Flexible plate turning and pasting device for direct display module

Abstract

The utility model discloses a flexible plate turning and pasting device for a direct display module. The flexible plate turning and pasting device comprises a base, a mechanical arm, an upstream conveying module used for conveying products and a downstream conveying module used for conveying carriers for assembling the products. The upper surface of the base is connected with the mechanical arm in a positioning mode, a carrier positioning platform is arranged on the peripheral side of the upper surface of the base, and the upstream conveying module and the downstream conveying module are arranged on the peripheral side of the base with the upper surface of the base as the center. Automatic assembling action can be achieved through the carrier grabbing module and the product grabbing module, specifically, the mechanical arm is driven to guide the second grabbing end to grab a product on the upstream conveying module, and after the product is overturned by a set angle, the product and a carrier located at a carrier limiting station are positioned; and then, the manipulator is driven to guide the first grabbing end to transfer the carrier positioned with the product to a downstream conveying module.

Description

Technical Field

[0001] This utility model relates to the field of PCB processing technology, specifically to a flexible flip-board bonding device for a direct display module. Background Technology

[0002] An LED light board is a circuit board that uses light-emitting diodes (LEDs) as its light source. It is an important component in electronic devices, transmitting electronic signals and power through circuits and connectors to achieve lighting functions. LED light boards are not only compact in appearance but also highly integrate multiple electronic components and circuits, making their design and manufacturing processes more efficient. The production process involves first fabrication and printing, then the LED chips (approximately 60,000 chips per board) are assembled on the front side of the light board. After assembly, the boards undergo high-temperature reflow oven processing. Finally, the light boards are flipped and mounted onto a carrier with the flipped side facing up for component assembly.

[0003] In the traditional method, the process of flipping and installing light panels is generally done manually. This method has certain limitations in practical use, as follows:

[0004] First, manual labor often involves heavy physical labor and some mental labor, which greatly reduces work efficiency.

[0005] Secondly, during the manual flipping and mounting of LED boards, the position of contact with the product (i.e., the LED board) when taking the product (i.e., the LED board) from the upstream track and the incorrect way of taking it also have a certain impact on the product yield. For example, if a finger touches the LED bead on the surface of the product, it will cause the LED bead to shift its position, and in severe cases, it may even push the LED bead off the surface of the product.

[0006] Therefore, how to overcome the shortcomings of the existing technology mentioned above has become the subject of this utility model. Utility Model Content

[0007] This utility model provides a flexible flip-plate attaching device for a direct display module, which aims to solve the technical problems mentioned in the background art.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is: a flexible flip-plate attaching device for a direct display module, comprising a base, a robotic arm, and an upstream conveying module for conveying products;

[0009] The robot arm is positioned and connected to the upper surface of the base, and a carrier positioning platform is provided on the periphery of the upper surface of the base. The upstream conveying module is located on the periphery of the base.

[0010] The vehicle positioning platform is equipped with a vehicle-defined workstation for positioning the vehicle;

[0011] The robotic arm has a gripping mechanism positioned and connected to its execution end. The gripping mechanism includes a carrier gripping module positioned and connected to the execution end and a product gripping module positioned and connected to the side of the carrier gripping module.

[0012] The vehicle grasping module has a first grasping end;

[0013] The product gripping module has a second gripping end for gripping products, and the product gripping module is configured to rotate around the positioning connection point with the carrier gripping module so that the second gripping end is flipped by a set angle.

[0014] In use, the robotic arm is driven to guide the second gripping end to grab the product on the upstream conveying module, and after the product is flipped at a set angle, it is positioned with the carrier at the carrier's defined work position.

[0015] The relevant content in the above plan is explained as follows:

[0016] In the above solution, the carrier-limited station positions the carrier, reducing the chance that the product will not be aligned with the mounting position on the carrier during subsequent product assembly.

[0017] In the above scheme, the product refers to the lamp board, but it can also be other circuit board products.

[0018] In the above scheme, the carrier gripping module can grip the carrier to the carrier-defined workstation through the first gripping end, while the product gripping module can grip the product through the second gripping end and rotate the product at a set angle.

[0019] In the above scheme, the product position gripped by the second gripping end is the back of the product, which is the lower surface of the product on the upstream conveying module. The angle is set to 180 degrees, and only in this way can the product be flipped over.

[0020] In the above scheme, automated assembly can be achieved through a carrier gripping module and a product gripping module. Specifically, the robot arm is driven to guide the second gripping end to grip the product on the upstream conveying module, and after the product is flipped at a set angle, it is positioned with the carrier at the carrier's defined work station. Then, the robot arm is driven to guide the first gripping end to transfer the carrier positioned with the product to the downstream conveying module.

