Graphite flake rolling and pasting manipulator and control method thereof

Abstract

The invention belongs to the technical field of rolling and pasting equipment, and particularly relates to a graphite flake rolling and pasting mechanical arm and a control method thereof.The graphite flake rolling and pasting mechanical arm comprises an X-axis carrying assembly, a Y-axis carrying assembly is arranged on the X-axis carrying assembly, a Z-axis carrying assembly is arranged on the Y-axis carrying assembly, a graphite flake suction component is arranged at the lower end of the Z-axis carrying assembly, and a rolling and pasting assembly is arranged on the side face of the graphite flake suction component; the graphite flake suction component transfers graphite flakes to the surface of a middle frame product, the graphite flakes are attached to the middle frame product in a rolling mode through the rolling and attaching assembly, the graphite flakes are transferred to the upper surface of the middle frame product through cooperation of the X-axis carrying assembly, the Y-axis carrying assembly and the Z-axis carrying assembly, and a roller at the front end of the rolling and attaching assembly extends out and abuts against the upper edges of the graphite flakes. The graphite sheet rolling and pasting assembly is controlled to move backwards through the X-axis carrying assembly, the graphite sheet is rolled through the rolling wheels, the graphite sheet is pasted on the middle frame product in a rolling mode, and meanwhile bubbles generated after the middle frame product and the graphite sheet are pasted are avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of rolling equipment, and in particular relates to a graphite sheet rolling robot and a control method thereof. Background Art

[0002] At present, the middle frames of mobile phones on the market need to be attached with graphite sheets. Currently, the main methods of attaching graphite sheets on products are manual fixture attachment and automatic equipment attachment. However, no matter which method is used to attach graphite sheets, bubbles are easily generated, affecting the appearance and subsequent use; For example, the patent application number is CN202110067290.1, an automatic graphite sheet pasting machine, including a machine body and a loading and unloading device, a turntable device, a graphite sheet feeding device, a graphite sheet moving device and a pasting device arranged on the machine body, the turntable device includes a rotating disk and a plurality of first positioning jigs arranged on the edge of the rotating disk along the central circumference of the rotating disk, the loading and unloading device, the graphite sheet feeding device, the graphite sheet moving device and the pasting device are sequentially arranged on the outer periphery of the rotating disk along the clockwise rotation direction of the rotating disk; The loading and unloading device is configured to input the metal part into the first positioning jig and to remove and output the workpiece with the graphite sheet attached from the first positioning jig; the graphite sheet feeding device is configured to input the graphite sheet; the graphite sheet moving device is configured to input the graphite sheet into the first positioning jig and attach it to the top of the metal part; the attaching device is configured to press the graphite sheet on the first positioning jig to attach it to the metal part. However, the disadvantage of this technical solution is that bubbles are easily generated during the graphite sheet attaching process, which affects the appearance and subsequent use. Summary of the invention

[0003] The purpose of the present invention is to provide a graphite sheet rolling robot and a control method thereof to solve the problems in the prior art. The specific technical solution is as follows: A graphite sheet rolling robot comprises an X-axis carrying component, a Y-axis carrying component is mounted on the X-axis carrying component, a Z-axis carrying component is mounted on the Y-axis carrying component, a graphite sheet suction component is disposed at the lower end of the Z-axis carrying component, a rolling component is disposed on the side of the graphite sheet suction component, the graphite sheet suction component transfers the graphite sheet to the surface of a middle frame product, and the graphite sheet is rolled and pasted on the middle frame product through the rolling component.

[0004] Furthermore, the X-axis carrying assembly includes a front support and a rear support, an X-axis slide rail is fixed on the front support, a motor 1 is fixed to the end of the X-axis slide rail, an output end of the motor 1 is connected to a screw rod 1 through a gear, the screw rod 1 rotates in the X-axis slide rail, the X-axis slide rail is threadedly connected to a slider 1, the slider 1 slides on the X-axis slide rail, the slider 1 is fixedly connected to one end of the Y-axis base plate, the other end of the Y-axis base plate slides on the X-axis rear slide rail, the X-axis rear slide rail is fixed on the rear support, and the Y-axis carrying assembly is installed on the Y-axis base plate.

[0005] Furthermore, an X-axis drag chain base plate is fixed on the front support, the X-axis drag chain base plate is fixedly connected to one end of the X-axis drag chain, the other end of the X-axis drag chain is fixed to the X-axis drag chain connecting plate, the lower end of the X-axis drag chain connecting plate is fixed to the Y-axis base plate, the front support is fixedly connected to the middle frame camera assembly, and the rear support is fixedly connected to the graphite sheet camera assembly.

[0006] Further, the Y-axis carrier assembly includes a Y-axis slide rail, the Y-axis slide rail is installed on the Y-axis bottom plate, a second motor is fixed to the end of the Y-axis slide rail, the output end of the second motor is connected to a second screw rod, the second screw rod is rotatably connected in the Y-axis slide rail, the second screw rod is threadedly connected to a second slider, the second slider slides on the Y-axis slide rail, and a Z-axis carrier assembly is installed on the second slider; A Y-axis drag chain base plate is fixed on the side of the Y-axis slide rail of the Y-axis carrier assembly, the Y-axis drag chain base plate is fixedly connected to one end of the Y-axis drag chain, the other end of the Y-axis drag chain is fixed on the Y-axis drag chain connecting plate, the lower end of the Y-axis drag chain connecting plate is fixed on the slider 2, and a wire pressing plate is fixed on the upper end of the Y-axis drag chain connecting plate.

