Wood chip wick assembly machine

Abstract

The present application discloses a kind of wood chip lampwick assembly machine, including wood chip supply mechanism, carousel, clamping buckle feeding mechanism, assembly mechanism, cup assembly mechanism, container conveying line and PLC control module;Wood chip supply mechanism includes setting on the table surface of wood chip supply workbench wood chip machine and multi-axis robot;Carousel is set on the table surface of assembly table, carousel is equipped with a plurality of around its center arrangement fixture, fixture is equipped with wood chip placement slot and clamping buckle placement slot;Clamping buckle feeding mechanism, assembly mechanism, cup assembly mechanism are set on the table surface of assembly table;Multi-axis robot, clamping buckle supply mechanism, assembly mechanism and cup assembly mechanism are sequentially arranged according to the rotation direction of carousel;Container conveying line includes conveying belt and glue dispenser, glue dispenser is located upstream of conveying belt relative to cup assembly mechanism;PLC control module is connected with wood chip supply mechanism, carousel, clamping buckle feeding mechanism, assembly mechanism, cup assembly mechanism and container conveying line communication, realizes the automatic assembly of wood chip lampwick.

Description

Technical Field

[0001] This invention relates to the field of wood chip lamp wick production technology, and more particularly to a wood chip lamp wick assembly machine. Background Technology

[0002] In the traditional production process of wood chip lamp wicks, the assembly of the wood chips and clips mainly relies on manual operation. Manual assembly has significant drawbacks: Low production efficiency: Manual feeding, positioning, and assembly processes are time-consuming, making it difficult to meet the needs of large-scale mass production. Poor product consistency: Manual operation is affected by factors such as fatigue and lack of proficiency, which can easily lead to problems such as wood chip tilting and clamp misalignment, resulting in large fluctuations in the finished product qualification rate; High safety risks: Frequent contact with small clips and mechanical parts poses a risk of pinching and scratching. High costs: Labor costs are rising year by year, and additional investment is required in training and management.

[0003] It is evident that as the lighting industry's demand for standardized and large-scale wood chip lamp core products increases, traditional manual assembly methods can no longer meet the requirements of modern production. Summary of the Invention

[0004] The problem solved by this invention is to provide a wood chip lamp wick assembly machine.

[0005] This invention discloses a wood chip lamp wick assembly machine, comprising: Wood chip feeding workbench; The wood chip feeding mechanism includes a chip feeding machine for feeding wood chips and a multi-axis robot for transporting wood chips. Both the chip feeding machine and the multi-axis robot are mounted on the table surface of the wood chip feeding workbench. An assembly table is located on one side of the wood chip feeding workbench; A turntable is rotatably mounted on the assembly table. The turntable is provided with a plurality of fixtures arranged around the center of the turntable. Each fixture is provided with a wood chip placement slot and a clamp placement slot. The multi-axis robot can transport the wood chips conveyed by the chip feeding machine into the wood chip placement slot. A clamp feeding mechanism is provided on the assembly table and is used to transport the clamps into the clamp placement slot; An assembly mechanism is provided on the table surface of the assembly table for inserting wood chips from the wood chip placement slot into the clips in the wood chip placement slot; A cup-filling mechanism is set on the assembly table and is used to transport the clamps with inserted wooden pieces into the container. The multi-axis robot, the clamp feeding mechanism, the assembly mechanism and the cup-filling mechanism are arranged in sequence according to the rotation direction of the turntable. A container conveyor line, located on the side of the assembly station near the cupping mechanism, includes a conveyor belt and a dispensing machine. The containers are transported on the conveyor belt of the container conveyor line, and the dispensing machine is located upstream of the cupping mechanism relative to the conveyor belt. The PLC control module is located inside the assembly station and is communicatively connected to the wood chip feeding mechanism, the turntable, the clamping feeding mechanism, the assembly mechanism, the cup filling mechanism, and the container conveyor line.

[0006] In some embodiments, the wood chip feeding mechanism further includes a 2D vision system for acquiring the position information of the wood chips; the 2D vision system is disposed above the chip feeder, and the 2D vision system and the multi-axis robot are communicatively connected to the PLC control module.

[0007] In some embodiments, the sheet-forming machine includes a feeding channel and a conveyor. The feeding channel is provided with a parallel conveyor belt. The feeding port of the feeding channel is provided with a downwardly inclined plate and a baffle. The baffle has a bent structure and is located in the middle of the feeding port. The conveyor is located below the discharge port of the feeding channel, and the end of the conveyor extends toward the multi-axis robot.

[0008] In some embodiments, the multi-axis robot is a four-axis robot, which includes a robot base, a robot body, and an end effector. The robot base is disposed on the table surface of the wood chip feeding workbench. One end of the robot body is rotatably connected to the robot base, and the other end is connected to the end effector. The end effector includes a first pneumatic element and a first suction cup connected by a lead screw.

[0009] In some embodiments, the wood chip lamp wick assembly machine further includes a clamping feeding mechanism, which includes a circular vibratory feeder, a feeder assembly, a first photoelectric sensor, a second photoelectric sensor, and the clamp feeding mechanism, all of which are communicatively connected to the PLC control module. The circular vibratory feeder is disposed on one side of the assembly table and stores clamps to be fed. The first end of the feeder assembly is connected to the outlet of the circular vibratory feeder, and the second end of the feeder assembly extends toward the clamp feeding mechanism. The first photoelectric sensor is disposed at the first end of the feeder assembly to obtain information on the stacking status of the clamps, and the second photoelectric sensor is disposed at the second end of the feeder assembly to obtain information on whether there are clamps at the second end.

