Multi-angle automatic frictioning equipment

Abstract

The invention discloses multi-angle automatic frictioning equipment which comprises a feeding mechanism, a feeding and discharging mechanical arm, a material conveying mechanism, a frictioning mechanism and a discharging mechanism, a product clamp is arranged on the material conveying mechanism, and the feeding and discharging mechanical arm is used for grabbing products on the feeding mechanism to the product clamp and can grab the products on the product clamp to the discharging mechanism; the material conveying mechanism comprises a material conveying transverse moving assembly, the material conveying transverse moving assembly is used for driving the product clamp to move back and forth between the feeding and discharging mechanical arm and the wiping mechanism, and a front-back swinging assembly is arranged at the output end of the material conveying transverse moving assembly and used for driving the product clamp to swing front and back. A horizontal rotating assembly is arranged at the output end of the front-back swinging assembly and used for driving the product clamp to horizontally rotate and swing. According to the device, multi-angle wiping and degumming can be carried out on a product, manual participation is not needed, and the machining efficiency and the yield are greatly improved; and the labor cost can be saved by replacing manual work with a machine.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment, and in particular to a multi-angle automatic glue erasing device. Background Art

[0002] The mobile phone screen, also known as the display screen, is used to display images and colors. The screen size is calculated based on the screen diagonal, usually in inches, and refers to the length of the screen diagonal. As mobile phone color screens become more and more popular, the material of mobile phone screens is becoming more and more important.

[0003] At present, the market demand for curved screen mobile phones is extremely high, and the assembly process is quite complicated. The curved screen of the mobile phone is usually bonded to the middle frame of the mobile phone with glue. In order to prevent the glue line from being sunken or lacking glue after the screen is attached, resulting in unqualified airtightness, it is necessary to ensure that the glue line is even and round; after the screen is attached and pressed, the excess residual glue will escape along the gap, so the excess leaked glue needs to be wiped off to ensure the cleanliness of the screen.

[0004] On existing production lines, glue is basically wiped manually. Usually, operators need to hold a cloth dipped in alcohol to wipe the product, and need to wipe it in a rotating manner along the edge of the product, which is not only time-consuming and labor-intensive; the force of manual glue wiping is also uneven, and the force cannot be controlled within the standard range, which easily affects quality. Summary of the invention

[0005] In order to solve some or all of the problems existing in the above-mentioned prior art, the present invention provides a multi-angle automatic glue erasing device, including a machine platform and a controller, the machine platform is provided with a loading mechanism, a loading and unloading manipulator, a material transporting mechanism, a wiping mechanism and a material unloading mechanism respectively connected to the controller, the material transporting mechanism is provided with a product fixture, the loading and unloading manipulator is respectively connected to the loading mechanism, the material transporting mechanism and the material unloading mechanism, the loading and unloading manipulator is used to grab the product on the loading mechanism to the product fixture, and can grab the product on the product fixture to the unloading mechanism; The material transport mechanism includes a material transport transverse movement component, and the material transport transverse movement component is used to drive the product fixture to move back and forth between the loading and unloading robot and the wiping mechanism, and the wiping mechanism is used to wipe the product on the product fixture. A front and rear swing component is provided on the output end of the material transport transverse movement component, and the front and rear swing component is used to drive the product fixture to swing back and forth. A horizontal rotation component is provided on the output end of the front and rear swing component, and the product fixture is connected to the output end of the horizontal rotation component, and the horizontal rotation component is used to drive the product fixture to rotate and swing horizontally.

[0006] As a further improvement of the present invention, the wiping mechanism includes a wiping transverse movement module, the wiping transverse movement module is connected to the machine, a wiping lifting module is provided on the output end of the wiping transverse movement module, a wiping mounting frame is provided on the output end of the wiping lifting module, a wiping cloth supply assembly and a rotatable wiping wheel are provided on the wiping mounting frame, the wiping cloth supply assembly can transport the wiping cloth to the wiping wheel, a cleaning liquid output mechanism is provided on the machine, and the cleaning liquid output mechanism is used to transport cleaning liquid to the wiping cloth on the wiping cloth supply assembly.

[0007] As a further improvement of the present invention, the wiping cloth supply assembly includes a unwinding wheel, a power wheel and a recovery wheel which are rotatably connected to the wiping mounting frame respectively. The unwinding wheel is used to place the rolled wiping cloth, and the rolled wiping cloth on the unwinding wheel can be laid on the wiping wheel, the power wheel and the recovery wheel in sequence. The wiping mounting frame is provided with a cloth pulling assembly, and the output end of the cloth pulling assembly is connected to the power wheel for driving the power wheel to rotate.

[0008] As a further improvement of the present invention, a wiping lifting slide rail and a pressure sensor are provided on the wiping mounting frame, the pressure sensor is connected to the controller, a wiping head mounting block is slidably provided on the wiping lifting slide rail, the wiping wheel is rotatably connected to the wiping head mounting block, an elastic member is provided on the end of the wiping head mounting block away from the wiping wheel, and the end of the elastic member away from the wiping wheel is connected to the pressure sensor.

[0009] As a further improvement of the present invention, a pressing cylinder is provided on the wiping mounting frame, and a pressing wheel is provided on the output end of the pressing cylinder, and the pressing cylinder can drive the pressing wheel to move towards or away from the power wheel; the wiping mounting frame is provided with a recovery drive assembly, and the output end of the recovery drive assembly is connected to the recovery wheel for driving the recovery wheel to rotate on the wiping mounting frame.

[0010] As a further improvement of the present invention, the front-rear swing assembly includes a first swing mounting seat, the first swing mounting seat is connected to the output end of the material transport and transverse movement assembly, the first swing mounting seat is provided with a first swing motor, the output end of the first swing motor is provided with a first rotating table, and the horizontal rotation assembly is connected to the output end of the first rotating table; the horizontal rotation assembly includes a second swing mounting seat, the second swing mounting seat is rotatably connected to the first swing mounting seat, the second swing mounting seat is connected to the output end of the first rotating table, the second swing mounting seat is provided with a second swing motor, the output end of the second swing motor is provided with a second rotating table, and the product fixture is connected to the output end of the second rotating table.

[0011] As a further improvement of the present invention, the product fixture includes a fixture fixing seat, which is connected to the output end of the second rotating table. The fixture fixing seat is provided with a product placement groove, and a plurality of negative pressure suction heads are provided in the product placement groove. The negative pressure suction heads are externally connected to a negative pressure device.

