Feeding and discharging mechanical arm

Abstract

The invention relates to the technical field of laminating machine equipment, in particular to a feeding and discharging mechanical arm which comprises a carrying module and a caching module which are independent of a laminating machine. The carrying module is suitable for carrying materials from an assembly line to the temporary storage module. The temporary storage module has a conveying function and is suitable for avoiding a movement mechanism of the laminating machine to convey materials to a laminating station. According to the feeding and discharging mechanical arm, automatic feeding and discharging of mobile phones and tablet personal computers are achieved, the production efficiency is improved, the influence on a fitting station is eliminated, feeding and discharging are compatible, threading is convenient and fast, and the whole line cost is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of laminating machine equipment, and in particular to a loading and unloading robotic arm. Background Technology

[0002] Laminating machines are key equipment in the production of LCD displays and touch screens, primarily used for processes such as polarizer bonding, touchscreen and display assembly, and OLED panel and polarizer bonding. The core technologies of laminating machines include vacuum adsorption, precise alignment, and pressure control to ensure bubble-free and misaligned bonding. Laminating machines are widely used in consumer electronics, industrial control, and medical equipment fields.

[0003] In production, laminating machines need to be used in conjunction with material conveying equipment. This equipment includes loading and unloading devices. The loading device is responsible for conveying materials from the production line to the laminating machine, while the unloading device is responsible for conveying products from the laminating machine to the production line. Currently, the industry uses integrated robotic arm structures, where a robotic arm is integrated into the laminating machine. The robotic arm picks up materials one by one and places them at the laminating machine's workstations, and also picks up finished products from the workstations one by one and places them on the production line.

[0004] On the one hand, the integrated robotic arm structure vibrates when it grabs products and places materials at the workstation, which affects the working accuracy of the laminating machine. On the other hand, the robotic arm frequently occupies the space directly above the laminating machine, affecting the positioning of the laminating mechanism directly above the laminating machine, which prolongs the time required for each lamination and reduces the lamination efficiency. Summary of the Invention

[0005] In view of this, the present invention provides a loading and unloading robotic arm, which aims to solve the problems of vibration affecting the working accuracy of the laminating machine caused by the operation of the integrated robotic arm structure in the prior art, and the low laminating efficiency of the laminating machine caused by the frequent occupation of the space directly above the laminating machine.

[0006] To solve the above problems, the present invention provides a loading and unloading robotic arm, which includes a transport module and a buffer module independent of the laminating machine; the transport module is adapted to transport materials from the production line to the buffer module; the buffer module has a conveying function and is adapted to transport materials to the laminating station by avoiding the motion mechanism of the laminating machine.

[0007] Optionally, it also includes a guide positioning module for guiding and positioning materials.

[0008] Optionally, the guiding and positioning module is located at the end of the production line where it connects to the conveying module, and is suitable for guiding and positioning incoming materials on the production line.

[0009] Optionally, the guiding and positioning module comprises a guiding rail, which is arranged on the material conveying path of the assembly line; the guiding rail comprises at least one pair of symmetrical long bars, and a pair of the long bars enclose a material channel.

[0010] Optionally, the long bar comprises a fixed part and a guiding part, the fixed part is rotatably connected with the guiding part, the position of the fixed part is fixed, and the guiding part is located at one end of the long bar which first contacts the material.

[0011] Optionally, the assembly further comprises a sensor and a controller, the sensor and the carrying module are electrically connected to the controller, the sensor is adapted to send an electric signal to the controller when the sensor senses that the material enters the material channel, and the controller is adapted to control the carrying module to move when the controller receives the electric signal from the sensor.

[0012] Optionally, the carrying module comprises a horizontal guide rail, a vertical guide rail and a grabbing mechanism, the grabbing mechanism is connected to a movable part of the vertical guide rail, and the vertical guide rail is connected to a movable part of the horizontal guide rail.

[0013] Optionally, the buffer module comprises a buffer conveying line, and the laminating station is arranged on the conveying path of the buffer conveying line.

[0014] Optionally, the carrying module is further adapted to carry the product from the laminating station to the assembly line, and the loading and unloading robot is adapted to be arranged at the loading end and / or the unloading end of the laminating machine.

