Simultaneous rotating manipulator mechanism and manipulator thereof

Abstract

A left piece and a right piece are connected to a driving mechanism on a mask machine, the left piece and the right piece form a clamp, a robot hand trunk is provided with a front clamping head at the front end of the trunk and a guide fixing structure at the rear end of the trunk, and the robot hand is connected with the mask machine through a fixing section. The multifunctional mask manufacturing machine has multiple functions, achieves certain high efficiency, energy conservation and environmental protection, and can meet the requirements of new types of manufactured masks and the like.

Description

Technical Field

[0001] The utility model relates to the field of machines, and more specifically, to a simultaneous rotating robot arm mechanism and a robot arm thereof. Background Art

[0002] At present, existing masks are produced by mask equipment. Generally, masks contain at least: a mask body and a mask rope. Mask production equipment is also called a mask machine, which includes fixing the mask rope to the mask body. Generally, a robot arm (mask machine clip) is used to grab the mask rope and move it to a suitable position on the mask body and fix it, and then the mask rope is fixed to the mask body by a fixing mechanism such as a welding head. However, the existing robot arm (mask machine clip) is too simple, with single-point clamping, and does not utilize its own movement and the mutual coordination of other parts on the mask machine. It cannot be multifunctional, does not meet the requirements of energy saving and environmental protection, and cannot produce certain new styles of masks.

[0003] The masks currently on the market do not fit well enough, especially flat masks. Existing mask production equipment only produces masks with fixed points, and is not capable of producing masks with sliding fixed points at high speed. It is also not possible to add fixed points in the middle of the side of a flat mask. It is not possible to clip long mask ropes, such as the ropes of head-mounted masks.

[0004] It is impossible to realize a new welding method for multiple mask ropes.

[0005] The existing mask machine technology is to make relatively small changes on the conventional mask machine, which cannot change the structure and function of the manufactured mask. The existing mask machine is already very mature, and almost all parts are similar, and some can be used universally. The flat mask machine consists of two parts: the mask body forming machine (tablet press) and the ear strap wire welding machine. For example, patent: 202020633967.4, which includes a complete set of flat mask machines. The comparative technology is to innovate the docking device between the tablet press and the ear strap wire welding machine. The tablet press and the ear strap wire welding machine are basically unchanged, so this application can refer to this type of prior art mask machine and make utility model innovations in many aspects.

[0006] This application is a small innovation with a big effect, just like innovating in the key, thus achieving a great technical effect, and meeting the high-speed production requirements of the mask industry, it is realized that the existing masks are composed of three parts: the original mask body, the nose bridge and the mask rope. This application is to provide the structure of the mask manufacturing equipment at the same time, which can produce masks without nose bridges, which are composed of only two parts: the mask body and the mask rope.

[0007] In order to prevent leakage on the upper edge of the existing mask, the bridge of the nose must be used. However, because the bridge of the nose is plastic, when the mask moves due to talking, the bridge of the nose will no longer match the position after the movement, and there will definitely be obvious leaks. Therefore, when wearing existing masks, you have to pinch the bridge of the nose from time to time, and you will touch the outer surface of the mask, causing more serious cross contamination.

[0008] Discarding discarded masks directly into nature will produce microplastic pollution. To solve the problem of how to make masks convenient and environmentally friendly for recycling, this kind of mask with two parts is also needed.

[0009] The masks manufactured by this application are scientifically advanced, and multiple embodiments have been tested by multiple testing agencies and are qualified. They are much more airtight than similar masks, and test reports have been issued. You can check it on the official website. In order to save space, it is omitted here. It has been launched on the market and has received a lot of praise, including from large users, and has won utility model awards, including some international intellectual property organizations. For details, you can learn and query on the official website: HOSYA.COM.

[0010] Patent laws in countries around the world have such provisions: If a new utility model can reduce one component, material, or part compared to the original one, but can still achieve the same effect or even a better effect, this is a technological breakthrough and a utility model patent can be granted. Summary of the invention

[0011] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a simultaneous rotating robot arm mechanism and a robot arm thereof.

