Dual robot automatic taping machine

Abstract

The utility model relates to the technical field of magnetic material processing, especially a double -robot automatic material sticking machine, including frame, set up and install big base plate in the frame, the outer side of frame is provided with incoming material conveying device, set up batching conveying device on the installation big base plate, the conveying direction of incoming material conveying device is perpendicular to the conveying direction of batching conveying device, the input of batching conveying device and the output of incoming material conveying device butt joint, batching conveying device both sides set up positioning conveying device side by side, two groups of positioning conveying device symmetrical setting, the input of positioning conveying device is butt joint respectively and sets up the output side of batching conveying device, the output end of batching conveying device still is matched with the setting and is provided with the material shifting device, and the side of positioning conveying device sets up the material loading device side by side, and the material loading device is provided with the mechanical arm material taking device between positioning conveying device, material loading device end part is matched and sets up the point gluing device.

Description

Technical Field

[0001] This utility model relates to the field of magnetic material processing technology, and in particular to a dual-robot automatic material bonding machine. Background Technology

[0002] In the production of magnetic materials, larger magnetic materials need to undergo further secondary processing to be processed into smaller-sized materials. During production, multiple magnetic material sheets are glued and stacked. After stacking, the relative dimensional stability between the ceramic sheets is good, allowing them to be placed on a wire cutting machine for simultaneous cutting, improving production efficiency. Currently, the automatic dispensing machine used in production requires manual feeding, resulting in high feeding frequency, visual and physical fatigue, positioning errors, low machine uptime, and low production efficiency, failing to achieve optimal production results. Summary of the Invention

[0003] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a dual-robot automatic material bonding machine, which realizes automatic feeding of materials onto the machine table, automatic material picking, dispensing and stacking, and automatic output of stacked materials, thereby saving manpower, improving production cycle, increasing work efficiency, and reducing production costs.

[0004] The technical solution adopted by this utility model is: A dual-robot automatic adhesive bonding machine includes a frame, a mounting base plate inside the frame, an incoming material conveying device on the outer side of the frame, a dispensing conveying device on the mounting base plate, an input end of the dispensing conveying device connected to the output end of the incoming material conveying device, two positioning conveying devices arranged side by side on both sides of the dispensing conveying device, two sets of positioning conveying devices symmetrically arranged, an input end of the positioning conveying device connected to both sides of the output end of the dispensing conveying device, a material feeding device matched to the output end of the dispensing conveying device, a loading device arranged side by side on the side of the positioning conveying device, a robotic arm picking device between the positioning conveying device and the loading device, and a dispensing device matched to the end of the loading device.

[0005] The conveying direction of the incoming material conveying device is perpendicular to the conveying direction of the batching conveying device.

[0006] The batching and conveying device includes a third belt conveyor. A primary guide plate and a secondary guide plate are provided on both sides of the third belt conveyor along the conveying direction. The primary guide plate is located at the input end of the third belt conveyor, and the secondary guide plate is connected to the primary guide plate. A first connecting plate and a second connecting plate are provided on both sides of the conveying end of the third belt conveyor. The first connecting plate and the second connecting plate are respectively connected to the input end of the positioning conveying device. A stop is provided at the end of the conveying end of the third belt conveyor, and a sixth sensor is provided on the stop.

[0007] The material feeding device includes a support frame, which is suspended at the end of the third conveyor belt. A material feeding cylinder is horizontally mounted on the support frame, and a material feeding block mounting plate is mounted on the slide of the material feeding cylinder. A material feeding block is mounted on the material feeding block mounting plate.

[0008] The positioning conveyor includes a first belt conveyor, a material stop device at the end of the first belt conveyor, a first material pusher device above the material stop device, the material pusher device having a pushing direction perpendicular to the conveying direction of the first belt conveyor, a right-angle precision positioning device having a pushing direction of the first material pusher device, and a second material pusher device having a second material pusher device having a second material pusher device having an output direction facing the right-angle precision positioning device.

[0009] The dispensing device includes a gantry support, a first servo motion platform is horizontally arranged on the top of the gantry support, a second servo motion platform is vertically arranged on the slide of the first servo motion platform, and a dispensing head device is arranged on the slide of the second servo motion platform.

[0010] The robotic arm material handling device includes a multi-axis robotic arm, and the output shaft end of the multi-axis robotic arm is equipped with a suction gripper.

[0011] The material loading device includes a third servo motion platform, and a carrier plate is mounted on the sliding seat of the third servo motion platform.

[0012] The material conveying device includes a second belt conveyor. A vertical plate frame is installed across the end of the second belt conveyor. A third pusher cylinder is installed on the vertical plate frame. A transfer plate is installed on the sliding seat of the third pusher cylinder. A third pusher plate is installed on the transfer plate. A material blocking and positioning plate is also installed at the end of the second belt conveyor. A positioning strip is installed laterally on the belt of the second belt conveyor.