[0015] Optionally, the loading and unloading robot comprises a movable base plate.

[0016] The technical scheme of the present application has the following advantages: BRIEF DESCRIPTION OF DRAWINGS In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 is the overall structure schematic diagram of the loading and unloading robot in the embodiment of the present application.

[0018] Figure 2 is the structure schematic diagram of the buffer module in the embodiment of the present application.

[0019] Figure 3 is the structure schematic diagram of the carrying module in the embodiment of the present application.

[0020] In the figure: carrying module 1, horizontal guide rail 11, vertical guide rail 12, grabbing mechanism 13, buffer module 2, buffer belt 21, driving motor 211, driving shaft 212, tensioning shaft 213, driven shaft 214, guide positioning module 3, guide rail 31, long rod 311, fixed part 311a, guide part 311b, frame 4, waist-shaped hole 41, screw 5, foot support 6, roller 7. DETAILED DESCRIPTION

[0021] The specific embodiments of the present application will be described in detail hereinafter with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the description of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0022] Unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium. The specific meanings of the above terms can be understood according to the specific circumstances by those of ordinary skill in the art.

[0023] The terms "up", "down", "left", "right", "front", "back", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the application is usually placed, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0024] The terms "first", "second", "third" and the like are only for distinguishing similar attributes of elements, and do not indicate or imply relative importance or a particular order.

[0025] The terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, in addition to including the listed elements, other elements not explicitly listed can also be included.

[0026] Please refer to Figure 1 The embodiment of the present application provides a feeding and discharging mechanical arm, which comprises a floor type shell, the shell is independent of a laminating machine, the shell is provided with a carrying module 1 and a buffer module 2, the carrying module 1 is suitable for carrying materials from a flow line to the buffer module 2. The buffer module 2 has a conveying function and is suitable for conveying materials to a laminating station to avoid the movement mechanism of the laminating machine.

[0027] Specifically, the buffer module 2 comprises a buffer conveying line, and the laminating station is located on a conveying path of the buffer conveying line; the buffer conveying line can adopt a flow line conveying mode such as a belt conveying, a chain plate conveying, a roller shaft conveying, and the like, and preferably a buffer belt is used as the buffer conveying line.

[0028] Please refer to Figure 2 The buffer belt 21 comprises a driving motor 211, and driving shafts 212, tensioning shafts 213 and driven shafts 214 arranged in parallel; the inner side of the belt is wound around the driving shafts 212 and the driven shafts 214, and the tensioning shafts 213 are pressed on the outer side of the belt; the driving shafts 212 and the tensioning shafts 213 are both located below the driven shafts 214; the driving motor 211 drives the driving shafts 212 to rotate through a belt wheel transmission mode, the driving shafts 212 drive the belt to move through friction, the belt drives the driven shafts 214 to rotate through friction, and at least two driven shafts 214 are arranged in the same horizontal plane, so that the upper surface of the belt is in a horizontal state, and the upper surface of the belt is used for placing and conveying materials; the driving shafts 212, the tensioning shafts 213 and the driven shafts 214 are all arranged on a fixed frame body 4 at a specified position of a casing; the frame body 4 is provided with a waist-shaped hole 41, the shaft ends of the tensioning shafts 213 extend into the waist-shaped hole 41, and the frame body 4 is provided with a threaded connecting screw rod 5, the screw rod 5 extends through the frame body 4 to abut against the shaft ends of the tensioning shafts 213 in the waist-shaped hole 41; the tensioning degree of the belt by the tensioning shafts 213 can be controlled by rotating the screw rod 5 to drive the tensioning shafts 213 to move along the length direction of the waist-shaped hole 41.