[0012] The technical solution of the utility model is implemented as follows: a new simultaneous rotating robot arm mechanism and its robot arm are proposed, and a variety of new functions are realized by utilizing the movement of the simultaneous rotating robot arm mechanism or its own robot arm and the mutual cooperation of other components on the mask machine.

[0013] The mask machine clip is also called a robot arm, including a robot arm with a pulling structure or a robot arm with multiple clamps, which clamps a straight mask rope onto the mask surface;

[0014] The robot arm with a pulling structure (mask machine clip), also called a robot arm, is a mask rope clamping robot arm. The tail of the robot arm is provided with a support plate, and the support plate is provided with a notch. After the front clamp of the robot arm clamps the mask rope, the tail support plate supports the middle section of the mask rope during the process of rotating to the mask. The mask rope is tensioned into a straight line in this section of the clamping robot arm. After the robot arm is rotated to the mask, a straight mask rope is clamped onto the surface of the mask, or the position and shape of the tensioning support plate are set. The middle section of the mask rope is inserted into the notch of the support plate. During the rotation of the robot arm, the trajectory of the movement of the notch of the support plate is used to pull the mask rope to the required position, such as pulling it into the crack on the edge of the mask; the fixed section of the robot arm (mask machine clip) is fixed on the mask machine.

[0015] The principle is that, taking the rope for fixing a flat mask as an example, on the production line, on the left and right sides of the mask body, the robot arms (mask machine clips) are divided into two upper and lower ones. The upper one clamps the mask rope to fix it for welding the fixing point on the upper part of the mask body, and the lower one clamps the mask rope to fix it for welding the fixing point on the lower part of the mask body. The upper and lower robot arms (mask machine clips) clamp the two ends of a rope and rotate in opposite directions. The middle section of the rope tends to be straightened, so it can be used to pull the middle section of the rope.

[0016] The multi-clamp robot arm (mask machine clamp) is a mask rope clamping robot arm with several clamps for clamping the mask rope at intervals. After the front and rear clamps of the robot arm clamp the mask rope, the mask rope clamped between the clamps remains straight. After the robot arm rotates to the mask, it clamps several straight sections of mask rope onto the surface of the mask; the fixed section of the robot arm (mask machine clamp) is fixed on the mask machine.

[0017] The robot arm (mask machine clamp) is a mask rope clamping robot arm with a support piece at the tail end, and a front clamp of the robot arm. After the clamp clamps the mask rope, the tail support piece supports the middle section of the mask rope during the process of rotating to the mask. The mask rope is tensioned into a straight line in this section of the clamping robot arm. After the robot arm rotates to the mask, it clamps a straight section of the mask rope onto the surface of the mask, or by setting the position and shape of the tensioning support piece, the middle section of the mask rope is inserted into the notch of the support piece. A notch is provided on the lower part of the support piece. During the rotation of the robot arm, the mask rope is pulled downward to the required position by using the trajectory of the movement of the notch of the support piece, such as pulling it into the crack on the edge of the mask; the fixed section of the robot arm (mask machine clamp) is fixed on the mask machine.

[0018] Then connect the mask rope to the mask. In order to facilitate welding with welding equipment, the clamping robot arm can remain upright or tilted at an angle.

[0019] The beneficial effects of the utility model are: the rotating robot arm mechanism and the robot arm have multiple functions at the same time, achieve certain energy saving and environmental protection, reduce costs and simplify the machine.

[0020] It can be adapted to manufacture masks using various mask rope welding methods.

[0021] Using the support piece to pull and position or using multiple clamps to fix or move other parts of the mask rope occurs during the original grabbing movement and moving and fixing process, making production more efficient. The robot arm can achieve multi-point fixation of the mask rope. For example, with the help of a welding machine, the mask rope can be fixed at the bridge of the mask, and auxiliary fixing points can be set on the edge of the mask at the same time, so as to achieve a variety of fixed mask ropes on the mask.