[0021] It should be noted that the vehicles at the designated workstations can be manually picked up and placed, or they can be picked up from other parts by a robotic arm.

[0022] In a further technical solution, the flip-plate applicator also includes a carrier trolley, the upper surface of which is provided with a carrier storage station, and a limit mechanism is provided along the periphery of the carrier storage station.

[0023] The limiting mechanism includes a fixed limiting post and a movable limiting post disposed on the upper surface of the carrier trolley;

[0024] The carrier storage station is a rectangular structure, and each side of the rectangular structure is provided with at least one fixed limiting post and / or a movable limiting post; the fixed limiting post is fixedly installed on the upper surface of the carrier trolley.

[0025] When the movable limiting post is set on the length or width side of the rectangular structure, the movable limiting post is configured to slide along the direction perpendicular to the length or width side of the rectangular structure.

[0026] Manually grabbing and placing vehicles into designated vehicle stations is cumbersome. To reduce labor costs, vehicles are stored at designated vehicle storage stations. During storage, a limiting mechanism can be used to restrict the position of vehicles stored at the vehicle storage station to prevent positional shifts when multiple vehicles are stacked.

[0027] It should be noted that the first side of the first rectangular structure is one side along the length direction, so the second side is the other side along the length direction.

[0028] Specifically, multiple vehicles are stacked on a vehicle-defined work station. During placement, the vehicles are restricted by fixed and movable limit posts to prevent them from tilting.

[0029] Specifically, the operation to limit the vehicle is as follows:

[0030] The first length side of the vehicle will be held in place by at least two fixed limit posts, while the corner of the vehicle, i.e. the other length side of the vehicle, will be held in place by at least two movable limit posts. The two width sides of the vehicle will be restricted by movable or fixed limit posts.

[0031] That is, the first length side of the rectangular vehicle is held in place by two fixed limiting posts, the second length side is held in place by two movable limiting posts, the first width side is held in place by one movable limiting post, and the second width side is restricted by a fixed limiting post. In this way, the vehicle will not shake arbitrarily.

[0032] If some vehicles are large, the movable limit post can be pushed along the upper surface of the vehicle trolley to move the movable limit post away from the vehicle until the vehicle is stopped, and then the movable limit post can be locked.

[0033] In a further technical solution, the carrier-defined workstation is a rectangular structure, and a secondary positioning mechanism is provided on the periphery of the carrier-defined workstation;

[0034] The secondary positioning mechanism includes a first long strip, a second long strip, and a side;

[0035] The two adjacent sides of the carrier-defined workstation are each provided with at least one of the aforementioned side edges, and the other two adjacent sides of the carrier-defined workstation are respectively provided with the first long strip and the second long strip;

[0036] The inner and outer sides are defined with the center of the workstation defined by the vehicle as a reference. The inner surface of the first strip, the inner surface of the second strip, and all the inner surfaces of the edges are combined to form a positioning space for limiting the circumference of the vehicle.

[0037] Once the vehicle is gripped by the first gripping end, the driving robot arm can place the vehicle in the positioning space.

[0038] A further technical solution is that the vehicle is provided with a plug-in hole;

[0039] The vehicle positioning platform is equipped with a pushing mechanism. The movable section of the pushing mechanism has a plug pin. The pushing mechanism guides the vehicle to abut against the inner side wall by engaging the plug pin with the plug hole.

[0040] When the vehicle is placed in the positioning space, it is restrained by the insertion of the pin into the insertion hole, and then guided by the pushing mechanism (e.g., a pushing cylinder) to abut against the inner side wall, so that the vehicle does not move freely in the positioning space.

[0041] Further technical solutions also include downstream conveying modules;

[0042] Along the length of the upper surface of the base, the upstream conveying module and the downstream conveying module are distributed on both sides of the base, and the conveying directions of the upstream conveying module and the downstream conveying module are parallel or intersecting.

[0043] A defective product positioning platform is provided between the downstream conveying module and the base;

[0044] Along the width direction of the upper surface of the base, the vehicle positioning platform and the vehicle trolley are arranged in sequence.

[0045] The defective product location platform is set up to store defective products.

[0046] The conveying directions of the upstream conveying module and the downstream conveying module can be either parallel or perpendicularly intersecting.

[0047] In a further technical solution, the vehicle gripping module includes a fixed bracket that is positioned and connected to the execution end. The fixed bracket is provided with multiple vehicle gripping suction cups, and the multiple vehicle gripping suction cups are combined to form a first gripping end for gripping the vehicle.

[0048] Multiple vehicle gripping suction cups can work together simultaneously to quickly grab stacked vehicles.