[0013] The material blocking device includes a fourth support base, a material blocking block mounting bracket is provided on the fourth support base, a material blocking block is provided on the material blocking block mounting bracket, and a second sensor and a third roller are provided on the front end face of the material blocking block.

[0014] The first pushing device includes a second support base, on which a first pushing cylinder is mounted. The first pushing cylinder is located above the tail end of the first belt conveyor. A cylinder connecting plate is mounted on the sliding seat of the first pushing cylinder. The cylinder connection extends outward perpendicular to the first pushing cylinder. A first pushing plate connecting block is located below the extension end. A first pushing plate is located below the first pushing plate connecting block. A first roller is located at the front end of the first pushing plate.

[0015] The right-angle precision positioning device includes a first support base, a positioning plate on the first support base, a first positioning block and a second positioning block on the positioning plate, the first positioning block and the second positioning block are set at right angles, the second positioning block is opposite to the first pushing device, the first positioning block is opposite to the second pushing device, and a fourth sensor is set on the second positioning block.

[0016] The second pushing device includes a third support base, on which a second pushing cylinder is mounted, and at the output shaft end of the second pushing cylinder is a second pushing plate.

[0017] The material suction gripper includes a shaft end fixing plate, which is fixedly mounted on the output shaft end of a multi-axis robotic arm. A linear guide mounting plate is vertically mounted on the side of the shaft end fixing plate, and a first linear guide is mounted on the linear guide mounting plate. A guide screw is mounted on the top end face of the linear guide mounting plate, and a guide screw is mounted on the guide screw mounting plate. A floating plate is mounted on the sliding block of the first linear guide. The floating plate is an L-shaped mounting plate, and its vertical mounting plate is fixedly mounted on the sliding block of the first linear guide. Its top is screwed to the guide screw. A first spring is mounted between the top end face of the vertical mounting plate of the floating plate and the bottom surface of the guide screw mounting plate. The first spring is sleeved on the guide screw. A suction block is mounted below the horizontal mounting plate of the floating plate. The suction direction of the suction block is vertically downward. The suction block has several suction holes, and a quick-change connector is mounted on the side of the suction block.

[0018] The dispensing head device includes a slide block, which is fixedly mounted on the slide of the second servo motion platform. An L-shaped mounting block is provided on the slide block. The vertical mounting block of the L-shaped mounting block is connected to the slide block. An adjusting block is provided on the horizontal mounting block of the L-shaped mounting block. The adjusting block is provided with several mounting holes. The mounting holes fix the dispensing head fixing block. A dispensing head movable block is provided on the dispensing head fixing block. The dispensing head is inserted through the dispensing head movable block.

[0019] The dispensing head fixing block is provided with a movable block mounting groove, and several dispensing head movable blocks are provided in the movable block mounting groove. A through long slot hole is provided at the top of the movable block mounting groove, and a tightening screw hole is provided on the side wall of the movable block mounting groove.

[0020] A carrier plate support is fixedly installed on the sliding seat of the third servo motion platform. A carrier plate is installed on the carrier plate support. Several third positioning blocks are installed on the periphery side wall of the carrier plate support. Positioning screws are screwed onto the third positioning blocks.

[0021] The beneficial effects of this utility model are: This utility model discloses a dual-robot automatic material bonding machine. The main frame integrates an incoming material conveying device, a batching conveying device, a feeding device, a robotic arm picking device, a positioning conveying device, a dispensing device, and a loading device. The output end of the incoming material conveying device connects to the input end of the batching conveying device, automatically conveying materials to it. The batching conveying device, in conjunction with the feeding device, distributes materials to the positioning conveying device, which automatically positions the materials. The robotic arm picking device automatically picks up and releases materials from within the machine. The dispensing device automatically dispenses glue, and the loading device loads materials and automatically outputs them from the machine. An incoming material conveying device is located on the side of the main frame for automatic feeding. The incoming material conveying device automatically pushes materials into the positioning conveying device. The positioning conveying device is equipped with a guiding device and a precision positioning device to achieve precise material positioning. The robotic arm picking device is equipped with a flexible gripper for precise material picking and placing. The dispensing device and the robotic arm picking device work together to effectively reduce the time required for material picking and placing operations. The material handling device integrates a servo motion mechanism and a positioning component. The positioning component enables precise positioning of the material carrier plate, while the servo motion mechanism enables automatic movement of the carrier plate, significantly reducing the workload of operators. This improves production efficiency, freeing up more time for operators to handle other tasks and enhancing their overall work efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure and appearance. Figure 2 This is a schematic diagram of the internal structure of the overall system; Figure 3 This is a partial structural diagram of the material conveying device; Figure 4 for Figure 3 Right view partial structural diagram; Figure 5 Schematic diagram of the material feeding and conveying device and the material dispensing device; Figure 6 Schematic diagram of the installation structure of the batching conveyor and the positioning conveyor. Figure 7 This is a schematic diagram of the positioning and conveying device. Figure 8 This is a schematic diagram of the material blocking device. Figure 9 This is a schematic diagram of the first feeding device. Figure 10 This is a schematic diagram of a right-angle precision positioning device; Figure 11 This is a schematic diagram of the second feeding device. Figure 12 This is a schematic diagram of the dispensing device. Figure 13 Schematic diagram of the dispensing head device Figure 1 ; Figure 14 Schematic diagram of the dispensing head device Figure 2 ; Figure 15 This is a schematic diagram of the robotic arm's material handling device. Figure 16 A schematic diagram of the suction block structure of the robotic arm's material handling device; Figure 17 This is a schematic diagram of the material loading device. Figure 18 This is a schematic diagram of the carrier plate support plate structure.