[0022] This processing method is the first of its kind, because the conventional method before was to clamp them separately, first send the mask rope to the mask surface, and then send the short material to the mask surface, which might cause a fight, interference between the two machine actions, and multiple waiting steps. This application allows the mask rope and the short material to be sent without waiting for each other, and the welding machine can start working when they are almost on the mask surface. This will save a lot of time. It will speed up. And it saves a lot of mechanisms.

[0023] Moreover, the movement of each component will not interfere with each other, which greatly improves production efficiency and enables high-speed production of complex structures.

[0024] This implementation brings at least two technical effects. First, it solves the problem of fixing the mask rope with a sliding structure during high-speed production. In particular, the upper part of the mask does not use a single mask rope structure from left to right, but is separated into left and right sides, which can be produced at a higher speed. Second, for welding, these welding can share ultrasonic equipment, greatly reducing costs and simplifying the machine.

[0025] This processing machine is made into a new type, or this machine contains a new type of part. This new type of part is to fix the mask rope, and the fixed mask rope has a new type of part, which is a fixed sliding fixed point. There are many uses for fixed sliding fixed points, such as the mask in the attached figure of the specification is one of them. Then the design of this processing sliding fixed point is to clamp this mask rope, and clamp a small short material, that is, to allow the mask rope to slide and connect the small short material, and then weld the small short material to the mask, and the mask rope is not directly welded to the mask. In this way, the mask rope can slide in the small short material, that is, it can slide relative to the surface of the mask. Such a processing method is the first to be created, because before, according to the convention, it is either to clamp them separately, first send the mask rope to the surface of the mask, and then send the small short material to the surface of the mask, then there may be interference between the two machines, waiting for each other. The embodiment of the present application allows the mask rope and the small short material to be sent without waiting for each other, and the welding machine can start working when they are almost sent to the surface of the mask. This will save a lot of time. It will speed up. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is the structural principle diagram of the robot arm (mask machine clip) in this application;

[0027] Figure 2 This is a structural principle diagram of another embodiment of the robot arm (mask machine clip) in this application;

[0028] Figure 3 This is a structural principle diagram of another embodiment of the robot arm (mask machine clip) in this application;

[0029] Figure 4 This is a structural principle diagram of another embodiment of the robot arm (mask machine clip) in this application;

[0030] Figure 5 Yes Figure 4 The part of the mask rope processed by the robot (mask machine clip);

[0031] Figure 6 It is the part of the mask rope processed by the equipment equipped with a robot (mask machine clip);

[0032] In the figure: 1. robot arm, 2. fixed section, 3. front chuck, 4. rear chuck, 5. robot arm, 6. fixed section, 7. front chuck, 8. support plate, 9. robot arm, 10 fixed section, 11. front chuck, 12. rear chuck, 13. support plate, 14. fixed section, 15. rear chuck, 16. chuck, 17. front chuck, 18. robot arm. DETAILED DESCRIPTION

[0033] The technical solution of the utility model will be clearly and completely described below in conjunction with specific implementation methods, but those skilled in the art will understand that the embodiments described below are part of the embodiments of the utility model, rather than all of the embodiments, and are only used to illustrate the utility model, and should not be regarded as limiting the scope of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. However, it should be understood that the features described in one embodiment can also be combined with other embodiments. However, for the same reason, one or more features of any described embodiment should not be regarded as essential to each embodiment of the utility model, because other embodiments of the utility model can omit these features.

[0034] Unless otherwise indicated, all numbers used herein to express quantities, dimensions, and the like are to be understood as being modified in all instances by the term "about". In this application, the use of the singular includes the plural, and the use of the terms "and" and "or" means "and / or" unless otherwise indicated. Furthermore, the use of the term "includes" as well as other forms, such as "includes" and "comprising", are to be construed as non-exclusive.

[0035] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship 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 device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact not directly but through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions are for illustrative purposes only, 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.

[0038] In order to make the description concise, the phrase "preferred embodiment" is not repeated, but a paragraph describing the implementation of the structure generally includes one embodiment.

[0039] The mask protective products of the utility model refer to: masks, related parts on masks, mask-related products, or breathing-related products, including small masks for noses and large masks including face masks.

