Carrying positioning module

Abstract

The utility model relates to the field of adhesive film feeding equipment, in particular to a carrying positioning module which comprises an adhesive film positioning table used for placing an adhesive film and restraining the height and the horizontal position of the adhesive film so that the adhesive film can be taken and used; a second robot provided with an execution part capable of moving horizontally and vertically; the feeding manipulator is mounted on the execution part of the second robot and is used for adsorbing or clamping the adhesive film; the glue film positioning table and the feeding station of the glue film are both located in the moving range of the feeding mechanical arm. According to the embodiment of the utility model, the automatic feeding process is realized through the second robot and the feeding manipulator, and meanwhile, the automatic positioning process is realized through the adhesive film positioning table, so that the problems of feeding and adhesive film positioning are solved.

Description

Technical Field

[0001] The present invention relates to the field of film feeding equipment, and in particular to a transport and positioning module. Background Art

[0002] Adhesive film is a rectangular sheet with adhesive on one side and adhesive film on both sides. It is used to cover the surface of the carrier to provide protection. In the automated film lamination process, the loading and positioning of the adhesive film are crucial, which determines the loading efficiency and positioning accuracy of the adhesive film.

[0003] Therefore, people need a device that can load and position the film efficiently. Summary of the Invention

[0004] The purpose of the present invention is to provide a transport and positioning module to solve the problem of how to load and position the film.

[0005] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0006] A handling and positioning module includes: a film positioning platform for placing a film and constraining the height and horizontal position of the film for easy access; a second robot having an actuator capable of horizontal and vertical movement; and a loading manipulator installed on the actuator of the second robot for adsorbing or clamping the film; wherein the film positioning platform and the film loading station are both located within the range of motion of the loading manipulator.

[0007] Furthermore, the second robot includes a first linear drive for moving the executing part in the horizontal direction and a second linear drive for moving the executing part in the vertical direction. The loading robot moves in the horizontal and vertical directions under the drive of the first linear drive and the second linear drive.

[0008] Furthermore, the first linear drive is fixedly connected to the frame, the second linear drive is fixedly connected to the executive part of the first linear drive, and the loading robot is fixedly connected to the executive part of the second linear drive.

[0009] Furthermore, the first linear drive is a synchronous belt slide.

[0010] Furthermore, the second linear actuator is a cylinder slide.

[0011] Furthermore, the loading robot includes a first suction cup mounting seat, and a plurality of first vacuum suction cups fixedly connected to the first suction cup mounting seat, and the first vacuum suction cups generate suction force to adsorb the film through a vacuum pump.

[0012] Furthermore, a plurality of the first vacuum suction cups are distributed along a rectangular array on the first suction cup mounting base.

[0013] Furthermore, the film positioning platform includes: a film support plate, which is horizontally arranged and fixedly connected to the frame, for supporting the bottom wall of the film; two film positioning strips, which are respectively arranged at two adjacent edges of the film support plate and fixedly connected to the top wall of the film support plate, for abutting against the two adjacent edges of the film; two film push plates, which are respectively arranged at two opposite edges of the two film positioning strips, and can be horizontally slidably connected to the film support plate relative to their respective corresponding film positioning strips, for abutting against the other two adjacent edges of the film; two fifth linear drives, which are fixedly connected to the film support plate and respectively transmission-connected to the two film push plates, for driving the two film push plates to move toward their respective corresponding film positioning strips, so as to cooperate with the two film positioning strips to clamp the four sides of the film, thereby completing the positioning work.

[0014] Furthermore, the fifth linear actuator is a thrust cylinder.

[0015] Furthermore, a through hole is provided at the center of the film supporting plate, and a photoelectric switch is installed in the through hole. The photoelectric switch is used to detect whether the film is above the film supporting plate.

[0016] Compared with the prior art, this application has the following beneficial effects:

[0017] Provided is a handling and positioning module, which realizes an automatic loading process through a second robot and a loading manipulator, and simultaneously realizes an automatic positioning process through a film positioning table, thereby solving the problems of how to load and position the film. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0019] Figure 1 A three-dimensional diagram of a second robot, a loading manipulator, a film positioning platform, and a film silo according to an embodiment of the present invention;

[0020] Figure 2 The partial structure and loading manipulator of the second robot of the embodiment of the present invention;

[0021] Figure 3 A three-dimensional diagram of a film positioning platform according to an embodiment of the present invention;

[0022] Figure 4 3D images of a film positioning platform according to an embodiment of the present invention from different viewing angles;

[0023] Figure 5 A three-dimensional diagram of a film silo according to an embodiment of the present invention;

[0024] Figure 6 A top view of a film silo according to an embodiment of the present invention;

[0025] Figure 7 for Figure 6 Cross-sectional view in the AA direction;

[0026] Figure 8 for Figure 6 Cross-sectional view in the BB direction;

[0027] The numbers in the figure represent the following:

[0028] 31-film positioning platform; 311-film supporting plate; 312-film positioning strip; 313-film pushing plate; 314-fifth linear drive; 32-second robot; 321-first linear drive; 322-second linear drive; 323-loading manipulator; 324-first suction cup mounting seat; 325-first vacuum suction cup; 33-film silo; 331-film rack; 3311-film positioning cylinder; 3312-film supporting rod; 3313-handle; 3314-rack positioning seat; 332-film lifting plate; 3321-notch; 333-third linear drive; 334-first slide rail; 335-rack positioning piece; 336-fourth linear drive. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Furthermore, before the film 12 is moved to the film positioning table 31, the film 12 is placed inside the film silo 33, and the film 12 is stacked in the vertical direction. The film 12 is moved from the film silo 33 to the film positioning table 31 by the second robot 32 and the loading robot 323, thereby realizing loading.