[0049] A further technical solution is that telescopic cylinders are provided on both sides of the fixed support along its length. The telescopic end of the telescopic cylinder is positioned and connected to a peeling clamping head. The peeling clamping head is configured to peel off two adjacent pieces of the carrier stacked at the carrier's defined work station.

[0050] The peeling clamp head is equipped with a laser rangefinder sensor.

[0051] Since the carriers are stacked, there will be a certain degree of adhesion between adjacent carriers. In order to prevent two carriers from being grabbed at once, when multiple carriers' gripping suction cups work together to grab the stacked carriers, the telescopic end of the telescopic cylinder works to guide the peeling clamp head to move toward the carrier, thereby peeling off the two adjacent carriers stacked at the carrier's designated work position.

[0052] It should be noted that the mounting bracket is also equipped with a contact sensing mechanism, such as a contact sensor.

[0053] During vehicle grabbing, the vehicle height detection is accomplished through a combination of a laser rangefinder and a contact sensing mechanism. After the approximate height is determined by the laser rangefinder, the robot first quickly descends to a safe height, then slowly descends. When the contact sensing mechanism triggers a positioning signal, the robot then grabs the vehicle, saving cycle time.

[0054] Further technical solutions also include an upper vision camera and a lower vision camera, wherein the upper vision camera is mounted on the vehicle grasping module, and the lower vision camera is mounted on the base and located next to the vehicle positioning platform.

[0055] The combination of upper and lower vision cameras assists in positioning and assembling products and vehicles.

[0056] During the process of flipping and mounting light panels, using upper and lower vision cameras can achieve upper and lower vision positioning, thereby ensuring the positioning and accuracy of the gripping carrier and product, and reducing defects during manual panel mounting.

[0057] In a further technical solution, the product gripping module includes a swing cylinder positioned and connected to the carrier gripping module. The output shaft of the swing cylinder is positioned and connected to a swing positioning bracket. The swing positioning bracket is provided with multiple product gripping suction cups. The multiple product gripping suction cups are combined to form a second gripping end for gripping the lower surface of the product on the upstream conveying module.

[0058] After the carrier completes the gripping, it can be placed in the positioning space. Then, multiple product gripping suction cups coordinate and grip the products conveyed by the upstream conveying module. After the gripping is completed, the output shaft of the swing cylinder rotates 180 degrees, causing the product to flip over.

[0059] Then, the product is placed in the preset assembly position on the carrier. During assembly, the product position is compensated and corrected by a downward vision camera set on the carrier positioning platform, so that the product can be accurately positioned and the assembly can be completed.

[0060] A further technical solution is that the upstream conveying module includes an upstream conveying fixed base, an upstream conveying belt is provided on the upstream conveying fixed base, and the two ends of the upstream conveying belt are an inlet and a flow stop position, respectively, wherein the flow stop position faces the base, and the upstream conveying belt is configured to guide the product to stop when it is transported to the flow stop position;

[0061] The downstream conveying module includes a downstream conveyor belt.

[0062] The downstream conveying module includes a downstream conveyor belt.

[0063] The flow stop position has a positioning limit block set on the upstream conveyor fixed seat. When the product moves from the inlet to the flow stop position via the upstream conveyor belt, it can stop moving, and then the second gripping end grips the product.

[0064] After the product assembly is completed, the downstream conveyor belt will transport the assembled vehicle away.

[0065] The terms "first," "second," etc., used in this article do not specifically refer to order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0066] The terms "connection" or "positioning" as used in this article can refer to two or more components or devices making direct physical contact with each other, or making indirect physical contact with each other, or to two or more components or devices operating or moving with each other.

[0067] The terms “include,” “including,” and “have” used in this article are all open-ended, meaning they include but are not limited to.

[0068] Unless otherwise specified, the terms used herein generally have their ordinary meaning in the context of the art, the subject matter, and the specific context. Certain terms used to describe this case will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing this case.

[0069] The terms “front,” “back,” “up,” “down,” “left,” and “right” used in this article are directional terms. In this case, they are only used to describe the positional relationship between the structures and are not intended to limit the specific direction of the protection scheme or its actual implementation.

[0070] The working principle and advantages of this utility model are as follows:

[0071] This utility model can achieve automated assembly operations through a carrier gripping module and a product gripping module. Specifically, the robot arm is driven to guide the second gripping end to grip the product on the upstream conveying module, and after the product is flipped at a set angle, it is positioned with the carrier at the carrier's defined work position. Then, the robot arm is driven to guide the first gripping end to transfer the carrier positioned with the product to the downstream conveying module.

