Feeding mechanism of automatic assembling equipment for special-shaped parts

Abstract

The utility model discloses a feeding mechanism of automatic assembling equipment for special-shaped parts. The feeding mechanism comprises a warehouse-out feeding device and a turnover feeding device which are arranged in sequence. The out-of-bin feeding device comprises a first rack, a tray conveying assembly and a part out-of-bin taking assembly, the tray conveying assembly and the part out-of-bin taking assembly are installed on the first rack, the part out-of-bin taking assembly is located above the tray conveying assembly, and the tray conveying assembly gets close to or away from the part out-of-bin taking assembly in the Y direction; the turnover feeding device comprises a second rack, a sliding table assembly installed on the second rack and a part turnover taking assembly, the part turnover taking assembly is located above the sliding table assembly, and an air knife cleaning assembly is arranged on the second rack and close to one side of the part delivery taking assembly. The feeding mechanism is high in feeding efficiency, integrates the cleaning procedure and the release paper tearing procedure, and is diversified in function and high in practicability.

Description

Technical Field

[0001] This utility model relates to the field of mechanical technology, and in particular to a loading mechanism for an automated assembly equipment for irregularly shaped parts. Background Technology

[0002] In the production of various lenses, a protective film is usually applied to the lens surface to prevent damage. This involves a feeding mechanism that delivers the lenses to the lens coating station for film application. On the one hand, lenses are often irregularly shaped curved surfaces, making material handling difficult. On the other hand, to ensure the protective film adheres completely, without wrinkles or bubbles, the lenses must undergo a cleaning process before film application. Additionally, some lenses have release paper attached to the protective film, which needs to be removed after the protective film is applied to facilitate subsequent light exposure processes.

[0003] However, the feeding mechanism in existing automated assembly equipment for irregularly shaped parts has two main drawbacks: firstly, it has low feeding efficiency; secondly, it cannot simultaneously handle the cleaning process before film application and the subsequent release paper removal process. Its function is relatively limited, which restricts the automation and continuity of the entire automated assembly and film application of irregularly shaped parts, such as irregularly shaped lenses, and ultimately affects the efficiency of automated assembly of irregularly shaped parts. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a feeding mechanism for an automated assembly equipment for irregularly shaped parts.

[0005] The technical solution of this utility model is:

[0006] A feeding mechanism for an automated assembly equipment for irregularly shaped parts, characterized in that it includes a discharge feeding device and a turnover feeding device arranged sequentially;

[0007] The loading and unloading device includes a first frame, a pallet conveying assembly and a parts unloading and unloading assembly mounted on the first frame. The parts unloading and unloading assembly is located above the pallet conveying assembly, and the pallet conveying assembly moves closer to or further away from the parts unloading and unloading assembly along the Y direction.

[0008] The turnover feeding device includes a second frame, a slide assembly mounted on the second frame, and a parts turnover picking assembly. The parts turnover picking assembly is located above the slide assembly on the second frame, and an air knife cleaning assembly is provided on the side near the parts outlet picking assembly.

[0009] Furthermore, the pallet conveying assembly includes a first Y-axis moving module mounted on a first frame and a pallet platform slidably mounted on the first Y-axis moving module; the first Y-axis moving module drives the pallet platform to move along the Y-axis.

[0010] Furthermore, on the first frame, a pallet positioning gripper assembly is provided on each of the two opposite sides of the pallet platform. The two pallet positioning gripper assemblies move relative to each other in the X direction to clamp or move away from the pallet placed on the pallet platform.

[0011] Furthermore, the parts retrieval assembly includes a first X-axis moving module mounted on the first frame, a vision inspection device slidably connected to the first X-axis moving module at intervals, and a parts retrieval suction cup assembly.

[0012] The part-picking suction cup assembly includes a second Y-axis moving module slidably connected to the first X-axis moving module, a first Z-axis moving module slidably connected to the second Y-axis moving module, a rotary moving module slidably connected to the first Z-axis moving module, and a part suction cup connected to the rotary moving module.

