Turnover clamping jaw mechanism, feeding and discharging mechanism and adhesive sticker full-automatic assembling equipment

Abstract

The utility model discloses an overturning clamping jaw mechanism, a feeding and discharging mechanism and adhesive sticker full-automatic assembling equipment, which comprises a feeding conveying module, a CCD (Charge Coupled Device) detection module, a material taking rotating module, an overturning clamping jaw module and a transfer manipulator module, the material taking and rotating module picks up the coil stock and then moves the coil stock to the CCD detection module for photographing to automatically recognize the direction of the coil stock, the coil stock is automatically rotated to a correct angle, then the coil stock is picked up by the overturning clamping jaw module and overturned according to the situation, and finally the transferring mechanical arm module picks up the coil stock and automatically transfers and discharges the coil stock.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a flip clamping claw mechanism, a loading and unloading mechanism and a self-adhesive full-automatic assembly device. Background Art

[0002] In the industrial field, the roll materials of the printing industry (such as the roll materials of self-adhesive stickers) are generally regular cylinders. If they need to be measured or processed during production, the position of the materials needs to be adjusted before processing or measuring, so that the placement direction of the materials is parallel to the running direction of the transmission belt, or there is a certain angle relationship between the placement direction and the processing operation. At present, the angle adjustment and direction adjustment of the materials are transmitted and delivered through each independent conveying mechanism, resulting in slow production efficiency. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a flip clamp mechanism, which can synchronously realize the conveying of the coil and the adjustment of the angle and direction of the coil during the loading and unloading process, thereby improving efficiency.

[0004] The utility model also provides a loading and unloading mechanism with the flipping clamp mechanism and a dry glue full-automatic assembly device with the loading and unloading mechanism.

[0005] The utility model provides a flipping clamp mechanism, comprising:

[0006] A material picking rotating module, wherein the clamping end of the material picking rotating module is used to pick up the coiled material, transfer the coiled material to the detection position and rotate it to a set angle;

[0007] A flipping clamping claw module, which is arranged on one side of the material picking rotating module and is used to clamp the coiled material at the clamping end of the material picking rotating module and flip the coiled material;

[0008] A CCD detection module is located between the material picking rotation module and the flip clamp module, and a detection end of the CCD detection module faces the detection position.

[0009] According to some embodiments of the utility model, the material picking rotating module includes a second bracket, a first X-axis moving component, a Z-axis moving component, a first material port detection clamp and a first rotating motor component, the first X-axis moving component is arranged on the second bracket, the Z-axis moving component is arranged on the first X-axis moving component, the first material port detection clamp and the first rotating motor component are both arranged on the Z-axis moving component, and the output end of the first rotating motor component is connected to the first material port detection clamp.

[0010] According to some embodiments of the utility model, the first material mouth detection clamp includes a rotating shaft, a bearing, a bearing seat and a first pneumatic clamp, the rotating shaft is transmission-connected to the output end of the first rotating motor assembly, the bearing is sleeved on the rotating shaft, the bearing seat is sleeved on the bearing, the bearing seat is arranged on the Z-axis moving assembly, and the first pneumatic clamp is arranged on the bottom surface of the rotating shaft.

[0011] According to some embodiments of the utility model, the flip telescopic clamp module includes a third bracket, a second X-axis moving component, a rotary cylinder and a second pneumatic clamp, the second X-axis moving component is arranged on the third bracket, the rotary cylinder is arranged on the second X-axis moving component, and the second pneumatic clamp is arranged on the output end of the rotary cylinder.

[0012] According to some embodiments of the present utility model, the flipping clamp mechanism also includes a recovery box, and the recovery box is arranged within the moving range of the picking end of the material picking rotating module.

[0013] On the other hand, the utility model also provides a loading and unloading mechanism, including a loading and conveying module, a transfer robot module and the flipping clamp mechanism, the loading and conveying module and the transfer robot module are arranged on both sides of the flipping clamp mechanism, the head end of the loading and conveying module transports the coil to the end, the end of the loading and conveying module is arranged within the picking range of the material picking rotating module, and the end of the loading and conveying module is provided with a material receiving clamping cylinder module.

[0014] According to some embodiments of the utility model, the loading and conveying module also includes a first bracket, a conveyor belt assembly, a guide strip group and a motor module; the conveyor belt assembly, the material receiving and clamping cylinder module, the guide strip group and the motor module are all installed on the first bracket; the output end of the motor module is connected to the conveyor belt assembly; the material receiving and clamping cylinder module is arranged on the discharge end of the conveyor belt assembly; the guide strip group is arranged on the conveyor belt assembly and corresponds to the clamping end of the material receiving and clamping cylinder module; the feed end of the conveyor belt assembly flows into the coiled material.