[0012] As a further improvement of the present invention,.

[0013] As a further improvement of the present invention, the loading mechanism includes a material receiving conveyor line and a material feeding conveyor line, one end of the material receiving conveyor line is connected to the upper computer, and the other end is connected to the material feeding conveyor line, and the loading and unloading robot is connected to the end of the material feeding conveyor line away from the material receiving conveyor line.

[0014] As a further improvement of the present invention, the loading and unloading robot includes a robot fixing frame, which is connected to the machine platform, and a robot transverse movement module is provided on the robot fixing frame, and a robot mounting block is provided on the output end of the robot transverse movement module, and a first grabbing component and a second grabbing component with the same structure are provided on the robot mounting block, and the first grabbing component is respectively connected to the feeding conveyor line and the product fixture, and the second grabbing component is respectively connected to the unloading conveyor line and the product fixture; the first grabbing component includes a grabbing lifting cylinder, which is connected to the robot mounting block, and a clamping claw mounting block is provided on the output end of the grabbing lifting cylinder, and a clamping claw cylinder is provided on the clamping claw mounting block, and two clamping blocks are provided on the output end of the clamping claw cylinder, and the clamping claw cylinder can drive the two clamping blocks to move closer to or away from each other.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention can realize automatic loading and unloading of materials, and can wipe and remove glue from products at multiple angles, thereby wiping away excess residual glue on the screen. The entire processing process does not require human intervention, thereby improving the degree of automation of the equipment and greatly improving the processing efficiency. Using equipment to control the erasing of glue can ensure that the force of each wipe is consistent, thereby ensuring the yield rate of processing; using machines instead of manual labor can also save labor costs and reduce the production costs of the enterprise. During processing, the upper computer transports the product with the screen attached to the loading mechanism, and the loading mechanism transports the product to the grabbing position of the loading and unloading robot. The loading and unloading robot grabs the product and places it on the product fixture on the transport mechanism, and the product fixture and product are transported to the processing position of the wiping mechanism through the transport transverse movement component; then the product is wiped and glued by the wiping mechanism, and the product fixture and product are driven to swing back and forth by the front and back swinging component, and the product fixture and product are driven to rotate horizontally by the horizontal rotation component, so that the wiping mechanism can wipe the product on the product fixture at different angles to remove residual glue at various angles on the product; after wiping is completed, the product fixture and wiped product are transported to the processing position of the loading and unloading robot through the transport transverse movement component, the wiped product on the product fixture is grabbed and placed on the unloading mechanism by the loading and unloading robot, and the wiped product is sent out of the machine by the unloading mechanism to complete the unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the present invention or the solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 is a schematic diagram of the external structure of an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of the internal structure of an embodiment of the present invention;

[0020] Figure 3 It is a structural schematic diagram of a feeding mechanism in an embodiment of the present invention;

[0021] Figure 4 It is a structural schematic diagram of a feeding mechanism in an embodiment of the present invention;

[0022] Figure 5 2 is a schematic diagram of the structure of the loading and unloading manipulator in an embodiment of the present invention;

[0023] Figure 6 It is a structural schematic diagram of a material transport mechanism in an embodiment of the present invention;

[0024] Figure 7It is a structural schematic diagram of the combined state of the front and rear swing assembly, the horizontal rotation assembly and the product fixture in an embodiment of the present invention;

[0025] Figure 8 is a schematic structural diagram of a wiping mechanism in an embodiment of the present invention;

[0026] Fig. 9 is a schematic structural diagram of the wiping mechanism from another perspective in an embodiment of the present invention;

[0027] Fig.10 is a schematic structural diagram of a wiping cloth supply assembly in an embodiment of the present invention;

[0028] Fig.11 It is a structural schematic diagram of the cleaning liquid output mechanism in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Unless otherwise defined, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs; the terms used in the specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of the present invention or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0030] Reference to "embodiments" in the present invention means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it mutually exclusive, independent, or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in the present invention may be combined with other embodiments.

[0031] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0032] like Figure 1-11As shown, a multi-angle automatic glue erasing equipment includes a machine 1 and a controller 2. The machine 1 is provided with a loading mechanism 3, a loading and unloading robot 4, a transporting mechanism, a wiping mechanism 5 and a unloading mechanism 6 which are respectively connected to the controller 2. The transporting mechanism is provided with a product fixture 7. The loading and unloading robot 4 is respectively connected to the loading mechanism 3, the transporting mechanism and the unloading mechanism 6. The loading and unloading robot 4 is used to grab the product on the loading mechanism 3 to the product fixture 7, and can grab the product on the product fixture 7 to the unloading mechanism 6. The material transport mechanism includes a material transport transverse movement component 8, which is used to drive the product fixture 7 to move back and forth between the loading and unloading robot 4 and the wiping mechanism 5, and the wiping mechanism 5 is used to wipe the product on the product fixture 7, so as to remove the residual glue on the product; a front and rear swing component 9 is provided on the output end of the material transport transverse movement component 8, and the front and rear swing component 9 is used to drive the product fixture 7 to swing back and forth. A horizontal rotation component 10 is provided on the output end of the front and rear swing component 9, and the product fixture 7 is connected to the output end of the horizontal rotation component 10, and the horizontal rotation component 10 is used to drive the product fixture 7 to rotate and swing horizontally.

[0033] During processing, the upper computer transports the product with the screen attached to the loading mechanism 3, and the loading mechanism 3 transports the product to the grabbing position of the loading and unloading robot 4, and the loading and unloading robot 4 grabs the product and places it on the product fixture 7 on the transport mechanism, and then the transport transverse movement component 8 transports the product fixture 7 and the product to the processing position of the wiping mechanism 5, and then the wiping mechanism 5 wipes and removes the glue from the product; during the operation of the wiping mechanism 5, the product fixture 7 and the product are driven to swing back and forth by the front and rear swing component 9, and the product fixture 7 and the product are driven to rotate horizontally by the horizontal rotation component 10, so that the wiping mechanism 5 can wipe the product on the product fixture 7 at different angles to remove the residual glue at various angles on the product. After wiping is completed, the product fixture 7 and the wiped product are transported to the processing position of the loading and unloading robot 4 through the material transport and transverse movement component 8. The loading and unloading robot 4 grabs the wiped product on the product fixture 7 and places it on the unloading mechanism 6. The wiped product is sent out of the machine 1 through the unloading mechanism 6 to complete the unloading.

