Non-stop assembly equipment with safety protection function

Abstract

The application discloses a non-stop assembling equipment with safety protection function and relates to the technical field of sheet material automatic assembling. The equipment comprises a fence, at least two trolley entrances and exits, a release paper recycling port, an NG product recycling port for limiting the entry and exit of limbs, and two oppositely arranged escape ports; a feeding area, a release paper recycling area, a detection area, an NG product recycling area, an assembling area and a carrying area are correspondingly arranged inside the fence; each man-machine interactive station is provided with a protective door and a ceiling capable of switching between shielding and escaping states; the carrying area is provided with a mechanical arm with a grabbing mechanism, which is used for completing the transfer and assembly of sheet materials between stations. The application can realize non-stop operation in all links such as feeding, material supplementing, waste cleaning and unqualified product recycling, and can improve the safety protection level through a double isolation structure of the side and the top, and can balance the production efficiency and operation safety, and is suitable for sheet material bonding and assembling processes in the fields of consumer electronics and new energy batteries.

Description

Technical Field

[0001] This invention relates to the field of sheet assembly technology, and more specifically to a non-stop assembly equipment with safety protection functions. Background Technology

[0002] In industrial sectors such as consumer electronics, new energy batteries, and printing and packaging, the lamination, coating, and assembly processes of sheet components such as protective films, adhesive films, and cushioning sheets are widely completed using automated equipment. To isolate the internal moving parts of the equipment and ensure the safety of on-site operators, such automated equipment is usually equipped with enclosed safety fences to create an independent space around the equipment's work area. Openings for material replenishment, waste removal, and non-conforming product recycling are provided at corresponding locations on the side walls of the fence, and each opening is equipped with an openable and closable protective door structure.

[0003] Existing automated sheet assembly equipment still has the following shortcomings in practical use: First, it is difficult to balance safety and continuity in the material supply and replenishment process. Most existing material supply stations adopt a single-compartment, single-door structure. When replenishing or changing materials, the side protective door must be opened. At this time, the material supply compartment is directly connected to the outside of the enclosure, posing a safety risk of personnel accidentally entering or foreign objects falling into the equipment. To ensure complete protection, the machine must be stopped for replenishment, directly interrupting the production cycle, resulting in low equipment utilization and an inability to meet the demands of high-speed continuous production. Some multi-compartment material supply solutions only have side protective doors, with the top of the material supply compartment fully connected to the central working area of ​​the equipment. When opening the door for replenishment, there is no isolation protection at the top, still creating a safety loophole and failing to achieve complete closed protection throughout the material change process.

[0004] Secondly, the release paper waste disposal process cannot achieve safe operation without shutting down the machine. During sheet assembly, the release paper on the sheet surface must be peeled off first, and the waste usually falls directly into the recycling container below. In the existing recycling structure, the top of the bin is directly connected to the film-tearing station. When cleaning waste, the machine must be stopped and the side door of the enclosure opened to remove the recycling container. This not only interrupts the film-tearing process and reduces production efficiency, but also allows personnel to directly contact the moving film-tearing mechanism above when the door is open, posing a significant safety hazard. A few recycling solutions that add a middle partition can only achieve physical separation of the upper and lower spaces. They cannot temporarily store continuously generated waste when the partition is closed. The film-tearing process still needs to be suspended during waste disposal, making it impossible to truly achieve waste disposal without shutting down the machine.

[0005] Third, the reliability of protection in the non-conforming product recycling process is insufficient. The operating openings at existing non-conforming product recycling stations are generally too large, leaving the openings open for extended periods during container handling, making it easy for personnel to insert their limbs into the equipment, resulting in a low level of safety protection. Some solutions that add protective doors require manual opening and closing or additional power-driven operation, which is cumbersome; furthermore, the openings do not automatically close after the recycling containers are removed, creating a gap in protection.

[0006] In summary, existing sheet assembly equipment generally suffers from technical deficiencies in human-machine interaction processes such as material feeding, waste disposal, and defective product recycling, making it difficult to simultaneously meet the requirements of high production efficiency and high safety levels. Summary of the Invention

[0007] To address these issues, this invention provides a non-stop assembly equipment with safety protection functions, aiming to solve the technical problems of existing sheet assembly equipment requiring machine stoppage for human-machine interaction, poor production continuity, and insufficient safety protection level, thereby achieving continuous production without stopping the entire process while ensuring operational safety.

