Pin injection molding part positioning and assembling system and positioning method

Abstract

The invention relates to a pin injection molding part positioning and assembling system and a positioning method.The pin injection molding part positioning and assembling system comprises a workbench, the workbench is provided with a feeding mechanism, a first material moving mechanism, a first detection mechanism, a rotating mechanism, a vibration disc feeding mechanism, a second material moving mechanism and a second detection mechanism, and one side of the workbench is provided with a discharging mechanism; the rotating mechanism is located between the feeding mechanism and the vibration disc feeding mechanism, the first detection mechanism is located on one side of the first material moving mechanism, the second detection mechanism is located on one side of the second material moving mechanism, the discharging mechanism comprises a third multi-axis mechanical arm and a material taking and quick changing device, and the driving end of the third multi-axis mechanical arm is detachably connected with the material taking and quick changing device. And the third multi-axis mechanical arm drives the material taking and quick changing device to transfer the assembled products on the rotating mechanism. According to the positioning and assembling system for the contact pin injection molding part, automatic positioning is achieved, the positioning precision and efficiency are improved, and the overall productivity and quality are further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and particularly to a positioning and assembly system and method for pin injection molded parts. Background Art

[0002] As a key component of products such as electronic connectors, home appliance control modules, and automotive wire harnesses, the assembly quality of pin injection molded parts directly affects the reliability of electrical connections and the safety of equipment. In the prior art, it is usually necessary to manually place the pin injection molded parts and materials in the carrier of the carrier table for positioning, and then perform the next assembly work. This operation not only has low positioning efficiency, high labor cost, but also increases the assembly time. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a positioning and assembly system for pin injection molded parts, which realizes automated positioning, improves the positioning accuracy and efficiency, and also improves the overall production capacity and quality.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a positioning and assembly system for pin injection molded parts, including a workbench, on which a feeding mechanism for feeding a tray carrying products, a first material transfer mechanism for transferring products, a first detection mechanism for photographing and detecting products, a rotating mechanism for rotating products, a vibrating disk feeding mechanism for feeding materials, a second material transfer mechanism for transferring materials, and a second detection mechanism for photographing and detecting materials are provided. A discharging mechanism for discharging the assembled products and materials is provided on one side of the workbench. The rotating mechanism is located between the feeding mechanism and the vibrating disk feeding mechanism. The first detection mechanism is located on one side of the first material transfer mechanism, and the second detection mechanism is located on one side of the second material transfer mechanism;

[0005] The discharging mechanism includes a third multi-axis robotic arm and a quick-change device for material picking. The driving end of the third multi-axis robotic arm is detachably connected to the quick-change device for material picking. The third multi-axis robotic arm drives the quick-change device for material picking to transfer the assembled products on the rotating mechanism.

[0006] In one embodiment, the feeding mechanism of the pin injection molding part positioning and assembling system includes a first pallet lifting mechanism for feeding a plurality of pallets full of products, a conveyor line for conveying the pallets on the first pallet lifting mechanism to the second pallet lifting mechanism, a pushing mechanism for pushing the pallets of the first pallet lifting mechanism onto the conveyor line, and a second pallet lifting mechanism for discharging a plurality of empty pallets. The first pallet lifting mechanism includes a motor, a screw drive mechanism, a pallet for placing a plurality of pallets, a guiding component for guiding the pallet, and a clamping component for clamping both ends of the pallet. The driving end of the motor is connected to the screw drive mechanism, and the pallet is installed on the screw drive mechanism. The motor is used to drive the screw drive mechanism to drive the pallet and a plurality of pallets to move up and down along the guiding component. The pushing mechanism includes a base, a first cylinder, and a pushing plate. The first cylinder is installed on the base, and the driving end of the first cylinder is connected to the pushing plate. The first cylinder is used to drive the pushing plate to push the pallet on the first pallet lifting mechanism onto the conveyor line.

[0007] In one embodiment, the second pallet lifting mechanism of the pin injection molding part positioning and assembling system includes a lifting cylinder, a top plate, a limiting component for limiting the empty pallet, and a positioning component for guiding and positioning the empty pallet. The driving end of the lifting cylinder is connected to the top plate, and the lifting cylinder is used to drive the top plate to drive the pallet to move upward along the positioning component.