[0072] In summary, unlike existing technologies, this application solves the problems of product defects caused by improper manual operation and high-intensity manual labor by automating the assembly process. Equipment replaces manual labor, reducing production costs and achieving efficient control over work efficiency and product yield. Furthermore, by gripping products from the back, the likelihood of product damage is reduced.

[0073] The advantage of integration lies in consolidating the traditionally dispersed processes of loading, positioning, assembly, and unloading into a unified frame platform. This modular reconfiguration not only significantly reduces the overall size of the equipment, but more importantly, through in-depth optimization of the motion control system, it enables the timing coordination of multi-axis robots and conveying mechanisms, thereby reducing process time. Attached Figure Description

[0074] Appendix Figure 1 This is a schematic diagram of the overall front view structure in an embodiment of this utility model;

[0075] Appendix Figure 2 This is a schematic diagram of the overall left-side structure in an embodiment of the present utility model;

[0076] Appendix Figure 3 This is a schematic diagram of the overall rear view structure in an embodiment of this utility model;

[0077] Appendix Figure 4 This is a perspective view of the robotic arm in an embodiment of this utility model;

[0078] Appendix Figure 5 This is a schematic diagram of the upstream conveying module structure in an embodiment of the present utility model;

[0079] Appendix Figure 6 This is a schematic diagram of the secondary positioning mechanism in an embodiment of the present utility model;

[0080] Appendix Figure 7 This is a schematic diagram of the insertion hole structure in an embodiment of the present utility model;

[0081] Appendix Figure 8 This is a top view of the gripping mechanism in an embodiment of the present utility model;

[0082] Appendix Figure 9 This is a schematic diagram of the gripping mechanism structure in an embodiment of the present utility model;

[0083] Appendix Figure 10 This is a schematic diagram of the peeling clamp head structure in an embodiment of the present invention.

[0084] In the attached diagrams: 1. Base; 2. Robotic arm; 3. Upstream conveyor module; 4. Downstream conveyor module; 5. Carrier positioning platform; 6. Carrier limiting station; 7. Gripping mechanism; 8. Carrier gripping module; 9. Product gripping module; 10. First gripping end; 11. Second gripping end; 12. Carrier trolley; 13. Carrier storage station; 14. Fixed limiting post; 15. Movable limiting post; 16. Secondary positioning mechanism; 17. First long strip; 18. Second long strip; 19. Side rail; 20. 21. Plug-in hole; 22. Plug-in pin; 23. Defective product positioning platform; 24. Fixed bracket; 25. Carrier gripping suction cup; 26. Telescopic cylinder; 27. Peeling clamp head; 28. Laser rangefinder sensor; 29. ​​Swing cylinder; 30. Swing positioning bracket; 31. Product gripping suction cup; 32. Upstream conveyor fixed seat; 33. Upstream conveyor belt; 34. Inlet; 35. Flow stop position; 36. Downstream conveyor belt; 37. Pushing mechanism; 38. Upper vision camera; 39. Lower vision camera;

[0085] Q, vehicle; W, product; E, position sensor. Detailed Implementation

[0086] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0087] Example: The present invention will be clearly described below with illustrations and detailed description. Any person skilled in the art who understands the examples of the present invention can make changes and modifications based on the technology taught in the present invention without departing from the spirit and scope of the present invention.

[0088] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the scope of this work. Singular forms such as “a,” “this,” “this,” “the,” and “the” as used herein also include plural forms.

[0089] See appendix Figures 1-10 As shown, a flexible flip-plate attaching device for a direct display module includes a base 1, a robotic arm 2, and an upstream conveying module 3 for conveying product W.

[0090] The robot arm 2 is positioned and connected to the upper surface of the base 1, and a carrier positioning platform 5 is provided on the periphery of the upper surface of the base 1. The upstream conveying module 3 is provided on the periphery of the base 1.

[0091] The vehicle positioning platform 5 is equipped with a vehicle limiting station 6 for positioning the vehicle Q;

[0092] The robotic arm 2 has a gripping mechanism 7 positioned and connected to its execution end. The gripping mechanism 7 includes a carrier gripping module 8 positioned and connected to the execution end and a product gripping module 9 positioned and connected to the side of the carrier gripping module 8.

[0093] The vehicle gripping module 8 has a first gripping end 10;

[0094] The product gripping module 9 has a second gripping end 11 for gripping product W, and the product gripping module 9 is configured to rotate about the positioning connection point with the carrier gripping module 8 so that the second gripping end 11 is flipped by a set angle.

[0095] In use, the robot arm 2 is driven to guide the second gripping end 11 to grab the product W on the upstream conveying module 3, and after the product W is flipped at a set angle, it is positioned with the carrier Q at the carrier-limited station 6.