[0008] To solve the above technical problems, the present invention provides a non-stop assembly equipment with safety protection function, including a fence, wherein the fence is provided with at least two trolley inlets and outlets, a release paper recycling port, a defective product recycling port and two clearance openings at different positions in the circumferential direction; Each of the trolley entrances and exits is equipped with a first protective door, which can be opened and closed. The inner area of ​​the fence of each trolley entrance and exit is a feeding area, which is used to park sheet material handling trolleys. The sheet material handling trolleys are used to carry sheets and can enter and exit the feeding area through the opened trolley entrances and exits. A first canopy is provided above the feeding area, which can switch between a blocking state and an avoidance state to block or avoid the area above the corresponding feeding area. The area inside the enclosure of the release paper recycling port is a release paper recycling area, which is used to house the release paper recycling mechanism. The release paper recycling mechanism is used to accommodate release paper and can enter and exit the release paper recycling area through the release paper recycling port. A second canopy is provided above the release paper recycling area. The second canopy can switch between a blocking state and an avoidance state to block or avoid the area above the release paper recycling area. A release paper tearing mechanism is provided above the second canopy. The release paper tearing mechanism is used to tear off the release paper at the bottom of the sheet. The central area inside the fence is provided with a detection zone, which is equipped with a visual inspection mechanism for detecting the peeling state of the release paper of the sheet. The non-conforming product collection port is configured to restrict limbs from entering and exiting the fence. The area inside the fence of the non-conforming product collection port is a non-conforming product collection area. The non-conforming product collection area is used to place a non-conforming product collection mechanism. The non-conforming product collection mechanism is used to accommodate non-conforming products and can enter and exit the non-conforming product collection area through the non-conforming product collection port. The two clearance openings are arranged opposite each other, and the area between them is the assembly area. The assembly area is equipped with an assembly section of the product conveyor line, which is used to carry and transport the products to be assembled, and can extend to the outside of the fence through the two clearance openings. The central area inside the fence is also equipped with a transport area, which is equipped with a robotic arm. The end of the robotic arm is equipped with a gripping mechanism. The two work together to remove the sheet from the sheet transport trolley and transfer the sheet to the film-tearing station of the release paper tearing mechanism, the inspection station of the visual inspection mechanism, the defective product recycling mechanism, and the assembly section of the product conveyor line.

[0009] Optionally, the first protective door is a roller shutter door; the first canopy is a sliding canopy that moves horizontally under the drive of a synchronous belt drive mechanism to selectively block the area above the corresponding feeding area; the second canopy is a hinged canopy that rotates around a horizontal axis and swings back and forth under the drive of a gear and rack drive mechanism to block or avoid the area above the release paper recycling area.

[0010] Optionally, the sheet handling trolley is an AGV trolley; the release paper recycling mechanism and the defective product recycling mechanism are both handcarts; Optionally, the release paper tearing mechanism includes a plurality of tearing claws arranged sequentially along a straight line. The plurality of tearing claws are used to hold the long side of the release paper, and each tearing claw is driven to open and close by a cylinder.

[0011] Optionally, the non-conforming product recycling port is a narrow opening; the non-conforming product recycling mechanism extends along its own moving direction, and the sheet is accommodated in the non-conforming product recycling mechanism with its long side facing downward in an inclined posture.

[0012] Optionally, the robotic arm is a six-axis robotic arm; the gripping mechanism is a vacuum suction cup.

[0013] Optionally, the feeding area is further provided with a first positioning detection component, including a first clamping member for clamping the two sides of the sheet transport trolley in the direction of movement, a limiting post for abutting the front end of the sheet transport trolley in the direction of movement, a second clamping member for clamping the front end flange of the sheet transport trolley in the direction of movement, and a first material sensor for detecting the remaining sheet material in the sheet transport trolley. The release paper recycling area is also equipped with a second positioning and detection component, including a third clamping member for clamping the front flange of the release paper recycling mechanism in the moving direction and a second material sensor for detecting whether the release paper in the release paper recycling mechanism is full. The non-conforming product recycling area is also equipped with a third positioning and detection component, including a fourth clamping component for clamping the front flange of the non-conforming product recycling mechanism in the direction of movement and a third material sensor for detecting whether there are non-conforming products stored in the non-conforming product recycling mechanism. The first clamping member, the second clamping member, the third clamping member, and the fourth clamping member are all driven by cylinders; The first material sensor, the second material sensor, and the third material sensor are all fiber optic through-beam sensors.

[0014] Optionally, the non-conforming product recycling port is also provided with a second protective door that can be opened and closed; the second protective door is an elastic reset door that is normally kept closed, can be opened when the non-conforming product recycling mechanism is pushed inward, and automatically reset and closes after being pulled outward.

[0015] Optionally, the end of the robotic arm is also equipped with a visual positioning mechanism, which is used to identify and position the sheet and the product to be assembled, guiding the robotic arm to complete precise material picking and bonding assembly.

[0016] Optionally, the end of the robotic arm is also equipped with a bottom-supporting mechanism, which operates under the drive of the linkage drive mechanism to support the bottom of the sheet during sheet transfer and release the sheet when unloading.