[0008] In one embodiment, the first material transfer mechanism of the pin injection molding part positioning and assembling system includes a first multi-axis robotic arm and a suction cup mechanism. The driving end of the first multi-axis robotic arm is connected to the suction cup mechanism. The first multi-axis robotic arm is used to drive the suction cup mechanism to suck the products on the pallet and transfer them to the rotating mechanism. The second material transfer mechanism includes a second multi-axis robotic arm and a gripper mechanism. The driving end of the second multi-axis robotic arm is connected to the gripper mechanism. The second multi-axis robotic arm is used to drive the gripper mechanism to clamp the materials on the vibrating bowl feeding mechanism and transfer them to the rotating mechanism. The gripper mechanism includes a first gripper cylinder and two first grippers. The driving end of the first gripper cylinder is connected to the two first grippers. The first gripper cylinder is used to drive the two first grippers to clamp the materials.

[0009] In one embodiment, the first detection mechanism and the second detection mechanism of the pin injection molding part positioning and assembling system respectively include a mounting base, a camera, and a light source. The mounting base is installed on the workbench, the camera and the light source are respectively installed on the mounting base, the light source is located above the camera, and the lens of the camera is set upward.

[0010] In one embodiment, the rotating mechanism of the pin injection molding part positioning and assembling system includes a rotation driving mechanism and a turntable. A plurality of carrier platforms for positioning products and materials are arranged circumferentially on the turntable. The driving end of the rotation driving mechanism is connected to the turntable, and the rotation driving mechanism is used to drive the turntable to drive the carrier platforms to rotate. A plurality of carriers for positioning products and materials are arranged in an array on the carrier platforms.

[0011] In one embodiment, the vibrating disk feeding mechanism of the pin injection molding part positioning and assembling system includes a vibrating disk, a linear vibrator, and a positioning mechanism. The vibrating disk is connected to one end of the linear vibrator, and the other end of the linear vibrator is connected to the positioning mechanism. The positioning mechanism includes a support base, a horizontal driving mechanism, and a positioning plate. The horizontal driving mechanism is installed on the support base, and the driving end of the horizontal driving mechanism is connected to the positioning plate. A plurality of positioning grooves for positioning materials are arranged on the positioning plate, and the horizontal driving mechanism is used to drive the positioning grooves of the positioning plate to correspond to the outlet of the linear vibrator.

[0012] In one embodiment, the pick-up quick-change device of the pin injection molding part positioning and assembling system includes a connecting seat and a plurality of pick-up components arranged in an array on the connecting seat. The pick-up component includes a suction cup component and a clamping jaw component. The suction cup component is used to suck the products on the rotating mechanism, and the clamping jaw component is used to clamp the materials on the rotating mechanism. The clamping jaw component includes a second clamping jaw cylinder and two second clamping jaws. The driving end of the second clamping jaw cylinder is connected to the two second clamping jaws, and the second clamping jaw cylinder is used to drive the two first clamping jaws to clamp the materials.

[0013] A positioning method for pin injection molding parts, using the pin injection molding part positioning and assembling system described above, the method is as follows:

[0014] The first step: Stack a plurality of trays full of products on the first tray lifting mechanism. The first tray lifting mechanism moves the topmost tray upward to a specified position. The first material transfer mechanism transfers the products on the tray above the first detection mechanism. The first detection mechanism takes pictures and positions the products. The first material transfer mechanism adjusts the positions of the products according to the positioning results and then places them on the carriers of the carrier platforms of the rotating mechanism. When all the products in the tray are removed, the pushing mechanism pushes the topmost tray of the first tray lifting mechanism onto the conveyor line. The conveyor line transports the tray to the second tray lifting mechanism, and the second tray lifting mechanism lifts and stacks the empty trays.

[0015] Step 2: The rotation drive mechanism drives the turntable to drive the carrier table and the product to rotate to the material loading station and be located on one side of the second material transfer mechanism. The vibrating disk feeding mechanism sequentially feeds the materials into the positioning grooves of the positioning mechanism. The second material transfer mechanism clamps the materials in the positioning grooves and transfers them above the second detection mechanism. The second detection mechanism takes pictures and positions the materials. The second material transfer mechanism adjusts the positions of the materials according to the positioning results and then places the materials in the carriers on the carrier table.

[0016] Step 3: The rotation drive mechanism drives the turntable to drive the carrier table and the positioned product to move to the unloading station, and the unloading mechanism unloads the products and materials in the carrier table.

[0017] The beneficial effects of the present application are as follows:

[0018] The present application provides a pin injection molding part positioning and assembly system. Through the mutual cooperation of the feeding mechanism, the first material transfer mechanism, the first detection mechanism, the rotation mechanism, the vibrating disk feeding mechanism, the second material transfer mechanism, the second detection mechanism and the unloading mechanism, the automatic feeding, detection, positioning and unloading of the pin injection molding parts and materials are realized. The pin injection molding part positioning and assembly system realizes automatic positioning, improves the positioning accuracy and efficiency, and also improves the overall production capacity and quality.

