Automatic edge leather grading device

Abstract

The invention provides an automatic flaw piece grading device, and relates to the technical field of flaw piece grading, the automatic flaw piece grading device comprises a machine base, a clamping structure, an adjusting structure and a collecting structure, the machine base is internally provided with a conveying belt, the upper surface of the conveying belt is provided with two positioning trays, and the upper surfaces of the positioning trays are provided with a plurality of flaw piece bodies; a connecting base is fixedly connected to one side of the machine base, a mechanical arm is installed on the upper surface of the connecting base, a suction cup is installed at the output end of the mechanical arm, a data interaction unit and a super-depth-of-field microscopic camera are installed in the machine base, a clamping structure is arranged above the machine base, and the clamping structure comprises a connecting strip. The connecting strip is connected with the machine base through an adjusting structure, and the surface of the connecting strip is fixedly connected with a connecting plate. The device has the effects that the quality of the flaw piece bodies can be automatically recognized for uploading and sorting, and clamping can be conducted according to the flaw piece bodies of various types.

Description

Technical Field

[0001] This invention relates to the field of edge skin grading technology, and more particularly to an automated edge skin grading device. Background Technology

[0002] Crystal bar edge refers to the edge material cut from the outside of a crystal bar in the semiconductor or solar energy industry, especially during the silicon wafer production process.

[0003] Existing technologies, such as the invention with publication number CN116494405A, disclose a squaring machine for edge strips. This patent employs an arc-top cutting device, a sharp-corner cutting device, and a slicing device. By using the arc-top and sharp-corner cutting devices to perform corresponding arc-top and sharp-corner cutting operations on the edge strips, edge strips with an arc-shaped cross-section can be cut into edge strips with a rectangular cross-section. The slicing device then performs slicing operations on the edge strips, cutting them into multiple edge strip pieces of shorter length. The operation is simple, the cutting efficiency is high, and the reuse of edge strips is improved, saving resources and costs.

[0004] The inventors discovered during use that manual sorting in existing technologies relies on manual operation, which is slow and cannot process large quantities of scraps as efficiently as automated equipment. Especially in large-scale production, the efficiency is significantly lower than that of automated systems. Moreover, manual sorting is easily affected by factors such as operator experience, attention, and physical condition, which can lead to human error. Inaccurate sorting may result in inaccurate classification of scraps, affecting the quality of subsequent processing. Furthermore, manual sorting can lead to material mixing, low sorting efficiency, high labor costs, and the sorted scraps may have internal cracks, fragments, etc., posing safety hazards to employees during the sorting process. Summary of the Invention

[0005] The purpose of this invention is to solve the problem of automated grading of crystal rod edge skin in the prior art, and to propose an automated edge skin grading device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an automated edge skin sorting device, comprising a base, a clamping structure, an adjusting structure, and a collecting structure. A conveyor belt is installed inside the base, and two positioning trays are mounted on the upper surface of the conveyor belt. Several edge skin bodies are placed on the upper surface of the positioning trays. A connecting seat is fixedly connected to one side of the base, and a robotic arm is mounted on the upper surface of the connecting seat. A suction cup is mounted on the output end of the robotic arm. A data interaction unit and a super depth-of-field microscope camera are respectively installed inside the base, and a clamping structure is provided above the base.

[0007] Preferably, the clamping structure includes a connecting strip, which is connected to the machine base via an adjusting structure. A connecting plate is fixedly connected to the surface of the connecting strip, and a connecting plate is fixedly connected to the lower end of the connecting plate. Two auxiliary grooves are formed on the inner wall of the connecting plate, and two sliding members are slidably connected to the inner wall of the auxiliary grooves. An adjusting rod is fixedly connected to the arc surface at the upper end of each sliding member. Two sliding grooves are formed on the upper surface of the connecting plate, and sliders are slidably connected to the inner wall of the sliding grooves. A fixing member is fixedly connected to the upper surface of the slider, and auxiliary rods are fixedly connected to both ends of the upper surface of the fixing member. The slider is fixedly connected to the adjusting rod. A clamping plate is fixedly connected to the lower end of the slider. A screw is rotatably connected inside the slide groove. Opposite threads are formed on the arc surfaces at both ends of the screw. The screw is threadedly connected to the slider. A connecting shaft is fixedly connected to one end of the screw. A transmission belt is driven through the arc surface of the connecting shaft. A power supply battery is installed at the end of the connecting bar near the transmission belt. A connecting wire is electrically connected to the lower surface of the power supply battery. A first servo motor is electrically connected to the lower end of the connecting wire. A transmission shaft is fixedly connected to the output end of the first servo motor. The transmission shaft is driven through the transmission belt.

