Full-automatic bar bonding system compatible with multi-size bars

Abstract

The utility model relates to a full-automatic bar sticking system compatible with multi-size bars, which comprises a ground rail robot, at least one bar splicing machine is respectively arranged on two sides of the ground rail robot, at least one gluing rotary table is arranged at one end of the ground rail robot, gluing manipulators are simultaneously arranged above the gluing rotary tables, and the gluing manipulators are arranged on the ground rail robot. A feeding conveying line and a discharging conveying line are arranged at the other end of the ground rail robot, and a plurality of curing tables are arranged on the two sides of the ground rail robot respectively. High-precision rod splicing can be automatically completed, the rod splicing efficiency is effectively improved, the manual workload is reduced, and the labor cost is reduced; the rod splicing system is good in compatibility, can be compatible with workpieces of various sizes, and is high in use flexibility.

Description

TECHNICAL FIELD

[0001] The utility model relates to single crystal silicon rod production technical field especially a full -automatic stick system of compatible multi -size bar stock. BACKGROUND

[0002] Single crystal silicon rod is important basic material in semiconductor industry, in single crystal silicon rod manufacturing process, due to the characteristics of crystal pulling process, will inevitably produce the silicon rod of different lengths, and also when the silicon rod is segmented, a large number of short silicon rods of non-standard length are produced, and these short silicon rods usually account for more than 30% of the total number.

[0003] In the prior art, several short silicon rods are glued and bonded by manual operation to match a standard length silicon rod, and then cutting square and other post-processing procedures are carried out. However, this manual gluing and bonding method has low operation efficiency and long time consumption, thereby reducing production efficiency and requiring a large amount of labor cost. In addition, manual bonding has low precision, and it is difficult to avoid problems such as misalignment of crystal lines, uneven end surface of silicon rod, and misalignment of gaps between short silicon rods, thereby reducing the yield of the post-process and causing material waste. SUMMARY

[0004] Therefore, it is necessary to provide a full-automatic stick system compatible with multi-size bar stock to solve the problems of low production efficiency and low bonding precision in the prior art.

[0005] The technical scheme adopted by the utility model is as follows:

[0006] A full-automatic stick system compatible with multi-size bar stock comprises a ground rail robot, at least one bonding machine is arranged on both sides of the ground rail robot, at least one glue applying rotary table is arranged at one end of the ground rail robot, a glue applying robot is arranged above the glue applying rotary table, a feeding conveying line and a discharging conveying line are arranged at the other end of the ground rail robot, and a plurality of curing tables are also arranged on both sides of the ground rail robot.

[0007] The ground rail robot carries the workpieces on the feeding conveying line to a glue applying rotary table for glue applying, the ground rail robot carries the two workpieces after glue applying to a movable bonding working position and a fixed bonding working position of a bonding machine respectively, the bonding machine butts and presses the glue applying surfaces of the two workpieces to bond the two workpieces to obtain a standard rod, the ground rail robot carries the standard rod to a temporary working position of a curing table for curing, and the ground rail robot carries the standard rod to the discharging conveying line after curing for discharging.

[0008] As a further improvement of the above technical scheme:

[0009] The movable splicing work position and the fixed splicing work position of the single splicing machine and the working end of the ground rail robot are both equipped with a stick hand claw, and the workpiece is grabbed through the stick hand claw.

[0010] The structure of the single stick hand claw comprises a claw mounting seat, the back surface of the working end face of the claw mounting seat is fixed with a claw motor, the output end of the claw motor is connected with a double-rotation screw rod through a gear box, the double-rotation screw rod is rotationally mounted on the front surface of the working end face of the claw mounting seat, two claw connecting seats are rotationally mounted on the outer side wall surface of the double-rotation screw rod, and a claw main body is equipped on each claw connecting seat.

[0011] The claw motor drives the double-rotation screw rod to rotate, so as to drive the two claw main bodies to move along the axial direction of the double-rotation screw rod in a linear manner, and then the workpiece is grabbed or released through the two claw main bodies.

[0012] A plurality of V-shaped clamping seats are fixed on the single claw main body, and two symmetrically arranged nylon pads are fixed on each V-shaped clamping seat.