[0017] The technical solution of the present invention has the following advantages over the prior art: (1) Continuous operation throughout the entire process significantly improves production utilization. Through the structural design of rotating material supply areas, temporary storage of release paper waste in the second canopy, and pull-out replacement of NG product recycling mechanism, the three human-machine interaction links of material supply, waste cleaning, and non-conforming product recycling do not need to interrupt the core production process. This enables the uninterrupted operation of the entire process of film tearing, inspection, and assembly, effectively improving the overall utilization rate of the equipment and meeting the needs of high-speed continuous production.

[0018] (2) Double isolation protection on the side and top significantly improves the safety level. The material feeding area is equipped with a first protective door on the side and a switchable first canopy on the top. The release paper recycling area is equipped with a second canopy on the top. The NG product recycling area is equipped with a narrow recycling port and an automatically reset second protective door. All human-machine interaction workstations are physically isolated on the side and top. When the door is open, the top is always kept closed, completely eliminating the safety hazards of personnel accidentally entering or accidentally touching moving parts. There is no gap in protection throughout the process, which meets the high-level safety production standards.

[0019] (3) Modular positioning and detection integration ensures stable operation and low maintenance costs. The feeding area, release paper recycling area, and NG product recycling area all adopt integrated positioning and detection components. The cylinder-driven clamping parts are used to achieve positioning and locking, which has a fast response speed and stable locking force, and is suitable for high-frequency start and stop automated working conditions. The material detection uses fiber optic through-beam sensors, which are not affected by the material material, color, dust and light on site, and have high detection accuracy and strong anti-interference ability. The unified modular design facilitates later maintenance and replacement, effectively reducing maintenance costs.

[0020] (4) Dual fixed transfer structure, high product assembly yield. The end of the robotic arm adopts a dual fixed structure that combines vacuum suction cup adsorption and bottom support mechanism. With the help of the follow-up vision positioning mechanism to correct the position in real time, it can effectively offset the acceleration and deceleration inertia generated by high-speed transfer, avoid sheet slippage and edge deformation, greatly improve the transfer stability and bonding positioning accuracy of large-size thin sheets, and ensure product assembly yield.

[0021] (5) The circular layout is compact and has a high space utilization rate. Each functional workstation is arranged in a ring along the side wall of the fence. The central area integrates detection and handling functions. A single robotic arm can cover the entire process flow. The overall structure is compact and occupies little space. Each workstation operates independently and does not interfere with each other, which facilitates individual maintenance and troubleshooting. Attached Figure Description

[0022] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0023] Figure 1 This is an overall schematic diagram of the non-stop assembly equipment with safety protection function of the present invention; Figure 2 This is a schematic diagram of the feeding area as disclosed in an embodiment of the present invention from a top view angle; Figure 3 for Figure 2 Enlarged view of the first clamping component at point A; Figure 4 This is a schematic diagram of the feeding area from a bottom angle as disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram from a top view of the release paper recycling area disclosed in an embodiment of the present invention; Figure 6 for Figure 5 A partial enlarged view of the rack and pinion drive mechanism at point B; Figure 7 This is a schematic diagram from another top view of the release paper recycling area disclosed in an embodiment of the present invention; Figure 8 This is a schematic diagram of the detection area disclosed in an embodiment of the present invention; Figure 9 This is a schematic diagram of the non-conforming product recycling area disclosed in an embodiment of the present invention; Figure 10 This is a schematic diagram of the assembly area disclosed in an embodiment of the present invention; Figure 11 This is a schematic diagram of the gripping mechanism, visual positioning mechanism, and bottom-covering mechanism disclosed in an embodiment of the present invention.

[0024] Among them, 1. Fence; 11. Vehicle entrance and exit; 12. Release paper recycling port; 13. Non-conforming product recycling port; 14. Clearance opening; 21. First protective door; 22. Sheet material handling trolley; 23. First canopy; 24. Synchronous belt drive mechanism; 241. Motor; 242. Synchronous belt; 251. First clamping component; 252. Limiting post; 253. Second clamping component; 254. First material sensor; 31. Release paper recycling mechanism; 32. Second canopy; 321. Hinge shaft; 33. Gear and rack drive mechanism; 331. First cylinder; 332. Rack; 333. Gear; 34. Release paper tearing mechanism; 341. Film tearing gripper; 351. Third clamping component; 352. Second material sensor; 41. Visual inspection agencies; 51. Non-conforming product recycling mechanism; 521. Fourth clamping component; 522. Third material sensor; 53. Second protective door; 61. Assembly section; 71. Robotic arm; 72. Gripping mechanism; 73. Vision positioning mechanism; 74. Bottom-feeding mechanism; 741. Swing shaft; 75. Linkage drive mechanism; 751. Second cylinder; 752. Linkage; 8. Sheets. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0026] like Figures 1 to 11 As shown, the non-stop assembly equipment with safety protection function disclosed in this embodiment includes a fence 1. The fence 1 is formed by splicing aluminum profile frames with transparent protective panels to create a closed working space, physically isolating the internal moving mechanism from the external operating area and ensuring the safety of on-site workers. The fence 1 has at least two trolley inlets / outlets 11, a release paper recycling port 12, a defective product recycling port 13, and two clearance openings 14 at different positions in the circumferential direction.