[0010] In some embodiments, the clamping and feeding mechanism includes a first column fixed to the table surface of the assembly table and a first two-axis manipulator mounted on the first column. The first two-axis manipulator includes a second pneumatic element and a first pneumatic gripper connected to the second pneumatic element, so that the second pneumatic element drives the first pneumatic gripper to move up and down. The feeder assembly includes a material channel, a linear vibrating feeder, and a feeding mechanism. The first end of the material channel is connected to the outlet of the circular vibrating plate, and the second end of the material channel extends toward the feeding mechanism. The linear vibrating feeder is disposed below the material channel and provides power for the vibration of the material channel. The feeding mechanism includes a feeding fixture and a slide cylinder. The slide cylinder is mounted on the first column. The feeding fixture serves as the second end of the feeder assembly. The slide cylinder is connected to the feeding fixture to drive the feeding fixture to move back and forth between the second end of the material channel and the first pneumatic gripper.

[0011] In some embodiments, the assembly mechanism includes a second column, a flipping mechanism, and a second two-axis manipulator; the second column and the flipping mechanism are fixedly mounted on the assembly table surface; the flipping mechanism includes a rotary cylinder and a second suction cup; the rotary cylinder is located above the turntable; the second suction cup is fixedly connected to the rotary cylinder; the rotary cylinder has a rotatable angle of 90 degrees to drive the second suction cup to switch between a horizontal state and a vertical state; the horizontal state is when the second suction cup is parallel to the upper end face of the fixture; the vertical state is when the second suction cup is perpendicular to the upper end face of the fixture; the second two-axis manipulator includes a third pneumatic element and a second pneumatic gripper; the third pneumatic element is mounted on the column; the second pneumatic gripper is connected to the third pneumatic element so that the third pneumatic element drives the second pneumatic gripper to move up and down.

[0012] In some embodiments, the cup-filling mechanism includes a third column, a third two-axis manipulator, and a fifth pneumatic component; the third column is fixed to the table surface of the assembly table, the third two-axis manipulator includes a fourth pneumatic component and a third pneumatic gripper, the fourth pneumatic component is mounted on the third column, and the third pneumatic gripper is connected to the fourth pneumatic component so that the fourth pneumatic component drives the third pneumatic gripper to move up and down; the fifth pneumatic component is mounted on the third column, and the fifth pneumatic component is connected to the third two-axis manipulator and can drive the third two-axis manipulator to perform translational motion.

[0013] In some embodiments, the container conveyor line further includes a first baffle cylinder assembly, a second baffle cylinder assembly, a clamping cylinder assembly, and a third baffle cylinder assembly arranged downstream of the conveyor belt relative to the dispensing machine and sequentially arranged therein; a first through-beam photoelectric sensor is provided at a position cooperating with the first baffle cylinder assembly, a second through-beam photoelectric sensor is provided at a position cooperating with the clamping cylinder assembly, and a third through-beam photoelectric sensor is provided at a position cooperating with the third baffle cylinder assembly.

[0014] In some embodiments, the assembly table has eight workstations evenly arranged around the center of the turntable. The turntable rotates 45 degrees at a time. The fixture is set at the position corresponding to the workstation. The table surface of the assembly table is provided with four third photoelectric sensors. The four third photoelectric sensors correspond one-to-one with four non-adjacent workstations. The other four non-adjacent workstations are sequentially used as the operation workstations for the multi-axis robot, the clamping and feeding mechanism, the assembly mechanism, and the cup-filling mechanism to cooperate with the turntable.

[0015] The beneficial effects of this invention are as follows: The wood chip lamp wick assembly machine disclosed in this invention includes a wood chip feeding workbench, a wood chip feeding mechanism, an assembly table, a turntable, a clamping feeding mechanism, an assembly mechanism, a cup-filling mechanism, a container conveyor line, and a PLC control module. The PLC control module is communicatively connected to the wood chip feeding mechanism, turntable, clamping feeding mechanism, assembly mechanism, cup-filling mechanism, and container conveyor line, enabling automatic assembly of wood chip lamp wicks. This solves the hidden dangers of manual assembly, improves production efficiency, reduces labor costs, ensures product quality, and reduces safety hazards. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an overall structural diagram of the wood chip lamp wick assembly machine provided in an embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the structure of the wood chip feeding mechanism of the wood chip lamp wick assembly machine. Figure 3 for Figure 1 The diagram shows the structure of the clamping feeding mechanism of the wood chip lamp wick assembly machine. Figure 4 for Figure 1 The diagram shows the structural structure of the assembly mechanism of the wood chip lamp wick assembly machine. Figure 5 for Figure 1 The diagram shows the structure of the container conveyor line of the wood chip lamp wick assembly machine. Figure 6 for Figure 1 The diagram shows the cup-filling mechanism of the wood chip lamp wick assembly machine.

[0018] Reference numerals: 1. Wood chip feeding workbench; 2. Wood chip feeding mechanism; 21. Chip feeder; 211. Discharge port; 212. Baffle; 213. Conveyor belt; 214. Conveyor; 22. Four-axis robot; 221. Robot base; 222. Robot body; 223. End effector; 2231. Lead screw; 2232. First suction cup; 2233. First pneumatic component; 232. 2D vision system; 231. 2D vision camera; 232. Image processor 233. Light source; 3. Assembly table; 31. Tabletop; 32. Operating table; 33. Third photoelectric sensor; 4. Turntable; 41. Fixture; 5. Clamping feeding mechanism; 51. Circular vibratory feeder; 511. Spiral track; 52. Feeder assembly; 521. Material channel; 522. Straight vibratory feeder; 523. Material feeding mechanism; 53. Clamping loading mechanism; 531. First two-axis manipulator; 5311. Second pneumatic component; 5312. First pneumatic gripper; 532. First... Column; 54. First photoelectric sensor; 55. Second photoelectric sensor; 6. Assembly mechanism; 61. Second column; 62. Tilting mechanism; 621. Rotary cylinder; 622. Second suction cup; 63. Second two-axis manipulator; 631. Third pneumatic component; 632. Second pneumatic gripper; 7. Cup filling mechanism; 71. Third column; 72. Third two-axis manipulator; 721. Fourth pneumatic component; 722. Third pneumatic gripper; 73. Fifth pneumatic component; 8. Container conveying 81. Conveyor belt; 82. Dispensing machine; 83. Clamping cylinder assembly; 831. Clamping cylinder base; 832. Clamping cylinder; 833. Clamping block; 84. First baffle cylinder assembly; 841. First baffle; 85. Second baffle cylinder assembly; 851. Second baffle; 86. Third baffle cylinder assembly; 861. Third baffle; 87. First through-beam photoelectric sensor; 88. Second through-beam photoelectric sensor; 89. Third through-beam photoelectric sensor; 9. Container. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and, or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and, or collections thereof.