[0007] Furthermore, the Z-axis carrying component includes a Z-axis slide rail, which is installed on a slider two. A motor bracket one is fixed to the upper end of the slider two, and a motor three is fixed to the lower end of the motor bracket. The output end of the motor three is connected to the screw rod three through a gear. The screw rod three is rotatably connected in the Z-axis slide rail, and the screw rod three is threadedly connected to the slider three. The slider three slides on the Z-axis slide rail, and the slider three is fixedly connected to one end of the Z-axis drag chain. The other end of the Z-axis drag chain is fixed to the Y-axis drag chain connecting plate. A graphite sheet suction component is provided at the lower end of the slider three.

[0008] Furthermore, the graphite sheet suction component includes a motor bracket 2, which is fixed at the lower end of the slider 3, and the motor bracket 2 is fixedly connected to the motor 4. The output end of the motor 4 is connected to the rotating shaft, and the lower end of the rotating shaft is fixedly connected to the labeling head bracket. An adsorption plate is provided at the lower end of the labeling head bracket, and a rolling assembly is provided on the side of the labeling head bracket.

[0009] Furthermore, the rolling assembly includes a cylinder 1, which is fixed to the side of the labeling head bracket, the output end of the cylinder 1 is connected to the roller bracket, the lower end of the roller bracket is rotatably connected to a roller, and a clamping assembly is fixed on the labeling head bracket.

[0010] Furthermore, the clamping assembly includes a motor five, which is fixed in the labeling head bracket, and the output end of the motor five is connected to a rotating rod one, both ends of the rotating rod one are rotatably connected to a rotating rod two, the rotating rod two is rotatably connected to a push rod, and the two ends of the push rod respectively pull the two clamp arms one to slide in the labeling head bracket, the clamp arm one is slidably connected to the clamp arm two, a spring one is provided between the clamp arm one and the clamp arm two, a long groove is provided at the lower end of the clamp arm two, a clamp claw is slidably connected in the long groove, and the screw portion of the clamp claw is fixed to the lower end of the clamp arm two by two nuts.

[0011] Furthermore, a bracket is provided on the side of the front support, and a limit frame assembly is provided on the bracket. A plurality of middle frame products are arranged in the limit frame assembly, and the middle frame products at the bottom layer are placed on the alternating transport assembly through the discharge assembly.

[0012] A control method for a graphite sheet rolling and pasting robot, applied to any of the above-mentioned graphite sheet rolling and pasting robots, comprises the following steps: S1. Place multiple middle frame products to be bonded with graphite sheets into a limiting frame assembly, and place the middle frame products onto an alternating carrier assembly through a material discharge assembly; S2, the alternating transport assembly transports the middle frame product to the bottom of the middle frame camera assembly for photo alignment, and then transports it to the preset position after photo alignment; S3, through the Y-axis carrying assembly, the Y-axis carrying assembly and the Z-axis carrying assembly, the graphite sheet suction component is controlled to suck the graphite sheet and transfer it to the surface of the middle frame product, and the graphite sheet is rolled onto the middle frame product through the rolling assembly.