[0013] Furthermore, the slide assembly includes a carrier platform fixed on the second frame and arranged along the X-axis, a second X-axis moving module arranged on the carrier platform, and a first part carrier and a second part carrier slidably connected at intervals to the second X-axis moving module, wherein the first part carrier is arranged close to the part unloading assembly.

[0014] Furthermore, the air knife cleaning assembly includes a bracket mounted on the second frame and an air knife fixed on the bracket, with the air knife located within the movement trajectory of the first part carrier.

[0015] Furthermore, the parts turnover and material handling assembly includes a third X-axis moving module and a fourth X-axis moving module, as well as a third Y-axis moving module, which are mounted relative to each other on the second frame. The third X-axis moving module is slidably connected to the third Y-axis moving module and is arranged on the same side as the first X-axis moving module.

[0016] The third X-axis moving module is slidably connected with a double-rotating suction cup assembly at intervals; the fourth X-axis moving module is slidably connected with a vision inspection device, and the lens of the vision inspection device faces downward.

[0017] Furthermore, a visual inspection device is provided on the second frame, on one side of the middle part of the vehicle platform, and the lens of the visual inspection device is set upward.

[0018] Furthermore, a connecting plate is slidably connected to the fourth X-axis moving module, the visual inspection device is fixed to the connecting plate, and a second Z-axis moving module is provided on the connecting plate and located on one side of the visual inspection device. A film-tearing gripper assembly is connected to the second Z-axis moving module.

[0019] Furthermore, the film-tearing gripper assembly includes a finger cylinder and a pair of film-tearing grippers connected to the drive end of the finger cylinder, and both the finger cylinder and the pair of film-tearing grippers are obliquely arranged relative to the second Z-axis moving module.

[0020] The beneficial technical effects of this utility model are:

[0021] Compared with the existing feeding mechanism, the feeding mechanism of this utility model has high feeding efficiency and takes into account the cleaning process before film application and the release paper peeling process after film application, which further promotes the automation and continuity of the automated assembly equipment for irregular parts, and ultimately improves the efficiency of automated assembly of irregular parts. It has diversified functions and strong practicality. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall design of this utility model;

[0023] Figure 2 This is a schematic diagram of the present invention from another angle;

[0024] Figure 3 This is a schematic diagram of the assembly of the pallet conveying component and the parts out-of-warehouse material handling component of this utility model;

[0025] Figure 4 This is a schematic diagram of the turnover feeding device of this utility model after removing part of the frame and the air knife cleaning component after removing part of the baffle.

[0026] Figure 5 This is a schematic diagram of the parts turnover and material handling assembly of this utility model;

[0027] Figure 6 yes Figure 5 Enlarged detail of the tear film gripper assembly.

[0028] in:

[0029] Pallet 002, first frame 100, pallet conveying assembly 200, first Y-axis moving module 201, pallet platform 202, protrusion 2021, pallet positioning gripper assembly 203, positioning cylinder 2031, positioning gripper 2032, parts unloading and picking assembly 300, first X-axis moving module 301, parts picking suction cup assembly 302, second Y-axis moving module 3021, first Z-axis moving module 3022, rotary moving module 3023, parts suction cup 3024;

[0030] Second frame 400, slide assembly 500, carrier platform 501, second X-axis moving module 502, first part carrier 5031, second part carrier 5032, part turnover material handling assembly 600, third X-axis moving module 601, fourth X-axis moving module 602, third Y-axis moving module 603, connecting plate 6021, second Z-axis moving module 6022, film tearing gripper assembly 6023, finger cylinder 6023a, film tearing gripper 6023b, air blowing pipe 6024, turnover material handling suction cup assembly 604;

[0031] Air knife cleaning assembly 700, bracket 701, air knife generator 702, visual inspection device 800, and recycling bin 900. Detailed Implementation

[0032] In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0033] like Figures 1-6 As shown, this utility model provides a loading mechanism for an automated assembly equipment for irregularly shaped parts, which includes a loading device for dispensing and a loading device for turnover, arranged sequentially. The irregularly shaped parts listed in this utility model are lenses. The loading device for dispensing is mainly used to remove the lenses from the tray and then transfer them to the loading device for turnover. The lenses undergo a cleaning process before being laminated at the loading device for turnover, and then the cleaned lenses are loaded onto the lamination station. In addition, the loading device for turnover also functions to remove the release paper from the protective film after the lens is laminated, further optimizing the efficiency of automated assembly of irregularly shaped parts.

