Skin-grinding, stacking and tray-loading equipment

Abstract

The invention discloses buffing, stacking and loading equipment which comprises an assembling device, a material taking and rod penetrating device and a material transferring and loading device, an assembling rod extends out of the assembling device, and the material taking and rod penetrating device comprises a second moving mechanism and a taking and placing mechanism arranged on the second moving mechanism. The second moving mechanism drives the taking and placing mechanism to move between the material taking position and the assembling rod, the material rotating and tray loading device comprises a first moving mechanism and a material rotating mechanism arranged on the first moving mechanism, the material rotating mechanism comprises a material clamping assembly, and the first moving mechanism drives the material clamping assembly to move between the assembling rod and the material loading position. According to the buffing stacking and loading equipment, automatic buffing boxing operation can be achieved, compared with the prior art, manual rod penetrating assembly is omitted, the step of pulling out a mounting rod after buffing is put into a material disc is omitted, the buffing boxing efficiency is effectively improved, and human input is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial automation, and in particular relates to a microdermabrasion layer stacking and loading device. Background Art

[0002] The microdermabrasion rod is a tool used for polishing the inner hole of glass, including multiple microdermabrasions and a mounting rod. The mounting rod and the microdermabrasion form a matching snap-fit ​​structure. The user rotates the mounting rod to drive the microdermabrasion to rotate and polish the glass hole. In order to improve the efficiency of glass polishing, a certain number of microdermabrasions need to be aligned and placed in the material tray to help the user assemble multiple microdermabrasions on the mounting rod at one time. In the prior art, the microdermabrasion boxing needs to be done manually. First, the microdermabrasion is manually aligned and assembled on the mounting rod. After a certain number of microdermabrasions are installed, they are pressed and placed flat on the material tray. After the position is fixed, the mounting rod is pulled out. This boxing method is too inefficient and consumes a lot of manpower. Summary of the invention

[0003] In view of the above-mentioned defects or shortcomings, the present invention provides a microdermabrasion layer stacking and packaging device, aiming to solve the technical problem of low efficiency of manual microdermabrasion packaging.

[0004] To achieve the above-mentioned purpose, the present invention provides a microdermabrasion layer stacking and loading device, wherein the microdermabrasion layer stacking and loading device comprises an assembling device, a material picking and passing rod device and a material transfer and loading device; the assembling device is provided with a protruding assembling rod; the material picking and passing rod device comprises a second moving mechanism and a picking and placing mechanism arranged on the second moving mechanism, and the second moving mechanism drives the picking and placing mechanism to move between the material picking position and the assembling rod; the material transfer and loading device comprises a first moving mechanism and a material transfer mechanism arranged on the first moving mechanism, and the material transfer mechanism comprises a material clamping assembly, and the first moving mechanism drives the material clamping assembly to move between the assembling rod and the loading position, and the material clamping assembly comprises two clamping fingers arranged opposite to each other.

[0005] In an embodiment of the present invention, the material transfer mechanism also includes a material pushing assembly, which includes a push plate and a material unloading drive connected to the push plate, and the material clamping assembly also includes two clamping plates and a material clamping drive connected to the clamping plates, the clamping finger portion is formed at the end of the clamping plate, and a clamping area is formed between the two clamping finger portions, and the pushing direction of the push plate is toward the clamping area.

[0006] In the embodiment of the present invention, a side of the push plate facing away from the material-discharging driving member is formed with a plurality of contoured portions for stacking and engaging with the grinding surfaces;

[0007] And / or, an assembly rod avoidance opening is provided at one end of the two clamping fingers facing the assembly rod.

[0008] In an embodiment of the present invention, the material transfer and loading device also includes a connecting seat, which is arranged between the first moving mechanism and the material transfer mechanism. The connecting seat includes a clamping jaw mounting plate and a push rod mounting frame connected in sequence. The material clamping drive component is connected to the clamping jaw mounting plate, and the material unloading drive component is connected to the push rod mounting frame.

[0009] In an embodiment of the present invention, the assembly device includes a rotating shaft mechanism and a mounting support, the rotating shaft mechanism is rotatably disposed on the mounting support, at least two assembly rods are arranged in sequence along the circumferential direction of the rotating shaft mechanism to form a circle of rod groups, and one or more circles of rod groups are arranged on the rotating shaft mechanism.

[0010] In an embodiment of the present invention, the assembly device further comprises a locking and limiting mechanism disposed on the mounting support, the locking and limiting mechanism comprising a locking driving member and a limiting block tightly abutting against the rotating shaft in the rotating shaft mechanism, the limiting block being drivingly connected to the locking driving member;

[0011] And / or, the rotating shaft mechanism includes a rotating shaft, a rotating driving member drivingly connected to the rotating shaft, and a workstation switching sensing component, the rotating shaft is rotatably disposed on a mounting support, and the workstation switching sensing component includes a sensing member disposed on the rotating shaft and a sensor disposed on the mounting support.

[0012] In an embodiment of the present invention, the pick-and-place mechanism includes a nozzle mounting seat, a lifting and rotating driving member arranged on the nozzle mounting seat, and a vacuum nozzle, and the lifting and rotating driving member is drivingly connected to the vacuum nozzle.