[0029] Further, please refer to Figure 1The feeding and discharging mechanical arm further comprises a guiding and positioning module 3 for guiding and positioning the material, specifically, the guiding and positioning module 3 is arranged at the end of the assembly line connected with the carrying module 1, and is suitable for guiding and positioning the incoming material of the assembly line; the guiding and positioning module 3 comprises a guiding railing 31 arranged on the material conveying path of the assembly line; the guiding railing 31 is at least one pair of long rods 311, and the two long rods 311 in each pair are symmetrical about the center line of the assembly line, and one pair of symmetrical long rods 311 enclose a material channel, and the material channels enclosed by different pairs of long rods 311 have different widths, and the long rods 311 on the outer side have a longer length in the direction of the incoming material, and if a plurality of long rods 311 enclose a plurality of material channels, the material first enters a wider material channel and then enters a narrower material channel, and the material is stopped when reaching the designated position under the guidance of the material channel, and at this time, the material is positioned; the long rod 311 can further be provided with an inclined surface or a circular arc surface on the side surface for guiding the material when the material first contacts the long rod 311, so that the material smoothly enters the material channel and avoids being stuck at the entrance of the material channel; the long rod 311 comprises a fixed part 311a and a guiding part 311b, the fixed part 311a and the guiding part 311b are pivotally connected, the position of the fixed part 311a is fixed, and the guiding part 311b is located at the end of the long rod 311 first contacting the material, and the guiding part 311b can be adjusted according to the size of the material, so that the guiding part 311b is rotated to the designated position about the pivot shaft, so that the material more smoothly enters the material channel.

[0030] Further, the feeding and discharging mechanical arm further comprises a sensor and a controller, the sensor and the carrying module 1 are electrically connected to the controller, the sensor is suitable for sending an electric signal to the controller when the material enters the material channel, and the controller is suitable for controlling the carrying module 1 to move when receiving the electric signal from the sensor; the function of automatically grabbing the material after automatically sensing the incoming material is realized.

[0031] Specifically, referring to Figure 3 , the carrying module 1 comprises a horizontal guide rail 11, a vertical guide rail 12 and a grabbing mechanism 13, the grabbing mechanism 13 is connected to the movable part of the vertical guide rail 12, and the vertical guide rail 12 is connected to the movable part of the horizontal guide rail 11; the horizontal guide rail 11 extends along the x-axis of the space rectangular coordinate system, and the movable part of the horizontal guide rail 11 preferably adopts the form of a motor-driven screw, and the movable part of the horizontal guide rail 11 moves linearly along the x-axis direction under the drive of the motor and the screw; the vertical guide rail 12 extends along the z-axis of the space rectangular coordinate system, and the movable part of the vertical guide rail 12 preferably adopts the form of a cylinder-driven movable part, and the movable part of the vertical guide rail 12 moves linearly along the z-axis direction under the drive of the cylinder; the grabbing mechanism 13 can adopt a jaw cylinder or a suction cup.

[0032] Further, the conveying module 1 is also suitable for conveying the product from the laminating station to the assembly line; the feeding and discharging mechanical arm is suitable for being arranged at the feeding end and / or the discharging end of the laminating machine. The feeding and discharging mechanical arm can be used for feeding and discharging, and has high versatility; when the whole line is connected in series, only one feeding and discharging mechanical arm is needed at the head and tail of the whole line to complete the feeding and discharging of the whole line.

[0033] Further, please refer to Figure 1 The feeding and discharging mechanical arm provided by the embodiment of the present application is of a floor type structure, and the bottom of the machine shell is provided with a movable chassis and a liftable foot support 6; the bottom of the movable chassis is provided with a roller 7, so that the feeding and discharging mechanical arm can be quickly moved and docked when the whole line is connected in series, and the comprehensive cost of the whole line is reduced; after being moved to a specified position, the machine shell is lifted by the foot support 6, so that the rolling road is separated from the ground, and the machine shell is stable.

[0034] The feeding and discharging mechanical arm provided by the embodiment of the present application has the following working principles and processes: When the feeding and discharging mechanical arm is used for feeding: 1. The products of the assembly line include mobile phones, tablets and components thereof; 2. The guiding and positioning module 3 preliminarily guides and positions the material, and senses the incoming products; 3. The vertical guide rail 12 sucks the products; 4. The horizontal guide rail 11 moves the vertical guide rail 12 to the buffer belt position; 5. The vertical guide rail 12 places the products on the buffer belt; 6. The buffer belt runs forward to stably supply the laminating station.