[0034] The loading and unloading device includes a first frame 100, which is a frame structure. A pallet conveying assembly 200 and a parts unloading and retrieving assembly 300 are mounted on the first frame 100, with the parts unloading and retrieving assembly 300 located above the pallet conveying assembly 200. The pallet conveying assembly 200 includes a first Y-axis moving module 201 mounted on the first frame 100, a pallet platform 202 slidably connected to the first Y-axis moving module 201, and two pallet positioning gripper assemblies 203 for positioning the pallet platform 202. The pallet platform 202 has several positioning protrusions 2021 arranged in a long rectangular array, the dimensions of which are compatible with the outer dimensions of the pallet 002. The lens to be coated is placed inside the pallet 002, and the pallet 002 is placed on the pallet platform 202.

[0035] Two pallet positioning gripper assemblies 203 are respectively installed on the first frame 100 and located on opposite sides of the pallet platform 202 along the X direction. Each pallet positioning gripper assembly 203 includes a pallet positioning cylinder 2031 with a driving direction along the X direction and a positioning gripper 2032 connected to the driving end of the pallet positioning cylinder 2031. The positioning gripper 2032 is a long strip, and each positioning gripper 2032 has an arc-shaped guide opening at each end that is larger on the outside and smaller on the inside. When the robotic arm or conveyor belt places the tray carrying the lens onto the tray platform 202, the two tray positioning cylinders 2031 each drive the two positioning grippers 2032 to move closer to each other along the X direction. Under the guidance of the guide openings on the two positioning grippers 2032, the tray is positioned within the long rectangular array formed by the aforementioned protrusions 2021, preventing the tray from falling off during movement. Then, the first Y-direction moving module 201 drives the tray platform 202 and the tray 002 on the tray platform to move closer to or away from the parts unloading assembly 300 along the Y direction.

[0036] The parts retrieval assembly 300 includes a first X-axis moving module 301 mounted on a first frame 100. A vision inspection device 800 and a parts retrieval suction cup assembly 302 are slidably connected at intervals on the first X-axis moving module 301. The first X-axis moving module 301 drives the vision inspection device 800 and the parts retrieval suction cup assembly 302 to reciprocate and translate along the X-axis. The vision inspection device 800 is used to take pictures and position, and the parts retrieval suction cup assembly 302 removes the lens from the tray.

[0037] The part suction cup 3024 is a vacuum suction cup, which is connected to a vacuum generator (not shown) via a pipeline.

[0038] Specifically, the part-grabbing suction cup assembly 302 includes a second Y-axis moving module 3021 slidably connected to the first X-axis moving module 301, a first Z-axis moving module 3022 slidably connected to the second Y-axis moving module 3021, a rotary moving module 3023 slidably connected to the first Z-axis moving module 3022, and a part suction cup 3024 connected to the rotary moving module 3023. The second Y-axis moving module 3021 drives the part suction cup 3024 to move along the Y-axis, the first Z-axis moving module 3022 drives the part suction cup 3024 to move along the Z-axis, and the rotary moving module 3023 drives the part suction cup 3024 to rotate, so as to adjust the position of the gripped lens appropriately.

[0039] The turnover feeding device includes a second frame 400, which is a frame structure. A slide assembly 500, a parts turnover picking assembly 600, and an air knife cleaning assembly 700 are installed on the second frame 400, and the parts turnover picking assembly 600 is located above the slide assembly 500.

[0040] The slide assembly 500 includes a carrier platform 501 fixed on the second frame 400 and arranged along the X-axis, a second X-axis moving module 502 disposed on the carrier platform 501, and a first part carrier 5031 and a second part carrier 5032 slidably connected to the second X-axis moving module 502 at intervals. The first part carrier 5031 is disposed close to the part picking suction cup assembly 302. The first part carrier 5031 and the second part carrier 5032 are driven by the second X-axis moving module 502 to reciprocate and translate along the X-axis.