[0040] The N95 mask referred to in the present invention can be a mask that is folded in half, also called an N95-shaped mask, that is, a three-dimensional mask, and also refers to various masks whose main body is shaped like a bowl-shaped container when opened, such as a KF94 mask, a ppf2 mask, and a duckbill mask.

[0041] This application can be based on the reference documents listed in the background technology as the basis of existing structures and technologies. The existing mask machine technology is to make relatively small changes on the conventional mask machine, which cannot change the structure and function of the manufactured mask. The existing mask machine is already very mature, and almost all parts are similar, and some can still be used universally. The plane mask machine consists of a mask body forming machine (a tablet machine or a tablet press) and an ear strap line (mask rope) welding machine. The existing comparative technology described in the background technology includes a complete set of plane mask machines. The comparative technology is to innovate the docking device between the tablet press and the ear strap line welding machine. The tablet press and the ear strap line welding machine structure can be used as a reference for the embodiments of this application. This application can be based on the structure of these prior art mask machines (the embodiments will be marked in brackets), and the most critical and important places are innovative in utility models, and embodiments are proposed.

[0042] The three-dimensional masks (KF94, N95) also contain similar parts of the mask machine. The N95 mask machine combines the tablet press and ear strap wire welding machine into one machine.

[0043] The embodiment of the present application proposes a new robot arm mechanism to replace the prior art pick-and-place wire gripper (gripper).

[0044] The mask manufacturing equipment is provided with a simultaneously rotating robot arm mechanism, the simultaneously rotating robot arm mechanism is provided with a simultaneously rotating robot arm, the simultaneously rotating robot arm is provided with a chuck and a guide fixing structure or the simultaneously rotating robot arm is provided with two or more chucks. Welding equipment is added to the conveyor line at the same time, and a short material supply mechanism is added. For example, a simple modification is made by adding a mechanism for supplying mask ropes, and the mask ropes are used to make short materials.

[0045] The mask machine clip is also called a robot arm, including a robot arm with a pulling structure or a robot arm with multiple clamps, which clamps a straight mask rope to the surface of the mask; the left and right separate type is generally a left and right piece connected to the driving mechanism on the mask machine, and the left and right pieces form a clip. When the driving mechanism drives the two pieces to close together, the clamp clamps the mask rope. When the driving mechanism drives the left and right pieces to separate a certain distance from each other, the clamp releases the mask rope.

[0046] like Figure 2 , a robot hand (mask machine clip) 5 with a pulling structure, a support piece 8 is provided at the tail of the mask rope clamping robot hand, such as Figure 2 , or Figure 3 The support piece 13, after the front clamp 7 of the robot arm clamps the mask rope, during the process of rotating to the mask, the tail support piece 8 supports the middle section of the mask rope, or by setting the position and shape of the tensioning support piece, a notch is provided at the tail of the support piece, and the middle section of the mask rope is inserted into the notch of the support piece. During the rotation of the robot arm, the trajectory of the movement of the notch of the support piece is used to pull the mask rope to the required position, such as pulling it into the crack on the edge of the mask; the fixed section 6 of the robot arm (mask machine clip) 5 is fixed on the mask machine.

[0047] One function of pulling into the crack on the edge of the mask is to realize a new method of setting auxiliary fixing points for the mask, specifically: an auxiliary fixing point is set for fixing the mask rope, and the auxiliary fixing point is: a crack is pressed on the edge of the mask with a tool, and the crack extends from the edge of the mask to the inside in the direction of the center line of the mask, and the width of the crack at different positions remains unchanged or changes. The robot arm pulls the mask rope from the edge of the mask into the crack, and finally welds, repairs, or glues the crack on the edge of the mask, or uses staples to connect the two sides of the crack on the edge; or a mask hemming machine is provided to cover the crack on the edge of the mask.

