by the rodless cylinder to move along the handle frame, so that the dust and impurities on the surface of the finished injection molded product can be removed; when the punching port is completed, the six-axis robot grabs the finished injection molded product and returns it to the second transfer plate, and then it is transported to the unloading device by the four-axis robot.

[0021] Preferably, a crushing device is provided on the side of the glue punching port device, and the crushing device is arranged between the six-axis manipulator and the glue punching port device; the crushing device includes a material receiving trough, and a first toothed pressure plate fixedly connected to the material receiving trough is provided on one side of the material receiving trough; a second toothed pressure plate slidably connected to the material receiving trough is provided on the other side of the material receiving trough, and a first cylinder is provided on the material receiving trough; the second toothed pressure plate is provided with a pair of guide rods, which are inserted into the side of the material receiving trough, and the first cylinder and the second toothed pressure plate are fixedly connected; a waste slide plate hinged to the bottom of the material receiving trough is provided, and a second cylinder hinged to the waste slide plate and the outer wall of the material receiving trough is provided between the two; one end of the second cylinder is hinged to the material receiving trough, and the other end of the second cylinder is hinged to the waste slide plate; a material handle frame is provided on the lower side of the material receiving trough, and the material handle frame is arranged facing the waste slide plate.

[0022] The material handle frame is grabbed by the six-axis robot and placed in the material receiving trough for crushing. The first cylinder controls the second toothed pressure plate to approach the first toothed pressure plate, thereby squeezing and crushing the material handle frame; then the second cylinder works to control the waste slide to rotate, so that the bottom of the material receiving trough opens, and the crushed waste will fall along the waste slide into the material handle frame for unified recycling.

[0023] Compared with the prior art, the present invention has the following beneficial effects: 1. The drying and feeding device of the present invention has two loading bins arranged side by side, and the coil frame is preheated in advance during the loading process to avoid the coil frame waiting for processing, and the coil frame injection molding efficiency is higher; 2. The coil frame is conveniently moved by the tray transfer device, so that the coil frame can be quickly grabbed by the four-axis manipulator; 3. The coil frame is automatically injection molded by the injection molding machine assembly and the blowing and suction device, and the impurities on the surface can be cleared; 4. By setting the first transfer plate, the second transfer plate and the third transfer plate, it is convenient to position the product; at the same time, it is convenient to efficiently transport the product and improve the efficiency of product processing and inspection; 5. The product is inspected in turn by the first visual inspection device and the second visual inspection device, and the upper and lower end faces of the product are inspected, and the inspection is thorough and reliable; 6. If defective products are found in the product during the inspection process, they can be quickly grabbed and removed by the six-axis manipulator; the product is positioned by the coordinate axis, and the grabbing is accurate and reliable. 7. The upper and lower end faces of the product are processed by the laser overflow glue removal device to make the product surface appearance more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A perspective view of the present invention;

[0025] Figure 2 A three-dimensional diagram of another viewing angle of the present invention;

[0026] Figure 3 A three-dimensional diagram of the drying feeding device, unloading device and tray transfer device during assembly;

[0027] Figure 4 This is the working principle diagram of the tray transfer device;

[0028] Figure 5 is a perspective view of the lifting assembly;

[0029] Figure 6 It is a three-dimensional diagram of the drying and feeding device;

[0030] Figure 7 A three-dimensional diagram of the injection molding machine components and the dust blowing and suction device during assembly;

[0031] Figure 8 is a three-dimensional diagram of a dust blowing and suction device;

[0032] Fig. 9 A three-dimensional diagram of the dust blowing and suction device from another perspective;

[0033] Fig.10 It is a working principle diagram of the first visual detection device and the second visual detection device;

[0034] Fig.11 is a stereogram of a second visual inspection device;

[0035] Fig.12 is a stereogram of a first visual inspection device;

[0036] Fig.13 This is an exploded view of the laser overflow glue removal device;

[0037] Fig.14 It is a three-dimensional diagram of the glue punching port device;

[0038] Fig.15 is a three-dimensional diagram of a crushing device;

[0039] Fig.16 is a three-dimensional diagram of the third transfer plate;

[0040] Fig.17 This is a three-dimensional picture of the second transfer plate loaded with products;