[0035] When the feeding and discharging mechanical arm is used for discharging: 1. The products of the laminating station are discharged to the buffer belt; 2. The vertical guide rail 12 takes the products on the buffer belt; 3. The horizontal guide rail 11 moves the vertical guide rail 12 to the assembly line position; 4. The vertical guide rail 12 places the products on the assembly line.

[0036] The feeding and discharging mechanical arm provided by the embodiment of the present application realizes the automatic feeding and discharging of mobile phones and tablets, improves the production efficiency, eliminates the influence on the next station (the laminating station in the embodiment), is compatible for feeding and discharging and is convenient for connecting in series, and reduces the cost of the whole line.

[0037] The technical scheme of the present application has the following advantages: The mechanical arm in the industry is of an integrated type, and the vibration of taking and placing the material will affect the laminating machine; the feeding and discharging mechanical arm of the present application is of a floor type structure and has independence, and the taking and placing action will not affect the laminating machine.

[0038] The industry arm directly takes the material and places it on the laminating machine; the feeding and discharging mechanical arm of the present application, the material flows to the laminating machine through the buffer conveying line, so that the feeding efficiency of the laminating machine can be ensured, and the laminating machine can be avoided to move, so that the laminating machine on the laminating mechanism can not be affected, and the laminating efficiency can not be affected.

[0039] After the conveying module takes the material, the material is placed on the buffer module, and the conveying module can continue to take the material to the buffer module above to wait.

[0040] The feeding and discharging mechanical arm can be used for feeding and discharging; the universality is high, and when the whole line is connected in series, only one feeding and discharging mechanical arm is needed at the head and tail to complete the feeding and discharging of the whole line.

[0041] The feeding and discharging mechanical arm has a movable chassis, which can be quickly moved and docked when the line is connected, and the comprehensive cost of the whole line is reduced.

[0042] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A feeding and discharging mechanical arm, characterized in that, The application relates to a material conveying device for a laminating machine, comprising a conveying module and a buffer module independent of the laminating machine; the conveying module is suitable for conveying materials from a flow line to the buffer module; the buffer module has a conveying function and is suitable for conveying materials to a laminating station avoiding the movement mechanism of the laminating machine.

2. The feeding and discharging mechanical arm according to claim 1, characterized in that, The application also discloses a guiding and positioning module for guiding and positioning the materials.

3. The feeding and discharging mechanical arm according to claim 2, characterized in that, The guiding and positioning module is arranged at the end of the flow line connected with the conveying module and is suitable for guiding and positioning the materials from the flow line.

4. The feeding and discharging mechanical arm according to claim 3, characterized in that, The guiding and positioning module comprises a guiding rail arranged on the material conveying path of the flow line; the guiding rail comprises at least one pair of symmetrical long rods, and a material channel is formed by the long rods.

5. The feeding and discharging mechanical arm according to claim 4, characterized in that, The long rod comprises a fixed part and a guiding part, the fixed part and the guiding part are pivotally connected, the position of the fixed part is fixed, and the guiding part is located at the end of the long rod which first contacts the materials.

6. The feeding and discharging mechanical arm according to claim 4, characterized in that, The application also discloses a sensor and a controller, the sensor and the conveying module are electrically connected to the controller, the sensor is suitable for sending an electric signal to the controller when the materials enter the material channel, and the controller is suitable for controlling the movement of the conveying module when receiving the electric signal from the sensor.

7. The feeding and discharging mechanical arm according to claim 1, characterized in that, The conveying module comprises a horizontal guide rail, a vertical guide rail and a grabbing mechanism, the grabbing mechanism is connected to the movable part of the vertical guide rail, and the vertical guide rail is connected to the movable part of the horizontal guide rail.

8. The feeding and discharging mechanical arm according to claim 1, characterized in that, The buffer module comprises a buffer conveying line, and the laminating station is located on the conveying path of the buffer conveying line.

9. The feeding and discharging mechanical arm according to claim 1, characterized in that, The conveying module is also suitable for conveying products from the laminating station to the flow line; the feeding and discharging mechanical arm is suitable for being arranged at the feeding end and / or the discharging end of the laminating machine.

10. The feeding and discharging mechanical arm according to claim 9, characterized in that, The feeding and discharging mechanical arm comprises a movable base plate.

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