[0008] By adopting this preferred solution, when it is necessary to clamp the edge skin body, the first servo motor is started to operate. The output end of the first servo motor drives the transmission shaft to rotate, the transmission shaft drives the transmission belt to rotate, the transmission belt drives the connecting shaft to rotate, the connecting shaft drives the screw to rotate, the screw drives the slider to move, the slider slides on the inner wall of the slide groove, the slider drives the fixing part to move, the fixing part drives the auxiliary rod to move, the auxiliary rod drives the adjusting rod to move, the adjusting rod drives the sliding part to move, the sliding part slides on the inner wall of the auxiliary groove, and then the sliding part drives the clamping plate to move, thus facilitating the quick clamping of the edge skin body.

[0009] Preferably, anti-slip pads are fixedly connected to the sides of the two clamping plates that are close to each other, and the anti-slip pads are rubber pads.

[0010] By adopting this preferred solution, the anti-slip pad can increase the friction between the clamping plate and the edge leather body, thus preventing the clamping plate from sliding when holding the edge leather body.

[0011] Preferably, the servo motor has two fixing rods mounted on its arc surface, and the cross-section of the fixing rods is "L" shaped.

[0012] By adopting this preferred solution, the fixing rod can stabilize the first servo motor and prevent the servo motor from shaking violently during use.

[0013] Preferably, the transmission belt has a straight groove cross-section and is a polyurethane belt.

[0014] By adopting this preferred solution, polyurethane belts are more wear-resistant than rubber belts, and have better oil resistance and aging resistance. They also have good flexibility and fatigue resistance, making them suitable for mechanical equipment that requires high strength and high efficiency.

[0015] Preferably, the upper surface of the base is provided with an adjustment structure, the adjustment structure including a hydraulic rod, the hydraulic rod being fixedly connected to the base, two mounting rods being fixedly connected to the arc surface of the output end of the hydraulic rod, a second servo motor being fixedly connected to the end of the mounting rod away from the hydraulic rod, a plurality of connecting rods being fixedly connected to the output end of the second servo motor, a rotating ring being fixedly connected to the end of the connecting rod away from the second output end, a rack being fixedly connected to the arc surface of the rotating ring, two connecting parts being slidably connected to the surface of the rack, a back plate being fixedly connected to the side of the two connecting parts near the power supply battery, a third servo motor being fixedly connected to the inner wall of the back plate, a gear being fixedly connected to the output end of the third servo motor, the gear meshing with the rack, and a drag cable being electrically connected to the arc surfaces of the second servo motor and the third servo motor, the drag cable being electrically connected to the base.

[0016] This preferred solution achieves the following: when adjustment of the clamping structure is needed, or when translation is required, the third servo motor is activated. The output of the servo motor drives the gear to rotate, and the gear slides on the surface of the rack. Then, the servo motor drives the back plate to move, and the back plate drives the connecting part to move. The connecting part slides on the surface of the rack. When rotation is needed, the second servo motor is activated. The output of the second servo motor drives the connecting rod to move, and the connecting rod drives the rotating ring to move. The rotating ring rotates on the arc surface of the hydraulic rod, thereby adjusting the rotation of the clamping structure. When adjusting the height, the hydraulic rod is activated. The hydraulic rod retracts or extends, and then the hydraulic rod drives the rotating ring and the rack to move, thus facilitating the vertical adjustment of the clamping structure.