[0023] In the diagram: 1-Rack, 101-Mounting base plate. 2-Robotic arm material handling device; 201-Multi-axis robotic arm; 202-Robotic arm mounting base; 203-Shaft end fixing plate; 204-Linear rail mounting plate; 205-First linear rail; 206-Guide screw mounting plate; 207-Guide screw; 208-First spring; 209-Floating plate; 210-Suction block; 2101-Suction hole; 2102-Quick-change connector. 3-Positioning and conveying device, 301-First belt conveyor, 304-First guide plate, 307-First sensor, 308-Right-angle precision positioning device, 3081-First support base, 3082-Blocking positioning plate, 30821-Support bar, 3083-First positioning block, 3084-Second positioning block, 3085-Fourth sensor, 309-First pushing device, 3091-Second support base, 3092-First pushing cylinder, 3093- Cylinder connecting plate, 3094-First push plate connecting block, 3095-First push plate, 3096-First roller, 3097-Cylinder guard plate, 310-Second pushing device, 3101-Third support seat, 3102-Second pushing cylinder, 3103-Second push plate, 311-Blocking device, 3111-Fourth support seat, 3112-Blocking block mounting bracket, 3113-Blocking block, 3114-Second sensor, 3115-Third roller 4-Incoming material conveyor, 401-Second belt conveyor, 4011-Positioning strip, 402-Upright plate frame, 403-Third pusher cylinder, 404-Transfer plate, 405-Third pusher plate, 406-Blocking positioning plate, 407-Blocking positioning plate fixing frame, 408-Third sensor 5-Dispensing device; 501-Gantry bracket; 502-First servo motion platform; 503-Second servo motion platform; 504-Dispensing head device; 5041-Slide fixing block; 5042-L-shaped mounting block; 5043-Adjusting block; 5044-Dispensing head fixing block; 50441-Tightening screw hole; 50442-Long slot hole; 50443-Modible block mounting slot; 5045-Dispensing head; 5046-Dispensing head movable block; 505-Adhesive controller. 6-Material loading device, 601-Third servo motion platform, 602-Carrier plate support plate, 6021-Support boss, 603-Carrier plate, 604-Modular positioning block, 605-Positioning screw, 7- Batching and conveying device; 701- Support leg; 702- Third belt conveyor; 703- Primary guide plate; 704- Secondary guide plate; 705- First support; 706- Fifth sensor; 707- First connecting plate; 708- Second connecting plate; 709- Sixth sensor; 710- Stop block; 711- Third connecting plate. 8-Material feeding device, 801-Support frame, 802-Material feeding cylinder, 803-Material feeding block mounting plate, 804-Material feeding block, 9-Protective mesh cover assembly. Detailed Implementation

[0024] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, this utility model will be further described in detail. It should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0025] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0026] like Figure 1 , Figure 2 , Figure 18As shown, a dual-robot automatic material bonding machine includes a frame 1, with a material conveying device 4 installed on the outer side of the frame 1. A mounting base plate 101 is installed inside the frame 1, and a batching conveying device 7 is installed on the mounting base plate 101. The conveying direction of the material conveying device 4 is perpendicular to the conveying direction of the batching conveying device 7. The input end of the batching conveying device 7 is connected to the output end of the material conveying device 4. Positioning conveying devices 3 are respectively connected to both sides of the output end of the batching conveying device 7, and the positioning conveying devices 3 are symmetrically arranged on both sides of the output end of the batching conveying device 7. The feeding and conveying device 7 receives materials from the incoming material conveying device 4. A feeding device 8 is matched to the output end of the feeding and conveying device 7, which feeds the materials from the feeding and conveying device 7 onto the positioning conveying device 3. A loading device 6 is arranged side-by-side on the side of the positioning conveying device 3, which is used to precisely position the materials. A robotic arm picking device 2 is located between the positioning conveying device 3 and the loading device 6. A dispensing device 5 is matched to the end of the loading device 6, which applies adhesive to the bonding surfaces of the materials. The robotic arm picking device 2 removes the materials from the positioning conveying device 3 and places them onto the loading device 6. The dispensing device 5 applies adhesive to the materials on the loading device 6. The robotic arm picking device 2 continues to remove materials from the positioning conveying device 3 and place them onto the loading device 6, thus stacking and bonding the materials. A protective net cover assembly 9 is also installed around the frame 1 for safety protection.

