Doll limb segment assembly machine

Abstract

The utility model discloses a kind of doll limb segment assembly machines, including cabinet main body, storage bin and material carrying mechanism are arranged in the cabinet main body, for the doll limb segment is fed from storage bin to the feeding mechanism on material carrying mechanism on feeding mechanism, and riveting mechanism is oppositely arranged with the material carrying mechanism;The material carrying mechanism includes two positive material carrying blocks formed with positive material carrying cavity, force is applied by the riveting mechanism, two The positive material carrying block can be mutually converged, to make the positive doll limb segment of being loaded mutually butts;The utility model can replace artificial to assemble doll limb segment, effectively improve assembly efficiency, reduce manual labor intensity, ensure assembly quality.

Description

Technical Field

[0001] This utility model relates to the technical field of doll assembly equipment, and in particular to a doll limb segment assembly machine. Background Technology

[0002] Dolls are a common type of toy. To make the doll's limbs movable, during manufacturing, the doll's limbs are usually separated into two segments at the joints. For example, the upper limb of a doll includes the upper arm segment and the lower arm segment, and the lower limb includes the thigh segment and the lower leg segment. After manufacturing, the doll's limb segments need to be assembled manually to form a doll limb assembly. However, manual assembly is inefficient, and the quality of the assembled doll limb assembly is difficult to guarantee. Utility Model Content

[0003] The purpose of this invention is to provide a doll limb segment assembly machine that can replace manual assembly of doll limb segments, thereby improving assembly efficiency.

[0004] The objective of this utility model is achieved through the following technical solution: A doll limb segment assembly machine includes a cabinet body, within which a storage bin and a loading mechanism are provided for loading doll limb segments from the storage bin onto the loading mechanism, and a riveting mechanism arranged opposite to the loading mechanism. The loading mechanism includes two positive loading blocks forming positive loading cavities. By applying force through the riveting mechanism, the two positive loading blocks can be brought together to allow the loaded positive doll limb segments to mate with each other.

[0005] Based on the above technical solution, the present invention can be improved as follows: Furthermore, the material loading mechanism also includes two anti-material loading blocks with reverse material loading cavities, and a flipping assembly that can drive the two anti-material loading blocks to flip over; when the flipping assembly performs the flipping motion, the two anti-material loading blocks and the two positive material loading blocks cooperate one-to-one so that the loaded reverse doll limb segments are flipped over on the positive material loading blocks.

[0006] Furthermore, the two material carrier blocks are provided with guide holes on their collapsing surfaces. A spring is installed in the guide hole of one of the material carrier blocks, and the other end of the spring is inserted into the guide hole of the other material carrier block. Under the elastic force of the spring, the two material carrier blocks are separated from each other under normal conditions.

[0007] Furthermore, the flipping assembly includes a base fixedly disposed within the main body of the cabinet, a rotating block rotatably disposed on the base, and a driving component driving the rotating block. A flipping plate is disposed on one side of the rotating block, the reverse material carrier is mounted on the top surface of the flipping plate, and a flipping gripper is disposed on the bottom surface of the flipping plate. Both the flipping plate and the reverse material carrier are provided with gripper clearance grooves for the flipping gripper to pass through.

[0008] Furthermore, the riveting mechanism includes a riveting cylinder fixedly installed inside the cabinet body, and the piston rod of the riveting cylinder is connected to a push plate that can apply force to one of the positive material carriers.

[0009] Furthermore, the feeding mechanism includes a lifting component located at the storage bin, a transmission belt located near the top of the lifting component, and a robotic arm located above the transmission belt. A CCD vision system is located beside the robotic arm. After the doll limb segments in the storage bin are lifted to a high position by the lifting component, they fall onto the transmission belt and spread out flat. They are then transferred one by one to the positive material carrier and the negative material carrier by the robotic arm.

[0010] Furthermore, the lifting assembly is provided with a guide plate at the top drop point for guiding the doll's limb segments at the virtual centerline of the transmission belt.

[0011] Furthermore, a guiding mechanism is also provided inside the main body of the cabinet. The guiding mechanism includes a guiding seat fixedly installed inside the main body of the cabinet, an electric lead screw installed on the guiding seat, a movable seat installed on the lead screw nut, and a guiding gripper installed on the movable seat.