[0048] or Figure 1 , a multi-clamp robot (mask machine clamp) 1, is a mask rope clamping robot with a plurality of clamps for clamping mask ropes arranged at intervals, such as Figure 1 The front chuck 3 and the rear chuck 4. Figure 2 The front chuck 7. Figure 3 The front clamp 11 and the rear clamp 12 of the robot arm clamp the mask rope, and the mask rope clamped between the clamps remains straight. After the robot arm rotates to the mask, it clamps several straight sections of mask rope onto the surface of the mask; the fixed section 2 of the robot arm (mask machine clamp) 1 is fixed on the mask machine.

[0049] or Figure 3 The robot arm (mask machine clip) 9, also called the robot arm, is a mask rope clamping robot arm. The tail of the robot arm is provided with a support piece 13. After the front clamp 11 and the rear clamp 12 of the robot arm clamp the mask rope, during the process of rotating to the mask, the tail support piece 13 supports the middle section of the mask rope, or by setting the position and shape of the tensioning support piece, the middle section of the mask rope is inserted into the recess of the support piece. During the rotation of the robot arm, the mask rope is pulled to the required position by using the trajectory of the movement of the support piece recess, such as pulling it into the crack on the edge of the mask; the fixed section 10 of the robot arm (mask machine clip) 9 is fixed on the mask machine.

[0050] Then connect the mask rope to the mask. In order to facilitate welding with welding equipment, the clamping robot arm can remain upright or tilted at an angle.

[0051] Another embodiment of the new mask manufacturing equipment is that the mask manufacturing equipment is provided with a simultaneously rotating robot arm mechanism, the simultaneously rotating robot arm mechanism is provided with a simultaneously rotating robot arm, the simultaneously rotating robot arm is provided with a chuck and a guide fixing structure or the simultaneously rotating robot arm is provided with more than two chucks.

[0052] The rotating robot arm is also called a mask machine clip. The mask machine clip is provided with: a fixed section, a chuck, and a guide fixed structure on the torso of the mask machine clip. The mask machine clip is connected to the mask machine through the fixed section; the guide fixed structure is a chuck, or a support plate, or a chuck and a support plate.

[0053] The fixed section connection mask machine is generally connected through a rotating mechanism.

[0054] like Figure 4 The rear clamp 15 and the front clamp 17 at the front and rear ends of the robot hand, i.e. the mask machine clip 18, play the role of fixing the mask rope. The clamp 16 in the middle of the robot hand is tilted to the side to clamp and fix the short material. The fixed section 14 plays a connecting role. When the new mask manufacturing equipment is working, the robot hand mechanism is rotated at the same time to rotate the robot hand to the mask rope. The clamps at the front and rear ends of the robot hand clamp the mask rope, and the clamp in the middle of the robot hand clamps the short material. The robot hand is rotated to the top of the mask, and the welding head welds the mask rope and the short material to the mask. The processing is as follows: Figure 5 The sliding fixing point on the mask. In the figure, the short material in the upper left corner is also cut with a mask rope. The short material spans the mask rope. The two ends of the short material are welded to the surface of the mask, which is equivalent to forming a ring. The mask rope is not welded at the upper left corner of the mask and can slide relative to the short material. This ring structure can be distributed on the edge of the mask, such as the upper edge, so that the mask rope pulls the upper edge of the mask. The middle chuck 16 that clamps and fixes the short material may not be located between the other chucks, but the rear chuck 15 is located between the middle chuck 16 and the front chuck 17, on the same simultaneously rotating robot arm mechanism, Figure 4 It is a case where there is one sliding fixed point for processing, and the processing equipment can fix multiple sliding fixed points, for example, there are multiple chucks for fixing short materials.

[0055] In another embodiment, the mask manufacturing device is provided with a simultaneous rotating robot mechanism, and the simultaneous rotating robot means that the same rotating mechanism is provided with a robot, and the number is at least two. Even the simultaneous rotating robot mechanism can be provided with a robot that can move or rotate relative to it.

[0056] Furthermore, the robot arm can be kept tilted relative to the horizontal plane. Maintaining the tilt can prevent collision with the descending welding head and facilitate early downward movement of the welding head.