[0019] The pin injection molding part positioning and assembly system adopts a detachable material taking and quick change device, which realizes the suction and clamping operations for products and materials of different specifications, and improves the applicability of the equipment. Description of the Drawings

[0020] Figure 1 It is a schematic diagram of the pin injection molding part positioning and assembly system according to the embodiment of the present application;

[0021] Figure 2 It is a schematic diagram of the feeding mechanism of the pin injection molding part positioning and assembly system according to the embodiment of the present application;

[0022] Figure 3 It is a schematic diagram of the rotation mechanism of the pin injection molding part positioning and assembly system according to the embodiment of the present application;

[0023] Figure 4 It is a schematic diagram of the vibrating disk feeding mechanism of the pin injection molding part positioning and assembly system according to the embodiment of the present application;

[0024] Figure 5 It is a schematic diagram of the material taking and quick change device of the pin injection molding part positioning and assembly system according to the embodiment of the present application;

[0025] Wherein:

[0026] 1. Workbench; 2. Loading mechanism; 3. First material transfer mechanism; 4. First detection mechanism; 5. Rotating mechanism; 6. Vibration plate feeding mechanism; 7. Second material transfer mechanism; 8. Second detection mechanism; 9. Unloading mechanism; 21. First pallet lifting mechanism; 22. Conveyor line; 23. Pushing mechanism; 24. Second pallet lifting mechanism; 211. Motor; 214. Guide assembly; 215. Clamping assembly; 231. Base; 232. First cylinder; 233. Pushing plate; 241. Lifting cylinder; 243. Limiting assembly; 244. Positioning assembly; 31. First multi-axis robotic arm; 32. Suction cup mechanism; 52. Turntable; 53. Carrier table; 531. Carrier; 61. Vibration plate; 62. Linear vibrator; 63. Positioning mechanism; 631. Support base; 632. Horizontal driving mechanism; 633. Positioning plate; 634. Positioning groove; 71. Second multi-axis robotic arm; 72. Jaw mechanism; 91. Third multi-axis robotic arm; 92. Quick-change picking device; 921. Connecting seat; 922. Picking component; 100. Suction cup assembly; 101. Jaw assembly; 001. Second jaw cylinder; 002. Second jaw. Detailed implementation manners

[0027] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention is provided in conjunction with the accompanying drawings.

[0028] As Figure 1 shown, the embodiment of the present application provides a pin injection molded part positioning and assembly system, including a workbench 1, on which a loading mechanism 2 for loading a tray carrying products, a first material transfer mechanism 3 for transferring products, a first detection mechanism 4 for photographing and detecting products, a rotating mechanism 5 for rotating products, a vibration plate feeding mechanism 6 for feeding materials, a second material transfer mechanism 7 for transferring materials, and a second detection mechanism 8 for photographing and detecting materials are provided. On one side of the workbench 1, an unloading mechanism 9 for unloading the assembled products and materials is provided. The rotating mechanism 5 is located between the loading mechanism 2 and the vibration plate feeding mechanism 6. The first detection mechanism 4 is located on one side of the first material transfer mechanism 3, and the second detection mechanism 8 is located on one side of the second material transfer mechanism 7.

[0029] The unloading mechanism 9 includes a third multi-axis robotic arm 91 and a quick-change picking device 92. The driving end of the third multi-axis robotic arm 91 is detachably connected to the quick-change picking device 92. The third multi-axis robotic arm 91 drives the quick-change picking device 92 to transfer the assembled products on the rotating mechanism 5.

[0030] Specifically, multiple pallets carrying products are stacked on the first pallet lifting mechanism 21 of the loading mechanism 2. The first pallet lifting mechanism 21 drives the pallets to move upward to a specified position. The first material transfer mechanism 3 transfers the products on the pallets above the first detection mechanism 4. The first detection mechanism 4 takes pictures and locates the products. The first material transfer mechanism 3 adjusts the positions of the products according to the positioning results and then places them on the carriers 531 of the carrier table 53 of the rotating mechanism 5. When all the products in the pallets are removed, the pusher mechanism 23 pushes the topmost pallet of the first pallet lifting mechanism 21 onto the conveyor line 22. Then the conveyor line 22 transports the empty pallets to the second pallet lifting mechanism 24, and the second pallet lifting mechanism 24 lifts and stacks the empty pallets. The rotating mechanism 5 drives the turntable 52 to drive the carrier table 53 and the products to rotate to the material loading station. At the same time, the vibrating disk feeding mechanism 6 feeds multiple materials into the positioning grooves 634 of the positioning plate 633 in sequence. The second transfer mechanism clamps the materials and moves them above the second detection mechanism 8. The second detection mechanism 8 takes pictures and locates the materials. The second material transfer mechanism 7 adjusts the positions of the materials according to the positioning results and transfers and places the materials into the carriers 531 of the carrier table 53. The rotating mechanism 5 drives the turntable 52 to rotate the positioned products and materials to the unloading station. The third multi-axis robotic arm 91 of the unloading mechanism 9 drives the material taking quick-change device 92 to suck and clamp the positioned products and materials and finally transfers them to the next workstation. Among them, multiple material taking quick-change devices 92 of different specifications are arranged on the workbench. The third multi-axis robotic arm 91 is connected to the material taking quick-change device 92 through a pneumatic locking device. The pneumatic locking device drives a piston or a claw through compressed air to realize the locking or release of the third multi-axis robotic arm 91 to the material taking quick-change device 92.