[0027] like Figure 3 As shown, the material conveying device 4 includes a second belt conveyor 401, with a vertical plate frame 402 spanning across the conveying end of the second belt conveyor 401. The vertical plate frame 402 is fixed to profile supports on both sides of the second belt conveyor 401, and a third pushing cylinder 403 is mounted on the vertical plate frame 402. The output direction of the third pushing cylinder 403 is perpendicular to the output direction of the second belt conveyor 401. A transition plate 404 is mounted on the sliding seat of the third pushing cylinder 403, and a third pushing plate 405 is mounted on the transition plate 404. The third pushing plate 405 can push the material on the second belt conveyor 401 into the batching conveying device 7. A material blocking and positioning plate 406 is also provided at the conveying end of the second belt conveyor 401. The material blocking and positioning plate 406 is used to block and position the material on the second belt conveyor 401, and its position matches that of the third pushing plate 405. The material stop positioning plate 406 is fixedly mounted on the material stop positioning plate fixing frame 407, and the fixing frame 407 is mounted across the profile supports on both sides of the second belt conveyor 401.

[0028] Furthermore, such as Figure 4As shown, a positioning strip 4011 is horizontally arranged on the belt of the second conveyor belt 401. The positioning strip 4011 is used to initially position the material. A set of position sensing devices 408 is arranged in front of the material blocking positioning plate 406, and the position sensing devices 408 are located at the end of the pushing direction. They are used to sense whether the material has reached the material blocking positioning plate 406 and to determine whether the last piece of material has left.

[0029] like Figure 4 As shown, the height of the baffle positioning plate 406, the baffle positioning plate fixing frame 407, and the third push plate 405 should be greater than the height of the positioning strip 4011 to ensure the normal operation of the second belt conveyor 401.

[0030] like Figure 5 , Figure 6 As shown, the batching and conveying device 7 includes a support leg 701, which is fixedly mounted on the mounting base plate 101. A third belt conveyor 702 is fixedly mounted on the support leg 701. A third connecting plate 711 is provided at the input end of the third belt conveyor 702. The third connecting plate 711 is connected to the incoming material conveying device 4. A primary guide plate 703 and a secondary guide plate 704 are provided on both sides of the third belt conveyor 702 along the conveying direction. The primary guide plate 703 is located at the input end of the third belt conveyor 702, and the secondary guide plate 704 is connected to the primary guide plate 703. The distance between the primary guide plates 703 is greater than the distance between the secondary guide plates 704. The primary guide plates 703 and the secondary guide plates 704 are used to... The material is precisely conveyed to the feeding end of the third conveyor belt 702. The third conveyor belt 702 is also equipped with a first support 705, on which a fifth sensor 706 is mounted. The fifth sensor 706 is used to sense the material's passage status on the third conveyor belt 702. A first connecting plate 707 and a second connecting plate 708 are located on both sides of the conveying end of the third conveyor belt 702. The first connecting plate 707 and the second connecting plate 708 are respectively connected to the input end of the positioning conveyor device 3. A stop block 710 is located at the end of the conveying end of the third conveyor belt 702, and a sixth sensor 709 is mounted on the stop block 710. The sixth sensor 709 is used to sense the material's arrival status at the end of the third conveyor belt 702. A material feeding device 8 is located at the upper part of the conveying end of the third conveyor belt 702.

[0031] like Figure 5As shown, the material feeding device 8 includes a support frame 801, a feeding cylinder 802, a feeding block mounting plate 803, and feeding blocks 804. The support frame 801 is a gantry mechanism, suspended at the end of the third belt conveyor 702. The feeding cylinder 802 is horizontally mounted on the support frame 801. The feeding block mounting plate 803 is mounted on the slide of the feeding cylinder 802, and the feeding block 804 is mounted on the feeding block mounting plate 803. When the material enters the third belt conveyor 702 through the incoming material conveyor 4, it is guided by the first guide plate 703 and the second guide plate 704 to reach the end of the third belt conveyor 702. The sixth sensor 709 senses the material, and the feeding cylinder 802 drives the feeding block 804 to intermittently feed the material through the first connecting plate 707 and the second connecting plate 708 into the positioning conveyor 3 on both sides.