[0057] Ideally, the short piece of material is not perpendicular to the long mask rope, but rotated clockwise at an angle greater than 0 and less than 90 degrees. The short piece of material is tilted at a small angle, which is beneficial to the mechanical effect of the mask rope and the effect of force at this sliding fixed point.

[0058] Regardless of whether the same robot arm is used, they must be on the same rotating part and rotate to the mask side at the same time. This can solve multiple problems. For example, rotating together can prevent movement interference with the lifting welding head, and they can evacuate together a little earlier.

[0059] At the same time, the robot arm mechanism can also be turned to process Figure 6 The mask shown in the figure replaces the clamping claws of the existing equipment responsible for clamping the mask rope at the upper or lower part of the mask with a simultaneously rotating robot arm mechanism. Taking the clamping claws for clamping the mask rope at the lower part of the mask as an example, there are two clamping claws on the simultaneously rotating robot arm mechanism. In the process of cutting a section of the mask rope, one of the two clamping claws clamps the end of the mask rope and the other clamps the middle of the mask rope, and moves to the lower and middle parts of the side of the mask. In addition to welding the end of the mask rope to the lower part of the side of the mask, the welding equipment also welds the middle part of the mask rope to the middle part of the side of the mask. Of course, the corresponding mask rope welding machine adds welding equipment in the middle of the mask. The clamping claw can also be replaced by a support plate or a chuck on the robot arm.

[0060] This implementation brings at least two technical effects. First, it solves the problem of fixing the mask rope with a sliding structure during high-speed production. In particular, the upper part of the mask does not use a single mask rope structure from left to right, but is separated into left and right sides, which can be produced at a higher speed. Second, for welding, these welding can share ultrasonic equipment, greatly reducing costs and simplifying the machine.

[0061] Using the support piece to pull and position or using the multi-clamp to fix or move other parts of the mask rope occurs during the original grabbing movement and moving and fixing process, so it makes production more energy-efficient and reduces emissions, and makes the masks produced more functional. For example, the mask rope can be fixed at the bridge of the mask, and auxiliary fixing points can be set on the edge of the mask at the same time. It can also realize a variety of fixed mask ropes on the mask.

[0062] The principle is that, taking the rope for fixing a flat mask as an example, on the production line, on the left and right sides of the mask body, the robot arms (mask machine clips) are divided into two upper and lower ones. The upper one clamps the mask rope to fix it for welding the fixing point on the upper part of the mask body, and the lower one clamps the mask rope to fix it for welding the fixing point on the lower part of the mask body. The upper and lower robot arms (mask machine clips) clamp the two ends of a rope and rotate in opposite directions, which can be used to pull the middle section of the rope. As long as it can be tightened, this traction can also be used when there is only one clip, and can also be used to fix other components.

[0063] Then connect the mask rope to the mask. In order to facilitate welding with welding equipment, the clamping robot arm can remain upright or tilted at an angle.

[0064] The novel mask manufacturing method comprises: a sheet pressing link and a mask rope fixing link; in the sheet pressing link, if the production without the nose bridge strip is selected, the production equipment and production process of fixing the nose bridge strip are omitted, or the equipment and production process of the conventional nose bridge strip or the nose bridge strip of the new structure are retained; or: the sheet pressing device is connected to a nose bridge strip supply mechanism that does not place the nose bridge strip, or the sheet pressing device is connected to a nose bridge strip supply mechanism that is in a stopped state; in the mask rope fixing link, according to the determined mask rope fixing point mode and position, various small devices are arranged on the production equipment, or a long mask rope is needed, and the mask rope fixing link comprises the following links: cutting the long mask rope, fixing the long mask rope on the mask, setting an auxiliary fixing point on the edge of the mask, and fixing the long mask rope on the auxiliary fixing point; or performing a fixing process including sliding connection between the mask rope and the mask body.