[0021] It should also be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "linking," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. When an component is referred to as being "on" or "below" another component, the component can be located "directly" or "indirectly" on the other component, or there may be one or more intermediary components. The terms "first," "second," "third," etc., are only for the convenience of describing this technical solution and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0022] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0023] It should also be further understood that the terms “and” and “or” as used in this specification and the appended claims refer to any combination of one or more of the associated listed items and all possible combinations, and include such combinations.

[0024] like Figures 1 to 6 As shown, Figure 1 This is an overall structural diagram of the wood chip lamp wick assembly machine provided in an embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the structure of the wood chip feeding mechanism of the wood chip lamp wick assembly machine. Figure 3 for Figure 1 The diagram shows the structure of the clamping feeding mechanism of the wood chip lamp wick assembly machine. Figure 4 for Figure 1 The diagram shows the structural structure of the assembly mechanism of the wood chip lamp wick assembly machine. Figure 5 for Figure 1 The diagram shows the structure of the container conveyor line of the wood chip lamp wick assembly machine. Figure 6 for Figure 1 The diagram shows the cup-filling mechanism of the wood chip lamp wick assembly machine. This invention discloses a wood chip lamp wick assembly machine for the automatic batch assembly of wood chip lamp wicks (hereinafter referred to as wood chips) and clamps during the wood chip lamp wick production process. The wood chips are rectangular sheets and can be used as lamp wicks for lighting devices, while the clamps serve as the base of the lamp wicks, ensuring that the wood chips can stand upright in the container 9. The wood chip lamp wick assembly machine includes a wood chip feeding workbench 1, a wood chip feeding mechanism 2, an assembly table 3, a turntable 4, a clamp feeding mechanism 53, an assembly mechanism 6, a cup-filling mechanism 7, a container 9 conveyor line 8, and a PLC control module.

[0025] Among them, the wood chip feeding workbench 1 is a hollow cabinet.

[0026] The wood chip feeding mechanism 2 is used to realize the batch feeding of wood chips. The wood chip feeding mechanism 2 may include a chip feeding machine 21 for feeding wood chips and a multi-axis robot for transporting wood chips. The chip feeding machine 21 and the multi-axis robot are both set on the table surface 31 of the wood chip feeding workbench 1. The chip feeding machine 21 is used to transport the wood chips to be assembled in a preset state (such as a horizontal placement state) towards the multi-axis robot.

[0027] The multi-axis robot can be a four-axis robot 22 with four degrees of freedom. The robot control cabinet of the multi-axis robot can be set inside the wood chip feeding workbench 1 to save space. The multi-axis robot can also be a three-axis robot or a six-axis robot.

[0028] Assembly table 3 is located on one side of wood chip feeding workbench 1 and is a hollow cabinet.

[0029] The turntable 4 is rotatably mounted on the table surface 31 of the assembly table 3. It is a circular disc, and the direct drive motor that drives its rotation can be installed inside the assembly table 3 to save space.

[0030] The turntable 4 is equipped with several fixtures 41, which are evenly arranged around the center of the turntable 4, meaning that the angle formed by the lines connecting any two adjacent fixtures 41 to the center of the turntable 4 is equal. Each fixture 41 is equipped with a wood chip placement slot and a clamp placement slot, allowing the multi-axis robot to transport the wood chips conveyed by the chip feeder 21 into the wood chip placement slot. Specifically, each fixture 41 may be equipped with a pair of wood chip placement slots and a pair of clamp placement slots.

[0031] The clamp feeding mechanism 53 is set on the table surface 31 of the assembly table 3 and is used to transport the clamps to be assembled into the clamp placement slot.

[0032] The assembly mechanism 6 is located on the table surface 31 of the assembly table 3. It is used to insert the wood chips in the wood chip placement slot into the clips in the wood chip placement slot in a preset state (e.g., vertical state).

[0033] The cup-filling mechanism 7 is mounted on the platform 31 of the assembly table 3 and is used to transport the clamps containing the wooden pieces into the container 9. The multi-axis robot, the clamp feeding mechanism 53, the assembly mechanism 6, and the cup-filling mechanism 7 are arranged sequentially according to the rotation direction of the turntable 4. For example. For any fixture 41, a multi-axis robot first places a wood chip into the wood chip placement slot of the fixture 41; the turntable 4 rotates clockwise to move the fixture 41 to a position that engages with the clamping and feeding mechanism 53, which then moves the clamp into the clamp placement slot of the fixture 41; the turntable 4 then rotates clockwise to move the fixture 41 to a position that engages with the assembly mechanism 6, which inserts the wood chip from the wood chip placement slot into the clamp in the clamp placement slot; the turntable 4 then rotates clockwise to move the fixture 41 to a position that engages with the cup-filling mechanism 7, which moves the clamp with the inserted wood chip into the container 9, which can be a glass cup. Wax is then added to the glass cup to form a lighting device in conjunction with the wood chip wick.

[0034] The container 9 conveyor line 8 is located on the side of the assembly table 3 near the cupping mechanism 7, and includes a conveyor belt 81 and a dispensing machine 82. The containers 9 are transported on the conveyor belt 81 of the container 9 conveyor line 8, and the dispensing machine 82 is located upstream of the conveyor belt 81 relative to the cupping mechanism 7. For any container 9, the dispensing machine 82 first applies glue to its bottom, specifically in the center area of ​​its bottom; then the cupping mechanism 7 assembles the clamp with the inserted wood piece at the glued position on the bottom of the container 9, thereby fixing the position of the wood piece inside the container 9 and preventing the wood piece from tipping over, tilting, or shifting during the subsequent waxing process, thus ensuring the product yield.

