CN215217507U - Graphite boat piece bail erection equipment - Google Patents

Abstract

The utility model discloses be suitable for graphite boat piece bail installation technical field, provide a graphite boat piece bail erection equipment, include: a frame; the disassembly and assembly nail platform is arranged on the frame and used for placing the graphite boat piece, and is provided with a through hole which is arranged corresponding to the nail clamping hole in the graphite boat piece; the nail dismounting and mounting device comprises a nail mounting module arranged on the rack and a staple detection module used for detecting whether a new staple is mounted at a preset position; the staple module sets up in dismouting nail platform top, and the staple detects the module and locates the frame, and staple detects the module and the staple module links to each other with a controlling means respectively, and controlling means is used for controlling the staple module to stop pressing down new staple when new staple is installed preset position. The utility model provides a graphite boat piece bail erection equipment can realize the automatic installation of graphite boat piece bail, can reduce artifical intensity of labour and human cost, has promoted the efficiency of installation bail, and can ensure the uniformity of graphite boat piece bail installation depth of depth.

Description

Graphite boat piece bail erection equipment

Technical Field

The utility model relates to a technical field is changed to graphite boat piece bail, concretely relates to graphite boat piece bail erection equipment.

Background

With the rapid development of solar cells, more and more solar cells are entering the civil field. In the production process of the solar cell, the coating process is an important link in the production flow and plays a role in playing a role in promoting weight. When the silicon wafer is subjected to the surface coating process, the silicon wafer which is not coated needs to be inserted into a graphite boat, then the graphite boat carrying the silicon wafer is placed in PECVD vacuum coating equipment, and the silicon wafer is coated by adopting a PECVD process. Because the silicon chip can have certain wearing and tearing to the graphite boat piece of graphite boat in the in-process of inserting and getting, need regularly with old bail on the graphite boat piece from the downthehole dismantlement of bail to with new bail dress into corresponding bail hole, realize the change of bail, so that guarantee the good state of graphite boat, and then guarantee the coating film quality of silicon chip.

In the prior art, in order to replace the staple of the graphite boat, the old staple on the graphite boat is usually manually detached from the staple hole, and a new staple is re-installed in the staple hole, so as to replace the staple of the graphite boat. Wherein, the bail of adoption manual installation graphite boat piece, intensity of labour is big, and required human cost is high, and the manual work is difficult to judge whether the bail is installed in place, is difficult to ensure that the installation depth of bail is unified to lead to the poor problem of bail installation uniformity.

SUMMERY OF THE UTILITY MODEL

The utility model provides a graphite boat piece bail erection equipment aims at solving the bail that adopts artifical installation graphite boat piece among the prior art, and intensity of labour is big, and required human cost is high, and the poor problem of bail installation uniformity.

The utility model discloses a realize like this, provide a graphite boat piece bail erection equipment, include:

a frame;

the dismounting and mounting nail platform is arranged on the rack and used for placing the graphite boat piece, and is provided with a through hole which is arranged corresponding to the nail clamping hole in the graphite boat piece; and

the assembling and disassembling device comprises an assembling and disassembling module and a staple detecting module, wherein the assembling and disassembling module is arranged on the rack and used for pressing a new staple into a staple hole of the graphite boat sheet, and the staple detecting module is used for detecting whether the new staple is installed at a preset position; the staple bolt module set up in dismouting nail platform top, staple bolt detection module locates the frame, just staple bolt detection module is located the dismouting nail platform the below of through-hole and with the staple bolt module is relative, the staple bolt detection module reaches the staple bolt module links to each other with a controlling means respectively, controlling means is used for new staple bolt is installed and is controlled when predetermineeing the position the staple bolt module stops to push down new staple bolt.

Preferably, the staple detection module comprises a pressure sensor connected with the control device, and the pressure sensor is positioned at a set position below the through hole; the control device is used for controlling the stapling module to stop pressing down the staple when the new staple presses down the pressure sensor.

Preferably, the staple detection module comprises a distance measurement sensor connected with the control device, and the distance measurement sensor is arranged at a set position below the through hole.

Preferably, the staple detection module includes:

set up in the last ejector pin of pressure sensor, the ejector pin is located the below position of through-hole, new bail passes through the ejector pin pushes down pressure sensor.

Preferably, the staple detection module further includes:

a fourth drive assembly disposed on the frame;

and the fourth driving component is connected with the supporting component and can drive the supporting component to move up and down along the Z-axis direction so as to drive the ejector rod to move up and down along the Z-axis direction.

Preferably, the device of dismouting nail still including set up in the frame and with the actuating mechanism that controlling means links to each other, actuating mechanism with the binding module reaches the bail detects the module and connects, actuating mechanism can drive the binding module with the bail detects the module and moves every respectively the upper and lower both sides of through-hole.

Preferably, the drive mechanism includes:

the first driving assembly is arranged on the rack and connected with the control device;

the upper moving seat is connected with the first driving assembly;

the second driving assembly is arranged on the upper moving seat and connected with the control device, and the second driving assembly is connected with the stapling module;

the lower moving seat is arranged below the nail dismounting platform and connected with the first driving assembly; and

the staple detection module is connected with the third driving assembly;

the first driving assembly can drive the upper moving seat and the lower moving seat to move along the Y-axis direction, so that the binding module and the staple detection module synchronously move along the Y-axis direction; the second drive assembly can drive the staple module moves along the X-axis direction, and the third drive assembly can drive the staple detection module moves along the X-axis direction.

Preferably, the device of unpicking and installing nails still includes the nail module of tearing open that is used for dismantling old bail on the graphite boat piece, tear nail module fixed connection in the binding module, tear nail module with binding module simultaneous movement to make the nail module of tearing open movable to every the old bail position top of graphite boat piece.

Preferably, the stud removing device further includes:

and the visual detection module is fixed on the binding module, and moves synchronously with the nail dismounting module and the binding module so that the visual detection module can move to the position above the through hole.

Preferably, the feeding mechanism is arranged on the frame and used for providing new staples; the driving mechanism can drive the binding module to move to the feeding mechanism, so that the binding module clamps the new staple from the feeding mechanism.

Preferably, the nail dismounting module comprises a jacking column driving mechanism fixedly connected with the nail mounting module and a jacking column connected with the jacking column driving mechanism, and the jacking column driving mechanism is connected with the control device and used for driving the jacking column to move up and down along the Z-axis direction.

Preferably, the staple installing module comprises an air claw driving mechanism and an air claw connected with the air claw driving mechanism and used for clamping a staple, and the control device is connected with the air claw driving mechanism and used for controlling the air claw driving mechanism to drive the air claw to move up and down along the Z-axis direction, so that the air claw installs a new staple into the staple hole.

Preferably, the graphite boat picking device further comprises a picking device arranged on the rack, and the picking device is connected with the control device and used for picking and placing the graphite boat piece on the screw disassembling and assembling platform.

The utility model provides a graphite boat piece bail erection equipment is through setting up dismouting nail platform and the dismouting nail device that is used for placing graphite boat piece, dismouting nail device is including being used for pressing down the new staple into the downthehole binding clip of graphite boat piece, and be used for detecting whether the new staple is installed the bail detection module of predetermineeing the position, bail detection module and binding module link to each other with a controlling means respectively, controlling means control binding module press down the new staple into the downthehole binding clip of graphite boat piece, realize the automatic installation of graphite boat piece bail, replace the mode of manual installation bail, can reduce artifical intensity of labour and human cost, and promoted the efficiency of installation bail greatly; and, controlling means detects whether new bail through the bail and whether installs preset position to control the staple module and stop pushing down new bail when new bail is installed preset position, ensure that the binding module pushes down the bail to preset position, avoid the bail installation depth too shallow or too deep, ensure that the installation depth of graphite boat piece bail meets the requirements, ensure simultaneously that the installation depth of graphite boat piece bail is unified, make the bail installation uniformity good.

Drawings

Fig. 1 is a schematic view of the whole structure of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 2 is a schematic view of a partial structure of a graphite boat blade staple mounting device according to an embodiment of the present invention;

FIG. 3 is a top view of the structure shown in FIG. 2;

fig. 4 is a side view of a part of the structure of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a nail dismounting positioning plate or a nail mounting positioning plate of a nail dismounting platform of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a part of a dismounting and mounting device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 7 is another schematic structural view of a part of a dismounting and mounting device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 8 is a schematic view of another part of the structure of a dismounting and mounting device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 9 is a schematic structural view of an air claw in a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 10 is a schematic structural view illustrating clamping of a staple by an air gripper in a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 11 is a three-dimensional structure view of a taking and placing device of a graphite boat clip installation apparatus according to an embodiment of the present invention;

fig. 12 is a schematic structural view of a taking and placing device of a graphite boat blade staple mounting device according to an embodiment of the present invention;

fig. 13 is a schematic structural view of a part of a taking and placing device of a graphite boat blade staple mounting device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The embodiment of the utility model provides a graphite boat piece bail erection equipment is through setting up dismouting nail platform and the dismouting nail device that is used for placing graphite boat piece, dismouting nail device is including being used for pressing down the binding module in the bail hole of packing into graphite boat piece with new staple, and be used for detecting whether new staple installs the bail detection module of predetermineeing the position, bail detection module and binding module link to each other with a controlling means respectively, controlling means control binding module press down the new staple and pack into the bail hole of graphite boat piece, realize the automatic installation of graphite boat piece bail, replace the mode of manual installation bail, can reduce artifical intensity of labour and human cost, and promoted the efficiency of installation bail greatly; and, controlling means detects whether new bail through the bail and whether installs preset position to control the staple module and stop pushing down new bail when new bail is installed preset position, ensure that the binding module pushes down the bail to preset position, avoid the bail installation depth too shallow or too deep, ensure that the installation depth of graphite boat piece bail meets the requirements, ensure simultaneously that the installation depth of graphite boat piece bail is unified, make the bail installation uniformity good.