[0031] In the above structure, by setting the detachable material taking quick-change device 92, the material taking operations for different products and materials are realized, and the versatility of the equipment is improved. Also, by setting the loading mechanism 2, the first material transfer mechanism 3, the first detection mechanism 4, the rotating mechanism 5, the vibrating disk feeding mechanism 6, the second material transfer mechanism 7, the second detection mechanism 8 and the unloading mechanism 9 to cooperate with each other, the automatic loading, detection, positioning and unloading of the pin injection molded parts and materials are realized. The pin injection molded part positioning and assembly system realizes automatic positioning, improves the positioning accuracy and efficiency, and also improves the overall production capacity and quality.

[0032] Such as Figure 2As shown, in one embodiment, the loading mechanism 2 of the pin injection molding positioning assembly system includes a first tray lifting mechanism 21 for loading multiple trays loaded with products, a conveyor line 22 for conveying the trays on the first tray lifting mechanism 21 to the second tray lifting mechanism 24, a pushing mechanism 23 for pushing the trays of the first tray lifting mechanism 21 to the conveyor line 22, and a second tray lifting mechanism 24 for unloading multiple empty trays. The first tray lifting mechanism 21 includes a motor 211, a screw transmission mechanism, a tray for placing multiple trays, and a guide for guiding the tray. The guide assembly 214 and the clamping assembly 215 for clamping the two ends of the pallet, the driving end of the motor 211 is connected to the screw transmission mechanism, the pallet is installed on the screw transmission mechanism, the motor 211 is used to drive the screw transmission mechanism to drive the pallet and multiple pallets to move up and down along the guide assembly 214, the pushing mechanism 23 includes a base 231, a first cylinder 232 and a push plate 233, the first cylinder 232 is installed on the base 231, the driving end of the first cylinder 232 is connected to the push plate 233, the first cylinder 232 is used to drive the push plate 233 to push the pallet on the first pallet lifting mechanism 21 to the conveyor line 22. The clamping assembly 215 includes two clamping cylinders, the clamping cylinders are respectively installed on the two side ends of the topmost pallet, and a clamping plate is provided on the driving end of the clamping cylinder. The screw transmission mechanism includes a screw and a nut, the motor 211 drives the screw to rotate, and the nut drives the pallet to move up and down. Multiple pallets loaded with products are stacked and placed on the pallet. When the motor 211 drives the screw transmission mechanism to drive the pallet and multiple pallets to move upward to the specified position along the guide assembly 214, the two clamping cylinders drive the clamping plates to clamp the pallets to prevent the pallets from shaking during the material transfer process. When all the products in the pallet are removed, the clamping assembly 215 releases the pallet, and the first cylinder 232 of the pushing mechanism 23 drives the push plate 233 to push the top empty pallet onto the conveyor line 22, and the conveyor line 22 transfers the empty pallet to the second pallet lifting mechanism 24. The setting of the first pallet lifting mechanism 21 improves the loading efficiency of the pallet. The setting of the pushing mechanism 23 can push pallets of different specifications without modifying the conveyor line 22. The pushing mechanism 23 is linked with the first pallet lifting mechanism 21 and the conveyor line 22 to reduce the waiting time between processes and improve the overall production rhythm.

[0033] like Figure 2As shown, in one embodiment, the second tray lifting mechanism 24 of the pin injection molding part positioning and assembling system includes a lifting cylinder 241, a top plate, a limiting component 243 for limiting the empty tray, and a positioning component 244 for guiding and positioning the empty tray. The driving end of the lifting cylinder 241 is connected to the top plate, and the lifting cylinder 241 is used to drive the top plate to drive the tray to move upward along the positioning component 244. The positioning component 244 includes four symmetrically arranged guide plates, and the guide plates are provided with notches for the conveyor line 22 and the tray to pass through. The limiting component 243 includes two limiting cylinders, and the driving ends of the limiting cylinders are provided with limiting plates. When the conveyor line 22 transports the tray above the top plate, the lifting cylinder 241 drives the top plate to drive the tray to move upward by the distance of one tray, and then the limiting cylinders of the limiting component 243 drive the limiting plates to limit the bottom of the tray. This setting facilitates the lifting and stacking of multiple empty trays, thereby improving the blanking efficiency.