[0041] Markings in the figure: 1. Main frame; 2. Drying and feeding device; 201. Loading bin; 202. Drying device; 203. Fan; 204. Heating tank; 3. Unloading device; 31. Unloading area; 4. Material tray transfer device; 41. Second slide plate; 42. Second track; 43. Lifting slide plate; 44. Lifting cylinder; 45. Third track; 46. Material clamping arm; 47. Second screw rod; 48. Second motor; 49. Third motor; 410. Coupling; 411. Transmission belt; 5. Injection molding machine assembly; 51. Injection molding frame; 52. Injection molding upper mold; 53. Injection molding lower mold; 6. Blowing and dust suction device; 61. Blowing and dust suction Base plate; 62, first side plate; 63, second side plate; 64, mounting frame; 65, first rack; 66, fourth track; 67, transmission shaft; 68, first gear; 69, drive motor; 610, fifth track; 611, second rack; 612, sixth track; 613, adjusting screw; 614, translation cylinder; 615, mold blowing plate; 616, first dust cover; 7, translation device; 71, third transfer plate; 8, first visual inspection device; 81, first bracket; 82, first inspection platform; 83, first visual camera; 84, first screw; 9, second visual inspection device; 91, second Bracket; 92, second detection platform; 93, second visual camera; 94, second screw; 10, laser glue overflow removal device; 101, installation lifting platform; 102, laser head; 103, adjustment screw; 104, handle; 105, support platform; 106, second dust cover; 107, dust collection piece; 11, glue injection port device; 111, glue injection frame; 112, glue injection cylinder; 113, glue injection upper mold; 114, glue injection bottom plate; 115, rodless cylinder; 116, first blowing plate; 12, crushing device; 121, material receiving trough; 122, first toothed pressure plate; 123, second toothed pressure plate; 124, first A cylinder; 125, a guide rod; 126, a waste slide; 127, a second cylinder; 13, a four-axis manipulator; 14, a six-axis manipulator; 15, a lifting assembly; 151, a mounting base; 152, a first track; 153, a first slide; 154, a first screw rod; 155, a support arm; 156, a first positioning cylinder; 157, a first positioning plate; 158, a second positioning cylinder; 159, a second positioning plate; 160, a first motor; 16, a first transfer plate; 17, a second transfer plate; 18, a linear screw rod module; 19, a positioning column; 20, a positioning protrusion; 21, a defective product recovery frame; 22, a material handle frame. DETAILED DESCRIPTION

[0042] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings:

[0043] like Figures 1 to 17As shown, the present embodiment discloses an automatic coil plastic sealing machine with a visual inspection function, comprising a main frame 1, on which a drying and feeding device 2 and a unloading device 3 are arranged side by side, and a material tray transferring device 4 is arranged between the drying and feeding device 2 and the unloading device 3; the main frame 1 is also provided with a four-axis manipulator 13 and a six-axis manipulator 14 for transferring materials, and an injection molding machine assembly 5 and a dust blowing and suction device 6 are arranged on the side of the main frame 1; a translation device 7 is provided below the six-axis manipulator 14, and a first visual inspection device 8, a second visual inspection device 9 and a laser overflow glue removal device 10 are arranged above the translation device 7 in sequence; a glue punching port device 11 is provided at the end of the translation device 7, and a crushing device 12 for crushing the material handle is provided inside the main frame 1.