Referring to fig. 1 to 8, an embodiment of the present invention provides a graphite boat blade staple mounting apparatus, including:

a frame 1;

the screw disassembling and assembling platform 2 is arranged on the frame 1 and used for placing the graphite boat piece, and the screw disassembling and assembling platform 2 is provided with a through hole 202 which corresponds to the staple hole on the graphite boat piece; and

the dismounting and mounting device 3 comprises a mounting module 33 and a staple detecting module 37, wherein the mounting module 33 is arranged on the frame 1 and used for pressing a new staple into a staple hole of the graphite boat sheet, and the staple detecting module 37 is used for detecting whether the new staple is installed at a preset position; the binding module 37 sets up in dismouting nail platform 2 top, and staple detection module 37 locates frame 1, and staple detection module 37 is located the below of dismouting nail platform 2's through-hole 202 and relative with binding module 33, and staple detection module 37 and binding module 33 link to each other with a controlling means 4 respectively, and controlling means 4 is used for controlling binding module 33 to stop pushing down new staple when new staple is installed and is predetermine the position.

The embodiment of the utility model provides an in, dismouting nail platform 2 is used for placing the graphite boat piece of waiting to install new bail, when graphite boat piece was placed on dismouting nail platform 2, the bayonet hole on the graphite boat piece and the through-hole 202 one-to-one on the dismouting nail platform 2, controlling means 4 control binding module 33 was pressed the new bayonet down and is packed into in the bail hole of graphite boat piece, realize the automatic installation of graphite boat piece bail, replace the mode of artifical installation bail, can reduce artifical intensity of labour and human cost, and promoted the efficiency of installation bail greatly. Meanwhile, in the process that the binding module 33 presses down a new staple, the control device 4 detects whether the new staple is installed at the preset position through the staple detection module 37, so that the binding module 33 stops pressing down the new staple when the new staple is installed at the preset position, the binding module 33 is ensured to press down the staple to the preset position, the too shallow or too deep installation depth of the staple is avoided, the installation depth of the staple of the graphite boat piece is ensured to meet the requirement, the installation depth of the staple of the graphite boat piece installed by the device is ensured to be uniform, and the installation consistency of the staple is good.

As an embodiment of the present invention, the frame 1 includes a frame 11, a frame 12 supported on the frame 11, and the screw mounting/dismounting platform 2 is supported on the frame 11 and located below the frame 12.

In this embodiment, the nail mounting and dismounting platform 2 and the nail mounting and dismounting device 3 are respectively supported and arranged on the base 11. Preferably, the base 11 includes a first frame 111 and a second frame 112 that are separately disposed, and the first frame 111 and the second frame 112 are detachably connected to facilitate the assembly and disassembly of the apparatus.

In this embodiment, the first frame 111 and the second frame 112 are detachably connected by screws. When the equipment needs to be transported or transported, the base 11 can be disassembled into the first rack 111 and the second rack 112, which facilitates the transportation and transportation of the rack 1. Besides this embodiment, the housing 11 may be an integral structure.

As an embodiment of the present invention, the staple detection module 37 includes a pressure sensor 372 connected to the control device 4, and the pressure sensor 372 is located at a set position below the through hole 202; the control device 4 is used for controlling the stapling module 33 to stop pressing the staple when a new staple presses the pressure sensor 372.

In this embodiment, the specific position that pressure sensor 372 is located through-hole 202 below can set up according to the reality, the in-process of binding module 33 staple down, when pressure sensor 372 receives the pressure of new staple, consider new staple to install preset position this moment, new staple has installed in place promptly, controlling means 4 control binding module 33 stops to push down the staple this moment, in order to avoid new staple to continue to push down, ensure that binding module 33 pushes down the staple to preset position, avoid the staple installation degree of depth too shallow or too deep, ensure that the installation degree of graphite boat piece staple meets the requirements, ensure simultaneously that the installation degree of graphite boat piece staple is unified, make staple installation uniformity good.

As an embodiment of the present invention, the staple detection module 37 includes:

and a push rod 373 arranged on the pressure sensor 372, wherein the push rod 373 is positioned at a position below the through hole 202, and the new clamping nail presses down the pressure sensor 372 through the push rod 373.

In this embodiment, the push rod 373 disposed on the pressure sensor 372 is convenient for the push rod 373 to partially extend into the through hole 202. When the new staple is installed in place, the new staple depresses the pressure sensor 372 via the push rod 373.

As an embodiment of the present invention, the staple detection module 37 further includes:

a fourth drive assembly 374 disposed on the frame;

the supporting member 371 connected to the fourth driving member 374, the pressure sensor 372 is disposed on the supporting member 371, and the fourth driving member 374 is connected to the supporting member 371 and can drive the supporting member 371 to move up and down along the Z-axis direction, so as to drive the push rod 373 to move up and down along the Z-axis direction.

In this embodiment, because the graphite boat piece of different models's lower surface roughness is different, the bail is also different in the position of installation motion to the below like this, reciprocate along the Z axle direction through fourth drive assembly 374 drive support piece 371, thereby it reciprocates to drive ejector pin 373 and pressure sensor 372 along the Z axle direction in step through support piece 371, therefore can be according to the nimble rise height of adjusting ejector pin 373 of the graphite boat piece of different models, make ejector pin 373's adjustable in height, can the graphite boat piece of different models of self-adaptation, thereby can promote the commonality.

The rising height of the ejector rod 373 corresponds to different types of graphite boat pieces, the control device 4 prestores the corresponding relationship between the rising height of the ejector rod 373 and the types of the graphite boat pieces, and the corresponding relationship between the rising height of the ejector rod 373 and the types of the graphite boat pieces can be set according to practical application. This graphite boat piece bail erection equipment is before changing the bail to graphite boat piece, and the user sets up the model of graphite boat piece through controlling means 4, and binding module 33 is before installing new bail like this, and controlling means 4 can control fourth drive subassembly 374 and drive ejector pin 373 and rise to the height that corresponds, makes binding module 33 at the new bail in-process of installation, and the bottom surface of new bail just can detect new bail installation with ejector pin 373 contact and target in place.

As another embodiment of the present invention, the staple detection module 37 includes a distance measuring sensor connected to the control device 4, and the distance measuring sensor is disposed at a position set below the through hole 202. The distance between the new clamping nail and the lower end of the new clamping nail is detected by using the distance measuring sensor, and when the distance between the new clamping nail and the lower end of the new clamping nail reaches a preset value, the new clamping nail can be considered to be arranged at a preset position.

As an embodiment of the utility model, dismouting nail device 3 is still including setting up in frame 1 and the actuating mechanism who links to each other with controlling means 4, and actuating mechanism is connected with binding module 33 and bail detection module 37, and actuating mechanism can drive binding module 33 and bail detection module 37 and move the upper and lower both sides of every through-hole 202 respectively.

In this embodiment, when installing the staple in the staple hole of the graphite boat, the control device 4 controls the driving mechanism to drive the staple module 33 to be above each through hole 202, so as to install a new staple in each staple hole of the graphite boat; meanwhile, the control device 4 controls the driving mechanism to drive the staple detection module 37 to move below each through hole 202 and directly below the staple module 33, respectively, so as to detect whether a new staple is installed at a preset position through the staple detection module 37.

Referring to fig. 5 to fig. 10, as an embodiment of the present invention, the driving mechanism includes:

a first driving assembly 34 arranged on the frame 1 and connected with the control device 4;

an upper moving seat 39 connected to the first driving assembly 34;

the second driving assembly 36 is arranged on the upper moving seat 39 and connected with the control device, and the second driving assembly 36 is connected with the binding module 33;

the lower moving seat 30 is arranged below the nail dismounting platform 2 and is connected with the first driving component 36; and

a third driving assembly 38 disposed on the lower moving base 30, wherein the staple detection module 37 is connected to the third driving assembly 38;

the first driving component 34 can drive the upper moving seat 39 and the lower moving seat 30 to move along the Y-axis direction, so that the binding module 33 and the staple detection module 37 synchronously move along the Y-axis direction; the second driving component 36 can drive the staple module 33 to move along the X-axis direction, and the third driving component 36 can drive the staple detection module 37 to move along the X-axis direction.