[0041] Both the first part carrier 5031 and the second part carrier 5032 are equipped with vacuum suction cups. The first part carrier 5031 is used to place lenses that have not yet been coated, and the second part carrier 5032 is used to place lenses that have been coated.

[0042] In this utility model, the distance between the first part carrier 5031 and the second part carrier 5032 is approximately half the length of the second X-direction moving module 502. That is, when the first part carrier 5031 moves to one end of the carrier platform 501 near the part suction cup 3024, the second part carrier 5032 is located at the middle position of the carrier platform 501. When the first part carrier 5031 moves to the middle position of the carrier platform 501, the second part carrier 5032 is located at the other end of the carrier platform 501 away from the part suction cup 3024.

[0043] Furthermore, the vehicle platform 501 is equipped with positioning detectors at both ends and in the middle to determine the running distance of the first part carrier 5031 and the second part carrier 5032.

[0044] The air knife cleaning assembly 700 includes a bracket 701 mounted on the second frame 400 and an air knife 702 fixed on the bracket 701, with the air knife 702 located within the movement trajectory of the first part carrier 5031. The air knife 702 is used to blow away dust and debris from uncoated lenses. In this invention, the air knife 702 is located on the side of the carrier platform 501 near the part suction cup 3024. Preferably, baffles are provided around the outlet of the air knife 702 to prevent dust from scattering.

[0045] The parts handling assembly 600 includes a third X-axis moving module 601, a fourth X-axis moving module 602, and a third Y-axis moving module 603, which are mounted opposite each other on the second frame 400. The third X-axis moving module 601 is slidably connected to the third Y-axis moving module 603, and the third X-axis moving module 601 is arranged on the same side as the first X-axis moving module 301. The third Y-axis moving module 603 drives the third X-axis moving module 601 to reciprocate and translate along the Y direction. The lens coating station is located on the side closest to the fourth X-axis moving module 602.

[0046] The third X-axis moving module 601 is sequentially connected to a double-rotor material-picking suction cup assembly 604, and the double-rotor material-picking suction cup assemblies 604 are all connected to a slider. That is, the third X-axis moving module 601 synchronously drives the double-rotor material-picking suction cup assemblies 604 to reciprocate and translate along the X-axis. The structure of each rotational material-picking suction cup assembly 604 is the same as that of the part picking suction cup assembly 302, except for one second Y-axis moving module 3021. That is, the Z-axis module driven along the Z-axis is directly slidably connected to the third X-axis moving module 601. The specific structure will not be described in detail here.

[0047] A vision inspection device 800 is slidably connected to the fourth X-axis moving module 602, and the lens of the vision inspection device 800 is set downward. Furthermore, a vision inspection device 800 is also provided on the second frame 400, located in the middle of the carrier platform 501 and close to the lens coating station, and the lens of the vision inspection device 800 is set upward.

[0048] The visual inspection device 800 of this utility model is a CCD camera.

[0049] To further realize the diversified functions of the feeding mechanism of this utility model, a connecting plate 6021 is slidably connected to the fourth X-axis moving module 602. The vision inspection device 800 connected to the fourth X-axis moving module 602 is fixed to the connecting plate 6021. A second Z-axis moving module 6022 is provided on the connecting plate 6021 and on the side of the vision inspection device 800 near the part suction cup 3024. A film-tearing gripper assembly 6023 is connected to the second Z-axis moving module 6022. The second Z-axis moving module 6022 drives the film-tearing gripper assembly 6023 to move up and down in the Z direction. The film-tearing gripper assembly 6023 is used to tear off the release paper on the lens after the film application process is completed. The film-tearing gripper assembly 6023 includes a finger cylinder 6023a and a pair of film-tearing grippers 6023b connected to the driving end of the finger cylinder. The finger cylinder 6023a drives the opening and closing of the pair of film-tearing grippers 6023b. In addition, to facilitate the tearing of the release paper, both the finger cylinder 6023a and the pair of film-tearing grippers 6023b are obliquely arranged relative to the second Z-axis moving module 6022. In this utility model, the pair of film-tearing grippers 6023b are obliquely arranged in the direction away from the visual inspection device 800.