[0044] The drying and feeding device 2 includes two upper bins 201 arranged side by side and adjacent to each other, and each of the upper bins 201 is provided with a lifting component 15 for conveying products; the unloading device 3 includes an unloading area 31, and the unloading area 31 is adjacent to the upper bin 201, and the unloading area 31 is also provided with a lifting component 15; the main frame 1 is provided with a drying device 202 connected to the upper bin 201, and the drying device 202 includes a fan 203 and a heating tank 204, and the heating tank 204 is connected to the upper bin 201; the tray transfer device 4 is horizontally arranged directly above the upper bin 201 and the unloading area 31, and the end of the main frame 1 close to the injection molding machine assembly 5 is provided with a first transfer plate 16 and a second transfer plate 17, and the end of the tray transfer device 4 is provided with a four-axis manipulator 13. The lifting assembly 15 includes a mounting base 151, on which a first track 152 is arranged in pairs, and a first slide 153 is arranged on the first track 152; the mounting base 151 is provided with a first screw rod 154 rotatably connected thereto, and a first motor 160 is arranged on the back of the mounting base 151, and the first motor 160 and the first screw rod 154 are driven by gears; the first screw rod 154 is inserted into the first slide 153 and meshes with each other, and the first motor 160 drives the first slide 153 to move along the first track 152 when working; the first slide 153 is provided with a pair of support arms 155, on which a first positioning cylinder 156 is arranged, and a first positioning plate 157 is arranged on the positioning cylinder; the first slide 153 is provided with a second positioning cylinder 158, and a second positioning plate 159 is arranged on the second positioning cylinder 158. The tray transfer device 4 includes a linear screw module 18, on which a second slide 41 capable of linear axial movement relative thereto is provided; a second track 42 is provided on the second slide 41, on which a lifting slide 43 is provided, and on which a lifting cylinder 44 is provided, and a piston shaft of the lifting cylinder 44 is connected to the lifting slide 43; a third track 45 is provided on the lifting slide 43, on which a material clamping arm 46 is provided in pairs; the lifting slide 43 is provided with a second screw 47 rotatably connected thereto, the second screw 47 is inserted through the material clamping arm 46 and meshes with the latter; a second motor 48 and a third motor 49 are provided at the end of the second screw 47, a coupling 410 is provided between the second motor 48 and the second screw 47; a transmission belt 411 is provided between the third motor 49 and the coupling 410.

[0045] The first transfer plate 16 is arranged close to the injection molding machine assembly 5, and the second transfer plate 17 is arranged close to the first visual inspection device 8; the four-axis manipulator 13 is arranged directly above the first transfer plate 16 and the second transfer plate 17; the injection molding machine assembly 5 is arranged close to the initial end of the translation device 7, and a six-axis manipulator 14 is provided between the injection molding machine assembly 5 and the translation device 7. The injection molding machine assembly 5 includes an injection molding frame 51, on which an injection molding upper mold 52 and an injection molding lower mold 53 are arranged; a dust blowing and suction device 6 is arranged near the injection molding lower mold 53 of the injection molding frame 51, and the dust blowing and suction device 6 includes a dust blowing and suction substrate 61, a first side plate 62, a second side plate 63 and a mounting frame 64; a first rack 65 and a fourth track 66 are arranged on the dust blowing and suction substrate 61, and the first side plate 62 and the second side plate 63 are arranged in pairs, and the fourth track 66 is provided with a first side plate 62 slidably connected thereto; a transmission shaft 67 is arranged between the two first side plates 62, and a first gear 68 arranged in pairs is arranged on the transmission shaft 67, and each of the first gears 68 and the first rack 65 are meshed with each other; a driving motor 69 is arranged on one of the first side plates 62, and the motor shaft of the driving motor 69 is connected to the transmission shaft 67; a second side plate 63 slidably connected thereto is arranged on the first side plate 62, The second side plate 63 is provided with a fifth track 610 and a second rack 611; the second rack 611 and the first gear 68 are also meshed with each other, and the first side plate 62 is synchronously mounted on the fifth track 610; when the driving motor 69 drives the transmission shaft 67 to rotate, the first side plate 62 and the second side plate 63 move synchronously in the same direction; the second side plate 63 is provided with a mounting frame 64 slidably connected thereto, the mounting frame 64 is provided with a sixth track 612, and the second side plate 63 is mounted on the sixth track 612; an adjusting screw 613 for adjusting the height of the mounting frame 64 is provided between the mounting frame 64 and the second side plate 63; a translation cylinder 614 is provided on the side of the mounting frame 64, and a mold blowing plate 615 which can move horizontally relative to the mounting frame 64 is provided inside the mounting frame 64, and the mold blowing plate 615 is connected to the translation cylinder 614; a first dust hood 616 is also provided on the side of the mounting frame 64.

