Automatic glue grabbing device

Abstract

The utility model discloses an automatic rubber grabbing device which is characterized in that at the beginning, a manipulator is in an initial position, a first air cylinder and a second air cylinder are retracted, when a rubber sheet is prepared to be grabbed, the first air cylinder extends downwards to drive the second air cylinder to move downwards, the second air cylinder is still retracted, and the manipulator is in a preparation position; the first air cylinder is kept in an extending state, the second air cylinder extends downwards, at the moment, the mechanical arm is located at the glue grabbing position and can conduct glue grabbing action, and after glue grabbing is completed, only the first air cylinder and the second air cylinder need to retract upwards, and the mechanical arm is located at the initial position. According to the automatic rubber grabbing device, the position change of the mechanical arm is achieved by arranging the first air cylinder and the second air cylinder, the automatic rubber grabbing device can enable the mechanical arm to be in the rubber grabbing position in advance, and therefore the rubber grabbing time of the mechanical arm is shortened, overall continuous operation of equipment is achieved, and the rubber grabbing efficiency of the mechanical arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of film production, in particular to an automatic glue grabbing device. Background Art

[0002] In the internal mixing process of the tire manufacturing industry, natural rubber, oil, carbon black, small materials, etc. are mixed and discharged from the internal mixer, and then extruded by a twin-screw sheeting machine or processed by an open mixing mill to finally form a long rubber sheet of a specific width and enter the rubber cooling line. After being soaked in the isolation agent at the front end of the rubber cooling line, the middle end is hung on the hanging rod at a set height to be blown dry, and the rubber is grabbed by a robot and sent to the back end to be stacked on the rubber table.

[0003] In the prior art, the action process of the robot grabbing the film takes a long time, and the front twin screw or open mill needs to be stopped to provide time for the action. However, the shutdown of the front twin screw or open mill will cause problems such as discontinuous production and discontinuous film after shutdown, and the operation continuity and efficiency of the equipment are low.

[0004] Therefore, how to improve the glue grabbing efficiency of the robot is a technical problem that technicians in this field currently need to solve. Utility Model Content

[0005] In view of this, the purpose of the utility model is to provide an automatic glue grabbing device to improve the glue grabbing efficiency of the manipulator;

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] An automatic glue grabbing device for grabbing films comprises a frame, a hanging rod group, a first cylinder, a second cylinder and a manipulator, wherein:

[0008] The frame is arranged above the hanging rod group, and the first cylinder is connected to the frame;

[0009] The hanging rod group includes a plurality of hanging rods, and the hanging rods are used for hanging films;

[0010] The first cylinder is vertically arranged above the hanging rod group and can extend and retract in the vertical direction;

[0011] The second cylinder is vertically arranged above the hanging rod group and can be extended and retracted in the vertical direction. The second cylinder is connected to the first cylinder and moves in the vertical direction with the first cylinder.

[0012] The manipulator is connected to the second cylinder and is used to grab the film;

[0013] When the first cylinder is retracted and the second cylinder is retracted, the manipulator is in the initial position;

[0014] When the first cylinder extends and the second cylinder retracts, the manipulator is in the ready position;

[0015] When the first cylinder is extended and the second cylinder is extended, the manipulator is in the glue grabbing position.

[0016] Optionally, in the above-mentioned automatic glue grabbing device, the manipulator includes a first grabbing clamp, a second grabbing clamp, a third cylinder and a fourth cylinder, the first grabbing clamp is connected to the third cylinder, the second grabbing clamp is connected to the fourth cylinder, when the third cylinder and the fourth cylinder are in the first state, the first grabbing clamp and the second grabbing clamp move toward each other, when the third cylinder and the fourth cylinder are in the second state, the first grabbing clamp and the second grabbing clamp move back to back.

[0017] Optionally, in the above-mentioned automatic glue grabbing device, the length of the first cylinder is greater than the length of the second cylinder.