[0013] In an embodiment of the present invention, the dermabrasion layer stacking and loading equipment also includes a vibrating feeding device and a visual positioning device. The visual positioning device is arranged above the vibrating feeding device. The material picking and threading rod device is communicatively connected with the visual positioning device. The material picking position of the material picking and threading rod device is located above the vibrating feeding device.

[0014] In an embodiment of the present invention, the vibrating feeding device includes a silo and a vibrating tray. The silo is mounted on a side of the vibrating tray away from the assembling device, and the material taking position is located above the vibrating tray.

[0015] In an embodiment of the present invention, an assembly device, a vibrating feeding device and a material picking and piercing rod device are combined into a dermabrasion assembly module. The dermabrasion layer stacking and loading equipment also includes a material tray conveyor line. A plurality of groups of dermabrasion assembly modules are arranged on one side of the material tray conveyor line. A material transfer and loading device is shared between two dermabrasion assembly modules.

[0016] Through the above technical solution, the microdermabrasion layer stacking device provided in the embodiment of the present invention has the following beneficial effects:

[0017] When the above-mentioned microdermabrasion stacking and loading equipment is used to perform microdermabrasion boxing operations, the material picking and rod-threading device takes microdermabrasion at the material picking position through the second moving mechanism and the pick-and-place mechanism, and the microdermabrasion is threaded on the assembly rod for stacking and assembly. After the microdermabrasion on the assembly rod is stacked to a certain number, the first moving mechanism drives the material clamping assembly to move to the assembly rod. After the two clamping fingers of the material clamping assembly clamp a plurality of microdermabrasions on the assembly rod, the first moving mechanism drives the material clamping assembly to move to the loading position, thereby taking the microdermabrasion out of the assembly rod and putting it into the tray at the loading position. The microdermabrasion stacking and loading equipment can realize the automated operation of microdermabrasion assembly and loading, and compared with the existing process, the manual rod threading assembly is eliminated, and the step of pulling out the installation rod after the microdermabrasion is put into the tray is also eliminated, which effectively improves the efficiency of microdermabrasion boxing and reduces manpower input.

[0018] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 is an overall structural diagram of a microdermabrasion layer stacking disk device according to an embodiment of the present invention;

[0021] Figure 2 is a structural diagram of a material transfer and tray loading device according to an embodiment of the present invention;

[0022] Figure 3 is a structural diagram of a clamping mechanism according to an embodiment of the present invention;

[0023] Figure 4 is a structural diagram of an assembly device according to an embodiment of the present invention;

[0024] Figure 5 yes Figure 4 A partial enlarged view of the middle A;

[0025] Figure 6 This is the structural diagram of microdermabrasion;

[0026] Figure 7 is a structural diagram of an assembly device according to an embodiment of the present invention;

[0027] Figure 8 is a structural diagram of a second moving mechanism according to an embodiment of the present invention;

[0028] Fig. 9 is a structural diagram of a nozzle assembly according to an embodiment of the present invention;

[0029] Fig.10 is a structural diagram of a vibrating feeding device according to an embodiment of the present invention;

[0030] Fig.11 is a structural diagram of a tray conveyor line according to an embodiment of the present invention.

[0031] Description of Reference Numerals

[0032] 1 rack 11 table

[0033] 12 Mounting bracket

[0034] 2 Assembly device 21 Assembly rod

[0035] 211 slot 22 shaft mechanism

[0036] 221 rotating shaft 222 rotating drive member

[0037] 223 Sensor 224 Sensor

[0038] 23 Mounting bracket 24 Locking limit mechanism

[0039] 241 locking drive member 242 limiting block

[0040] 3 Material transfer and loading device 31 First moving mechanism

[0041] 32 Material transfer mechanism 321 Material clamping assembly

[0042] 3211 Material clamping drive 3212 Clamping finger

[0043] 3213 Assembly rod avoidance port 322 Pushing assembly

[0044] 3221 Feeding drive 3222 Profile push plate

[0045] 3223 profiling part 33 connection seat

[0046] 331 Clamping jaw mounting plate 332 Push rod mounting bracket

[0047] 4 Vibrating feeding device 41 Silo

[0048] 42 Vibrating tray 421 Integrated light source

[0049] 5 Material taking and rod penetration device 51 Second moving mechanism

[0050] 511 Second track 512 First track

[0051] 52 Pick-and-place mechanism 521 Nozzle mounting seat

[0052] 522 Vacuum generator 523 Cable sheath

[0053] 524 Rotating air joint 525 Lifting and rotating drive parts

[0054] 526 Vacuum nozzle 527 Protective panel

[0055] 6 Visual positioning device

[0056] 7 Tray conveyor line 71 Tray enclosure

[0057] 72 roller line 73 plate separation mechanism

[0058] 74 stacking mechanism

[0059] 8 Tray

[0060] 9 Microdermabrasion 91 Carding Department DETAILED DESCRIPTION

[0061] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0062] The microdermabrasion layer stacking disk device of the present invention will be described below with reference to the accompanying drawings.