[0012] Furthermore, a material transfer mechanism is also provided inside the main body of the cabinet. The material transfer mechanism includes a material transfer base fixedly installed inside the main body of the cabinet, a movable frame installed on the material transfer base, and a driving component for driving the movable frame to move along the X-axis. A linear guide rail and a second base block are provided on the movable frame, which is parallel to the Y-axis. One end of the linear guide rail is opposite to the riveting cylinder. A first base block is installed on the slider of the linear guide rail, and the second base block is located at the other end of the linear guide rail. When the piston rod of the riveting cylinder extends, the push plate can simultaneously drive one of the positive material carriers and the first base block, so that the first base block moves along the linear guide rail on the movable frame. The first base block and the second base block can move together or separate accordingly with the two positive material carriers.

[0013] Furthermore, a first pressure head movable along the Z-axis is provided on the first base block, and a first driving cylinder connected to the first pressure head is provided to drive it; a second pressure head movable along the Z-axis is provided on the second base block, and a second driving cylinder connected to the second pressure head is provided to drive it; when the first driving cylinder and the second driving cylinder are activated, the first pressure head and the second pressure head respectively press against the doll limb segments on the two positive material carrier blocks.

[0014] Compared with the prior art, the present invention has the following advantages: This utility model provides a storage bin, a loading mechanism, and a feeding mechanism within the main cabinet, as well as a riveting mechanism arranged opposite to the loading mechanism. The loading mechanism includes two positive material carriers, and the feeding mechanism can load positive doll limb segments from the storage bin onto the two positive material carriers. When the riveting mechanism applies force, the two positive material carriers can close together to allow the loaded positive doll limb segments to assemble together, thereby replacing manual assembly of doll limb segments, effectively improving assembly efficiency, reducing manual labor intensity, and ensuring assembly quality. Attached Figure Description

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Figure 1 This is a schematic diagram of the doll limb segment assembly machine in the embodiment; Figure 2 This is a schematic diagram of the doll limb segment assembly machine after the main cabinet body has been removed in the embodiment. Figure 3 for Figure 2 A magnified view of part A; Figure 4 This is a schematic diagram of the structure of the storage bin and the feeding mechanism in the embodiment; Figure 5 This is a schematic diagram of the lifting component in the embodiment; Figure 6 This is a schematic diagram of the structure of the loading mechanism, transferring mechanism, guiding mechanism, and unloading mechanism in the embodiment; Figure 7 This is a schematic diagram of the structure of the material base in the embodiment; Figure 8 This is a schematic diagram of the material carrier block in the embodiment; Figure 9 This is a schematic diagram of the structure of the anti-material carrier block in the embodiment; Figure 10 This is a schematic diagram of the front structure of the flipping component in the embodiment; Figure 11 This is a schematic diagram of the rear structure of the flipping component in the embodiment; Figure 12 This is a schematic diagram of the guiding mechanism in the embodiment; Figure 13 This is a schematic diagram of the structure of the flip plate in the embodiment; Figure 14 This is a schematic diagram of the riveting mechanism in the embodiment; Figure 15 This is a schematic diagram of the front structure of the material transfer mechanism in the embodiment; Figure 16This is a schematic diagram of the front structure of the material transfer mechanism in the embodiment.

[0016] The markings on the attached diagram are as follows: 1-Cabinet body, 101-Discharge port, 102-Unloading port, 2-Storage bin, 3-Conveyor belt, 4-Robot arm, 5-Push block, 6-Step block, 7-Transmission base, 8-Rotating wheel, 9-Transmission rod, 10-Push cylinder, 11-Push plate, 12-Guide plate, 13-Mounting base, 14-Mounting plate, 15-Baffle, 16-Fronting base, 17-First fronting block, 18-Second fronting block, 19-Spring, 20-Force block, 21-Control panel, 22-First backing block, 23-Second backing block, 24-Base, 25-Rotating block, 26-Tilting plate, 27-Tilting clamp. 28-Hand, 29-Tilting cylinder, 30-Rack, 31-Gear, 32-Limit switch, 33-Guide seat, 34-Electric lead screw, 35-Moving seat, 36-Guide gripper, 37-Riveting cylinder, 38-Push plate, 39-Transfer base, 40-Moving frame, 41-Second base block, 42-First pressure head, 43-First drive cylinder, 44-Second pressure head, 45-Second drive cylinder, 46-First connecting plate, 47-Second connecting plate, 48-Transfer gripper, 49-Drive motor, 50-Stop block, 51-Padded block, 52-Unloading support, 53-Electric unloading belt, 54-Guide chute. Detailed Implementation