[0027] The interior of fence 1 is functionally divided into a material supply area, a release paper recycling area, an inspection area, a defective product recycling area, an assembly area, and a handling area. The material supply area, release paper recycling area, defective product recycling area, and assembly area are all located close to the side walls of fence 1, facilitating human-machine interaction operations such as material replenishment, waste removal, and recycling from the outside of the fence. The inspection area and handling area are located in the central area inside fence 1, where the sheet material flow and inspection of the entire process are completed by a central actuator. The overall layout is compact and has a high space utilization rate.

[0028] The number of feeding areas corresponds one-to-one with the trolley inlets and outlets 11. In this embodiment, three sets of feeding areas are arranged side by side along a straight line, and continuous feeding without stopping the machine is achieved through multi-station rotation. Each trolley inlet and outlet 11 is equipped with a first protective door 21, which can open and close the corresponding trolley inlet and outlet 11 to control the connection and isolation of the space inside and outside the fence 1. In this embodiment, the first protective door 21 is a roller shutter door, which rolls up vertically when opening and closing, occupies little lateral space, has a fast response speed, and is suitable for the high-frequency switching conditions of automated equipment.

[0029] Each feeding area can accommodate a sheet handling trolley 22, which carries stacked sheets and can enter and exit the feeding area via the open trolley inlet / outlet 11. In this embodiment, the sheet handling trolley 22 is an AGV (Automated Guided Vehicle) trolley, which can automatically transfer sheet A between the storage area and the equipment feeding area without manual pushing, making it suitable for unmanned production scenarios.

[0030] A first canopy 23 is erected above multiple feeding areas. The first canopy 23 can switch between a blocking state and an avoidance state to block or avoid the area above the corresponding feeding area. Specifically, the first canopy 23 is a sliding canopy and is equipped with a synchronous belt drive mechanism 24. The synchronous belt drive mechanism 24 is horizontally erected along the arrangement direction of the feeding areas and includes a motor 241, a synchronous pulley (not shown in the figure), and a synchronous belt 242. The motor 241 and the synchronous pulley are mounted on the frame, and the synchronous belt 242 is connected to the synchronous pulley for transmission. The canopy cover plate of the first canopy 23 is fixedly connected to the synchronous belt 242 of the synchronous belt drive mechanism 24. Horizontal translation is achieved through the synchronous belt 242, switching the position between the tops of different feeding areas to selectively block the area above the corresponding feeding area.

[0031] When the sheet material in a certain feeding area is depleted and needs to be replenished, the control system first controls the first canopy 23 to move horizontally to directly above the feeding area, entering a shielding state and closing the connection between the feeding area and the central transport area from the top. Then, the first protective door 21 opens, allowing the empty sheet transport trolley 22 to exit and the fully loaded sheet transport trolley 22 to enter, completing the material replacement operation. During the material replacement process, the top of the feeding area remains closed, preventing personnel from contacting the internal moving parts of the equipment through the top opening, completely eliminating safety vulnerabilities when the door is opened for replenishment. Simultaneously, other feeding areas maintain normal feeding status, and the equipment does not need to be stopped, effectively improving production continuity. After replenishment is completed, the first protective door 21 closes, and the first canopy 23 moves horizontally away from the feeding area, entering a clearance state, allowing the top of the feeding area to be open again and restoring normal material handling. By using a single sliding canopy to switch shielding between multiple compartments, only one drive mechanism is needed to cover the top protection requirements of all feeding stations. This results in a compact structure, low cost, and continuous replenishment operations, effectively improving equipment uptime.

[0032] The feeding area is also equipped with a first positioning and detection component, integrating positioning, locking, and material detection functions. This component includes a first clamping member 251, a limiting post 252, a second clamping member 253, and a first material sensor 254. The limiting post 252 is located at the inner end of the feeding area and abuts against the front end of the sheet handling trolley 22 in the direction of movement, achieving initial axial positioning. Two sets of first clamping members 251 are symmetrically arranged on both sides of the feeding area, clamping the sides of the sheet handling trolley 22 in the direction of movement, achieving left-right centering positioning. The second clamping member 253 is located at the end of the feeding area directly opposite the trolley's inlet and outlet, clamping the flange at the front end of the sheet handling trolley 22 in the direction of movement, achieving front-end locking. Both the first clamping member 251 and the second clamping member 253 are driven by cylinders, resulting in fast response speed, stable locking force, and suitability for automated production conditions with high-frequency start-stop cycles.