[0046] The translation device 7 includes a linear screw module 18, on which a third transfer plate 71 capable of linear axial movement relative to the linear screw module 18 is provided; the end of the main frame 1 close to the injection molding machine assembly 5 is provided with a first transfer plate 16 and a second transfer plate 17, and the first transfer plate 16, the second transfer plate 17 and the third transfer plate 71 are all provided with positioning columns 19, and the edges of the first transfer plate 16 and the second transfer plate 17 are also provided with positioning protrusions 20; the first visual inspection device 8 includes a first bracket 81, on which a first inspection platform 82 fixedly connected thereto is provided; the first bracket 81 is also provided with a first detection platform 82 capable of extending relative to the first detection platform 82 ... The first visual camera 83 is retractable, and the first visual camera 83 and the first bracket 81 are connected by a first screw 84, and the first visual camera 83 is directly below the first detection platform 82; the second visual detection device 9 is arranged close to the laser overflow glue removal device 10, and the second visual detection device 9 includes a second bracket 91, and the second bracket 91 is provided with a second detection platform 92 fixedly connected thereto; the second bracket 91 is also provided with a second visual camera 93 which can be retracted relative to the second bracket 91, and the second visual camera 93 and the second bracket 91 are connected by a second screw 94, and the second visual camera 93 is directly above the second detection platform 92. A control panel is provided on the main frame 1, and the control panel is electrically connected to the first visual inspection device 8, the second visual inspection device 9 and the six-axis manipulator 14; a defective product recovery frame 21 is provided at the initial end of the translation device 7, and when the first visual inspection device 8 and the second visual inspection device 9 detect defective products, the six-axis manipulator 14 clamps the defective products and places them in the defective product recovery frame 21; the laser glue removal device 10 includes a pair of mounting lifting platforms 101 and a pair of laser heads 102, and the mounting lifting platforms 101 are provided with an adjusting screw 103 rotatably connected thereto; the outer side of the mounting lifting platform 101 is provided with a screw rod 103 rotatably connected thereto A connected support platform 105 is provided, the support platform 105 is stuck on the installation lifting platform 101 and the adjusting screw rod 103 is inserted in the support platform 105; the support platform 105 and the adjusting screw rod 103 are meshed with each other, and a handle 104 is provided at the end of the adjusting screw rod 103. When the handle 104 is rotated, the support platform 105 moves up and down relative to the installation lifting platform 101; a laser head 102 is fixedly connected to the support platform 105, and the laser head 102 faces the translation device 7; a second dust hood 106 is provided directly above the translation device 7, and a dust collection piece 107 arranged in pairs is provided in the second dust hood 106.

[0047] The glue punching port device 11 includes a glue punching frame 111, on which a glue punching cylinder 112 and a glue punching upper mold 113 are provided; the piston shaft of the glue punching cylinder 112 is connected to the glue punching upper mold 113; the bottom of the glue punching frame 111 is provided with a glue punching bottom plate 114 arranged toward the glue punching upper mold 113, and the side of the glue punching bottom plate 114 is provided with a rodless cylinder 115, and the rodless cylinder 115 is provided with a first blowing plate 116 that can move axially relative to the rodless cylinder. The side of the glue punching device 11 is provided with a crushing device 12, which is arranged between the six-axis manipulator 14 and the glue punching device 11; the crushing device 12 includes a material receiving trough 121, one side of which is provided with a first toothed pressing plate 122 fixedly connected to the material receiving trough 121; the other side of the material receiving trough 121 is provided with a second toothed pressing plate 123 slidably connected to the material receiving trough 121, and the material receiving trough 121 is provided with a first cylinder 124; the second toothed pressing plate 123 is provided with a pair of guide rods 125, and the guide rods 125 Inserted in the side of the material receiving trough 121, the first cylinder 124 and the second toothed pressure plate 123 are fixedly connected; a waste slide plate 126 hinged to the bottom of the material receiving trough 121 is provided, and a second cylinder 127 hinged between the waste slide plate 126 and the outer wall of the material receiving trough 121 is provided; one end of the second cylinder 127 is hinged to the material receiving trough 121, and the other end of the second cylinder 127 is hinged to the waste slide plate 126; a material handle frame 22 is provided on the lower side of the material receiving trough 121, and the material handle frame 22 is arranged toward the waste slide plate 126.