[0018] Optionally, in the above-mentioned automatic glue grabbing device, the automatic glue grabbing device further includes a box, a controller and a hanging rod positioning photoelectric switch, wherein:

[0019] The hanging rod group is connected to the box body, and the multiple hanging rods can move in the horizontal direction;

[0020] The hanging rod positioning photoelectric switch is fixed on the box wall of the box body to detect the position of the hanging rod;

[0021] The controller is electrically connected to the hanging rod positioning photoelectric switch. When the hanging rod positioning photoelectric switch detects that the hanging rod is located below the manipulator, it sends an in-position signal to the controller.

[0022] Optionally, in the above-mentioned automatic glue grabbing device, the automatic glue grabbing device also includes a glue photoelectric switch, which is fixed to the box wall of the box body and is used to detect the film on the hanging rod. The glue photoelectric switch is electrically connected to the controller. When the glue photoelectric switch detects that there is film arranged on the hanging rod, it sends a glue signal to the controller.

[0023] Optionally, in the above-mentioned automatic glue grabbing device, the automatic glue grabbing device also includes a successful glue grabbing photoelectric switch, which is arranged on the top of the box and is used to detect the film on the manipulator. The successful glue grabbing photoelectric switch is electrically connected to the controller. When the successful glue grabbing photoelectric switch detects that there is a film on the manipulator, it sends a successful glue grabbing signal to the controller. When the successful glue grabbing photoelectric switch does not detect that there is a film on the manipulator, it sends a failed glue grabbing signal to the controller.

[0024] Optionally, in the above-mentioned automatic glue grabbing device, the automatic glue grabbing device also includes a hanging rod motor, which is used to drive the hanging rod to move in the horizontal direction. The hanging rod motor is electrically connected to the controller. When the glue grabbing success photoelectric switch sends a no glue grabbing signal to the controller, the controller sends a continuous operation instruction to the hanging rod motor, and the hanging rod motor drives the hanging rod group to move continuously.

[0025] Optionally, in the above-mentioned automatic glue grabbing device, the hanging rod is a rectangular parallelepiped.

[0026] The automatic glue grabbing device provided by the utility model has the following characteristics: initially, the manipulator is in the initial position, the first cylinder is retracted, and the second cylinder is retracted. When preparing to grab the film, the first cylinder extends downward, driving the second cylinder to move downward, and the second cylinder is still retracted. At this time, the manipulator is in the preparation position. When it is necessary to grab the film, the first cylinder remains extended, and the second cylinder extends downward. At this time, the manipulator is in the glue grabbing position and can perform the glue grabbing action. After the glue grabbing is completed, only the first cylinder and the second cylinder need to be retracted upward, and the manipulator is in the initial position. The automatic glue grabbing device realizes the position change of the manipulator by arranging the first cylinder and the second cylinder. The automatic glue grabbing device can put the manipulator in the glue grabbing position in advance, thereby shortening the time for the manipulator to grab the film. Compared with the prior art, there is no need to shut down other equipment to provide the manipulator with glue grabbing time, thereby realizing the continuous operation of the entire equipment and improving the glue grabbing efficiency of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a front view of the automatic glue grabbing device disclosed in the embodiment of the utility model;

[0029] Figure 2 It is a three-dimensional structural diagram of the automatic glue grabbing device disclosed in the embodiment of the utility model;

[0030] in:

[0031] Frame 100, hanging rod group 200, first cylinder 300, second cylinder 301, manipulator 400, first gripper 401, second gripper 402, box 500, hanging rod positioning photoelectric switch 600, glue presence photoelectric switch 601, glue grab success photoelectric switch 602, initial position 700, preparation position 701, glue grab position 702. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making novel work are within the scope of protection of the utility model.

