Automatic coating and assembling equipment for heat-conducting paste of heat plate

Abstract

The application discloses a kind of automatic coating assembly equipment of heat plate heat-conducting paste, belong to non-standard automation equipment technical field, in the application, by feeding machine and assembly machine double-machine modular design, two machines are electrically connected by electrical connection port, can be flexibly laid out, independently handled and maintained, promote mechanism setting is in trolley with trolley whole in and out, cooperate first grabbing component and place in transmission annular guide rail feeding end with automatic grabbing clamping plate, replace artificial feeding;Assembly machine is provided with closed annular transmission annular guide rail, clamping plate sequentially passes through heat-conducting paste coating station, heat plate assembly station, iron sheet assembly station and discharging station along annular path, each station works synchronously, reduce the waiting time of product between each process, and transportation support and transportation guide rail ensure the stability and positioning consistency of clamping plate conveying.

Description

Technical Field

[0001] This application belongs to the field of non-standard automated equipment technology, and in particular relates to an automatic coating and assembly equipment for heating plate thermal paste. Background Technology

[0002] During the production and assembly of hair straighteners, thermal paste needs to be applied to the straightener, and the heating plate, plastic body, iron sheet and soft rubber are installed in sequence. Finally, after passing the inspection, the overall assembly is completed and the material is cut.

[0003] Currently, most installations on the market are done manually. However, the speed of manual application and installation is limited. The operating cycle of a single workstation directly restricts the UPH of the entire production line, making it difficult to meet the needs of mass production. Moreover, long-term exposure of operators to chemicals such as thermal paste poses health risks. In addition, there are mechanical operation risks such as pinching injuries during the manual installation of various components.

[0004] Based on this, this application designs an automatic coating and assembly equipment for heating plate thermal conductive paste to solve the above problems. Summary of the Invention

[0005] The purpose of this application is to solve the problems of low production efficiency, safety hazards caused by manual operation in the production of hair straighteners, poor product quality consistency, and high labor costs caused by the application of thermal conductive paste to the heating plate and the assembly of various components. Therefore, an automatic coating and assembly equipment for thermal conductive paste of heating plate is proposed.

[0006] To achieve the above objectives, this application adopts the following technical solution: An automatic coating and assembly device for thermal conductive paste on heating plates, characterized in that it comprises: A feeding machine and an assembly machine are provided, wherein the feeding machine and the assembly machine are arranged adjacent to each other and are electrically connected through an electrical connection port; The feeding machine includes a feeding machine frame, a first feeding trolley, a lifting mechanism, a feeding tray, and a first gripping component; The first feeding trolley is located at one end of the feeding frame and is used to carry the clamping plate to be processed; The lifting mechanism is mounted on the first feeding trolley and is used to lift the clamping plates inside the first feeding trolley piece by piece. The feeding tray is disposed on the feeding frame and located above the lifting mechanism, and is used to support the clamping plate lifted by the lifting mechanism; The first gripping component is disposed on the feeding frame and located on one side of the feeding tray, and is used to grip the clamping plate from the feeding tray; The assembly machine includes an assembly frame, assembly components, a transmission ring rail, a transport bracket, a transport rail, an end-application execution component, a feeding component, an iron sheet device component, a vibrating feeding component, an NG placement table, and a control unit. The transmission ring guide rail is arranged on the assembly frame in a closed ring, and is used to carry and transport the clamping plates to move sequentially along the ring path. The transport bracket is disposed on the assembly frame and located below the transport annular guide rail, and is used to support the transport annular guide rail; The transport guide rail is disposed on the transport support and located inside or outside the transmission ring guide rail, and is used to guide the vehicle on the transmission ring guide rail; The gripping end of the first gripping component is positioned above the feed end of the transmission ring guide rail, and is used to place the clamping plate from the loading tray onto the feed end of the transmission ring guide rail; Along the conveying direction of the conveying ring rail, there are sequentially arranged a thermal paste coating station, a heating plate assembly station, an iron sheet assembly station, and a material unloading station; The thermal paste coating station is equipped with the end-applied paste execution component, which is located on the assembly frame and outside the thermal paste coating station of the transmission annular guide rail, and is used to apply thermal paste to the clamp plate. The feeding component is provided at the heating plate assembly station. The feeding component is located on the assembly frame and outside the heating plate assembly station of the transmission ring guide rail. It is used to supply heating plates and install the heating plates onto the clamps coated with thermal grease. The sheet assembly station is provided with the sheet assembly assembly, which is located on the assembly frame and outside the sheet assembly station of the transmission ring guide rail, and is used to install the sheet onto the clamping plate. The vibratory feeding component is mounted on the assembly frame and located on one side of the sheet metal assembly, and is used to supply sheet metal to the sheet metal assembly. The unloading station is equipped with the NG placement platform, which is located on the assembly frame and at the end of the conveying ring guide rail, and is used to receive and temporarily store products that fail the inspection. The control unit is electrically connected to the lifting mechanism, the first gripping component, the transmission ring rail, the end-applying component, the feeding component, the iron sheet device component, and the vibrating feeding component.

[0007] As a further description of the above technical solution: The first gripping component includes a first robotic arm, a gripper cylinder, and gripper fingers; The bottom of the first robotic arm is fixed to the loading frame, and the first robotic arm is located between the loading tray and the feeding end of the transmission ring guide rail; The gripper cylinder is fixed to the end of the first robotic arm. The gripper fingers are two in number and are respectively fixed on the two gripping arms of the gripper cylinder. The two gripper fingers are arranged opposite each other and are used to grip the clamping plate.

[0008] As a further description of the above technical solution: The end-effector assembly includes a robot, a metering dispensing valve, and a smoothing device. The robot is fixed to the assembly frame and is located outside the thermal paste coating station of the transmission ring guide rail; The metering dispensing valve is fixed to the end effector of the robot, and the dispensing port of the metering dispensing valve is set towards the direction of the transmission ring guide rail, for metering the application of thermal conductive paste on the clamp plate. The smoothing device is fixed to the end effector of the robot and located on one side of the metering dispensing valve, and is used to smooth the thermal conductive paste applied to the clamp plate.