[0013] The advantages of the present invention are: The graphite sheet suction component is controlled to move in the X-axis direction by the Y-axis carrier component, the graphite sheet suction component is controlled to move in the Y-axis direction by the Y-axis carrier component, and the graphite sheet suction component is controlled to move in the Z-axis direction by the Z-axis carrier component, and then the graphite sheet suction component is controlled to move above the graphite sheet by the cooperation of the X-axis carrier component and the Y-axis carrier component, and then the graphite sheet suction component is controlled to move downward by the Z-axis carrier component, and the lower end of the graphite sheet suction component contacts the graphite sheet and sucks it, and then the graphite sheet suction component is controlled to move upward by the X-axis carrier component and the Y-axis carrier component. The carrier assembly and the Z-axis carrier assembly cooperate with each other to transfer the graphite sheet to the upper surface of the middle frame product. At this time, the suction force of the graphite sheet suction component on the graphite sheet changes from strong suction to weak suction, the rolling assembly extends out and rests on the edge of the graphite sheet, and the graphite sheet suction component is controlled to move backward by the X-axis carrier assembly. The rolling assembly rolls the graphite sheet and rolls the graphite sheet on the middle frame product. Since the rolling assembly rolls the graphite sheet from top to bottom, the bubbles between the middle frame product and the graphite sheet are discharged during the rolling process to avoid bubbles after the middle frame product and the graphite sheet are bonded. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a schematic diagram of the structure of the X-axis carrier assembly of the present invention; Figure 4 The Y-axis carrier assembly structure of the present invention is schematically shown. Figure 1 ; Figure 5 The Y-axis carrier assembly structure of the present invention is schematically shown. Figure 2 ; Figure 6 Schematic diagram of the structure of the graphite sheet suction component of the present invention Figure 1 ; Figure 7 Schematic diagram of the structure of the graphite sheet suction component of the present invention Figure 2 ; Figure 8 The clamping assembly structure of the present invention is schematically shown in FIG. Figure 1 ; Fig. 9 The clamping assembly structure of the present invention is schematically shown in FIG. Figure 2 ; Fig.10 for Fig. 9 A partial enlarged view of the middle part; Fig.11 The structure of the limit frame assembly of the present invention is schematically shown in FIG. Figure 1 ; Fig.12 The structure of the limit frame assembly of the present invention is schematically shown in FIG. Figure 2 ; Fig.13 The structure of the discharge assembly of the present invention is schematically shown Figure 1 ; Fig.14 for Fig.13 A partial enlarged view of point B in the middle; Fig.15 The structure of the alternating carrier assembly of the present invention is shown in FIG. Figure 1 ; Fig.16 The structure of the alternating carrier assembly of the present invention is shown in FIG. Figure 2 ; Fig.17 The structure of the alternating carrier assembly of the present invention is shown in FIG. Figure 3 ; Fig.18 It is a schematic diagram of the correction component structure of the present invention; Fig.19 It is an exploded view of the modified component structure of the present invention; Description of the markings in the figure: Front support 1; rear support 2; X-axis drag chain base plate 3; X-axis slide rail 4; motor 1 5; slider 1 6; Y-axis base plate 7; X-axis rear slide rail 8; X-axis drag chain connecting plate 9; X-axis drag chain 10; motor 2 11; Y-axis slide rail 12; slider 2 13; Z-axis slide rail 14; Y-axis drag chain base plate 15; Y-axis drag chain 16; Y-axis drag chain connecting plate 17; press plate 18; Z-axis drag chain 19; motor bracket 1 20; slider 3 21; motor bracket 2 22; rotating shaft 23; labeling head bracket 24; adsorption plate 25; cylinder 1 26; roller bracket 27; roller 28; middle frame camera assembly 29; graphite sheet camera assembly 30; motor 5 31; rotating rod 1 32; rotating rod 2 33; push rod 34; clamp arm 1 35; clamp arm 2 36; spring 1 37; clamp claw 38 ; long slot 39; bracket 40; adjusting screw 1 41; support frame 1 42; adjusting screw 2 43; support frame 2 44; middle frame product 45; cylinder 2 46; push-pull frame 1 47; connecting rod 1 48; connecting rod 2 49; lower support plate 50; fixing column 51; rotating column 52; lifting screw 53; limiting column 54; upper support plate 55; shell 56; motor 6 57; rotating shaft 58; belt 59; first slide plate 60; first carrier plate 61; second slide plate 62; sliding column 63; second carrier plate 64; supporting rod 65; sliding shaft 66; middle plate 67; sliding groove 68; top limiting block 69; side limiting block 70; cylinder 3 71; push-pull frame 2 72; sliding frame 73; right-angle correction block 74; locking nut 75; connecting piece 1 76; connecting piece 2 77; inclined groove 78. DETAILED DESCRIPTION

[0015] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0017] Embodiment 1 like Figure 1-19As shown, a graphite sheet rolling and pasting robot comprises an X-axis carrying component, a Y-axis carrying component is mounted on the X-axis carrying component, a Z-axis carrying component is mounted on the Y-axis carrying component, a graphite sheet suction component is disposed at the lower end of the Z-axis carrying component, a rolling and pasting component is disposed on the side of the graphite sheet suction component, the graphite sheet suction component transfers the graphite sheet to the surface of the middle frame product 45, and the graphite sheet is rolled and pasted on the middle frame product through the rolling and pasting component; The working principle of the above technical solution is: the graphite sheet suction component is controlled to move in the X-axis direction by the Y-axis carrier component, the graphite sheet suction component is controlled to move in the Y-axis direction by the Y-axis carrier component, and the graphite sheet suction component is controlled to move in the Z-axis direction by the Z-axis carrier component, and then the graphite sheet suction component is controlled to move above the graphite sheet by the cooperation of the X-axis carrier component and the Y-axis carrier component, and then the graphite sheet suction component is controlled to move downward by the Z-axis carrier component, and the lower end of the graphite sheet suction component contacts the graphite sheet and sucks it, and then the graphite sheet is transferred to the upper surface of the middle frame product 45 by the cooperation of the X-axis carrier component, the Y-axis carrier component and the Z-axis carrier component, at this time, the graphite sheet suction component changes its suction force on the graphite sheet from strong suction to weak suction, the rolling component extends and rests on the edge of the graphite sheet, and the graphite sheet suction component is controlled to move backward by the X-axis carrier component, and the rolling component rolls the graphite sheet to roll the graphite sheet on the middle frame product 45; Since the rolling assembly rolls the graphite sheet from top to bottom, bubbles between the middle frame product 45 and the graphite sheet are discharged during the rolling process, thereby preventing bubbles from being present after the middle frame product 45 and the graphite sheet are bonded together.

[0018] Embodiment 2 like Figure 1-19 As shown, the X-axis carrying assembly includes a front support 1 and a rear support 2, an X-axis slide rail 4 is fixed on the front support 1, a motor 5 is fixed at the end of the X-axis slide rail 4, an output end of the motor 5 is connected to a screw rod 1 through a gear, the screw rod 1 rotates in the X-axis slide rail 4, the X-axis slide rail 4 is threadedly connected to a slider 6, the slider 6 slides on the X-axis slide rail 4, the slider 6 is fixedly connected to one end of a Y-axis bottom plate 7, the other end of the Y-axis bottom plate 7 slides on an X-axis rear slide rail 8, the X-axis rear slide rail 8 is fixed on the rear support 2, and a Y-axis carrying assembly is installed on the Y-axis bottom plate 7; The working principle of the above technical solution is: start the motor 5, drive the screw rod 1 to rotate through the gear, drive the slider 6 to slide on the X-axis slide rail 4, drive the Y-axis base plate 7 to move in the X-axis direction, drive the Y-axis carrier assembly and the Z-axis carrier assembly and the graphite sheet suction component to move in the X-axis direction; Since the Y-axis bottom plate 7 is relatively long, the two ends of the Y-axis bottom plate 7 are supported by the front support 1 and the rear support 2 respectively, which can ensure the stable movement of the Y-axis bottom plate 7.