[0034] As Figure 1 shown, in one embodiment, the first material transfer mechanism 3 of the pin injection molding part positioning and assembling system includes a first multi-axis robotic arm 31 and a suction cup mechanism 32. The driving end of the first multi-axis robotic arm 31 is connected to the suction cup mechanism 32. The first multi-axis robotic arm 31 is used to drive the suction cup mechanism 32 to suck the products on the tray and transfer them to the rotating mechanism 5. The second material transfer mechanism 7 includes a second multi-axis robotic arm 71 and a clamping jaw mechanism 72. The driving end of the second multi-axis robotic arm 71 is connected to the clamping jaw mechanism 72. The second multi-axis robotic arm 71 is used to drive the clamping jaw mechanism 72 to clamp the materials on the vibrating disk feeding mechanism 6 and transfer them to the rotating mechanism 5. The clamping jaw mechanism 72 includes a first clamping jaw cylinder and two first clamping jaws. The driving end of the first clamping jaw cylinder is connected to the two first clamping jaws, and the first clamping jaw cylinder is used to drive the two first clamping jaws to clamp the materials. The first multi-axis robotic arm 31 and the second multi-axis robotic arm 71 are four-axis robotic arms. The first multi-axis robotic arm 31 drives the suction cup mechanism 32 to suck the products on the tray of the second tray mechanism, then transfers the products above the first detection mechanism 4 for positioning detection, and then transfers and places the products in the carrier 531 of the carrier table 53 of the turntable 52 of the rotating mechanism 5. The second multi-axis robotic arm 71 of the second material transfer mechanism 7 drives the clamping jaw mechanism 72 to clamp the materials in the positioning groove 634 of the vibrating disk feeding mechanism 6 and transfer them above the second detection mechanism 8 for positioning detection, and then transfers and places the materials in the carrier 531 of the carrier table 53. The setting of the first material transfer mechanism 3 realizes the transfer, detection and positioning of the products, improving the transfer efficiency and accuracy. The setting of the second material transfer mechanism 7 realizes the movement, detection and assembly of the materials, improving the transfer efficiency and assembly accuracy.

[0035] As Figure 1As shown, in one embodiment, the first detection mechanism 4 and the second detection mechanism 8 of the pin injection molding part positioning and assembling system respectively include a mounting base, a camera and a light source. The mounting base is mounted on the workbench 1, the camera and the light source are respectively mounted on the mounting base, the light source is located above the camera, and the lens of the camera is set upward. The first material transfer mechanism 3 transfers the product above the camera and the light source of the first detection mechanism 4. The camera takes a photo of the grasping position of the product for detection, so that the first multi-axis robotic arm 31 of the first material transfer mechanism 3 adjusts the position of the product according to the detection result, and then accurately places the product on the carrier 531 on the turntable 52 according to the placement requirements. The second material transfer mechanism 7 transfers the material above the camera and the light source of the second detection mechanism 8. The camera takes a photo of the grasping position of the material for detection, so that the second multi-axis robotic arm 71 of the second moving mechanism adjusts the position of the material according to the detection result, and then accurately places the material in the carrier 531. This setting facilitates taking photos of the product and the material for detection, realizes the accurate positioning of the product and the material, ensures the accuracy of positioning, and is beneficial to the subsequent assembly work.

[0036] As Figure 3 shown, in one embodiment, the rotating mechanism 5 of the pin injection molding part positioning and assembling system includes a rotation driving mechanism and a turntable 52. A number of carrier platforms 53 for positioning the product and the material are arranged along the circumference of the turntable 52. The driving end of the rotation driving mechanism is connected to the turntable 52. The rotation driving mechanism is used to drive the turntable 52 to drive the carrier platform 53 to rotate. A plurality of carriers 531 for positioning the product and the material are arranged in an array along the carrier platform 53. Four carrier platforms 53 are arranged along the circumference of the turntable 52, and four carriers 531 are arranged in an array along the carrier platform 53. When the rotation driving mechanism drives the turntable 52 to drive the carrier platform 53 to rotate to the loading station, the first material transfer mechanism 3 sequentially places four products in the four carriers 531. The rotation driving mechanism drives the turntable 52 to drive the carrier platform 53 to rotate to the transition station for transition, and then the rotation driving mechanism drives the turntable 52 to drive the carrier platform 53 to rotate to the material loading station. The second material transfer mechanism 7 sequentially places four materials in the four carriers 531 of the carrier platform 53. Finally, the rotation driving mechanism drives the turntable 52 to drive the carrier platform 53 to rotate to the unloading station, and the unloading mechanism 9 unloads the products and materials in the four carriers 531 simultaneously. This setting realizes the cyclic operation of loading, transition, positioning and unloading, forming a continuous production flow. Each station operates in parallel, reducing the idle time of the equipment and improving the production efficiency.