[0013] The structure of the single splicing machine comprises a first base, a first rotating plate is rotationally mounted on the first base through a first rotary support, the first rotating plate is used for placing a workpiece, a first mounting seat is equipped on the top of the first base, a lifting screw rod arranged in the vertical direction is rotationally mounted on the first mounting seat, the end of the lifting screw rod is connected with a lifting motor, a movable seat is equipped on the outer side wall surface of the lifting screw rod, a fixed seat is fixed on the first mounting seat, the fixed seat is arranged below the lifting screw rod, and the lifting motor drives the lifting screw rod to rotate, so as to drive the movable seat to move in a linear manner along the vertical direction to approach or move away from the fixed seat.

[0014] A stick hand claw is equipped on each of the movable seat and the fixed seat, the workpiece on the first rotating plate is grabbed through the stick hand claw mounted on the fixed seat, so that the workpiece on the first rotating plate is fixed, another workpiece is grabbed through the stick hand claw mounted on the movable seat, and the two workpieces are bonded under the driving of the movable seat.

[0015] In the single splicing machine, a first linear rail assembly is equipped between the movable seat and the first mounting seat.

[0016] The structure of the single glue coating rotating table comprises a second base, a second mounting seat is fixed on the top of the second base, a linear module arranged in the vertical direction is fixed on the second mounting seat, a lifting seat is connected with the output end of the linear module, and a camera assembly is fixed on the lifting seat.

[0017] The top of the second base is rotatably installed with a second rotating plate through a second rotary support, a second rotating motor is fixed on the second base, the output end of the second rotating motor is connected with a second gear, and the second gear is engaged with the second rotary support;

[0018] The second rotating motor drives the second gear to rotate, thereby driving the second rotating plate to rotate through the second rotary support, and further driving the workpiece on the second rotating plate to rotate.

[0019] The ground rail robot comprises a ground rail, a motorized sliding table is mounted on the ground rail in a matched mode, a six-axis robot is mounted on the top of the motorized sliding table in a matched mode, and the motorized sliding table is driven by a sliding table motor to move along the ground rail in a reciprocating linear mode, thereby driving the six-axis robot to move along the length direction of the ground rail.

[0020] The structure of the gluing manipulator comprises a truss, a horizontal module arranged in a horizontal direction is fixed on the truss, the output end of the horizontal module is connected with a module connecting plate, a vertical module arranged in a vertical direction is fixed on the module connecting plate, the output end of the vertical module is connected with a mounting plate, and a glue gun assembly is mounted on the mounting plate in a matched mode.

[0021] The horizontal module drives the vertical module to move along the horizontal direction in a reciprocating linear mode through the module connecting plate, thereby driving the glue gun assembly to move along the horizontal direction in a reciprocating linear mode through the mounting plate.

[0022] The vertical module moves along the vertical direction in a reciprocating linear mode through the mounting plate.

[0023] At least two temporary working positions are arranged on the single curing table.

[0024] The utility model discloses the beneficial effects are as follows:

[0025] The utility model discloses compact structure, reasonable, convenient operation, through setting up splicing bar machine, gluing rotary table, ground rail robot, gluing manipulator, curing table, loading conveying line and unloading conveying line, can automatically complete high accuracy splicing bar, effectively improves splicing bar efficiency, reduces manual work load, reduces manual cost, and the splicing bar system has good compatibility and can be compatible with workpieces of various sizes, and has high use flexibility.

[0026] The utility model discloses compact structure, reasonable, convenient operation, through setting up splicing bar machine, gluing rotary table, ground rail robot, gluing manipulator, curing table, loading conveying line and unloading conveying line, can automatically complete high accuracy splicing bar, effectively improves splicing bar efficiency, reduces manual work load, reduces manual cost, and the splicing bar system has good compatibility and can be compatible with workpieces of various sizes, and has high use flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the structural schematic diagram of the utility model.

[0028] Figure 2 It is the installation structure schematic view of the splicing rod machine and the stick rod hand claw in the utility model.

[0029] Figure 3 It is the installation structure schematic view of the splicing rod machine and the stick rod hand claw in the utility model. Figure 2 The bottom view.

[0030] Figure 4 It is the structure schematic view of the stick rod hand claw in the utility model.

[0031] Figure 5 It is the structure schematic view of the glue coating rotary table in the utility model.