[0017] Preferably, a positioning rod is fixedly connected to the side of the rack away from the gear, and the positioning rod is slidably connected to the connecting member.

[0018] By adopting this preferred solution, the positioning rod can limit the connection, preventing the connection from shifting during sliding and preventing the slider from rotating during movement.

[0019] Preferably, the base has several collection structures on the side near the connecting seat. Each collection structure includes a connecting frame, which is fixedly connected to the base. Two slide rails are fixedly connected inside the connecting frame. Slide bars are slidably connected to the inner walls of the slide rails. An iron block is fixedly connected to one end of the slide bar near the base. A magnetic block is fixedly connected to the bottom wall of the slide rail, and the magnetic block attracts the iron block. Two inclined blocks are fixedly connected to the inner wall of the connecting frame. A collection box is fixedly connected to the side of the two slide bars that are close to each other, and the collection box is slidably connected to the connecting frame.

[0020] This preferred solution achieves the following: when the edge skin needs to be collected, the robotic arm is activated and moved, driving the suction cup to move above the edge skin. The suction cup then adheres to the edge skin, and based on the detection results of the super depth-of-field microscope camera, the edge skin is moved to a suitable collection structure. The suction cup then releases the edge skin, which moves downwards along the inclined block and enters the collection box. Once the collection box is full, it is pulled to move, causing a slider to move. The slider then moves an iron block, separating it from the magnetic block. The slider then slides along the inner wall of the slide rail, and the collection box is finally removed.

[0021] Preferably, a limiting rod is fixedly connected inside the slide rail, and the limiting rod is slidably connected to the slide bar.

[0022] By adopting this preferred solution, the limiting rod can limit the slider, preventing the slider from deviating during sliding and improving the stability of the slider's sliding.

[0023] Preferably, a handle is fixedly connected to the side of the collection box away from the base, and the handle has a "U" shaped cross-section.

[0024] By adopting this preferred solution, the handle can be pulled directly when the collection box needs to be moved, and the handle moves the collection box, making it more convenient to move the collection box.

[0025] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0026] 1. In this invention, by setting up a clamping structure, the existing technology of manual sorting relies on manual operation, which is slow and cannot process a large number of edge pieces as efficiently as automated equipment. Especially in large-scale production, the efficiency is significantly lower than that of automated systems. Moreover, manual sorting is easily affected by factors such as operator experience, attention, and physical condition, which can easily lead to human error. Inaccurate sorting may result in inaccurate edge piece classification, affecting the quality of subsequent processing. Furthermore, manual sorting can lead to material mixing, low sorting efficiency, high labor costs, and the sorted edge pieces may have internal cracks, fragments, etc., posing safety hazards to employees during the sorting process. This device achieves the convenient use of fully automatic clamping to replace manual sorting. Moreover, this device can automatically identify the quality of the edge piece body for uploading and sorting, and can clamp the edge piece body according to various models.

[0027] 2. In this invention, by setting an adjustment structure, the clamping structure can be easily adjusted in multiple axes, making it convenient to use in various environments. It can not only rotate and translate, but also move up and down.

[0028] 3. In this invention, by setting up a collection structure, it is possible to conveniently use signals collected by a super depth-of-field microscope camera to control a robotic arm to separate and store edge skins of different qualities. Attached Figure Description

[0029] Figure 1 This invention presents a three-dimensional structural diagram of an automated edge-separation device.

[0030] Figure 2 A schematic diagram of the clamping structure of the automated edge-separation device proposed in this invention;

[0031] Figure 3 This invention proposes an automated edge-splitting device. Figure 2 The enlarged view at point A is shown below;

[0032] Figure 4 This invention provides a schematic diagram of the adjustment structure of the automated edge-separation device.