[0031] Figure 1 The positional relationship among the second robot 32 , the loading manipulator 323 , the film positioning platform 31 and the film silo 33 is shown, where the loading process of the film 12 is performed.

[0032] Combine Figure 1 The film silo 33 is arranged next to the film positioning platform 31, and the loading robot 323 is installed on the executive part of the second robot 32 for adsorbing or clamping the film 12. The film positioning platform 31 and the film silo 33 are both located within the range of movement of the loading robot 323. The executive part of the second robot 32 can move at least in the horizontal and vertical directions, thereby moving the film 12 to the film positioning platform 31 in sequence.

[0033] Figure 2 The partial structure of the second robot 32 and the loading robot 323 are shown.

[0034] Combine Figure 2 The second robot 32 is a two-degree-of-freedom Cartesian coordinate robot, including a first linear drive 321 whose executing part moves in the horizontal direction and a second linear drive 322 whose executing part moves in the vertical direction. The loading robot 323 moves in the horizontal and vertical directions under the drive of the first linear drive 321 and the second linear drive 322, and performs the action of adsorbing and moving the film 12.

[0035] Specifically, the first linear drive 321 is a synchronous belt slide, the second linear drive 322 is a cylinder slide, the first linear drive 321 is fixedly connected to the frame, the second linear drive 322 is fixedly connected to the executive part of the first linear drive 321, and the loading robot 323 is fixedly connected to the executive part of the second linear drive 322.

[0036] The loading robot 323 includes a first suction cup mounting base 324 and a plurality of first vacuum suction cups 325 fixedly connected to the first suction cup mounting base 324 and distributed along a rectangular array. The first vacuum suction cups 325 generate suction to adsorb the adhesive film 12 through a vacuum pump, which is not shown in the figure.

[0037] Figure 5 and Figure 6 The three-dimensional view and the top view of the film silo 33 are shown respectively. Figure 7 and Figure 8 They are two cross-sectional views of the film silo 33 .

[0038] Figure 3 and Figure 4 Two stereoscopic views of the film positioning stage 31 from different perspectives are shown, where the positioning process of the film 12 is performed.

[0039] Combine Figure 3 、 Figure 4 , the film positioning stage 31 includes:

[0040] The film support plate 311 is horizontally arranged and fixedly connected to the frame, and is used to support the bottom wall of the film 12;

[0041] Two film positioning strips 312 are respectively provided on two adjacent sides of the film support plate 311 and fixedly connected to the top wall of the film support plate 311 for abutting against two adjacent sides of the film 12;

[0042] Two film pushers 313 are respectively provided on two opposite sides of the two film positioning strips 312 and are connected to the film support plate 311 so as to be horizontally slidable relative to their respective corresponding film positioning strips 312, and are used to abut against the other two adjacent sides of the film 12;

[0043] The two fifth linear drivers 314 are fixedly connected to the film support plate 311 and are respectively connected to the two film push plates 313 for driving the two film push plates 313 to move toward their respective corresponding film positioning strips 312 to cooperate with the two film positioning strips 312 to clamp the four sides of the film 12, thereby completing the positioning work.

[0044] Specifically, the fifth linear drive 314 is a thrust cylinder, and the two thrust cylinders are respectively facing the long side and short side of the film support plate 311. A through hole is provided in the center of the film support plate 311, and a photoelectric switch is installed in the through hole. The photoelectric switch is used to detect whether there is a film 12 above the film support plate 311, so that the controller determines whether it is necessary to start the fifth linear drive 314.

[0045] Figure 5 and Figure 6 The three-dimensional view and the top view of the film silo 33 are shown respectively. Figure 7 and Figure 8 They are two cross-sectional views of the film silo 33 .

[0046] Combine Figure 5 、 Figure 6 、 Figure 7 and Figure 8 , the film silo 33 includes:

[0047] The film rack 331 includes a film positioning cylinder 3311 and a film supporting rod 3312 connected to the bottom of the film positioning cylinder 3311. The film supporting rod 3312 is used to support the bottom wall of the film 12, and the film positioning cylinder 3311 is used to limit the four sides of the film 12.

[0048] The film lifting plate 332 is movably disposed below the film rack 331 and is capable of vertically moving through the gap between the film positioning cylinder 3311 and the film supporting rod 3312 to lift the film 12 on the film supporting rod 3312 to the working height of the loading robot 323.

[0049] The third linear drive 333 is fixedly connected to the frame and is transmission-connected to the film lifting plate 332 , and is used to lift the remaining films 12 upward by the thickness of one film 12 after the loading robot 323 takes away one film 12 .