In this embodiment, the control device 4 controls the first driving assembly 34, the second driving assembly 36 and the third driving assembly 38 to work in coordination, so that the stapling module 33 and the staple detecting module 37 can both flexibly move to a position above each staple hole on the graphite boat sheet along the Y-axis direction and the X-axis direction, thereby improving the stapling accuracy of the stapling module 33.

In this embodiment, the first driving assembly 34 is a linear motor, the linear motor includes a guide rail 341 fixed on the frame 1 and arranged along the Y-axis direction, and a slider 342 movably arranged on the guide rail, the slider 342 is connected with the upper moving seat 39, and the slider 342 drives the second driving assembly 36 to move along the Y-axis direction through the upper moving seat 39, so as to realize that the stapling module 33 and the staple detecting module 37 synchronously move along the Y-axis direction.

In this embodiment, the second driving assembly 36 is embodied as an electric cylinder fixed to the upper moving seat 39.

As an embodiment of the utility model, the dismouting is nailed device 3 and is still including the dismouting module 32 that is used for dismantling the old bail on the graphite boat piece, and dismouting module 32 fixed connection is in the binding module 32, and the dismouting module 32 and binding module 33 synchronous motion to make the dismouting module 32 can move to the old bail position top of every graphite boat piece. Wherein, old staple means the staple bolt that needs to be dismantled down and change on the graphite boat piece, and new staple bolt means the staple bolt that needs to install in the staple bolt hole of graphite boat piece.

In this embodiment, the screw mounting and dismounting platform 2 is further used for placing the graphite boat sheet of the old staple to be dismounted, the control device 4 drives the screw dismounting module 32 to move above the old staple position of the graphite boat sheet on the screw mounting and dismounting platform 2 through the driving mechanism, and controls the screw dismounting module 32 to sequentially dismount the old staples on the graphite boat sheet, so that the old staples fall from the through holes 202 on the screw mounting and dismounting platform 2, thereby realizing the dismounting of the old staples on the graphite boat sheet, replacing the manual staple dismounting manner, so that the equipment can firstly dismount the old staples of the graphite boat sheet of the old staple to be dismounted, obtain the graphite boat sheet of the new staple to be mounted, and then mount the new staple in the staple holes of the graphite boat sheet of the new staple to be mounted, thereby realizing the dismounting and mounting of the graphite boat sheet simultaneously, further realizing the automatic replacement of the staples on the graphite boat sheet, and further reducing the labor intensity and labor cost, and the efficiency of bail change has been promoted greatly.

As an embodiment of the present invention, the staple mounting and dismounting device 3 further includes:

the vision inspection module 31 fixed to the stapling module 33, the vision inspection module 31 moves in synchronization with the staple removing module 32 and the stapling module 33 so that the vision inspection module 31 can move above the position of each through hole 202.

In this embodiment, the visual inspection module 31 is used to inspect the old staple position, the staple hole position and the aperture on the graphite boat. Specifically, before the nail module 32 is torn open and the nail work is torn open, the steerable actuating mechanism of controlling means drives the position top that visual detection module 31 moved every through-hole 202 in order to shoot graphite boat piece, controlling means 4 handles through the image that visual detection module 31 shot, in order to obtain the position of old bail on the graphite boat piece, controlling means 4 drives according to the old bail position control actuating mechanism on the graphite boat piece that visual detection module detected again and tears nail module 32 and move the old bail position top of graphite boat piece in proper order, and the old bail of graphite boat piece is dismantled in proper order to control and tear nail module 32 open, utilize visual detection module 31 to detect the old bail position on the graphite boat piece like this, can promote the nail precision of tearing of this equipment greatly.

Before the binding module 33 carries out binding work, visual detection module 31 is through shooing to the graphite boat piece, controlling means 4 is through handling the image that visual detection module 31 was shot, in order to obtain the position and the aperture of staple hole on the graphite boat piece, controlling means 4 drives binding module 33 according to the staple hole position control actuating mechanism on the graphite boat piece that visual detection module 31 detected again and moves the staple hole position top of graphite boat piece in proper order, and control binding module 33 is at the staple hole position installation staple of graphite boat piece in proper order.

In this embodiment, the visual detection module 31, the nail removing module 32 and the nail installing module 33 can share the first driving component 34 when moving along the Y-axis direction, and the visual detection module 31, the nail removing module 32 and the nail installing module 33 can share the second driving component 36 when moving along the X-axis direction, so that the production cost can be reduced, and the structure is more compact.

In the embodiment of the present invention, when the nail removing operation is performed, the position of the old staple of the graphite boat piece on the nail removing platform 2 is detected by the visual detection module 31, the visual detection module 31 can identify the position of one of the old staples first, and then the nail removing module 32 removes the old staple, that is, the old staple is removed while the position of the old staple is identified, so as to improve the efficiency of removing the staple; or the visual detection module 31 can identify the positions of all the old staples on the graphite boat sheet at the same time, and then the staple removing module 32 can sequentially remove all the old staples.

When the stapling operation is carried out, the position and the aperture of the staple hole of the graphite boat sheet on the staple dismounting platform 2 are firstly detected by the visual detection module 31, the position and the aperture of one staple hole can be firstly identified by the visual detection module 31, and then a new staple with a corresponding specification is installed in the staple hole by the staple module 33, namely, the installation efficiency of the staple is improved by identifying the position and the aperture of the staple hole and installing the new staple at the same time; alternatively, the visual inspection module 31 may first identify the positions and the diameters of all the staple holes on the graphite boat, and then the stapling module 33 may sequentially install new staples of corresponding specifications in each staple hole.

As an embodiment of the utility model, the graphite boat sheet staple mounting device further comprises a feeding mechanism 8 which is arranged on the frame 1 and used for providing a new staple; the driving mechanism can drive the stapling module 31 to move to the feeding mechanism 8, so that the stapling module 31 can clamp a new staple from the feeding mechanism 8.

As an embodiment of the present invention, the feeding mechanism 8 is used for providing new staples with different specifications; the control device can control the stapling module 33 to load the new staple of the corresponding specification into the corresponding staple hole according to the aperture of the staple hole.

In this embodiment, the feeding mechanism 8 can provide new staples of different specifications, so that the control device 4 can control the staple module 33 to select new staples of corresponding specifications from the feeding mechanism 8 according to the aperture of the staple hole. Install the bail like this according to the actual specification in bail hole on the graphite boat, avoid leading to bail and bail hole cooperation tension to lead to the graphite boat piece to damage or bail and bail hole cooperation loose lead to the fixed unstable problem of bail, promoted the assembly precision of bail.

Specifically, when the stapling module 33 performs stapling, the visual detection module 31 detects the position and the aperture of the staple hole of the graphite boat sheet on the stapling platform 2, and the visual detection module 31 may identify the position and the aperture of one of the staple holes, and then the stapling module 33 installs a new staple of a corresponding specification in the staple hole, that is, the position and the aperture of the staple hole are identified while installing the new staple, so as to improve the staple installation efficiency; alternatively, the visual inspection module 31 may first identify the positions and the diameters of all the staple holes on the graphite boat, and then the stapling module 33 may sequentially install new staples of corresponding specifications in each staple hole.

As an embodiment of the utility model, feeding mechanism 8 includes:

a plurality of vibration plates 81 are provided on the frame 1, and each vibration plate 81 is used to provide a new staple of one specification.

The number of the vibration plates 81 may be set according to a specific specification type of the staple. In this embodiment, every feeding mechanism 8 is including four vibration dishes 81 that the interval set up side by side, and every vibration dish 81 is used for holding the bail of a specification, and the bail of four kinds of different specifications can be installed to binding module 33 like this, and binding module 33 can select the bail that corresponds the specification from the discharge gate that corresponds vibration dish 81 according to the aperture in the bail hole on the graphite boat piece and install to improve the assembly precision, and promote the commonality of this equipment.

The aperture of the clamping nail hole of the graphite boat piece and the specification corresponding relation of the clamping nail can be set according to actual needs, and the aperture of the clamping nail hole can be a specific numerical value or a range value. In the present embodiment, the specification of each staple corresponds to a specific numerical value of the staple hole aperture. For example: the diameter of the staple corresponding to the staple hole with the aperture of 6.00mm is 6.01 mm; the diameter of the staple corresponding to the staple hole with the aperture of 6.01mm is 6.02 mm; the diameter of the staple corresponding to the staple hole with the aperture of 6.02mm is 6.03 mm; the diameter of the staple corresponding to the staple hole with the diameter of 6.03mm is 6.04 mm. When the visual inspection module 31 detects that the diameter of the staple hole is 6.02mm, the stapling module 33 selects a new staple having a diameter of 6.03mm from the vibration plate 81 of the feeding mechanism 8 on which the new staple having a diameter of 6.03mm is placed and fits into the staple hole.