[0019] Embodiment 3 like Figure 1-19As shown, an X-axis drag chain bottom plate 3 is fixed on the front support 1, the X-axis drag chain bottom plate 3 is fixedly connected to one end of the X-axis drag chain 10, the other end of the X-axis drag chain 10 is fixed to the X-axis drag chain connecting plate 9, the lower end of the X-axis drag chain connecting plate 9 is fixed to the Y-axis bottom plate 7, the front support 1 is fixedly connected to the middle frame camera assembly 29, and the rear support 2 is fixedly connected to the graphite sheet camera assembly 30; The working principle of the above technical solution is as follows: the wires and other cables connected to the X-axis carrier assembly can be stored in the X-axis drag chain 10, and the X-axis drag chain 10 protects the cables and prevents external factors such as high temperature or extrusion from causing damage to the cables; The middle frame camera assembly 29 takes pictures and aligns the middle frame product 45, and the graphite sheet camera assembly 30 takes pictures and aligns the graphite sheet, ensuring that the middle frame product 45 and the graphite sheet are both in the preset positions, making it convenient for the graphite sheet suction component to suck the graphite sheet and accurately place it on the middle frame product 45, thereby ensuring the high precision of the graphite sheet rolling.

[0020] Embodiment 4 like Figure 1-19 As shown, the Y-axis carrier assembly includes a Y-axis slide rail 12, the Y-axis slide rail 12 is installed on the Y-axis bottom plate 7, a motor 2 11 is fixed at the end of the Y-axis slide rail 12, the output end of the motor 2 11 is connected to the screw rod 2, the screw rod 2 is rotatably connected in the Y-axis slide rail 12, the screw rod 2 is threadedly connected to the slider 2 13, the slider 2 13 slides on the Y-axis slide rail 12, and the Z-axis carrier assembly is installed on the slider 2 13; A Y-axis drag chain bottom plate 15 is fixed to the side of the Y-axis slide rail 12 of the Y-axis carrier assembly, and the Y-axis drag chain bottom plate 15 is fixedly connected to one end of the Y-axis drag chain 16, and the other end of the Y-axis drag chain 16 is fixed to the Y-axis drag chain connecting plate 17, and the lower end of the Y-axis drag chain connecting plate 17 is fixed to the slider 2 13, and the upper end of the Y-axis drag chain connecting plate 17 is fixed with a wire pressing plate 18; The working principle of the above technical solution is: start the second motor 11, drive the second screw rod to rotate, drive the second slider 13 to slide on the Y-axis slide rail 12, and drive the Z-axis carrying assembly and the ink sheet suction component to move in the Y-axis direction; The wires and other cables connected to the Y-axis transport assembly can be stored in the Y-axis drag chain 16, which protects the cables and prevents them from being damaged by external factors such as high temperature or extrusion. The wire pressing plate 18 presses the cables between the wire pressing plate 18 and the Y-axis drag chain connecting plate 17 to keep the cables arranged in an orderly manner.

[0021] Embodiment 5 like Figure 1-19As shown, the Z-axis carrying component includes a Z-axis slide rail 14, which is mounted on a slider 2 13, a motor bracket 1 20 is fixed to the upper end of the slider 2 13, a motor 3 is fixed to the lower end of the motor bracket 1 20, an output end of the motor 3 is connected to a screw rod 3 through a gear, the screw rod 3 is rotatably connected in the Z-axis slide rail 14, the screw rod 3 is threadedly connected to a slider 3 21, the slider 3 21 slides on the Z-axis slide rail 14, the slider 3 21 is fixedly connected to one end of a Z-axis drag chain 19, the other end of the Z-axis drag chain 19 is fixed to a Y-axis drag chain connecting plate 17, and a graphite sheet suction component is provided at the lower end of the slider 3 21; The working principle of the above technical solution is: start the motor three, drive the screw rod three to rotate through the gear, drive the slider three 21 to slide on the Z-axis slide rail 14, and drive the graphite sheet suction component to move in the Z-axis direction; Wires and other cables connected to the Z-axis transport assembly can be stored in the Z-axis drag chain 19, which protects the cables and prevents them from being damaged by external factors such as high temperature or extrusion. The cables connected to the X-axis transport assembly, the cables connected to the Y-axis transport assembly, and the cables connected to the Z-axis transport assembly are respectively placed in the corresponding drag chains, so that the cables are arranged in order. When a transport assembly in a certain direction fails, the corresponding cable can be found quickly and specifically for maintenance.