[0096] In this embodiment, the carrier-limited station 6 positions the carrier Q, reducing the probability that the product W will not be aligned with the mounting position on the carrier Q when assembling the product W later.

[0097] In this embodiment, product W refers to the lamp board, but it can also be other circuit board products.

[0098] In this embodiment, the carrier gripping module 8 can grip the carrier Q to the carrier-limited station 6 through the first gripping end 10, while the product gripping module 9 can grip the product W through the second gripping end 11 and rotate the product W at a set angle.

[0099] In this embodiment, the product W gripped by the second gripping end 11 is located on the back of the product W, which corresponds to the lower surface of the product W on the upstream conveying module 3. The angle is set to 180 degrees, and only in this way can the product W be flipped over.

[0100] In this embodiment, automated assembly can be achieved through the carrier gripping module 8 and the product gripping module 9. Specifically, the robot arm 2 is driven to guide the second gripping end 11 to grip the product W on the upstream conveying module 3, and after the product W is flipped at a set angle, it is positioned with the carrier Q at the carrier-limited station 6. Then, the robot arm 2 is driven to guide the first gripping end 10 to transfer the carrier Q positioned with the product W to the downstream conveying module 4.

[0101] It should be noted that the vehicle Q at the vehicle-limited station 6 can be manually picked up and placed, or it can be picked up from other parts by the robotic arm 2.

[0102] Preferably, the flip-plate applicator further includes a carrier trolley 12, the upper surface of which is provided with a carrier storage station 13, and a limit mechanism is provided along the periphery of the carrier storage station 13.

[0103] The limiting mechanism includes a fixed limiting post 14 and a movable limiting post 15 disposed on the upper surface of the carrier trolley 12;

[0104] The carrier storage station 13 has a rectangular structure, and each side of the rectangular structure is provided with at least one fixed limiting post 14 and / or a movable limiting post 15; the fixed limiting post 14 is fixedly installed on the upper surface of the carrier trolley 12.

[0105] When the movable limiting post 15 is set on the length or width side of the rectangular structure, the movable limiting post 15 is configured to slide along the direction perpendicular to the length or width side of the rectangular structure.

[0106] The manual operation of grabbing the vehicle Q and placing it on the vehicle-limited station 6 is quite cumbersome. In order to reduce labor costs, the vehicle Q is stored at the vehicle storage station 13. During the storage process, the position of the vehicle Q stored at the vehicle storage station 13 can be limited by the limiting mechanism to prevent the position from shifting when multiple vehicles Q are stacked.

[0107] It should be noted that the first side of the first rectangular structure is one side along the length direction, so the second side is the other side along the length direction.

[0108] Specifically, multiple vehicles Q are stacked on the vehicle limiting station 6. During placement, the vehicles Q are restricted by the fixed limiting post 14 and the movable limiting post 15 respectively, so that the vehicles Q will not tilt.

[0109] Specifically, the operation to limit the movement of vehicle Q is as follows:

[0110] The first length side of vehicle Q will be abutted by at least two fixed limit posts 14, while the corner of vehicle Q, i.e. the other length side of vehicle Q, will be abutted by at least two movable limit posts 15. The two width sides of vehicle Q will be restricted by movable limit posts 15 or fixed limit posts 14.

[0111] The first length side of the rectangular vehicle Q is held in place by two fixed limiting posts 14, the second length side is held in place by two movable limiting posts 15, the first width side is held in place by one movable limiting post 15, and the second width side is restricted by the fixed limiting post 14. In this way, the vehicle Q will not shake randomly.

[0112] If a vehicle Q is large, the movable limit post 15 can be pushed along the upper surface of the vehicle trolley 12 to move the movable limit post 15 away from the vehicle Q until the vehicle Q is blocked, and then the movable limit post 15 can be locked.

[0113] Preferably, the carrier-limited workstation 6 has a rectangular structure, and a secondary positioning mechanism 16 is provided on the periphery of the carrier-limited workstation 6;

[0114] The secondary positioning mechanism 16 includes a first long strip 17, a second long strip 18, and an edge 19;

[0115] The vehicle-limited workstation 6 has at least one of the adjacent edges 19 on each of its two adjacent sides, and the other two adjacent sides of the vehicle-limited workstation 6 are respectively provided with the first strip 17 and the second strip 18.

[0116] With the center of the carrier-limited workstation 6 as a reference, the inner and outer sides are defined (the side closer to the center is the inner side and the side farther from the center is the outer side). The inner surface of the first strip 17, the inner surface of the second strip 18, and the inner surfaces of all the edges 19 are combined to form a positioning space for limiting the circumference of the carrier Q.