[0015] According to some embodiments of the utility model, the transfer robot module includes a fourth bracket, a material unloading and transferring module, a fixed block, a stepper motor, a linear guide, a second rotating motor assembly and a second material port detection clamp, the material unloading and transferring module is arranged on the fourth bracket, the linear guide is arranged on the material unloading and transferring module, the fixed block is arranged on the linear guide, the stepper motor is arranged on the fixed block, the second material port detection clamp and the second rotating motor assembly are both arranged on the fixed block, the output end of the second rotating motor assembly is transmission-connected to the second material port detection clamp, the stepper motor controls the fixed block to move up and down on the linear guide, and the second rotating motor assembly controls the rotation of the second material port detection clamp.

[0016] According to some embodiments of the utility model, the transfer robot module also includes a sensor assembly and a solenoid valve assembly, the sensor includes a sheet metal and a plurality of micro-groove sensors, the plurality of micro-groove sensors are equidistantly arranged on the linear guide rail from top to bottom, and the sensing ends of the plurality of micro-groove sensors (582) are arranged on the moving path of the sheet metal (581), the sheet metal is arranged on the fixed block, and the solenoid valve assembly is arranged on the blanking and transfer module.

[0017] On the other hand, the utility model also provides a fully automatic self-adhesive assembly device, including the above-mentioned loading and unloading mechanism.

[0018] The embodiments of the present invention have at least the following beneficial effects:

[0019] The flipping clamp mechanism provided by the utility model picks up the coiled material through the material picking rotating module and then moves to the CCD detection module to take pictures and automatically identify the direction of the coiled material, and automatically rotates the coiled material to a correct angle, and then is picked up by the flipping clamp module and flipped according to the situation, and the next mechanism docks with the coiled material of the previous mechanism; in the process of loading and unloading materials, the mechanism can synchronously realize the conveying of the coiled material and the adjustment of the angle and direction of the coiled material, thereby improving efficiency.

[0020] The utility model provides a loading and unloading mechanism and a coil transfer and correction device, which automatically loads and transports the coil and automatically centers and positions the coil through a loading and conveying module, and finally a transfer manipulator module picks up the coil for automatic transfer and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 This is a schematic structural diagram of a flip clamp mechanism according to an embodiment of the utility model;

[0023] Figure 2 for Figure 1 One of the structural schematic diagrams of the material taking and rotating module of the flip clamp mechanism is shown;

[0024] Figure 3 for Figure 1 The second structural schematic diagram of the material taking rotating module of the flip clamp mechanism is shown;

[0025] Figure 4 for Figure 3 The exploded structural diagram of the material taking rotating module is shown;

[0026] Figure 5 for Figure 1 A schematic diagram of the structure of the flipping clamp module of the flipping clamp mechanism is shown

[0027] Figure 6 for Figure 5 A schematic diagram of the exploded structure of the flip gripper module is shown;

[0028] Figure 7 This is one of the structural schematic diagrams of the loading and unloading mechanism of the embodiment of the utility model;

[0029] Figure 8 This is the second structural diagram of the loading and unloading mechanism of the embodiment of the utility model;

[0030] Fig. 9 for Figure 7 The structural schematic diagram of the loading and conveying module of the loading and unloading mechanism is shown;

[0031] Fig.10 for Figure 7 One of the structural schematic diagrams of the transfer robot module of the loading and unloading mechanism shown;

[0032] Fig.11 for Figure 7 The second structural schematic diagram of the transfer robot module of the loading and unloading mechanism is shown;

[0033] Fig.12 for Fig.11 A schematic diagram of the exploded structure of the transfer robot module is shown.

[0034] The markings in the figure are as follows:

[0035] Feeding and conveying module 100, receiving and clamping cylinder module 110, clamping cylinder 111, feeding clamping claw 112, first bracket 120, conveyor belt assembly 130, guide bar assembly 140, motor module 150, output motor 151, belt 152, driving wheel 153, driven wheel 154;

[0036] CCD detection module 200;

[0037] The material taking rotating module 300, the second bracket 310, the first X-axis moving assembly 320, the Z-axis moving assembly 330, the first material port detection clamp 340, the rotating shaft 341, the bearing 342, the bearing seat 343, the first pneumatic clamp 344, and the first rotating motor assembly 350;