[0063] like Figure 1 , Figure 2 and Figure 4 As shown, the present invention provides a microdermabrasion layer stacking disk device, wherein the microdermabrasion layer stacking disk device comprises:

[0064] The assembly device 2 is provided with an extended assembly rod 21;

[0065] The material taking and rod-piercing device 5 comprises a second moving mechanism 51 and a taking and placing mechanism 52 arranged on the second moving mechanism 51, wherein the second moving mechanism 51 is used to drive the taking and placing mechanism 52 to move between the material taking position and the assembly rod 21;

[0066] The material transfer and loading device 3 includes a first moving mechanism 31 and a material transfer mechanism 32 arranged on the first moving mechanism 31. The material transfer mechanism 32 includes a material clamping assembly 321. The first moving mechanism 31 drives the material clamping assembly 321 to move between the assembly rod 21 and the loading position. The material clamping assembly 321 includes two oppositely arranged clamping fingers 3212.

[0067] When the above-mentioned microdermabrasion stacking and loading equipment is used to perform microdermabrasion boxing operations, the material picking and rod-threading device 5 takes microdermabrasion at the material picking position through the second moving mechanism 51 and the picking and placing mechanism 52, and threads the microdermabrasion 9 on the assembly rod 21 for stacking and assembly. After the microdermabrasion 9 on the assembly rod 21 is stacked to a certain number, the first moving mechanism 31 drives the clamping assembly 321 in the material transfer mechanism 32 to move to the assembly rod 21. After the two clamping fingers 3212 of the clamping assembly 321 clamp a plurality of microdermabrasions on the assembly rod 21, the first moving mechanism 31 drives the clamping assembly 321 to move to the loading position, thereby taking the microdermabrasion out of the assembly rod 21 and placing it in the tray 8 at the loading position. The microdermabrasion stacking and loading equipment can realize the automated operation of microdermabrasion assembly and loading, and compared with the existing process, the manual rod-threading assembly is eliminated, and the step of pulling out the installation rod after the microdermabrasion 9 is placed in the tray 8 is also eliminated, which effectively improves the efficiency of microdermabrasion boxing and reduces manpower input.

[0068] Specifically, see Figure 2 The first moving mechanism 31 is preferably a four-axis robot arm, the first three axes of which are rotating axes, and the horizontal position of the material transfer mechanism 32 is adjusted by the rotation angles of the three rotating axes. The end axis of the four-axis robot arm is a lifting axis, and the lifting axis drives and connects the material transfer mechanism 32 to adjust the height position of the clamping assembly 321. In addition, the first moving mechanism 31 can also be set as a combination of a slide rail mechanism and a lifting mechanism, which can also realize the control of the material transfer mechanism 32 to move in three directions.

[0069] Specifically, see Figure 5 and Figure 6 The inner hole of the microdermabrasion 9 is provided with a clamping portion 91, and correspondingly, the assembly rod 21 is formed with a clamping groove 211. During assembly, the clamping portion 91 is embedded in the clamping groove 211 to ensure that multiple microdermabrasions 9 are aligned in sequence; it should be noted that the shape of the assembly rod 21 is specifically set corresponding to the shape of the inner hole of the microdermabrasion 9, and the matching structure of the two is not limited to this embodiment. For microdermabrasions 9 of other shapes, for example, the inner hole of the microdermabrasion 9 is set as a square hole, or a plurality of clamping portions 91 are set in the inner hole of the microdermabrasion 9, the assembly rod 21 is correspondingly set as a square rod, or a corresponding number of grooves are opened on the assembly rod 21.

[0070] Specifically, a plurality of array-arranged material slots are formed in the material tray 8, and each material slot can accommodate a certain number of microdermabrasions 9 stacked in sequence. The length of the assembly rod 21 and the maximum clamping width of the material clamping assembly 321 are determined according to the number of microdermabrasions 9 that can be accommodated in each material slot. Preferably, twenty-one microdermabrasions 9 form a group, and the length of the material slot can just accommodate twenty-one microdermabrasions 9 stacked and pressed in sequence.

[0071] like Figure 3As shown, in the embodiment of the present invention, the material transfer mechanism 32 also includes a material pushing assembly 322, the material pushing assembly 322 includes a material unloading driving member 3221 and a pushing plate 3222, the material unloading driving member 3221 is drivingly connected to the pushing plate 3222, the material pushing assembly 322 is arranged between the two clamping fingers 3212, the material clamping assembly 321 also includes a clamping plate and a material clamping driving member 3211 drivingly connected to the clamping plate, the clamping finger portion 3212 refers to the end portion of the clamping plate, the clamping area formed between the two clamping fingers 3212 is used to clamp the assembled microdermabrasion rod, and the pushing direction of the pushing plate 3222 is toward the clamping area. After the clamping assembly 321 clamps all the microdermabrasions 9 on the assembly rod 21, the first moving mechanism 31 drives the clamping assembly 321 to remove the microdermabrasions 9 from the assembly rod 21 and move it to just above the loading position, and then the pushing assembly 322 pushes toward the clamping area, that is, all the microdermabrasions 9 clamped by the clamping assembly 321 are pushed into the material slot of the material tray 8 at one time. Compared with the solution of directly opening the clamping assembly 321 for material discharge, the microdermabrasions 9 are always kept in a compressed state during the process of the pushing assembly 322 pushing the microdermabrasions 9 into the material slot, and the two clamping fingers 3212 of the clamping assembly 321 can guide the microdermabrasions 9, ensuring that the microdermabrasions 9 can be accurately placed into the material slot.