[0022] Embodiment 6 like Figure 1-19 As shown, the graphite sheet suction component includes a motor bracket 22, the motor bracket 22 is fixed to the lower end of the slider 3 21, the motor bracket 22 is fixedly connected to the motor 4, the output end of the motor 4 is connected to the rotating shaft 23, the lower end of the rotating shaft 23 is fixedly connected to the labeling head bracket 24, the lower end of the labeling head bracket 24 is provided with an adsorption plate 25, and the side of the labeling head bracket 24 is provided with a rolling assembly; The rolling assembly includes a cylinder 26, which is fixed to the side of the labeling head bracket 24, and the output end of the cylinder 26 is connected to the roller bracket 27, and the lower end of the roller bracket 27 is rotatably connected to the roller 28, and the labeling head bracket 24 is fixed with a clamping assembly; The working principle of the above technical solution is: through the cooperation of the X-axis carrier assembly, the Y-axis carrier assembly and the Z-axis carrier assembly, the labeling head bracket 24 is controlled to move to the top of the graphite sheet, the adsorption plate 25 is attached to the graphite sheet, the adsorption plate 25 is connected to the vacuum pump through a hose, and the vacuum pump is used to evacuate the graphite sheet, the adsorption plate 25 absorbs the graphite sheet, and the motor 4 is started to drive the rotating shaft 23 to rotate, drive the labeling head bracket 24 to rotate, drive the adsorption plate 25 to rotate, drive the graphite sheet to rotate finely, so that the graphite sheet is straightened to prevent it from being tilted when placed on the middle frame product 45; The X-axis carrier assembly, the Y-axis carrier assembly and the Z-axis carrier assembly cooperate with each other to transfer the straightened graphite sheet to the middle frame product 45, start the cylinder 1 26, drive the roller bracket 27 and the roller 28 to move forward until the roller 28 is against the upper end of the graphite sheet, and the suction force of the adsorption plate 25 on the graphite sheet changes from strong suction to weak suction through the control of the vacuum pump, start the motor 1 5, and drive the screw rod 1 to rotate through the gear, drive the slider 1 6 to slide on the X-axis slide rail 4, drive the Y-axis bottom plate 7 to move in the X-axis direction, drive the labeling head bracket 24, the cylinder 1 26, the roller bracket 27 and the roller 28 to move in the X-axis direction, and the roller 28 rolls on the graphite sheet from the bottom to roll the graphite sheet onto the middle frame product 45. During the rolling process, the bubbles between the middle frame product 45 and the graphite sheet are discharged to avoid bubbles after the middle frame product 45 and the graphite sheet are bonded.

[0023] Embodiment 7 like Figure 1-19 As shown, the clamping assembly includes a motor 5 31, which is fixed in the labeling head bracket 24, and the output end of the motor 5 31 is connected to the rotating rod 1 32, and both ends of the rotating rod 1 32 are rotatably connected to the rotating rod 2 33, and the rotating rod 2 33 is rotatably connected to the push rod 34, and the two ends of the push rod 34 respectively pull the two clamp arms 1 35 to slide in the labeling head bracket 24, and the clamp arm 1 35 is slidably connected to the clamp arm 2 36, and a spring 1 37 is provided between the clamp arm 1 35 and the clamp arm 2 36, and a long groove 39 is provided at the lower end of the clamp arm 2 36, and a clamp claw 38 is slidably connected in the long groove 39, and the screw portion of the clamp claw 38 is fixed to the lower end of the clamp arm 2 36 by two nuts; The working principle of the above technical solution is as follows: after the graphite sheet is rolled onto the middle frame product 45, the motor 5 31 is started to drive the rotating rod 1 32 to rotate, drive the two rotating rods 2 33 to move, drive the two push rods 34 to move together, drive the two sets of clamp arms 1 35 to slide together in the labeling head bracket 24, drive the two sets of clamp arms 2 36 to move together, drive the two sets of clamp claws 38 to move together, and the two sets of clamp claws 38 clamp the middle frame product 45. Through the cooperation of the X-axis carrying assembly, the Y-axis carrying assembly and the Z-axis carrying assembly, the middle frame product 45 with the rolled graphite sheet can be transferred to the storage place, and the position is vacated, so that the next middle frame product 45 that needs to be rolled with a graphite sheet can be placed at the position; When the adsorption plate 25 absorbs the graphite sheet, the graphite sheet is located on the platform, the adsorption plate 25 moves down, the lower end of the second clamp arm 36 contacts the platform, the adsorption plate 25 continues to move down, the platform squeezes the second clamp arm 36 to move up, driving the second clamp arm 36 and the first clamp arm 35 to slide, driving the spring 1 37 to be stretched, until the adsorption plate 25 fits on the graphite sheet, so it does not affect the adsorption operation of the adsorption plate 25; The screw part of the clamp claw 38 is fixed to the lower end of the clamp arm 2 36 by two nuts. By changing the positions of the two nuts on the screw part of the clamp claw 38, the distance between the two clamp claws 38 is changed, so as to adapt to the clamping of the middle frame products 45 of different widths. By changing the position of the clamp claws 38 in the long slot 39 , the height of the two groups of clamp claws 38 can be changed to adapt to the clamping of the middle frame products 45 of different thicknesses.