[0017] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. These descriptions are intended to aid in understanding the utility model but do not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0018] See Figures 1 to 16 This embodiment relates to a doll limb segment assembly machine, including a cabinet body 1, a storage bin 2, a feeding mechanism, a loading mechanism, a guiding mechanism, a riveting mechanism, a transferring mechanism, and an unloading mechanism disposed within the cabinet body 1; the cabinet body 1 has a discharge port 101 and an unloading port 102; during assembly, the doll limb segments are loaded into the storage bin 2 from the discharge port 101, fed onto the loading mechanism by the feeding mechanism, guided to the correct position by the guiding mechanism and riveted by the riveting mechanism, transferred to the unloading mechanism by the transferring mechanism, and conveyed towards the unloading port 102 of the cabinet body 1 to unload the doll limb assembly.

[0019] The main body 1 of the cabinet is equipped with a control unit. The control unit is used to control the feeding mechanism to feed the doll limb segments onto the loading mechanism, control the guiding mechanism to guide the position of the doll limb segments on the loading mechanism, control the riveting mechanism to rivet and assemble the doll limb segments, control the transferring mechanism to transfer the doll limb assembly to the unloading mechanism, and control the unloading mechanism to unload the doll limb assembly from the unloading port 102 of the main body 1 of the cabinet.

[0020] Specifically, the main body 1 of the cabinet is a rectangular box structure, which includes a frame. The frame is made of profiles spliced ​​together using existing technology. The frame has a top plate at the top and a bottom plate at the bottom. The frame has openable and closable door panels on its perimeter. The top plate, bottom plate, and door panels form a receiving chamber, which houses the storage bin 2, the feeding mechanism, the loading mechanism, the guiding mechanism, the riveting mechanism, the transferring mechanism, and the unloading mechanism. The frame has a discharge port 101 on the door panel adjacent to the storage bin 2 to allow the doll limb segments to be loaded into the storage bin 2 when the door panel is closed. The frame has an unloading port 102 on the door panel adjacent to the discharge end of the unloading mechanism to allow the doll limb assembly to be unloaded from the main body 1 when the door panel is closed. The door panel has a window with a transparent plate to allow observation of the assembly of the doll limb segments inside the main body 1.

[0021] The storage bin 2 has a bucket-shaped structure that is wider at the top and narrower at the bottom, forming an internal receiving chamber. An opening at the top connects to this receiving chamber, facilitating the loading of doll limb segments from the top of the storage bin 2. The storage bin 2 has at least one downward-sloping wall, allowing the doll limb segments to slide down the wall and concentrate at the lowest point of the receiving chamber inside the storage bin 2, facilitating the feeding mechanism to retrieve the segments from the lowest point and feed them to the loading mechanism. In this embodiment, two storage bins 2 are provided, each holding two doll limb segments. This embodiment uses the assembly of a doll's lower limbs as an example. The assembled doll's lower limbs include thigh segments and lower leg segments, which are respectively loaded into the two storage bins 2. Depending on actual needs, the assembly machine can also be used to assemble doll's upper limbs, which include upper arm segments and lower arm segments.