[0034] The multi-angle automatic glue erasing equipment can realize automatic loading and unloading, and can wipe and remove glue from products at multiple angles, thereby wiping away excess residual glue on the screen. The entire processing process does not require human intervention, which improves the degree of automation of the equipment and greatly improves processing efficiency. Using equipment to control the glue erasing can ensure that the force of each wipe is consistent, thereby ensuring the yield rate of processing. Using machines instead of manual labor can also save labor costs and reduce the company's production costs.

[0035] like Figure 1As shown, a cabinet 11 is installed at the lower end of the machine 1, and a protective cover 12 is installed on the machine 1. The protective cover 12 is set on the periphery of the loading mechanism 3, the loading and unloading manipulator 4, the material transport mechanism, the wiping mechanism 5 and the unloading mechanism 6, so that a relatively closed cavity is formed on the machine 1, which can not only prevent the personnel from accidentally putting their hands into the action mechanism of the equipment during processing, but also prevent foreign objects such as external dust from entering the interior of the equipment, thereby improving the stability of processing. A plurality of openable and closable inspection doors 13 are installed on the protective cover 12, and a transparent glass 14 is provided on the inspection door 13; by providing the inspection door 13, it is convenient for the operator to open the protective cover 12 to debug and repair the equipment, etc. Through the transparent glass 14, it is convenient for the operator to observe the processing process of the equipment to ensure the stability of processing. The controller 2 includes various types of electric control devices installed in the cabinet 11 and a touch screen 21 installed on the protective cover 12. The touch screen 21 is integrated with a control program. The device can be easily debugged by operating the touch screen 21. A plurality of control buttons 22 are installed on the touch screen 21. The device can be controlled to produce corresponding actions by operating the control buttons 22. The control buttons 22 include but are not limited to the following buttons: a start button, a reset button, a stop button, and an emergency stop button.

[0036] A support base 15 and universal wheels 16 are installed at the lower end of the cabinet 11. The support base 15 makes it easy to stably place the equipment on a preset placement platform or the ground; the universal wheels 16 make it easy to move the multi-angle automatic glue erasing equipment, thereby improving the convenience of movement and transportation.

[0037] like Figure 3 As shown, the loading mechanism 3 includes a loading mounting frame 31, which is fixedly connected to the machine platform 1. A receiving conveyor line 32 and a feeding conveyor line 33 are arranged on the loading mounting frame 31. One end of the receiving conveyor line 32 is connected to the host computer, and the other end is connected to the feeding conveyor line 33. The loading and unloading manipulator 4 is connected to the end of the feeding conveyor line 33 away from the receiving conveyor line 32. During specific processing, the host computer can feed the product to be processed to the receiving conveyor line 32, and then the product is transported to the feeding conveyor line 33 through the receiving conveyor line 32, and then the product is fed to the grabbing position of the loading and unloading manipulator 4 through the feeding conveyor line 33, and then the loading and unloading manipulator 4 grabs the product and places it on the product fixture 7 to complete the loading process.

[0038] The receiving conveyor line 32 and the feeding conveyor line 33 can both adopt any existing double-belt conveyor belt structure, and the specific structure is not described in this article. During processing, the host computer can place the product on the two belts and realize the function of conveying the product by driving the belts to move. In order to make the multi-angle automatic glue erasing equipment suitable for processing products of different sizes and widths, an adjustment mechanism 34 for adjusting the distance between the two belts is provided on the feeding mounting frame 31. The distance between the two belts can be adjusted by the adjustment mechanism 34, so that it is suitable for processing products of different sizes.

[0039] In this embodiment, the adjustment mechanism 34 is a manual adjustment device, and one of the belts can be driven to move closer to or away from the other belt by turning the adjustment handle. In other embodiments, an automatic adjustment device can also be used, for example: a motor can be used to drive one of the belts to move closer to or away from the other belt.

[0040] In order to improve the stability and continuity of material feeding, a first sensor 35 is provided at one end of the receiving conveyor line 32 away from the feeding conveyor line 33, a second sensor 36 is provided at the other end, and a third sensor 37 is provided at one end of the feeding conveyor line 33 away from the receiving conveyor line 32. The first sensor 35, the second sensor 36 and the third sensor 37 are respectively used to detect whether there are products on the conveyor lines at their installation positions, and the three sensors are respectively electrically connected to the controller 2.

[0041] In the specific working process, when the first sensor 35 detects the product, it means that the upper computer has sent the product to the receiving conveyor line 32. At this time, the receiving conveyor line 32 can be controlled by the controller 2 to work, so as to send the product to the other end of the receiving conveyor line 32. When the second sensor 36 detects the product, it means that the receiving conveyor line 32 has sent the product to the receiving position of the feeding conveyor line 33. The receiving conveyor line 32 can be controlled to work, so as to send the product to the grabbing position of the loading and unloading manipulator 4. When the third sensor 37 detects that there is a product, it means that the feeding conveyor line 33 has sent the product to the grabbing position of the loading and unloading manipulator 4. At this time, the loading and unloading manipulator 4 can be controlled to work to grab the product from the feeding conveyor line 33 to the product fixture 7.

[0042] like Figure 4As shown, the unloading mechanism 6 includes an unloading mounting frame 61, which is fixedly connected to the machine 1. The unloading mounting frame 61 is provided with an unloading conveyor line 62 and a discharging conveyor line 63. One end of the unloading conveyor line 62 is connected to the loading and unloading manipulator 4, and the other end is connected to the discharging conveyor line 63. The other end of the discharging conveyor line 63 extends out of the machine 1. During specific processing, the loading and unloading manipulator 4 places the processed product on the unloading conveyor line 62, and conveys it to the discharging conveyor line 63 through the unloading conveyor line 62, and then sends it out of the machine 1 through the discharging conveyor line 63. In the actual operation process, a lower machine or an automatic receiving device can be connected to the end of the discharging conveyor line 63 away from the unloading conveyor line 62, so that the processed product can be sent to the lower machine or the automatic receiving device through the discharging conveyor line 63.

[0043] In this embodiment, the unloading mechanism 6 has the same structure as the loading mechanism 3 , and the two are distributed in a mirror image along the center line of the machine platform 1 .