[0035] The PLC control module is located inside the assembly station 3 and is communicatively connected to the wood chip feeding mechanism 2, turntable 4, clamp feeding mechanism 53, assembly mechanism 6, cup filling mechanism 7, and container 9 conveyor line 8. Specifically, it can communicate with the information acquisition devices (such as sensors) and execution devices (such as motors, cylinders, etc.) in the above mechanisms, structures, or components. By pre-setting control programs in the PLC control module, it can cooperate with the wood chip feeding mechanism 2, turntable 4, clamp feeding mechanism 53, assembly mechanism 6, cup filling mechanism 7, and container 9 conveyor line 8 to realize the batch assembly and cup filling process of wood chip lamp wicks.

[0036] In one embodiment, the wood chip feeding mechanism 2 further includes a 2D vision system 23 for collecting the position information of the wood chips; the 2D vision system 23 is disposed above the chip feeder 21, and the 2D vision system 23 and the multi-axis robot are communicatively connected to the PLC control module.

[0037] The 2D vision system 23 may include a 2D vision camera 231, an image processor 232, and a light source 233. This vision system acquires the position information of the wood chips in the chip feeder 21 and sends this information to the PLC control module for precise positioning of the wood chips. Based on this position information, the PLC control module sends control commands to the robot control cabinet, which in turn sends execution commands to the multi-axis robot. This controls the multi-axis robot to accurately grasp the wood chips to be assembled and move them along a preset trajectory to place them into the wood chip placement slot of the fixture 41.

[0038] Specifically, the table surface 31 of the wood chip feeding workbench 1 is provided with a frame consisting of several uprights and crossbars. The uprights are arranged around the chip feeding machine 21, and the height of the uprights is higher than the height of the multi-axis robot. The crossbars are connected to the top of the uprights, and the 2D vision system 23 is mounted on the crossbars.

[0039] In one embodiment, the sheet-making machine 21 includes a feeding channel and a conveyor 214. A parallel conveyor belt 213 is provided in the feeding channel. The feeding port 211 of the feeding channel is provided with a downwardly inclined plate and a baffle 212. The baffle 212 has a downwardly bent structure and is located in the middle of the feeding port 211. The conveyor 214 is located below the discharge port of the feeding channel, and the end of the conveyor 214 extends toward the direction of the multi-axis robot. During material feeding, wood chips can be placed into the feeding channel from the feeding port 211 manually or mechanically. Since the feeding port 211 is equipped with a downward-sloping ramp, the wood chips slide down the ramp without interruption under the action of gravity onto the parallel conveyor belt 213 at the bottom of the feeding channel. The parallel conveyor belt 213 is parallel to the table surface 31 of the wood chip feeding workbench 1, thereby converting the inclined wood chips into a horizontal state. The parallel conveyor belt 213 transports the wood chips from the discharge port of the feeding channel to the conveyor 214. The conveyor 214 is also equipped with a conveyor belt 213, which is parallel to the parallel conveyor belt 213. The conveyor 214 transports the wood chips in the direction of the multi-axis robot so that the wood chips enter the effective grasping range of the multi-axis robot. During this feeding process, wood chips can be placed on baffle 212. The wood chips enter the middle of the inclined plate in the feeding channel along the downward-bending baffle 212, and then slide down the inclined plate to the middle of the parallel conveyor belt 213, and then be fed into the conveyor 214 to ensure stable feeding of wood chips.

[0040] In one embodiment, the four-axis robot 22 includes a robot base 221, a robot body 222, and an end effector 223. The robot base 221 is disposed on the table surface 31 of the wood chip feeding workbench 1. One end of the robot body 222 is rotatably connected to the robot base 221, and the other end is connected to the end effector 223. The end effector 223 includes a first pneumatic element 2233 and a first suction cup 2232 connected by a lead screw 2231.

[0041] The robot base 221 is located on one side of the conveyor 214. The robot body 222 can be composed of three rotatable links, which are connected by high-precision joints. At least one of them rotates vertically to move the first suction cup 2232 downward to contact the wood chip; at least one rotates horizontally to rotate towards the assembly table 3 after grasping the wood chip, so as to place the wood chip into the fixture 41 on the turntable 4 on the assembly table 3. The horizontal rotation angle can be determined by obtaining the real-time position information of the fixture 41 through the 2D vision system 23. The first suction cup 2232 can be made of rubber, and the first pneumatic component 2233 provides negative pressure to the inside of the first suction cup 2232 to ensure reliable grasping of the wood chip on the conveyor 214 and placement of the horizontally positioned wood chip into the wood chip placement slot of the fixture 41.

[0042] Specifically, the end effector 223 may include a set of first pneumatic elements 2233 and two sets of first suction cups 2232. Each set of first pneumatic elements 2233 may include two cylinders, and each cylinder is connected to two first suction cups 2232 (i.e., two first suction cups 2232 form a set). When gripping wood chips, one cylinder and one set of first suction cups 2232 grip one wood chip, and another cylinder and another set of first suction cups 2232 grip another wood chip, that is, two wood chips are placed in the wood chip placement slot of a fixture 41 at the same time. After that, the PLC control module sends a control command for the next rotation to the direct drive motor of the turntable 4 so that the fixture 41 moves in the direction of the clamping and feeding mechanism 53.

[0043] In one embodiment, the wood chip lamp wick assembly machine further includes a clamping feeding mechanism 5. The clamping feeding mechanism 5 includes a circular vibratory feeder 51, a feeder assembly 52, a first photoelectric sensor 54, a second photoelectric sensor 55, and a clamp loading mechanism 53, all of which are communicatively connected to a PLC control module. The circular vibratory feeder 51 is disposed on one side of the assembly table 3 and stores clamps to be loaded within it. The first end of the feeder assembly 52 is connected to the outlet of the circular vibratory feeder 51, and the second end of the feeder assembly 52 extends toward the clamp loading mechanism 53. The first photoelectric sensor 54 is disposed at the first end of the feeder assembly 52 to obtain information on the stacking status of the clamps, and the second photoelectric sensor 55 is disposed at the second end of the feeder assembly 52 to obtain information on whether there are clamps at the second end.