[0032] Figure 6 It is the installation structure schematic view of the splicing rod machine and the stick rod hand claw in the utility model. Figure 5 The front view.

[0033] Figure 7 It is the structure schematic view of the ground rail robot in the utility model.

[0034] Figure 8 It is the structure schematic view of the glue coating mechanical hand in the utility model.

[0035] Figure 9 It is the installation structure schematic view of the splicing rod machine and the stick rod hand claw in the utility model. Figure 8 The local enlarged view of A in the utility model.

[0036] 1, splicing rod machine, 2, glue coating rotary table, 3, ground rail robot, 4, glue coating machine, 5, glue coating mechanical hand, 6, solidification table, 7, feeding conveying line, 8, discharging conveying line, 9, stick rod hand claw, 10, cart, 11, standard rod, 12, crystal line,

[0037] 101, first base, 102, first mounting seat, 103, movable seat, 104, fixed seat, 105, lifting motor, 106, lifting screw, 107, first line rail assembly, 108, first rotary motor, 109, first gear, 110, first slewing bearing, 111, first rotary plate, 112, first adjusting block, 113, first adjusting plate,

[0038] 201, second base, 202, second mounting seat, 203, lifting seat, 204, second line rail assembly, 205, linear module, 206, camera assembly, 207, second rotary motor, 208, second gear, 209, second slewing bearing, 210, second rotary plate,

[0039] 301, ground rail, 302, electric sliding table, 303, sliding table motor, 304, robot electric cabinet, 305, six-axis robot,

[0040] 501, truss, 502, horizontal module, 503, vertical module, 504, module connecting plate, 505, mounting plate, 506, glue gun assembly,

[0041] 901. Gripper mounting base; 902. Gripper motor; 903. Double-screw lead screw; 904. Gearbox; 905. First gripper linear guide assembly; 906. Second gripper linear guide assembly; 907. Gripper limit seat; 908. Gripper connecting seat; 909. Gripper body; 910. V-shaped clamp; 911. Nylon pad. Detailed Implementation

[0042] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0043] The structure and function of this utility model are as follows:

[0044] like Figures 1-9 As shown, a fully automated rod bonding system compatible with multi-size rods includes a ground-rail robot 3, with at least one rod splicing machine 1 arranged on each side of the ground-rail robot 3, at least one glue-applying rotary table 2 arranged at one end of the ground-rail robot 3, and a glue-applying robot arm 5 arranged above the glue-applying rotary table 2. A feeding conveyor line 7 and a discharging conveyor line 8 are arranged at the other end of the ground-rail robot 3, and several curing tables 6 are arranged on each side of the ground-rail robot 3. The ground-rail robot 3 transports the workpieces from the feeding conveyor line 7 to a glue-applying rotary table 2 for glue application. The ground-rail robot 3 then transports two glued workpieces to a movable splicing position and a fixed splicing position of a rod splicing machine 1, respectively. The rod splicing machine 1 presses the glued surfaces of the two workpieces together to form a standard rod 11. The standard rod 11 is then transported by the ground-rail robot 3 to a temporary storage position of a curing table 6 for curing. After curing, the standard rod 11 is transported by the ground-rail robot 3 to the discharging conveyor line 8 for unloading. By setting up a splicing machine 1, a glue-applying rotary table 2, a ground-rail robot 3, a glue-applying manipulator 5, a curing table 6, a feeding conveyor line 7, and a discharging conveyor line 8, high-precision splicing of workpieces can be completed automatically, effectively improving splicing efficiency. The splicing system has good compatibility and can accommodate workpieces of various sizes, offering high flexibility in use.

[0045] In this invention, the workpiece is a short silicon rod. By splicing two silicon rod segments together, a standard rod 11 is formed. Several crystal lines 12 are distributed at circumferential intervals on the outer circumference of a single workpiece, and each crystal line 12 extends along the axial direction of the corresponding workpiece.

[0046] The movable and fixed splicing workstations of the single splicing machine 1, as well as the working end of the ground-rail robot 3, are all equipped with adhesive grippers 9, which are used to grasp workpieces. The adhesive grippers 9 can grasp workpieces stably and efficiently.