[0033] Figure 5 This invention proposes an automated edge-splitting device. Figure 4 Enlarged view of point B;

[0034] Figure 6 This invention proposes an automated edge-splitting device. Figure 4 Enlarged view of point C;

[0035] Figure 7 This is a schematic diagram of the collection structure of the automated edge skin sorting device proposed in this invention;

[0036] Figure 8This invention proposes an automated edge-splitting device. Figure 7 Enlarged view of point D;

[0037] Figure 9 This invention proposes an automated edge-splitting device. Figure 7 A partial structural diagram.

[0038] Legend: 1. Base; 2. Conveyor belt; 3. Positioning tray; 4. Side panel body; 5. Connecting seat; 6. Robotic arm; 7. Clamping structure; 701. Power supply battery; 702. Connecting bar; 703. First servo motor; 704. Connecting wire; 705. Fixing rod; 706. Connecting plate; 707. Connecting plate; 708. Clamping plate; 709. Drive shaft; 710. Drive belt; 711. Connecting shaft; 712. Screw; 713. Slide groove; 714. Sliding component; 715. Auxiliary rod; 716. Slider; 717. Auxiliary groove; 718. Fixing component; 719. Anti-slip pad; 72 0. Adjusting rod; 8. Adjusting structure; 801. Hydraulic rod; 802. Trailing cable; 803. Rack; 804. Second servo motor; 805. Gear; 806. Third servo motor; 807. Mounting rod; 808. Connecting rod; 809. Rotary ring; 810. Positioning rod; 811. Connecting piece; 812. Back plate; 9. Collection structure; 91. Connecting frame; 92. Inclined block; 93. Collection box; 94. Handle; 95. Slide rail; 96. Limiting rod; 97. Slide bar; 98. Magnetic block; 99. Iron block; 10. Suction cup; 11. Data interaction unit; 12. Ultra-depth-of-field microscope camera. Detailed Implementation

[0039] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0040] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0041] Example 1, as Figure 1-9As shown, the present invention provides an automated edge skin sorting device, including a base 1, a clamping structure 7, an adjusting structure 8, and a collecting structure 9. A conveyor belt 2 is installed inside the base 1, and two positioning trays 3 are installed on the upper surface of the conveyor belt 2. Several edge skin bodies 4 are placed on the upper surface of the positioning trays 3. A connecting seat 5 is fixedly connected to one side of the base 1. A robotic arm 6 is installed on the upper surface of the connecting seat 5. A suction cup 10 is installed at the output end of the robotic arm 6. A data interaction unit 11 and a super depth-of-field microscope camera 12 are installed inside the base 1. The clamping structure 7 is provided above the base 1. The adjusting structure 8 is provided on the upper surface of the base 1. Several collecting structures 9 are provided on the side of the base 1 near the connecting seat 5.

[0042] The following section will explain the specific settings and functions of its clamping structure 7, adjusting structure 8, and collecting structure 9.