[0022] The feeding mechanism includes a lifting assembly, a conveyor belt 3, and a robotic arm 4. The lifting assembly includes a support frame on one side of the storage bin 2, multiple push blocks 5 that can lift materials on the support frame, a drive unit that drives the push blocks 5 to move vertically, and a pusher unit on the top of the support frame. The support frame includes two opposing support plates, each a right-angled triangular plate, forming a lifting channel between the two support plates. Multiple step blocks 6 are fixedly installed in the lifting channel, with gaps between adjacent step blocks 6 to facilitate the insertion of the push blocks 5. The support plates have linear guide rails on their inner plates to guide the push blocks 5 to move vertically. The multiple push blocks 5 are interconnected via a linkage plate. The linkage plate has a transmission seat 7, which is connected to the drive unit via a transmission component. The transmission component includes a rotating wheel 8 on the output end of the drive unit, with a transmission rod 9 hinged to the edge of the rotating wheel 8. The upper end of the transmission rod 9 is connected to the transmission seat 7 on the linkage plate. The structure is hinged; the driving component is an AC motor. When the AC motor starts, it drives the rotating wheel 8 to rotate, and the transmission rod 9 moves up and down reciprocally. Through the linkage plate, it simultaneously drives multiple push blocks 5 to move up and down reciprocally, so that the doll's limb segments are pushed from bottom to top from one step block 6 to another adjacent step block 6, realizing the gradual lifting of the doll's limb segments. Each step block 6 is one level. The top surfaces of both the step block 6 and the push block 5 are inclined downward wedge-shaped surfaces, so that the doll's limb segments can slide along the wedge-shaped surface to another adjacent step block 6 when they are pushed. The pushing component includes a pushing cylinder 10 set at the top of the support, and a pushing plate 3711 connected to the piston rod of the pushing cylinder 10. When the doll's limb segments are lifted to the highest step block 6, the pushing cylinder 10 drives the pushing plate 3711 to move downward, so as to push the doll's limb segments one by one from the vertical side of the support onto the transmission belt. At this time, the vertical side of the support is the dropping side.

[0023] A guide plate 12 is provided on the support near the highest step block 6 on the material drop side. The guide plate 12 is used to guide the doll's limb segments to fall onto the conveyor belt 3. The guide plate 12 includes an inclined section whose top end is connected to the support, and a vertical section whose top end is connected to the bottom end of the inclined section. The bottom end of the inclined section extends downward at an angle close to the virtual center line of the conveyor belt 3. The inclined section forms an angle with the material drop side of the support, with the angle ranging from 30° to 60°. Preferably, the angle in this embodiment is 45°, so as to guide the doll's limb segments to fall onto the virtual center line of the conveyor belt 3 and prevent the doll's limb segments from falling off the edge of the conveyor belt 3. The bottom end of the vertical section extends vertically downward to the top surface of the conveyor belt 3, and forms a gap with the top surface of the conveyor belt 3 to prevent the top surface of the conveyor belt 3 from contacting and wearing with the guide plate 12 during operation.

[0024] Conveyor belt 3 is existing technology and is positioned above storage bin 2. One end of conveyor belt 3 is located on the material dropping side of the lifting assembly, and the other end faces the loading mechanism. As conveyor belt 3 rotates, doll limb segments fall one by one onto the top surface of conveyor belt 3 and spread out flat, so that robotic arm 4 can pick them up one by one. Since there are two storage bins 2 in this embodiment, there are correspondingly two conveyor belts 3. The two conveyor belts 3 are arranged side by side between the two lifting assemblies and are fixedly connected to each other at the top surface of the side by a fixing plate. The fixing plate is provided with a mounting base 13. A mounting plate 14 is fixedly installed on the top surface of the mounting plate 14. Mounting bases 13 extend from opposite sides of the mounting plate 14 to form extensions. Baffles 15 are provided on the bottom surface of the two extensions of the mounting plate 14. The bottom ends of the two baffles 15 extend vertically downward to the top surface near the conveyor belt 3. Each baffle 15 forms a guide channel with the vertical section of an adjacent guide plate 12 to independently guide the doll limb segments of one storage bin 2 to fall, effectively preventing the doll limb segments of one storage bin 2 from bouncing onto the edge of the conveyor belt 3 or onto another conveyor belt 3 when they fall onto the conveyor belt 3.

[0025] The robotic arm 4 is a FANUC robotic arm in the prior art. A CCD vision system is set next to the robotic arm 4, which can acquire images of the position and posture of the doll's thigh and lower leg segments in this embodiment, and send the images to the control unit via wired or wireless means. After analyzing the images, the control unit controls the robotic arm 4 to transfer the doll's thigh and lower leg segments one by one to the loading mechanism.