[0038] Flipping clamping jaw module 400, third bracket 410, second X-axis moving assembly 420, rotary cylinder 430, second pneumatic clamping jaw 440;

[0039] The transfer robot module 500, the fourth bracket 510, the material transfer module 520, the fixing block 530, the stepping motor 540, the linear guide rail 550, the second rotary motor assembly 560, the second material port detection clamp 570, the sensor assembly 580, the sheet metal 581, the micro-groove sensor 582, and the solenoid valve assembly 590;

[0040] Recycling box 600;

[0041] Flip the clamping jaw mechanism 700. DETAILED DESCRIPTION

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0043] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] In the description of the present utility model, "several" means one or more, "multiple" means more than two, greater than, less than, and exceeding are understood as not including the number itself, and "above", "below", and "within" are understood as including the number itself. If there is a description of "first", "second", etc., it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0045] In the description of the present invention, unless otherwise clearly defined, words such as “setting”, “installation”, and “connection” should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above words in the present invention based on the specific content of the technical solution.

[0046] Please refer to Figure 1 The flipping jaw mechanism 700 includes a material picking rotating module 300, a flipping jaw module 400 and a CCD detection module 200. The clamping end of the material picking rotating module 300 is used to pick up the coil, transfer the coil to the detection position and rotate it to a set angle; the flipping jaw module 400 is arranged on one side of the material picking rotating module 300, and is used to clamp the coil at the clamping end of the material picking rotating module 300 and flip the coil; the CCD detection module 200 is located between the material picking rotating module 300 and the flipping jaw module 400, and the detection end of the CCD detection module 200 faces the detection position. Please refer to Figure 1 and Figure 7 The material picking rotating module 300 picks up the coil of the feeding conveying module 100, and then moves the coil to the top of the CCD detection module 200 for photo identification to detect the clamping angle of the material roll on the material picking rotating module 300, thereby controlling the material picking rotating module 300 to rotate the material roll to a suitable angle, and then transfers the material roll to the flipping claw module 400, and flips it according to the situation, and finally the transfer robot module 500 picks up the coil for automatic transfer and unloading. This embodiment is conducive to automatic loading, automatic angle correction, automatic flipping and automatic unloading of coils, and is conducive to improving production efficiency.

[0047] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The material picking rotating module 300 includes a second bracket 310, a first X-axis moving component 320, a Z-axis moving component 330, a first material port detection clamp 340 and a first rotating motor component 350. The first X-axis moving component 320 is arranged on the second bracket 310, the Z-axis moving component 330 is arranged on the first X-axis moving component 320, the first material port detection clamp 340 and the first rotating motor component 350 are arranged on the Z-axis moving component 330, and the first material port detection clamp 340 is connected to the output end of the first rotating motor component 350. The first X-axis moving component 320 and the Z-axis moving component 330 are both double-axis precision slide cylinders (roller type) or single-axis precision cylinders. The difference is that the first X-axis moving component 320 controls horizontal movement, and the Z-axis moving component 330 controls vertical movement. The cooperation of the two enables the first material port detection clamp 340 to pick up the coil on the clamping cylinder 111, and then move the coil to the top of the CCD detection module 200 for photo identification, which is conducive to automation.

[0048] Please refer to Figure 2 , Figure 3 and Figure 4The first material port detection clamp 340 includes a rotating shaft 341, a bearing 342, a bearing seat 343 and a first pneumatic clamp 344. The rotating shaft 341 is transmission-connected to the output end of the first rotating motor assembly 350. The bearing 342 is sleeved on the rotating shaft 341. The bearing seat 343 is sleeved on the bearing 342. The bearing seat 343 is arranged on the Z-axis moving assembly 330. The first pneumatic clamp 344 is arranged on the bottom surface of the rotating shaft 341. The first rotating motor assembly 350 is belt-driven, so that the rotating shaft 341 rotates, thereby driving the first starting clamp to rotate.

[0049] Please refer to Figure 5 and Figure 6 The flipping clamp module 400 includes a third bracket 410, a second X-axis moving assembly 420, a rotary cylinder 430 and a second pneumatic clamp 440. The third bracket 410 is arranged on the base, the second X-axis moving assembly 420 is arranged on the third bracket 410, the rotary cylinder 430 is arranged on the second X-axis moving assembly 420, and the second pneumatic clamp 440 is arranged on the output end of the rotary cylinder 430. The second X-axis moving assembly 420 is a double-axis precision slide cylinder (roller type) or a single-axis precision cylinder. The rotary cylinder 430 rotates the second pneumatic clamp 440. The second pneumatic clamp 440 picks up the coil of the first pneumatic clamp 344. If the coil direction is reversed, the rotary cylinder 430 can rotate 180 degrees to correct the coil direction.