[0009] As a further description of the above technical solution: The feeding assembly includes a second feeding cart, a heating plate lifting device, a heating plate placing plate, a clamping device, and a placing device; The second loading trolley is set on the assembly frame and located outside the heating plate assembly station of the transmission ring guide rail, and is used to carry the heating plate to be installed; The heating plate lifting device is installed on the second loading trolley and is used to lift the heating plates in the second loading trolley one by one. The heating plate placement plate is fixed on the assembly frame and located above the heating plate lifting device, and is used to support the heating plate lifted by the heating plate lifting device. The clamping device is disposed on the assembly frame and located between the heating plate placement plate and the transmission ring rail, and is used to grab the heating plate on the heating plate placement plate and transfer it to the clamping plate on the transmission ring rail. The placement device is located above or to one side of the clamping device and is used to press and install the heating plate grasped by the clamping device onto the clamping plate.

[0010] As a further description of the above technical solution: The sheet metal assembly includes a second and third-axis linear module assembly, a sheet metal placement plate, and a sheet metal assembly and pressing auxiliary device. The second three-axis linear module assembly is fixed on the assembly frame and located outside the iron sheet assembly station of the transmission ring guide rail. The second three-axis linear module assembly includes an X-axis module, a Y-axis module and a Z-axis module. The iron sheet placement plate is fixed on the assembly frame and located below the material picking end of the second and third axis linear module assembly, and is used to position and place the iron sheet. The sheet assembly and pressing auxiliary device is fixed at the lower end of the Z-axis module of the second and third axis linear module assembly, and the sheet assembly and pressing auxiliary device is located directly above the sheet assembly station of the transmission ring guide rail, and is used to press and install the sheet onto the clamping plate.

[0011] As a further description of the above technical solution: There are four vibrating feeding components, which are respectively mounted on the assembly frame and respectively located on one side of the iron sheet device assembly and one side of the feeding assembly, for supplying iron sheets and corresponding materials to the iron sheet device assembly and the feeding assembly, respectively.

[0012] As a further description of the above technical solution: Each of the aforementioned vibratory feeding components includes a vibratory plate and a conveyor belt; The vibratory feeder is fixed on the assembly frame, and the discharge port of the vibratory feeder is set towards the corresponding iron sheet placement plate or heating plate placement plate. One end of the conveyor belt is connected to the discharge port of the vibratory feeder, and the other end of the conveyor belt extends to the feed end of the corresponding iron sheet placement plate or heating plate placement plate, for conveying the material from the vibratory feeder to the corresponding placement plate.

[0013] As a further description of the above technical solution: The feeding machine and the assembly machine are electrically connected through an electrical connection port, which is located on the outer side wall of the assembly machine frame near the feeding machine frame. The electrical connection port is electrically connected to the control unit, the external power supply, and the external signal source, respectively.

[0014] As a further description of the above technical solution: The thermal paste coating station, the heating plate assembly station, and the iron sheet assembly station are arranged sequentially at intervals along the conveying direction of the conveying ring rail. The NG placement platform is located at the conveying end of the conveying ring rail and downstream of the iron sheet assembly station.

[0015] As a further description of the above technical solution: It also includes a second gripping component, which is disposed on the assembly frame and located between the feeding component and the sheet metal device component, and the second gripping component is located outside the transmission ring guide rail; The second gripping component includes a mounting base plate, a first three-axis linear module assembly, a second robotic arm, and a moving guide rail; The mounting base plate is fixed to the assembly frame and located outside the transmission ring guide rail; The first three-axis linear module assembly is fixed on the mounting base plate, and the first three-axis linear module assembly includes an X-axis module, a Y-axis module and a Z-axis module; The bottom of the second robotic arm is fixed to the lower end of the Z-axis module of the first three-axis linear module assembly, and the second robotic arm is located above the transmission ring guide rail; The movable guide rail is fixed to the mounting base plate and located on one side of the first three-axis linear module assembly, and is used to guide the movement of the second robotic arm.

[0016] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are: In this application, the loading machine and the assembly machine are modularly designed as a dual machine. The two machines are electrically connected through an electrical connection port, which allows for flexible layout, independent handling and maintenance. The lifting mechanism is set on the trolley and moves in and out as a whole with the trolley. It works with the first gripping component to automatically grip the clamping plate and place it on the feeding end of the transmission ring guide rail, replacing manual loading. The assembly machine is equipped with a closed-loop transmission ring guide rail. The clamping plate passes through the thermal paste coating station, heating plate assembly station, iron sheet assembly station and unloading station in sequence along the ring path. Each station works synchronously, reducing the waiting time of the product between processes. The transport bracket and transport guide rail ensure the stability of the clamping plate transport and the consistency of positioning. The thermal paste coating station uses a robot to drive a quantitative dispensing valve to apply thermal paste in a predetermined amount according to a preset trajectory. The paste is then smoothed by a smoothing device, achieving precise control over the amount and position of application. This replaces manual application and eliminates the safety risks of operators coming into contact with the thermal paste. The heating plate assembly station uses a second feeding cart, a heating plate lifting device, and a heating plate placement plate to automatically feed heating plates one by one. It works in conjunction with a clamping device and a placement device to complete automatic picking, placing, and pressing installation. The sheet metal assembly station, through the combination of the second and third axis linear modules, the sheet metal placement plate, and the sheet metal assembly and pressing auxiliary device, along with the vibratory feeder and conveyor belt set on one side, realizes the automatic sorting, feeding, picking, and pressing of sheet metal, solving the problems of difficult manual feeding and inaccurate installation positioning of thin sheet metal. The NG placement platform set at the end of the transmission ring guide automatically diverts and temporarily stores unqualified products, reducing the risk of defective products flowing into the next process; the control unit coordinates the action sequence of each mechanism, so that the processes of feeding, conveying, applying paste, assembling heating plate, assembling iron sheet and unloading are automatically connected in sequence, realizing the full automation of heating plate thermal paste coating and overall assembly. Attached Figure Description

[0017] Figure 1 This is a front-view perspective structural diagram of the assembly machine of the automatic coating and assembly equipment for heating plates with thermal conductive paste proposed in this application. Figure 2 This is a top-view three-dimensional structural diagram of the assembly machine for an automatic coating and assembly equipment for heating plates with thermal conductive paste proposed in this application; Figure 3 This is a schematic diagram of the front structure of the feeding machine of the automatic coating and assembly equipment for heating plate thermal paste proposed in this application; Figure 4 This application proposes an automatic coating and assembly device for thermal conductive paste on a heating plate. Figure 1 Enlarged structural diagram at point A in the middle; Figure 5 This application proposes an automatic coating and assembly device for thermal conductive paste on a heating plate. Figure 1 Enlarged structural diagram at point B; Figure 6 This application proposes an automatic coating and assembly device for thermal conductive paste on a heating plate. Figure 1 Enlarged structural diagram at point C; Figure 7 This application proposes an automatic coating and assembly device for thermal conductive paste on a heating plate. Figure 1 Enlarged structural diagram at point D; Figure 8 This application proposes an automatic coating and assembly device for thermal conductive paste on a heating plate. Figure 2 Enlarged structural diagram at point E in the middle.