[0033] The first material sensor 254 is used to detect the remaining sheet material in the sheet handling trolley 22 in real time. When the sheet material is depleted, it sends a replenishment signal to the control system, triggering an automatic replenishment process. In this embodiment, the first material sensor 254 is a fiber optic through-beam sensor, with the transmitter and receiver installed diagonally opposite each other in the feeding area. The optical path corresponds to the minimum warning height of the sheet stack. Under normal conditions, the sheet stack blocks the optical path. When the sheet material is depleted below the warning height, the receiver resumes receiving the optical signal, and the sensor immediately triggers a material shortage alarm. The fiber optic through-beam sensor is not affected by the sheet material, color, or surface condition. It has strong resistance to dust and ambient light interference, high detection accuracy, and can effectively avoid missed material shortages, ensuring a stable continuous production rhythm.

[0034] A release paper recycling mechanism 31 is placed in the release paper recycling area. The release paper recycling mechanism 31 is used to hold the released paper waste after it is peeled off, and it can enter and exit the release paper recycling area through the release paper recycling port 12. In this embodiment, the release paper recycling mechanism 31 adopts a handcart structure, which can be directly pulled out by the operator from the outside of the fence. The cleaning operation is convenient and no additional auxiliary tools are required.

[0035] Two symmetrically arranged second canopies 32 are installed above the release paper recycling area. The second canopies 32 can switch between a blocking state and an avoidance state to block or avoid the area above the release paper recycling area. The second canopies 32 are hinged canopies that rotate around a horizontal axis and are equipped with a gear and rack drive mechanism 33. The gear and rack drive mechanism 33 includes a first cylinder 331, a rack 332, and a gear 333. The output end of the first cylinder 331 is connected to the rack 332, and the gear 333 is fixed to the hinge shaft 321 of the second canopy 32. The rack 332 meshes with the gear 333. The extension and retraction of the first cylinder 331 drives the gear 333 to rotate, thereby driving the two second canopies 32 to reciprocate around the horizontal axis, achieving the switching between blocking and avoidance states. The gear and rack drive method provides smooth transmission and precise angle control, ensuring a flat receiving surface when the canopy is closed and a fully unobstructed material discharge channel when open.

[0036] A release paper removal mechanism 34 is installed above the second canopy 32 to remove the release paper from the bottom of the sheet. The release paper removal mechanism 34 includes multiple tearing claws 341 arranged sequentially in a straight line. The multiple tearing claws 341 jointly grip the long side of the release paper. Each tearing claw 341 is driven to open and close by a cylinder, and the clamping force is stable and adjustable to adapt to the tearing needs of sheets of different widths and materials. During the tearing operation, the robotic arm carries the sheet to the tearing station. The tearing claws 341 grip the edge of the release paper at the bottom of the sheet. The robotic arm lifts the sheet upward, thus completely peeling the release paper off the surface of the sheet. The peeled release paper falls downward under the action of gravity.

[0037] Under normal production conditions, the second canopy 32 is in an avoidance state, and the top of the release paper recycling area is open, allowing the peeled release paper to fall directly into the release paper recycling mechanism 31 for collection. When the release paper recycling mechanism 31 is full and needs cleaning, the second canopy 32 swings upward to a horizontal position, entering a blocking state and sealing the opening of the release paper recycling area from the top. At this time, the upper surface of the second canopy 32 acts as a receiving surface, temporarily receiving and storing the continuously peeling and falling release paper, while completely physically separating the upper film-tearing operation area from the lower recycling area. Operators can directly pull out the release paper recycling mechanism 31 from the outside for cleaning. During the cleaning process, the film-tearing process continues to run without stopping the machine, and personnel will not come into contact with the upper moving mechanism, balancing production efficiency and operational safety. After cleaning, the release paper recycling mechanism 31 is pushed back into its original position, and the second canopy 32 swings downward to a vertical position, returning to the avoidance state. The temporarily stored release paper slides down into the recycling mechanism as the canopy swings, and the equipment returns to normal collection mode.

[0038] A second positioning and detection component is also installed in the release paper recycling area, integrating positioning locking and material detection functions. This component includes a third clamping member 351 and a second material sensor 352. The third clamping member 351 is located at the end of the release paper recycling area directly opposite the release paper recycling port. It is used to clamp the front end of the release paper recycling mechanism 31 in the direction of movement, achieving positioning and ensuring accurate material dropping. The third clamping member 351 is driven by a cylinder, featuring a simple and reliable structure and low maintenance costs.