[0048] The specific operation process of this embodiment is as follows: the coil frame is placed on the lifting assembly 15, and then preheated in the upper bin 201; since the preheating time of the coil frame is relatively slow, two upper bins 201 are set here for synchronous preheating; after the coil frame is preheated, it is horizontally moved close to the four-axis manipulator 13 by the tray transfer device 4, and then transported to the injection molding machine assembly 5 by the four-axis manipulator 13 for injection molding; since the coil frames 201 in the two upper bins are preheated synchronously, the injection molding machine assembly 5 can continue to work, so the time for the coil frame in the idle state to wait for injection molding is relatively short, and the overall injection molding efficiency of the coil frame is higher. After the injection molding product is inspected, it returns to the unloading area 31 after the laser de-glueing process and the glue port flushing process, and then is transported away by the lifting assembly 15 in the unloading area 31. The tray transfer device 4 first grabs the material frame with the coil frame in the upper bin 201, and then transports the material frame with the coil frame as a whole to the four-axis manipulator 13. The working principle of the tray transfer device 4 is as follows: the lifting cylinder 44 controls the lifting slide 43 to move up and down along the second track 42, so as to facilitate the control of the lifting and lowering of the material clamping arm 46, so as to clamp the material frame in the upper bin 201; when the second motor 48 is working, it drives the second screw rod 47 to rotate, and when the second screw rod 47 rotates, it drives the material clamping arm 46 to move along the third track 45; when the third motor 49 is working, it drives the second screw rod 47 to rotate through the transmission belt 411 and the coupling 410, so the second motor 48 and the third motor 49 respectively control the two rotation directions of the second screw rod 47, so as to facilitate the control of the material clamping arm 46 to move closer to or away from each other, so as to facilitate the grabbing or putting down of the material frame.

[0049] The first transfer plate 16 is used to place the coil frame waiting for injection molding, and the second transfer plate 17 is used to place the finished injection molding products that have been processed; when there are injection molding products on the second transfer plate 17, the six-axis manipulator 14 will immediately work to clamp the injection molding products to the translation device 7 to wait for visual inspection. When there are coil frames on the first transfer plate 16, the six-axis manipulator 14 will grab the coil frames to the injection molding machine assembly 5 for processing; the first transfer plate 16 will be vacant, and then the four-axis manipulator 13 will immediately work to clamp the new coil frame and place it on the idle first transfer plate 16; when the injection molding products are inspected, laser glue removal and glue punching processes are required. After all the processes of the injection molding products are completed, the six-axis manipulator 14 will first clamp the processed injection molding products and place them on the second transfer plate 17, and then the four-axis manipulator 13 will clamp the processed injection molding products to the unloading device 3. Because the inspection process of the finished injection molding product takes time, and the injection molding process of the coil frame also takes time, the second transfer plate 17 has a spare gap, which is used to temporarily place the finished injection molding product that has completed all the processes, and then the four-axis manipulator 13 immediately takes away the finished injection molding product. After the coil frame is placed in the injection molding machine assembly 5 for injection molding, a plastic shell will be formed on the outside of the coil frame; there will be a lot of dust during the injection molding process of the coil frame, so the dust is removed by the dust blowing and suction device 6, so that the finished injection molding product is kept clean. The mold blowing plate 615 of the dust blowing and suction device 6 can be extended and retracted relative to the injection molding frame 51, and the injection molding upper mold 52 and the injection molding lower mold 53 are opened after the product is formed; the mold blowing plate 615 and the first dust suction cover 616 are integrally extended into the injection molding frame 51, so as to blow dust from the finished injection molding product. After the dust blowing is completed, the mold blowing plate 615 and the first dust suction cover 6616 are synchronously away from the injection molding frame 51.