[0044] The circular vibratory feeder 51 is not mounted on the assembly table 3 to prevent its vibration from causing vibration of the assembly table 3 and thus affecting the precision of subsequent assembly steps. The circular vibratory feeder 51 and the wood chip feeding mechanism 2 are located on different sides of the assembly table 3 to provide sufficient movement space for the multi-axis robot. The circular vibratory feeder 51 has a spiral track 511 inside, through which the clips stored inside are transported sequentially to the feeder assembly 52 via the spiral track 511 and the outlet. The feeder assembly 52 then transports the clips towards the clip loading mechanism 53, ensuring they enter the effective gripping range of the clip loading mechanism 53. A first photoelectric sensor 54 is used to acquire information about the stacking status of the clips to monitor the stacking status of the clips at the first end of the feeder assembly 52. ​​When the first end is full of clips, the first photoelectric sensor sends this information to the PLC control module, which then sends a control command to the circular vibratory feeder 51 to stop its vibration. A second photoelectric sensor 55 acquires information about the presence of clips at the second end of the feeder assembly 52 to detect the presence or absence of clips at the second end.

[0045] Specifically, there are two circular vibratory feeders 51 and two feeder assemblies 52, so that the two clamps are transported as a group.

[0046] In one embodiment, the clamping and feeding mechanism 53 includes a first column 532 fixed on the table surface 31 of the assembly table 3 and a first two-axis manipulator 531 mounted on the first column 532. The first two-axis manipulator 531 includes a second pneumatic element 5311 and a first pneumatic gripper 5312 connected to the second pneumatic element 5311, so that the second pneumatic element 5311 drives the first pneumatic gripper 5312 to move up and down. The feeder assembly 52 includes a material channel 521, a linear vibrating feeder 522, and a feeding mechanism 523. The first end of 21 is connected to the outlet of the circular vibratory plate 51, and the second end of the material channel 521 extends toward the feeding mechanism 523. The direct vibration feeder 522 is located below the material channel 521 and provides power for the vibration of the material channel 521. The feeding mechanism 523 includes a feeding fixture and a slide cylinder. The slide cylinder is mounted on the first column 532. The feeding fixture serves as the second end of the feeder assembly 52. ​​The slide cylinder is connected to the feeding fixture to drive the feeding fixture to move back and forth between the second end of the material channel 521 and the first pneumatic gripper 5312.

[0047] The first end of the material channel 521 serves as the first end of the feeder assembly 52, and the second end of the feeding fixture serves as the second end of the feeder assembly 52. After the clamps are transported out of the circular vibratory feeder 51, they pass through the material channel 521 until they are transported to the misalignment fixture at the second end of the material channel 521. The linear vibratory feeder 522 uses a linear vibration feeding method to control the conveying speed of the clamps on the material channel 521. When the second photoelectric sensor 55 obtains the information that there are clamps in the misalignment fixture, it feeds back the information to the PLC control module. The PLC control module sends a control command to the slide cylinder to drive the misalignment fixture to the position of the first pneumatic gripper 5312, and sends a control command to the first two-axis manipulator 531 to make it clamp the clamps in the misalignment fixture and move them downward to place them into the clamp placement slot of the fixture 41 on the turntable 4 (at this time, the wood chip placement slot of the fixture 41 has been filled with wood chips). After that, the PLC control module sends a control command to the slide cylinder to control the misalignment fixture to return to the initial position, that is, the second end of the material channel 521. The first pneumatic gripper 5312, with a parallel opening and closing structure, is located above the fixture 41 on the turntable 4. The opening and closing of the first pneumatic gripper 5312 is driven by its own cylinder, while the second pneumatic element 5311 is used to drive the up and down movement of the first pneumatic gripper 5312. In this way, the clamping and feeding mechanism 53 can both grasp and place clamps, without being directly connected to the circular vibratory feeder 51 and the direct vibration feeder 522, thus avoiding vibration affecting the working accuracy of the first two-axis manipulator 531.

[0048] Specifically, the clamping and feeding mechanism 53 is configured in two sets, so that two clamps are clamped at a time and placed into the fixture 41 on the turntable 4. After that, the PLC control module sends a control command for the next rotation to the direct drive motor of the turntable 4, so that the fixture 41 moves in the direction of the assembly mechanism 6.

[0049] In one embodiment, the assembly mechanism 6 includes a second column 61, a flipping mechanism 62, and a second two-axis manipulator 63. The second column 61 is fixedly mounted on the platform 31 of the assembly table 3, and the flipping mechanism 62 is fixedly mounted on the platform 31 of the assembly table 3. The flipping mechanism 62 includes a rotary cylinder 621 and a second suction cup 622. The rotary cylinder 621 is mounted above the turntable 4, and the second suction cup 622 is fixedly connected to the rotary cylinder 621. The rotary cylinder 621 has a rotatable angle of 90 degrees to drive the second suction cup. 622 switches between a horizontal state and a vertical state. In the horizontal state, the second suction cup 622 is parallel to the upper end face of the fixture 41. In the vertical state, the second suction cup 622 is perpendicular to the upper end face of the fixture 41. The second two-axis manipulator 63 includes a third pneumatic element 631 and a second pneumatic gripper 632. The third pneumatic element 631 is mounted on the column, and the second pneumatic gripper 632 is connected to the third pneumatic element 631 so that the third pneumatic element 631 drives the second pneumatic gripper 632 to move up and down.