[0050] Additionally, an air blowing pipe 6024 is provided on the second frame 400 near the tear-off gripper assembly 6023. The air blowing pipe 6024 is connected to an air blowing device (not shown) and is used to blow air onto the lens to be peeled when the tear-off gripper assembly 6023 peels off the release paper, assisting in the peeling of the release paper. Furthermore, a recycling bin 900 is provided on the second frame 400 below the tear-off gripper assembly 6023. The recycling bin 900 is used to collect the release paper torn off by the tear-off gripper assembly 6023. Preferably, the bottom surface of the recycling bin 900 of this invention is provided with a Y-axis drive module, which drives the recycling bin 900 to reciprocate parallel along the Y-axis direction.

[0051] The operation process of this utility model is as follows:

[0052] S1. A robotic arm or other conveyor module places a tray 002 filled with uncoated lenses onto a tray platform 202. Two tray positioning gripper assemblies 204 move closer together, positioning the tray within a long rectangular array formed by several protrusions 2021. A first Y-axis moving module 201 moves the tray platform 202 and the tray 002 on the tray platform along the Y-axis toward the parts unloading assembly 300.

[0053] S2. The first X-axis moving module 301, along with the dynamic vision inspection device 800 and the part picking suction cup assembly 302, moves back and forth along the X-axis. The vision inspection device 800 is used to take pictures and locate the position of the lens in the tray. The part picking suction cup 3024 in the part picking suction cup assembly 302 picks up and removes the lens from the tray.

[0054] S3. The first part carrier 5031 is located on the second X-axis moving module 502 near the part suction cup 3024. The part suction cup 3024 places the lens without film on the first part carrier 5031. The second X-axis moving module 502 drives the first part carrier 5031 to move towards the air knife cleaning component 700. When the first part carrier 5031 is located at the outlet of the air knife 702, the air knife 702 performs a dust removal process on the lens on the first part carrier 5031.

[0055] S4. After the dust removal process is completed, the first part carrier 5031 continues to move to the middle section of the second X-axis moving module 502 and the third X-axis moving module 601. The turnover material suction cup assembly 604, which is close to the air knife cleaning assembly 700, picks up the uncoated lens on the first part carrier 5031 and moves it along the third Y-axis moving module 603 to a position above the lens of the vision inspection device 800 on the second frame 400. The vision inspection device 800 takes pictures and positions the lens. At the same time, the vision inspection device 800 on the fourth X-axis moving module 602 takes pictures of the position of the lens coating carrier (not shown) at the lens coating station. The positioning data of the two vision inspection devices 800 are compared and automatically corrected so that the direction of the curved surface of the lens coating carrier at the lens coating station is consistent with the corresponding direction of the curved surface of the uncoated lens, so as to facilitate the subsequent coating process. Then, the turnover material suction cup assembly 604 moves along the third Y-axis moving module 603 to put the uncoated lens into the lens coating carrier.

[0056] S5. After the above-mentioned lens completes the film application process, the first part carrier 5031 moves to the second X-axis module 502.

[0057] Driven to reset to one end near the part suction cup 3024, the second part carrier 5032 moves to the middle section of the second X-axis moving module 502. The lens with the film applied moves to below the film-tearing gripper assembly 6023 under the drive of the lens film-applying carrier. The second Z-axis moving module 6022 drives the film-tearing gripper assembly 6023 to descend along the Z-axis to the lens with the film applied. The finger cylinder 6023a drives a pair of film-tearing grippers 6023b to clamp a corner of the release paper on the lens. At this time, the second Z-axis moving module 6022 drives the film-tearing gripper 6023b to rise or the fourth X-axis moving module 602 moves along the X-axis, and the release paper is torn off. At the same time, the air pipe 6024 blows air to assist in the peeling of the release paper. The torn release paper falls into the recycling bin 900.

[0058] S6. On the third X-axis moving module 601, another rotating material-picking suction cup assembly 604 places the lens with the film applied and the release paper removed onto the second part carrier 5032. The second X-axis moving module 502 drives the second part carrier 5032 to move away from the air knife cleaning assembly 700 for subsequent illumination and barcode scanning processes. This process is repeated.