[0033] In the description of the present invention, it should be understood that the terms "upper", "lower", "top surface", "bottom surface" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the positions or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations of the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0034] like Figure 1 and Figure 2 As shown, the automatic glue grabbing device disclosed in the utility model is used to grab films, including a frame 100, a hanging rod group 200, a first cylinder 300, a second cylinder 301 and a manipulator 400, wherein the frame 100 is arranged above the hanging rod group 200, the first cylinder 300 is connected to the frame 100, the hanging rod group 200 includes a plurality of hanging rods, and the hanging rods are used to hang films, the first cylinder 300 is vertically arranged above the hanging rod group 200, and can be extended and retracted in the vertical direction, the second cylinder 301 is vertically arranged above the hanging rod group 200, and can be The second cylinder 301 is connected to the first cylinder 300 and moves along the vertical direction with the first cylinder 300. The manipulator 400 is connected to the second cylinder 301 and is used to grab the film. When the first cylinder 300 is retracted and the second cylinder 301 is retracted, the manipulator 400 is in the initial position 700. When the first cylinder 300 is extended and the second cylinder 301 is retracted, the manipulator 400 is in the preparation position 701. When the first cylinder 300 is extended and the second cylinder 301 is extended, the manipulator 400 is in the glue grabbing position 702. Specifically, when the manipulator 400 is in the glue grabbing position 702, the glue grabbing action of the automatic glue grabbing device can be realized by opening and closing the manipulator 400.

[0035] During use, initially, the manipulator 400 is in the initial position 700, the first cylinder 300 is retracted, and the second cylinder 301 is retracted. When preparing to grab the film, the first cylinder 300 extends downward, driving the second cylinder 301 to move downward, and the second cylinder 301 is still retracted. At this time, the manipulator 400 is in the preparation position 701. When it is necessary to grab the film, the first cylinder 300 remains extended, and the second cylinder 301 extends downward. At this time, the manipulator 400 is in the glue grabbing position 702 and can perform the glue grabbing action. After the glue grabbing is completed, only the first cylinder 300 and the second cylinder 301 need to be retracted upward, and the manipulator 400 is in the initial position 700. The automatic glue grabbing device realizes the position change of the manipulator 400 by arranging the first cylinder 300 and the second cylinder 301. The automatic glue grabbing device can put the manipulator 400 in the glue grabbing position 702 in advance, thereby shortening the time for the manipulator 400 to grab the film. Compared with the prior art, there is no need to shut down other equipment to provide the manipulator 400 with glue grabbing time, thereby realizing the continuous operation of the entire equipment and improving the glue grabbing efficiency of the manipulator 400.

[0036] It should be noted that Figure 1 The first gripper 401 and the second gripper 402 are at the initial position 700 , and the manipulator 400 simulates the position when the first gripper 401 and the second gripper 402 arrive at the preparation position 701 .

[0037] In order to optimize the above technical solution, the manipulator 400 includes a first gripper 401, a second gripper 402, a third cylinder and a fourth cylinder. The first gripper 401 is connected to the third cylinder, and the second gripper 402 is connected to the fourth cylinder. When the third cylinder and the fourth cylinder are in the first state, the first gripper 401 and the second gripper 402 move toward each other. When the third cylinder and the fourth cylinder are in the second state, the first gripper 401 and the second gripper 402 move in opposite directions. Specifically, the first state is the action process of the manipulator 400 from opening to closing, and the second state is the action process of the manipulator 400 from closing to opening. The third cylinder and the fourth cylinder are arranged obliquely so that the first gripper 401 and the second gripper 402 are close to each other at a preset angle when they are opened, so as to clamp the film. When in use, the third cylinder and the fourth cylinder are in the second state, the first gripper 401 and the second gripper 402 move in opposite directions, and the manipulator 400 gradually opens. When the film can be grasped, the third cylinder and the fourth cylinder are in the first state, the first gripper 401 and the second gripper 402 move in opposite directions to grasp the film. Such an arrangement can realize the automation of film grasping, thereby improving the glue grasping efficiency of the manipulator 400.