[0018] Legend: 1. Assembly frame; 2. Feeding frame; 3. First feeding trolley; 301. Lifting mechanism; 302. Feeding tray; 4. First gripping assembly; 401. First robotic arm; 402. Gripper cylinder; 403. Gripper finger; 5. Electrical connection port; 6. Assembly components; 601. Transport bracket; 602. Transport guide rail; 603. Gripping device; 604. Placement device; 605. Transmission ring guide rail; 606. End-effector paste application assembly; 607. Quantitative dispensing valve; 608. Smoothing device; 7. Second 701. Grabbing component; 702. Mounting base plate; 703. First three-axis linear module assembly; 704. Second robotic arm; 705. Moving guide rail; 8. Feeding component; 801. Second feeding trolley; 802. Heating plate lifting device; 803. Heating plate placement plate; 9. Iron sheet device assembly; 901. Iron sheet assembly and pressing auxiliary device; 902. Second three-axis linear module assembly; 903. Iron sheet placement plate; 10. NG placement table; 11. Vibrating feeding component; 1101. Vibrating plate; 1102. Conveyor belt. Detailed Implementation

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

[0020] Please see the appendix Figure 1 -Appendix Figure 8 This application provides a technical solution: an automatic coating and assembly device for heating plate thermal conductive paste, comprising: A feeding machine and an assembly machine are provided, wherein the feeding machine and the assembly machine are arranged adjacent to each other and are electrically connected through an electrical connection port 5; The feeding machine includes a feeding machine frame 2, a first feeding trolley 3, a lifting mechanism 301, a feeding tray 302, and a first gripping component 4; The first feeding trolley 3 is located at one end of the feeding frame 2 and is used to carry the clamping plate to be processed; The lifting mechanism 301 is mounted on the first feeding trolley 3 and is used to lift the clamping plates inside the first feeding trolley 3 piece by piece. The feeding tray 302 is disposed on the feeding frame 2 and located above the lifting mechanism 301, and is used to support the clamping plate lifted by the lifting mechanism 301; The first gripping component 4 is disposed on the feeding frame 2 and located on one side of the feeding tray 302, and is used to grip the clamping plate from the feeding tray 302; The assembly machine includes an assembly frame 1, an assembly component 6, a transmission ring rail 605, a transport bracket 601, a transport rail 602, an end-applying paste execution component 606, a feeding component 8, an iron sheet device component 9, a vibrating feeding component 11, an NG placement table 10, and a control unit. The transmission ring guide rail 605 is disposed on the assembly frame 1 and arranged in a closed ring, used to carry and transport the clamping plates to move sequentially along the ring path. The transport bracket 601 is disposed on the assembly frame 1 and located below the transmission ring guide rail 605, and is used to support the transmission ring guide rail 605. The transport guide rail 602 is disposed on the transport bracket 601 and located inside or outside the transmission ring guide rail 605, and is used to guide the vehicle on the transmission ring guide rail 605. The gripping end of the first gripping component 4 is disposed above the feeding end of the transmission ring guide rail 605, and is used to place the clamping plate from the loading tray 302 onto the feeding end of the transmission ring guide rail 605. Along the conveying direction of the conveying ring guide rail 605, there are sequentially arranged a thermal paste coating station, a heating plate assembly station, an iron sheet assembly station, and a material unloading station; The end-applying component 606 is provided at the thermal paste application station. The end-applying component 606 is located on the assembly frame 1 and outside the thermal paste application station of the transmission annular guide rail 605, and is used to apply thermal paste to the clamp plate. The heating plate assembly station is provided with the feeding component 8, which is located on the assembly frame 1 and outside the heating plate assembly station of the transmission ring guide rail 605. It is used to supply heating plates and install heating plates onto clamps coated with thermal grease. The sheet assembly station is provided with the sheet assembly assembly 9, which is located on the assembly frame 1 and outside the sheet assembly station of the transmission ring guide rail 605, and is used to install the sheet onto the clamping plate. The vibrating feeding component 11 is disposed on the assembly frame 1 and located on one side of the iron sheet device assembly 9, and is used to supply iron sheets to the iron sheet device assembly 9. The unloading station is equipped with the NG placement table 10, which is located on the assembly frame 1 and at the end of the conveying ring rail 605, and is used to receive and temporarily store products that fail the inspection. The control unit is electrically connected to the lifting mechanism 301, the first gripping component 4, the transmission ring guide rail 605, the end paste application execution component 606, the feeding component 8, the iron sheet device component 9, and the vibrating feeding component 11.