[0072] like Figure 3 and Figure 6 As shown, in the embodiment of the present invention, a profiling portion 3223 for engaging with a plurality of stacked microdermabrasions 9 is formed on the side of the push plate 3222 facing away from the feed drive member 3221. The microdermabrasion 9 has a shape similar to a gear, including an annular main body and a plurality of protrusions arranged in sequence around the main body, and the profiling portion 3223 can be correspondingly embedded between two protrusions. In the process of pushing the microdermabrasion 9 into the material slot, the setting of the profiling portion 3223 expands the contact area between the profiling push plate 3222 and the microdermabrasion 9, avoiding the microdermabrasion 9 from being damaged due to excessive force locally, and the profiling portion 3223 can also limit the microdermabrasion 9 from rotating, further ensuring that the microdermabrasions 9 in the same material slot are all in an aligned state after being boxed.

[0073] like Figure 3As shown, in the embodiment of the present invention, the ends of the two clamping fingers 3212 away from the clamping driving member 3211 are both provided with assembly rod avoidance openings 3213, which are used to avoid the assembly rod 21 when clamping the microdermabrasion 9 from the assembly rod 21, and fully clamp the two ends of the microdermabrasion 9. Before the clamping assembly 321 clamps the microdermabrasion 9 from the assembly rod 21, the clamping assembly 321 is first aligned with the microdermabrasion 9 on the assembly rod 21 through the first moving mechanism 31. When aligned, the assembly rod 21 passes through the assembly rod avoidance openings 3213 of the two clamping fingers 3212. Then, by setting the assembly rod avoidance openings 3213, the parts of the microdermabrasion 9 located on both sides of the assembly rod 21 can be clamped, thereby increasing the contact area between the clamping fingers 3212 and the microdermabrasion 9. When clamping the microdermabrasion 9, the microdermabrasion 9 is subjected to more uniform force, ensuring that the assembled microdermabrasion is not loose or deformed.

[0074] like Figure 3 As shown, in the embodiment of the present invention, the material transfer and loading device 3 further includes a connecting seat 33, which is arranged between the first moving mechanism 31 and the material transfer mechanism 32, and the connecting seat 33 includes a clamping jaw mounting plate 331 and a push rod mounting frame 332 which are connected in sequence, a material clamping driving member 3211 is connected to the clamping jaw mounting plate 331, a push rod mounting frame 332 is arranged to enclose the material clamping driving member 3211, and a material pushing assembly 322 is connected to a side of the push rod mounting frame 332 away from the clamping jaw mounting plate 331. Then, through the connecting seat 33, the material clamping driving member 3211 and the material unloading driving member 3221 of the material pushing assembly 322 can be arranged in a staggered manner along the height direction, and the installation and movement of the two do not interfere with each other.

[0075] like Figure 4 and Figure 7 As shown, in the embodiment of the present invention, the assembly device 2 includes a rotating shaft mechanism 22 and a mounting support 23, and the two ends of the rotating shaft mechanism 22 can be rotatably arranged on the mounting support 23, and at least two assembly rods 21 are arranged in sequence along the circumferential direction of the rotating shaft mechanism 22 to form a circle of rod components. By setting the rotating shaft mechanism 22, at least two stations can be formed, one of which is an assembly station and the other is a blanking station. The assembly rod 21 located at the assembly station is used to stack the microdermabrasion 9, and the assembly rod 21 located at the blanking station is sleeved with a specified number of microdermabrasion 9. By rotating the rotating shaft mechanism 22, at least two assembly rods 21 can be switched between the assembly station and the blanking station, and when one assembly rod 21 is in the assembly station, the other assembly rod 21 is just in the blanking station, that is, the microdermabrasion 9 assembly and microdermabrasion 9 blanking steps can be performed simultaneously, further improving the efficiency of microdermabrasion boxing, and the rotating shaft mechanism 22 occupies a small space, and the space utilization rate is higher.

[0076] Specifically, one circle of rod components includes four assembly rods 21, and adjacent assembly rods 21 are arranged at 90° intervals, then the rotating shaft mechanism 22 constitutes four stations, except for one assembly station and one unloading station, the remaining two stations are waiting stations, the assembly rods 21 at the assembly station are in a vertical state, so that the material-taking and rod-piercing device 5 can stack and sleeve the microdermabrasion 9 from the top of the assembly rod 21 from top to bottom, and the assembly rods 21 at the unloading station are in a horizontal state, so that the material-transferring and tray-loading device 3 can clamp the microdermabrasion 9 and take the microdermabrasion 9 out from the assembly rod 21 in a horizontal direction, so that the material clamping component 321 clamps the assembled stacked microdermabrasion in a horizontal state, and is convenient to directly place it flat in the tray 8. Of course, as long as the conditions of simultaneous assembly and unloading are met, other numbers of assembly rods 21 can also be set in each circle of rod components.