[0050] Please refer to Figure 1 The flipping clamp mechanism 700 also includes a recovery box 600, which is arranged within the moving range of the picking end of the material taking rotating module 300. After the CCD detection module 200 performs CCD photo detection feedback, if the coil is defective, it can be put into the recovery box 600.

[0051] Please refer to Figure 7 and Figure 8The present embodiment also provides a loading and unloading mechanism, which also includes a loading and conveying module 100, a transfer robot module 500 and a flipping claw mechanism 700. The loading and conveying module 100 and the transfer robot module 500 are arranged on both sides of the flipping claw mechanism 700. The head end of the loading and conveying module 100 transports the coil to the end, and the end of the loading and conveying module 100 is arranged within the picking range of the material picking rotating module 300. The end of the loading and conveying module 100 is provided with a material receiving clamping cylinder module 110. The clamping end of the material receiving clamping cylinder module 110 clamps the coil, and the clamping end of the flipping claw module 400 is arranged within the picking range of the transfer robot module 500. The clamping end of the transfer robot module 500 obtains the coil on the clamping end of the flipping claw module 400, and the transfer robot module 500 moves the coil from the loading end to the unloading end. The guide bar group 140 is symmetrically arranged on the conveyor belt assembly 130 to prevent the coil from slipping out of the conveyor belt. The material receiving and clamping cylinder module 110 includes a clamping cylinder 111 and a feeding clamp 112. The clamping cylinder 111 drives the feeding clamp 112 to center and clamp the coil on the conveyor belt assembly 130, which is beneficial for the next material picking station to grab the product that has been center-clamped, thereby improving efficiency. The motor module 150 includes an output motor 151, a belt 152, a driving wheel 153 and a driven wheel 154. The output end of the output motor 151 is connected to the driving wheel 153, and the belt 152 is sleeved on the driving wheel 153 and the driven wheel 154. The driven wheel 154 is connected to the conveyor belt assembly 130, so that the conveyor belt assembly 130 can operate, so that the coil is transported from the beginning of the conveyor belt assembly 130 to the end, so that the coil is clamped and centered by the clamping cylinder 111.

[0052] Please refer to Figure 7 , Figure 8 and Fig. 9The feeding and conveying module 100 includes a first bracket 120, a conveyor belt assembly 130, a material receiving and clamping cylinder module 110, a guide bar group 140 and a motor module 150. The first bracket 120 is arranged on a base, and the conveyor belt assembly 130, the material receiving and clamping cylinder module 110, the guide bar group 140 and the motor module 150 are all installed on the first bracket 120. The output end of the motor module 150 is connected to the conveyor belt assembly 130, the material receiving and clamping cylinder module 110 is arranged on the discharge end of the conveyor belt assembly 130, the guide bar group 140 is arranged on the conveyor belt assembly 130 and corresponds to the clamping end of the material receiving and clamping cylinder module 110, and the coil flows into the feeding end of the conveyor belt assembly 130. The guide bar group 140 is symmetrically arranged on the conveyor belt assembly 130 to prevent the coil from slipping out of the conveyor belt. The material receiving and clamping cylinder module 110 includes a clamping cylinder 111 and a feeding clamp 112. The clamping cylinder 111 drives the feeding clamp 112 to center and clamp the coil on the conveyor belt assembly 130, which is beneficial for the next material picking station to grab the product that has been center-clamped, thereby improving efficiency. The motor module 150 includes an output motor 151, a belt 152, a driving wheel 153 and a driven wheel 154. The output end of the output motor 151 is connected to the driving wheel 153, and the belt 152 is sleeved on the driving wheel 153 and the driven wheel 154. The driven wheel 154 is connected to the conveyor belt assembly 130, so that the conveyor belt assembly 130 can operate, so that the coil is transported from the beginning of the conveyor belt assembly 130 to the end, so that the coil is clamped and centered by the clamping cylinder 111.