[0050] Specifically, the flipping mechanism 62 includes two sets of second suction cups 622, which simultaneously pick up two pieces of wood from the fixture 41 below when the second suction cups 622 are in a horizontal state. A rotary cylinder 621 rotates 90 degrees, causing the second suction cups 622 and the wood pieces to rotate together to a vertical state. The second column 61 and the second two-axis manipulator 63 are arranged in two sets, located on either side of the flipping mechanism 62. The second pneumatic gripper 632 is a parallel-opening / closing finger cylinder. A third pneumatic element 631 drives the second pneumatic gripper 632 to move up and down, and the opening and closing of the second pneumatic gripper 632 is controlled by itself. After the second suction cups 622 pick up the two pieces of wood and convert them to a vertical state, the two sets of second pneumatic grippers 632 clamp the two vertically positioned pieces of wood and move downwards, inserting the pieces into the clamps of the fixture 41.

[0051] In one embodiment, the cup-filling mechanism 7 includes a third column 71, a third two-axis manipulator 72, and a fifth pneumatic element 73. The third column 71 is fixed on the table surface 31 of the assembly platform 3. The third two-axis manipulator 72 includes a fourth pneumatic element 721 and a third pneumatic gripper 722. The fourth pneumatic element 721 is mounted on the third column 71, and the third pneumatic gripper 722 is connected to the fourth pneumatic element 721 so that the fourth pneumatic element 721 drives the third pneumatic gripper 722 to move up and down. The fifth pneumatic element 73 is mounted on the third column 71, and the fifth pneumatic element 73 is connected to the third two-axis manipulator 72 and can drive the third two-axis manipulator 72 to perform translational movements.

[0052] When the fixture 41, which holds the assembled wood chips and clamps, moves to below the third pneumatic gripper 722, the third pneumatic gripper 722 is a parallel opening and closing finger cylinder. The fourth pneumatic element 721 drives the third pneumatic gripper 722 to move downward. The cylinder of the third pneumatic gripper 722 controls its claw arm to close to grasp the clamp with the wood chips inserted. The fourth pneumatic element 721 drives the third pneumatic gripper 722 to move upward. The fifth pneumatic element 73 drives the third two-axis manipulator 72 to move in the direction of the container 9 conveyor line 8, opening the third pneumatic gripper 722 to put the clamp with the wood chips inserted into the container 9.

[0053] The cup-filling mechanism 7 is configured in two sets to simultaneously grip the two sets of clamps and wooden pieces in the fixture 41.

[0054] In one embodiment, the container 9 conveyor line 8 further includes a first baffle cylinder assembly 84, a second baffle cylinder assembly 85, a clamping cylinder assembly 83, and a third baffle cylinder assembly 86 arranged downstream of the dispensing machine 82 and sequentially thereon; a first through-beam photoelectric sensor 87 is provided at a position cooperating with the first baffle cylinder assembly 84, a second through-beam photoelectric sensor 88 is provided at a position cooperating with the clamping cylinder assembly 83, and a third through-beam photoelectric sensor 89 is provided at a position cooperating with the third baffle cylinder assembly 86.

[0055] Specifically, the conveyor belt 81 is parallel to one side of the assembly table 3, which is the side closest to the cup-filling mechanism 7. The first baffle cylinder assembly 84, the second baffle cylinder assembly 85, and the third baffle cylinder assembly 86 each include a base and a cylinder. The first baffle cylinder assembly 84 also includes a first baffle 841, the second baffle cylinder assembly 85 also includes a second baffle 851, and the third baffle cylinder assembly 86 also includes a third baffle 861. Each base is sequentially assembled on the side of the conveyor belt 81, and the cylinder is assembled on the base to drive the first baffle 841, the second baffle 851, and the third baffle 861 to extend and retract. When the baffle 212 extends, it can block the container 9 of the conveyor belt 81 from moving downstream. The clamping cylinder assembly 83 includes a clamping cylinder 832 base 831, a clamping cylinder 832, and a clamping block 833. The clamping cylinder 832 base 831 is mounted on the side of the conveyor belt 81, the clamping cylinder 832 is mounted on the clamping cylinder 832 base 831, and the clamping block 833 is connected to the clamping cylinder 832 to drive the clamping block 833 to open and close in a direction perpendicular to the conveyor belt 81.

[0056] Multiple containers 9, such as multiple glasses, are transported on conveyor belt 81. Dispensing machine 82 dispenses glue sequentially onto the middle area of ​​the bottom of each glass. At this time, the second baffle 851 and the third baffle 861 can extend. When the first through-beam photoelectric sensor 87 detects the passage of two glasses, it feeds this information back to the PLC control module. The PLC control module sends a control command to the cylinder of the first baffle cylinder assembly 84, controlling the first baffle 841 to extend and block the upstream glasses. That is, the first baffle cylinder assembly 84 is used to group the glasses, separating them into groups of two. The PLC control module then sends a control command to the cylinder of the second baffle cylinder assembly 85, controlling the second baffle 851 to retract, causing the grouped glasses to move towards the clamping cylinder assembly 83. The clamping cylinder assembly 83 is positioned opposite the cup-filling mechanism 7. When the second through-beam photoelectric sensor 88 detects the passage of two glasses, it feeds this information back to the PLC control module. The PLC control module sends a control command to the clamping cylinder 832 to close the clamping block 833, fixing the two glasses between the clamping block 833. At this time, the fifth pneumatic element 73 of the cup-filling mechanism 7 drives the third two-axis manipulator 72 to move in the direction of the container 9 conveyor line 8, opening the third pneumatic gripper 722 to place the clamp with the inserted wooden piece into the glass. During this process, the fourth pneumatic element 721 can be controlled to drive the third pneumatic gripper 722 downward so that the bottom of the clamp can stably contact the adhesive in the glass, thus stably positioning it in the glass. Simultaneously, the PLC control module sends a control command to the cylinder of the third baffle cylinder assembly 86 to retract the third baffle 861. After the wooden pieces and clamps are loaded into the cups, the control clamp 833 opens, allowing the two glasses to continue moving downstream. When the third through-beam photoelectric sensor 89 detects the passage of the two glasses, it feeds back the information to the PLC control module. The PLC control module sends a control command to the third baffle cylinder assembly 86 to control the third baffle 861 to extend, so that the glasses are transported to the next process, namely the waxing process. This cycle is repeated to complete the loading process of wooden pieces and clamps for all the glasses.