[0047] like Figure 4As shown, the structure of the single stick hand jaw 9 is: including a jaw mounting seat 901, the back surface of the working end face of the jaw mounting seat 901 is fixed with a jaw motor 902, the output end of the jaw motor 902 is connected with a double-rotation screw rod 903 through a gear box 904, the double-rotation screw rod 903 is rotatably installed on the front surface of the working end face of the jaw mounting seat 901, two jaw connecting seats 908 are rotatably installed on the outer side wall surface of the double-rotation screw rod 903, and a single jaw connecting seat 908 is cooperatively installed with a jaw main body 909; the jaw motor 902 drives the double-rotation screw rod 903 to rotate, so as to drive the two jaw main bodies 909 to move along the axial direction of the double-rotation screw rod 903 through the jaw connecting seat 908, and then the two jaw main bodies 909 are used to grab or release the workpiece. In the utility model, for the single stick hand jaw 9, the single jaw connecting seat 908 is cooperatively installed with the corresponding jaw main body 909 through a first jaw linear rail assembly 905, the jaw limiting seat 907 is fixed on the single jaw connecting seat 908, and the corresponding jaw main body 909 is prevented from falling off from the corresponding jaw connecting seat 908 through the jaw limiting seat 907; through the first jaw linear rail assembly 905 and the jaw limiting seat 907, the jaw main body 909 can have a certain movement degree of freedom relative to the jaw connecting seat 908, the impact of the workpiece in the process of moving the workpiece driven by the stick hand jaw 9 can be reduced, and the buffering effect can be achieved.

[0048] In the single stick hand jaw 9, the second jaw linear rail assembly 906 is cooperatively installed between the two jaw connecting seats 908 and the front surface of the working end face of the jaw mounting seat 901, and through the second jaw linear rail assembly 906, the movement stability of the two jaw connecting seats 908 can be improved.

[0049] The plurality of V-shaped clamping seats 910 are fixed on the single jaw main body 909, and the two symmetrically arranged nylon pads 911 are fixed on the single V-shaped clamping seat 910. Through the V-shaped clamping seat 910, the grabbing stability can be improved; through the nylon pad 911, the damage of the workpiece caused by the jaw main body 909 in the process of grabbing the workpiece can be avoided.

[0050] As shown in the drawings, Figures 2-3As shown, the structure of the single splicing rod machine 1 comprises a first base 101, a first rotary plate 111 is rotatably installed on the first base 101 through a first rotary support 110, the first rotary plate 111 is used for placing a workpiece, a first mounting seat 102 is installed on the top of the first base 101 in a matched mode, a lifting lead screw 106 is rotatably installed on the first mounting seat 102 in a vertical direction, the end of the lifting lead screw 106 is connected with a lifting motor 105, a movable seat 103 is installed on the outer wall surface of the lifting lead screw 106 in a matched mode, a fixed seat 104 is fixed on the first mounting seat 102, the fixed seat 104 is arranged below the lifting lead screw 106, the lifting motor 105 drives the lifting lead screw 106 to rotate, thereby driving the movable seat 103 to move linearly along the vertical direction to approach or move away from the fixed seat 104; a stick hand 9 is installed on the movable seat 103 and the fixed seat 104 in a matched mode, the stick hand 9 installed on the fixed seat 104 is used for grabbing the workpiece on the first rotary plate 111, thereby fixing the workpiece on the first rotary plate 111, the stick hand 9 installed on the movable seat 103 is used for grabbing another workpiece, thereby gluing the two workpieces under the driving of the movable seat 103. The single splicing rod machine 1 adopts a vertical layout and has a compact structure, thereby facilitating the arrangement of multiple splicing rod machines 1 in a splicing rod system; through the arrangement of the splicing rod machine 1, the splicing of two workpieces can be automatically completed, and the axial parallelism of the two workpieces after splicing can be ensured, and the splicing precision is high.

[0051] In the single splicing rod machine 1, a first linear rail assembly 107 is installed between the movable seat 103 and the first mounting seat 102 in a matched mode. The first linear rail assembly 107 can improve the stability of the linear motion of the movable seat 103 relative to the first mounting seat 103.

