Automatic assembling machine for roll core

Abstract

The invention discloses an automatic assembling machine for a roll core. The first feeding mechanism, the second feeding mechanism and the third feeding mechanism are arranged on the periphery of the transposition mechanism and are respectively used for feeding a lower end cover, a core cylinder and an upper end cover; the first carrying manipulator is arranged beside the first feeding mechanism and is used for grabbing the lower end cover and transferring the lower end cover to the transposition mechanism; the second carrying manipulator is arranged beside the second feeding mechanism and the third feeding mechanism and used for grabbing the core cylinder and the upper end cover and transferring the core cylinder and the upper end cover to the lower end cover, and the first adhesive tape attaching mechanism and the second adhesive tape attaching mechanism are arranged on the periphery of the transposition mechanism and adhere the core cylinder to the lower end cover and the upper end cover. The discharging mechanism is arranged beside the first carrying mechanism and used for sending out finished products, and the transposition mechanism sequentially passes through the first carrying mechanical arm, the second carrying mechanical arm, the first adhesive tape attaching mechanism and the second adhesive tape attaching mechanism.

Description

Technical field:

[0001] The invention relates to the field of automation technology, in particular to an automatic core assembly machine. Background technology:

[0002] As the core component of winding materials, the winding core tube is widely used in many industries such as printing, packaging, textiles and manufacturing. Its main function is to provide support and fixation for the coiled material to ensure the stability and integrity of the material during transportation, storage and use. For example: A winding core tube with Chinese patent authorization announcement number CN202116113U includes a tube body 11 and baffles 12 installed on both ends of the tube body 11. The baffle 12 is used to protect both ends of the product. At the same time, the support of the baffle protects the product from being squeezed, thereby ensuring the shape of the product. However, traditional winding core tubes are produced by manual assembly, which is inefficient, or are produced by one-piece molding, which not only increases the cost, but also the size of the assembled product is fixed, and it cannot be adjusted adaptively, and the versatility is poor.

[0003] In view of this, the inventor proposes the following technical solution. Summary of the invention:

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an automatic winding core assembly machine.

[0005] In order to solve the above technical problems, the present invention adopts the following technical scheme: the automatic winding core assembly machine comprises: a frame, a shifting mechanism arranged on the frame, a first feeding mechanism, a second feeding mechanism and a third feeding mechanism arranged on the periphery of the shifting mechanism and respectively used for feeding the lower end cover, the core barrel and the upper end cover, a first handling robot arranged beside the first feeding mechanism and used for grabbing the lower end cover and transferring it to the shifting mechanism, a second handling robot arranged beside the second feeding mechanism and the third feeding mechanism and used for grabbing the core barrel and the upper end cover and transferring them to the lower end cover, a first tape bonding mechanism and a second tape bonding mechanism arranged on the periphery of the shifting mechanism and bonding the core barrel to the lower end cover and the upper end cover, and a discharging mechanism arranged beside the first handling mechanism and used for delivering finished products, wherein the shifting mechanism passes through the first handling robot, the second handling robot, the first tape bonding mechanism and the second tape bonding mechanism in sequence.

[0006] Further, in the above technical scheme, the first tape laminating mechanism includes an upper tape module arranged above the switching mechanism, a tape pulling module arranged below the switching mechanism, a first laminating module and a second laminating module arranged on the upper tape module and respectively used for rolling the tape to both sides, a first positioning and cutting module arranged above the first laminating module and used for cutting the tape, a second positioning and cutting module arranged above the second laminating module and used for cutting the tape, and a third laminating module and a fourth laminating module arranged beside the tape pulling module and respectively rolling the tape to both sides, wherein the first laminating module and the second laminating module and the third laminating module and the fourth laminating module are symmetrically located above the upper end cover and below the lower end cover.

[0007] Furthermore, in the above technical solution, the second tape laminating mechanism has the same structure as the first tape laminating mechanism, but the second tape laminating mechanism also includes a steering module for clamping and rotating the semi-finished product after being glued by the first tape laminating mechanism.

[0008] Further, in the above technical solution, the first positioning and cutting module includes a first fixed plate, a first clamping plate arranged on one side of the first fixed plate and capable of relative movement to clamp the tape, a first driving device arranged on the other side of the first fixed plate and used to drive the first clamping plate to move, a first cutting knife arranged beside the first fixed plate and capable of passing through the first fixed plate and the middle of the first clamping plate to cut the tape, and a second driving device for driving the first cutting knife to retract and extend, wherein the first clamping plate is provided with a first adjusting screw and a second adjusting screw located at the top and bottom respectively and used to adjust the clamping force; the second positioning and cutting module has the same structure as the first positioning and cutting module and is symmetrically distributed.

[0009] Furthermore, in the above technical solution, the tape pulling module includes a second Z-axis movable module vertically arranged beside the shifting mechanism, a first vertical pole and a second vertical pole arranged on the second Z-axis movable module and capable of passing through the core tube, a first clamping jaw module and a second clamping jaw module respectively arranged on the top of the first vertical pole and the second vertical pole and used to clamp the tape, a seventh driving device arranged on the first vertical pole and used to drive the first clamping jaw module to clamp and release the tape, and an eighth driving device arranged on the second vertical pole and used to drive the second clamping jaw module to clamp and release the tape, wherein the first vertical pole and the second vertical pole are located parallel to one side of the second Z-axis movable module.