[0077] like Figure 4 and Figure 7 As shown, in the embodiment of the present invention, a multi-circle rod group is formed on the rotating shaft mechanism 22, and the multi-circle rod group is arranged in sequence along the axial direction of the rotating shaft mechanism 22. The purpose of setting a multi-circle rod group is to further improve the efficiency of microdermabrasion packaging and reduce the total cost of the equipment. Taking the above-mentioned packaging method of a group of twenty-one microdermabrasions 9 as an example, since the microdermabrasions 9 to be assembled are in a scattered and irregular state, the twenty-one microdermabrasions 9 need to be stacked one by one, and when unloading, the clamping mechanism takes out the twenty-one microdermabrasions 9 at one time. Obviously, the unloading speed is significantly faster than the assembly speed. If only a single-circle rod group is set, the material transfer and loading device 3 will be in a standby state for a long time. By setting a multi-circle rod group, microdermabrasions 9 can be stacked on multiple assembly rods 21 at the same time. When unloading, a single material transfer and loading device 3 unloads each assembly rod 21 one by one, ensuring that the assembly and unloading time are consistent or close, and maximally ensuring the operation of the material transfer and loading device 3. Preferably, the number of turns of the rod assembly is set to six turns by actually measuring the speed of assembly and unloading.

[0078] like Figure 4 As shown, in the embodiment of the present invention, the assembly device 2 also includes a locking and limiting mechanism 24 arranged on the mounting support 23, and the locking and limiting mechanism 24 includes a locking driving member 241 and a limiting block 242 that cooperates with the rotating shaft 221 in the rotating shaft mechanism 22 to press against it. When the rotating shaft mechanism 22 drives the assembly rod 21 to move to the assembly station or the unloading station, the locking driving member 241 drives the limiting block 242 to press against the rotating shaft mechanism 22 to limit the continued rotation of the rotating shaft mechanism 22, so as to ensure that the assembly rod 21 always remains stable during the assembly and unloading steps, thereby improving the success rate of assembly and unloading. After the assembly and unloading steps are completed, the locking driving member 241 drives the limiting block 242 to retract, and the rotating shaft mechanism 22 can continue to rotate to perform the next cycle operation. The locking driving member 241 positions the rotation position of the assembly rod 21, so as to ensure that the pick-and-place member accurately inserts the microdermabrasion into the assembly rod 21, and also ensure that the mechanism shakes and moves when the clamping component 321 takes the material.

[0079] Specifically, each circle of rod groups includes four assembly rods 21 arranged at 90° intervals, the rotating shaft 221 is arranged as a square column structure, and the limit block 242 is formed with a limit plane that can be spliced ​​with any side surface of the rotating shaft 221. The rotation of the rotating shaft 221 is limited by abutment to maintain the stability of the assembly rod 21; in addition, the limit block 242 can also ensure the accuracy of the position of the assembly rod 21. When there is a deviation angle between the actual rotation angle of the rotating shaft 221 and the set rotation angle of 90°, for example, the actual rotation angle is 89°, the deviation angle is 1°, and when the limit block 242 contacts the rotating shaft 221, it will also drive the rotating shaft 221 to rotate by the corresponding deviation angle. Of course, the present invention is not limited to this. The rotating shaft 221 can be set to other polyhedral structures corresponding to the number of assembly rods 21 in the rod group; or the rotating shaft 221 is set to a cylindrical shape, and an elastic rubber is set on the limit block 242. The static friction between the elastic rubber and the rotating shaft 221 is increased by the deformation of the elastic rubber to achieve a limiting effect on the rotating shaft mechanism 22.

[0080] like Figure 4 and Figure 7 As shown, in the embodiment of the present invention, the rotating shaft mechanism 22 includes a rotating shaft 221, a rotating driving member 222 and a station switching sensing assembly, the rotating shaft 221 is rotatably arranged on the mounting support 23, the rotating driving member 222 is arranged on the mounting support 23 and drives the connecting rotating shaft 221, the station switching sensing assembly includes a sensing member 224 arranged on the rotating shaft 221 and a sensor 223 arranged on the mounting support 23, and the controller of the rotating driving member 222 is connected to the sensor 223 for communication, and is configured to: when the sensor 223 detects the sensing member 224, control the rotating driving member 222 to stop rotating. By setting the station switching sensing assembly, the rotating driving member 222 can be timely controlled to stop rotating when the assembly rod 21 rotates to the corresponding station, and then the rotating shaft 221 is limited by the locking limit mechanism 24 to avoid the rotating driving member 222 from suddenly freezing and protect the rotating driving member 222.

[0081] Specifically, the sensor 223 is set as a photoelectric sensor, and a shading plate as a sensing element 224 is provided on the rotating shaft 221. Taking the rotating shaft 221 of the rectangular parallelepiped as an example, four shading portions arranged at 90° angle intervals are protruded from the shading plate, and the four shading portions are respectively aligned with the four assembly rods 21 in each circle of the rod assembly along the axial direction of the rotating shaft 221. A detection port for the shading portion to pass through is provided at one end of the photoelectric sensor facing the rotating shaft 221, and the detection probe of the photoelectric sensor is set corresponding to the detection port. The shading plate rotates synchronously with the rotating shaft 221. When the shading portion covers the probe of the photoelectric sensor, it means that the assembly rod 21 has switched to the corresponding position. At this time, the photoelectric sensor sends a signal to the controller, and the controller immediately controls the rotating drive member 222 to stop rotating to perform the next round of microdermabrasion boxing operation. Indirect position monitoring of the assembly rod 21 can be achieved by monitoring the position of the shading portion. The station switching accuracy is improved by the station switching sensing component.