[0032] like Figure 7 As shown, the positioning conveyor 3 includes a first belt conveyor 301, which is fixedly mounted on the mounting base plate 101. A first sensor 307 is installed at the input end of the first belt conveyor 301 to sense the material's arrival status. First guide plates 304 are installed on both sides of the first belt conveyor 301 along the conveying direction, forming a material flow channel with two sets of guide plates facing each other. A first sensor 307 is installed on the flow channel to sense the material flow within it. A baffle device 311 is installed at the end of the first belt conveyor 301 to intercept material flowing from the head of the first belt conveyor 301. A first pusher device 309 is installed above the baffle device 311 to push out the material blocked by the baffle device 311. The pushing direction of the first pusher device 309 is perpendicular to the conveying direction of the first belt conveyor 301. The first pushing device 309 is equipped with a right-angle precision positioning device 308 in the pushing direction. This device pushes the material blocked by the material stopper 311 at the end of the first conveyor belt 301 onto the right-angle precision positioning device 308, where it abuts against and is positioned against one right-angle side. The right-angle precision positioning device 308 is located on the side of the first conveyor belt 301. A second pushing device 310 is also provided on the side of the first conveyor belt 301. The second pushing device 310 is located on the same side as the right-angle precision positioning device 308, and the output direction of the output shaft of the second pushing device 310 faces the right-angle precision positioning device 308. This device pushes the material on the right-angle precision positioning device 308 towards the other right-angle side, where it abuts against and is positioned against that right-angle side.

[0033] like Figure 7 , Figure 8As shown, the material blocking device 311 includes a fourth support base 3111. Two sets of the fourth support base 3111 are respectively arranged on both sides of the first belt conveyor 301. A material blocking block mounting bracket 3112 is arranged on the fourth support base 3111, and a material blocking block 3113 is arranged on the material blocking block mounting bracket 3112. A second sensor 3114 and a third roller 3115 are arranged on the front end face of the material blocking block 3113. The second sensor 3114 is used to sense whether the material is in place, and the third roller 3115 is used to reduce the surface contact friction of the material and make the material slide onto the right-angle precision positioning device 308.

[0034] like Figure 7 , Figure 9 As shown, the first pushing device 309 includes a second support base 3091. Two sets of the second support base 3091 are provided, respectively on both sides of the first belt conveyor 301. The first pushing cylinder 3092 is provided on the second support base 3091 and spans across the upper end of the first belt conveyor 301. A cylinder connecting plate 3093 is provided on the sliding seat of the first pushing cylinder 3092. The cylinder connecting plate 3093 extends outward perpendicularly to the first pushing cylinder 3092. A first push plate connecting block 3094 is provided below the extended end. A first push plate 3095 is provided below the first push plate connecting block 3094. A first roller 3096 is provided at the front end of the first push plate 3095 to reduce the contact surface with the material and push the material onto the right-angle precision positioning device 308 for positioning.

[0035] like Figure 7 , Figure 10 As shown, the right-angle precision positioning device 308 includes a first support base 3081, on which a material-stopping positioning plate 3082 is mounted. The surface of the material-stopping positioning plate 3082 is provided with several slender support strips 30821, the support strips 30821 being oriented in the same direction as the incoming material. The support strips 30821 are beveled at their connection points with the first conveyor belt 301, serving as the material-pushing inlet for the right-angle precision positioning device 308. The material-stopping positioning plate 3082 is provided with a first positioning block 3083 and a second positioning block 3084, which are positioned at right angles. The second positioning block 3084 is opposite to the first pushing device 309, and the first positioning block 3083 is opposite to the second pushing device 310. A fourth sensor 3085 is provided on the second positioning block 3084 for sensing the material's position. The first positioning block 3083 and the second positioning block 3084 are provided with clearance slots on the material contact end faces to reduce the contact area with the material.

[0036] like Figure 7 , Figure 11As shown, the second pushing device 310 includes a third support base 3101, a second pushing cylinder 3102 is provided on the third support base 3101, a second pushing plate 3103 is provided at the output shaft end of the second pushing cylinder 3102, and a clearance hole groove is provided on the material contact end surface of the second pushing plate 3103 to reduce the contact surface with the material and position the material in the right-angle precision positioning device 308.