[0039] The second material sensor 352 is used to detect whether the release paper in the release paper recycling mechanism 31 is full. When the storage threshold is reached, it sends a cleaning signal to the control system. In this embodiment, the second material sensor 352 is a fiber optic through-beam sensor, consisting of a transmitter and a receiver, which are installed diagonally in the release paper recycling area, with the optical path corresponding to the full material warning height. When the release paper stack blocks the optical path, the sensor triggers the full material signal. The through-beam sensor is not affected by the color, material, or dust of the release paper, has strong anti-interference ability, high detection accuracy, and can effectively avoid missed detections and false detections.

[0040] The inspection area is located in the central region inside the enclosure 1. A vision inspection mechanism 41 is fixedly installed in the inspection area to detect the release paper peeling status of the sheet. In this embodiment, the vision inspection mechanism 41 uses a 2D industrial area array camera with a coaxial light source. When the robotic arm carries the sheet with the release paper peeled over the inspection station, the camera captures an image of the bottom of the sheet. The vision algorithm identifies whether there are defects such as residual, broken, or incompletely peeled release paper, and filters out unqualified products to ensure the yield of subsequent product assembly.

[0041] The defective product collection port 13 is configured to restrict the entry and exit of limbs from the fence 1. In this embodiment, the defective product collection port 13 is a narrow opening, with the opening width only slightly larger than the width of the defective product collection mechanism 51, which can naturally restrict personnel from extending their arms and improve the basic protection level.

[0042] The defective product recycling area contains a defective product recycling mechanism 51, which is used to accommodate defective products that fail the inspection. The mechanism can enter and exit the defective product recycling area through the defective product recycling port 13. In this embodiment, the defective product recycling mechanism 51 adopts a trolley structure, extending along its own direction of movement. It has an inclined receiving groove inside, where the sheet material is received at an angle with its long side facing down. This saves lateral installation space and prevents the sheet material from being stacked and scattered, facilitating centralized cleaning and transportation.

[0043] The non-conforming product recycling area is also equipped with a third positioning and detection component, integrating positioning, locking, and material detection functions. This includes a fourth clamping component 521 and a third material sensor 522. Two sets of fourth clamping components 521 are located at the end of the non-conforming product recycling area directly opposite the non-conforming product recycling port. They are used to clamp the front end of the non-conforming product recycling mechanism 51 in the direction of movement, achieving positioning and ensuring the accurate placement of non-conforming products by the robotic arm. The fourth clamping components 521 are driven by cylinders, providing fast positioning response and stable locking.

[0044] The third material sensor 522 is used to detect whether there are defective products stored in the defective product recycling mechanism 51, and provides real-time feedback on the occupancy status of the recycling container. In this embodiment, the third material sensor 522 is a fiber optic through-beam sensor, which is stable and reliable, and suitable for complex working conditions in industrial sites.

[0045] A second protective door 53 is also provided at the non-conforming product recycling port 13, which can be opened and closed to further enhance the protection level. In this embodiment, the second protective door 53 is an elastic reset door. The door panel can slide vertically along the guide rail, and the reset spring drives the door panel to remain in a downward closed state under normal conditions. When the non-conforming product recycling mechanism 51 is pushed in from the outside, the inclined structure at the front of the trolley pushes the bottom of the door panel, overcoming the spring force and lifting the door panel upward, allowing the trolley to smoothly enter the recycling area. When the non-conforming product recycling mechanism 51 is pulled out, the door panel automatically falls back to its original position under the force of the reset spring, re-closing the non-conforming product recycling port 13. The elastic reset structure eliminates the need for additional power drive, and the opening automatically closes after the trolley is pulled out, with no protection gap throughout the process. This effectively prevents accidental insertion of personnel limbs, ensuring high protection reliability and ease of operation.

[0046] Two clearance openings 14 are positioned opposite each other, with the area between them serving as the assembly area. An assembly section 61 is located within the assembly area, and a product conveyor line passes through both clearance openings 14 and the assembly section 61. The product conveyor line carries and transports the products to be assembled, extending from both ends of the clearance openings 14 to the outside of the fence 1, enabling continuous feeding of products to be assembled and unloading of finished products, ensuring the continuity of the assembly process. In this embodiment, the product conveyor line is a belt conveyor, which provides stable transport, high positioning accuracy, and is suitable for the process requirements of sheet bonding assembly.

[0047] The handling area is located in the central area inside the enclosure 1. A robotic arm 71 is installed in the handling area, and a gripping mechanism 72 is installed at the end of the robotic arm 71. The two work together to complete the transfer of sheet materials between various workstations. In this embodiment, the robotic arm 71 is a six-axis robotic arm, which is flexible and has a high degree of freedom of movement, and its working radius covers all functional workstations. The gripping mechanism 72 is a vacuum suction cup, which uses negative pressure to pick up the upper surface of the sheet material. The picking process will not damage the surface of the sheet material, and it is suitable for handling fragile sheets such as protective films and adhesive films.