[0117] Once the vehicle Q is gripped by the first gripping end 10, the driving robot 2 can place the vehicle Q in the positioning space.

[0118] Preferably, the carrier Q is provided with a plug-in hole 20;

[0119] The vehicle positioning platform 5 is provided with a pushing mechanism 36. The movable section of the pushing mechanism 36 has a plug pin 21. The pushing mechanism 36 guides the vehicle Q to abut against the inner side wall of the side 19 by plugging the plug pin 21 into the plug hole 20.

[0120] When the vehicle Q is placed in the positioning space, the vehicle Q is restricted by the insertion of the insertion pin 21 into the insertion hole 20. Then, the vehicle Q is guided to abut against the inner side wall of the side 19 by the pushing mechanism 36 (e.g., a pushing cylinder), so that the vehicle Q will not move freely in the positioning space.

[0121] Preferably, it also includes a downstream conveying module 4;

[0122] Along the length of the upper surface of the base 1, the upstream conveying module 3 and the downstream conveying module 4 are distributed on both sides of the base 1, and the conveying directions of the upstream conveying module 3 and the downstream conveying module 4 are parallel or intersecting.

[0123] A defective product positioning platform 22 is provided between the downstream conveying module 4 and the base 1;

[0124] Along the width direction of the upper surface of the base 1, the vehicle positioning platform 5 and the vehicle trolley 12 are arranged in sequence.

[0125] The defective product location platform 22 is set up to store defective products W.

[0126] The conveying directions of the upstream conveying module 3 and the downstream conveying module 4 can be either parallel or perpendicularly intersecting.

[0127] Preferably, the vehicle gripping module 8 includes a fixed bracket 23 that is positioned and connected to the execution end. The fixed bracket 23 is provided with a plurality of vehicle gripping suction cups 24, and the plurality of vehicle gripping suction cups 24 are combined to form a first gripping end 10 for gripping the vehicle Q.

[0128] Multiple vehicle grabbing suction cups 24 can work together simultaneously to quickly grab stacked vehicles Q.

[0129] Preferably, telescopic cylinders 25 are provided on both sides of the fixed bracket 23 along its length. The telescopic end of the telescopic cylinder 25 is positioned and connected to a peeling clamping head 26. The peeling clamping head 26 is configured to peel off two adjacent pieces of carrier Q stacked at the carrier limiting station 6.

[0130] The peeling clamp head 26 is equipped with a laser range sensor 27.

[0131] Since the carriers Q are stacked, there will be a certain degree of adhesion between two adjacent carriers Q. In order to prevent two carriers Q from being grabbed at once, when multiple carrier gripping suction cups 24 simultaneously coordinate to grab the stacked carriers Q, the telescopic end of the telescopic cylinder 25 works to guide the peeling clamping head 26 to move toward the carrier Q, thereby peeling off the two adjacent pieces of carriers Q stacked at the carrier limited station 6.

[0132] It should be noted that the fixed bracket 23 is also equipped with a contact sensing mechanism, such as a contact sensor.

[0133] During the grabbing of carrier Q, the height detection of carrier Q is accomplished through the collaboration of a laser rangefinder sensor 27 and a contact sensing mechanism. After the approximate height is measured by the laser rangefinder, the robot first quickly descends to a safe height, and then slowly descends. When the contact sensing mechanism triggers the positioning signal, the robot then grabs carrier Q, saving cycle time.

[0134] Preferably, it also includes an upper vision camera 37 and a lower vision camera 38, wherein the upper vision camera 37 is mounted on the vehicle grasping module 8, and the lower vision camera 38 is mounted on the base 1 and located beside the vehicle positioning platform 5.

[0135] The upper vision camera 37 and the lower vision camera 38 work together to assist in the positioning and assembly of product W and vehicle Q.

[0136] During the flip-board mounting process, the use of the upper vision camera 37 and the lower vision camera 38 can achieve upper and lower vision positioning, thereby ensuring the positioning and accuracy of the gripping carrier Q and product W, and reducing defects during manual board mounting.

[0137] Preferably, the product gripping module 9 includes a swing cylinder 28 positioned and connected to the carrier gripping module 8. The output shaft of the swing cylinder 28 is positioned and connected to a swing positioning bracket 29. The swing positioning bracket 29 is provided with a plurality of product gripping suction cups 30. The plurality of product gripping suction cups 30 are combined to form a second gripping end 11 for gripping the lower surface of the product W on the upstream conveying module 3.