[0057] In one embodiment, the assembly table 3 has eight workstations evenly arranged around the center of the turntable 4. The turntable 4 rotates 45 degrees at a time. The fixture 41 is set at the position corresponding to the workstation. The table surface 31 of the assembly table 3 is provided with four third photoelectric sensors 33. The four third photoelectric sensors 33 correspond one-to-one with four non-adjacent workstations. The other four non-adjacent workstations are sequentially used as operation workstations for the multi-axis robot, the clamping and feeding mechanism 53, the assembly mechanism 6, and the cup-filling mechanism 7 to cooperate with the turntable 4.

[0058] Specifically, the eight workstations are, in order, workstation 1, workstation 2, workstation 3, workstation 4, workstation 5, workstation 6, workstation 7, and workstation 8. A third photoelectric sensor 33 is installed at the corresponding positions of workstations 2, 4, 6, and 8.

[0059] In one embodiment, only one fixture 41 is mounted on the turntable 4. Its initial position is at the first station, which serves as the station for the multi-axis robot to place wood chips. After the multi-axis robot performs the wood chip loading operation, the PLC control module controls the turntable 4 to rotate 45 degrees, causing the fixture 41 to rotate to the second station. If the third photoelectric sensor 33 at the second station detects that wood chips are placed in the wood chip placement slot, the PLC control module again controls the turntable 4 to rotate 45 degrees in the same direction, causing the fixture 41 to rotate to the third station. If the fixture 41 moves to the fourth station, an alarm will be triggered, requiring manual intervention. The third station serves as the station for the clamping and feeding mechanism 53 to place the clamps. After the clamping and feeding mechanism 53 performs the clamping and feeding operation, the PLC control module controls the turntable 4 to rotate 45 degrees in the same direction, causing the fixture 41 to rotate to the fourth station. If the third photoelectric sensor 33 at the fourth station detects that a clamp is placed in the clamp placement slot, the PLC control module controls the turntable 4 to rotate 45 degrees in the same direction again, causing the fixture 41 to rotate to the fifth station. Otherwise, an alarm is triggered, requiring manual intervention. The fifth station serves as the assembly mechanism 6, where wood chips and clamps are assembled. After the assembly mechanism 6 performs its assembly operation, the PLC control module controls the turntable 4 to rotate 45 degrees in the same direction, causing the fixture 41 to rotate to the sixth station. If the third photoelectric sensor 33 at the sixth station detects that the wood chip and clamp have been assembled, the PLC control module controls the turntable 4 to rotate 45 degrees in the same direction, causing the fixture 41 to rotate to the seventh station. Otherwise, an alarm is triggered, requiring manual intervention. The seventh station serves as the cup-filling mechanism 7, where wood chips are filled into cups. After the cup-filling mechanism 7 performs its cup-filling operation, the PLC control module controls the turntable 4 to rotate 45 degrees in the same direction, causing the fixture 41 to rotate to the eighth station. If the third photoelectric sensor 33 at the eighth station detects that the wood chip has been removed, the PLC control module controls the turntable 4 to rotate 45 degrees in the same direction, causing the fixture 41 to return to the first station. Otherwise, an alarm is triggered, requiring manual intervention. This cycle repeats.

[0060] Understandably, in another embodiment, eight fixtures 41 are provided on the turntable 4, and their initial positions correspond one-to-one with the eight workstations. After each rotation of the turntable 4, the fixture 41 located at the first workstation is used as the target fixture 41. The work and judgment are carried out according to the process described in the previous embodiment, and the wood chip assembly process of the eight supports can be completed within one rotation cycle, thereby improving work efficiency.

[0061] An operating table 32 is also provided on the side of the assembly table 3 to allow for possible manual intervention.

[0062] The wood chip assembly machine provided by this invention has at least the following advantages: Improved production efficiency: The automated assembly process greatly shortens the assembly time of the wooden chip lamp wick and its clips, resulting in a significant improvement in production efficiency compared to manual assembly.

[0063] Reduced production costs: Reduced labor input lowers labor costs, while efficient equipment operation shortens the production cycle, further reducing production costs.

[0064] Ensuring product quality: Through precise visual positioning and automated operation, the impact of human factors on product quality is effectively reduced, ensuring product consistency.

[0065] Enhanced safety: Operators only need to monitor and maintain the equipment, reducing the risk of directly participating in assembly operations and improving the safety of the production process.

[0066] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A wood chip lamp wick assembly machine, characterized in that, include: Wood chip feeding workbench; The wood chip feeding mechanism includes a chip feeding machine for feeding wood chips and a multi-axis robot for transporting wood chips. Both the chip feeding machine and the multi-axis robot are mounted on the table surface of the wood chip feeding workbench. An assembly table is located on one side of the wood chip feeding workbench; A turntable is rotatably mounted on the assembly table. The turntable is provided with a plurality of fixtures arranged around the center of the turntable. Each fixture is provided with a wood chip placement slot and a clamp placement slot. The multi-axis robot can transport the wood chips conveyed by the chip feeding machine into the wood chip placement slot. A clamp feeding mechanism is provided on the assembly table and is used to transport the clamps into the clamp placement slot; An assembly mechanism is provided on the table surface of the assembly table for inserting wood chips from the wood chip placement slot into the clips in the wood chip placement slot; A cup-filling mechanism is set on the assembly table and is used to transport the clamps with inserted wooden pieces into the container. The multi-axis robot, the clamp feeding mechanism, the assembly mechanism and the cup-filling mechanism are arranged in sequence according to the rotation direction of the turntable. A container conveyor line is located on the side of the assembly station near the cupping mechanism, and includes a conveyor belt and a dispensing machine. The container is transported on the conveyor belt of the container conveyor line, and the dispensing machine is located upstream of the conveyor belt relative to the cupping mechanism. as well as The PLC control module is located inside the assembly station and is communicatively connected to the wood chip feeding mechanism, the turntable, the clamping feeding mechanism, the assembly mechanism, the cup filling mechanism, and the container conveyor line.