[0050] Then, the process of testing the finished injection molded product begins. By setting the positioning column 19, it is convenient to position the coil frame and the finished injection molded product in a two-dimensional space, so that the six-axis manipulator 14 can accurately clamp the product. The first transfer plate 16 and the second transfer plate 17 are kept fixed relative to the main frame 1, and the first detection platform 82 and the second detection platform 92 are also kept fixed relative to the main frame 1; because the products are placed on the first transfer plate 16 and the second transfer plate 17 in an orderly manner, the six-axis manipulator 14 can reliably clamp the entire row of products. When the injection molded product is being inspected, when the third transfer plate 71 and the first inspection platform 82 are aligned, the translation device 7 controls the third transfer plate 71 to stop moving, and the first visual camera 83 takes photos of the injection molded product for comparison; similarly, when the third transfer plate 71 and the second inspection platform 92 are aligned, the translation device 7 controls the third transfer plate 71 to stop moving, and the second visual camera takes photos of the injection molded product for comparison, and when the third transfer plate 71 stops moving, the six-axis manipulator 14 can reliably clamp each injection molded product; the lower end face of the injection molded product is inspected by the first visual camera 83, and the upper end face of the injection molded product is inspected by the second visual camera 93, so that the injection molded product can be inspected as a whole; in the initial proofreading stage of the inspection, the positions of the first visual camera 83 and the second visual camera 93 are adjusted to make the inspection process more accurate. During the inspection, the photos are compared with the template photos in the control panel. If there is a deviation, it is a defective product. The finished injection molded product is in a stationary state during the inspection process, and each finished injection molded product has its own corresponding coordinates. When the finished injection molded product is unqualified, the control panel sends a command to the six-axis manipulator 14, so that the defective product is quickly clamped and placed in the defective product recovery frame 21. After the finished injection molded product is inspected, it automatically moves to the next process. By setting up two upper and lower laser heads 102, the two end faces of the finished injection molded product can be simultaneously de-glueed. Before de-glueing, the height of the support platform 105 is adjusted in advance by the handle 104, so that the laser head 102 is close to the finished injection molded product; dust and odor will be generated during the de-glueing process, and a large amount of dust and waste will be sucked away by the dust collector 107. Then the glue mouth process begins, and finally the six-axis manipulator 14 grabs the finished injection molded product and returns it to the second transfer plate 17, and then it is transported to the unloading device 3 by the four-axis manipulator 13.

[0051] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art to which the present invention belongs may make various modifications or additions to the specific embodiments described or replace them in similar ways.

Claims

1. A coil automatic laminating machine with visual inspection function, comprising a main frame (1), characterized in that: The main frame (1) is provided with a drying and feeding device (2) and a feeding device (3) arranged side by side, and a material tray transfer device (4) is provided between the drying and feeding device (2) and the feeding device (3); the main frame (1) is also provided with a four-axis manipulator (13) and a six-axis manipulator (14) for transferring materials, and an injection molding machine assembly (5) and a dust blowing and suction device (6) are provided on the side of the main frame (1); a translation device (7) is provided below the six-axis manipulator (14), and a first visual inspection device (8), a second visual inspection device (9) and a laser overflow glue removal device (10) are provided above the translation device (7) in sequence; a glue punching port device (11) is provided at the end of the translation device (7), and a device for removing glue from the glue inside the main frame (1) is provided. A crushing device (12) for crushing a material handle; the translation device (7) includes a linear screw module (18), and the linear screw module (18) is provided with a third transfer plate (71) that can move relative to the linear axis; the end of the main frame (1) close to the injection molding machine component (5) is provided with a first transfer plate (16) and a second transfer plate (17), and the first transfer plate (16), the second transfer plate (17) and the third transfer plate (71) are all provided with positioning columns (19), and the edges of the first transfer plate (16) and the second transfer plate (17) are also provided with positioning protrusions (20); the first visual inspection device (8) includes a first bracket (81), and the first bracket (81) is provided with a first inspection platform (81) fixedly connected thereto. 2); the first bracket (81) is also provided with a first visual camera (83) that can be extended and retracted relative to the first bracket (81), the first visual camera (83) and the first bracket (81) are connected by a first screw (84), and the first visual camera (83) is located directly below the first detection platform (82); the second visual detection device (9) is arranged close to the laser overflow glue removal device (10), and the second visual detection device (9) includes a second bracket (91), and the second bracket (91) is provided with a second detection platform (92) fixedly connected thereto; the second bracket (91) is also provided with a second visual camera (93) that can be extended and retracted relative to the second bracket (91), the second visual camera (93) and the second bracket (91) are connected by a second screw (94), and the second The visual camera (93) is located directly above the second inspection platform (92); a control panel is provided on the main frame (1), and the control panel is electrically connected to the first visual inspection device (8), the second visual inspection device (9) and the six-axis manipulator (14); a defective product recovery frame (21) is provided at the initial end of the translation device (7), and when the first visual inspection device (8) and the second visual inspection device (9) detect defective products, the six-axis manipulator (14) clamps the defective products and places them in the defective product recovery frame (21); the laser glue overflow removal device (10) includes a pair of mounting lifting platforms (101) and a pair of laser heads (102), and the mounting lifting platforms (101) are provided with an adjusting screw (103) rotatably connected thereto;The outer side of the installation lifting platform (101) is provided with a support platform (105) slidably connected thereto, the support platform (105) is stuck on the installation lifting platform (101) and the adjusting screw rod (103) is inserted into the support platform (105); the support platform (105) and the adjusting screw rod (103) are meshed with each other, and a handle (104) is provided at the end of the adjusting screw rod (103), and when the handle (104) is turned, the support platform (105) moves up and down relative to the installation lifting platform (101); the support platform (105) is provided with a laser head (102) fixedly connected thereto, and the laser head (102) faces the translation device (7); a second dust hood (106) is provided directly above the translation device (7), and a pair of dust collecting parts (107) are provided in the second dust hood (106). ; 2. The automatic coil laminator with visual detection function according to claim 1, characterized in that: The drying and feeding device (2) comprises two upper bins (201) arranged side by side and adjacent to each other, each of the upper bins (201) being provided with a lifting assembly (15) for conveying products; the unloading device (3) comprises an unloading area (31), the unloading area (31) being arranged adjacent to the upper bin (201), the unloading area (31) also being provided with a lifting assembly (15); the main frame (1) being provided with a drying device (201) in communication with the upper bin (201); 02), the drying device (202) includes a fan (203) and a heating tank (204), and the heating tank (204) is connected to the upper bin (201); the tray transfer device (4) is arranged horizontally just above the upper bin (201) and the unloading area (31), and the end of the main frame (1) close to the injection molding machine assembly (5) is provided with a first transfer plate (16) and a second transfer plate (17), and the end of the tray transfer device (4) is provided with a four-axis manipulator (13).