[0024] Embodiment 8 like Figure 1-19 As shown, a bracket 40 is provided on the side of the front support 1, and a limit frame assembly is provided on the bracket 40. A plurality of middle frame products 45 are arranged in the limit frame assembly, and the middle frame products 45 at the bottom are placed on the alternating transport assembly through the material discharge assembly; The limit frame assembly includes two support frames 1 42 and two support frames 2 44. The two support frames 1 42 are closely attached to the left and right sides of the middle frame product 45, and the two support frames 2 44 are closely attached to the upper and lower sides of the middle frame product 45. The support frame 1 42 is rotatably connected to the front end of the adjusting screw 1 41, and the support frame 2 44 is rotatably connected to the front end of the adjusting screw 2 43. The adjusting screw 1 41 and the adjusting screw 2 43 are both threadedly connected to the bracket 40. The discharge assembly includes a second cylinder 46, which is fixed to the side of the bracket 40, and the output end of the second cylinder 46 is connected to a push-pull frame 47, and the protrusion at the front end of the push-pull frame 47 is located in the long notch on the connecting rod 48, and the connecting rod 48 is rotatably connected to the lower support sheet 50, and the lower support sheet 50 is rotatably connected to the second connecting rod 49, and a fixed column 51 is fixed on the bracket 40, and the fixed column 51 is rotatably connected to the rotating column 52, and the rotating column 52 is fixedly connected to the lower support sheet 50, and the rotating column 52 is threadedly connected to the lifting screw 53, and the upper end of the lifting screw 53 is rotatably connected to the upper support sheet 55, and two limit columns 54 are provided on the rotating column 52, and the two limit columns 54 are both slidably connected to the upper support sheet 55, and the lower support sheet 50 and the upper support sheet 55 are arranged at a forty-five degree angle; The working principle of the above technical solution is as follows: the middle frame product 45 to be rolled and pasted with graphite sheets is arranged in the limit frame assembly, the two support frames 1 42 clamp the left and right sides of the middle frame product 45, and the two support frames 2 44 clamp the upper and lower ends of the middle frame product 45. The middle frame product 45 can only be moved down between the two support frames 1 42 and the two support frames 2 44, and the adjusting screw 1 41 is rotated to change the distance between the two support frames 1 42, and the adjusting screw 2 43 is rotated to change the distance between the two support frames 2 44, and then the middle frame products 45 of different models are adapted by rotating the adjusting screw 1 41 and the adjusting screw 2 43; Start the second cylinder 46, drive the push-pull frame 1 47 to move forward, drive the connecting rod 1 48 to move forward, drive the lower support plate 50 to rotate with the fixed column 51 as the axis, drive the rotating column 52 to rotate, drive the limiting column 54 to rotate, drive the upper support plate 55 to rotate, and the front end of the upper support plate 55 is separated from the lowermost middle frame product 45, and the middle frame product 45 moves down and falls to the front end of the lower support plate 50; Start the cylinder 2 46 again, drive the push-pull frame 1 47 to move backward, drive the connecting rod 1 48 to move backward, drive the lower support plate 50 and the upper support plate 55 to rotate to the initial position, the lowermost middle frame product 45 falls onto the alternating transport assembly, and the second to last middle frame product 45 is blocked by the upper support plate 55. Therefore, by reciprocating forward and backward movement of the push-pull frame 1 47, the middle frame products 45 can be dropped onto the alternating transport assembly one by one; The thickness between the lower support sheet 50 and the upper support sheet 55 is approximately the same as the thickness of the middle frame product 45. When the lifting screw 53 is rotated, the lifting screw 53 and the rotating column 52 are threadedly rotated, driving the lifting screw 53 to rise or fall, driving the upper support sheet 55 to rise or fall, thereby changing the distance between the lower support sheet 50 and the upper support sheet 55, thereby adapting to the middle frame products 45 of different thicknesses; The two limit posts 54 play a limiting role to prevent the upper support plate 55 from rotating along with the lifting screw 53 during the rotation of the lifting screw 53. The two limit posts 54 can limit the lower support plate 50 and the upper support plate 55 to maintain a 45-degree angle.