[0010] Furthermore, in the above technical solution, the third bonding module includes a first horizontal guide rail, a first moving seat arranged on the first horizontal guide rail, a first swing arm rotatably arranged on the first moving seat, a second rolling wheel arranged at the end of the first swing arm and used for rolling the tape, a travel guide block arranged beside the first horizontal guide rail and used for guiding the first swing arm, and a fourth driving device for driving the first moving seat to move.

[0011] Furthermore, in the above technical solution, the shifting mechanism includes a rotating disk, a fifth driving module arranged at the bottom of the rotating disk and used to drive the rotating disk to rotate, an electrical transmission module arranged at the center of the rotating disk and passing through the fifth driving module, and at least four first positioning devices arranged on the rotating disk and used to support and position the product, wherein the fifth driving module includes a hollow rotating platform and a fifth motor used to drive the hollow rotating platform to drive the rotating disk to work, and the first positioning device includes a first supporting base plate and a second supporting base plate arranged at the edge of the rotating disk and extending outward, four first arc-shaped vertical plates symmetrically distributed on the first supporting base plate and the second supporting base plate and used to press against the inner wall of the core barrel, and a sixth cylinder arranged on the rotating disk and used to drive the first supporting base plate and the second supporting base plate to perform opening and closing movements.

[0012] Furthermore, in the above technical scheme, the first feeding mechanism includes a first supporting base, a plurality of upper baffles circumferentially arranged on the first supporting base and used to cooperate in stacking and lifting the lower end covers, a second horizontal cutting module arranged between the first supporting base and the shifting mechanism and extending to the bottom of the first supporting base to receive and transfer the lower end covers, and a first dividing module arranged under the first supporting base and used to absorb and grasp the lower end covers one by one and detach them from the bottom of the upper baffle and transfer them to the second horizontal cutting module, wherein the first supporting base is provided with a feeding hole corresponding to the top of the first dividing module, the upper baffles are circumferentially distributed on the edge of the feeding hole, and the lower end of the upper baffle is provided with a protrusion for lifting the lower end cover; the third feeding mechanism has the same structure as the first feeding mechanism.

[0013] Furthermore, in the above technical solution, the first handling robot includes a third horizontal shifting and cutting module arranged between the transposition mechanism and the discharging mechanism, a third Z-axis moving module arranged on the third horizontal shifting and cutting module, a first picking device arranged on the third Z-axis moving module and used for grabbing the lower end cover and transferring the finished product, and a first height measuring module arranged on the third Z-axis moving module and used for detecting the height, wherein the first picking device includes a first support plate installed on the third Z-axis moving module and a plurality of circumferentially arranged on the first support plate and A first suction cup for sucking up the lower end cover or the finished product, a first height measuring module includes a first Z-axis guide rail vertically arranged on the third Z-axis moving module, a first Z-axis motion seat slidably arranged on the first Z-axis guide rail, a detection rod installed on the first Z-axis motion seat and extending the lower end of the first suction cup, a buffer spring arranged at the upper end of the first Z-axis motion seat and used to avoid hard contact between the detection rod and the lower end cover or the finished product, and a first detection sensor arranged on one side of the first Z-axis motion seat, wherein one end of the first loading mechanism extends between the shifting mechanism and the discharging mechanism.

[0014] Furthermore, in the above technical scheme, the discharging mechanism includes a bearing and flipping device for receiving the finished product, a sixth Z-axis movable module arranged below the bearing and flipping device, and a relaxation and compression device arranged on the sixth Z-axis movable module and on the sixth Z-axis movable module and capable of extending into the core tube to compress the tape, wherein the relaxation and compression device includes a supporting center rod vertically installed on the sixth Z-axis movable module, at least four arc-shaped pressing plates vertically distributed circumferentially arranged on the periphery of the supporting center rod and used to adhere to the tape on the inner wall of the core tube, a first hinge and a second hinge respectively hingedly arranged on the upper and lower ends of the arc-shaped pressing plate and the supporting center rod, a sliding sleeve installed on the supporting center rod, a third hinge respectively hingedly arranged between the arc-shaped pressing plate and the sliding sleeve, and a first lifting cylinder for pushing the sliding sleeve to move up and down.

[0015] After adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: in the present invention, the first feeding mechanism, the second feeding mechanism and the third feeding mechanism are arranged on the periphery of the transposition mechanism, and the lower end cover, the core barrel and the lower end cover are fed respectively, and then the first handling robot and the second handling robot successively grab the lower end cover, the core barrel and the lower end cover to the transposition mechanism for stacking and assembly, and finally the core barrel is glued and fixed to the lower end cover and the upper end cover by the first tape bonding mechanism and the second tape bonding mechanism, thereby realizing the automatic assembly of the winding core, replacing manual work, greatly improving production efficiency, and being able to quickly replace lower end covers, upper end covers and core barrels of different sizes, and replacing core barrels of different heights to realize the production of multiple winding cores, greatly improving versatility, and using tape for bonding, which is convenient for disassembly and reuse for assembly, and at the same time, the shapes of the lower end cover, core barrel and lower end cover can also be arbitrarily changed for combination use, with strong versatility. Description of the drawings:

[0016] Figure 1 is a stereogram of the present invention;

[0017] Figure 2 is a three-dimensional diagram of the first adhesive tape laminating mechanism of the present invention;