2. The wood chip lamp wick assembly machine according to claim 1, characterized in that, The wood chip feeding mechanism also includes a 2D vision system for collecting the position information of the wood chips; the 2D vision system is located above the chip feeding machine, and the 2D vision system and the multi-axis robot are communicatively connected to the PLC control module.

3. The wood chip lamp wick assembly machine according to claim 2, characterized in that, The film-making machine includes a feeding channel and a conveyor. The feeding channel is equipped with a parallel conveyor belt. The feeding port of the feeding channel is equipped with a downwardly inclined plate and a baffle. The baffle has a bent structure and is located in the middle of the feeding port. The conveyor is located below the discharge port of the feeding channel, and the end of the conveyor extends towards the multi-axis robot.

4. The wood chip lamp wick assembly machine according to claim 1, characterized in that, The multi-axis robot is a four-axis robot, which includes a robot base, a robot body, and an end effector. The robot base is set on the table surface of the wood chip feeding workbench. One end of the robot body is rotatably connected to the robot base, and the other end is connected to the end effector. The end effector includes a first pneumatic element and a first suction cup connected by a lead screw.

5. The wood chip lamp wick assembly machine according to claim 1, characterized in that, The wood chip lamp wick assembly machine also includes a clamping feeding mechanism, which includes a circular vibratory feeder, a feeder assembly, a first photoelectric sensor, a second photoelectric sensor, and the clamp feeding mechanism, all of which are communicatively connected to the PLC control module. The circular vibratory feeder is located on one side of the assembly table and stores clamps to be fed. The first end of the feeder assembly is connected to the outlet of the circular vibratory feeder, and the second end of the feeder assembly extends toward the clamp feeding mechanism. The first photoelectric sensor is located at the first end of the feeder assembly to obtain information on the stacking status of the clamps, and the second photoelectric sensor is located at the second end of the feeder assembly to obtain information on whether there are clamps at the second end.

6. The wood chip lamp wick assembly machine according to claim 5, characterized in that, The clamping and feeding mechanism includes a first column fixed on the assembly table and a first two-axis manipulator mounted on the first column. The first two-axis manipulator includes a second pneumatic component and a first pneumatic gripper connected to the second pneumatic component, so that the second pneumatic component drives the first pneumatic gripper to move up and down. The feeder assembly includes a material channel, a linear vibrating feeder, and a feeding mechanism. The first end of the material channel is connected to the outlet of the circular vibrating plate, and the second end of the material channel extends toward the feeding mechanism. The linear vibrating feeder is located below the material channel and provides power for the vibration of the material channel. The feeding mechanism includes a feeding fixture and a sliding cylinder. The sliding cylinder is mounted on the first column. The feeding fixture serves as the second end of the feeder assembly. The sliding cylinder is connected to the feeding fixture to drive the feeding fixture to move back and forth between the second end of the material channel and the first pneumatic gripper.

7. The wood chip lamp wick assembly machine according to claim 1, characterized in that, The assembly mechanism includes a second column, a flipping mechanism, and a second two-axis manipulator. The second column and the flipping mechanism are both fixed to the assembly table surface. The flipping mechanism includes a rotary cylinder and a second suction cup. The rotary cylinder is located above the turntable, and the second suction cup is fixedly connected to the rotary cylinder. The rotary cylinder has a 90-degree rotatable angle to drive the second suction cup to switch between a horizontal and a vertical state. The horizontal state is when the second suction cup is parallel to the upper surface of the fixture, and the vertical state is when the second suction cup is perpendicular to the upper surface of the fixture. The second two-axis manipulator includes a third pneumatic component and a second pneumatic gripper. The third pneumatic component is mounted on the second column, and the second pneumatic gripper is connected to the third pneumatic component so that the third pneumatic component drives the second pneumatic gripper to move up and down.

8. The wood chip lamp wick assembly machine according to claim 1, characterized in that, The cup-filling mechanism includes a third column, a third two-axis manipulator, and a fifth pneumatic component. The third column is fixed to the assembly table surface. The third two-axis manipulator includes a fourth pneumatic component and a third pneumatic gripper. The fourth pneumatic component is mounted on the third column, and the third pneumatic gripper is connected to the fourth pneumatic component to drive the third pneumatic gripper to move up and down. The fifth pneumatic component is mounted on the third column and is connected to the third two-axis manipulator, which can drive the third two-axis manipulator to perform translational motion.

9. The wood chip lamp wick assembly machine according to claim 8, characterized in that, The container conveyor line further includes a first baffle cylinder assembly, a second baffle cylinder assembly, a clamping cylinder assembly, and a third baffle cylinder assembly, which are arranged downstream of the conveyor belt relative to the dispensing machine and are sequentially arranged. A first through-beam photoelectric sensor is provided at the position cooperating with the first baffle cylinder assembly, a second through-beam photoelectric sensor is provided at the position cooperating with the clamping cylinder assembly, and a third through-beam photoelectric sensor is provided at the position cooperating with the third baffle cylinder assembly.

10. The wood chip lamp wick assembly machine according to any one of claims 1 to 9, characterized in that, The assembly table has eight workstations evenly arranged around the center of the turntable. The turntable rotates 45 degrees at a time. The fixture is set at the position corresponding to the workstation. The table surface of the assembly table is equipped with four third photoelectric sensors. The four third photoelectric sensors correspond one-to-one with four non-adjacent workstations. The other four non-adjacent workstations serve as the operation workstations for the multi-axis robot, the clamping and feeding mechanism, the assembly mechanism, and the cup-filling mechanism to cooperate with the turntable.

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