3. The automatic coil laminator with visual detection function according to claim 2, characterized in that: The lifting assembly (15) comprises a mounting base plate (151), on which a pair of first rails (152) are arranged, and on which a first slide plate (153) is arranged; the mounting base plate (151) is provided with a first screw rod (154) rotatably connected thereto, and a first motor (160) is provided on the back side of the mounting base plate (151), and the first motor (160) and the first screw rod (154) are driven by gears; the first screw rod (154) is inserted into the first slide plate (153) and the first slide plate (153) is provided with a first screw rod (154) rotatably connected thereto; 53) and meshed with each other, the first motor (160) drives the first slide (153) to move along the first track (152) when working; the first slide (153) is provided with a pair of supporting arms (155), the supporting arms (155) are provided with a first positioning cylinder (156), and the positioning cylinder is provided with a first positioning plate (157); the first slide (153) is provided with a second positioning cylinder (158), and the second positioning cylinder (158) is provided with a second positioning plate (159).

4. The automatic coil laminator with visual detection function according to claim 2, characterized in that: The tray transfer device (4) comprises a linear screw module (18), on which a second slide plate (41) is provided which can move relative to the linear axial direction; on the second slide plate (41) a second track (42) is provided, on the second track (42) a lifting slide plate (43) is provided, on the second slide plate (41) a lifting cylinder (44) is provided, the piston shaft of the lifting cylinder (44) is connected to the lifting slide plate (43); on the lifting slide plate (43) a third track (45) is provided, on the third track (45) a lifting cylinder (44) is provided, A material clamping arm (46) is provided in pairs; a second screw rod (47) rotatably connected to the lifting slide plate (43) is provided, and the second screw rod (47) is inserted into the material clamping arm (46) and meshed with the material clamping arm (46); a second motor (48) and a third motor (49) are provided at the end of the second screw rod (47), and a coupling (410) is provided between the second motor (48) and the second screw rod (47); a transmission belt (411) is provided between the third motor (49) and the coupling (410).

5. The automatic coil laminator with visual inspection function according to claim 2, characterized in that: The first transfer plate (16) is arranged close to the injection molding machine assembly (5), and the second transfer plate (17) is arranged close to the first visual inspection device (8); the four-axis manipulator (13) is arranged directly above the first transfer plate (16) and the second transfer plate (17); the injection molding machine assembly (5) is arranged close to the initial end of the translation device (7), and a six-axis manipulator (14) is arranged between the injection molding machine assembly (5) and the translation device (7).