[0044] like Figure 5 As shown, the loading and unloading robot 4 includes a robot fixing frame 41, which is fixedly connected to the machine platform 1, and a robot transverse movement module is provided on the robot fixing frame 41. A robot mounting block 42 is provided on the output end of the robot transverse movement module, and a first grabbing component 43 and a second grabbing component 44 with the same structure are provided on the robot mounting block 42. The first grabbing component 43 is respectively connected to the feeding conveyor line 33 and the product fixture 7, and is used to grab the product to be processed from the feeding conveyor line 33 and place it on the product fixture 7; the second grabbing component 44 is respectively connected to the unloading conveyor line 62 and the product fixture 7, and is used to grab the processed product from the product fixture 7 and place it on the unloading conveyor line 62. During operation, the robot transverse movement module can simultaneously drive the first grabbing component 43 and the second grabbing component 44 to move laterally, and the distance between the first grabbing component 43 and the second grabbing component 44 is the same as the distance between the feeding conveyor line 33 and the product fixture 7, and the distance between the first grabbing component 43 and the second grabbing component 44 is also the same as the distance between the product fixture 7 and the unloading conveyor line 62; in other words, when the robot transverse movement module drives the first grabbing component 43 to move to the corresponding position of the first conveyor line, the second grabbing component 44 also moves to the corresponding position of the product fixture 7; when the robot transverse movement module drives the first grabbing component 43 to move to the corresponding position of the product fixture 7, the second grabbing component 44 also moves to the corresponding position of the unloading conveyor line 62.

[0045] In the actual operation process, the first grabbing assembly 43 and the second grabbing assembly 44 work simultaneously. The first grabbing assembly 43 grabs the product to be processed from the feeding conveyor line 33 while the second grabbing assembly 44 grabs the processed product from the product fixture 7. The first grabbing assembly 43 places the product to be processed on the product fixture 7 while the second grabbing assembly 44 places the processed product on the unloading conveyor line 62. By setting the first grabbing assembly 43 and the second grabbing assembly 44, the loading and unloading can be carried out simultaneously, which reduces the waiting time and further improves the processing efficiency.

[0046] Specifically, the manipulator transverse movement module includes a manipulator transverse movement guide rail 45, the manipulator transverse movement guide rail 45 is connected to the manipulator fixed frame 41, the manipulator transverse movement guide rail 45 is provided with a manipulator transverse movement motor 46, the manipulator transverse movement guide rail 45 is slidably provided with a manipulator transverse movement slider 47, the manipulator transverse movement slider 47 is connected to the output end of the manipulator transverse movement motor 46, the manipulator transverse movement motor 46 can drive the manipulator transverse movement slider 47 to slide on the manipulator transverse movement guide rail 45, and the first grabbing component 43 and the second grabbing component 44 are respectively connected to the manipulator transverse movement slider 47. During processing, the robot transverse movement motor 46 is controlled to work, driving the robot transverse movement slider 47 to slide on the robot transverse movement guide rail 45; the robot transverse movement slider 47 drives the first grabbing component 43 and the second grabbing component 44 to move synchronously, thereby driving the first grabbing component 43 to move back and forth between the feeding conveyor line 33 and the product fixture 7, and driving the second grabbing component 44 to move back and forth between the product fixture 7 and the unloading conveyor line 62.

[0047] The first grabbing assembly 43 includes a grabbing lifting cylinder 431, which is fixedly connected to the manipulator mounting block 42. A clamping claw mounting block 432 is provided on the output end of the grabbing lifting cylinder 431, and a clamping claw cylinder 433 is provided on the clamping claw mounting block 432. Two clamping blocks 434 are provided on the output end of the clamping claw cylinder 433, and the clamping claw cylinder 433 can drive the two clamping blocks 434 to move closer to or away from each other. In the initial device, the two clamping blocks 434 are open to each other; when working, the first grabbing assembly 43 is driven to move above the feeding conveyor line 33 by the manipulator transverse movement module, and then the grabbing lifting cylinder 431 drives the clamping claw mounting block 432 to drive the clamping claw cylinder 433 and the clamping block 434 to descend, so that the clamping block 434 moves to a height suitable for the product on the feeding conveyor line 33; at this time, the two clamping blocks 434 are respectively located on both sides of the product on the feeding conveyor line 33, and then driven by the clamping claw cylinder 433. The two clamping blocks 434 approach each other until the two clamping blocks 434 respectively abut against the two sides of the product on the feeding conveyor line 33, thereby clamping the product; then the grabbing lifting cylinder 431 is controlled to reset, and the clamping claw cylinder 433 is driven to drive the product to rise; then the manipulator transverse movement module drives the clamping claw cylinder 433 to drive the product to move to the top of the product fixture 7, and then the grabbing lifting cylinder 431 and the clamping claw cylinder 433 cooperate to place the product on the product fixture 7, completing the product loading process.

[0048] The second grabbing assembly 44 has the same structure as the first grabbing assembly 43, and its structure will not be described again in this article.

[0049] like Figure 6 As shown, the material lateral movement assembly 8 includes a material lateral movement guide rail 81, which is connected to the machine platform 1, and a material lateral movement motor 82 is provided on the material lateral movement guide rail 81, and a material lateral movement slider 83 is slidably provided on the material lateral movement guide rail 81, and the material lateral movement slider 83 is connected to the output end of the material lateral movement motor 82. The material lateral movement motor 82 can drive the material lateral movement slider 83 to slide on the material lateral movement guide rail 81, and the front and rear swing assembly 9 is connected to the material lateral movement slider 83. In the initial state, the material transport transverse movement component 8 is connected to the loading and unloading robot 4, and the product fixture 7 is located at the grabbing position of the loading and unloading robot 4; when the first grabbing component 43 grabs the product and places it on the product fixture 7, the material transport transverse movement motor 82 is controlled to work, driving the material transport transverse movement slider 83 to slide on the material transport transverse movement guide rail 81, and the material transport transverse movement slider 83 drives the front and rear swinging component 9, the horizontal rotating component 10, the product fixture 7 and the product to move synchronously, thereby transporting the product fixture 7 and the product to the processing position of the wiping mechanism 5 to complete the product transportation.