[0021] By setting the equipment as a dual-machine modular structure of a feeding machine and an assembly machine, and connecting the two through electrical connection port 5, the feeding machine and the assembly machine can be flexibly placed according to the production line layout needs, which facilitates independent handling, installation and maintenance. In the feeding machine, the first feeding trolley 3 is used to carry the clamping plates to be processed. The lifting mechanism 301 is set on the first feeding trolley 3 and lifts the clamping plates one by one to the feeding tray 302. The first gripping component 4 grips the clamping plates from the feeding tray 302 and places them on the feeding end of the transmission ring guide rail 605, realizing the automatic feeding of the clamping plates and replacing the manual clamping plate placement operation. In the assembly machine, the conveying ring guide rail 605 is arranged in a closed ring, the transport bracket 601 is supported below it, the transport guide rail 602 guides the carrier, and the clamping plate passes through the thermal paste coating station, heating plate assembly station, iron sheet assembly station and unloading station in sequence along the ring path. Each station can work at the same time, which reduces the waiting time of the product between each process and improves production efficiency. At the thermal paste application station, the end-application execution component 606 is set on the outside of the transmission ring guide rail 605 and applies thermal paste to the clamp plate, realizing automatic application of thermal paste, replacing manual application operation, and avoiding the safety risks of manual contact with thermal paste. At the sheet assembly station, the sheet assembly 9 is located on the outside of the conveying ring guide rail 605 and installs the sheet onto the clamp. The vibrating feeding component 11 is located on one side of the sheet assembly 9 and supplies the sheet to it, thus realizing the automatic sorting, feeding and installation of the sheet. At the unloading station, the NG placement table 10 is set at the end of the conveying ring guide rail 605 and receives and temporarily stores unqualified products, realizing the automatic separation of qualified and unqualified products; the control unit is electrically connected to each mechanism and coordinates the action sequence of each mechanism, so that the processes of feeding, conveying, applying paste, assembling heating plate, assembling iron sheet and unloading are automatically connected in sequence, realizing the full automation of heating plate thermal paste coating and overall assembly.

[0022] The specific implementation method is as follows: the first gripping component 4 includes a first robotic arm 401, a gripper cylinder 402, and gripper fingers 403; The bottom of the first robotic arm 401 is fixed to the loading frame 2, and the first robotic arm 401 is located between the loading tray 302 and the feeding end of the transmission ring guide rail 605. The gripper cylinder 402 is fixed to the end actuation end of the first robotic arm 401; The gripper fingers 403 are two in number and are respectively fixed on the two gripping arms of the gripper cylinder 402. The two gripper fingers 403 are arranged opposite to each other and are used to grip the clamping plate.

[0023] By fixing the bottom of the first robotic arm 401 to the loading frame 2 and placing it between the loading tray 302 and the feeding end of the transmission ring guide rail 605, the first robotic arm 401 only needs to complete the reciprocating motion within the limited space on one side of the feeding end, which shortens the transfer path of the clamp from the loading tray 302 to the feeding end of the transmission ring guide rail 605 and reduces the time consumed by a single pick-up and put-down action. Meanwhile, the two gripper fingers 403 are fixed on the two gripping arms of the gripper cylinder 402 and are arranged opposite to each other. The gripper cylinder 402 drives the two gripper fingers 403 to move synchronously relative to each other, thereby achieving the centering and clamping of the clamping plate. This ensures that the clamping plate remains in the center position of the gripper during the clamping and transfer process, preventing the clamping plate from falling off or shifting its position due to clamping misalignment during the transfer process.

[0024] The specific implementation method is as follows: the end-effector 606 includes a robot, a metering dispensing valve 607, and a smoothing device 608; The robot is fixed to the assembly frame 1, and the robot is located outside the thermal paste coating station of the transmission annular guide rail 605. The metering dispensing valve 607 is fixed to the end effector of the robot, and the dispensing port of the metering dispensing valve 607 is arranged in the direction of the transmission ring guide rail 605, for metering thermal grease to be applied on the clamp plate. The smoothing device 608 is fixed to the end effector of the robot and located on one side of the metering dispensing valve 607, and is used to smooth the thermal paste applied to the clamp plate.

[0025] By integrating the quantitative dispensing valve 607 and the smoothing device 608 into the end effector of the same robot, the two processes of applying thermal paste and smoothing are completed sequentially by the same motion system. The clamp does not need to be positioned twice at the paste application station to obtain paste application and smoothing treatments in sequence, reducing the accumulation of positioning errors in the process transmission. The dispensing port of the quantitative dispensing valve 607 is set towards the direction of the transmission ring guide rail 605. It completes quantitative dispensing during the movement along the surface of the clamp under the drive of the robot. The dispensing amount is independently controlled by the quantitative dispensing valve 607, so that the coating amount is not affected by the change of the robot's movement speed. The smoothing device 608 moves synchronously with the robot. After the quantitative dispensing valve 607 completes the coating, it passes through the coating area. By using its fixed position relative to the robot's end effector, the smoothing action is automatically connected after the coating action is completed, avoiding the time delay between coating and smoothing that causes changes in the surface state of the thermal paste.

[0026] The specific implementation method is as follows: the feeding assembly 8 includes a second feeding cart 801, a heating plate lifting device 802, a heating plate placing plate 803, a clamping device 603 and a placing device 604; The second loading trolley 801 is mounted on the assembly frame 1 and located outside the heating plate assembly station of the transmission ring guide rail 605, and is used to carry the heating plate to be installed. The heating plate lifting device 802 is installed on the second loading cart 801 and is used to lift the heating plates in the second loading cart 801 one by one. The heating plate placement plate 803 is fixed on the assembly frame 1 and located above the heating plate lifting device 802, and is used to support the heating plate lifted by the heating plate lifting device 802. The clamping device 603 is disposed on the assembly frame 1 and located between the heating plate placement plate 803 and the transmission ring rail 605, and is used to grab the heating plate on the heating plate placement plate 803 and transfer it to the clamping plate on the transmission ring rail 605. The placement device 604 is disposed above or on one side of the clamping device 603 and is used to press and install the heating plate gripped by the clamping device 603 onto the clamping plate.

[0027] By setting the heating plate lifting device 802 on the second loading cart 801, the loading, lifting and feeding of the heating plate are integrated into the movable trolley unit. The operator can load stacked heating plates onto the second loading cart 801 outside the equipment and then push them into the assembly frame 1 for positioning. The loading process is completed outside the equipment operating area and does not occupy the equipment downtime. The heating plate lifting device 802 lifts the heating plates one by one to the heating plate placement plate 803, keeping the heating plates at a fixed height at the material picking position. This facilitates the clamping device 603 to pick up the materials from the same height each time, reducing the alignment stroke of the clamping device 603. The clamping device 603 is located between the heating plate placement plate 803 and the transmission ring guide rail 605, directly completing the short-distance transfer from the material picking position to the assembly position. After the clamping device 603 sends the heating plate to the clamping plate, the placement device 604 presses the heating plate onto the clamping plate. Material picking, transfer, and pressing are performed by two separate devices. In continuous production, while the previous heating plate is being pressed, the next heating plate can be simultaneously taken out of the heating plate placement plate 803 by the clamping device 603, reducing the waiting time between each action.