[0138] After the carrier Q completes the gripping, it can be placed in the positioning space. Then, multiple product gripping suction cups 30 coordinate and grip the product W conveyed by the upstream conveying module 3. After the gripping is completed, the output shaft of the swing cylinder 28 rotates 180 degrees, causing the product W to flip over.

[0139] Then, the product W is placed in the preset assembly position on the carrier Q. During assembly, the position of the product W is compensated and corrected by the downward vision camera 38 set on the base 1, so that the product W can be accurately positioned and the assembly can be completed.

[0140] Preferably, the upstream conveying module 3 includes an upstream conveying fixed base 31, on which an upstream conveying belt 32 is provided. The two ends of the upstream conveying belt 32 are an inlet 33 and a flow stop position 34, respectively. The flow stop position 34 faces the base 1. The upstream conveying belt 32 is configured to guide the product W to stop when it is transported to the flow stop position 34.

[0141] The downstream conveying module 4 includes a downstream conveyor belt 35.

[0142] The downstream conveying module 4 includes a downstream conveyor belt 35.

[0143] The flow stop position 34 has a positioning limit block set on the upstream conveyor fixed seat 31. When the product W moves from the inlet 33 to the flow stop position 34 via the upstream conveyor belt 32, it can stop moving, and then the second gripping end 11 grips the product W.

[0144] After the product W is assembled, the downstream conveyor belt 35 will transport the carrier Q, which is equipped with product W, away.

[0145] Working principle:

[0146] Product W is placed on the upstream conveyor belt 32. Then, product W moves from the inlet 33 to the flow stop position 34 via the upstream conveyor belt 32 and stops moving.

[0147] Simultaneously, the robot arm 2 is driven to grasp the carrier Q. When grasping the carrier Q, the height of the carrier Q is first detected, that is, the approximate height is measured by laser rangefinder. The robot first quickly descends to a safe height, and then slowly descends. When the contact sensing mechanism triggers the positioning signal, the robot then grasps the carrier Q, saving cycle time.

[0148] Subsequently, multiple carrier gripping suction cups 24 simultaneously coordinate to grip the stacked carriers Q. Then, the telescopic end of the telescopic cylinder 25 operates to guide the peeling clamping head 26 to move toward the carrier Q, thereby peeling off two adjacent pieces of carrier Q stacked at the carrier's defined work station 6.

[0149] Then, the robotic arm 2 places the gripped carrier Q into the positioning space. When the carrier Q is placed in the positioning space, the insertion pin 21 engages with the insertion hole 20 to restrain the carrier Q. Then, the pushing mechanism 36 (e.g., a pushing cylinder) guides the carrier Q to abut against the inner side wall of the sidewall 19, so that the carrier Q will not move freely in the positioning space.

[0150] Then, the driving robot 2 guides the product gripping module 9 to grip product W, that is, multiple product gripping suction cups 30 coordinate and cooperate to grip product W delivered by the upstream conveying module 3.

[0151] When gripping product W, the arm moves under product W, the end gripper suction cup picks up the back of product W, the vacuum value is reached, the arm rises to a safe height, the rotary cylinder on the end gripper rotates 180°, product W is turned face down and back up, thus flipping product W over.

[0152] Then, the product W is placed in the preset assembly position on the carrier Q. During assembly, the position of the product W is compensated and corrected by the downward vision camera 38 set on the base 1, so that the product W can be accurately positioned and the assembly can be completed.

[0153] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A flexible flip-plate bonding device for a direct-view module, characterized in that: Includes a base (1), a robotic arm (2), and an upstream conveying module (3) for conveying products; The robot arm (2) is positioned and connected to the upper surface of the base (1), and a carrier positioning platform (5) is provided on the periphery of the upper surface of the base (1). The upstream conveying module (3) is provided on the periphery of the base (1). The vehicle positioning platform (5) is provided with a vehicle limiting station (6) for positioning the vehicle. The robotic arm (2) is positioned and connected to a gripping mechanism (7). The gripping mechanism (7) includes a carrier gripping module (8) positioned and connected to the execution end and a product gripping module (9) positioned and connected to the side of the carrier gripping module (8). The vehicle gripping module (8) has a first gripping end (10). The product gripping module (9) has a second gripping end (11) for gripping products, and the product gripping module (9) is configured to rotate about the positioning connection point with the carrier gripping module (8) so that the second gripping end (11) is flipped by a set angle. When in use, the robotic arm (2) is driven to guide the second gripping end (11) to grab the product on the upstream conveying module (3), and after the product is flipped at a set angle, it is positioned with the carrier at the carrier-limited station (6).