[0037] As Figure 4As shown, in one of the embodiments, the vibrating bowl feeding mechanism 6 of the pin injection molding part positioning and assembling system includes a vibrating bowl 61, a linear vibrator 62, and a positioning mechanism 63. The vibrating bowl 61 is connected to one end of the linear vibrator 62, and the other end of the linear vibrator 62 is connected to the positioning mechanism 63. The positioning mechanism 63 includes a support base 631, a horizontal driving mechanism 632, and a positioning plate 633. The horizontal driving mechanism 632 is installed on the support base 631, and the driving end of the horizontal driving mechanism 632 is connected to the positioning plate 633. A plurality of positioning grooves 634 for positioning materials are provided on the positioning plate 633, and the horizontal driving mechanism 632 is used to drive the positioning grooves 634 of the positioning plate 633 to correspond to the outlet of the linear vibrator 62. A plurality of materials are fed into the vibrating bowl 61, and the vibrating bowl 61 vibrates and arranges the materials. The materials move along the linear vibrator 62 towards the positioning mechanism 63. The horizontal driving mechanism 632 drives the positioning plate 633 to move horizontally along the open end of the linear vibrator 62, so that the positioning grooves 634 are opposite to the outlet of the linear vibrator 62. The materials in the linear vibrator 62 move into the positioning grooves 634, and the positioning grooves 634 position the materials. The horizontal driving mechanism 632 continues to drive the positioning plate 633 to move horizontally along the open end of the linear vibrator 62, so that the remaining positioning grooves 634 position the materials in sequence. This setting facilitates the feeding and positioning of materials and improves the feeding and positioning efficiency of materials.

[0038] As Figure 5 shown, in one of the embodiments, the pick-up and quick-change device 92 of the pin injection molding part positioning and assembling system includes a connecting seat 921 and a plurality of pick-up components 922 arranged in an array on the connecting seat 921. The pick-up component 922 includes a suction cup component 100 and a jaw component 101. The suction cup component 100 is used to suck the products on the rotating mechanism 5, and the jaw component 101 is used to clamp the materials on the rotating mechanism 5. The jaw component 101 includes a second jaw cylinder 001 and two second jaws 002. The driving end of the second jaw cylinder 001 is connected to the two second jaws 002, and the second jaw cylinder 001 is used to drive the two first jaws to clamp the materials. The pick-up and quick-change device 92 includes four pick-up components 922, and the four pick-up components 922 correspond to the four carriers 531 one by one. When the rotating mechanism 5 rotates the carrier table 53 carrying four products and four materials to the discharging station, the third multi-axis robotic arm 91 drives the connecting seat 921 to drive the suction cup components 100 and jaw components 101 of the four pick-up components 922 to suck and clamp the products and materials on the four carriers 531. Then, the third multi-axis robotic arm 91 drives the connecting seat 921 to drive the four pick-up components 922 to transfer the products and materials to the next assembling station.

[0039] As Figure 1 shown, the embodiment of the present application further provides a positioning method for a pin injection molding part. Using the pin injection molding part positioning and assembling system described above, the method is as follows:

[0040] Step 1: Stack a plurality of pallets full of products on the first pallet lifting mechanism 21. The first pallet lifting mechanism 21 moves the topmost pallet upward to a designated position. The first material transfer mechanism 3 transfers the products on the pallet above the first detection mechanism 4. The first detection mechanism 4 takes pictures of the products for positioning. The first material transfer mechanism 3 adjusts the positions of the products according to the positioning results and then places them on the carriers 531 of the carrier table 53 of the rotating mechanism 5. After all the products in the pallet are removed, the pusher mechanism 23 pushes the topmost pallet of the first pallet lifting mechanism 21 onto the conveyor line 22. The conveyor line 22 transports the pallet to the second pallet lifting mechanism 24, and the second pallet lifting mechanism 24 lifts and stacks the empty pallets.

[0041] Step 2: The rotation drive mechanism drives the turntable 52 to drive the carrier table 53 and the products to rotate to the material loading station and be located on one side of the second material transfer mechanism 7. The vibrating disk feeding mechanism 6 sequentially feeds the materials into the positioning grooves 634 of the positioning mechanism 63. The second material transfer mechanism 7 clamps the materials in the positioning grooves 634 and transfers them above the second detection mechanism 8. The second detection mechanism 8 takes pictures of the materials for positioning. The second material transfer mechanism 7 adjusts the positions of the materials according to the positioning results and then places the materials in the carriers 531 of the carrier table 53.