[0038] In order to optimize the above technical solution, the length of the first cylinder 300 is greater than the length of the second cylinder 301. Specifically, the first cylinder 300 is a vertical long cylinder, and the second cylinder 301 is a vertical short cylinder. Because the first cylinder 300 needs to drive the second cylinder 301 to move in the vertical direction, the length of the second cylinder 301 should not be too long. At the same time, because the second cylinder 301 is used to drive the manipulator 400 from the preparation position 701 to the glue grabbing position 702, the length of the second cylinder 301 is short, which can shorten the movement time of the manipulator 400, thereby shortening the time for the manipulator 400 to move downward to grab the film, thereby improving the glue grabbing efficiency of the manipulator 400. When in use, the first cylinder 300 extends to drive the second cylinder 301 to move downward, the second cylinder 301 extends to drive the manipulator 400 to move downward, and the manipulator 400 extends to perform the glue grabbing action. Such an arrangement can further shorten the movement time of the manipulator 400 and improve the glue grabbing efficiency of the manipulator 400.

[0039] In order to optimize the above technical solution, the automatic glue grabbing device also includes a box 500, a controller and a hanging rod positioning photoelectric switch 600, wherein the hanging rod group 200 is connected to the box 500, and the multiple hanging rods can move in the horizontal direction, the hanging rod positioning photoelectric switch 600 is fixed to the box wall of the box 500, and is used to detect the position of the hanging rod, and the controller is electrically connected to the hanging rod positioning photoelectric switch 600. When the hanging rod positioning photoelectric switch 600 detects that the hanging rod is located below the manipulator 400, it sends a position signal to the controller. It should be noted that the controller is connected to the first cylinder 300, the second cylinder 301, the third cylinder and the fourth cylinder. Specifically, the hanging rod positioning photoelectric switch 600 is fixed to the box wall of the box body 500, and the light emitted by it corresponds to the position directly below the manipulator 400. When the hanging rod blocks the light emitted by the hanging rod positioning photoelectric switch 600, it is determined that the hanging rod is located below the manipulator 400, and the hanging rod positioning photoelectric switch 600 sends a position signal to the controller, and the controller controls the second cylinder 301 to extend downward, and the manipulator 400 reaches the glue grabbing position 702 from the preparation position 701. By arranging the hanging rod positioning photoelectric switch 600, the hanging rod directly below the manipulator 400 can be detected, so that the manipulator 400 can perform the glue grabbing action at a preset time, thereby improving the glue grabbing efficiency of the manipulator 400.

[0040] In order to optimize the above technical solution, the automatic glue grabbing device also includes a glue photoelectric switch 601, which is fixed to the box wall of the box body 500 and is used to detect the film on the hanging rod. The glue photoelectric switch 601 is electrically connected to the controller. When the glue photoelectric switch 601 detects that there is a film arranged on the hanging rod, it sends a glue signal to the controller. Specifically, with the moving direction of the hanging rod as the first direction, the glue photoelectric switch 601 is arranged upstream of the first direction, that is, arranged on the front side of the hanging rod positioning photoelectric switch 600, and the light it emits corresponds to the position below the hanging rod. When the film blocks the light emitted by the glue photoelectric switch 601, the glue photoelectric switch 601 determines that there is a film arranged on the hanging rod, and sends a glue signal to the controller. The controller controls the first cylinder 300 to extend downward, and the manipulator 400 reaches the preparation position 701 from the initial position 700. By arranging a glue photoelectric switch 601, the film on the hanging rod can be detected, so that the controller can control the manipulator 400 to reach the preparation position 701 in advance, so that when the hanging rod positioning photoelectric switch 600 detects that the hanging rod reaches directly below the manipulator 400, the manipulator 400 directly performs the glue grabbing action, thereby improving the glue grabbing efficiency of the manipulator 400.