[0037] like Figure 15 , Figure 16 As shown, the robotic arm material handling device 2 includes a multi-axis robotic arm 201, which is fixedly mounted on a robotic arm mounting base 202. The robotic arm mounting base 202 is positioned between the positioning conveying device 3 and the material loading device 6. A suction gripper is provided at the output shaft end of the multi-axis robotic arm 201. The suction gripper is an elastic suction gripper, which includes a shaft end fixing plate 203, which is fixedly mounted at the output shaft end of the multi-axis robotic arm 201. A linear guide mounting plate 204 is vertically mounted on the side of the shaft end fixing plate 203, and a first linear guide 205 is mounted on the linear guide mounting plate 204. A guide screw mounting 206 is provided on the top end face of the linear guide mounting plate 204, and a guide screw 207 is movably guided on the guide screw mounting 206. A floating plate 209 is installed on the sliding block of the first linear guide 205. The floating plate 209 is an L-shaped mounting plate. The vertical mounting plate of the floating plate 209 is fixedly installed on the sliding block of the first linear guide 205, and its top is screwed to the guide screw 207. A first spring 208 is installed between the top end face of the vertical mounting plate of the floating plate 209 and the bottom surface of the guide screw mounting 206, and the first spring 208 is sleeved on the guide screw 207. A suction block 210 is installed below the horizontal mounting plate of the floating plate 209, and the suction direction of the suction block 210 is vertically downward. Figure 4 As shown, the suction block 210 is provided with a number of suction holes 2101 for adsorbing materials; the suction block 210 is provided with a quick-change connector 2102 on the side for connecting compatible vacuum components.

[0038] like Figure 12 As shown, the dispensing device 5 includes a gantry bracket 501. A first servo motion platform 502 is horizontally arranged on the top of the gantry bracket 501. A second servo motion platform 503 is vertically arranged on the slide of the first servo motion platform 502. A dispensing head device 504 is arranged on the slide of the second servo motion platform 503. An adhesive controller 505 is also provided at the top of the gantry bracket 501 to control parameters such as the dispensing volume and speed of the adhesive.

[0039] like Figure 13As shown, the dispensing head device 504 includes a slide fixing block 5041, which is fixedly mounted on the slide of the second servo motion platform 503. An L-shaped mounting block 5042 is mounted on the slide fixing block 5041. The vertical mounting block of the L-shaped mounting block 5042 is connected to the slide fixing block 5041. An adjusting block 5043 is mounted on the horizontal mounting block of the L-shaped mounting block 5042. The adjusting block 5043 has several mounting holes for fixing the dispensing head fixing block 5044. The dispensing head fixing block 5044 can rotate a certain angle around the mounting holes on the adjusting block 5043. Figure 14 As shown, the dispensing head fixing block 5044 is provided with a movable block mounting groove 50443, and a number of dispensing head movable blocks 5046 are provided in the movable block mounting groove 50443. A dispensing head 5045 is installed through the movable block 5046. A through long slot hole 50442 is provided at the top of the movable block mounting groove 50443 for fixing the dispensing head movable blocks 5046. A tightening screw hole 50441 is provided on the side wall of the movable block mounting groove 50443 for tightening the screw to further tighten and stabilize the dispensing head movable blocks 5046.

[0040] like Figure 17 , 18 As shown, the material loading device 6 includes a third servo motion platform 601. A carrier plate support plate 602 is fixedly mounted on the sliding seat of the third servo motion platform 601. The carrier plate support plate 602 is a rectangular carrier plate, and a carrier plate 603 is mounted on the carrier plate support plate 602. The carrier plate 603 is used to place materials. The carrier plate support plate 602 is provided with a clearance groove 6021, which is used to reduce the contact surface with the carrier plate 603 and make the placement more stable. Several third positioning blocks 604 are provided on the peripheral side wall of the carrier plate support plate 602. Positioning screws 605 are screwed onto the third positioning blocks 604. The positioning screws 605 are screwed into the carrier plate 603 to fasten the carrier plate 603.

[0041] When the machine starts working, the third servo motion platform 601 in the loading device 6 transports the carrier plate positioning component to the discharge port, places the carrier plate 603 on the carrier plate support plate 602, and the positioning screw 605 is screwed to abut against the carrier plate 603 to fasten the carrier plate 603. After the carrier plate 603 is positioned, the third servo motion platform 601 transfers the carrier plate 603 to the dispensing device 5, and cooperates with the robotic arm picking device 2 to perform the stacking and bonding of materials.