[0018] Figure 3 is a three-dimensional diagram of the first positioning and cutting module in the present invention;

[0019] Figure 4 is a three-dimensional diagram of the first laminating module in the present invention;

[0020] Figure 5 is a three-dimensional diagram of the tape pulling module of the present invention;

[0021] Figure 6 is a three-dimensional diagram of the first clamping jaw module of the present invention;

[0022] Figure 7is a three-dimensional diagram of the third laminating module in the present invention;

[0023] Figure 8 is a three-dimensional diagram of the steering module of the present invention;

[0024] Fig. 9 is a three-dimensional diagram of the transposition mechanism of the present invention;

[0025] Fig.10 It is a three-dimensional diagram of the first feeding mechanism in the present invention;

[0026] Fig.11 is a three-dimensional diagram of the first handling robot in the present invention;

[0027] Fig.12 It is a three-dimensional diagram of the first height measurement module in the present invention;

[0028] Fig.13 It is a three-dimensional diagram of the discharging mechanism of the present invention;

[0029] Fig.14 is a stereoscopic diagram of the diastolic compression device of the present invention;

[0030] Fig.15 It is a three-dimensional diagram of the second handling robot in the present invention. Specific implementation method:

[0031] The present invention is further described below in conjunction with specific embodiments and drawings.

[0032] See Figures 1 to 15As shown, a winding core automatic assembly machine includes: a frame 1, a transposition mechanism 2 arranged on the frame 1, a first feeding mechanism 3, a second feeding mechanism 4 and a third feeding mechanism 5 arranged on the periphery of the transposition mechanism 2 and respectively used for feeding the lower end cover A, the core barrel B and the upper end cover C, a first handling robot 6 arranged beside the first feeding mechanism 3 and used for grabbing the lower end cover A and transferring it to the transposition mechanism 2, a second handling robot 7 arranged beside the second feeding mechanism 4 and the third feeding mechanism 5 and used for grabbing the core barrel B and the upper end cover C and transferring them to the lower end cover A, a first tape laminating mechanism 8 and a second tape laminating mechanism 9 arranged on the periphery of the transposition mechanism 2 and bonding the core barrel B to the lower end cover A and the upper end cover C, and a discharging mechanism 10 arranged beside the first handling mechanism and used for delivering the finished product D, wherein the transposition mechanism 2 passes through the first handling robot 6, the second handling robot 7, the first tape laminating mechanism 8 and the second tape laminating mechanism 9 in sequence. By arranging the first feeding mechanism 3, the second feeding mechanism 4 and the third feeding mechanism 5 on the periphery of the transposition mechanism 2, and feeding the lower end cover A, the core tube B and the lower end cover C respectively, the first handling robot 6 and the second handling robot 7 successively grab the lower end cover A, the core tube B and the lower end cover C onto the transposition mechanism 2 for stacking and assembly, and finally the first tape bonding mechanism 8 and the second tape bonding mechanism 9 are used to glue the core tube B to the lower end cover A and the upper end cover C, thereby realizing the automatic assembly of the winding core, replacing manual work, greatly improving production efficiency, and being able to quickly replace lower end covers A, upper end covers C and core tubes B of different sizes, as well as replacing core tubes B of different heights to realize the production of multiple winding cores, greatly improving versatility, and using tape for bonding, which is convenient for disassembly and reuse for assembly, and at the same time, the shapes of the lower end cover A, the core tube B and the lower end cover C can also be arbitrarily changed for combination use, with strong versatility.

[0033] The first tape laminating mechanism 8 includes an upper tape module 81 arranged above the transposition mechanism 2, a tape pulling module 82 arranged below the transposition mechanism 2, a first laminating module 83 and a second laminating module 84 arranged on the upper tape module 81 and respectively used for rolling the tape to both sides, a first positioning and cutting module 85 arranged above the first laminating module 83 and used for cutting the tape E, a second positioning and cutting module 86 arranged above the second laminating module 84 and used for cutting the tape E, and a third laminating module 87 and a fourth laminating module 88 arranged beside the tape pulling module 82 and respectively rolling the tape to both sides, wherein the first laminating module 83 and the second laminating module 84 and the third laminating module 87 and the fourth laminating module 88 are symmetrically located above the upper end cover C and below the lower end cover A. The tape E in the upper tape module 81 is clamped by pulling the tape module 81 upward, and the tape E is pulled downward so that the tape E can pass through the core tube B, and then the upper end of the tape E is clamped and cut by the first positioning and cutting module 85 and the second positioning and cutting module 86, and then the upper end of the tape E is rolled and pasted by the first laminating module 83 and the second laminating module 84, and the lower part of the tape E is rolled and pasted by the third laminating module 87 and the fourth laminating module 88, thereby achieving the pasting of the tape E.

[0034] The second adhesive tape laminating mechanism 9 has the same structure as the first adhesive tape laminating mechanism 8, but the second adhesive tape laminating mechanism 9 also includes a steering module 91 for clamping the semi-finished product D after being glued by the first adhesive tape laminating mechanism 8 and rotating and reversing. The steering module 91 includes a rotating disk 911 arranged below the first positioning device 24, a gear disk 912 sleeved on the rotating disk 911, a main gear 913 arranged on one side of the gear disk 912 and meshing, a supporting force frame 914 arranged on the gear disk 912 and rotating therewith, a clamp cylinder 915 arranged on the supporting stand 914 and used to clamp the lower end cover A, and a motor 919 used to drive the main gear 913 to drive the gear disk 912 to rotate. The periphery of the gear plate 912 is provided with a first photoelectric sensor 916 and a second photoelectric sensor 917 for detecting the position, and the support frame 914 is provided with a sensing sheet 918 that can pass through the first photoelectric sensor 916 and the second photoelectric sensor 917, and the first photoelectric sensor 916 and the second photoelectric sensor 917 have an angular difference of 90°, that is, the support frame 914 swings the second photoelectric sensor 917 exactly 90° from the first photoelectric sensor 916.