2. The flexible flip-plate bonding device for a direct-view module according to claim 1, characterized in that: The flip-plate applicator also includes a carrier trolley (12), the upper surface of which is provided with a carrier storage station (13), and a limit mechanism is provided along the periphery of the carrier storage station (13). The limiting mechanism includes a fixed limiting post (14) and a movable limiting post (15) disposed on the upper surface of the carrier trolley (12). The carrier storage station (13) is a rectangular structure, and each side of the rectangular structure is provided with at least one fixed limiting post (14) and / or a movable limiting post (15); the fixed limiting post (14) is fixedly installed on the upper surface of the carrier trolley (12); When the movable limiting post (15) is set on the length or width side of the rectangular structure, the movable limiting post (15) is configured to slide along the direction perpendicular to the length or width side of the rectangular structure.

3. The flexible flip-plate bonding device for a direct-view module according to claim 1, characterized in that: The carrier-limited station (6) has a rectangular structure, and a secondary positioning mechanism (16) is provided on the periphery of the carrier-limited station (6). The secondary positioning mechanism (16) includes a first strip (17), a second strip (18), and a side (19). The vehicle-limited workstation (6) has at least one of the two adjacent sides provided with a side edge (19), and the other two adjacent sides of the vehicle-limited workstation (6) are respectively provided with the first strip (17) and the second strip (18). The inner and outer sides are defined with the center of the vehicle limiting station (6) as a reference. The inner surface of the first strip (17), the inner surface of the second strip (18), and the inner surfaces of all the edges (19) are combined to form a positioning space for limiting the circumference of the vehicle.

4. The flexible flip-plate bonding device for a direct-view module according to claim 3, characterized in that: The vehicle is provided with a plug-in hole (20); The vehicle positioning platform (5) is provided with a pushing mechanism (36). The movable section of the pushing mechanism (36) has a plug pin (21). The pushing mechanism (36) guides the vehicle to abut against the inner side wall of the side (19) by plugging the plug pin (21) into the plug hole (20).

5. The flexible flip-plate bonding device for a direct-view module according to claim 2, characterized in that: It also includes downstream conveying modules (4); Along the length of the upper surface of the base (1), the upstream conveying module (3) and the downstream conveying module (4) are distributed on both sides of the base (1), and the conveying directions of the upstream conveying module (3) and the downstream conveying module (4) are parallel or intersecting. A defective product positioning platform (22) is provided between the downstream conveying module (4) and the base (1). Along the width direction of the upper surface of the base (1), the vehicle positioning platform (5) and the vehicle trolley (12) are arranged in sequence.

6. The flexible flip-plate bonding device for a direct-view module according to claim 1, characterized in that: The vehicle gripping module (8) includes a fixed bracket (23) that is positioned and connected to the execution end. The fixed bracket (23) is provided with a plurality of vehicle gripping suction cups (24). The plurality of vehicle gripping suction cups (24) are combined to form a first gripping end (10) for gripping the vehicle.

7. The flexible flip-plate bonding device for a direct-view module according to claim 6, characterized in that: Telescopic cylinders (25) are provided on both sides of the fixed bracket (23) along its length. The telescopic end of the telescopic cylinder (25) is connected to a peeling clamp head (26). The peeling clamp head (26) is configured to peel off two adjacent pieces of the carrier stacked at the carrier's defined work station (6). The peeling clamp head (26) is equipped with a laser range sensor (27).

8. The flexible flip-plate bonding device for a direct-view module according to claim 1, characterized in that: It also includes an upper vision camera (37) and a lower vision camera (38), wherein the upper vision camera (37) is mounted on the vehicle gripping module (8), and the lower vision camera (38) is mounted on the base (1) and located next to the vehicle positioning platform (5).

9. The flexible flip-plate bonding device for a direct-view module according to claim 1, characterized in that: The product gripping module (9) includes a swing cylinder (28) positioned and connected to the carrier gripping module (8). The output shaft of the swing cylinder (28) is positioned and connected to a swing positioning bracket (29). The swing positioning bracket (29) is provided with multiple product gripping suction cups (30). The multiple product gripping suction cups (30) are combined to form a second gripping end (11) for gripping the lower surface of the product on the upstream conveying module (3).

10. The flexible flip-plate bonding device for a direct-view module according to claim 5, characterized in that: The upstream conveying module (3) includes an upstream conveying fixed seat (31), on which an upstream conveying belt (32) is provided. The two ends of the upstream conveying belt (32) are an inlet (33) and a flow stop position (34), respectively. The flow stop position (34) faces the base (1), and the upstream conveying belt (32) is configured to stop transporting when the product is transported to the flow stop position (34). The downstream conveying module (4) includes a downstream conveyor belt (35).

Images