[0025] Embodiment 9 like Figure 1-19 As shown, the alternating transport assembly includes a housing 56, a motor 6 57 is fixed to the side of the housing 56, the output end of the motor 6 57 is connected to the rotating shaft 58, the rotating shaft 58 is connected to the belt 59 in a transmission cooperation manner, the belt 59 above the rotating shaft 58 is fixedly connected to the first slide plate 60 through a connecting piece 76, the first slide plate 60 slides on the upper end of the housing 56, and the first carrier plate 61 is fixed to the upper end of the first slide plate 60; A second slide plate 62 is slidably connected in the housing 56, a belt 59 below the rotating shaft 58 is fixedly connected to the second slide plate 62 via a second connecting member 77, four slide posts 63 are slidably connected to the second slide plate 62, the upper ends of the four slide posts 63 are fixedly connected to the second carrier plate 64, the lower end of the second carrier plate 64 is fixedly connected to one end of a support rod 65, the other end of the support rod 65 is rotated in a slide groove 68 provided on the middle plate 67 via a slide shaft 66, and the middle plate 67 is fixed in the housing 56; The first carrier plate 61 and the second carrier plate 64 are both provided with a top stopper 69 on the top, a side stopper 70 on the side, and a correction component on the lower corner; The correction assembly includes a cylinder 3 71, which is fixed at the lower end of the first carrier plate 61, and the output end of the cylinder 3 71 is connected to the push-pull frame 2 72, and the push-pull frame 2 72 is slidably connected to the bottom of the slide 73, and the slide 73 slides in the inclined groove 78 on the first carrier plate 61, and a right-angle correction block 74 is inserted on the slide 73, and a locking nut 75 is threadedly connected to the upper end of the slide 73; The working principle of the above technical solution is as follows: the middle frame product 45 falls on the first carrier plate 61, the cylinder three 71 is started, the push-pull frame two 72 is driven to move backward, the push-pull frame two 72 pulls the slide 73 to slide in the inclined slot 78, and drives the right-angle correction block 74 to squeeze the middle frame product 45 tightly against the top limit block 69 and the side limit block 70, and then the middle frame product 45 is limited and fixed by the top limit block 69, the side limit block 70 and the right-angle correction block 74, the motor six 57 is started, the shaft 58 is driven to rotate, the belt 59 is driven to rotate, and the first slide plate 60 is driven to slide forward on the shell 56 through the connecting piece one 76, and the first carrier plate 61 and the middle frame product 45 are driven to move forward; When the belt 59 rotates, the second slide plate 62 is driven by the second connecting member 77 to move in the housing 56 in the opposite direction to the first slide plate 60, and the second carrier plate 64 is driven by the slide column 63 to move in the opposite direction to the first slide plate 60, driving the support rod 65 to follow the second carrier plate 64 to move, driving the slide shaft 66 to slide in the slide groove 68, and when the slide shaft 66 moves to the middle position of the slide groove 68, the slide shaft 66 moves downward, driving the support rod 65 to move downward, driving the second carrier plate 64 The first carrier plate 61 and the second carrier plate 64 move downward, driving the four slide posts 63 and the second carrier plate 62 to slide. When the first carrier plate 61 and the second carrier plate 64 meet, the second carrier plate 64 moves downward to the bottom of the first carrier plate 61 to avoid collision between the two. When the first carrier plate 61 and the second carrier plate 64 separate, the second carrier plate 64 moves upward and moves to the bottom of the unloading assembly. The unloading assembly moves the middle frame product 45 from the bottom to the first carrier plate 61. At this time, the second carrier plate 64 moves to the preset position to roll the graphite sheet. The first carrier plate 61 and the second carrier plate 64 alternately carry the middle frame product 45 to a preset position for rolling and pasting graphite sheets, thereby improving the rolling efficiency and reducing the waiting time; A plurality of tooth columns are provided on the plug-in column at the upper end of the slide 73 , and the plurality of tooth columns can be snapped into the slots on the right-angle correction block 74 . According to different models of middle frame products 45 , the angle of the right-angle correction block 74 can be adjusted to better clamp the middle frame product 45 .

[0026] Embodiment 10 like Figure 1-19 As shown, a control method for a graphite sheet rolling and pasting robot is applied to a graphite sheet rolling and pasting robot as described in any one of the above items, comprising the following steps: S1, placing a plurality of middle frame products 45 to be bonded with graphite sheets into a limiting frame assembly, and placing the middle frame products 45 onto an alternating carrier assembly through a material discharge assembly; S2, the alternating transport assembly transports the middle frame product 45 to the bottom of the middle frame camera assembly 29 for photo alignment, and then transports it to the preset position after photo alignment; S3, controlling the graphite sheet suction component to suck the graphite sheet through the Y-axis carrying component, the Y-axis carrying component and the Z-axis carrying component, and transferring the graphite sheet to the surface of the middle frame product 45, and rolling the graphite sheet onto the middle frame product through the rolling component; The working principle of the above technical solution is as follows: a plurality of middle frame products 45 to be bonded with graphite sheets are placed into the limit frame assembly, the middle frame product 45 is lowered onto the alternating transport assembly through the material discharge assembly, the alternating transport assembly transports the middle frame product 45 to the bottom of the middle frame camera assembly 29 for photographing and alignment, and after photographing and alignment, it is transported to a preset position, and the graphite sheet suction component is controlled to absorb the graphite sheet through the Y-axis transport assembly, the Y-axis transport assembly and the Z-axis transport assembly, and transferred to the surface of the middle frame product 45, and the graphite sheet is rolled onto the middle frame product through the rolling assembly.

[0027] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A graphite sheet rolling robot, characterized in that: The invention comprises an X-axis transport component, a Y-axis transport component is mounted on the X-axis transport component, a Z-axis transport component is mounted on the Y-axis transport component, a graphite sheet suction component is disposed at the lower end of the Z-axis transport component, a rolling component is disposed on the side of the graphite sheet suction component, the graphite sheet suction component transfers the graphite sheet to the surface of the middle frame product (45), and the graphite sheet is rolled and pasted on the middle frame product through the rolling component.

2. The graphite sheet rolling robot according to claim 1, characterized in that: The X-axis transport assembly comprises a front support (1) and a rear support (2); an X-axis slide rail (4) is fixed on the front support (1); a motor (5) is fixed at the end of the X-axis slide rail (4); an output end of the motor (5) is connected to a screw rod (1) through a gear; the screw rod (1) rotates in the X-axis slide rail (4); the X-axis slide rail (4) is threadedly connected to a slider (6); the slider (6) slides on the X-axis slide rail (4); the slider (6) is fixedly connected to one end of a Y-axis bottom plate (7); the other end of the Y-axis bottom plate (7) slides on the X-axis rear slide rail (8); the X-axis rear slide rail (8) is fixed on the rear support (2); and the Y-axis transport assembly is mounted on the Y-axis bottom plate (7).