In the embodiment of the present invention, the control device 4 is specifically a PLC controller, and the control device 4 is disposed at one end of the frame 12 of the frame 1.

As an embodiment of the utility model, graphite boat piece bail erection equipment still includes:

and the taking and placing device 5 is arranged on the frame 1, and the taking and placing device 5 is connected with the control device 4 and is used for taking and placing the graphite boat piece on the screw disassembling and assembling platform 2.

In this embodiment, get and put device 5 and get to dismouting nail platform 2 on the graphite boat piece that will treat to change the bail, treat that dismouting nail device 3 is complete the change back with the bail of the graphite boat piece on dismouting nail platform 2, get and put device 5 and take out the graphite boat piece on dismouting nail platform 2 from dismouting nail platform 2 to need not the manual work and get and put graphite boat piece on dismouting nail platform 2, can realize unloading in the automation of graphite boat piece, promote the degree of automation of this equipment greatly.

As an embodiment of the utility model, graphite boat piece bail erection equipment is still including setting up material loading station 6 and unloading station 7 in frame 1, gets to put device 5 and is used for getting to dismouting nail platform 2 the graphite boat piece of placing the bail of waiting to change at material loading station 6 to make dismouting nail device 3 change the bail on the graphite boat piece, and be used for taking out and placing the graphite boat piece that accomplishes the bail change at unloading station 7.

In this embodiment, the feeding station 6 is used for placing the graphite boat piece of the staple to be replaced, and the discharging station 7 is used for placing the graphite boat piece of which the replacement of the staple is completed. Preferably, material loading station 6 and unloading station 7 set up in same one side of frame 1, and the staff can place the graphite boat piece of waiting to change the bail and take away the graphite boat piece that has accomplished to change the bail like this in same one side of frame 1, makes things convenient for staff's operation. Wherein, the feeding station 6 and the blanking station 7 are supported on the same side of the machine base 11.

In the embodiment, a worker places a graphite boat piece of an attachment clip to be replaced on a feeding station 6, a taking and placing device 5 takes the graphite boat piece placed on the feeding station 6 to a screw disassembling and assembling platform 2, after a screw disassembling and assembling device 3 completely replaces the attachment clips on the graphite boat piece on the screw disassembling and assembling platform 2, the taking and placing device 5 takes the graphite boat piece on the screw disassembling and assembling platform 2 to a blanking station 7, so that automatic feeding and blanking of the graphite boat piece can be realized, the worker can directly take the graphite boat piece of which the attachment clip is replaced from the blanking station 7, the whole process only needs the worker to place the graphite boat piece of which the attachment clip is to be replaced on the feeding station 6 and take the graphite boat piece of which the attachment clip is replaced from the blanking station 7, and the automatic degree is high; moreover, as the taking and placing device 5 is used for automatically taking and placing the graphite boat pieces, a user can place a plurality of stacked graphite boat pieces at one time at the feeding station 6 every time, and does not need to continuously place the graphite boat pieces by workers; moreover, the staff can wait that the unloading station 7 stacks a plurality of graphite boat pieces of changing the bail and just get, can reduce staff's intensity of labour.

Referring to fig. 8, as an embodiment of the present invention, the nail removing module 32 includes a supporting pillar driving mechanism 321 fixedly connected to the nail installing module 33, and a supporting pillar 322 connected to the supporting pillar driving mechanism 321, and the supporting pillar driving mechanism 321 is connected to the control device 4 and is used for driving the supporting pillar 322 to move up and down along the Z-axis direction.

In this embodiment, the ejection driving mechanism 321 is connected to the second driving assembly 36, so that the second driving assembly 36 drives the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move synchronously along the X-axis direction, and the first driving assembly 34 can drive the vision detecting module 31, the nail removing module 32 and the nail installing module 33 to move synchronously along the Y-axis direction, thereby moving the ejection 322 along the X-axis direction, the Y-axis direction and the Z-axis direction.

In this embodiment, the top pillar driving mechanism 321 is an air cylinder, which is convenient for controlling the driving force of the top pillar driving mechanism 321 and for detaching the old staple on the graphite boat sheet by the top pillar 322. When the old staple on the graphite boat sheet is disassembled, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to work so as to drive the ejection column 322 of the staple disassembling module 32 to move to the position above the old staple on the graphite boat sheet along the X-axis direction and the Y-axis direction, the ejection column driving mechanism 321 drives the ejection column 322 to move downwards along the Z-axis direction, the old staple is disassembled from the graphite boat sheet and drops from the through hole 20 on the staple disassembling platform 2, the old staple is disassembled, the actions are repeated so as to realize the disassembly of the next old staple until all the old staples on the graphite boat sheet are disassembled.

As an embodiment of the utility model, tear nail module 32 and still include fixed connection in second drive assembly 36's fixing base 323, on fore-set actuating mechanism 321 was fixed in fixing base 323, second drive assembly 36 drove through fixing base 323 and torn nail module 32, binding module 33 and visual detection module 31 and moves along the X axle direction in step.

As an embodiment of the utility model, the binding module 33 includes the gas claw actuating mechanism 331 with visual detection module 31 fixed connection, is connected with gas claw actuating mechanism 331 and is used for the gas claw 332 of centre gripping bail, and controlling means 4 links to each other with gas claw actuating mechanism 331 for control gas claw actuating mechanism 331 drives gas claw 332 and reciprocates along the Z axle direction, so that gas claw 332 installs new bail downthehole to the bail that corresponds. The pneumatic claw driving mechanism 331 is an electric cylinder, so that the downward pressure of the pneumatic claw 332 for installing the new clamping nail into the clamping nail hole on the graphite boat piece can be conveniently controlled, and the output torque force can be conveniently controlled.

In this embodiment, when a new staple is installed on the graphite boat, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to operate to drive the air claw 332 of the stapling module 33 to move to the feeding mechanism 8 along the X-axis direction and the Y-axis direction, so that the air claw 332 clamps a new staple of a corresponding specification on the feeding mechanism 8, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 to drive the air claw 332 of the stapling module 33 to move to a position above the position of the staple hole on the graphite boat, the air claw driving mechanism 331 drives the air claw 332 to move downward along the Z-axis direction, and presses the new staple on the air claw 332 into the staple hole, so as to implement installation of the new staple, and thus, the above operations are repeated, so as to implement installation of the new staple in the next staple hole, until new staples are installed in all the staple holes on the graphite boat.

As an embodiment of the present invention, the binding module 33 includes a connecting seat 333, the pneumatic claw driving mechanism 331 is connected to the pneumatic claw 332 through the connecting seat 333, and the pneumatic claw driving mechanism 331 drives the pneumatic claw 332 to move up and down along the Z-axis direction through the driving connecting seat 333.

Referring to fig. 9 and 10, as an embodiment of the present invention, the air gripper 322 includes an installation seat 3225, at least two grippers 3226 movably disposed on the installation seat 3225 and forming a clamping space at intervals, and an air cylinder 3227 for driving the grippers 3226 to open or close each other, and the air gripper driving mechanism 331 is connected to the installation seat 3225 or the air cylinder 3227. Among them, the number of the claws 3226 shown in fig. 9 and 10 is three.

As an embodiment of the present invention, the gas claw 322 further includes a positioning column 3288 disposed in the clamping space, one end of the positioning column 3288 is fixed to the mounting seat 3225, and the other end is used for limiting the abutting of the staple when the claw 3226 grips the staple.

In this embodiment, the positioning column 3288 is disposed inside the claw 3226, so that when the claw 3226 grips the staple 200, the upper surface of the staple 200 contacts with the positioning column 3288 to position the staple, prevent the staple from skewing in the claw 3226, ensure that the staple is kept in a vertical state in the claw 3226, and prevent the staple from skewing in the loading process; in addition, when the staple module 33 mounts the staple, when the claw 3226 presses down the staple into the staple hole, the positioning column 3288 provides a vertically downward pressure to the staple, so that the staple can be vertically pressed into the staple hole, thereby further preventing the staple from being mounted askew and ensuring the mounting accuracy of the staple. Preferably, the positioning column 3288 is in threaded connection with the mounting seat 3225, so that the height of the positioning column 3288 in the claw 3226 can be conveniently adjusted, the height of the positioning column 3288 can be conveniently adjusted according to staples with different lengths, and the universality is good.

As an embodiment of the utility model, be provided with two dismouting nail platforms 2 in the frame 1, every dismouting nail platform 2 corresponds and sets up a dismouting nail device 3 to make every dismouting nail device 3 carry out the dismouting of graphite boat piece bail on the dismouting nail platform 2 that corresponds. Wherein, every dismouting nail platform 2 corresponds sets up a feeding mechanism 8.