[0035] The first positioning and cutting module 85 includes a first fixed plate 851, a first clamping plate 852 arranged on one side of the first fixed plate 851 and capable of relative movement to clamp the tape E, a first driving device 853 arranged on the other side of the first fixed plate 851 and used to drive the first clamping plate 852 to move, a first cutting knife 854 arranged beside the first fixed plate 851 and capable of passing through the middle of the first fixed plate 851 and the first clamping plate 852 to cut the tape E, and a second driving device 856 for driving the first cutting knife 854 to extend and retract, wherein the first clamping plate 852 is provided with a first adjusting screw 857 and a second adjusting screw 858 located at the top and bottom respectively and used to adjust the clamping force; the second positioning and cutting module 86 has the same structure as the first positioning and cutting module 85 and is symmetrically distributed. The first driving device 853 is a cylinder, and a movable frame 859 for supporting the first clamping plate 852 is arranged on the piston of the cylinder. The first clamping plate 852 is provided with two pieces and symmetrically installed on both sides of the movable frame 859, and the movable frame 859 and the first clamping plate 852 are connected by a first support rod 850 that penetrates the first fixed plate 851, wherein the first driving device 853 is connected to the upper end of the movable frame 859, and a first notch 85A is arranged in the middle of the first clamping plate 852 between the first adjusting screw 857 and the second adjusting screw 858. The first notch 85A is utilized to make the upper and lower parts of the first clamping plate 852 have different clamping forces, and the first driving device 853 is connected to the upper end of the movable frame 859 so that the upper clamping force of the first clamping plate 852 is greater than the lower clamping force. By taking advantage of the small clamping force at the lower end of the first clamping plate 852 , when the first laminating module 83 and the second laminating module 84 are rolling the adhesive tape E, the adhesive tape E can be directly pulled out from the first clamping plate 852 .

[0036] The upper tape module 81 includes a first Z-axis moving module 811 vertically arranged beside the shifting mechanism 2, a first horizontal cutting module 812 arranged on the first Z-axis moving module 811, and a first tape reel 813 and a second tape reel 814 symmetrically installed on the first horizontal cutting module 812, wherein the first positioning and cutting modules 85 and the second positioning and cutting modules 86 and the first bonding module 83 and the second bonding module 84 are all symmetrically located on the first horizontal cutting module 812, and are located successively below the first tape reel 813 and the second tape reel 814; the first positioning and cutting modules 85 and the second positioning and cutting modules 86 are also respectively provided with a first guide wheel 815 and a second guide wheel 816 for transferring and guiding the tape E pulled out of the first tape reel 813 and the second tape reel 814.

[0037] The first laminating module 83 includes a first rolling wheel 831, a third driving device 832 for driving the first rolling wheel 831, a first supporting frame 833 disposed on the third driving device 832 and used to support the first rolling wheel 831, and a first floating spring 834 and a second floating spring 835 disposed on both sides of the first supporting frame 833 and pressed against both ends of the first rolling wheel 831, wherein the first supporting frame 833 is in a "concave" shape, and the adhesive tape E passes through the middle of the first supporting frame 833; the second laminating module 84 has the same structure as the first laminating module 83. The first supporting frame 833 has a first limiting hole 83A and a second limiting hole 83B for installing the first floating spring 834 and the second floating spring 835 at both ends, and the two ends of the first rolling wheel 831 extend into the first limiting hole 83A and the second limiting hole 83B respectively.

[0038] The tape pulling module 82 includes a second Z-axis moving module 821 vertically arranged beside the shifting mechanism 2, a first vertical rod 822 and a second vertical rod 823 arranged on the second Z-axis moving module 821 and capable of passing through the core tube B, a first clamping jaw module 824 and a second clamping jaw module 825 respectively arranged on the top of the first vertical rod 822 and the second vertical rod 823 and used to clamp the tape E, a seventh driving device 826 arranged on the first vertical rod 822 and used to drive the first clamping jaw module 824 to clamp and release the tape E, and an eighth driving device 827 arranged on the second vertical rod 823 and used to drive the second clamping jaw module 824 to clamp and release the tape E, wherein the first vertical rod 822 and the second vertical rod 823 are parallelly located on one side of the second Z-axis moving module 821. The first clamping jaw module 824 includes a support mounting seat 824A fixed on the first vertical rod 822, a first clamping arm 824B and a second clamping arm 824C slidably mounted on the support mounting seat 824A, a first hinged connection block 824D hingedly mounted on the support mounting seat 824A and hinged at both ends to the first clamping arm 824B and the seventh driving device 826, and a second hinged connection block 824E hingedly mounted on the support mounting seat 824A and hinged at both ends to the second clamping arm 824C and the seventh driving device 826. The second clamping jaw module 825 has the same structure as the first clamping jaw module 24. The seventh driving device 826 is a cylinder.