[0043] like Figure 2 and Figure 3As shown, the clamping structure 7 includes a connecting bar 702, which is connected to the machine base 1 via an adjusting structure 8. A connecting plate 706 is fixedly connected to the surface of the connecting bar 702, and a connecting plate 707 is fixedly connected to the lower end of the connecting plate 706. Two auxiliary grooves 717 are formed on the inner wall of the connecting plate 707, and two sliders 714 are slidably connected to the inner wall of the auxiliary grooves 717. An adjusting rod 720 is fixedly connected to the arc surface at the upper end of the slider 714. Two sliding grooves 713 are formed on the upper surface of the connecting plate 707, and sliders 716 are slidably connected to the inner wall of the sliding grooves 713. A fixing member 718 is fixedly connected to the upper surface of the slider 716, and auxiliary rods 715 are fixedly connected to both ends of the upper surface of the fixing member 718. The auxiliary rods 715 are connected to the adjusting rods 716. The section rod 720 is fixedly connected, and the lower end of the slide 714 is fixedly connected to the clamp 708. The inside of the slide groove 713 is rotatably connected to the screw 712. The arc surfaces at both ends of the screw 712 are provided with opposite threads. The screw 712 is threadedly connected to the slider 716. One end of the screw 712 is fixedly connected to the connecting shaft 711. The arc surface of the connecting shaft 711 is connected to the transmission belt 710. The end of the connecting bar 702 near the transmission belt 710 is equipped with a power supply battery 701. The lower surface of the power supply battery 701 is electrically connected to the connecting wire 704. The lower end of the connecting wire 704 is electrically connected to the first servo motor 703. The output end of the first servo motor 703 is fixedly connected to the transmission shaft 709. The transmission shaft 709 is connected to the transmission belt 710. When it is necessary to clamp the edge skin body 4, the first servo motor 703 is started to operate. The output end of the first servo motor 703 drives the transmission shaft 709 to rotate. The transmission shaft 709 drives the transmission belt 710 to rotate. The transmission belt 710 drives the connecting shaft 711 to rotate. The connecting shaft 711 drives the screw 712 to rotate. The screw 712 drives the slider 716 to move. The slider 716 slides on the inner wall of the slide groove 713. The slider 716 drives the fixing part 718 to move. The fixing part 718 drives the auxiliary rod 715 to move. The auxiliary rod 715 drives the adjusting rod 720 to move. The adjusting rod 720 drives the sliding part 714 to move. The sliding part 714 slides on the inner wall of the auxiliary groove 717. Then the sliding part 714 drives the clamping plate 708 to move, which facilitates the quick clamping of the edge skin body 4. Anti-slip pads 719 are fixedly connected to the side of the two clamping plates 708 that are close to each other. The anti-slip pads 719 are rubber pads. The anti-slip pad 719 increases the friction between the clamping plate 708 and the edge skin body 4, preventing the clamping plate 708 from sliding when clamping the edge skin body 4. Two fixing rods 705 are mounted on the arc surface of the servo motor, and the cross-section of the fixing rods 705 is "L"-shaped. The fixing rods 705 stabilize the first servo motor 703, preventing violent shaking during operation. The transmission belt 710 has a straight groove cross-section and is a polyurethane belt.Polyurethane belts are more wear-resistant than rubber belts and have better oil resistance and aging resistance. They also have good flexibility and fatigue resistance, making them suitable for mechanical equipment that requires high strength and high efficiency.

[0044] The overall clamping structure 7 achieves the following effect: it can automatically identify the quality of the edge leather body 4 for uploading and sorting, and it can clamp the edge leather body 4 according to various models.

[0045] like Figures 4 to 6 As shown, the adjustment structure 8 includes a hydraulic rod 801, which is fixedly connected to the base 1. Two mounting rods 807 are fixedly connected to the arc-shaped surface of the output end of the hydraulic rod 801. A second servo motor 804 is fixedly connected to the end of each mounting rod 807 away from the hydraulic rod 801. Several connecting rods 808 are fixedly connected to the output end of the second servo motor 804. A rotating ring 809 is fixedly connected to the end of each connecting rod 808 away from the second output end. A rack 803 is fixedly connected to the arc-shaped surface of the rotating ring 809. The surface of the rack 803 is slidably connected to two connectors 811. A back plate 812 is fixedly connected to the side of the two connectors 811 near the power supply battery 701. A third servo motor 806 is fixedly connected to the inner wall of the back plate 812. A gear 805 is fixedly connected to the output end of the third servo motor 806. The gear 805 meshes with the rack 803. The arc surfaces of the second servo motor 804 and the third servo motor 806 are electrically connected to a drag cable 802. The drag cable 802 is electrically connected to the base 1. When adjustment of the clamping structure 7 is required, or when translation is required, the third servo motor 806 is activated. The output of the servo motor drives the gear 805 to rotate. The gear 805 slides on the surface of the rack 803. Then, the servo motor drives the back plate 812 to move. The back plate 812 drives the connecting member 811 to move. The connecting member 811 slides on the surface of the rack 803. When rotation is required, the second servo motor 804 is activated. The output of the second servo motor 804, connecting rod 808, moves. The connecting rod 808 drives the rotating ring 809 to move. The rotating ring 809 rotates on the arc surface of the hydraulic rod 801, thereby adjusting the rotation of the clamping structure 7. When adjusting the height, the hydraulic rod 801 is activated, retracting or extending. Then, the hydraulic rod 801 drives the rotating ring 809 and the rack 803 to move, facilitating the up-and-down adjustment of the clamping structure 7. A positioning rod 810 is fixedly connected to the side of the rack 803 away from the gear 805. The positioning rod 810 is slidably connected to the connecting member 811. The positioning rod 810 can limit the connection member 811, preventing it from shifting during sliding and preventing the sliding member 714 from rotating during movement.