[0050] like Figure 6 , Figure 7As shown, the front-back swing assembly 9 includes a first swing mounting seat 91, which is connected to the material-transporting sliding block 83, and a first swing motor 92 is provided on the first swing mounting seat 91. A first rotating platform 93 is provided on the output end of the first swing motor 92, and the horizontal rotating assembly 10 is connected to the output end of the first rotating platform 93. When the material-transporting sliding assembly 8 drives the product fixture 7 to move with the product to the processing position of the wiping mechanism 5, the wiping mechanism 5 will wipe and remove the glue from the product on the product fixture 7; at this time, by controlling the first swing motor 92 to work, the first rotating platform 93 can be driven to work, and the first rotating platform 93 will drive the horizontal rotating assembly 10, the product fixture 7 and the product to rotate and swing forward and backward, so that the product on the product fixture 7 is connected to the wiping mechanism 5 at different angles.

[0051] The horizontal rotating assembly 10 includes a second swing mounting seat 101, which is rotatably hinged with the first swing mounting seat 91, and is connected to the output end of the first rotating platform 93. A second swing motor 102 is provided on the second swing mounting seat 101, and a second rotating platform 103 is provided on the output end of the second swing motor 102, and the product fixture 7 is connected to the output end of the second rotating platform 103. In the specific working process, when the wiping mechanism 5 wipes the product on the product fixture 7, the second swing motor 102 can be controlled to work, driving the second rotating platform 103 to work, and the second rotating platform 103 will drive the product fixture 7 and the product to rotate and swing horizontally, so that different positions on the product on the product fixture 7 are connected to the wiping mechanism 5.

[0052] During the actual operation process, the first swing motor 92 and the second swing motor 102 can work simultaneously, so that the product on the product clamp 7 can swing back and forth and rotate horizontally, so that different positions at different angles on the product are respectively connected to the wiping mechanism 5, so that the residual glue at different positions on the product can be wiped clean through the wiping mechanism 5.

[0053] In this embodiment, the first rotating platform 93 and the second rotating platform 103 can adopt any existing hollow rotating platform, and their internal structures are not described in detail herein.

[0054] like Figure 7As shown, the product fixture 7 includes a fixture fixing seat 71, which is fixedly mounted on the output end of the second rotating table 103. The fixture fixing seat 71 is provided with a product placement groove 72 adapted to the product to be processed, and the product placement groove 72 is used to place the product. A plurality of negative pressure suction heads 73 are arranged in the product placement groove 72, and the negative pressure suction heads 73 are externally connected to a negative pressure device. During processing, the product can be placed in the product placement groove 72 through the first material picking component, and then the negative pressure suction head 73 is externally connected to the negative pressure device to generate negative pressure suction force, thereby adsorbing the product and limiting and fixing it in the product placement groove 72, thereby improving the stability of processing; after processing, the negative pressure device can be controlled to stop working, so that the negative pressure suction force on the negative pressure suction head 73 disappears, and the processed product in the product placement groove can be taken away by the second grabbing component 44.

[0055] In this embodiment, an incoming material sensor 74 is provided in the product placement slot 72, and the incoming material sensor 74 is electrically connected to the controller 2 for detecting whether there is a product in the product placement slot. In specific operation, after the first grabbing component 43 places the product to be processed in the product placement slot 72, the incoming material sensor 74 will detect the product, and the incoming material sensor 74 will feedback a signal to the controller 2. The controller 2 then controls the negative pressure device externally connected to the negative pressure suction head 73 to work, so that the product is adsorbed and fixed in the product placement slot 72 through the negative pressure suction head 73; at the same time, the controller 2 controls the material transport transverse movement motor 82 to work, so as to drive the product fixture 7 and the product to move to the processing position of the wiping mechanism 5. By setting the incoming material sensor 74, the processing can be smoother, and the control accuracy and processing stability are improved.

[0056] like Figure 8 As shown, the wiping mechanism 5 includes a wiping fixed seat 51, which is fixedly mounted on the machine 1. The wiping fixed seat 51 is provided with a wiping drive assembly 52 connected to the controller 2. The output end of the wiping drive assembly 52 is provided with a wiping mounting frame 53. The wiping mounting frame 53 is provided with a wiping cloth supply assembly 54 and a rotatable wiping wheel 541. The wiping cloth supply assembly 54 is electrically connected to the controller 2. The wiping cloth supply assembly 54 can convey wiping cloth to the wiping wheel 541, and then wipe the product on the product fixture 7 with the wiping cloth on the wiping wheel 541. The wiping drive assembly 52 can drive the wiping mounting frame 53 to rise and fall and move horizontally, thereby driving the wiping wheel 541 to move in a direction close to or away from the product fixture 7.

[0057] Before processing, the wiping cloth is placed on the wiping cloth supply assembly 54, and the wiping cloth is laid on the wiping wheel 541; during specific processing, the material transport and transverse movement assembly 8 transports the product fixture 7 with the product placed thereon to the processing position of the wiping mechanism 5, and then drives the wiping mounting frame 53 through the wiping drive assembly 52 to drive the wiping wheel 541 to move, so that the wiping wheel 541 is connected with the product on the product fixture 7, and then the wiping cloth supply assembly 54 outputs the wiping cloth, and through the cooperation of the wiping drive assembly 52, the front and rear swing assembly 9 and the horizontal rotation assembly 10, the wiping cloth on the wiping wheel 541 wipes all angles of the product on the product fixture 7 to remove the residual glue on the product. After wiping is completed, the wiping drive assembly 52 drives the wiping mounting frame 53 to drive the wiping wheel 541 to reset, so that the wiping wheel 541 is separated from the product fixture 7; and then the wiping cloth supply assembly 54 transports a new wiping cloth to the wiping wheel 541 for subsequent processing.

[0058] like Fig. 9 As shown, the wiping drive assembly 52 includes a wiping transverse movement module, which is connected to the wiping fixed seat 51. A wiping lifting module is provided on the output end of the wiping transverse movement module, and a wiping mounting frame 53 is connected to the output end of the wiping lifting module. Through the cooperation of the wiping transverse movement module and the wiping lifting module, the wiping mounting frame 53 can be driven to move freely in the two dimensions of transverse movement and lifting, so that the wiping wheel 541 can be connected to various positions of the product on the product fixture 7, thereby improving the cleanliness and stability of the wiping adhesive.