[0065] Alternatively, the mask rope is fixed by: the equipment for fixing the mask rope mainly includes conveying equipment, clamping robot equipment, cutting equipment, and welding equipment. The robot for clamping the mask rope at the upper end of the mask is changed to a long enough one, clamps one end of the cut mask rope and then transfers it to the mask body, and the welding machine welds this end of the mask rope to the mask body. The processing of the auxiliary fixing point on the edge of the mask is: the robot puts a short piece of material on the mask rope at the left and right edges of the mask. The short material can be made into a U shape, and the welding machine welds both ends of the short material to the mask body. The mask body and the short material are combined to form a ring, which is put on the mask rope to serve as an auxiliary fixing point for the mask rope; or nailing is used. There can be many types of nails, leaving a gap for the mask rope, so that the mask rope can move forward and backward, and nailed on the surface of the mask to form a gap with the surface of the mask.

[0066] Alternatively, fixing the mask rope includes: utilizing a robot arm with a pulling structure or a robot arm with multiple clamps;

[0067] The robot arm with a pulling structure is a mask rope clamping robot arm with a support piece at the tail. After the clamp of the robot arm clamps the mask rope, during the process of rotating to the mask, the rear support piece supports the middle section of the mask rope, and the mask rope is tensioned into a straight line in this section of the clamping robot arm. After the robot arm rotates to the mask, a straight mask rope is clamped onto the surface of the mask, or the position and shape of the tensioning support piece are set, and the mask rope is pulled down into the crack on the edge of the mask during the rotation of the robot arm, and then the cracks on both sides are repaired, leaving a hole for accommodating the mask rope; or a multi-clamp robot arm is a mask rope clamping robot arm, which is provided with a plurality of clamps for clamping the mask rope. After the robot arm rotates to the mask, a plurality of straight mask ropes are clamped onto the surface of the mask; and then the welding machine welds the places that need to be welded;

[0068] Then connect the mask rope to the mask. In order to facilitate welding with welding equipment, the clamping robot arm can remain upright or tilted at an angle.

[0069] Alternatively, fixing the mask rope is: the equipment for fixing the mask rope mainly includes a mask body conveying device, a clamping robot device, a cutting device, and a welding device. The puncture processing method is adopted, and the robot hand for clamping the mask rope at the upper end of the mask is changed to a slender one. After clamping one end of the cut mask rope, it is rotated to the mask body, and a slit or hole is opened on the edge of the mask body as an auxiliary fixing point for the mask rope. The robot hand clamps one end of the cut mask rope and passes it through the slit or hole, and sends this end of the mask rope to the position near the center line and the upper edge of the mask body, and then the welding machine welds this end of the mask rope to the mask body; the robot hand then passes through the crack and returns to its original position;

[0070] Alternatively, the processing method for fixing the mask rope is: directly use a robot arm to fix a whole cut mask rope and move it to the top of the mask body, position it, and then use a welding machine to weld the places that need to be welded to process the auxiliary fixing points on the edge of the mask.

[0071] Alternatively, the mask rope is fixed by: during sheeting, i.e., processing the mask body, a clamp and a fixed structure are provided at the original rolling equipment to transport a whole cut mask rope to the process of rolling and welding several layers of filter materials. When pressing the upper edge of the mask, a cutting device is provided to cut a short piece of material protrusion from the flanged material at the center line and two side edges of the mask, and then the three short pieces of material are pressed across the top of the mask rope, and then the two ends of the three short pieces of material are welded to the mask body, the mask body and the three short pieces of material are combined to form three rings, which are put on the mask rope, and then the two ends of the mask rope are fixed to the lower part of the two sides of the mask body. More than three short pieces of material can be used when necessary;

[0072] Or the fixed mask rope is: the fixed mechanical mask rope is: the robot sends a whole cut mask rope to the upper edge of the mask body, and puts the cut short material across the mask rope, welds or roller presses the two ends of the short material to the upper edge of the mask, and the material of the mask body and the short material are combined to form a ring, which is put on the mask rope, and finally the two ends of the mask rope are fixed to the lower part of the two sides of the mask body;

[0073] Or the mask rope is fixed by: the part where the mask rope is slidably connected to the mask body is: the cloth to be flanged on the edge of the mask is cut into holes or grooves of corresponding shapes, the flanged cloth wraps the mask rope fixed by the robot arm, and then the flanged cloth is welded to the mask; or the robot arm directly crosses the mask component over the mask rope, and the two ends of the mask component are fixed on the mask; or slits or holes are spaced apart on the edge of the mask, and the robot arm passes the mask rope through the slits or holes in sequence.