[0053] Please refer to Fig.10 , Fig.11 and Fig.12The transfer robot module 500 includes a fourth bracket 510, a material unloading and transferring module 520, a fixed block 530, a stepper motor 540, a linear guide 550, a second rotating motor assembly 560 and a second material port detection clamp 570. The material unloading and transferring module 520 is arranged on the fourth bracket 510, the linear guide 550 is arranged on the material unloading and transferring module 520, the fixed block 530 is arranged on the linear guide 550, the stepper motor 540 is arranged on the fixed block 530, the second material port detection clamp 570 and the second rotating motor assembly 560 are both arranged on the fixed block 530, the output end of the second rotating motor assembly 560 is transmission-connected to the second material port detection clamp 570, the stepper motor 540 controls the fixed block 530 to move up and down on the linear guide 550, and the second rotating motor assembly 560 controls the second material port detection clamp 570 to rotate. The material unloading and transferring module 520 is a linear motor, which can control the second material port detection jaw 570 to move repeatedly. The linear guide rail 550 is vertically arranged on the material unloading and transferring module 520. The linear guide rail 550, the fixed block 530 and the stepper motor 540 control the second material port detection jaw 570 to move up and down in the Z-axis direction. Specifically, the output end of the stepper motor 540 is connected to the fixed block 530 through a nut, and the fixed block 530 is slidingly connected to the linear guide rail 550. The stepper motor 540 can control the fixed block 530 to be slidingly connected to the linear guide rail 550, and the second rotating motor assembly 560 is connected to the second material port detection jaw 570 through a conveyor belt, so that the second material port detection jaw 570 rotates.

[0054] Please refer to Fig.10 , Fig.11 and Fig.12 The transfer robot module 500 also includes a sensor assembly 580, which includes a sheet metal 581 and a plurality of micro-groove sensors 582. The plurality of micro-groove sensors 582 are equidistantly arranged on the linear guide rail 550 from top to bottom, and the sheet metal 581 is arranged on the fixed block 530. When the fixed block 530 moves up and down, the sheet metal 581 passes through the sensing end of the micro-groove sensor 582. The sensing ends of the three micro-groove sensors 582 are arranged on the moving path of the sheet metal 581. The sensor assembly 580 is used to feed back the position of the second material port detection jaw 570 in the vertical distance to the control system, so as to control the second material port detection jaw 570 to load, pick up and unload materials.

[0055] Please refer to Fig.12The transfer robot module 500 also includes a solenoid valve assembly 590, which is arranged on the material transfer module 520. Industrial equipment controlled by electromagnetics is a basic automation component used to control fluids. It belongs to an actuator and is not limited to hydraulic and pneumatic. It is used in industrial control systems to adjust the direction, flow, speed and other parameters of the medium. The solenoid valve can be used in conjunction with different circuits to achieve the desired control, and the accuracy and flexibility of the control can be guaranteed.

[0056] Please refer to Figure 1-12 The utility model also provides a self-adhesive fully automatic assembly device, including the above-mentioned loading and unloading mechanism. The technical solution of the self-adhesive fully automatic assembly device is the same as the technical solution of the loading and unloading mechanism, and no excessive description is made here.

[0057] The use process of the self-adhesive fully automatic assembly equipment provided by the utility model is as follows:

[0058] The previous workstation conveys the coil into the conveyor belt assembly 130 of the loading and conveying module 100, and the clamping cylinder 111 drives the clamping claw to center the coil on the conveyor belt assembly 130. The material picking and rotating module 300 picks up the coil of the loading and conveying module 100, and then moves the coil to the top of the CCD detection module 200 for photo identification. If the coil is defective, it can be put into the recovery box 600. The data collected by the CCD detection module 200 is transmitted to the control system. After analyzing the data, the control system controls the material picking and rotating module 300 to rotate the coil and automatically rotates the coil to the correct angle. The coil is then picked up by the flipping clamping claw module 400 and flipped according to the situation. Finally, the transfer robot module 500 picks up the coil for automatic transfer and unloading.

[0059] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A flipping jaw mechanism, characterized in that: Also includes: A material picking rotating module (300), wherein the clamping end of the material picking rotating module (300) is used to pick up the coiled material, transfer the coiled material to a detection position and rotate it to a set angle; a flipping clamping claw module (400), the flipping clamping claw module (400) being arranged on one side of the material picking rotating module (300) and being used to clamp the coiled material at the clamping end of the material picking rotating module (300) and being able to flip the coiled material; A CCD detection module (200), the CCD detection module (200) being located between the material picking rotation module (300) and the flip clamping claw module (400), the detection end of the CCD detection module (200) facing the detection position.