[0042] The material is placed along the positioning strip 4011 on the incoming material conveyor 4. The second belt conveyor 401 runs to the material blocking positioning plate 406, which intercepts the material. The arrival sensing device 408 senses the material and sends a signal. The third pushing cylinder 403 drives the third pushing plate 405 to push the material onto the batching conveyor 7. The material is precisely conveyed along the first-level guide plate 703 and the second-level guide plate 704 on the third belt conveyor 702 to the feeding end block 710 of the third belt conveyor 702. The sixth sensor 709 senses the arrival of the material, and the material-picking cylinder 802 on the material-picking device 8 is activated. The material-picking cylinder 802 drives the material-picking block 804 to intermittently pick up the material and push it into the positioning conveyor devices 3 on both sides through the first connecting plate 707 and the second connecting plate 708. The material arrives at the end of the first belt conveyor 301 along the first guide plate 304. It is blocked by the material blocking device 311. The second sensor 3114 senses the material and sends a signal. The first pushing device 309 pushes the material into the right-angle precision positioning device 308 and abuts against the positioning edge of the second positioning block 3084. After the fourth sensor 3085 on the second positioning block 3084 senses that the material has arrived in place, the second pushing device 310 pushes the material and abuts against the positioning edge of the first positioning block 3083. After the material is precisely positioned in the right-angle precision positioning device 308, the robotic arm picking device 2 picks up the material and transfers it to the carrier plate 602 of the loading device 6. The dispensing head device 504 on the dispensing device 5 moves to the material on the carrier plate 602 in cooperation with the first servo motion platform 502 and the second servo motion platform 503 to perform the dispensing operation. The above operations are repeated until the material on the carrier plate 602 is completely pasted. Then, the third servo motion platform 601 on the material loading device 6 moves the carrier plate 6 to the machine exit. The operator then removes the carrier plate 602 from the machine and transports it to the multi-wire cutting machine for cutting. The operator adds a new carrier plate 602 and restarts the material bonding process. In this embodiment, two sets of material loading devices 6 are used to alternately feed materials from left and right, improving bonding efficiency.

Claims

1. A dual-robot automatic material bonding machine, comprising a frame (1), wherein a large mounting base plate (101) is provided inside the frame (1), characterized in that: A material conveying device (4) is provided on the outer side of the frame (1), and a batching conveying device (7) is provided on the mounting base plate (101). The input end of the batching conveying device (7) is connected to the output end of the material conveying device (4). Positioning conveying devices (3) are arranged side by side on both sides of the batching conveying device (7). The two sets of positioning conveying devices (3) are arranged symmetrically. The input ends of the positioning conveying devices (3) are respectively connected to the output ends of the batching conveying device (7). A material feeding device (8) is also matched at the output end of the batching conveying device (7). A loading device (6) is arranged side by side on the side of the positioning conveying device (3). A robotic arm picking device (2) is arranged between the positioning conveying device (3) and the loading device (6). A dispensing device (5) is matched at the end of the loading device (6). The conveying direction of the incoming material conveying device (4) is perpendicular to the conveying direction of the batching conveying device (7); The batching conveying device (7) includes a third belt conveyor (702). The third belt conveyor (702) is provided with a first-level guide plate (703) and a second-level guide plate (704) on both sides along the conveying direction. The first-level guide plate (703) is located at the input end of the third belt conveyor (702). The second-level guide plate (704) is connected to the first-level guide plate (703). The conveying end of the third belt conveyor (702) is provided with a first connecting plate (707) and a second connecting plate (708) on both sides. The first connecting plate (707) and the second connecting plate (708) are respectively connected to the input end of the positioning conveying device (3). The conveying end of the third belt conveyor (702) is provided with a stop block (710). A sixth sensor (709) is provided on the stop block (710). The feeding device (8) includes a support frame (801), which is suspended at the end of the conveying of the third belt (702). A feeding cylinder (802) is horizontally arranged on the support frame (801), and a feeding block mounting plate (803) is arranged on the slide of the feeding cylinder (802). A feeding block (804) is arranged on the feeding block mounting plate (803). The positioning and conveying device (3) includes a first belt (301), a baffle device (311) is provided at the end of the first belt (301), a first pusher device (309) is provided above the baffle device (311), the pushing direction of the first pusher device (309) is perpendicular to the conveying direction of the first belt (301), a right-angle precision positioning device (308) is provided in the pushing direction of the first pusher device (309), and a second pusher device (310) is also provided on the side of the first belt (301), the output direction of the second pusher device (310) is towards the right-angle precision positioning device (308). The dispensing device (5) includes a gantry bracket (501), a first servo motion platform (502) is horizontally arranged on the top of the gantry bracket (501), a second servo motion platform (503) is vertically arranged on the slide of the first servo motion platform (502), and a dispensing head device (504) is arranged on the slide of the second servo motion platform (503). The robotic arm material handling device (2) includes a multi-axis robotic arm (201), and the output shaft end of the multi-axis robotic arm (201) is provided with a suction gripper; The material loading device (6) includes a third servo motion platform (601), and a carrier plate (603) is provided on the sliding seat of the third servo motion platform (601).

2. The dual-robot automatic material bonding machine according to claim 1, characterized in that: The material conveying device (4) includes a second belt conveyor (401), a vertical plate frame (402) is provided across the end of the conveying of the second belt conveyor (401), a third pusher cylinder (403) is provided on the vertical plate frame (402), a transfer plate (404) is provided on the sliding seat of the third pusher cylinder (403), a third pusher plate (405) is provided on the transfer plate (404), a material blocking positioning plate (406) is also provided at the end of the conveying of the second belt conveyor (401), and a positioning strip (4011) is provided laterally on the belt of the second belt conveyor (401).