[0039] The third laminating module 87 includes a first horizontal guide rail 871, a first moving seat 872 disposed on the first horizontal guide rail 871, a first swing arm 873 rotatably disposed on the first moving seat 872, a second rolling wheel 874 disposed at the end of the first swing arm 873 and used for rolling the adhesive tape E, a travel guide block 875 disposed beside the first horizontal guide rail 871 and used for guiding the first swing arm 873, and a fourth driving device 876 for pushing the first moving seat 872 to move. A limit screw 877 for sliding and stopping the first moving seat 872 is disposed at one end of the first horizontal guide rail 871.

[0040] The shifting mechanism 2 includes a rotating disk 21, a fifth driving module 22 arranged at the bottom of the rotating disk 21 and used to drive it to rotate, an electrical transmission module 23 arranged at the center of the rotating disk 21 and passing through the fifth driving module 22, and at least four first positioning devices 24 arranged on the rotating disk 21 and used to support and position the product, wherein the fifth driving module 22 includes a hollow rotating platform 221 and a fifth motor 222 used to drive the hollow rotating platform 221 to drive the rotating disk 21 to work, and the first positioning device 24 includes a first supporting base plate 241 and a second supporting base plate 242 arranged at the edge of the rotating disk 21 and extending outward, four first arc-shaped vertical plates 243 symmetrically distributed on the first supporting base plate 241 and the second supporting base plate 242 and used to press against the inner wall of the core barrel B, and a sixth cylinder 244 arranged on the rotating disk 21 and used to drive the first supporting base plate 241 and the second supporting base plate 242 to make opening and closing movements. Among them, the hollow rotating platform 221 is connected to the fifth motor 222 through a pulley set, and a guide rail for the first supporting base plate 241 and the second supporting base plate 242 to slide is provided on the rotating disk 21, and the first supporting base plate 241 and the second supporting base plate 242 are symmetrically installed on the guide rail.

[0041] The rotating disk 21 is also provided with at least four solenoid valves 25 for controlling the sixth cylinder 244 in the first positioning device 24 respectively, and the electrical transmission module 23 is peripherally provided with a plurality of splitters 26 for gas pipe branching.

[0042] The first feeding mechanism 3 includes a first supporting base 31, a plurality of upper baffles 32 circumferentially arranged on the first supporting base 31 and used to stack and lift the lower end cover A, a second horizontal cutting module 33 arranged between the first supporting base 31 and the shifting mechanism 2 and extending to the bottom of the first supporting base 31 to receive and transfer the lower end cover A, and a first dividing module 34 arranged below the first supporting base 31 and used to absorb and grasp the lower end covers A one by one from the bottom of the upper baffle 32 and transfer them to the second horizontal cutting module 33, wherein the first supporting base 31 is provided with a feeding hole corresponding to the top of the first dividing module 34, the upper baffles 32 are circumferentially distributed on the edge of the feeding hole, and the lower end of the upper baffle 32 is provided with a protrusion 321 for lifting the lower end cover A; the third feeding mechanism 5 has the same structure as the first feeding mechanism 3. The first material distribution module 34 includes a plurality of first guide rods 341 arranged at the lower end of the first support base 31, a first lifting floating seat 342 slidably installed on the first guide rods 341, a plurality of second suction cups 343 arranged on the first lifting floating seat 342 and used to suck the bottom of the lower end cover A, and a ninth cylinder 344 used to drive the first lifting floating seat 342 to move up and down.

[0043] The first handling robot 6 includes a third horizontal cutting module 61 arranged between the transposition mechanism 2 and the discharging mechanism 10, a third Z-axis moving module 62 arranged on the third horizontal cutting module 61, a first material picking device 63 arranged on the third Z-axis moving module 62 and used to grab the lower end cover A and the finished product D for transfer, and a first height measuring module 64 arranged on the third Z-axis moving module 62 and used to detect the height, wherein the first material picking device 63 includes a first support plate 631 installed on the third Z-axis moving module 62 and a plurality of first suction plates 631 circumferentially arranged on the first support plate 631 and used to suck the lower end cover A or the finished product D. Plate 632, the first height measuring module 64 includes a first Z-axis guide rail 641 vertically arranged on the third Z-axis moving module 62, a first Z-axis motion seat 642 slidably arranged on the first Z-axis guide rail 641, a detection rod 643 installed on the first Z-axis motion seat 642 and extending from the lower end of the first suction cup 632, a buffer spring 644 arranged at the upper end of the first Z-axis motion seat 642 and used to avoid hard contact between the detection rod 643 and the lower end cover A or the finished product D, and a first detection sensor 645 arranged on one side of the first Z-axis motion seat 642, wherein one end of the first loading mechanism 3 extends to between the shifting mechanism 2 and the discharging mechanism 10.

[0044] The second transport robot 7, the first tape laminating mechanism 8 and the second tape laminating mechanism 9 are respectively provided with a second height measuring module, a third height measuring module 89 and a fourth height measuring module for detecting height.