[0028] The specific implementation method is as follows: the iron sheet device assembly 9 includes a second three-axis linear module assembly 902, an iron sheet placement plate 903, and an iron sheet assembly and pressing auxiliary device 901; The second three-axis linear module assembly 902 is fixed on the assembly frame 1 and located outside the iron sheet assembly station of the transmission ring guide rail 605. The second three-axis linear module assembly 902 includes an X-axis module, a Y-axis module and a Z-axis module. The iron sheet placement plate 903 is fixed on the assembly frame 1 and located below the material picking end of the second three-axis linear module assembly 902, and is used to position and place the iron sheet. The sheet assembly and pressing auxiliary device 901 is fixed to the lower end of the Z-axis module of the second three-axis linear module assembly 902, and the sheet assembly and pressing auxiliary device 901 is located directly above the sheet assembly station of the transmission ring guide rail 605, and is used to press and install the sheet onto the clamp.

[0029] By fixing the iron sheet placement plate 903 below the picking end of the second and third axis linear module assembly 902, the iron sheet maintains a fixed spatial coordinate at the picking position. The second and third axis linear module assembly 902 performs the picking action with the same starting coordinate each time, without the need for additional positioning or detection before picking, thus shortening the travel time of a single picking. The sheet assembly and pressing auxiliary device 901 is fixed at the lower end of the Z-axis module of the second and third axis linear module assembly 902 and is located directly above the sheet assembly station of the transmission ring guide rail 605. This allows the second and third axis linear module assembly 902 to complete the three actions of picking up, transferring, and pressing in one motion cycle. Picking up and pressing are located at the two ends of the motion trajectory, respectively. The transfer path is undertaken by the X-axis module and the Y-axis module, and the pressing action is completed by the lifting of the Z-axis module. Each axis has a clear division of labor. The sheet is kept in a position by the sheet placement plate 903 at the picking position. During the transfer, the second and third axis linear module assembly 902 maintains the positional accuracy. After reaching the assembly position, the Z-axis module presses it down vertically. The positioning during picking up, the holding during transfer, and the alignment during pressing are completed sequentially by the same set of linear module assemblies. The positioning reference remains consistent throughout the entire process from picking up to pressing.

[0030] The specific implementation method is as follows: There are four vibrating feeding components 11. The four vibrating feeding components 11 are respectively arranged on the assembly frame 1 and respectively on one side of the iron sheet device assembly 9 and one side of the feeding assembly 8, for supplying iron sheets and corresponding materials to the iron sheet device assembly 9 and the feeding assembly 8 respectively.

[0031] By setting four vibrating feeding components 11 on the assembly frame 1 and distributing them on one side of the iron sheet device assembly 9 and the feeding assembly 8 respectively, the feeding paths of the two materials, iron sheet and heating plate, are independent and do not intersect. The iron sheet device assembly 9 and the feeding assembly 8 can obtain materials from their respective sides without interfering with each other. The four vibrating feeding components 11 operate independently. When the feeding of one material is completed and needs to be replenished, it is only necessary to pause the feeding position of the corresponding vibrating feeding component 11. The vibrating feeding components 11 of other stations can continue to operate without affecting the material supply of other processes.

[0032] The specific implementation method is as follows: each of the vibrating feeding components 11 includes a vibrating plate 1101 and a conveyor belt 1102; The vibratory feeder 1101 is fixed on the assembly frame 1, and the discharge port of the vibratory feeder 1101 is set towards the corresponding iron sheet placement plate 903 or heating plate placement plate 803. One end of the conveyor belt 1102 is connected to the discharge port of the vibratory plate 1101, and the other end of the conveyor belt 1102 extends to the feed end of the corresponding iron sheet placement plate 903 or heating plate placement plate 803, for conveying materials from the vibratory plate 1101 to the corresponding placement plate.

[0033] By setting the discharge port of the vibratory feeder 1101 toward the corresponding iron sheet placement plate 903 or heating plate placement plate 803, the material output by the vibratory feeder 1101 directly enters the feed end of the conveyor belt 1102. The material maintains the sorted posture of the vibratory feeder 1101 during the transmission process without intermediate transfer or repositioning. One end of the conveyor belt 1102 is connected to the discharge port of the vibratory plate 1101, and the other end extends to the feed end of the corresponding iron sheet placement plate 903 or heating plate placement plate 803. During the conveying process, the conveyor belt 1102 arranges the materials one by one and keeps the interval between adjacent materials to avoid the materials from piling up or overlapping on the conveyor belt 1102, so that when the materials reach the iron sheet placement plate 903 or heating plate placement plate 803, they still maintain a single sequential arrangement.

[0034] The specific implementation method is as follows: the feeding machine and the assembly machine are electrically connected through the electrical connection port 5. The electrical connection port 5 is located on the outer wall of the assembly machine frame 1 near the feeding machine frame 2. The electrical connection port 5 is electrically connected to the control unit, the external power supply and the external signal source respectively.

[0035] By placing the electrical connection port 5 on the outer wall of the assembly frame 1 near the loading frame 2, the electrical connection distance between the loading machine and the assembly machine is minimized when they are placed side by side. This reduces the cable bridging length, lowers the risk of cables tripping between devices, and reduces signal attenuation. The electrical connection port 5 is electrically connected to the control unit, external power supply, and external signal source, respectively. After the external power supply and signal source are connected through the same electrical connection port 5, they are distributed to the various mechanisms of the loading machine and the assembly machine by the control unit. The loading machine and the assembly machine share the same power supply and signal source, eliminating the need to configure separate power and signal access terminals for the loading machine.

[0036] The specific implementation method is as follows: the thermal paste coating station, the heating plate assembly station and the iron sheet assembly station are arranged sequentially at intervals along the conveying direction of the conveying ring rail 605, and the NG placement table 10 is arranged at the conveying end of the conveying ring rail 605 and is located downstream of the iron sheet assembly station.