[0048] The end effector of the robotic arm 71 is also equipped with a vision positioning mechanism 73, which is used to identify and locate the sheet material and the product to be assembled, guiding the robotic arm 71 to complete precise material picking and bonding assembly. The vision positioning mechanism 73 moves synchronously with the end effector of the robotic arm, and can take pictures of the sheet material position before picking up the material and the product position before placing the material, calculate the position deviation and feed it back to the robot control system, adjust the robotic arm posture in real time, make up for the cumulative error of the cart positioning and product transportation, and greatly improve the positional accuracy of picking up and placing materials and bonding assembly.

[0049] The end of the robotic arm 71 is also equipped with a bottom-supporting mechanism 74, which is used to support the bottom of the sheet during sheet transfer and prevent the sheet from slipping. The bottom-supporting mechanism is L-shaped and is equipped with a linkage drive mechanism 75. The linkage drive mechanism 75 includes a second cylinder 751 and a connecting rod 752. The second cylinder 751 is mounted on the mounting plate of the vacuum suction cup 72. One end of the connecting rod 752 is connected to the power output end of the second cylinder 751, and the other end is connected to the swing shaft 741 of the bottom-supporting mechanism 74. The extension and retraction of the second cylinder 751 drives the bottom-supporting mechanism 74 to swing to or away from the bottom of the sheet 8, thereby realizing the support and release of the sheet 8. During material handling, the bottom-holding mechanism 74 flips upwards and retracts to avoid the sheet material, ensuring the vacuum suction cup smoothly adheres to the sheet surface. Once the vacuum suction cup establishes a stable negative pressure and the sheet material is firmly adhered, the linkage drive mechanism 75 drives the bottom-holding mechanism 74 to flip downwards to a horizontal position, supporting the bottom edge of the sheet material, forming a double-fixed structure with upper surface adsorption and lower surface support. This structure effectively counteracts the acceleration and deceleration inertia during high-speed transport, preventing sheet material slippage and edge warping caused by negative pressure fluctuations and airflow disturbances. It is particularly suitable for high-speed handling scenarios of large-size thin sheets, significantly improving transport stability and product yield. During material release, the bottom-holding mechanism 74 first flips upwards and retracts, then the vacuum suction cup disconnects the negative pressure, smoothly releasing the sheet material.

[0050] When the equipment is in normal production, the overall workflow is as follows: Material picking and film peeling: The robotic arm 71 drives the end gripping mechanism 72 to move above the feeding area. After the position is corrected by the vision positioning mechanism 73, the vacuum suction cup picks up the sheet, and the bottom support mechanism 74 flips and extends to support the bottom of the sheet. The robotic arm 71 carries the sheet to the film peeling station of the release paper peeling mechanism 34. The film peeling claws hold the edge of the release paper, and the release paper is peeled off in conjunction with the lifting action of the robotic arm.

[0051] Defect detection: The robotic arm 71 carries the peeled sheet to the inspection station of the vision inspection mechanism 41 to complete the visual inspection of the release paper peeling status.

[0052] Sorting and Transfer: Qualified sheets are transferred to the assembly section 61 of the assembly area, where they are precisely fitted onto the surface of the products to be assembled on the product conveyor line after visual positioning correction; unqualified products are transferred to the unqualified product recycling area and placed into the unqualified product recycling mechanism 51.

[0053] Non-stop material replenishment: When the first material sensor 254 detects that the sheet material in a certain feeding area is exhausted, the first canopy 23 moves horizontally to the top of the station to form top protection, the first protective door 21 opens to complete the material replacement, and the other stations continue to supply material normally, without stopping the machine throughout the process.

[0054] Waste removal without stopping the machine: When the second material sensor 352 detects that the release paper recycling mechanism 31 is full, the second canopy 32 switches to the shielding state to receive the temporarily stored waste. After the operator pulls out the recycling mechanism to clean it, it is pushed back into place, and the film tearing process continues to run without stopping the machine.

[0055] Non-stop recycling of defective products: When the third material sensor 522 detects that the defective product recycling mechanism 51 is full, the operator can directly pull it out for cleaning. During the pulling process, the second protective door 53 automatically resets and closes the opening under the action of the elastic drive mechanism, and the equipment can continue to run without stopping.