[0046] The effect achieved by the entire adjustment structure 8 is that it can easily perform multi-axis adjustment of the clamping structure 7, and can be used in multiple environments. It can not only rotate and translate, but also move up and down.

[0047] like Figures 7 to 9 As shown, the collection structure 9 includes a connecting frame 91, which is fixedly connected to the base 1. Two slide rails 95 are fixedly connected inside the connecting frame 91. Slide bars 97 are slidably connected to the inner wall of the slide rails 95. An iron block 99 is fixedly connected to one end of the slide bar 97 near the base 1. A magnetic block 98 is fixedly connected to the bottom wall of the slide rail 95. The magnetic block 98 and the iron block 99 are attracted to each other. Two inclined blocks 92 are fixedly connected to the inner wall of the connecting frame 91. A collection box 93 is fixedly connected to the side of the two slide bars 97 that are close to each other. The collection box 93 is slidably connected to the connecting frame 91. When it is necessary to collect the edge skin body 4, the robotic arm 6 is activated and moved. The robotic arm 6 moves the suction cup 10 and then moves the suction cup 10 above the edge skin body 4. The suction cup 10 then adsorbs the edge skin body 4. Then, according to the detection results of the super depth-of-field microscope camera 12, the edge skin body 4 is moved to the appropriate collection structure 9. Then, the suction cup 10 releases the edge skin body 4, and the edge skin body 4 moves downward according to the inclined block 92. The edge skin body 4 enters the collection box 93. After the collection box 93 is full, the collection box 93 is pulled and moved. The collection box 93 moves the slider 97 and the slider 97 moves the iron block 99. Then, the iron block 99 separates from the magnetic block 98. Then, the slider 97 slides on the inner wall of the slide rail 95 and then the collection box 93 is taken out. The slide rail 95 is fixedly connected to the inside of the limit rod 96, and the limit rod 96 is slidably connected to the slider 97. The limiting rod 96 can limit the slider 97 to prevent it from deviating during sliding, thus improving the stability of the slider 97. A handle 94 is fixedly connected to the side of the collection box 93 away from the base 1. The handle 94 has a "U" shaped cross-section. When it is necessary to pull the collection box 93, the handle 94 can be pulled directly, and the handle 94 will move the collection box 93, making it easier to move the collection box 93.

[0048] The overall collection structure 9 achieves the effect of conveniently using the signals collected by the ultra-depth-of-field microscope camera 12 to control the robotic arm 6 to separate and store edge skins of different qualities.

[0049] The overall working principle is as follows: when it is necessary to clamp the edge skin body 4, the first servo motor 703 is started. The output end of the first servo motor 703 drives the transmission shaft 709 to rotate. The transmission shaft 709 drives the transmission belt 710 to rotate. The transmission belt 710 drives the connecting shaft 711 to rotate. The connecting shaft 711 drives the screw 712 to rotate. The screw 712 drives the slider 716 to move. The slider 716 slides on the inner wall of the slide groove 713. The slider 716 drives the fixing part 718 to move. The fixing part 718 drives the auxiliary rod 715 to move. The auxiliary rod 715 drives the adjusting rod 720 to move. The adjusting rod 720 drives... The movable slider 714 moves and slides on the inner wall of the auxiliary groove 717. Then, the slider 714 drives the clamping plate 708 to move, which facilitates quick clamping of the edge skin body 4. The anti-slip pad 719 can increase the friction between the clamping plate 708 and the edge skin body 4, and prevent the clamping plate 708 from sliding when clamping the edge skin body 4. The fixed rod 705 can stabilize the first servo motor 703 and prevent the servo motor from shaking violently during use. The polyurethane belt is more wear-resistant than the rubber belt and has better oil resistance and aging resistance. It has good flexibility and fatigue resistance, and is suitable for mechanical equipment that requires high strength and high efficiency.