[0037] By setting up the thermal paste application station, heating plate assembly station, and iron sheet assembly station sequentially and at intervals along the conveying direction of the conveying ring rail 605, the clamping plate can directly enter the next process position along the conveying ring rail 605 after completing the previous process. When the clamping plate is transferred between processes, it does not need to be removed from the carrier and repositioned. Each process is carried out in a fixed sequence. The carrier passes through each station in sequence. The carrier that has not completed the previous process will not skip the previous process and directly enter the next process, thus avoiding process confusion and missing assembly problems. The NG placement table 10 is located at the end of the conveying ring guide rail 605 and downstream of the sheet assembly station, so that all products that have completed sheet assembly are uniformly inspected and diverted when they arrive at the end of the conveying. Defective products are separated only after all assembly processes are completed. The installed components will not move additionally due to diversion in the middle before inspection, reducing the risk of components loosening that may be caused by diversion in the middle.

[0038] The specific implementation method is as follows: it also includes a second gripping component 7, which is disposed on the assembly frame 1 and located between the feeding component 8 and the iron sheet device component 9. The second gripping component 7 is located outside the transmission ring guide rail 605. The second gripping component 7 includes a mounting base plate 701, a first three-axis linear module assembly 702, a second robotic arm 703, and a moving guide rail 705; The mounting base plate 701 is fixed to the assembly frame 1 and located outside the transmission annular guide rail 605; The first three-axis linear module assembly 702 is fixed on the mounting base plate 701. The first three-axis linear module assembly 702 includes an X-axis module, a Y-axis module and a Z-axis module. The bottom of the second robotic arm 703 is fixed to the lower end of the Z-axis module of the first three-axis linear module assembly 702, and the second robotic arm 703 is located above the transmission ring guide rail 605. The movable guide rail 705 is fixed on the mounting base plate 701 and located on one side of the first three-axis linear module assembly 702, and is used to guide the movement of the second robotic arm 703.

[0039] By placing the second gripping component 7 between the feeding component 8 and the iron sheet assembly component 9, the station is located in the transition area after the heating plate assembly is completed and before the iron sheet assembly begins. This allows for auxiliary operations on the semi-finished products after the heating plate installation is completed and before the iron sheet assembly begins, increasing the equipment's processing capacity in intermediate processes. At the same time, it utilizes the idle space between the heating plate assembly station and the iron sheet assembly station, eliminating the need to extend the overall length of the equipment. The bottom of the second robotic arm 703 is fixed to the lower end of the Z-axis module of the first three-axis linear module assembly 702 and is located above the transmission ring guide rail 605. The first three-axis linear module assembly 702 drives the second robotic arm 703 to move in the X, Y, and Z directions. The moving guide rail 705 is fixed on the mounting base plate 701 and is located on one side of the first three-axis linear module assembly 702. Together with the first three-axis linear module assembly 702, it constrains the movement direction of the second robotic arm 703 and shares the lateral torque on the first three-axis linear module assembly 702 during the movement of the second robotic arm 703. At the same time, after the first three-axis linear module assembly 702 moves into place, the second robotic arm 703 can complete precise positioning within a local range by its own joints, which makes up for the shortcomings of the simple three-axis linear module in end-effector posture adjustment and expands the operational flexibility of the second gripping component 7.

[0040] The specific implementation method is as follows: The assembly machine also includes a cooling fan, which is disposed on the assembly machine frame 1 and located on one side of the thermal paste coating station of the transmission annular guide rail 605. The cooling fan is used to reduce the temperature around the thermal paste coating station, prevent the thermal paste from changing due to excessive working temperature, and extend the service life of the quantitative dispensing valve 607 and the thermal paste storage tank.

[0041] By installing a cooling fan on the assembly frame and located on one side of the thermal paste coating station, continuous airflow is generated around the thermal paste coating station, reducing the ambient temperature at the coating station. The thermal paste is in a lower temperature environment during transportation and coating, reducing the impact of changes in thermal paste flowability caused by temperature rise on the consistency of coating amount. At the same time, the quantitative dispensing valve 607 and the thermal paste storage tank operate at a lower temperature, reducing the effect of high temperature on valve body seals and paste in the tank.

[0042] The specific implementation method is as follows: the assembly machine also includes a soundproof cover, which is installed on the outside of the assembly machine frame 1 to isolate the noise generated by each mechanism during the operation of the equipment and reduce the impact of the noise during the operation of the equipment on the operators.

[0043] By placing a soundproof cover on the outside of the assembly frame 1, the noise generated by each mechanism during equipment operation is blocked and absorbed by the soundproof cover in the propagation path, thereby reducing the noise level of the external environment and reducing the impact of equipment operating noise on the hearing of operators.

[0044] The specific implementation method is as follows: The assembly machine further includes a positioning device, which is disposed on the assembly frame 1 and located at at least one station of the transmission annular guide rail 605. This positioning device is used to position and fix the clamping plate when it reaches the corresponding station, preventing positional displacement of the clamping plate during the application of thermal paste or the assembly of various components. Preferably, the positioning device includes a pneumatic clamping mechanism and a secondary positioning mechanism. The pneumatic clamping mechanism is used for initial clamping and fixing of the clamping plate, and the secondary positioning mechanism is used for secondary precise positioning of the clamping plate after clamping by the pneumatic clamping mechanism.

[0045] By setting the positioning device at at least one station of the transmission ring guide rail 605, the clamping plate is positioned and fixed when it arrives at the corresponding station, reducing the coating position deviation and installation position deviation caused by positional offset during the application of thermal paste or assembly of various components. The clamping plate is initially clamped and fixed by the pneumatic clamping mechanism, and then the secondary positioning mechanism performs secondary precise positioning after clamping. The position error of the clamping plate is further reduced after the two corrections, so that the reference position of subsequent paste application and assembly operations is consistent. After completing one process, the clamping plate enters the next process with the same position and posture, reducing the cumulative error caused by the inconsistency of the positioning reference of each station.

[0046] The specific implementation method is as follows: the assembly machine further includes a position detection sensor and a weighing sensor; the position detection sensor is set at at least one station of the transmission ring guide rail 605 to detect whether the clamping plate is in place or whether each component is installed in place; the weighing sensor is set at the conveying end of the transmission ring guide rail 605 or at the NG placement table 10 to weigh the assembled products. The control unit determines whether the product is qualified based on the detection data of the weighing sensor. Qualified products are discharged normally, and unqualified products are transferred to the NG placement table 10 for temporary storage.