[0052] In the utility model, for the single splicing rod machine 1, a first rotary motor 108 is fixed on the first base 101, the output end of the first rotary motor 108 is connected with a first gear 109, the first gear 109 is engaged with the first rotary support 110; the first rotary motor 108 drives the first gear 109 to rotate, thereby driving the first rotary plate 111 to rotate through the first rotary support 110, and further driving the workpiece on the first rotary plate 111 to rotate; through the arrangement of the first rotary motor 108, the first gear 109 and the first rotary support 110, the placement angle of the workpiece on the first rotary plate 111 can be finely adjusted, thereby ensuring that the crystal line 12 of the workpiece grabbed by the stick hand 9 installed on the movable seat 103 can be aligned with the crystal line 12 of the workpiece placed on the first rotary plate 111.

[0053] When the splicing rod machine 1 performs splicing, the working process is as follows:

[0054] A workpiece is grabbed by the stick hand 9 installed on the movable seat 103, and another workpiece is grabbed by the stick hand 9 installed on the movable seat 104;

[0055] The lifting motor 105 starts and drives the lifting screw 106 to rotate, thereby driving the corresponding workpiece to make a downward linear motion in the vertical direction through the movable seat 103, so that the glued surface of the workpiece is in contact with the glued surface of another workpiece to form a standard rod 11.

[0056] Then the lifting motor 105 stops, and the movable seat 103 remains stationary relative to the fixed seat 104, thereby allowing the two workpieces to remain stationary and pre-cured.

[0057] After a certain period of time, the adhesive stick gripper 9 installed on the movable seat 103 releases the corresponding workpiece, and the pre-cured standard stick 11 is transported to a temporary storage work position on the curing table 6 by the ground rail robot 3 for curing.

[0058] In addition, in a single splicing machine 1, a first rotary motor 108 is installed at the bottom of a first base 101. The output end of the first rotary motor 108 is connected to a first gear 109 through a first adjusting plate 113. A first adjusting block 112 is also fixed at the bottom of the first base 101. The first adjusting block 112 and the first adjusting plate 113 are installed together by several adjusting bolts. By turning the adjusting bolts, the tightening force of the adjusting bolts on the first adjusting plate 113 can be adjusted, thereby fine-tuning the position of the first gear 109, and then adjusting the meshing force between the first gear 109 and the first slewing bearing 110.

[0059] like Figures 5-6 As shown, the structure of a single adhesive coating rotary table 2 is as follows: it includes a second base 201, a second mounting base 202 fixed to the top of the second base 201, a linear module 205 arranged vertically fixed on the second mounting base 202, the output end of the linear module 205 connected to a lifting seat 203, a camera assembly 206 fixed on the lifting seat 203, and the camera assembly 206 detecting crystal wires 12 on the workpiece; a second rotating plate 210 is rotatably mounted on the top of the second base 201 via a second slewing bearing 209, a second rotary motor 207 is fixed on the second base 201, the output end of the second rotary motor 207 is connected to a second gear 208, and the second gear 208 meshes with the second slewing bearing 209; the second rotary motor 207 drives the second gear 208 to rotate, thereby driving the second rotating plate 210 to rotate via the second slewing bearing 209, and thus driving the workpiece on the second rotating plate 210 to rotate. By setting up the glue-applying rotary table 2, the workpiece can be rotated, which makes it convenient to apply spiral adhesive evenly on a circular surface of the workpiece by the glue-applying robot 5; at the same time, by setting up the camera assembly 206, multiple crystal wires 12 on the workpiece can be positioned during the workpiece rotation, which makes it convenient to accurately splice the workpiece by the splicing machine 1 in the future.

[0060] like Figure 7As shown, the structure of the ground rail robot 3 is: including a ground rail 301, an electric sliding table 302 is fitted and installed on the ground rail 301, a six-axis robot 305 is fitted and installed on the top of the electric sliding table 302, the electric sliding table 302 is driven by a sliding table motor 303 to make reciprocating linear motion along the ground rail 301, thereby driving the six-axis robot 305 to move along the length direction of the ground rail 301. The robot electric cabinet 304 is also fixed on the electric sliding table 302. By arranging the ground rail robot 3 between the multiple rod splicing machines 1, the multiple glue applying rotary tables 2 and the multiple curing tables 6, it is convenient to efficiently take and place workpieces and carry standard rods 11 according to production requirements. The layout is reasonable and compact, which can reduce the overall floor area of the rod splicing system and reduce the requirements for the production site.