[0041] In order to optimize the above technical solution, the automatic glue grabbing device also includes a successful glue grabbing photoelectric switch 602, which is arranged on the top of the box 500 and is used to detect the film on the manipulator 400. The successful glue grabbing photoelectric switch 602 is electrically connected to the controller. When the successful glue grabbing photoelectric switch 602 detects that there is a film on the manipulator 400, it sends a successful glue grabbing signal to the controller. When the successful glue grabbing photoelectric switch 602 does not detect that there is a film on the manipulator 400, it sends a failed glue grabbing signal to the controller. Specifically, the glue grab success photoelectric switch 602 is arranged on the top of the box 500, connected to the box 500 or the frame 100, and the light emitted by it is located in the path of the manipulator 400 moving from bottom to top. When the film blocks the light emitted by the glue grab success photoelectric switch 602, the glue grab success photoelectric switch 602 determines that there is a film on the hanging rod, and sends a glue grab success signal to the controller. The controller continuously controls the first cylinder 300 and the second cylinder 301 to retract upward, and the manipulator 400 brings the film to the preset position. By arranging the glue grab success photoelectric switch 602, it is possible to detect whether there is a film on the manipulator 400, so as to determine whether the manipulator 400 has successfully grabbed the glue, thereby improving the operating flexibility of the automatic glue grabbing device and improving the glue grabbing efficiency of the manipulator 400.

[0042] In order to optimize the above technical solution, the automatic glue grabbing device also includes a hanging rod motor, which is used to drive the hanging rod to move in the horizontal direction. The hanging rod motor is electrically connected to the controller. When the glue grabbing success photoelectric switch 602 sends a glue-free signal to the controller, the controller sends a continuous operation instruction to the hanging rod motor, and the hanging rod motor drives the hanging rod group 200 to move continuously. Specifically, the hanging rod motor is used to drive the hanging rod to move in the above-mentioned first direction. When in use, when the glue grabbing success photoelectric switch 602 sends a glue-free signal to the controller, the hanging rod motor drives the hanging rod group 200 to move continuously, and the hanging rod continues to move in the first direction until the glue photoelectric switch 601 sends a glue-free signal to the controller again, and the controller controls the first cylinder 300 to extend downward again to perform another glue grabbing action. Such an arrangement can make the automatic glue grabbing device in a continuous operation state, thereby improving the glue grabbing efficiency of the manipulator 400.

[0043] In order to optimize the above technical solution, the hanging rod is a rectangular parallelepiped. It should be noted that in the prior art, the hanging rod is cylindrical. If the existing manipulator grabs the upper half of the circular cross section of the hanging rod, it cannot smoothly grab the film. Therefore, the existing manipulator generally grabs the film by grabbing the lower half of the circular cross section of the hanging rod. However, when the existing manipulator finishes grabbing the glue and drives the film to move upward, it will pass through the diameter of the circular cross section of the hanging rod. The diameter of the circular cross section will jam the existing manipulator, affecting the existing manipulator's efficiency in grabbing glue and prolonging the retraction time of the manipulator. Therefore, by designing the hanging rod as a rectangular parallelepiped, the contact surface between the first grabbing clamp 401 and the second grabbing clamp 402 and the hanging rod is a plane, so that the first grabbing clamp 401 and the second grabbing clamp 402 can drive the film to move upward stably when grabbing glue, further improving the glue grabbing efficiency of the manipulator 400.

[0044] In summary, the overall operation steps of the automatic glue grabbing device are:

[0045] Initially, the manipulator 400 is in the initial position 700, the first cylinder 300 is retracted, and the second cylinder 301 is retracted. When the glue photoelectric switch 601 detects that there is a film arranged on the hanging rod, a glue signal is sent to the controller, and the controller controls the first cylinder 300 to extend downward, driving the second cylinder 301 to move downward, and the second cylinder 301 is still retracted. At this time, the manipulator 400 is in the preparation position 701, ready to grab the film. When the hanging rod positioning photoelectric switch 600 detects that the hanging rod is located below the manipulator 400, an in-position signal is sent to the controller, and the controller controls the first cylinder 300 to remain extended, and the second cylinder 301 extends downward. At this time, the manipulator 400 is in the glue grabbing state. Position 702, the glue grabbing action can be performed. After the manipulator 400 finishes grabbing the glue, it drives the film to move upward. When the glue grabbing success photoelectric switch 602 detects that there is film arranged on the manipulator 400, a glue grabbing success signal is sent to the controller. The controller controls the first cylinder 300 and the second cylinder 301 to retract upward to bring the film to the preset position. When the glue grabbing success photoelectric switch 602 does not detect that there is film arranged on the manipulator 400, a glue-not-grasping signal is sent to the controller. The controller sends a continuous operation instruction to the hanging rod motor. The hanging rod motor drives the hanging rod group 200 to move continuously, and the hanging rod continues to move in the first direction until the glue-present photoelectric switch 601 sends a glue-present signal to the controller again.