[0082] Of course, the present invention is not limited thereto, and it is also possible to set a visual positioning device 6 to monitor the position of the assembly rod 21 ; or set the sensor 223 as an angle sensor to directly monitor the rotation angle of the shaft 221 .

[0083] like Figure 1 and Figure 8 As shown, in the embodiment of the present invention, the pick-up and placement mechanism 52 of the material picking and rod-piercing device 5 adopts a vacuum suction method to pick up and place the microdermabrasion 9, and the second moving mechanism 51 drives the pick-up and placement mechanism 52 to move between the material picking position and the assembly rod 21. Then, through the second moving mechanism 51 and the pick-up and placement mechanism 52, automatic material picking and stacking of the microdermabrasion 9 can be realized, and the pick-up and placement mechanism 52 uses pressure to suck the microdermabrasion 9, and will not cause damage to the microdermabrasion 9.

[0084] Specifically, the second moving mechanism 51 includes Figure 8 The first track 512 arranged in the X-axis direction and the Figure 8 As shown, the second track 511 is arranged in the Y-axis direction, and the first track 512 is movably disposed on the second track 511 .

[0085] It should be noted that the movement of the first track 512 and the nozzle mounting seat 521 are both achieved through servo motors. The KK module composed of the track and the servo motor combines the advantages of linear guides and ball screws and has been widely used in various automation equipment, so it will not be repeated here.

[0086] In other embodiments of the present invention, the second moving mechanism 51 may also be configured as a multi-axis robotic arm similar to the first moving mechanism 31 .

[0087] See also Fig. 9The pick-and-place mechanism 52 includes a nozzle mounting seat 521, a vacuum generator 522, a lifting and rotating driving member 525 and a vacuum nozzle 526. The nozzle mounting seat 521 is movably arranged on the second track 511, and the nozzle mounting seat 521 is moved along the second track 511. Figure 8 As shown, an upper mounting position and a lower mounting position are provided in the Z-axis direction. The vacuum generator 522 is provided at the upper mounting position and is used to form a pressure difference. The lifting and rotating driving member 525 is provided at the lower mounting position and drives the vacuum suction nozzle 526. The vacuum suction nozzle 526 is connected to the vacuum generator 522 via a rotating air joint 524 and an air pipe. The rotating air joint 524 can prevent the air pipe from folding during the movement process, thereby ensuring that a stable pressure difference is formed at the vacuum suction nozzle 526 and avoiding material removal failure.

[0088] like Figure 1 As shown, in the embodiment of the present invention, the microdermabrasion stacking and loading device further includes a vibrating feeding device 4 and a visual positioning device 6, the visual positioning device 6 is arranged above the vibrating feeding device 4, the material taking and penetrating rod device 5 is communicatively connected with the visual positioning device 6, and the material taking and penetrating rod device 5 has a material taking position located above the vibrating feeding device 4. The visual positioning device 6 can obtain the position information of the microdermabrasion 9 on the vibrating feeding device 4, and send the position information to the material taking and penetrating rod device 5, and the material taking and penetrating rod device 5 stacks the microdermabrasion 9 sequentially and sleeves them onto the assembly rod 21 according to the position information.

[0089] The working process of the material taking and penetrating rod device 5 is as follows:

[0090] The visual positioning device 6 obtains the position information of the dermabrasion 9, and the position information includes the position point information of the dermabrasion 9 on the XY axis coordinate system, and the offset angle of the dermabrasion 9, and the angle difference information between the position of the clamping part 91 of the dermabrasion 9 and the standard position. The computer sends the position point information to the second moving mechanism 51, and the second moving mechanism 51 drives the pick-up and placement mechanism 52 to move to the position point. The computer sends the offset angle information to the lifting and rotating driving member 525, and the lifting and rotating driving member 525 drives the vacuum suction nozzle 526 to rotate the corresponding angle and then drives the vacuum suction nozzle 526 to descend to absorb the dermabrasion 9. After completing the material taking step, the lifting and rotating driving member 525 drives the vacuum suction nozzle 526 to rise, and then the computer controls the second moving mechanism 51 to drive the pick-up and placement mechanism 52 to move to the top of the assembly rod 21, and finally controls the lifting and rotating driving member 525 to drive the vacuum suction nozzle 526 to descend (the suction nozzle hole of the vacuum suction nozzle 526 can accommodate the assembly rod 21) and controls the vacuum generator 522 to stop to release the dermabrasion 9, and repeats the above steps to complete the assembly step of the dermabrasion 9.

[0091] It should be noted that the visual positioning device 6 uses a visual camera to shoot the table 11, and the shot image is transmitted to the computer, and the corresponding algorithm is used to obtain the position information of the dermabrasion 9. Visual positioning has a wide range of applications in the field of industrial automation, so it will not be described in detail here.

[0092] Furthermore, the number of lifting and rotating driving members 525 and vacuum suction nozzles 526 is set corresponding to the number of turns of the rod assembly, so that the material taking and rod penetrating device 5 can complete the assembly of multiple groups of microdermabrasion 9 at the same time, thereby further improving the efficiency of assembling microdermabrasion 9.