[0061] As shown in the figure, Figures 8-9 As shown, the structure of the glue applying mechanical arm 5 is: including a truss 501, a horizontal module 502 arranged in the horizontal direction is fixed on the truss 501, a module connecting plate 504 is connected to the output end of the horizontal module 502, a vertical module 503 arranged in the vertical direction is fixed on the module connecting plate 504, a mounting plate 505 is connected to the output end of the vertical module 503, and a glue gun assembly 506 is fitted and installed on the mounting plate 505; the horizontal module 502 drives the vertical module 503 to make reciprocating linear motion in the horizontal direction through the module connecting plate 504, thereby driving the glue gun assembly 506 to make reciprocating linear motion in the horizontal direction through the mounting plate 505; the vertical module 503 makes reciprocating linear motion in the vertical direction through the mounting plate 505. By arranging the horizontal module 502, the glue gun assembly 506 can make linear motion in the horizontal direction, and by arranging the vertical module 503, the glue gun assembly 506 can make linear motion in the vertical direction, thereby facilitating the glue gun assembly 506 to apply glue to the workpiece below.

[0062] When the workpiece is glued by the glue applying rotary table 2 and the glue applying mechanical arm 5, the working process is as follows:

[0063] The workpiece is placed on the second rotary plate 210 of a glue applying rotary table 2 by the ground rail robot 3, the second rotary motor 207 drives the second gear 208 to rotate, the second gear 208 drives the second rotary plate 210 to rotate through the second slewing bearing 209, and the second rotary plate 210 drives the workpiece to rotate;

[0064] At the same time, under the action of the horizontal module 502 and the vertical module 503, the glue gun assembly 506 reaches above the workpiece, and during the rotation of the workpiece, the glue gun assembly 506 continuously applies glue, and the horizontal module 502 drives the glue gun assembly 506 to move in the horizontal direction, thereby applying adhesive glue in a spiral shape on the circular surface of the workpiece;

[0065] After the gluing is completed, the second rotary motor 207 is started again, the workpiece is driven to rotate again through the second rotary plate 210, at the same time, the linear module 205 drives the lifting seat 203 to move linearly along the vertical direction, thereby driving the camera assembly 206 to move linearly along the vertical direction, the camera assembly 206 takes pictures of the workpiece at a preset interval during the movement, thereby finding the position of the crystal line 12 on the workpiece;

[0066] In the utility model, two glue applying rotary tables 2 are arranged, the two glue applying rotary tables 2 work independently, in the process that the workpiece on one glue applying rotary table 2 is glued, the other glue applying rotary table 2 can find the crystal line 12 of the other workpiece (the workpiece does not need to be glued), thereby the production rhythm can be compacted, the production time can be shortened, and the work efficiency can be improved.

[0067] The two glue applying rotary tables 2 in the utility model are of the same structure, so the rotary crystal line positions are consistent, and the position precision of the two groups of camera assemblies 206 for shooting the crystal line 12 can reach ±0.5mm.

[0068] The glue applying machine 4 is arranged beside the truss 501, the glue applying machine 4 provides adhesive for the glue gun assembly 506, through the glue gun assembly 506 and the glue applying machine 4, the amount of glue can be accurately controlled, the consistency of the amount of glue in the production process can be ensured, and the cost can be saved.

[0069] At least two temporary working positions are arranged on the single curing table 6. The temporary working positions are used for storing the standard rods 11.

[0070] In the utility model, the first line rail assembly 107, the second line rail assembly 204, the first hand claw line rail assembly 905 and the second hand claw line rail assembly 906 all comprise at least one line rail, and at least one sliding block is mounted on the single line rail in cooperation.

[0071] At least one group of photoelectric sensor assemblies are mounted on the single rod splicing machine 1, the single glue applying rotary table 2 and the single rod sticking hand claw 9 in cooperation, which are used for monitoring the stroke of the corresponding components and realizing automatic production.