In this embodiment, two dismouting nail platforms 2 symmetry set up in the both sides of the central axis of frame 1, and every dismouting nail device 3 carries out the change of graphite boat piece bail respectively at the dismouting nail platform 2 that corresponds, because two dismouting nail devices 3 that can carry out graphite boat piece bail simultaneously work to can promote the work efficiency of this graphite boat piece bail erection equipment. Wherein, the structure of two dismouting nail platforms 2 is identical, and the structure of two dismouting nail device 3 is identical.

As an embodiment of the present invention, each nail dismounting platform 2 includes a nail dismounting positioning plate 21 and a nail mounting positioning plate 22 arranged at intervals along the Y-axis direction; the taking and placing device 4 is also used for transferring the graphite boat piece on the nail dismounting positioning plate 21 to the nail mounting positioning plate 22;

the vision inspection module 31, the staple removing module 32 and the staple module 33 of each staple removing device 3 can move to the upper part of the staple removing positioning plate 21 or the staple positioning plate 22 of the corresponding staple removing platform 2 along the Y-axis direction. Wherein, one side of each binding positioning plate 22 is provided with a feeding mechanism 8, so that the binding module 33 has short motion stroke in taking the clamping nail and high nail taking efficiency.

In this embodiment, the taking and placing device 5 is used for taking the graphite boat piece to be replaced of the staple at the feeding station 6 to the staple detaching positioning plate 21 of the staple detaching platform, and is used for taking the graphite boat piece on the staple detaching positioning plate 21 to the staple attaching positioning plate 22, and is used for taking out the graphite boat piece which completes replacement of the staple at the staple attaching positioning plate 22 and placing the graphite boat piece at the feeding station 7.

In this embodiment, two are torn open and are nailed locating plate 21 and be used for placing the graphite boat piece of treating the change bail, and two binding locating plates 22 are used for placing the graphite boat piece that has accomplished the bail and has dismantled, can utilize two to tear open and nail locating plate 21 like this and dismantle the bail, utilize two binding locating plates 22 to install the bail, and two are torn open and are nailed locating plate 21 and can be torn open the nail work simultaneously, and two binding locating plates 22 are used for carrying out the binding work simultaneously, can promote the dismouting efficiency of graphite boat bail greatly. Moreover, the rivet detaching positioning plate 21 or the rivet installing positioning plate 22 of each rivet detaching platform 2 share the same visual detection module 31, the rivet detaching module 32 and the rivet installing module 33, so that the production cost can be greatly reduced, and the structure is more compact. Except this embodiment, tear nail locating plate 21 or binding locating plate 22 and can also set up in same position, need not to tear nail locating plate 21 or binding locating plate 22 separately in the different positions setting respectively like this, carry out the dismantlement and the installation of bail in same position, can reduce the overall dimension of equipment.

In the embodiment, as the taking and placing device 5 is adopted to take and place the graphite boat piece, the graphite boat piece can be taken and placed at will on the arbitrary dismounting and mounting platform 2, and thus when any one of the two dismounting and mounting positioning plates 21 is in a free state, the taking and placing device 5 can move the graphite boat piece to the dismounting and mounting positioning plate 21 to dismount the staple; when an idle state appears in any one of the two binding positioning plates 22, the taking and placing device 5 can move the graphite boat sheet to the binding positioning plate 22 to install the staple, so that the coordination work of double stations can be realized, the waiting time in the feeding process of the graphite boat sheet can be saved, and the replacement efficiency of the graphite boat sheet staple can be greatly improved.

In this embodiment, the principle of the staple mounting and dismounting of each staple device 3 on the corresponding staple mounting and dismounting platform 2 is the same, and the following description will be given of the process of mounting and dismounting the staple on the corresponding staple mounting and dismounting platform 2 by using one staple mounting and dismounting device 3.

The taking and placing device 5 takes the graphite boat piece manually placed on the feeding station 6 to the nail dismounting positioning plate 21, the control device 4 controls the driving mechanism of the nail dismounting device 3 to drive the visual detection module 31 and the nail dismounting module 32 to move above the nail dismounting positioning plate 21, the control device 4 identifies the position of an old nail of the graphite boat piece on the nail dismounting positioning plate 21 through the visual detection module 31, and the control device 4 controls the nail dismounting module 32 to dismount the old nail of the graphite boat piece on the nail dismounting positioning plate 21; after all old staples on the graphite boat piece are disassembled, the taking and placing device 5 takes the graphite boat piece on the disassembling and nailing positioning plate 21 to the nailing positioning plate 22, the control device 4 controls the driving mechanism to drive the visual detection module 31 and the nailing module 33 to synchronously move above the nailing positioning plate 22 respectively, the control device 4 identifies the position and the aperture of the staple hole of the graphite boat piece on the nailing positioning plate 22 through the visual detection module 31, the control device 4 controls the nailing module 33 to load a new staple with a corresponding specification into the staple hole of the graphite boat piece on the nailing positioning plate 22, thereby accomplish the change of the bail of graphite boat piece, treat that the bail of graphite boat piece is whole to be changed the back, get the graphite boat piece that the completion bail was changed on the device 5 of putting will binding locating plate 22 and get to unloading station 7, so constantly repeat above-mentioned process, carry out the change of next graphite boat piece bail.

Referring to fig. 6, as an embodiment of the present invention, a negative pressure cavity (not shown) is disposed inside the screw mounting platform 2, a plurality of adsorption holes 201 communicated with the negative pressure cavity are disposed on the upper surface of the screw mounting platform 2, and the graphite boat piece is adsorbed on the screw mounting platform 2 through the adsorption holes 201. The structure of the staple removing positioning plate 21 and the staple installing positioning plate 22 is completely the same. Specifically, the upper surfaces of the nail removing positioning plate 21 and the nail installing positioning plate 22 are respectively provided with a plurality of adsorption holes 201 communicated with the negative pressure cavity. Wherein the negative pressure cavity is connected with an external vacuum generating device through a pipeline, and the vacuum generating device is connected with the control device 4. Preferably, the vacuum generating means is a vacuum pump.

In the embodiment, when the graphite boat piece is placed on the dismounting nail platform 2, the control device 4 controls the vacuum generating device to work, the dismounting nail platform 2 adsorbs and fixes the graphite boat piece by using the adsorption holes 201, so that the graphite boat piece is prevented from moving in the process of dismounting the staple bolt, the positioning of the graphite boat piece is realized, and the dismounting precision of the staple bolt is improved; when the graphite boat piece needs to be taken away from the screw mounting and dismounting platform 2, the control device 4 controls the vacuum generating device to stop working, so that the graphite boat piece can be smoothly taken away from the screw mounting and dismounting platform 2. Specifically, the nail dismounting positioning plate 21 and the nail mounting positioning plate 22 are used for adsorbing and fixing the graphite boat piece through the plurality of adsorption holes 201, so that the graphite boat piece is positioned; moreover, the graphite boat pieces are adsorbed and fixed by the adsorption holes 201, so that the graphite boat pieces can be attached to the disassembling and assembling nail platform 2 as far as possible, the bottom surfaces of the graphite boat pieces are kept flat, the problem that the installation depth of the clamp nails is inconsistent due to inconsistent flatness of the bottom surfaces of the graphite boat pieces is avoided, and the installation precision of the clamp nails is further ensured. Simultaneously, dismouting nail platform 2 still is provided with and is used for cooperating with graphite boat piece to realize the locating pin of graphite boat piece location, with the positioning accuracy that further promotes graphite boat piece.

Referring to fig. 5 again, as an embodiment of the present invention, the staple removing and mounting device 3 further includes:

locate dismouting nail platform 2 below, a useless nail collection module 35 for collecting old bail, the below of dismouting nail platform 2 is provided with the lower seat 30 that moves that is connected with first drive assembly 34, it is provided with third drive assembly 38 to move down seat 30, useless nail collection module 35 is connected with third drive assembly 38, third drive assembly 38 can drive useless nail and collect module 35 and follow the X axle direction motion in the below of dismouting nail platform 2, so that useless nail collection module 35 moves the below of nail removal module 32.

In this embodiment, useless nail is collected module 35 and can be followed every staple hole below that X axle direction and Y axle direction moved graphite boat piece, like this useless nail is collected module 35 when the nail is torn open to nail module 32, useless nail is collected module 35 and can be removed the below of tearing open nail module 32, tear nail module 32 and follow the staple hole back of tearing open old staple, old staple directly falls in useless nail and collects module 35, realize accomodating temporarily of old staple, be convenient for the recycle of old staple.

In this embodiment, the third driving component 38 is connected to the waste nail collecting module 35 and can drive the waste nail collecting module 35 to move along the X-axis direction, and the first driving component 34 can drive the lower moving seat 30 to move along the Y-axis direction together with the waste nail collecting module 35, the vision detecting module 31, the nail removing module 32 and the nail installing module 33, so as to realize the movement of the waste nail collecting module 35 along the X-axis direction and the Y-axis direction.