6. The automatic coil laminator with visual inspection function according to claim 5, characterized in that: The injection molding machine assembly (5) comprises an injection molding frame (51), and an injection molding upper mold (52) and an injection molding lower mold (53) are arranged on the injection molding frame (51); a dust blowing and suction device (6) is arranged at a position of the injection molding frame (51) close to the injection molding lower mold (53), and the dust blowing and suction device (6) comprises a dust blowing and suction base plate (61), a first side plate (62), a second side plate (63) and a mounting frame (64); a first rack (65) and a fourth track (66) are arranged on the dust blowing and suction base plate (61), and the first side plate (62) and the second side plate (63) are both in pairs. The fourth track (66) is provided with a first side plate (62) slidably connected thereto; a transmission shaft (67) is provided between the two first side plates (62), and a pair of first gears (68) are provided on the transmission shaft (67), and each of the first gears (68) and the first rack (65) are meshed with each other; a driving motor (69) is provided on one of the first side plates (62), and a motor shaft of the driving motor (69) is connected to the transmission shaft (67); the first side plate (62) is provided with a second side plate (63) slidably connected thereto; ), the second side plate (63) is provided with a fifth track (610) and a second rack (611); the second rack (611) and the first gear (68) are also meshed with each other, and the first side plate (62) is synchronously installed on the fifth track (610); when the driving motor (69) drives the transmission shaft (67) to rotate, the first side plate (62) and the second side plate (63) move synchronously in the same direction; the second side plate (63) is provided with a mounting frame (64) slidably connected thereto, and the mounting frame (64) is provided with a sixth track ( 612), the second side plate (63) is installed on the sixth track (612); an adjusting screw (613) for adjusting the height of the mounting frame (64) is provided between the mounting frame (64) and the second side plate (63); a translation cylinder (614) is provided on the side of the mounting frame (64), and a mold blowing plate (615) capable of horizontal movement relative to the mounting frame (64) is provided inside the mounting frame (64), and the mold blowing plate (615) is connected to the translation cylinder (614); a first dust cover (616) is also provided on the side of the mounting frame (64).

7. The automatic coil laminator with visual inspection function according to claim 1, characterized in that: The glue punching port device (11) comprises a glue punching frame (111), on which a glue punching cylinder (112) and a glue punching upper die (113) are provided; the piston shaft of the glue punching cylinder (112) is connected to the glue punching upper die (113); the bottom of the glue punching frame (111) is provided with a glue punching bottom plate (114) arranged toward the glue punching upper die (113); a rodless cylinder (115) is provided on the side of the glue punching bottom plate (114); and the rodless cylinder (115) is provided with a first blowing plate (116) that can move axially relative to the rodless cylinder (115).

8. The automatic coil laminator with visual inspection function according to claim 7, characterized in that: A crushing device (12) is provided on the side of the glue punching port device (11), and the crushing device (12) is arranged between the six-axis manipulator (14) and the glue punching port device (11); the crushing device (12) comprises a material receiving trough (121), and a first toothed pressing plate (122) fixedly connected to the material receiving trough (121) is provided on one side of the material receiving trough (121); a second toothed pressing plate (123) slidably connected to the material receiving trough (121) is provided on the other side of the material receiving trough (121), and a first cylinder (124) is provided on the material receiving trough (121); and a pair of guide rods (125) are provided on the second toothed pressing plate (123), and the guide rods (125) are provided on the second toothed pressing plate (123). Inserted in the side of the material receiving trough (121), the first cylinder (124) and the second toothed pressure plate (123) are fixedly connected; the bottom of the material receiving trough (121) is provided with a waste slide plate (126) hinged thereto, and a second cylinder (127) is provided between the waste slide plate (126) and the outer wall of the material receiving trough (121) to hinge the two; one end of the second cylinder (127) is hinged to the material receiving trough (121), and the other end of the second cylinder (127) is hinged to the waste slide plate (126); a material handle frame (22) is provided on the lower side of the material receiving trough (121), and the material handle frame (22) is arranged toward the waste slide plate (126).

Images