[0072] The working process of the utility model is as follows:

[0073] The ground rail robot 3 grabs a workpiece (defined as a first workpiece) from the feeding conveying line 7 and places the workpiece on one glue applying rotary table 2, the position of the crystal line 12 on the first workpiece is identified through the glue applying rotary table 2, then the first workpiece is grabbed and conveyed to the position of the rod sticking hand claw 9 of the rod splicing machine 1 mounted on the movable seat 103 through the ground rail robot 3, and the first workpiece is exchanged into the rod sticking hand claw 9 and clamped by the rod sticking hand claw 9;

[0074] The ground rail robot 3 picks up another workpiece (defined as a second workpiece) from the feeding conveying line 7 and places it on another gluing rotary table 2. The gluing rotary table 2 drives the second workpiece to rotate, the gluing manipulator 5 moves to the upper side of the second workpiece to perform gluing, and after the gluing is completed, the gluing rotary table 2 drives the second workpiece to rotate again, so that the position of the crystal line 12 on the second workpiece is recognized through the corresponding camera assembly 206. Then, the ground rail robot 3 picks up the second workpiece and sends it to the position of the stick hand 9 mounted on the fixed seat 104 of the corresponding stick joining machine 1, and exchanges the second workpiece into the stick hand 9, which clamps the second workpiece;

[0075] Then, under the driving of the lifting motor 105, the first workpiece is driven downward by the stick hand 9 mounted on the movable seat 103, so as to be spliced with the second workpiece. The lifting motor 105 is a servo motor, which can accurately control the splicing gap. After the splicing is completed, the two stick hands 9 keep moving for 8 min to perform pre-solidification. After the pre-solidification is completed, the ground rail robot 3 picks up the spliced standard stick 11 and places it on an empty temporary working position of the curing table 6 to perform static curing, and the curing time is 60 min. At the same time, three stick joining machines 1 are arranged in the utility model, after one of the stick joining machines 1 completes feeding, the ground rail robot 3 performs repeated action to sequentially feed or discharge the other two stick joining machines 1.

[0076] After the curing is completed, the ground rail robot 3 picks up the standard stick 11 on the curing table 6 and moves it to the discharging conveying line 8 to convey the standard stick 11 to the next process.

[0077] The above description is an explanation of the utility model, not a limitation of the utility model. The scope defined by the utility model is shown in the claims, and any form of modification within the protection scope of the utility model can be made.

Claims

1. A fully automatic rod-bonding system compatible with multi-size rods, characterized in that: The system includes a ground-rail robot (3), with at least one splicing machine (1) arranged on each side of the ground-rail robot (3), at least one glue-applying rotary table (2) arranged at one end of the ground-rail robot (3), and a glue-applying robot (5) arranged above the glue-applying rotary table (2). The other end of the ground-rail robot (3) is equipped with a feeding conveyor line (7) and a discharging conveyor line (8). Several curing tables (6) are also arranged on each side of the ground-rail robot (3). The ground-rail robot (3) transports the workpieces on the feeding conveyor line (7) to a glue-applying rotary table (2) for glue application. The ground-rail robot (3) then transports the two glued workpieces to the movable splicing work position and the fixed splicing work position of a splicing machine (1), respectively. The splicing machine (1) presses the glued surfaces of the two workpieces together to splice the two workpieces into a standard rod (11). The standard rod (11) is then transported by the ground-rail robot (3) to a temporary storage work position of a curing table (6) for curing. After curing, the standard rod (11) is transported by the ground-rail robot (3) to the unloading conveyor line (8) for unloading.

2. The fully automatic rod-bonding system compatible with multi-size rods as described in claim 1, characterized in that: The movable splicing workstation and fixed splicing workstation of the single splicing machine (1) and the working end of the ground rail robot (3) are all equipped with sticky stick grippers (9), which are used to grasp the workpiece.

3. The fully automatic rod bonding system compatible with multi-size rods as described in claim 2, characterized in that: The structure of a single adhesive stick gripper (9) is as follows: it includes a gripper mounting base (901), a gripper motor (902) is fixed on the back of the working end face of the gripper mounting base (901), the output end of the gripper motor (902) is connected to a double screw (903) through a gearbox (904), the double screw (903) is rotatably mounted on the front of the working end face of the gripper mounting base (901), two gripper connecting seats (908) are rotatably mounted on the outer side wall of the double screw (903), and a gripper body (909) is fitted on a single gripper connecting seat (908); The gripper motor (902) drives the double-screw screw (903) to rotate, thereby driving the two gripper bodies (909) to make similar or separate linear movements along the axis of the double-screw screw (903) through the gripper connecting seat (908), and then gripping or releasing the workpiece through the two gripper bodies (909).