[0042] Step 3: The rotation drive mechanism drives the turntable 52 to drive the carrier table 53 and the positioned products to move to the unloading station, and the unloading mechanism 9 unloads the products and materials in the carrier table 53.

[0043] This positioning method realizes the automatic loading, detection and positioning of products and materials, meets the subsequent assembly requirements, improves the positioning efficiency and accuracy, thereby improving the subsequent assembly effect and the production capacity and efficiency of the equipment.

[0044] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent shall be subject to the appended claims.

Claims

1. A positioning and assembly system for pin injection molded parts, characterized in that, It includes a workbench (1), on which there are a loading mechanism (2) for loading trays carrying products, a first material transfer mechanism (3) for transferring products, a first detection mechanism (4) for photographically inspecting products, a rotating mechanism (5) for rotating products, a vibrating disk feeding mechanism (6) for feeding materials, a second material transfer mechanism (7) for transferring materials, and a second detection mechanism (8) for photographically inspecting materials. On one side of the workbench (1), there is a discharging mechanism (9) for discharging the assembled products and materials. The rotating mechanism (5) is located between the loading mechanism (2) and the vibrating disk feeding mechanism (6), the first detection mechanism (4) is located on one side of the first material transfer mechanism (3), and the second detection mechanism (8) is located on one side of the second material transfer mechanism (7). The discharging mechanism (9) includes a third multi-axis robotic arm (91) and a quick-change device for material picking (92). The driving end of the third multi-axis robotic arm (91) is detachably connected to the quick-change device for material picking (92). The third multi-axis robotic arm (91) drives the quick-change device for material picking (92) to transfer the assembled products on the rotating mechanism (5).

2. The pin injection molding part positioning and assembling system according to claim 1, wherein The loading mechanism (2) includes a first tray lifting mechanism (21) for loading multiple trays full of products, a conveyor line (22) for transporting the trays on the first tray lifting mechanism (21) to the second tray lifting mechanism (24), a pushing mechanism (23) for pushing the trays of the first tray lifting mechanism (21) onto the conveyor line (22), and a second tray lifting mechanism (24) for discharging multiple empty trays. The first tray lifting mechanism (21) includes a motor (211), a screw drive mechanism, a pallet for placing multiple trays, a guiding assembly (214) for guiding the pallet, and a clamping assembly (215) for clamping both ends of the tray. The driving end of the motor (211) is connected to the screw drive mechanism, and the pallet is installed on the screw drive mechanism. The motor (211) is used to drive the screw drive mechanism to drive the pallet and multiple trays to move up and down along the guiding assembly (214). The pushing mechanism (23) includes a base (231), a first cylinder (232), and a pushing plate (233). The first cylinder (232) is installed on the base (231), and the driving end of the first cylinder (232) is connected to the pushing plate (233). The first cylinder (232) is used to drive the pushing plate (233) to push the trays on the first tray lifting mechanism (21) onto the conveyor line (22).

3. The pin injection molding part positioning and assembling system according to claim 2, wherein, The motor (211) of the first pallet lifting mechanism (21) drives the lead screw transmission mechanism to drive the pallet and multiple pallets on the pallet to move upward along the guiding component (214) to a specified position, and the clamping component (215) clamps the pallets. When all the products in the pallets are removed, the clamping component (215) releases the pallets, and the first cylinder (232) of the material pushing mechanism (23) drives the push plate (233) to push the topmost empty pallet onto the conveyor line (22), and the conveyor line (22) transfers the empty pallet onto the second pallet lifting mechanism (24).

4. The pin injection molding part positioning and assembling system according to claim 2, wherein The second pallet lifting mechanism (24) includes a lifting cylinder (241), a top plate, a limiting component (243) for limiting the empty pallet, and a positioning component (244) for guiding and positioning the empty pallet. The driving end of the lifting cylinder (241) is connected to the top plate, and the lifting cylinder (241) is used to drive the top plate to drive the pallet to move upward along the positioning component (244).