[0026] The loading mechanism includes a positive loading carrier, a negative loading carrier, and a flipping assembly. The positive loading carrier is used to load positively oriented doll limb segments, and the negative loading carrier is used to load negatively oriented doll limb segments. The flipping assembly can drive the negative loading carrier to flip and cooperate with the positive loading carrier so that the doll limb segments can be flipped on the positive loading carrier. Since a CCD vision system is set next to the robot arm 4, it can identify the positive and negative orientation of the doll limb segments during gripping. When the gripped doll limb segment is positive, the robot arm 4 transfers the positive doll limb segment to the positive loading carrier to complete the loading. When the gripped doll limb segment is negative, the robot arm 4 transfers the negative doll limb segment to the negative loading carrier to complete the loading. It should be noted that the positive and negative orientation of the doll limb segments in this embodiment is set according to the actual doll assembly requirements and is not limited here.

[0027] The loading carrier includes a loading base 16 fixedly installed inside the cabinet body 1, and two loading blocks that can be joined together on the loading base 16. The loading blocks have a loading cavity on their top surface to load the thigh and lower leg segments of the doll respectively. For ease of description, the two loading blocks are named the first loading block 17 and the second loading block 18 respectively. The first loading block 17 has a first loading cavity on its top surface for positioning and loading the thigh segment, and the second loading block 18 has a second loading cavity on its top surface for positioning and loading the lower leg segment, so that the loaded thigh and lower leg segments are in a flat position and their connecting parts are opposite each other.

[0028] The first material carrier 17 and the second material carrier 18 have guide holes on their closing surfaces. A spring 19 is installed in the guide hole on the first material carrier 17, and the other end of the spring 19 is inserted into the guide hole on the second material carrier 18. The spring force of the spring 19 allows the two material carriers to separate from each other under normal conditions. When the riveting mechanism applies force, the two material carriers close together to complete the assembly of the thigh segment and the lower leg segment. When the two material carriers close together, their inner surfaces are pressed together, and at this time, their inner surfaces are the closing surfaces. A force-receiving block 20 is provided on the first material carrier 17. The force-receiving block 20 is used to receive the force applied by the riveting mechanism and transmit it to the first material carrier 17 so that the first material carrier 17 and the second material carrier 18 close together.

[0029] The reversing carrier includes two reversing blocks. Each reversing block has a reversing loading cavity on its top surface to load the reversed thigh and lower leg segments of the doll, respectively. For ease of description, the two reversing blocks are named the first reversing block 22 and the second reversing block 23. The first reversing block 22 has a first reversing loading cavity on its top surface for positioning and loading the reversed thigh segment, and the second reversing block 23 has a second reversing loading cavity on its top surface for positioning and loading the reversed lower leg segment, so that the loaded reversed thigh and lower leg segments are in a flat position with their connecting parts facing each other. When the flipping assembly performs a flipping motion, the first reversing block 22 and the first positive loading block 17 cooperate vertically, and the second reversing block 23 and the second positive loading block 18 cooperate vertically.

[0030] Two flipping components are provided. Each flipping component includes a base 24 fixedly installed inside the main body 1 of the cabinet. A rotating block 25 is rotatably mounted on the base 24. A flipping plate 26 is provided on one side of the rotating block 25, and a transmission part is provided on the other side of the rotating block 25. A gear 30 is provided on the transmission part. A reversing block is installed on the top surface of the flipping plate 26, and a flipping gripper 27 is provided on the bottom surface of the flipping plate 26. Both the flipping plate 26 and the reversing block have gripper clearance grooves for the flipping gripper 27 to pass through and clamp the doll's limb segments. A linear guide rail and a flipping cylinder 28 are also provided on the base 24. The linear guide rail is parallel to the X-axis direction, and a rack 29 is provided on the slider of the linear guide rail. One end of the rack 29 is connected to the flipping cylinder 28. The piston rod is connected, and the other end of the rack 29 meshes with the gear 30 on the transmission part of the rotating block 25. When the flipping cylinder 28 extends and retracts, it drives the rack 29 to move along the linear guide rail. Through the meshing transmission of the gear 30 and the rack 29, the linear motion is converted into rotational motion, so that the rotating block 25 rotates and drives the flipping plate 26 to flip, thereby driving the reverse material block to flip accordingly. When flipping, the flipping gripper 27 clamps the doll's limb segments. When the reverse material block and the positive material block are engaged, the flipping gripper 27 is released, and the doll's limb segments fall onto the positive material block under their own gravity to complete the flipping. According to actual needs, other driving components and transmission components can also be used to replace the flipping cylinder 28 and the gear and rack transmission components in this embodiment.