[0074] Alternatively, an auxiliary fixing point is provided for fixing the mask rope, which is: a crack is pressed on the edge of the mask with a tool, and the crack extends from the edge of the mask to the inside in the direction of the center line of the mask. The width of the crack at different positions remains unchanged or changes. The robot pulls the mask rope from the edge of the mask into the crack, and finally welds, repairs, or glues the crack on the edge of the mask, or connects the two sides of the crack on the edge with staples; or a mask hemming machine is provided to cover the crack on the edge of the mask; or the edge of the mask is placed on an arc-shaped platform where the materials on both sides of the crack on the edge of the mask overlap, and then welding is performed; or pushing The smaller material on both sides of the crack at the edge of the mask is moved towards the larger material to overlap the materials on both sides of the crack and then welded; or an auxiliary fixing point is added to make a slit at the edge of the mask body, and then the slit becomes a hole by continuing to open inside the mask body, leaving part of the periphery of the hole uncut, leaving part of the material in the hole connected to the cut-off hole, and the mask rope fixing mechanism or the guide mechanism pulls the mask rope from the edge of the mask into the crack, and when it is pulled into the hole, the mask rope pushes the material in the hole to move toward the edge of the mask body, and the material overlaps on the crack, and then the welding equipment is used to weld the crack using the material.

[0075] Alternatively, a head-mounted mask has two long mask straps, each of which is fixed at both ends on the left and right sides of the mask, and the robot arm can clamp and deliver the long mask straps.

[0076] If welding is not used to process the mask rope and the mask body, but other methods such as gluing, stapling, riveting, and sewing are used to connect them, the welding machine is also replaced with other equipment accordingly.

[0077] By fine-tuning the position or shape of each small device, this equipment is also suitable for other masks such as N95 masks, leaf-shaped masks (KF94 masks), fish-shaped masks, duckbill masks, etc. Generally, the N95-shaped mask pressing process also includes the subsequent folding, welding, cutting and forming process, and the pressing equipment also includes folding, welding, cutting and other equipment.

[0078] Holes or cracks can also be made in the sheet pressing process, so that the hole or crack structure is added during the rolling conveying process. Or a tool for making holes or cracks in the mask body is also provided on the pressing roller that cuts off two adjacent mask sheets.

[0079] The above includes a variety of large implementations and a variety of small implementations. The technical features of the above-mentioned implementations can be arbitrarily combined. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model, or directly or indirectly applied in other related technical fields are included in the patent protection scope of the utility model.

Claims

1. A robot arm, consisting of two pieces, left and right, with a clamp at the front of the two pieces. Its characteristics are: The left and right pieces are connected to the driving mechanism of the mask machine, and the left and right pieces form a clamp. The trunk of the robot is provided with: a front clamp at the front of the trunk and a guide fixing structure at the rear. The robot is connected to the mask machine through a fixed section.

2. The robot arm according to claim 1, Its characteristics are: The guiding and fixing structure is a support sheet.

3. The robot arm according to claim 1, Its characteristics are: The robot arm is also provided with a middle chuck.

4. The robot arm according to claim 1, Its characteristics are: The guiding and fixing structure is the rear chuck.

5. The robot arm according to claim 1, Its characteristics are: The guiding and fixing structure is a rear clamp and a support sheet.

6. A simultaneous rotation robot arm mechanism, Its characteristics are: The rotating robot arm mechanism is connected to the mask manufacturing equipment, and the rotating robot arm mechanism includes the robot arm described in any one of claims 1 to 5.

7. The simultaneous rotation robot arm mechanism according to claim 6, Its characteristics are: The rotating robot arm mechanism is connected to the mask manufacturing equipment, and the rotating robot arm mechanism is a rotating mechanism with a robot arm, and the number of the robot arms is at least two.

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