4. The fully automatic rod-bonding system compatible with multi-size rods as described in claim 3, characterized in that: Several V-shaped clamps (910) are fixed on a single gripper body (909), and two symmetrically arranged nylon pads (911) are fixed on a single V-shaped clamp (910).

5. The fully automatic rod bonding system compatible with multi-size rods as described in claim 2, characterized in that: The structure of a single bar-jointing machine (1) is as follows: it includes a first base (101), on which a first rotating plate (111) is rotatably mounted via a first slewing bearing (110). The first rotating plate (111) is used to place workpieces. A first mounting seat (102) is fitted on the top of the first base (101). A lifting screw (106) arranged vertically is rotatably mounted on the first mounting seat (102). The end of the lifting screw (106) is... The head is connected to the lifting motor (105). A movable seat (103) is installed on the outer side wall of the lifting screw (106). A fixed seat (104) is fixed on the first mounting seat (102). The fixed seat (104) is arranged below the lifting screw (106). The lifting motor (105) drives the lifting screw (106) to rotate, thereby causing the movable seat (103) to move in a straight line along the vertical direction, either closer to the fixed seat (104) or away from the fixed seat (104). Both the movable seat (103) and the fixed seat (104) are equipped with an adhesive gripper (9). The adhesive gripper (9) installed on the fixed seat (104) grabs the workpiece on the first rotating plate (111), thereby fixing the workpiece on the first rotating plate (111). The adhesive gripper (9) installed on the movable seat (103) grabs another workpiece, thereby bonding the two workpieces together under the action of the movable seat (103).

6. The fully automatic rod-bonding system compatible with multi-size rods as described in claim 5, characterized in that: In a single bar-jointing machine (1), a first linear guide assembly (107) is installed between the movable seat (103) and the first mounting seat (102).

7. The fully automatic rod-bonding system compatible with multi-size rods as described in claim 1, characterized in that: The structure of a single coating rotary table (2) is as follows: it includes a second base (201), a second mounting seat (202) is fixed on the top of the second base (201), a linear module (205) arranged vertically is fixed on the second mounting seat (202), the output end of the linear module (205) is connected to a lifting seat (203), a camera assembly (206) is fixed on the lifting seat (203), and the camera assembly (206) detects crystal lines (12) on the workpiece; A second rotating plate (210) is rotatably mounted on the top of the second base (201) via a second slewing bearing (209). A second rotary motor (207) is fixed on the second base (201). The output end of the second rotary motor (207) is connected to a second gear (208). The second gear (208) meshes with the second slewing bearing (209). The second rotary motor (207) drives the second gear (208) to rotate, thereby driving the second rotating plate (210) to rotate through the second slewing bearing (209), and in turn driving the workpiece on the second rotating plate (210) to rotate.

8. The fully automatic rod bonding system compatible with multi-size rods as described in claim 1, characterized in that: The structure of the ground-rail robot (3) is as follows: it includes a ground rail (301), an electric slide (302) is installed on the ground rail (301), and a six-axis robot (305) is installed on the top of the electric slide (302). The electric slide (302) moves back and forth along the ground rail (301) under the drive of the slide motor (303), thereby driving the six-axis robot (305) to move along the length direction of the ground rail (301).

9. The fully automatic rod bonding system compatible with multi-size rods as described in claim 1, characterized in that: The structure of the glue-applying robot (5) is as follows: it includes a truss (501), on which a horizontal module (502) arranged in the horizontal direction is fixed, the output end of the horizontal module (502) is connected to a module connecting plate (504), on which a vertical module (503) arranged in the vertical direction is fixed, the output end of the vertical module (503) is connected to a mounting plate (505), and a glue gun assembly (506) is fitted on the mounting plate (505); The horizontal module (502) drives the vertical module (503) to reciprocate linearly in the horizontal direction through the module connecting plate (504), thereby driving the glue gun assembly (506) to reciprocate linearly in the horizontal direction through the mounting plate (505); The vertical module (503) moves in a reciprocating linear motion along the vertical direction via the mounting plate (505).

10. The fully automatic rod-bonding system compatible with multi-size rods as described in claim 1, characterized in that: At least two temporary storage workstations are provided on a single curing station (6).

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