[0045] The discharging mechanism 10 includes a load-bearing and flipping device 11 for receiving the finished product D, a sixth Z-axis moving module 12 arranged below the load-bearing and flipping device 11, and a stretching and pressing device 13 arranged on the sixth Z-axis moving module 12 and capable of extending into the core barrel B to press the adhesive tape E, wherein the stretching and pressing device 13 includes a supporting center rod 131 vertically mounted on the sixth Z-axis moving module 12, at least four vertically circumferentially distributed An arc-shaped pressing piece 132 is placed on the periphery of the supporting center rod 131 and is used to stick to the inner wall tape E of the core tube B, a first hinge 133 and a second hinge 134 are respectively hingedly arranged on the arc-shaped pressing piece 132 and the upper and lower ends of the supporting center rod 131, a sliding sleeve 135 is installed on the supporting center rod 131, a third hinge 136 is respectively hingedly arranged between the arc-shaped pressing piece 132 and the sliding sleeve 135, and a first lifting cylinder 137 is used to push the sliding sleeve 135 to move up and down. The sliding sleeve 135 is pushed up and down along the supporting center rod 131 by the first lifting cylinder 137. Since the arc-shaped pressure plate 132 is hinged and fixed to the supporting center rod 131 in the up and down directions, when the sliding sleeve 135 slides upward, the arc-shaped pressure plate 132 will be pushed upward and outward at the same time through the third hinge 136, thereby realizing the synchronous outward expansion of the four arc-shaped pressure plates 132, and the tape E on the inner wall of the core tube B is compressed. When the first lifting cylinder 137 pulls the sliding sleeve 135 to move downward, the arc-shaped pressure plate 132 will be pulled downward and inward through the third hinge 136, thereby realizing the synchronous retraction of the four arc-shaped pressure plates 132.

[0046] The carrying and turning device 11 includes a first support frame 111, a first carrying plate 112 hingedly mounted on the first support frame 111 and used to carry the finished product D, a second lifting cylinder 113 arranged at one end of the first carrying plate 112 and used to promote its turning, and a first incoming material sensor 114 arranged on the first carrying plate 112 and used to detect whether there is a finished product D.

[0047] The second handling robot 7 includes a fourth horizontal shifting and cutting module 71 arranged between the transposition mechanism 2 and the third loading mechanism 5, a fourth Z-axis moving module 72 arranged on the fourth horizontal shifting and cutting module 71, a second material picking device 73 arranged on the fourth Z-axis moving module 72 and used for grabbing the upper end cover C for transfer, a third material picking device 74 arranged on the fourth horizontal shifting and cutting module 71 and used for grabbing the core barrel B for transfer, and a second height measuring module 75 arranged on the fourth Z-axis moving module 72 and used for detecting the height, wherein the second material picking device 73 has the same structure as the first material picking device 63, and the second height measuring module 75 has the same structure as the first height measuring module 64. The third material taking device 74 includes a second lifting cylinder 741, a four-claw chuck 742 arranged on the piston of the second lifting cylinder 741, an inner clamp arm 743 arranged on the four-claw chuck 742 and expanding outward to press against the inner wall of the core barrel B, a pressing shaft 744 arranged at the end of the inner clamp arm 743 and arranged vertically, and a guide rod frame 745 for guiding the lifting movement of the four-claw chuck 742. A height sensor 746 for detecting height is also arranged next to the second lifting cylinder 741. The second feeding mechanism 4 is a conveyor belt module. The core barrel B is placed at one end of the conveyor module by manual or mechanical hands, and then the second feeding mechanism 4 transfers the core barrel B to the bottom of the second handling robot 7.

[0048] In summary, when the present invention is working, firstly, the lower end cover A and the upper end cover C are stacked and placed in the first feeding mechanism 3 and the third feeding mechanism 5 respectively by manual operation, wherein the shape and size of the lower end cover A and the upper end cover C may be the same or different, and then the core barrel B is placed in the second feeding mechanism 4 by manual operation; further, the lower end covers A are separated and transferred one by one to the bottom of the first handling robot 7 by the first feeding mechanism 3, and then the lower end covers A are grabbed and moved to the position change mechanism 2 by the first handling robot 7, and the lower end covers A are sleeved on the first arc-shaped vertical plate 243 of the first positioning device 24, and the lower end covers A are transferred to the bottom of the second handling robot 8 by the position change mechanism 2; further The second feeding mechanism 4 and the third feeding mechanism 5 respectively move the core barrel B and the upper end cover C to the bottom of the second handling robot 8, and the second handling robot 8 grabs the core barrel B and the upper end cover C and moves them to the top of the transposition mechanism 2, and the core barrel B and the upper end cover C are sequentially sleeved on the first arc-shaped vertical plate 243 of the first positioning device 24, and then the sixth cylinder 244 of the first positioning device 24 pushes the first supporting bottom plate 241 and the second supporting bottom plate 242 to separate, so that the four first arc-shaped vertical plates 243 expand outward to contact and press against the inner wall of the core barrel B, so as to realize the positioning of the lower end cover A, the core barrel B and the upper end cover C; further, the assembled lower end cover A and the core barrel B are assembled by the transposition mechanism 2 The upper end cover C is moved to the first tape bonding mechanism 8, and the tape pulling module 82 is first raised to clamp the end of the upper tape E and pull it downward, so that the tape E passes through the core tube B, and then the tape E is cut by the first positioning and cutting module 85 and the second positioning and cutting module 86, and the end of the tape E is rolled and bonded to the upper end cover C and the lower end cover A by the first bonding module 83, the second bonding module 84, the third bonding module 87 and the fourth bonding module 88, so that the product is bonded and fixed in two relative directions; further, the lower end cover A, the core tube B and the upper end cover C are moved to the second tape bonding mechanism 9 by the transposition mechanism 2, and the lower end cover A is first clamped and rotated by the steering module 91 90°, and then the second tape laminating mechanism 9 pastes the tape E, so that the four tapes E are respectively located at the four directions of the product; further, the position change mechanism 2 moves the finished product D to the initial position, and the first handling robot 6 transfers the finished product D to the discharging mechanism 10, and the four tapes E on the inner wall of the core tube B are compressed and flattened by the relaxation and compression device 13 of the discharging mechanism 10, so as to achieve stable lamination of the tape E with the lower end cover A, the core tube B and the upper end cover C, and finally, the carrying flipping device 11 flips the finished product D for discharge, and the first handling robot 6 continues to grab the lower end cover A sent by the first feeding mechanism 4 to the empty position of the position change mechanism 2 to continue assembly production.