[0059] Specifically, the wiping transverse movement module includes a wiping transverse movement guide rail 521, which is connected to the wiping fixed seat 51. The wiping transverse movement guide rail 521 is provided with a wiping transverse movement motor 522. A wiping transverse movement slider 523 is slidably provided on the wiping transverse movement guide rail 521. The output end of the wiping transverse movement motor 522 is connected to the wiping transverse movement slider 523. The wiping transverse movement motor 522 can drive the wiping transverse movement slider 523 to slide laterally on the wiping transverse movement guide rail 521, and the wiping lifting module is connected to the wiping transverse movement slider 523. The wiping lifting module includes a wiping lifting guide rail 524, which is connected to the wiping transverse sliding slider 523. A wiping lifting motor 525 is provided on the wiping lifting guide rail 524. A wiping lifting slider 526 is slidingly provided on the wiping lifting guide rail 524. The output end of the wiping lifting motor 525 is connected to the wiping lifting slider 526. The wiping lifting motor 525 can drive the wiping lifting slider 526 to rise and fall and slide on the wiping lifting guide rail 524. The wiping mounting frame 53 is connected to the wiping lifting slider 526.

[0060] During operation, after the material transport transverse movement component 8 transports the product fixture 7 with the product placed on it to the processing position of the wiping mechanism 5, the wiping transverse movement motor 522 and the wiping lifting motor 525 are controlled to work, and the wiping transverse movement motor 522 drives the wiping transverse movement slider 523 to slide on the wiping transverse movement guide rail 521, driving the wiping lifting assembly, the wiping mounting frame 53 and the wiping wheel 541 to move laterally synchronously, and the wiping lifting motor 525 drives the wiping lifting slider 526 to slide on the wiping lifting guide rail 524, driving the wiping mounting frame 53 and the wiping wheel 541 to move up and down synchronously, thereby realizing the function of driving the wiping wheel 541 to move freely in two dimensions, namely, horizontally and vertically, so that the wiping wheel 541 can connect with various positions of the product on the product fixture 7, and wipe and remove glue from various positions of the product.

[0061] like Fig.10 As shown, the wiping cloth supply assembly 54 includes a pay-out wheel 542, a power wheel 543 and a recovery wheel 544 which are respectively mounted on the wiping mounting frame 53, and the pay-out wheel 542, the power wheel 543 and the recovery wheel 544 are respectively rotatably connected to the wiping mounting frame 53, the pay-out wheel 542 is used for placing the rolled wiping cloth, and the rolled wiping cloth on the pay-out wheel 542 can be laid on the wiping wheel 541, the power wheel 543 and the recovery wheel 544 in sequence, and a cloth pulling assembly is provided on the wiping mounting frame 53, and the output end of the cloth pulling assembly is connected to the power wheel 543 for driving the power wheel 543 to rotate; through the operation of the cloth pulling assembly, the new wiping cloth on the pay-out wheel 542 can be stretched and laid on the wiping wheel 541, and the used wiping cloth can also be pulled off the wiping wheel 541.

[0062] The recovery wheel 544 is used to reel in the used wiping cloth. In the specific implementation process, a recovery drive assembly is also provided on the wiping mounting frame 53, and the output end of the recovery drive assembly is connected to the recovery wheel 544, which is used to drive the recovery wheel 544 to rotate on the wiping mounting frame 53. In the specific operation, the whole roll of wiping cloth is first placed on the unwinding wheel 542, and then one end of the rolled wiping cloth is stretched and laid on the wiping wheel 541, the power wheel 543 and the recovery wheel 544 in sequence. During processing, after the wiping cloth on the wiping wheel 541 is used, the cloth pulling assembly and the recovery drive assembly work simultaneously, and the cloth pulling assembly drives the power wheel 543 to rotate, thereby pulling the wiping cloth to move on the wiping mounting frame 53, and the wiping cloth drives the wiping wheel 541 to rotate, thereby pulling out a new wiping cloth from the unwinding wheel 542, and laying the new wiping cloth on the wiping wheel 541, thereby realizing the function of replacing the wiping cloth on the wiping wheel 541; at the same time, the recovery drive assembly drives the recovery wheel 544 to rotate, thereby rolling up and collecting the used wiping cloth.

[0063] In order to enable the cloth pulling assembly to smoothly pull the wiping cloth, a pressing cylinder 545 is provided on the wiping mounting frame 53, and a pressing wheel 546 is provided on the output end of the pressing cylinder 545. The pressing cylinder 545 can drive the pressing wheel 546 to move in a direction close to or away from the power wheel 543. In the initial state, the pressing wheel 546 and the power wheel 543 are in a separated state; when it is necessary to pull the wiping cloth, the pressing cylinder 545 drives the pressing wheel 546 to move in a direction close to the power wheel 543 until the pressing wheel 546 abuts against the wiping cloth on the power wheel 543, thereby pressing both sides of the wiping cloth through the pressing wheel 546 and the power wheel 543, and then the power wheel 543 is driven to rotate by the cloth pulling assembly, and then the power wheel 543 can pull the wiping cloth to move, and the wiping cloth will drive the pressing wheel 546 to rotate in place, so as to realize the function of pulling the wiping cloth, and lay a new wiping cloth on the wiping wheel 541.

[0064] Specifically, the cloth pulling assembly includes a cloth pulling motor 547, which is fixedly connected to the wiping mounting frame 53, and the output end of the cloth pulling motor 547 is connected to the power wheel 543. By controlling the cloth pulling motor 547 to work, the power wheel 543 can be driven to rotate, thereby realizing the function of pulling the wiping cloth.

[0065] like Figure 8 As shown, the recycling drive assembly includes a recycling motor 548, which is fixedly mounted on the wiping mounting frame 53, and the output end of the recycling motor 548 is connected to the recycling wheel 544. By controlling the recycling motor 548 to work, the recycling wheel 544 can be driven to rotate, and the recycling wheel 544 can be rotated to roll up and collect the used wiping cloth.