[0059] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A feeding mechanism for an automated assembly equipment for irregularly shaped parts, characterized in that, This includes a sequentially arranged out-of-warehouse feeding device and a turnover feeding device; The loading and unloading device includes a first frame (100), a pallet conveying assembly (200) mounted on the first frame (100), and a parts unloading and unloading assembly (300). The parts unloading and unloading assembly (300) is located above the pallet conveying assembly (200), and the pallet conveying assembly (200) moves closer to or further away from the parts unloading and unloading assembly (300) along the Y direction. The turnover feeding device includes a second frame (400), a slide assembly (500) mounted on the second frame (400), and a parts turnover picking assembly (600). The parts turnover picking assembly (600) is located above the slide assembly (500). An air knife cleaning assembly (700) is provided on the second frame (400) near the side of the parts out-of-warehouse picking assembly (300).

2. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 1, characterized in that, The pallet conveying assembly (200) includes a first Y-axis moving module (201) mounted on a first frame (100) and a pallet platform (202) slidably mounted on the first Y-axis moving module (201); the first Y-axis moving module (201) drives the pallet platform (202) to move along the Y-axis.

3. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 2, characterized in that, On the first frame (100), and on each side opposite to the pallet platform (202), there is a pallet positioning gripper assembly (203). The two pallet positioning gripper assemblies (203) move relative to each other in the X direction to clamp or move away from the pallet placed on the pallet platform (202).

4. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 1, characterized in that, The parts retrieval assembly (300) includes a first X-axis moving module (301) mounted on a first frame (100), a vision inspection device (800) slidably connected to the first X-axis moving module (301) at intervals, and a parts retrieval suction cup assembly (302). The part picking suction cup assembly (302) includes a second Y-axis moving module (3021) slidably connected to the first X-axis moving module (301), a first Z-axis moving module (3022) slidably connected to the second Y-axis moving module (3021), a rotary moving module (3023) slidably connected to the first Z-axis moving module (3022), and a part suction cup (3024) connected to the rotary moving module (3023).

5. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 4, characterized in that, The slide assembly (500) includes a carrier platform (501) fixed on the second frame (400) and arranged along the X-axis, a second X-axis moving module (502) arranged on the carrier platform (501), and a first part carrier (5031) and a second part carrier (5032) slidably connected to the second X-axis moving module (502) at intervals, wherein the first part carrier (5031) is arranged close to the part unloading assembly (300).

6. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 5, characterized in that, The air knife cleaning assembly (700) includes a bracket (701) mounted on a second frame (400) and an air knife (702) fixed on the bracket (701), and the air knife (702) is located within the movement trajectory of the first part carrier (5031).

7. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 5, characterized in that, The parts turnover material handling assembly (600) includes a third X-axis moving module (601) and a fourth X-axis moving module (602) mounted opposite to each other on the second frame (400), and a third Y-axis moving module (603). The third X-axis moving module (601) is slidably connected to the third Y-axis moving module (603) and is arranged on the same side as the first X-axis moving module (301). The third X-axis moving module (601) is slidably connected with a double-rotating material-picking suction cup assembly (604) at intervals; the fourth X-axis moving module (602) is slidably connected with a vision inspection device (800), and the lens of the vision inspection device (800) faces downward.

8. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 7, characterized in that, A visual inspection device (800) is provided on the second frame (400) and on one side of the middle part of the vehicle platform (501), and the lens of the visual inspection device (800) is set upward.

9. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 7, characterized in that, A connecting plate (6021) is slidably connected to the fourth X-axis moving module (602). The visual inspection device (800) is fixed to the connecting plate (6021). A second Z-axis moving module (6022) is provided on the connecting plate (6021) and located on one side of the visual inspection device (800). A film-tearing gripper assembly (6023) is connected to the second Z-axis moving module (6022).

10. The feeding mechanism of the automated assembly equipment for irregularly shaped parts according to claim 9, characterized in that, The film-tearing gripper assembly (6023) includes a finger cylinder (6023a) and a pair of film-tearing grippers (6023b) connected to the driving end of the finger cylinder, and both the finger cylinder (6023a) and the pair of film-tearing grippers (6023b) are obliquely arranged relative to the second Z-axis moving module (6022).

Images