[0031] It should be noted that in this embodiment, the flipping angle of the flipping plate 26 is 180°, so that the two reverse material carriers after flipping can correspond and cooperate with the two positive material carriers one by one; at the same time, a limit switch 31 is provided on the base 24, and the limit switch 31 abuts against the slider on the linear guide rail to limit the movement stroke of the rack 29, so that the movement stroke of the rack 29 corresponds to the flipping angle of the flipping plate 26; in this embodiment, when the flipping cylinder 28 retracts, the two reverse material carriers can cooperate with the two positive material carriers; when the flipping cylinder 28 extends, the two reverse material carriers can separate from the two positive material carriers and return to their original positions.

[0032] The guiding mechanism includes a guiding seat 32 fixedly installed inside the main cabinet 1. An electric lead screw 33 is provided on the guiding seat 32. A movable seat 34 is provided on the lead screw nut of the electric lead screw 33. A guiding gripper 35 is provided on the movable seat 34. Driven by the electric lead screw 33, the movable seat 34 can move relative to the guiding seat 32 along the X-axis, driving the guiding gripper 35 to move and clamp the doll's limb segments for position adjustment. It should be noted that in this embodiment, the X-axis direction is the length direction of the main cabinet 1, the Y-axis direction is the width direction of the main cabinet 1, and the Z-axis direction is the height direction of the main cabinet 1.

[0033] The riveting mechanism includes a riveting cylinder 36 fixedly mounted in the main body 1 of the cabinet via a support. The piston rod of the riveting cylinder 36 is connected to a push plate 37, which is opposite to the force-bearing block 20 on the first positive material carrier 17. When the riveting cylinder 36 is activated, the piston rod of the riveting cylinder 36 extends and abuts against the force-bearing block 20 through the push plate 37, so that the first positive material carrier 17 and the second positive material carrier 18 come together to complete the assembly.

[0034] The material transfer mechanism includes a material transfer base 38 fixedly installed inside the main cabinet 1, a movable frame 39 mounted on the material transfer base 38, and a drive component for driving the movable frame 39 to move along the X-axis; the movable frame 39 is provided with a linear guide rail parallel to the Y-axis and a second base block 41, one end of the linear guide rail is opposite to the riveting cylinder 36, a first base block 40 is mounted on the slider of the linear guide rail, and the second base block 41 is located at the other end of the linear guide rail; when the piston rod of the riveting cylinder 36 extends, it simultaneously abuts against the force-receiving block 20 and the first base block 40 through the push plate 37, causing the first base block 40 to move along the linear guide rail on the movable frame 39, and the first base block 40 and the second base block 41 can move together or separate accordingly with the two positive material carriers; the first base block 40 A first pressure head 42, movable along the Z-axis, is mounted on the upper support frame, along with a first drive cylinder 43 connected to the first pressure head 42. When the piston rod of the first drive cylinder 43 extends, the first pressure head 42 can move downward along the Z-axis to press against the thigh segment on the first positive material carrier block 17. A second pressure head 44, movable along the Z-axis, is mounted on the second base block 41 via a support frame, along with a second drive cylinder 45 connected to the second pressure head 44. When the piston rod of the second drive cylinder 45 extends, the second pressure head 44 can move downward along the Z-axis to press against the lower leg segment on the second positive material carrier block 18. The two pressure heads can respectively press and fix the two doll limb segments, so that the two positive material carrier blocks can be brought together to complete the assembly.