[0049] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

Claims

1. A core automatic assembly machine, characterized in that: include: A frame (1), a transposition mechanism (2) arranged on the frame (1), a first feeding mechanism (3), a second feeding mechanism (4) and a third feeding mechanism (5) arranged on the periphery of the transposition mechanism (2) and used for feeding the lower end cover (A), the core barrel (B) and the upper end cover (C) respectively, a first handling robot (6) arranged beside the first feeding mechanism (3) and used for grabbing the lower end cover (A) and transferring it to the transposition mechanism (2), and a first handling robot (6) arranged beside the second feeding mechanism (4) and the third feeding mechanism (5) and used for grabbing the core barrel (B) and the upper end cover (C) is transferred and placed on the lower end cover (A) by a second handling robot (7), a first tape laminating mechanism (8) and a second tape laminating mechanism (9) are arranged on the periphery of the switching mechanism (2) and are used to bond the core tube (B) to the lower end cover (A) and the upper end cover (C), and a discharging mechanism (10) is arranged beside the first handling mechanism () and is used to deliver the finished product (D), wherein the switching mechanism (2) passes through the first handling robot (6), the second handling robot (7), the first tape laminating mechanism (8) and the second tape laminating mechanism (9) in sequence.

2. The automatic core assembly machine according to claim 1, characterized in that: The first adhesive tape laminating mechanism (8) comprises an upper adhesive tape module (81) arranged above the position-changing mechanism (2), a tape pulling module (82) arranged below the position-changing mechanism (2), a first laminating module (83) and a second laminating module (84) arranged on the upper adhesive tape module (81) and used for rolling the adhesive tape to both sides respectively, a first positioning and cutting module (85) arranged above the first laminating module (83) and used for cutting the adhesive tape (E), and a first positioning and cutting module (85) arranged on the first laminating module (83) and used for cutting the adhesive tape (E). A second positioning and cutting module (86) is disposed above the second laminating module (84) and is used for cutting the adhesive tape (E), and a third laminating module (87) and a fourth laminating module (88) are disposed beside the adhesive tape pulling module (82) and are used for rolling the adhesive tape to both sides respectively, wherein the first laminating module (83) and the second laminating module (84) and the third laminating module (87) and the fourth laminating module (88) are symmetrically located above the upper end cover (C) and below the lower end cover (A).

3. The automatic core assembly machine according to claim 2, characterized in that: The second tape laminating mechanism (9) has the same structure as the first tape laminating mechanism (8), but the second tape laminating mechanism (9) further comprises a steering module (91) for clamping and rotating the semi-finished product (D) after being glued by the first tape laminating mechanism (8).

4. The automatic core assembly machine according to claim 2, characterized in that: The first positioning and cutting module (85) comprises a first fixed plate (851), a first clamping plate (852) arranged on one side of the first fixed plate (851) and capable of relative movement to clamp the adhesive tape (E), a first driving device (853) arranged on the other side of the first fixed plate (851) and used to drive the first clamping plate (852) to move, a first cutting knife (854) arranged on the side of the first fixed plate (851) and capable of passing through the middle of the first fixed plate (851) and the first clamping plate (852) to cut the adhesive tape (E), and a second driving device (856) used to drive the first cutting knife (854) to extend and retract, wherein the first clamping plate (852) is provided with a first adjusting screw (857) and a second adjusting screw (858) located at the top and bottom respectively and used to adjust the clamping force; the second positioning and cutting module (86) has the same structure as the first positioning and cutting module (85) and is symmetrically distributed.

5. The automatic core assembly machine according to claim 2, characterized in that: The tape pulling module (82) includes a second Z-axis movable module (821) vertically arranged beside the shifting mechanism (2), a first vertical rod (822) and a second vertical rod (823) arranged on the second Z-axis movable module (821) and capable of passing through the core tube (B), a first clamping claw module (824) and a second clamping claw module (825) respectively arranged on the top of the first vertical rod (822) and the second vertical rod (823) and used for clamping the tape (E), a seventh driving device (826) arranged on the first vertical rod (822) and used for driving the first clamping claw module (824) to clamp and release the tape (E), and an eighth driving device (827) arranged on the second vertical rod (823) and used for driving the second clamping claw module (824) to clamp and release the tape (E), wherein the first vertical rod (822) and the second vertical rod (823) are parallelly located on one side of the second Z-axis movable module (821).