[0047] Position detection sensors are installed at at least one station of the conveying ring guide rail 605 to monitor the position of the clamps in real time, reducing the possibility of misoperation in subsequent processes due to clamps not being in place or not being installed properly. Weighing sensors are installed at the end of the conveying ring guide rail 605 or at the NG placement table 10 to automatically weigh the assembled products when they arrive at the end of the conveying. The control unit automatically determines whether the products are qualified or not based on the comparison between the measured weight and the preset weight range, reducing the workload of manual visual inspection or manual weighing.

[0048] The specific implementation method is as follows: The control unit is a programmable logic controller (PLC). The PLC is electrically connected to the lifting mechanism 301, the first gripping component 4, the transmission ring guide rail 605, the end-point paste application execution component 606, the feeding component 8, the iron sheet device component 9, the vibrating feeding component 11, the cooling fan, the positioning device, the position detection sensor, and the weighing sensor. It is used to receive the detection signals from each sensor and control the action sequence of each mechanism according to a preset program, so that the feeding, conveying, positioning, paste application, heating plate assembly, iron sheet assembly, detection, and unloading processes are automatically connected in sequence.

[0049] By electrically connecting the programmable logic controller (PLC) to the lifting mechanism 301, the first gripping component 4, the transmission ring rail 605, the end paste application execution component 606, the feeding component 8, the iron sheet device component 9, the vibrating feeding component 11, the cooling fan, the positioning device, the position detection sensor, and the weighing sensor, the PLC receives the detection signals from the position detection sensor and the weighing sensor, and outputs control commands to each execution mechanism according to the preset program, so that each mechanism acts in sequence according to a fixed timing sequence. When a certain mechanism has not completed its current action, the start signal of the subsequent mechanism is delayed, thus avoiding physical collisions or material accumulation that may occur when all mechanisms act simultaneously.

[0050] Working principle: When in use, the operator loads the stacked clamps onto the first feeding trolley 3, pushes the first feeding trolley 3 into the feeding frame 2 and positions it. Meanwhile, stacked heating plates are loaded onto the second loading trolley 801, and the second loading trolley 801 is pushed into the outer side of the heating plate assembly station of the assembly frame 1 and positioned. Each vibrating feeding component 11 feeds materials to the corresponding iron sheet placement plate 903 and heating plate placement plate 803 respectively.

[0051] After the equipment is started, the control unit controls each mechanism to operate in sequence according to the preset timing: the lifting mechanism 301 lifts the clamping plates in the first feeding trolley 3 one by one to the feeding tray 302, and the first gripping component 4 grips the clamping plates from the feeding tray 302 and places them on the feeding end of the transmission ring guide rail 605. The carrier, carrying the clamping plates, advances sequentially along the conveyor ring guide rail 605. First, it reaches the thermal paste coating station, where the robot, driven by the metering dispensing valve 607, applies thermal paste to the clamping plates, which are then smoothed by the leveling device 608. The clamping plates continue to the heating plate assembly station, where the heating plate lifting device 802 lifts the heating plate onto the heating plate placement plate 803. The gripping device 603 picks up the heating plate and moves it above the clamping plate, where the placement device 604 presses it into place. The clamping plates continue to the iron sheet assembly station, where the second and third axis linear module assembly 902 picks up the iron sheet from the iron sheet placement plate 903 and moves it above the clamping plate. The iron sheet assembly pressing auxiliary device 901 presses it into place. The finished products, after assembly, reach the end of the conveyor. Qualified products are unloaded normally after inspection, while unqualified products are temporarily stored on the NG placement table 10. Throughout the process, the start-up sequence and action rhythm of each mechanism are uniformly coordinated by the control unit, ensuring that each process operates automatically and sequentially.

[0052] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and inventive concept of this application, should be included within the scope of protection of this application.

Claims

1. An automatic coating and assembly device for heating plate thermal conductive paste, characterized in that, include: The feeding machine and the assembly machine are arranged adjacent to each other and are electrically connected through an electrical connection port (5); The feeding machine includes a feeding machine frame (2), a first feeding trolley (3), a lifting mechanism (301), a feeding tray (302), and a first gripping component (4); The first loading trolley (3) is located at one end of the loading frame (2) and is used to carry the clamping plate to be processed; The lifting mechanism (301) is mounted on the first feeding trolley (3) and is used to lift the clamping plates in the first feeding trolley (3) piece by piece. The feeding tray (302) is disposed on the feeding frame (2) and located above the lifting mechanism (301), and is used to support the clamping plate lifted by the lifting mechanism (301); The first gripping component (4) is disposed on the loading frame (2) and located on one side of the loading tray (302), and is used to grip the clamping plate from the loading tray (302); The assembly machine includes an assembly frame (1), assembly components (6), a transmission ring rail (605), a transport bracket (601), a transport rail (602), an end-applying paste execution component (606), a feeding component (8), an iron sheet device component (9), a vibrating feeding component (11), an NG placement table (10), and a control unit; The transmission ring rail (605) is set on the assembly frame (1) in a closed ring arrangement, and is used to carry and transport the clamps to move sequentially along the ring path; The transport bracket (601) is disposed on the assembly frame (1) and located below the transmission ring rail (605) for supporting the transmission ring rail (605). The transport guide rail (602) is disposed on the transport support (601) and located inside or outside the transmission ring guide rail (605), and is used to guide the vehicle on the transmission ring guide rail (605). The gripping end of the first gripping component (4) is located above the feed end of the transmission ring guide rail (605) and is used to place the clamping plate from the loading tray (302) onto the feed end of the transmission ring guide rail (605). Along the conveying direction of the conveying ring rail (605), there are sequentially arranged a thermal paste coating station, a heating plate assembly station, an iron sheet assembly station and a material unloading station; The end-applying component (606) is provided at the thermal paste application station. The end-applying component (606) is located on the assembly frame (1) and outside the thermal paste application station of the transmission ring rail (605), and is used to apply thermal paste to the clamp plate. The heating plate assembly station is provided with the feeding component (8), which is located on the assembly frame (1) and outside the heating plate assembly station of the transmission ring guide rail (605). It is used to supply the heating plate and install the heating plate onto the clamp coated with thermal grease. The sheet assembly station is provided with the sheet assembly assembly (9), which is located on the assembly frame (1) and outside the sheet assembly station of the transmission ring guide rail (605) for installing the sheet onto the clamp. The vibrating feeding component (11) is disposed on the assembly frame (1) and located on one side of the iron sheet device assembly (9), and is used to supply iron sheets to the iron sheet device assembly (9); The unloading station is provided with the NG placement table (10), which is located on the assembly frame (1) and at the end of the conveying ring rail (605) for receiving and temporarily storing products that fail the inspection. The control unit is electrically connected to the lifting mechanism (301), the first gripping component (4), the transmission ring rail (605), the end paste application execution component (606), the feeding component (8), the iron sheet device component (9), and the vibrating feeding component (11).

2. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, The first gripping component (4) includes a first robotic arm (401), a gripper cylinder (402), and gripper fingers (403). The bottom of the first robotic arm (401) is fixed to the loading frame (2), and the first robotic arm (401) is located between the loading tray (302) and the feeding end of the transmission ring guide rail (605); The gripper cylinder (402) is fixed to the end actuation end of the first robotic arm (401); The gripper fingers (403) are two in number and are respectively fixed on the two gripping arms of the gripper cylinder (402). The two gripper fingers (403) are arranged opposite to each other and are used to grip the clamping plate.

3. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, The end-effector assembly (606) includes a robot, a metering dispensing valve (607), and a smoothing device (608). The robot is fixed to the assembly frame (1), and the robot is located outside the thermal paste coating station of the transmission ring rail (605); The metering dispensing valve (607) is fixed to the end effector of the robot, and the dispensing port of the metering dispensing valve (607) is arranged facing the transmission ring guide rail (605) for metering thermal grease to be applied on the clamp plate. The smoothing device (608) is fixed to the end effector of the robot and located on one side of the metering dispensing valve (607) for smoothing the thermal paste applied to the clamp plate.

4. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, The feeding assembly (8) includes a second feeding car (801), a heating plate lifting device (802), a heating plate placing plate (803), a clamping device (603), and a placing device (604). The second loading trolley (801) is set on the assembly frame (1) and located outside the heating plate assembly station of the transmission ring guide rail (605) to carry the heating plate to be installed; The heating plate lifting device (802) is installed on the second loading cart (801) and is used to lift the heating plates in the second loading cart (801) one by one; The heating plate placement plate (803) is fixed on the assembly frame (1) and located above the heating plate lifting device (802), and is used to support the heating plate lifted by the heating plate lifting device (802). The clamping device (603) is disposed on the assembly frame (1) and located between the heating plate placement plate (803) and the transmission ring rail (605), and is used to grab the heating plate on the heating plate placement plate (803) and transfer it to the clamping plate on the transmission ring rail (605). The placement device (604) is located above or to one side of the clamping device (603) and is used to press and install the heating plate gripped by the clamping device (603) onto the clamping plate.

5. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, The iron sheet assembly (9) includes a second three-axis linear module assembly (902), an iron sheet placement plate (903), and an iron sheet assembly and pressing auxiliary device (901). The second three-axis linear module assembly (902) is fixed on the assembly frame (1) and located outside the iron sheet assembly station of the transmission ring guide rail (605). The second three-axis linear module assembly (902) includes an X-axis module, a Y-axis module and a Z-axis module. The iron sheet placement plate (903) is fixed on the assembly frame (1) and located below the material picking end of the second three-axis linear module assembly (902) for positioning and placing iron sheets; The sheet assembly and pressing auxiliary device (901) is fixed at the lower end of the Z-axis module of the second three-axis linear module assembly (902), and the sheet assembly and pressing auxiliary device (901) is located directly above the sheet assembly station of the transmission ring guide rail (605) for pressing and installing the sheet onto the clamping plate.

6. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, There are four vibrating feeding components (11). The four vibrating feeding components (11) are respectively set on the assembly frame (1) and respectively set on one side of the iron sheet device assembly (9) and one side of the feeding assembly (8), for supplying iron sheets and corresponding materials to the iron sheet device assembly (9) and the feeding assembly (8) respectively.

7. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, Each of the aforementioned vibratory feeding components (11) includes a vibratory plate (1101) and a conveyor belt (1102). The vibratory plate (1101) is fixed on the assembly frame (1), and the discharge port of the vibratory plate (1101) is set towards the corresponding iron sheet placement plate (903) or heating plate placement plate (803). One end of the conveyor belt (1102) is connected to the discharge port of the vibratory plate (1101), and the other end of the conveyor belt (1102) extends to the feed end of the corresponding iron sheet placement plate (903) or heating plate placement plate (803) to transport the material from the vibratory plate (1101) to the corresponding placement plate.

8. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, The feeding machine and the assembly machine are electrically connected through an electrical connection port (5). The electrical connection port (5) is located on the outer side wall of the assembly machine frame (1) near the feeding machine frame (2). The electrical connection port (5) is electrically connected to the control unit, the external power supply and the external signal source respectively.

9. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, The thermal paste coating station, the heating plate assembly station, and the iron sheet assembly station are arranged sequentially at intervals along the conveying direction of the conveying ring rail (605). The NG placement platform (10) is located at the conveying end of the conveying ring rail (605) and downstream of the iron sheet assembly station.

10. The automatic coating and assembly equipment for heating plate thermal conductive paste according to claim 1, characterized in that, It also includes a second gripping component (7), which is disposed on the assembly frame (1) and located between the feeding component (8) and the sheet metal device component (9), and the second gripping component (7) is located outside the transmission ring guide rail (605); The second gripping component (7) includes a mounting base plate (701), a first three-axis linear module assembly (702), a second robotic arm (703), and a moving guide rail (705); The mounting base plate (701) is fixed to the assembly frame (1) and located outside the transmission ring rail (605); The first three-axis linear module assembly (702) is fixed on the mounting base plate (701), and the first three-axis linear module assembly (702) includes an X-axis module, a Y-axis module and a Z-axis module; The bottom of the second robotic arm (703) is fixed to the lower end of the Z-axis module of the first three-axis linear module assembly (702), and the second robotic arm (703) is located above the transmission ring guide rail (605); The movable guide rail (705) is fixed on the mounting base plate (701) and located on one side of the first three-axis linear module assembly (702), and is used to guide the movement of the second robotic arm (703).

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