In this embodiment, the waste nail collecting module 35, the visual inspection module 31, the nail removing module 32 and the nail installing module 33 share the first driving assembly 34, so that the waste nail collecting module 35, the visual inspection module 31, the nail removing module 32 and the nail installing module 33 can synchronously move along the Y-axis direction; utilize third drive assembly 38 can drive useless nail and collect module 35 and can follow X axle direction back-and-forth movement, the nimble removal that module 35 position was collected to useless nail of being convenient for, tear nail module 32 open the nail during operation, useless nail is collected module 35 and can be followed Y axle direction and X axle direction and move to tear nail module 32 under in a flexible way, the collection of the old bail of being convenient for. In addition, a driving device may be separately provided to drive the waste nail collecting module 35 to move along the X-axis direction and the Y-axis direction.

As an embodiment of the utility model, the graphite boat blade staple mounting device further comprises a containing box 10 arranged on the frame 1; the waste nail collecting module 35 includes:

a collecting barrel 351 for collecting the old staples, wherein the top of the collecting barrel 351 is provided with a feeding port 3511, and the bottom of the collecting barrel 351 is provided with a discharging port (not shown);

a baffle 352 movably arranged at the discharge hole; and

a baffle driving device 353 connected with the baffle 352, wherein the baffle driving device 353 is connected with the control device 4 and can drive the baffle 352 to move so as to open or close the discharge hole, and the third driving assembly 38 can drive the collecting cylinder 351 to move to the upper part of the containing box 10 along the X-axis direction.

In this embodiment, the collecting cylinder 351 is used for temporarily collecting old staples, and when the staple removing module 32 removes staples, the old staples drop from the through holes 202 on the staple removing platform 2 and fall into the collecting cylinder 351 from the feeding port 3511 of the collecting cylinder 351. After the old staple bolt in the surge drum 351 is collected to full, controlling means 4 control third drive assembly 38 drive surge drum 351 moves to containing box 10 top along the X axle direction, baffle drive 353 redrives baffle 352 and moves in order to open the discharge gate, so that the old staple bolt in the surge drum 351 all falls into containing box 10, after the old staple bolt in surge drum 351 all falls into containing box 10, baffle drive 353 redrives baffle 352 and moves in order to close the discharge gate, in order to continue to carry out the function that collecting drum 351 collected old staple bolt temporarily, thereby can realize in the containing box is collected to full-automatic recovery and the unity of old staple bolt, degree of automation is high. Here, a sensor may be provided in the collecting cylinder 351 to detect whether the old staples are collected completely, or the collecting cylinder 351 may perform an operation of pouring the old staples into the storage box at regular intervals. The baffle driving device 353 is an air cylinder.

Specifically, the fourth driving assembly 374 is fixed to the collecting cylinder 351 so that the staple detecting module 37 can move in the Y-axis direction in synchronization with the collecting cylinder 351 and so that the staple detecting module 37 can move back and forth in the X-axis direction in synchronization with the collecting cylinder 351, thus eliminating the need for separately providing a driving device to drive the staple detecting module 37 to move in the Y-axis direction and in the X-axis direction.

As an embodiment of the utility model, still be provided with the reservation station 15 that is used for depositing the damage graphite boat piece that visual inspection module 31 detected in frame 1, get and put device 5 and still be used for placing the damage graphite boat piece on reserving station 15.

In this embodiment, after nail removal module 32 finishes the bail and dismantles, before new bail is installed to binding module 33, controlling means 4 shoots graphite boat piece through visual detection module 31, handle through the image to graphite boat piece like this, can discern whether damage appears in the staple hole, when visual detection module 31 discerns the staple hole and appears damaging, judge that damage appears in graphite boat piece, controlling means 4 controls to get and puts device 5 and takes out the graphite boat piece that damages from binding locating plate 21 or binding locating plate 22 and place on reserving station 15, can avoid installing new staple at the graphite boat piece that damages like this, the staff can take out the graphite boat piece that damages from reserving the station, the intelligent degree and the work efficiency of equipment have been promoted greatly.

As an embodiment of the present invention, the vision inspection module 31 includes a CCD camera 311 fixedly connected to the nailing module 33, the nail dismounting device 3 further includes a light source assembly 9 disposed below the nail dismounting platform 2 and connected to the third driving assembly 38, and the third driving assembly 38 can drive the light source assembly 9 to move along the X-axis direction; the control device 4 can control the first driving assembly 34, the second driving assembly 36, and the third driving assembly 38 to drive, so that the light source assembly 9 and the CCD camera 311 move above and below the through hole 202, respectively.

Specifically, the nail removing positioning plate 21 and the nail installing positioning plate 22 are respectively provided with through holes 202 corresponding to the nail holes on the graphite boat piece. When the graphite boat piece of the old staple to be disassembled is placed on the staple disassembling positioning plate 21, the positions of the old staple on the graphite boat piece correspond to the through holes 202 on the staple disassembling positioning plate 21 one by one; when the graphite boat piece to be mounted with the new staple is placed on the staple positioning plate 22, the positions of the staple holes on the graphite boat piece correspond to the through holes 202 on the staple positioning plate 22 one by one.

Specifically, the CCD camera 311 is connected with the binding module 33 into a whole, the CCD camera 311 moves along the X-axis direction and the Y-axis direction synchronously with the binding module 32 and the binding module 33, so that the CCD camera 311 moves to any position along the X-axis direction and the Y-axis direction synchronously with the binding module 32 and the binding module 33, so as to photograph and identify each staple and staple hole on the graphite boat sheet, and the CCD camera 311 shares a driving device in the X-axis direction and the Y-axis direction with the binding module 32 and the binding module 33, without separately arranging a driving device for driving the binding module along the X-axis direction and the Y-axis direction.

In this embodiment, the CCD camera 311, when the nail removing module 32 and the binding module 33 move to the top of the nail removing positioning plate 21 along the Y axis, the light source assembly 9 moves to the bottom of the nail removing positioning plate 21 along the Y axis synchronously, the CCD camera 311, when the nail removing module 32 and the binding module 33 move to the top of the binding positioning plate 22 along the Y axis, the light source assembly 9 moves to the bottom of the binding positioning plate 22 along the Y axis synchronously, when the binding is removed from the nail removing positioning plate 21 and the binding positioning plate 22, the light source assembly 9 and the visual detection module 31 are both utilized.

In this embodiment, before the old staple bolt placed on the graphite boat piece of the staple bolt detaching positioning plate 21 is detached, the control device 4 photographs the graphite boat piece through the CCD camera 311, and processes the image of the graphite boat piece to obtain the position of the old staple bolt of the graphite boat piece in the image, so that the coordinate position of the old staple bolt can be obtained, the control device 4 can control the staple bolt detaching module 32 to move to the coordinate position corresponding to the staple bolt, and the old staple bolt is detached from the staple bolt hole. When a staple is installed in a staple hole in a graphite boat sheet, light emitted by the light source assembly 9 penetrates through the through hole 202 in the staple positioning plate 22, an aperture is formed in the position of the staple hole in the graphite boat sheet, the control device 4 photographs the graphite boat sheet through the CCD camera 311, images of the graphite boat sheet are processed, the coordinate position and the aperture of the staple hole can be obtained, the control device 4 controls the staple module 33 to clamp a new staple with a corresponding specification from the corresponding vibrating disc 81 of the feeding mechanism 8, and the staple module 33 is controlled to move to the position of the staple hole to install the new staple.

Specifically, since the position of each through hole 202 on each screw mounting and dismounting platform 2 is fixed, the center position of each through hole 202 corresponds to a fixed reference position in advance, before the old staples of the graphite boat sheet placed on the screw mounting and dismounting positioning plate 21 are dismounted, the control device 4 moves to the reference positions of the through holes 202 through the visual detection module 31 and photographs the graphite boat sheet through the visual detection module 31, and the control device 4 processes the image of the graphite boat sheet to obtain the offset of the old staples of the graphite boat sheet on the X axis and the Y axis relative to the reference positions, so that the coordinate positions of the old staples can be calculated, and thus, each old staple position of the graphite boat sheet can be detected in sequence by adopting the same method.

When a new staple is installed in a staple hole in a graphite boat sheet, light emitted by a light source assembly 9 penetrates through a through hole 202 in a staple positioning plate 22, an aperture is formed in the position of the staple hole in the graphite boat sheet, a control device 4 moves to a reference position through a visual detection module 31 and photographs the graphite boat sheet through the visual detection module 31, an image collected by the visual detection module 31 is specifically an aperture in the middle and black outside, the control device can fit a black-white boundary of the edge of the image into a circle through color, contrast and other parameters of the collected image according to image processing software, the coverage of the circle is determined and the pixel diameter of the circle is obtained through measurement, the pixel unit of the measured diameter of the circle in the image is converted into an actual physical unit of the staple hole, and the aperture of the staple hole is determined.