[0056] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A non-stop assembly equipment with safety protection function, characterized in that, The fence includes at least two trolley entrances and exits, a release paper recycling port, a defective product recycling port, and two clearance openings at different locations in the circumferential direction. Each of the trolley entrances and exits is equipped with a first protective door, which can be opened and closed. The inner area of ​​the fence of each trolley entrance and exit is a feeding area, which is used to park sheet material handling trolleys. The sheet material handling trolleys are used to carry sheets and can enter and exit the feeding area through the opened trolley entrances and exits. A first canopy is provided above the feeding area, which can switch between a blocking state and an avoidance state to block or avoid the area above the corresponding feeding area. The area inside the enclosure of the release paper recycling port is a release paper recycling area, which is used to house the release paper recycling mechanism. The release paper recycling mechanism is used to accommodate release paper and can enter and exit the release paper recycling area through the release paper recycling port. A second canopy is provided above the release paper recycling area. The second canopy can switch between a blocking state and an avoidance state to block or avoid the area above the release paper recycling area. A release paper tearing mechanism is provided above the second canopy. The release paper tearing mechanism is used to tear off the release paper at the bottom of the sheet. The central area inside the fence is provided with a detection zone, which is equipped with a visual inspection mechanism for detecting the peeling state of the release paper on the sheet. The non-conforming product collection port is configured to restrict limbs from entering and exiting the fence. The area inside the fence of the non-conforming product collection port is a non-conforming product collection area. The non-conforming product collection area is used to place a non-conforming product collection mechanism. The non-conforming product collection mechanism is used to accommodate non-conforming products and can enter and exit the non-conforming product collection area through the non-conforming product collection port. The two clearance openings are arranged opposite each other, and the area between them is the assembly area. The assembly area is equipped with an assembly section of the product conveyor line, which is used to carry and transport the products to be assembled, and can extend to the outside of the fence through the two clearance openings. The central area inside the fence is also equipped with a transport area, which is equipped with a robotic arm. The end of the robotic arm is equipped with a gripping mechanism. The two work together to remove the sheet from the sheet transport trolley and transfer the sheet to the film-tearing station of the release paper tearing mechanism, the inspection station of the visual inspection mechanism, the defective product recycling mechanism, and the assembly section of the product conveyor line.

2. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The first protective door is a roller shutter door; the first canopy is a sliding canopy that moves horizontally under the drive of a synchronous belt drive mechanism to selectively block the area above the corresponding feeding area; the second canopy is a hinged canopy that rotates around a horizontal axis and swings back and forth under the drive of a gear and rack drive mechanism to block or avoid the area above the release paper recycling area.

3. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The sheet handling trolley is an AGV trolley; the release paper recycling mechanism and the defective product recycling mechanism are both handcarts.

4. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The release paper tearing mechanism includes multiple tearing claws arranged sequentially along a straight line. The multiple tearing claws are used to hold the long side of the release paper, and each tearing claw is driven to open and close by a cylinder.

5. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The non-conforming product recycling port is a narrow opening; the non-conforming product recycling mechanism extends along its own moving direction, and the sheet is accommodated in the non-conforming product recycling mechanism with its long side facing downward in an inclined posture.

6. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The robotic arm is a six-axis robotic arm; the gripping mechanism is a vacuum suction cup.

7. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The feeding area is also equipped with a first positioning and detection component, including a first clamping member for clamping the two sides of the sheet transport trolley in the direction of movement, a limiting post for abutting the front end of the sheet transport trolley in the direction of movement, a second clamping member for clamping the front flange of the sheet transport trolley in the direction of movement, and a first material sensor for detecting the remaining sheet material in the sheet transport trolley. The release paper recycling area is also equipped with a second positioning and detection component, including a third clamping member for clamping the front flange of the release paper recycling mechanism in the moving direction and a second material sensor for detecting whether the release paper in the release paper recycling mechanism is full. The non-conforming product recycling area is also equipped with a third positioning and detection component, including a fourth clamping component for clamping the front flange of the non-conforming product recycling mechanism in the direction of movement and a third material sensor for detecting whether there are non-conforming products stored in the non-conforming product recycling mechanism. The first clamping member, the second clamping member, the third clamping member, and the fourth clamping member are all driven by cylinders; The first material sensor, the second material sensor, and the third material sensor are all fiber optic through-beam sensors.

8. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The non-conforming product recycling port is also equipped with a second protective door that can be opened and closed; the second protective door is a flexible reset door that is normally kept closed, can be opened when the non-conforming product recycling mechanism is pushed inward, and automatically resets and closes after being pulled outward.

9. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The end of the robotic arm is also equipped with a vision positioning mechanism, which is used to identify and position the sheet material and the product to be assembled, guiding the robotic arm to complete precise material picking and bonding assembly.

10. The non-stop assembly equipment with safety protection function according to claim 1, characterized in that, The end of the robotic arm is also equipped with a bottom-supporting mechanism, which is driven by the linkage drive mechanism to support the bottom of the sheet during sheet transfer and release the sheet when unloading.

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