6. The automatic core assembly machine according to claim 2, characterized in that: The third bonding module (87) includes a first horizontal guide rail (871), a first moving seat (872) arranged on the first horizontal guide rail (871), a first swing arm (873) rotatably arranged on the first moving seat (872), a second rolling wheel (874) arranged at the end of the first swing arm (873) and used for rolling the adhesive tape (E), a travel guide block (875) arranged beside the first horizontal guide rail (871) and used for guiding the first swing arm (873), and a fourth driving device (876) for driving the first moving seat (872) to move.

7. The automatic core assembly machine according to any one of claims 1 to 6, characterized in that: The position change mechanism (2) comprises a rotating disk (21), a fifth driving module (22) arranged at the bottom of the rotating disk (21) and used to drive the rotating disk (21) to rotate, an electrical transmission module (23) arranged at the center of the rotating disk (21) and passing through the fifth driving module (22), and at least four first positioning devices (24) arranged on the rotating disk (21) and used to support and position the product, wherein the fifth driving module (22) comprises a hollow rotating platform (221) and a first positioning device (24) for driving the hollow rotating platform (221) to drive the rotating disk (21) to work. The fifth motor (222) of the rotary disk (21) comprises a first supporting base plate (241) and a second supporting base plate (242) which are arranged on the edge of the rotary disk (21) and extend outward, four first arc-shaped vertical plates (243) which are symmetrically arranged on the first supporting base plate (241) and the second supporting base plate (242) and are used to press against the inner wall of the core barrel (B), and a sixth cylinder (244) which is arranged on the rotary disk (21) and is used to drive the first supporting base plate (241) and the second supporting base plate (242) to perform opening and closing movements.

8. The automatic core assembly machine according to any one of claims 1 to 6, characterized in that: The first loading mechanism (3) comprises a first supporting base (31), a plurality of upper baffles (32) circumferentially arranged on the first supporting base (31) and used to stack and lift the lower end covers (A), a second horizontal cutting module (33) arranged between the first supporting base (31) and the shifting mechanism (2) and extending below the first supporting base (31) to receive and transfer the lower end covers (A), and a second horizontal cutting module (33) arranged below the first supporting base (31) and used to absorb and grasp the lower end covers (A) one by one. A first material dividing module (34) is detached from the bottom of the upper baffle plate (32) and transferred to the second horizontal cutting module (33), wherein a material discharge hole () corresponding to the top of the first material dividing module (34) is provided on the first support base (31), the upper baffle plate (32) is circumferentially distributed at the edge of the material discharge hole (), and a protrusion (321) for lifting the lower end cover (A) is provided at the lower end of the upper baffle plate (32); the third feeding mechanism (5) has the same structure as the first feeding mechanism (3).

9. The automatic core assembly machine according to any one of claims 1 to 6, characterized in that: The first handling robot (6) comprises a third horizontal shifting and cutting module (61) arranged between the shifting mechanism (2) and the discharging mechanism (10), a third Z-axis moving module (62) arranged on the third horizontal shifting and cutting module (61), a first material picking device (63) arranged on the third Z-axis moving module (62) and used for grabbing the lower end cover (A) and the finished product (D) for transfer, and a first height measuring module (64) arranged on the third Z-axis moving module (62) and used for detecting the height, wherein the first material picking device (63) comprises a first support plate (631) installed on the third Z-axis moving module (62) and a plurality of first suction cups circumferentially arranged on the first support plate (631) and used for sucking the lower end cover (A) or the finished product (D) (632), the first height measuring module (64) includes a first Z-axis guide rail (641) vertically arranged on the third Z-axis moving module (62), a first Z-axis moving seat (642) slidably arranged on the first Z-axis guide rail (641), a detection rod (643) installed on the first Z-axis moving seat (642) and extending from the lower end of the first suction cup (632), a buffer spring (644) arranged at the upper end of the first Z-axis moving seat (642) and used to avoid hard contact between the detection rod (643) and the lower end cover (A) or the finished product (D), and a first detection sensor (645) arranged on one side of the first Z-axis moving seat (642), wherein one end of the first loading mechanism (3) extends between the shifting mechanism (2) and the discharging mechanism (10).

10. The automatic core assembly machine according to any one of claims 1 to 6, characterized in that: The discharging mechanism (10) comprises a load-bearing and flipping device (11) for receiving the finished product (D), a sixth Z-axis moving module (12) arranged below the load-bearing and flipping device (11), and a relaxation and compression device (13) arranged on the sixth Z-axis moving module (12) and capable of extending into the core barrel (B) to compress the adhesive tape (E), wherein the relaxation and compression device (13) comprises a supporting center rod (131) vertically mounted on the sixth Z-axis moving module (12), at least four vertically circumferentially distributed and arranged on the sixth Z-axis moving module (12), and a plurality of support members (131) arranged on the sixth Z-axis moving module (12). An arc-shaped pressing piece (132) is provided on the periphery of the supporting center rod (131) and is used to adhere to the inner wall tape (E) of the core tube (B); a first hinge (133) and a second hinge (134) are respectively hingedly arranged on the upper end and the lower end of the arc-shaped pressing piece (132) and the supporting center rod (131); a sliding sleeve (135) is installed on the supporting center rod (131); a third hinge (136) is respectively hingedly arranged between the arc-shaped pressing piece (132) and the sliding sleeve (135); and a first lifting cylinder (137) is used to push the sliding sleeve (135) to move up and down.

Images