Meanwhile, the control device 4 processes the image of the graphite boat sheet, obtains pixel offset values of the center of the aperture and the reference position in the X-axis and Y-axis directions, and converts the pixel units of the pixel offset values measured in the image into physical units of actual offset of the staple holes, that is, determines offset distances of the staple holes on the X-axis and Y-axis with respect to the reference position, thereby determining the positions of the staple holes on the graphite boat sheet according to the reference position and the offset distances with respect to the reference position, and thus, each position of the staple holes on the graphite boat sheet can be sequentially detected by the same method.

Referring to fig. 7, as an embodiment of the present invention, the light source assembly 9 includes a light source fixing plate 91, a light source 92 fixed on the light source fixing plate 91, and a light source driving mechanism 93 connected to the third driving assembly 38, wherein the light source driving mechanism 93 is connected to the light source fixing plate 91 and can drive the light source 92 to move up and down along the Z axis.

The light source driving mechanism 93 is specifically a pneumatic cylinder. When the CCD camera 311 takes a picture of the graphite boat on the stapling positioning plate 22, the control device 4 controls the light source driving mechanism 93 to drive the light source fixing plate 91 to drive the light source 92 to move upward along the Z-axis to approach the staple hole as much as possible, so that the aperture of the staple hole is more obvious, the aperture brightness of the staple hole can be highlighted, and the image recognition accuracy is improved; meanwhile, when the CCD camera 311 does not need to photograph the graphite boat, the light source driving mechanism 93 may drive the light source 92 to move in place in the Z-axis direction, so as to avoid the light source 92 from moving and interfering with the stapling positioning plate 22 or the stapling positioning plate 21 in the moving process.

Specifically, the staple detection module 37 is fixedly connected to the collection cylinder 351 of the waste staple collection module 35. Because staple detects module 37 and useless nail and collects module 35 and be connected to make staple detect module 37 and useless nail collect module 35 synchronous along Y axle direction synchronous motion with useless nail to share first drive assembly 34, and staple detect module 37 and useless nail collect module 35 synchronous along X axle direction synchronous motion with the third drive assembly 38 of sharing, greatly reduced manufacturing cost, and simplified control. Alternatively, the staple detection module 37 may be provided with a separate driving device for driving the movement thereof in the Y-axis direction and the X-axis direction.

Referring to fig. 11 to 13, as an embodiment of the present invention, the taking and placing device 5 includes:

a three-axis linkage mechanism 51 arranged on the frame 1 and connected with the control device 4;

the sucker component 52 is arranged on the three-axis linkage mechanism 51, the sucker component 52 is connected with a vacuum pump (not shown) through a pipeline, the vacuum pump is connected with the control device 4, and the three-axis linkage mechanism 51 can drive the sucker component 52 to move along the X-axis direction, the Y-axis direction and the Z-axis direction.

In this embodiment, the control device 4 drives the suction cup assembly 52 to move left and right along the Y-axis direction, move back and forth along the X-axis direction, and move up and down along the Z-axis direction by controlling the three-axis linkage mechanism 51, so that the suction cup assembly 52 can conveniently pick and place the graphite boat piece at a freely moving position on the frame 1; meanwhile, the suction disc assembly 52 is used for picking and placing the graphite boat piece in an adsorption mode, so that the graphite boat piece is convenient to pick and place, and the damage to the graphite boat piece in the picking and placing process is avoided.

As an embodiment of the present invention, the three-axis linkage mechanism 51 includes a Y-axis electric cylinder 511, an X-axis electric cylinder 512, and a Z-axis electric cylinder 513 respectively connected to the control device 4; the Y-axis electric cylinder 511 is fixed on the machine frame 1, the Y-axis electric cylinder 511 is connected with the X-axis electric cylinder 512 and can drive the X-axis electric cylinder 512 to move left and right along the Y-axis direction, the X-axis electric cylinder 512 is connected with the Z-axis electric cylinder 513 and can drive the Z-axis electric cylinder 513 to move front and back along the X-axis direction, and the Z-axis electric cylinder 513 is connected with the sucker component 52 and can drive the sucker component 52 to move up and down along the Z-axis direction.

In this embodiment, the control device 4 controls the Y-axis electric cylinder 511, the X-axis electric cylinder 512, and the Z-axis electric cylinder 513 to work in coordination, so as to control the chuck assembly 52 to move left and right along the Y-axis direction, move front and back along the X-axis direction, and move up and down along the Z-axis direction, thereby facilitating the chuck assembly 52 to pick and place the graphite boat at a freely moving position on the frame 1.

As an embodiment of the utility model, triaxial link gear 51 still includes first connecting piece 514, and first connecting piece 514 is connected in Y axle electricity jar 511, and X axle electricity jar 512 is fixed in on first connecting piece 514 to realize being connected of X axle electricity jar 512 and Y axle electricity jar 511, Y axle electricity jar 511 is through the motion of drive first connecting piece 514 along Y axle direction, thereby drives the synchronous motion along Y axle direction of X axle electricity jar 512.

As an embodiment of the utility model, triaxial linkage 51 still includes second connecting piece 515, second connecting piece 515 is connected in X axle electric jar 512, Z axle electric jar 513 is fixed in on second connecting piece 515, in order to realize being connected of Z axle electric jar 513 and X axle electric jar 512, X axle electric jar 512 is through driving second connecting piece 515 along the X axle motion, thereby it moves along the X axle in step to drive Z axle electric jar 513, thereby it moves along the X axle in step to drive sucking disc subassembly 52.

As an embodiment of the present invention, the suction cup assembly 52 includes a bracket 521, a plurality of suction cups 522 disposed on the bracket 521 and connected to the vacuum pump through a pipeline, and the bracket 521 is connected to the three-axis linkage mechanism 51. Specifically, the bracket 521 is connected to the Z-axis electric cylinder 513. Wherein, the sucker component 52 adsorbs the graphite boat piece through the plurality of suckers 522, so that the graphite boat piece is stably adsorbed. When sucking disc subassembly 52 is when the graphite boat piece of needs absorption, controlling means 4 control vacuum pump work, make a plurality of sucking discs 522 form the negative pressure, when a plurality of sucking discs 522 and graphite boat piece contact, can adsorb the graphite boat piece, sucking disc subassembly 52 removes the graphite boat piece to corresponding position after, sucking disc subassembly 52 descends the back to the position along the Z axle direction, controlling means 4 control vacuum pump stop work, graphite boat piece breaks away from with a plurality of sucking discs 522 this moment, thereby accomplish sucking disc subassembly 52 and put the action of graphite boat piece.

As an embodiment of the present invention, the frame 12 includes at least one cross bar 121 disposed along the Y-axis direction, and the Y-axis electric cylinder 511 is fixed to the cross bar 121 and can drive the X-axis electric cylinder 52 to move along the Y-axis direction.

As an embodiment of the utility model, the quantity of Y axle electric jar 51, X axle electric jar 52 is two, and two Y axle electric jars 51 drive two X axle electric jars 52 simultaneously and move along Y axle direction to make sucking disc subassembly 52 move more steadily.

The utility model provides a concrete working process of graphite boat piece bail erection equipment as follows: the staff will treat to change the graphite boat piece of bail and place on material loading station 6, and controlling means 4 control is got and is put device 5 and will be placed the graphite boat piece of material loading station 6 and get to two dismouting nail locating plates 21 on the platform 2 in proper order on, and the process of carrying out dismouting bail on the dismouting nail platform 2 that every dismouting nail device 3 corresponds is the same. Specifically, when the graphite boat piece is dismounted and mounted on the dismounting and mounting nail platform 2 corresponding to each dismounting and mounting nail device 3, the control device 4 controls the first driving assembly 34 and the second driving assembly 36 of each dismounting and mounting nail device 3 to work in coordination so as to drive the visual detection module 31 to move to the position above the graphite boat piece on the dismounting and mounting nail positioning plate 21 along the X-axis direction and the Y-axis direction. The control device 4 identifies the position of a first old staple on the graphite boat sheet through the visual detection module 31, then the control device 4 controls the first driving module 34 and the second driving module 36 to work cooperatively so as to drive the staple removing module 32 to move to the position above the first old staple on the graphite boat sheet on the staple removing positioning plate 21 along the X-axis direction and the Y-axis direction, the control device 4 controls the third driving module 38 to drive the collecting cylinder 351 of the waste staple collecting module 35 to move to the position below the first old staple, then the control device 4 controls the ejection column driving mechanism 321 to drive the ejection column 322 to move downwards along the Z-axis direction so as to remove the first old staple from the staple hole, and the old staple falls into the collecting cylinder 351; the control device 4 then controls the top post driving mechanism 321 to drive the top post 322 to move upwards to the initial position along the Z-axis, and the above process is repeated to detach the next old staple until all the old staples on the graphite boat sheet are detached.