[0035] The piston rod of the first driving cylinder 43 is connected to the first pressure head 42 through the first connecting plate 46, and the piston rod of the second driving cylinder 45 is connected to the second pressure head 44 through the second connecting plate 47. In this embodiment, a material transfer clamp 48 is provided on the second connecting plate 47. The material transfer clamp 48 is used to clamp the assembled doll limb assembly. When the piston rod of the second driving cylinder 45 retracts, it drives the material transfer clamp 48 to rise along the Z-axis, and the doll limb assembly is lifted from the positive material carrier and moved to the unloading mechanism for unloading under the drive of the moving frame 39. Depending on the actual situation, the material transfer clamp 48 can also be provided on the first connecting plate 46, which can also lift the doll limb assembly and move it to the unloading mechanism for unloading.

[0036] The transfer base 38 includes two opposing base plates, the length direction of which is parallel to the X-axis. A linear guide rail is provided on the top of the base plates. The two sides of the moving frame 39 are respectively connected to the sliders of the linear guide rails on the two base plates. A lead screw is rotatably provided on the inner side of one of the base plates through a bearing seat. The lead screw nut on the lead screw is connected to the bottom of the moving frame 39. One end of the lead screw is connected to a drive motor 49. When the drive motor 49 starts, it drives the lead screw to rotate, and the lead screw nut moves linearly, causing the moving frame 39 to move along the linear guide rail, so that the transfer gripper 48 moves the doll limb assembly to the unloading mechanism along the X-axis.

[0037] Stoppers 50 are provided at both ends of one of the base plates along its length. The top of the stoppers 50 extends upward to the top surface of the linear guide rail so as to cooperate with the side stop of the movable frame 39 to limit the movement stroke of the movable frame 39. A pad 51 is provided on the stop surface of the extended end of the stoppers 50.

[0038] The unloading mechanism includes an unloading support 52 disposed below the transfer base 38, and an electric unloading belt 53 disposed within the unloading support 52. An unloading chamber is formed inside the unloading support 52, and the top of the unloading support 52 is open to allow the doll limb assembly to enter the unloading chamber through the opening and be conveyed by the electric unloading belt 53 to the unloading port 102 on the main body of the cabinet for unloading. In this embodiment, the electric unloading belt 53 is a conventional material conveyor belt in the prior art. An output port is formed on the side of the unloading support 52 opposite to the discharge end of the electric unloading belt 53, and an inclined downward guide trough 54 is provided at the output port. The bottom end of the guide trough 54 extends to the unloading port 102 on the main body of the cabinet to guide the doll limb assembly out of the unloading port 102.

[0039] The control unit includes a servo controller, which is powered on and connected to a PLC programming controller. The PLC programming controller is wired to a control panel 21, which is mounted on the door panel of the main body of the cabinet 1.

[0040] In practice, the thighs and calves of the doll are first placed into two storage bins 2, respectively. A lifting assembly then lifts and retrieves the parts, spreading them out on a conveyor belt 3. After a CCD vision system identifies the orientation of the doll's limb segments, a robotic arm 4 transfers the orientation-facing thighs and calves to a positive material carrier, and the orientation-facing thighs and calves to a negative material carrier. A guiding mechanism adjusts the position of the doll's limb segments. A riveting mechanism assembles the orientation-facing thighs and calves. After assembly, a transfer mechanism moves the doll's limb assembly to an unloading mechanism. The flipping assembly flips the reverse material carrier and mates with the forward material carrier to flip the reversed doll thighs and calves. After flipping, the doll thighs and calves repeat the above riveting assembly steps. The unloading mechanism transports the doll limb assembly into the guide trough 54. Under its own gravity, the doll limb assembly slides from top to bottom in the guide trough 54 and is unloaded from the unloading port 102 on the main body of the cabinet. By controlling each action execution unit to repeat the above steps through the control unit, the doll limb segments can be automatically assembled continuously, which can effectively improve assembly efficiency, reduce manual labor intensity, and ensure assembly quality.

[0041] The above embodiments of this utility model are not intended to limit the scope of protection of this utility model. The implementation of this utility model is not limited thereto. All other modifications, substitutions or alterations made to the above structure of this utility model based on the above content of this utility model and in accordance with the common technical knowledge and conventional means in the field, without departing from the basic structure and basic technical idea of ​​this utility model, shall fall within the scope of protection of this utility model.