[0050] Specifically, the film positioning cylinder 3311 is a rectangular cylinder formed by four vertical plates. The four inner walls of the film positioning cylinder 3311 are used to contact the four sides of the film 12 respectively. The center line of the film positioning cylinder 3311 is vertically set. The film lifting plate 332 is a horizontally set flat plate. The film lifting plate 332 is clearance-matched with the film positioning cylinder 3311, and a notch 3321 is provided on the film lifting plate 332 for avoiding the film support rod 3312, so that the film lifting plate 332 can move along the axis of the film positioning cylinder 3311. The third linear drive 333 is an electric screw slide.

[0051] Preferably, combined Figure 5 、 Figure 6 and Figure 8 The film material rack 331 is horizontally movably connected to the frame through a first slide rail 334. The first slide rail 334 is installed on both sides of the width direction of the film material rack 331. The side of the film material rack 331 facing the staff is fixedly connected with a handle 3313. The side of the film material rack 331 facing away from the staff is provided with a material rack positioning seat 3314. The material rack positioning seat 3314 is used to connect the material rack positioning piece 335 to lock the position of the film material rack 331. The material rack positioning piece 335 is movably connected to the frame and is driven by a fourth linear drive 336 to connect or disconnect from the material rack positioning seat 3314.

[0052] Specifically, the rack positioning seat 3314 has a socket, the rack positioning member 335 is a pin slidably connected to the frame, and the fourth linear drive 336 is a thrust cylinder. When the pin is inserted into the socket, the film rack 331 cannot move through the first slide rail 334.

[0053] When the film 12 inside the film rack 331 is used up by the loading robot 323, the third linear drive 333 drives the film lifting plate 332 to descend to the bottom of the film rack 331, and then the cylinder drives the pin to disengage the rack positioning seat 3314, so that the staff can pull out the film rack 331 to replenish the film 12 inside it.

[0054] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the spirit and scope of protection of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the embodiments of the present invention.

Claims

1. A transport and positioning module, characterized in that: include: A film positioning platform (31) is used to place the film (12) and constrain the height and horizontal position of the film (12) for use; A second robot (32) having an actuator capable of moving horizontally and vertically; a loading manipulator (323), mounted on the executive part of the second robot (32), for adsorbing or clamping the adhesive film (12); The film positioning platform (31) and the film (12) loading station are both located within the range of motion of the loading manipulator (323).

2. A transport and positioning module according to claim 1, characterized in that: The second robot (32) includes a first linear drive (321) whose executing part moves in a horizontal direction and a second linear drive (322) whose executing part moves in a vertical direction. The loading robot (323) moves in the horizontal and vertical directions under the drive of the first linear drive (321) and the second linear drive (322).

3. A transport and positioning module according to claim 2, characterized in that: The first linear drive (321) is fixedly connected to the frame, the second linear drive (322) is fixedly connected to the execution part of the first linear drive (321), and the loading robot (323) is fixedly connected to the execution part of the second linear drive (322).

4. A transport and positioning module according to claim 3, characterized in that: The first linear drive (321) is a synchronous belt slide.

5. The transport and positioning module according to claim 3, characterized in that: The second linear drive (322) is a cylinder slide.

6. The transport and positioning module according to claim 1, characterized in that: The loading robot (323) includes a first suction cup mounting seat (324) and a plurality of first vacuum suction cups (325) fixedly connected to the first suction cup mounting seat (324), wherein the first vacuum suction cups (325) generate suction force for adsorbing the adhesive film (12) through a vacuum pump.

7. A transport and positioning module according to claim 6, characterized in that: A plurality of the first vacuum suction cups (325) are distributed along a rectangular array on the first suction cup mounting seat (324).

8. A transport and positioning module according to any one of claims 1 to 7, characterized in that: The film positioning platform (31) comprises: A film support plate (311), arranged horizontally and fixedly connected to the frame, for supporting the bottom wall of the film (12); Two adhesive film positioning strips (312), respectively provided on two adjacent sides of the adhesive film support plate (311), and fixedly connected to the top wall of the adhesive film support plate (311), for abutting against two adjacent sides of the adhesive film (12); Two film pushing plates (313) are respectively arranged at two opposite sides of the two film positioning strips (312), and are connected to the film supporting plate (311) so as to be horizontally slidable relative to the corresponding film positioning strips (312), and are used to abut against the other two adjacent sides of the film (12); Two fifth linear drivers (314) are fixedly connected to the film support plate (311) and are respectively connected to the two film push plates (313) for driving the two film push plates (313) to move toward their respective corresponding film positioning strips (312) to cooperate with the two film positioning strips (312) to clamp the four sides of the film (12), thereby completing the positioning work.

9. The transport and positioning module according to claim 8, characterized in that: The fifth linear actuator (314) is a thrust cylinder.

10. The transport and positioning module according to claim 8, characterized in that: A through hole is provided at the center of the film support plate (311), and a photoelectric switch is installed in the through hole. The photoelectric switch is used to detect whether the film (12) is above the film support plate (311).

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