[0093] Furthermore, the pick-and-place mechanism 52 also includes a wiring sheath 523 and a protective enclosure 527. The protective enclosure 527 is connected to the nozzle mounting seat 521 and encloses the lifting and rotating drive member 525 to prevent the lifting and rotating drive member 525 from being bumped. The two ends of the wiring sheath 523 are respectively connected to the protective enclosure 527 and the upper part of the nozzle mounting seat 521. The wires of the lifting and rotating drive member 525 are led out from the wiring sheath 523 to protect the line from folding and wearing during movement.

[0094] like Fig.10 As shown, in the embodiment of the present invention, the vibrating feeding device 4 includes a silo 41 and a vibrating tray 42. The silo 41 is mounted on the side of the vibrating tray 42 away from the assembly device 2, and the material taking position is located above the vibrating tray 42. The operator pours the microdermabrasion 9 into the silo 41, and the microdermabrasion 9 passes through the silo 41 and then falls onto the vibrating tray 42. Then, through the silo 41, the operator can load the material away from the working area of ​​the material taking and penetrating rod device 5, and the loading process is safer; in the process of microdermabrasion 9 falling from the silo 41 into the vibrating tray 42, it is easy for multiple microdermabrasions to be stacked together, which is not conducive to the visual positioning device 6 to judge the position of the microdermabrasion 9 and the material taking and penetrating rod device 5 to absorb the microdermabrasion 9. Then, through the vibration of the vibrating tray 42, the microdermabrasion 9 in a stacked state can be spread flat on the vibrating tray 42, thereby improving the success rate of the material taking and penetrating rod device 5 to absorb the microdermabrasion 9.

[0095] Specifically, the silo 41 includes a silo body and a direct vibration motor disposed below the silo body. After the operator pours the microdermabrasion 9 into the silo body, the direct vibration motor is started to make the microdermabrasion 9 fall evenly onto the vibrating tray 42. The vibrating tray 42 is also provided with an integrated light source 421, which is used to illuminate the microdermabrasion 9 to improve the accuracy of the visual positioning device 6 in determining the position of the microdermabrasion 9. The material collection process of the microdermabrasion stacking tray equipment is as follows:

[0096] The microdermabrasion 9 is manually poured into the hopper 41, and the hopper 41 is vibrated to evenly feed the material to the vibrating tray 42. The vibrating tray 42 vibrates for a certain period of time to vibrate and flatten the microdermabrasion 9. After the vibrating tray 42 finishes vibrating, the visual positioning device 6 judges the state of the microdermabrasion 9 on the vibrating tray 42. If the number of microdermabrasion 9 in a flat state is not enough to meet a single material collection cycle and the number of microdermabrasion 9 in a flat state is less than the number of vacuum suction nozzles 526, the tray 42 is vibrated again, and the above arrangement is repeated until the number of microdermabrasion 9 in a flat state meets a single material collection cycle. Then the visual positioning device 6 sends the position information of multiple microdermabrasions 9 in a flat state to the material collection rod device 5, and the material collection rod device 5 takes the material one by one.

[0097] like Fig.11 As shown, in an embodiment of the present invention, the microdermabrasion layer stacking and loading equipment also includes a tray conveyor line 7, which is provided with a tray separation position, a loading position and a tray stacking position in sequence along its conveying direction, the tray separation position is provided with a tray separation mechanism 73, the loading position is close to the material transfer and loading device 3, and the tray stacking position is provided with a tray stacking mechanism 74.

[0098] Specifically, the tray conveyor line 7 includes a tray enclosure 71, a roller line body 72 and a blocking cylinder. The roller line body 72 forms a tray separation position, a loading position and a tray stacking position. The tray enclosure 71 is enclosed at the tray separation position and the tray stacking position of the roller line body 72 to form an accommodating space that can accommodate multiple trays 8. The blocking cylinder is arranged near the tray stacking position. The working process of the tray conveyor line 7 is as follows:

[0099] Manually place multiple unloaded trays 8 into the tray separation position, and the lifting assembly of the tray separation mechanism 73 drives the multiple trays 8 to descend one by one, and the tray separation cylinder of the tray separation mechanism 73 lifts the trays 8 sideways, thereby completing the separation of the multiple trays 8;

[0100] The roller line body 72 conveys the material tray 8, and the material tray 8 that first enters the roller line body 72 is positioned at the blocking cylinder position;

[0101] After the loading is completed, the blocking cylinder retracts, and the material tray 8 enters the stacking position along the roller line 72, and the lifting assembly of the stacking mechanism 74 and the tray separation cylinder cooperate to complete the stacking and palletizing.

[0102] In the embodiment of the present invention, the assembly device 2, the vibrating feeding device 4 and the material taking and penetrating rod device 5 are combined into a microdermabrasion assembly module, and multiple groups of microdermabrasion assembly modules are provided on one side of the material tray conveyor line 7, and two microdermabrasion assembly modules share a material transfer and loading device 3. The two assembly modules share a material transfer and loading device 3, which can reduce the occupation of the site space. The material transfer and loading device 3 alternately transfers the microdermabrasion 9 piles assembled on the two assembly devices 2 to the material tray 8, and the feeding of the microdermabrasion 9 and the collection of the microdermabrasion piles are more matched, further improving the efficiency of microdermabrasion rod assembly and loading.