3. The dual-robot automatic material bonding machine according to claim 1, characterized in that: The material blocking device (311) includes a fourth support base (3111), a material blocking block mounting bracket (3112) is provided on the fourth support base (3111), a material blocking block (3113) is provided on the material blocking block mounting bracket (3112), and a second sensor (3114) and a third roller (3115) are provided on the front end face of the material blocking block (3113).

4. The dual-robot automatic material bonding machine according to claim 3, characterized in that: The first pushing device (309) includes a second support base (3091), a first pushing cylinder (3092) is provided on the second support base (3091), the first pushing cylinder (3092) is located above the tail end of the first belt (301), a cylinder connecting plate (3093) is provided on the sliding seat of the first pushing cylinder (3092), the cylinder connecting plate (3093) extends outward perpendicularly to the first pushing cylinder (3092), a first pushing plate connecting block (3094) is provided below the extended end, a first pushing plate (3095) is provided below the first pushing plate connecting block (3094), and a first roller (3096) is provided at the front end of the first pushing plate (3095).

5. The dual-robot automatic material bonding machine according to claim 4, characterized in that: The right-angle precision positioning device (308) includes a first support base (3081), a positioning plate (3082) is provided on the first support base (3081), a first positioning block (3083) and a second positioning block (3084) are provided on the positioning plate (3082), the first positioning block (3083) and the second positioning block (3084) are arranged at right angles, the second positioning block (3084) is opposite to the first pushing device (309), the first positioning block (3083) is opposite to the second pushing device (310), and a fourth sensor (3085) is provided on the second positioning block (3084).

6. The dual-robot automatic material bonding machine according to claim 5, characterized in that: The second pushing device (310) includes a third support base (3101), a second pushing cylinder (3102) is provided on the third support base (3101), and a second push plate (3103) is provided at the output shaft end of the second pushing cylinder (3102).

7. The dual-robot automatic material bonding machine according to claim 1, characterized in that: The material suction gripper includes a shaft end fixing plate (203), which is fixedly mounted on the output shaft end of the multi-axis robotic arm (201). A linear guide mounting plate (204) is vertically mounted on the side of the shaft end fixing plate (203). A first linear guide (205) is mounted on the linear guide mounting plate (204). A guide screw mounting (206) is mounted on the top end face of the linear guide mounting plate (204). A guide screw (207) is mounted on the guide screw mounting (206). A floating plate (209) is mounted on the sliding block of the first linear guide (205). The floating plate (209) is an L-shaped mounting plate. The vertical mounting plate is fixedly mounted on the sliding block of the first linear guide (205), and the top is screwed to the guide screw (207). A first spring (208) is set between the top end face of the vertical mounting plate of the floating plate (209) and the bottom surface of the guide screw mounting (206). The first spring (208) is sleeved on the guide screw (207). A suction block (210) is set below the horizontal mounting plate of the floating plate (209). The suction direction of the suction block (210) is set vertically downward. Several suction holes (2101) are set on the suction block (210). A quick-change connector (2102) is set on the side of the suction block (210).

8. The dual-robot automatic material bonding machine according to claim 1, characterized in that: The dispensing head device (504) includes a slide block (5041), which is fixedly mounted on the slide of the second servo motion platform (503). An L-shaped mounting block (5042) is provided on the slide block (5041). The vertical mounting block of the L-shaped mounting block (5042) is connected to the slide block (5041). An adjusting block (5043) is provided on the horizontal mounting block of the L-shaped mounting block (5042). A plurality of mounting holes are provided on the adjusting block (5043). The mounting holes fix the dispensing head fixing block (5044). A dispensing head movable block (5046) is provided on the dispensing head fixing block (5044). A dispensing head (5045) is inserted through the dispensing head movable block (5046).

9. A dual-robot automatic material bonding machine according to claim 8, characterized in that: The dispensing head fixing block (5044) is provided with a movable block mounting groove (50443), and a plurality of dispensing head movable blocks (5046) are provided in the movable block mounting groove (50443). A through long slot hole (50442) is provided at the top of the movable block mounting groove (50443), and a tightening screw hole (50441) is provided on the side wall of the movable block mounting groove (50443).

10. A dual-robot automatic material bonding machine according to claim 1, characterized in that: The third servo motion platform (601) has a carrier plate support plate (602) fixedly installed on the sliding seat, a carrier plate (603) is installed on the carrier plate support plate (602), and a number of third positioning blocks (604) are installed on the periphery side wall of the carrier plate support plate (602). Positioning screws (605) are screwed onto the third positioning blocks (604).

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