5. The pin injection molding part positioning and assembling system according to claim 1, wherein The first material transfer mechanism (3) includes a first multi-axis robotic arm (31) and a suction cup mechanism (32). The driving end of the first multi-axis robotic arm (31) is connected to the suction cup mechanism (32). The first multi-axis robotic arm (31) is used to drive the suction cup mechanism (32) to suck the products on the pallet and transfer them to the rotating mechanism (5). The second material transfer mechanism (7) includes a second multi-axis robotic arm (71) and a jaw mechanism (72). The driving end of the second multi-axis robotic arm (71) is connected to the jaw mechanism (72). The second multi-axis robotic arm (71) is used to drive the jaw mechanism (72) to clamp the materials on the vibrating disk feeding mechanism (6) and transfer them to the rotating mechanism (5). The jaw mechanism (72) includes a first jaw cylinder and two first jaws. The driving end of the first jaw cylinder is connected to the two first jaws, and the first jaw cylinder is used to drive the two first jaws to clamp the materials.

6. The pin injection molding part positioning and assembling system according to claim 1, wherein, The first detection mechanism (4) and the second detection mechanism (8) respectively include a mounting base, a camera, and a light source. The mounting base is mounted on the workbench (1), the camera and the light source are respectively mounted on the mounting base, the light source is located above the camera, and the lens of the camera is set upward.

7. The pin injection molding part positioning and assembling system according to claim 1, characterized in that The rotating mechanism (5) includes a rotating drive mechanism and a turntable (52). A plurality of carrier platforms (53) for positioning products and materials are arranged circumferentially on the turntable (52). The driving end of the rotating drive mechanism is connected to the turntable (52), and the rotating drive mechanism is used to drive the turntable (52) to drive the carrier platforms (53) to rotate. A plurality of carriers (531) for positioning products and materials are arranged in an array on the carrier platforms (53).

8. The pin injection molding part positioning and assembling system according to claim 1, characterized in that The vibrating bowl feeding mechanism (6) includes a vibrating bowl (61), a linear vibrator (62) and a positioning mechanism (63). The vibrating bowl (61) is connected to one end of the linear vibrator (62), and the other end of the linear vibrator (62) is connected to the positioning mechanism (63). The positioning mechanism (63) includes a support base (631), a horizontal driving mechanism (632) and a positioning plate (633). The horizontal driving mechanism (632) is installed on the support base (631), and the driving end of the horizontal driving mechanism (632) is connected to the positioning plate (633). A plurality of positioning grooves (634) for positioning the material are provided on the positioning plate (633), and the horizontal driving mechanism (632) is used to drive the positioning grooves (634) of the positioning plate (633) to correspond to the outlet of the linear vibrator (62).

9. The pin injection molding part positioning and assembling system according to claim 1, wherein The quick-change material taking device (92) includes a connecting seat (921) and a plurality of material taking components (922) installed on the connecting seat (921) in an array. The material taking component (922) includes a suction cup component (100) and a clamping jaw component (101). The suction cup component (100) is used to suck the products on the rotating mechanism (5), and the clamping jaw component (101) is used to clamp the materials on the rotating mechanism (5). The clamping jaw component (101) includes a second clamping jaw cylinder (001) and two second clamping jaws (002). The driving end of the second clamping jaw cylinder (001) is connected to the two second clamping jaws (002), and the second clamping jaw cylinder (001) is used to drive the two first clamping jaws to clamp the material.

10. A positioning method for a pin injection molded part, which uses the pin injection molded part positioning and assembly system described in any one of claims 1 to 9, characterized in that, The method is as follows: Step 1: Stack a plurality of trays full of products on the first tray lifting mechanism (21). The first tray lifting mechanism (21) moves the topmost tray upward to a specified position. The first material transfer mechanism (3) transfers the products on the tray above the first detection mechanism (4). The first detection mechanism (4) takes a photo and locates the products. The first material transfer mechanism (3) adjusts the positions of the products according to the positioning results and then places them on the carriers (531) of the carrier table (53) of the rotating mechanism (5). When all the products in the tray are removed, the pusher mechanism (23) pushes the topmost tray of the first tray lifting mechanism (21) onto the conveyor line (22), and the conveyor line (22) transports the tray to the second tray lifting mechanism (24), and the second tray lifting mechanism (24) lifts and stacks the empty trays. Step 2: The rotary drive mechanism drives the turntable (52) to drive the carrier table (53) and the products to rotate to the material loading station and be located on one side of the second material transfer mechanism (7). The vibrating bowl feeding mechanism (6) sequentially feeds the materials into the positioning grooves (634) of the positioning mechanism (63). The second material transfer mechanism (7) clamps the materials in the positioning grooves (634) and transfers them above the second detection mechanism (8). The second detection mechanism (8) takes a photo and locates the materials. The second material transfer mechanism (7) adjusts the positions of the materials according to the positioning results and then places the materials in the carriers (531) of the carrier table (53). Step 3: The rotation drive mechanism drives the turntable (52) to drive the carrier table (53) and the positioned product to move to the blanking station, and the blanking mechanism (9) performs blanking operations on the product and the material in the carrier table (53).

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