3. The graphite sheet rolling robot according to claim 2, characterized in that: An X-axis drag chain base plate (3) is fixed on the front support (1), the X-axis drag chain base plate (3) is fixedly connected to one end of the X-axis drag chain (10), the other end of the X-axis drag chain (10) is fixed to the X-axis drag chain connecting plate (9), the lower end of the X-axis drag chain connecting plate (9) is fixed to the Y-axis base plate (7), the front support (1) is fixedly connected to the middle frame camera assembly (29), and the rear support (2) is fixedly connected to the graphite sheet camera assembly (30).

4. The graphite sheet rolling robot according to claim 3, characterized in that: The Y-axis transport assembly comprises a Y-axis slide rail (12), the Y-axis slide rail (12) is mounted on the Y-axis bottom plate (7), a second motor (11) is fixed to the end of the Y-axis slide rail (12), the output end of the second motor (11) is connected to a second screw rod, the second screw rod is rotatably connected in the Y-axis slide rail (12), the second screw rod is threadedly connected to a second slider (13), the second slider (13) slides on the Y-axis slide rail (12), and a Z-axis transport assembly is mounted on the second slider (13); A Y-axis drag chain base plate (15) is fixed to the side of the Y-axis slide rail (12) of the Y-axis transport assembly. The Y-axis drag chain base plate (15) is fixedly connected to one end of the Y-axis drag chain (16). The other end of the Y-axis drag chain (16) is fixed to a Y-axis drag chain connecting plate (17). The lower end of the Y-axis drag chain connecting plate (17) is fixed to the second slider (13). A wire pressing plate (18) is fixed to the upper end of the Y-axis drag chain connecting plate (17).

5. The graphite sheet rolling robot according to claim 4, characterized in that: The Z-axis transport component comprises a Z-axis slide rail (14), which is mounted on a slider block 2 (13). A motor bracket 1 (20) is fixed to the upper end of the slider block 2 (13), a motor bracket 1 (20) is fixed to the lower end of the motor bracket 1 (20), an output end of the motor bracket 3 is transmission-connected to a screw rod 3 via a gear, the screw rod 3 is rotationally connected to the Z-axis slide rail (14), the screw rod 3 is threadedly connected to a slider block 3 (21), the slider block 3 (21) slides on the Z-axis slide rail (14), the slider block 3 (21) is fixedly connected to one end of a Z-axis drag chain (19), the other end of the Z-axis drag chain (19) is fixed to a Y-axis drag chain connecting plate (17), and a graphite sheet suction component is provided at the lower end of the slider block 3 (21).

6. The graphite sheet rolling robot according to claim 5, characterized in that: The graphite sheet suction component comprises a second motor bracket (22), the second motor bracket (22) is fixed to the lower end of the slider three (21), the second motor bracket (22) is fixedly connected to the fourth motor, the output end of the fourth motor is connected to the rotating shaft (23), the lower end of the rotating shaft (23) is fixedly connected to the labeling head bracket (24), the lower end of the labeling head bracket (24) is provided with an adsorption plate (25), and the side of the labeling head bracket (24) is provided with a rolling assembly.

7. The graphite sheet rolling robot according to claim 6, characterized in that: The rolling assembly comprises a cylinder 1 (26), the cylinder 1 (26) is fixed to the side of the labeling head bracket (24), the output end of the cylinder 1 (26) is connected to the roller bracket (27), the lower end of the roller bracket (27) is rotatably connected to a roller (28), and a clamping assembly is fixed on the labeling head bracket (24).

8. The graphite sheet rolling robot according to claim 7, characterized in that: The clamping assembly comprises a motor five (31), the motor five (31) is fixed in the labeling head bracket (24), the output end of the motor five (31) is connected to the rotating rod one (32), both ends of the rotating rod one (32) are rotatably connected to the rotating rod two (33), the rotating rod two (33) is rotatably connected to the push rod (34), the two ends of the push rod (34) respectively pull the two clamp arms one (35) to slide in the labeling head bracket (24), the clamp arm one (35) is slidably connected to the clamp arm two (36), a spring one (37) is provided between the clamp arm one (35) and the clamp arm two (36), a long groove (39) is provided at the lower end of the clamp arm two (36), a clamp claw (38) is slidably connected in the long groove (39), and the screw portion of the clamp claw (38) is fixed to the lower end of the clamp arm two (36) by two nuts.

9. The graphite sheet rolling robot according to claim 2, characterized in that: A bracket (40) is provided on the side of the front support (1), and a limit frame assembly is provided on the bracket (40). A plurality of middle frame products (45) are arranged in the limit frame assembly, and the middle frame products (45) at the bottom are placed on the alternating transport assembly through the material discharge assembly.

10. A control method for a graphite sheet rolling robot, applied to a graphite sheet rolling robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, placing a plurality of middle frame products (45) to be bonded with graphite sheets into a limiting frame assembly, and placing the middle frame products (45) onto an alternating transport assembly through a material discharging assembly; S2, the alternating transport assembly transports the middle frame product (45) to the bottom of the middle frame camera assembly (29) for photo alignment, and then transports it to a preset position after the photo alignment; S3, controlling the graphite sheet suction component to suck the graphite sheet through the Y-axis carrier component, the Y-axis carrier component and the Z-axis carrier component, and transferring the graphite sheet to the surface of the middle frame product (45), and rolling the graphite sheet onto the middle frame product through the rolling component.

Images