[0050] When adjustment of the clamping structure 7 is required, or when translation is required, the third servo motor 806 is started. The output end of the servo motor drives the gear 805 to rotate. The gear 805 slides on the surface of the rack 803. Then, the servo motor drives the back plate 812 to move. The back plate 812 drives the connecting member 811 to move. The connecting member 811 slides on the surface of the rack 803. When rotation is required, the second servo motor 804 is started. The output end of the second servo motor 804, the connecting rod 808, moves. 08 drives the rotating ring 809 to move, and the rotating ring 809 rotates on the arc surface of the hydraulic rod 801, thereby adjusting the rotation of the clamping structure 7. When adjusting the height, the hydraulic rod 801 is started to operate, and the hydraulic rod 801 retracts or extends. Then the hydraulic rod 801 drives the rotating ring 809 and the rack 803 to move, thereby facilitating the up and down adjustment of the clamping structure 7. The positioning rod 810 can limit the connection 811 to prevent the connection 811 from shifting when sliding, and prevent the sliding part 714 from rotating when moving.

[0051] When it is necessary to collect the edge skin body 4, the robotic arm 6 is activated and moved, driving the suction cup 10 to move as well. The suction cup 10 is then moved above the edge skin body 4, and it adheres to the edge skin body 4. Based on the detection results of the ultra-depth-of-field microscope camera 12, the edge skin body 4 is moved to the appropriate collection structure 9. The suction cup 10 then releases the edge skin body 4, which moves downward according to the inclined block 92 and enters the collection box 93. After the collection box 93 is full, it is pulled to... The collection box 93 moves, causing the slider 97 to move. The slider 97 then moves the iron block 99, which separates from the magnetic block 98. The slider 97 then slides along the inner wall of the slide rail 95, allowing the collection box 93 to be removed. The limiting rod 96 can limit the slider 97 to prevent it from deviating during sliding, thus improving the stability of the slider 97. When it is necessary to pull the collection box 93, the handle 94 can be pulled directly. The handle 94 moves the collection box 93, making it easier to move the collection box 93.

[0052] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments that can be applied to other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An automated edge-separation device, comprising a base (1), a clamping structure (7), an adjusting structure (8), and a collecting structure (9), characterized in that: The base (1) is equipped with a conveyor belt (2), and two positioning trays (3) are installed on the upper surface of the conveyor belt (2). Several edge skin bodies (4) are placed on the upper surface of the positioning trays (3). A connecting seat (5) is fixedly connected to one side of the base (1). A robotic arm (6) is installed on the upper surface of the connecting seat (5). A suction cup (10) is installed at the output end of the robotic arm (6). A data interaction unit (11) and a super depth-of-field microscope camera (12) are installed inside the base (1). A clamping structure (7) is provided above the base (1).

2. The automated edge-separation device according to claim 1, characterized in that: The clamping structure (7) includes a connecting strip (702), which is connected to the base (1) via an adjusting structure (8). A connecting plate (706) is fixedly connected to the surface of the connecting strip (702), and a connecting plate (707) is fixedly connected to the lower end of the connecting plate (706). Two auxiliary grooves (717) are formed on the inner wall of the connecting plate (707), and two sliding parts (717) are slidably connected to the inner wall of the auxiliary grooves (717). 14) An adjusting rod (720) is fixedly connected to the arc surface at the upper end of the slider (714). Two sliding grooves (713) are opened on the upper surface of the connecting plate (707). A slider (716) is slidably connected to the inner wall of the sliding groove (713). A fixing member (718) is fixedly connected to the upper surface of the slider (716). An auxiliary rod (715) is fixedly connected to both ends of the upper surface of the fixing member (718). The auxiliary rod (715) is connected to the adjusting rod. A rod (720) is fixedly connected, and a clamping plate (708) is fixedly connected to the lower end of the slide (714). A screw (712) is rotatably connected inside the slide groove (713). The arc surfaces at both ends of the screw (712) are provided with opposite threads. The screw (712) is threadedly connected to the slider (716). A connecting shaft (711) is fixedly connected to one end of the screw (712). A transmission belt is driven through the arc surface of the connecting shaft (711). (710) A power supply battery (701) is installed at one end of the connecting bar (702) near the transmission belt (710). A connecting wire (704) is electrically connected to the lower surface of the power supply battery (701). A first servo motor (703) is electrically connected to the lower end of the connecting wire (704). A transmission shaft (709) is fixedly connected to the output end of the first servo motor (703). The transmission shaft (709) is connected to the transmission belt (710) in a transmission connection.