[0066] like Fig.10As shown, the wiping mounting frame 53 is also provided with a wiping lifting rail 531 and a pressure sensor 532, the pressure sensor 532 is connected to the controller 2, and the pressure sensor 532 is used to detect the contact pressure between the wiping wheel 541 and the product on the product fixture 7. A wiping head mounting block 533 is slidably provided on the wiping lifting rail 531, the wiping wheel 541 is mounted on the wiping head mounting block 533, and is rotatably connected to the wiping head mounting block 533. An elastic member 534 is installed on the end of the wiping head mounting block 533 away from the wiping wheel 541, and the end of the elastic member 534 away from the wiping wheel 541 is connected to the pressure sensor 532. In the initial state, the wiping wheel 541 is located above the product on the product fixture 7, and the wiping wheel 541 is separated from the product; during processing, the wiping mounting frame 53 is driven down by the wiping lifting module, driving the wiping wheel 541 to descend together, and the wiping wheel 541 will be in contact with the product on the product fixture 7. As the wiping wheel 541 continues to descend, the wiping wheel 541 will push the wiping head mounting block 533 to slide upward on the wiping lifting slide rail 531, and the elastic member 534 will rise together with the wiping head mounting block 533. The other end of the elastic member 534 is connected to the pressure sensor 532, and the pressure sensor 532 and the wiping head mounting block 533 will compress the elastic member 534. After the elastic compression, the elastic member 534 reacts to the pressure sensor 532, and the pressure sensor 532 can obtain the current downward pressure of the wiping wheel 541. At this time, the pressure data obtained by the pressure sensor 532 is the contact force between the wiping wheel 541 and the product on the product fixture 7.

[0067] By monitoring the downward pressure of the wiping wheel 541 in real time through the pressure sensor 532, it can be ensured that the wiping force of the wiping wheel 541 on the product on the product fixture 7 is always within the preset range, thereby ensuring the consistency of processing and improving the processing yield rate. In the actual operation process, if the pressure sensor 532 detects that the downward pressure of the current wiping wheel 541 is too large, it will be fed back to the controller 2, and the controller 2 can control the wiping lifting module to drive the wiping mounting frame 53 to drive the wiping wheel 541 to rise, thereby reducing the downward pressure of the wiping wheel 541; conversely, if the downward pressure of the wiping wheel 541 is too small, the wiping lifting module can be controlled to drive the wiping mounting frame 53 to drive the wiping wheel 541 to rise, thereby increasing the downward pressure of the wiping wheel 541.

[0068] like Fig.10 As shown, in order to tighten the wiping cloth on the wiping mounting frame 53, a plurality of tensioning wheels 549 are installed on the wiping mounting frame 53, and the tensioning wheels 549 are rotatably connected to the wiping mounting frame 53. In the specific implementation process, one end of the rolled wiping cloth on the unwinding wheel 542 is stretched and laid on each tensioning wheel 549, and the wiping cloth can be tightened on the wiping mounting frame 53 through each tensioning wheel 549, so that the wiping wheel 541 can wipe the product on the product fixture 7, thereby improving the stability of the processing.

[0069] The wiping mounting frame 53 is provided with a material shortage sensor 535, which is used to detect whether there is a roll of wiping cloth on the unwinding wheel 542. In the specific implementation process, when the roll of wiping cloth on the unwinding wheel 542 is laid on the wiping wheel 541, the roll of wiping cloth on the unwinding wheel 542 will pass the corresponding position of the material shortage sensor 535, and the material shortage sensor 535 can see the wiping cloth. In actual operation, if the material shortage sensor 535 cannot detect the wiping cloth, it means that the roll of wiping cloth on the unwinding wheel 542 has been used up; the material shortage sensor 535 will feedback a signal to the controller 2, and the controller 2 will remind the operator to place a new roll of wiping cloth as soon as possible.

[0070] like Figure 2 , Fig.10 , Fig.11 As shown, the machine 1 is provided with a cleaning liquid output mechanism 55, which is used to deliver cleaning liquid to the wiping cloth on the wiping cloth supply assembly 54; during specific processing, the cleaning liquid output mechanism 55 can deliver cleaning liquid to the wiping cloth laid on the wiping wheel 541, and the wiping cloth can improve the efficiency of glue removal after being infected with the cleaning liquid, so that the wiping wheel 541 can improve the efficiency of glue removal when wiping the product, thereby improving the processing efficiency. In this embodiment, the cleaning liquid is alcohol, and in other embodiments, the cleaning liquid can also be other liquids that can accelerate glue removal.

[0071] Specifically, the cleaning liquid output mechanism 55 includes a cleaning liquid mounting frame 551, which is connected to the machine 1. A cleaning liquid storage barrel 552 and a liquid pump 553 are provided on the cleaning liquid mounting frame 551. The input end of the liquid pump 553 is connected to the cleaning liquid storage barrel 552. A liquid outlet head 554 is provided on the wiping mounting frame 53. The liquid outlet head 554 is arranged on the side of the wiping wheel 541 close to the power wheel 543, and the liquid outlet head 554 is connected to the output end of the liquid pump 553. During processing, the cleaning liquid in the cleaning liquid storage barrel 552 can be drawn to the liquid outlet head 554 through the operation of the liquid pump 553, so that the cleaning liquid flows out of the liquid outlet head 554, and the outflowing cleaning liquid will drip onto the wiping cloth that is about to be transported to the wiping wheel 541, so that the wiping cloth transported to the wiping wheel 541 is soaked with cleaning liquid, thereby improving the efficiency of glue removal.

[0072] The multi-angle automatic glue wiping equipment can automatically deliver the product with the screen glued to the machine 1 through the cooperation of the material receiving conveyor line 32 and the material feeding conveyor line 33; then the loading and unloading robot 4 automatically grabs the product from the material feeding conveyor line 33 and places it on the product fixture 7, and transports it to the processing position of the wiping mechanism 5 through the material transport transverse movement component 8; then, through the cooperation of the wiping mechanism 5, the front and rear swing component 9 and the horizontal rotation component 10, the wiping cloth on the wiping wheel 541 can wipe each angle of the product on the product fixture 7 respectively, so as to remove the residual glue at each angle on the product; while the wiping mechanism 5 is working, the pressure sensor 532 will monitor the wiping pressure in real time, so as to ensure that the wiping pressure is always within the preset range, thereby ensuring the processing yield. After wiping is completed, the product is sent to the grabbing position of the loading and unloading manipulator 4 through the material transport transverse movement component 8, and the processed product is grabbed by the loading and unloading manipulator 4 and placed on the unloading conveyor line 62. Then, the processed product is sent out of the machine 1 through the cooperation of the unloading conveyor line 62 and the discharging conveyor line 63 to complete the unloading. In the subsequent processing, the first grabbing component 43 and the second grabbing component 44 on the loading and unloading manipulator 4 work at the same time, thereby reducing the waiting time and improving the processing efficiency. That is, while the first grabbing component 43 grabs the product to be processed from the feeding conveyor line 33, the second grabbing component 44 also grabs the processed product from the product fixture 7; while the first grabbing component 43 places the product to be processed on the product fixture 7, the second grabbing component 44 also places the processed product on the unloading conveyor line 62.