After all old staples of the graphite boat sheet on the staple-removing positioning plate 21 are removed, the control device 4 controls the pick-and-place device 5 to transfer the graphite boat sheet from the staple-removing positioning plate 21 to the staple positioning plate 22, the control device 4 controls the first driving component 34 and the second driving component 36 to work in coordination so as to drive the visual detection module 31 to move to the position above a first staple hole on the graphite boat sheet on the staple positioning plate 22 along the X-axis direction and the Y-axis direction, simultaneously the control device 4 controls the third driving component 38 to drive the light source component 9 to move to the position below the staple positioning plate 22, the visual detection module 31 is used for photographing the graphite boat sheet on the staple positioning plate 22 and processing the image of the graphite boat sheet to obtain the coordinate position and the aperture of the staple hole, the control device 4 controls the third driving component 38 to drive the staple detection module 37 to move to the position below the first staple hole, the control device 4 controls the fourth driving component 374 to drive the ejector rod 373 to move upwards to a position below the staple bolt hole and have a preset height difference with the graphite boat piece; the control device 4 controls the first driving component 34 and the second driving component 36 to work cooperatively to drive the pneumatic claw 332 of the stapling module 33 to clamp a new staple corresponding to the staple hole from the discharge hole of the corresponding vibrating tray of the corresponding feeding mechanism 8, and controls the first driving component 34 and the second driving component 36 to work cooperatively to drive the pneumatic claw 332 to move right above the position of the staple hole, and the control device 4 controls the pneumatic claw driving mechanism 331 to drive the pneumatic claw 332 to move downward along the Z-axis to press the new staple into the staple hole. When the pressure sensor 372 detects the downward pressure of a new staple, the new staple is considered to be installed in place, at this time, the control device 4 controls the air claw driving mechanism 331 to stop driving the air claw 332 to move downwards, and the control device 4 controls the air cylinder 3227 to drive the air claw 332 to open, so that the claw hand 3226 of the air claw 332 releases the clamping of the staple; the control device 4 controls the air claw driving mechanism 331 to drive the air claw 332 to move upwards for resetting, and the control device 4 controls the visual detection module 31 to move to a position above the second staple hole, and completes the installation of the second staple according to the above process, and the above process is repeated until new staples are installed in all the staple holes on the graphite boat sheet.

After new staples are completely installed in the staple holes in the graphite boat piece on the stapling positioning plate 22, the control device 4 controls the pick-and-place device 5 to pick the graphite boat piece on the stapling positioning plate 22 to the blanking station 7, the control device 4 controls the pick-and-place device 5 to pick the graphite boat piece of which the staple is to be replaced from the feeding station 6 to the stapling positioning plate 21, the control device 4 controls the visual detection module 31, the staple removing module 32 and the stapling module 33 to synchronously move to the position above the stapling positioning plate 21, and carries out the staple removing work of the old staple of the next graphite boat piece according to the staple removing process, after the old staple on the graphite boat piece on the stapling positioning plate 21 is removed, the control device 4 controls the visual detection module 31, the staple removing module 32 and the staple removing module 33 to synchronously move to the position above the stapling positioning plate 22, and carries out the staple removing work of the next graphite boat piece according to the staple process, so every visual inspection module 31, the module 32 and the module 33 of binding of tearing open of dismouting nail device 3 constantly on the locating plate 21 of tearing open the nail and bind and move back and forth above locating plate 22 to the bail on the dismouting graphite boat piece realizes the automatic change of graphite boat bail.

The embodiment of the utility model provides a graphite boat piece bail erection equipment is used for placing the dismouting nail platform and the dismouting nail device of graphite boat piece through setting up, dismouting nail device is including being used for pressing down the new bail into the downthehole binding module of bail of graphite boat piece, and be used for detecting whether the bail of predetermineeing the position is installed to new bail, controlling means detects whether new bail is installed to predetermineeing the position through bail, with the control module stops to press down new bail when new bail is installed to predetermineeing the position, ensure that the binding module pushes down the bail and predetermine the position, avoid the bail installation depth shallow or too deep, ensure that the installation depth of graphite boat piece bail meets the requirements, ensure simultaneously that the installation depth of graphite boat piece bail is unified, make the bail installation uniformity good.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (13)

1. The utility model provides a graphite boat piece bail erection equipment which characterized in that includes:

a frame;

the dismounting and mounting nail platform is arranged on the rack and used for placing the graphite boat piece, and is provided with a through hole which is arranged corresponding to the nail clamping hole in the graphite boat piece; and

the assembling and disassembling device comprises an assembling and disassembling module and a staple detecting module, wherein the assembling and disassembling module is arranged on the rack and used for pressing a new staple into a staple hole of the graphite boat sheet, and the staple detecting module is used for detecting whether the new staple is installed at a preset position; the staple bolt module set up in dismouting nail platform top, staple bolt detection module locates the frame, just staple bolt detection module is located the dismouting nail platform the below of through-hole and with the staple bolt module is relative, the staple bolt detection module reaches the staple bolt module links to each other with a controlling means respectively, controlling means is used for new staple bolt is installed and is controlled when predetermineeing the position the staple bolt module stops to push down new staple bolt.

2. The graphite boat blade staple mounting apparatus of claim 1, wherein the staple detection module comprises a pressure sensor connected to the control device, the pressure sensor being located at a set position below the through hole; the control device is used for controlling the stapling module to stop pressing down the staple when the new staple presses down the pressure sensor.

3. The graphite boat blade staple mounting apparatus of claim 1, wherein the staple detection module comprises a distance measuring sensor connected to the control device, and the distance measuring sensor is disposed at a set position below the through hole.

4. The graphite boat blade staple mounting apparatus of claim 2, wherein the staple detection module comprises:

set up in the last ejector pin of pressure sensor, the ejector pin is located the below position of through-hole, new bail passes through the ejector pin pushes down pressure sensor.

5. The graphite boat blade staple mounting apparatus of claim 4, wherein the staple detection module further comprises:

a fourth drive assembly disposed on the frame;

and the fourth driving component is connected with the supporting component and can drive the supporting component to move up and down along the Z-axis direction so as to drive the ejector rod to move up and down along the Z-axis direction.

6. The graphite boat blade staple mounting apparatus of claim 1, wherein the staple removing device further comprises a driving mechanism disposed on the frame and connected to the control device, the driving mechanism is connected to the staple module and the staple detecting module, and the driving mechanism drives the staple module and the staple detecting module to move to the upper and lower sides of each through hole respectively.

7. The graphite boat blade staple mounting apparatus of claim 6, wherein the driving mechanism comprises:

the first driving assembly is arranged on the rack and connected with the control device;

the upper moving seat is connected with the first driving assembly;

the second driving assembly is arranged on the upper moving seat and connected with the control device, and the second driving assembly is connected with the stapling module;

the lower moving seat is arranged below the nail dismounting platform and connected with the first driving assembly; and

the staple detection module is connected with the third driving assembly;

the first driving assembly can drive the upper moving seat and the lower moving seat to move along the Y-axis direction, so that the binding module and the staple detection module synchronously move along the Y-axis direction; the second drive assembly can drive the staple module moves along the X-axis direction, and the third drive assembly can drive the staple detection module moves along the X-axis direction.

8. The graphite boat piece staple mounting device of claim 6, wherein the staple removing device further comprises a staple removing module for removing old staples on the graphite boat pieces, the staple removing module is fixedly connected to the staple mounting module, and the staple removing module and the staple mounting module move synchronously, so that the staple removing module can move above the old staple position of each graphite boat piece.

9. The graphite boat blade staple mounting apparatus of claim 8, wherein the de-tacking device further comprises:

and the visual detection module is fixed on the binding module, and moves synchronously with the nail dismounting module and the binding module so that the visual detection module can move to the position above the through hole.

10. The staple mounting apparatus for graphite boat pieces as claimed in claim 6, further comprising a feeding mechanism provided on the frame for supplying new staples; the driving mechanism can drive the binding module to move to the feeding mechanism, so that the binding module clamps the new staple from the feeding mechanism.

11. The graphite boat blade staple mounting apparatus of claim 8, wherein the staple removing module comprises a top post driving mechanism fixedly connected with the staple mounting module, and a top post connected with the top post driving mechanism, and the top post driving mechanism is connected with the control device and is used for driving the top post to move up and down along the Z-axis direction.

12. The graphite boat blade staple mounting apparatus of claim 1, wherein the staple mounting module comprises a pneumatic claw driving mechanism, a pneumatic claw connected to the pneumatic claw driving mechanism and used for clamping a staple, and the control device is connected to the pneumatic claw driving mechanism and used for controlling the pneumatic claw driving mechanism to drive the pneumatic claw to move up and down along the Z-axis direction, so that the pneumatic claw mounts a new staple into the staple hole.

13. The graphite boat blade staple mounting apparatus of claim 1, further comprising a pick-and-place device disposed on the frame, the pick-and-place device being connected to the control device for picking and placing graphite boat blades on the staple mounting platform.

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