3. The automated edge-separation device according to claim 2, characterized in that: Anti-slip pads (719) are fixedly connected to the sides of the two clamping plates (708) that are close to each other. The anti-slip pads (719) are rubber pads.

4. The automated edge-separation device according to claim 2, characterized in that: The servo motor has two fixing rods (705) mounted on its arc surface, and the cross-section of the fixing rods (705) is "L" shaped.

5. The automated edge-separation device according to claim 2, characterized in that: The cross-section of the transmission belt (710) is a straight groove, and the transmission belt (710) is a polyurethane belt.

6. The automated edge-separation device according to claim 2, characterized in that: The upper surface of the base (1) is provided with an adjustment structure (8), which includes a hydraulic rod (801). The hydraulic rod (801) is fixedly connected to the base (1). Two mounting rods (807) are fixedly connected to the arc surface of the output end of the hydraulic rod (801). A second servo motor (804) is fixedly connected to the end of the mounting rod (807) away from the hydraulic rod (801). Several connecting rods (808) are fixedly connected to the output end of the second servo motor (804). A rotating ring (809) is fixedly connected to the end of the connecting rod (808) away from the second output end. A tooth is fixedly connected to the arc surface of the rotating ring (809). The rack (803) has two connecting parts (811) slidably connected to its surface. The two connecting parts (811) are fixedly connected to a back plate (812) on the side near the power supply battery (701). A third servo motor (806) is fixedly connected to the inner wall of the back plate (812). A gear (805) is fixedly connected to the output end of the third servo motor (806). The gear (805) meshes with the rack (803). The arc surfaces of the second servo motor (804) and the third servo motor (806) are electrically connected to a drag cable (802). The drag cable (802) is electrically connected to the base (1).

7. The automated edge-separation device according to claim 6, characterized in that: A positioning rod (810) is fixedly connected to the side of the rack (803) away from the gear (805), and the positioning rod (810) is slidably connected to the connecting piece (811).

8. The automated edge-separation device according to claim 1, characterized in that: The base (1) has several collection structures (9) on the side near the connecting seat (5). Each collection structure (9) includes a connecting frame (91), which is fixedly connected to the base (1). The connecting frame (91) has two slide rails (95) fixedly connected inside. The inner wall of the slide rail (95) is slidably connected to a slide bar (97). The end of the slide bar (97) near the base (1) is fixedly connected to an iron block (99). The bottom wall of the slide rail (95) is fixedly connected to a magnetic block (98). The magnetic block (98) attracts the iron block (99). The inner wall of the connecting frame (91) has two inclined blocks (92) fixedly connected. The side of the two slide bars (97) that are close to each other is fixedly connected to a collection box (93). The collection box (93) is slidably connected to the connecting frame (91).

9. The automated edge-separation device according to claim 8, characterized in that: The slide rail (95) is internally fixedly connected to a limiting rod (96), and the limiting rod (96) is slidably connected to the slide bar (97).

10. The automated edge-separation device according to claim 8, characterized in that: A handle (94) is fixedly connected to the side of the collection box (93) away from the base (1), and the handle (94) has a "U" shaped cross section.

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