2. The flip clamp mechanism according to claim 1, characterized in that: The material picking rotating module (300) includes a second bracket (310), a first X-axis moving component (320), a Z-axis moving component (330), a first material port detection clamp (340) and a first rotating motor component (350), wherein the first X-axis moving component (320) is arranged on the second bracket (310), the Z-axis moving component (330) is arranged on the first X-axis moving component (320), the first material port detection clamp (340) and the first rotating motor component (350) are both arranged on the Z-axis moving component (330), and the first material port detection clamp (340) is connected to the output end of the first rotating motor component (350).

3. The flip clamp mechanism according to claim 2, characterized in that: The first material port detection clamp (340) includes a rotating shaft (341), a bearing (342), a bearing seat (343) and a first pneumatic clamp (344); the rotating shaft (341) is transmission-connected to the output end of the first rotating motor assembly (350); the bearing (342) is sleeved on the rotating shaft (341); the bearing seat (343) is sleeved on the bearing (342); the bearing seat (343) is arranged on the Z-axis moving assembly (330); and the first pneumatic clamp (344) is arranged on the bottom surface of the rotating shaft (341).

4. The flip clamp mechanism according to claim 1, characterized in that: The flip clamp module (400) comprises a third bracket (410), a second X-axis moving component (420), a rotary cylinder (430) and a second pneumatic clamp (440), wherein the second X-axis moving component (420) is arranged on the third bracket (410), the rotary cylinder (430) is arranged on the second X-axis moving component (420), and the second pneumatic clamp (440) is arranged on the output end of the rotary cylinder (430).

5. The flip clamp mechanism according to any one of claims 1 to 4, characterized in that: The flipping clamp mechanism also includes a recovery box (600), and the recovery box (600) is arranged within the moving range of the picking end of the material picking rotating module (300).

6. A loading and unloading mechanism, characterized in that: It comprises a loading and conveying module (100), a transfer robot module (500) and the flipping clamp mechanism (700) as claimed in any one of claims 1 to 5, wherein the loading and conveying module (100) and the transfer robot module (500) are arranged on both sides of the flipping clamp mechanism (700), the front end of the loading and conveying module (100) transports the coil to the end, the end of the loading and conveying module (100) is arranged within the picking range of the material picking rotating module (300), and the end of the loading and conveying module (100) is provided with a material receiving clamping cylinder module (110).

7. The loading and unloading mechanism according to claim 6, characterized in that: The feeding and conveying module (100) further comprises a first bracket (120), a conveyor belt assembly (130), a guide bar assembly (140) and a motor module (150); the conveyor belt assembly (130), the material receiving and clamping cylinder module (110), the guide bar assembly (140) and the motor module (150) are all mounted on the first bracket (120); an output end of the motor module (150) is connected to the conveyor belt assembly (130); the material receiving and clamping cylinder module (110) is arranged on the discharge end of the conveyor belt assembly (130); the guide bar assembly (140) is arranged on the conveyor belt assembly (130) and corresponds to the clamping end of the material receiving and clamping cylinder module (110); and the coil flows into the inlet end of the conveyor belt assembly (130).

8. The loading and unloading mechanism according to claim 6, characterized in that: The transfer robot module (500) comprises a fourth bracket (510), a material transfer module (520), a fixed block (530), a stepper motor (540), a linear guide rail (550), a second rotating motor assembly (560) and a second material inlet detection clamp (570), wherein the material transfer module (520) is arranged on the fourth bracket (510), the linear guide rail (550) is arranged on the material transfer module (520), the fixed block (530) is arranged on the linear guide rail (550), and the stepper motor (540) is arranged on the linear guide rail (550). The motor (540) is arranged on the fixed block (530), the second material opening detection clamp (570) and the second rotating motor assembly (560) are both arranged on the fixed block (530), the output end of the second rotating motor assembly (560) is transmission-connected with the second material opening detection clamp (570), the stepping motor (540) controls the fixed block (530) to move up and down on the linear guide rail (550), and the second rotating motor assembly (560) controls the second material opening detection clamp (570) to rotate.

9. The loading and unloading mechanism according to claim 8, characterized in that: The transfer robot module (500) further includes a sensor assembly (580) and a solenoid valve assembly (590), wherein the sensor includes a sheet metal (581) and a plurality of micro-groove sensors (582), wherein the plurality of micro-groove sensors (582) are arranged equidistantly from top to bottom on the linear guide rail (550), and the sensing ends of the plurality of micro-groove sensors (582) are arranged on the moving path of the sheet metal (581), the sheet metal (581) is arranged on the fixed block (530), and the solenoid valve assembly (590) is arranged on the blanking and transfer module (520).

10. A fully automatic self-adhesive assembly device, characterized in that: Including any loading and unloading mechanism of claims 6-9.

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