Claims

1. A doll limb segment assembly machine, characterized in that, The device includes a cabinet body, which contains a storage bin and a loading mechanism for loading doll limb segments from the storage bin onto the loading mechanism, as well as a riveting mechanism arranged opposite to the loading mechanism. The loading mechanism includes two positive loading blocks with positive loading cavities. By applying force through the riveting mechanism, the two positive loading blocks can be brought together to allow the loaded doll limb segments to connect with each other.

2. The doll limb segment assembly machine according to claim 1, characterized in that, The loading mechanism also includes two anti-material loading blocks with reverse loading cavities, and a flipping assembly that can drive the two anti-material loading blocks to flip over; when the flipping assembly performs the flipping motion, the two anti-material loading blocks and the two positive material loading blocks cooperate one-to-one so that the loaded reverse doll limb segments are flipped over on the positive material loading blocks.

3. The doll limb segment assembly machine according to claim 2, characterized in that, The two material carrier blocks are provided with guide holes on their mating surfaces. A spring is installed in the guide hole of one of the material carrier blocks, and the other end of the spring is inserted into the guide hole of the other material carrier block. Under the action of the spring force, the two material carrier blocks are separated from each other under normal conditions.

4. The doll limb segment assembly machine according to claim 3, characterized in that, The flipping assembly includes a base fixedly installed inside the cabinet body, a rotating block rotatably mounted on the base, and a driving component driving the rotating block. A flipping plate is provided on one side of the rotating block, the reverse material carrier is installed on the top surface of the flipping plate, and a flipping gripper is provided on the bottom surface of the flipping plate. Both the flipping plate and the reverse material carrier are provided with gripper clearance grooves for the flipping gripper to pass through.

5. The doll limb segment assembly machine according to claim 4, characterized in that, The riveting mechanism includes a riveting cylinder fixedly installed inside the cabinet body, and the piston rod of the riveting cylinder is connected to a push plate that can apply force to one of the positive material carriers.

6. The doll limb segment assembly machine according to claim 5, characterized in that, The feeding mechanism includes a lifting component located at the storage bin, a transmission belt located near the top of the lifting component, and a robotic arm located above the transmission belt. A CCD vision system is located next to the robotic arm. After the doll limb segments in the storage bin are lifted to a high position by the lifting component, they fall onto the transmission belt and spread out flat. They are then transferred one by one to the positive material carrier and the negative material carrier by the robotic arm.

7. The doll limb segment assembly machine according to claim 6, characterized in that, The lifting assembly has a guide plate at the top drop point to guide the doll's limb segments at the virtual centerline of the transmission belt.

8. The doll limb segment assembly machine according to claim 7, characterized in that, The main body of the cabinet is also equipped with a guiding mechanism. The guiding mechanism includes a guiding seat fixedly installed inside the main body of the cabinet, an electric lead screw installed on the guiding seat, a movable seat installed on the lead screw nut, and a guiding gripper installed on the movable seat.

9. The doll limb segment assembly machine according to claim 8, characterized in that, The cabinet body is also equipped with a material transfer mechanism, which includes a material transfer base fixedly installed in the cabinet body, a movable frame on the material transfer base, and a driving component for driving the movable frame to move along the X-axis; the movable frame is equipped with a linear guide rail parallel to the Y-axis and a second base block, one end of the linear guide rail is opposite to the riveting cylinder, the linear guide rail is equipped with a first base block on the slider, and the second base block is located at the other end of the linear guide rail; when the piston rod of the riveting cylinder extends, the push plate can simultaneously drive one of the positive material carriers and the first base block, so that the first base block moves along the linear guide rail on the movable frame, and the first base block and the second base block can follow the two positive material carriers to move together or separate accordingly.

10. The doll limb segment assembly machine according to claim 9, characterized in that, A first pressure head movable along the Z-axis is provided on the first base block, and a first driving cylinder connected to the first pressure head is provided to drive it; a second pressure head movable along the Z-axis is provided on the second base block, and a second driving cylinder connected to the second pressure head is provided to drive it; when the first driving cylinder and the second driving cylinder are activated, the first pressure head and the second pressure head respectively press against the doll limb segments on the two positive material carrier blocks.

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