[0073] The above-mentioned specific implementation is a preferred implementation of the present invention, and is not intended to limit the specific implementation scope of the present invention. The scope of the present invention includes but is not limited to this specific implementation. All equivalent changes made in accordance with the present invention are within the protection scope of the present invention.

Claims

1. A multi-angle automatic glue erasing device, characterized by: The machine comprises a platform and a controller, wherein the platform is provided with a loading mechanism, a loading and unloading manipulator, a transporting mechanism, a wiping mechanism and a unloading mechanism respectively connected to the controller, the transporting mechanism is provided with a product fixture, the loading and unloading manipulator is respectively connected to the loading mechanism, the transporting mechanism and the unloading mechanism, the loading and unloading manipulator is used to grab the product on the loading mechanism to the product fixture, and can grab the product on the product fixture to the unloading mechanism; The material transport mechanism includes a material transport transverse movement component, and the material transport transverse movement component is used to drive the product fixture to move back and forth between the loading and unloading robot and the wiping mechanism, and the wiping mechanism is used to wipe the product on the product fixture. A front and rear swing component is provided on the output end of the material transport transverse movement component, and the front and rear swing component is used to drive the product fixture to swing back and forth. A horizontal rotation component is provided on the output end of the front and rear swing component, and the product fixture is connected to the output end of the horizontal rotation component, and the horizontal rotation component is used to drive the product fixture to rotate and swing horizontally.

2. The multi-angle automatic glue erasing device according to claim 1, characterized in that: The wiping mechanism includes a wiping transverse movement module, the wiping transverse movement module is connected to the machine, a wiping lifting module is provided on the output end of the wiping transverse movement module, a wiping mounting frame is provided on the output end of the wiping lifting module, a wiping cloth supply assembly and a rotatable wiping wheel are provided on the wiping mounting frame, the wiping cloth supply assembly can transport the wiping cloth to the wiping wheel, a cleaning liquid output mechanism is provided on the machine, and the cleaning liquid output mechanism is used to transport cleaning liquid to the wiping cloth on the wiping cloth supply assembly.

3. The multi-angle automatic glue erasing device according to claim 2, characterized in that: The wiping cloth supply assembly includes a unwinding wheel, a power wheel and a recovery wheel which are rotatably connected to the wiping mounting frame respectively. The unwinding wheel is used to place the rolled wiping cloth, and the rolled wiping cloth on the unwinding wheel can be laid on the wiping wheel, the power wheel and the recovery wheel in sequence. The wiping mounting frame is provided with a cloth pulling assembly, and the output end of the cloth pulling assembly is connected to the power wheel for driving the power wheel to rotate.

4. The multi-angle automatic glue erasing device according to claim 3 is characterized in that: The wiping mounting frame is provided with a wiping lifting slide rail and a pressure sensor, the pressure sensor is connected to the controller, a wiping head mounting block is slidably provided on the wiping lifting slide rail, the wiping wheel is rotatably connected to the wiping head mounting block, an elastic member is provided on the end of the wiping head mounting block away from the wiping wheel, and the end of the elastic member away from the wiping wheel is connected to the pressure sensor.

5. The multi-angle automatic glue erasing device according to claim 3 is characterized in that: The wiping mounting frame is provided with a pressing cylinder, and the output end of the pressing cylinder is provided with a pressing wheel, and the pressing cylinder can drive the pressing wheel to move towards or away from the power wheel; The wiping mounting frame is provided with a recovery drive assembly, and the output end of the recovery drive assembly is connected to the recovery wheel for driving the recovery wheel to rotate on the wiping mounting frame.

6. The multi-angle automatic glue erasing device according to any one of claims 1 to 5, characterized in that: The front-rear swing assembly comprises a first swing mounting seat, the first swing mounting seat is connected to the output end of the material transport and transverse movement assembly, the first swing mounting seat is provided with a first swing motor, the output end of the first swing motor is provided with a first rotating platform, and the horizontal rotating assembly is connected to the output end of the first rotating platform; The horizontal rotation assembly includes a second swing mounting seat, which is rotatably connected to the first swing mounting seat, and the second swing mounting seat is connected to the output end of the first rotating table. The second swing mounting seat is provided with a second swing motor, and the output end of the second swing motor is provided with a second rotating table, and the product fixture is connected to the output end of the second rotating table.

7. The multi-angle automatic glue erasing device according to claim 6, characterized in that: The product fixture includes a fixture fixing seat, which is connected to the output end of the second rotating table. The fixture fixing seat is provided with a product placement groove, and a plurality of negative pressure suction heads are provided in the product placement groove. The negative pressure suction heads are externally connected to a negative pressure device.

8. The multi-angle automatic glue erasing device according to any one of claims 1 to 5, characterized in that: The loading mechanism includes a receiving conveyor line and a feeding conveyor line, one end of the receiving conveyor line is connected to the host computer, and the other end is connected to the feeding conveyor line, and the loading and unloading manipulator is connected to the end of the feeding conveyor line away from the receiving conveyor line.

9. The multi-angle automatic glue erasing device according to claim 8, characterized in that: The unloading mechanism comprises an unloading conveyor line and a discharging conveyor line, one end of the unloading conveyor line is connected to the loading and unloading robot, and the other end is connected to the discharging conveyor line, and the other end of the discharging conveyor line extends out of the machine platform.

10. The multi-angle automatic glue erasing device according to claim 9, characterized in that: The loading and unloading manipulator comprises a manipulator fixing frame, the manipulator fixing frame is connected to the machine platform, a manipulator lateral movement module is arranged on the manipulator fixing frame, a manipulator mounting block is arranged on the output end of the manipulator lateral movement module, a first grabbing assembly and a second grabbing assembly of the same structure are arranged on the manipulator mounting block, the first grabbing assembly is respectively connected to the feeding conveyor line and the product fixture, and the second grabbing assembly is respectively connected to the unloading conveyor line and the product fixture; The first grabbing assembly includes a grabbing lifting cylinder, which is connected to the manipulator mounting block. A clamp mounting block is provided on the output end of the grabbing lifting cylinder, and a clamp mounting block is provided on the clamp cylinder. Two clamp blocks are provided on the output end of the clamp cylinder, and the clamp cylinder can drive the two clamp blocks to move closer to or away from each other.

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