[0103] Specifically, the microdermabrasion stacking and loading equipment also includes a stand, the assembly device 2, the vibrating feeding device 4 and the material picking and piercing rod device 5 are all arranged on the table top 11 of the stand 1, the adjacent areas of the two microdermabrasion assembly modules are provided with a mounting bracket 12, and the material transfer and loading device 3 and the visual positioning device 6 are both arranged on the mounting bracket 12.

[0104] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0105] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0106] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0107] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A microdermabrasion stacking device, characterized in that: include: An assembly device (2) is provided with a protruding assembly rod (21); The material taking and rod-piercing device (5) comprises a second moving mechanism (51) and a taking and placing mechanism (52) arranged on the second moving mechanism (51), wherein the second moving mechanism (51) drives the taking and placing mechanism (52) to move between the material taking position and the assembly rod (21); The material transfer and loading device (3) comprises a first moving mechanism (31) and a material transfer mechanism (32) arranged on the first moving mechanism (31); the material transfer mechanism (32) comprises a material clamping assembly (321); the first moving mechanism (31) drives the material clamping assembly (321) to move between the assembling rod (21) and the loading position; the material clamping assembly (321) comprises two clamping fingers (3212) arranged opposite to each other.

2. The microdermabrasion stacking device according to claim 1, characterized in that: The material transfer mechanism (32) also includes a material pushing assembly (322), which includes a push plate (3222) and a material unloading driving member (3221) driven and connected to the push plate (3222); the material clamping assembly (321) also includes two clamping plates and a material clamping driving member (3211) driven and connected to the clamping plates; the clamping finger portion (3212) is formed at the end of the clamping plate, and a clamping area is formed between the two clamping finger portions (3212); the pushing direction of the push plate (3222) is toward the clamping area.

3. The microdermabrasion stacking device according to claim 2, characterized in that: A contoured portion (3223) for engaging with a plurality of stacked grinding skins (9) is formed on a side of the push plate (3222) facing away from the unloading driving member (3221); And / or, both of the two clamping finger portions (3212) are provided with an assembly rod avoidance opening (3213).

4. The microdermabrasion stacking device according to claim 2, characterized in that: The material transfer and loading device (3) also includes a connecting seat (33), which is arranged between the first moving mechanism (31) and the material transfer mechanism (32), and the connecting seat (33) includes a clamping jaw mounting plate (331) and a push rod mounting frame (332) connected in sequence, the material clamping drive component (3211) is connected to the clamping jaw mounting plate (331), and the material unloading drive component (3221) is connected to the push rod mounting frame (332).

5. The microdermabrasion layer stacking device according to claim 1, characterized in that: The assembly device (2) comprises a rotating shaft mechanism (22) and a mounting support (23); the rotating shaft mechanism (22) is rotatably arranged on the mounting support (23); at least two assembly rods (21) are arranged in sequence and spaced apart along the circumferential direction of the rotating shaft mechanism (22) to form a circle of rod components; and the rotating shaft mechanism (22) is provided with one or more circles of the rod components.

6. The microdermabrasion layer stacking device according to claim 5, characterized in that: The assembly device (2) further comprises a locking and limiting mechanism (24) arranged on the mounting support (23), the locking and limiting mechanism (24) comprising a locking driving member (241) and a limiting block (242) which cooperates with and is tightly pressed against the rotating shaft (221) in the rotating shaft mechanism (22), the limiting block (242) being drivingly connected to the locking driving member (241); And / or, the rotating shaft mechanism (22) comprises a rotating shaft (221), a rotating driving member (222) drivingly connected to the rotating shaft (221), and a workstation switching sensing component, wherein the rotating shaft (221) is rotatably disposed on the mounting support (23), and the workstation switching sensing component comprises a sensing member (224) disposed on the rotating shaft (221) and a sensor (223) disposed on the mounting support (23).

7. The microdermabrasion layer stacking device according to claim 1, characterized in that: The pick-and-place mechanism (52) comprises a nozzle mounting seat (521), a lifting and rotating driving member (525) arranged on the nozzle mounting seat (521), and a vacuum nozzle (526), ​​wherein the lifting and rotating driving member (525) is drivingly connected to the vacuum nozzle (526).

8. The microdermabrasion layer stacking device according to claim 1, characterized in that: The microdermabrasion layer stacking and loading device further comprises a vibrating feeding device (4) and a visual positioning device (6), wherein the visual positioning device (6) is arranged above the vibrating feeding device (4), the material picking and penetrating rod device (5) is communicatively connected with the visual positioning device (6), and the material picking position of the material picking and penetrating rod device (5) is located above the vibrating feeding device (4).

9. The microdermabrasion layer stacking device according to claim 8, characterized in that: The vibrating feeding device (4) comprises a material bin (41) and a vibrating material tray (42); the material bin (41) is mounted on a side of the vibrating material tray (42) away from the assembling device (2); and the material taking position is located above the vibrating material tray (42).

10. The microdermabrasion layer stacking device according to claim 8, characterized in that: The assembly device (2), the vibrating feeding device (4) and the material taking and penetrating rod device (5) are combined into a microdermabrasion assembly module. The microdermabrasion layer stacking and loading equipment also includes a material tray conveyor line (7). One side of the material tray conveyor line (7) is provided with a plurality of groups of microdermabrasion assembly modules. Two of the microdermabrasion assembly modules share one material transfer and loading device (3).

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