[0046] It should be noted that the automatic glue grabbing device provided by the utility model can be used in the field of film production technology or other fields. Other fields are any fields other than the field of film production technology. The above is only an example and does not limit the application field of the automatic glue grabbing device provided by the utility model.

[0047] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0048] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0049] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0050] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic glue grabbing device, characterized in that: Used for grabbing films, comprising a frame, a hanging rod group, a first cylinder, a second cylinder and a manipulator, wherein: The frame is arranged above the hanging rod group, and the first cylinder is connected to the frame; The hanging rod group includes a plurality of hanging rods, and the hanging rods are used for hanging films; The first cylinder is vertically arranged above the hanging rod group and can extend and retract in the vertical direction; The second cylinder is vertically arranged above the hanging rod group and can be extended and retracted in the vertical direction. The second cylinder is connected to the first cylinder and moves in the vertical direction with the first cylinder. The manipulator is connected to the second cylinder and is used to grab the film; When the first cylinder is retracted and the second cylinder is retracted, the manipulator is in an initial position; When the first cylinder is extended and the second cylinder is retracted, the manipulator is in a ready position; When the first cylinder is extended and the second cylinder is extended, the manipulator is in the glue grabbing position.

2. The automatic glue grabbing device according to claim 1, characterized in that: The manipulator includes a first gripper, a second gripper, a third cylinder and a fourth cylinder, the first gripper is connected to the third cylinder, the second gripper is connected to the fourth cylinder, when the third cylinder and the fourth cylinder are in a first state, the first gripper and the second gripper move toward each other, when the third cylinder and the fourth cylinder are in a second state, the first gripper and the second gripper move away from each other.

3. The automatic glue grabbing device according to claim 1, characterized in that: The length of the first cylinder is greater than the length of the second cylinder.

4. The automatic glue grabbing device according to claim 1, characterized in that: The automatic glue grabbing device also includes a box, a controller and a hanging rod positioning photoelectric switch, wherein: The hanging rod group is connected to the box body, and a plurality of the hanging rods can move in a horizontal direction; The hanging rod positioning photoelectric switch is fixed to the box wall of the box body and is used to detect the position of the hanging rod; The controller is electrically connected to the hanging rod positioning photoelectric switch. When the hanging rod positioning photoelectric switch detects that the hanging rod is located below the manipulator, it sends an in-position signal to the controller.

5. The automatic glue grabbing device according to claim 4, characterized in that: The automatic glue grabbing device also includes a glue photoelectric switch, which is fixed to the box wall of the box body and is used to detect the film on the hanging rod. The glue photoelectric switch is electrically connected to the controller. When the glue photoelectric switch detects that the film is arranged on the hanging rod, it sends a glue signal to the controller.

6. The automatic glue grabbing device according to claim 5, characterized in that: The automatic glue grabbing device also includes a glue grabbing success photoelectric switch, which is arranged on the top of the box and is used to detect the film on the manipulator. The glue grabbing success photoelectric switch is electrically connected to the controller. When the glue grabbing success photoelectric switch detects that the film is arranged on the manipulator, it sends a glue grabbing success signal to the controller. When the glue grabbing success photoelectric switch does not detect that the film is arranged on the manipulator, it sends a glue not grabbed signal to the controller.

7. The automatic glue grabbing device according to claim 6, characterized in that: The automatic glue grabbing device also includes a hanging rod motor, which is used to drive the hanging rod to move in the horizontal direction. The hanging rod motor is electrically connected to the controller. When the glue grabbing success photoelectric switch sends a glue-ungrabbing signal to the controller, the controller sends a continuous operation instruction to the hanging rod motor, and the hanging rod motor drives the hanging rod group to move continuously.

8. The automatic glue grabbing device according to claim 1, characterized in that: The hanging rod is a cuboid.

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