Fully automatic hook assembly system

Abstract

The present invention relates to a fully automatic hook assembly system, including an injection molding machine, a rope winding device and an iron sheet feeding device are respectively provided on both sides of the injection molding machine, and a finished product receiving device is provided in front of the injection molding machine; the rope winding device is provided with a rope threading mechanism, a rope knot detection mechanism and a rope winding mechanism, a rope length adjustment mechanism and a rope conveying mechanism; the iron sheet feeding device is provided with a vibration plate feeding mechanism, a material shifting mechanism and a material loading mechanism; and also includes a six-axis robot 1 and a six-axis robot 2, the execution end of the six-axis robot 1 is provided with a rope pushing mechanism matched with the rope conveying mechanism, which transfers the rope conveying mechanism to the injection molding machine and pushes the cut rope to the mold, and the execution end of the six-axis robot 2 is provided with an iron sheet conveying mechanism matched with the material loading mechanism, and a finished product grabbing mechanism for grabbing the finished product. The present invention utilizes the iron sheet feeding device, the rope winding device, and the finished product receiving device, and cooperates with the linkage production of the six-axis robot and the injection molding machine, saving manpower and improving the production yield and equipment utilization rate.

Description

Technical Field

[0001] The invention relates to the technical field of hook injection molding production, in particular to a full-automatic hook assembly system. Background Art

[0002] With the development of the textile industry, the demand for textile equipment continues to rise, and the quality of textile products continues to improve. However, the contradiction is the shortage of labor, and the increase in production costs and management expenses. In order to save manpower, improve efficiency, and increase the utilization rate of production equipment, promoting the model of automated production has become a trend in the development of process technology.

[0003] Textile products, such as hook products, are formed into finished products by injection molding the rope part and the iron sheet part. Traditional process equipment is used. During the production process, the traditional feeding method and the receiving method are all manually operated. The disadvantages are: long feeding cycle, unstable injection molding cycle, high safety hazards, multiple people are required to operate, personnel are easily fatigued, it is easy to cause the rope or iron sheet to be missed during production, it is easy to cause the rope to be pressed in the mold, the injection molding process is unstable, and the production efficiency is extremely low. The manual method of receiving materials is used. Due to the unreasonable size and design structure of the product fixture on the injection mold and the product fixture on the receiving device, manual adjustment is required during the transmission process to change the spacing between the products transmitted in each cycle to meet the design structure of the fixture, which has low precision and low efficiency. In addition, due to the differences between production equipment and tooling fixtures, the coordination between each link is low, resulting in low production precision and integration, which further reduces production efficiency. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a fully automatic hook assembly system, which includes a frame assembly, an electrical control system, a rope winding positioning mechanism, a laser rope cutting mechanism, a rope ejection mechanism, a rope positioning machine monitoring mechanism, an automatic iron sheet position correction mechanism, an iron sheet conveying mechanism, a product conveying and positioning mechanism, and a product packaging mechanism. The electrical control system can be linked with the injection molding machine and the mold monitoring to fully realize the fully automatic production of rope laying, injection molding, and product removal.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A fully automatic hook assembly system comprises an injection molding machine, wherein a rope winding device and an iron sheet feeding device are respectively arranged on both sides of the injection molding machine, and a finished product receiving device is arranged in front of the injection molding machine; the rope winding device is provided with a rope threading mechanism, a rope knot detection mechanism and a rope winding mechanism, a rope length adjustment mechanism and a rope conveying mechanism; the iron sheet feeding device is provided with a vibration plate feeding mechanism, a material moving mechanism and a loading mechanism; and further comprises a six-axis robot 1 and a six-axis robot 2, wherein the execution end of the six-axis robot 1 is provided with a rope pushing mechanism cooperating with the rope conveying mechanism, which transfers the rope conveying mechanism to the injection molding machine and pushes the cut rope to the mold, the execution end of the six-axis robot 2 is provided with an iron sheet conveying mechanism cooperating with the loading mechanism, and a finished product grabbing mechanism for grabbing the finished product from the injection molding machine mold to the finished product receiving device.

[0007] As a further improvement of the above technical solution:

[0008] The structure of the rope threading mechanism is as follows: it includes a plurality of rope threading components arranged at intervals, and the structure of each rope threading component includes two threading plates arranged in parallel at intervals in front and behind, the threading plates are provided with rope threading holes, a rope threading weight is provided between the two threading plates, a groove is provided on the top of the rope threading weight, and a weight-type roller is installed in the groove; the structure of the rope knot detection mechanism is as follows: it includes a plurality of elastic rope threading blocks, each elastic rope threading block is provided with an induction switch on the front side, a cavity is provided in the elastic rope threading block, a cross sleeve is installed in the cavity through a spring member, the inner diameter of the cross sleeve is greater than the outer diameter of the rope, and in the process of the rope passing through the elastic rope threading block from the cross sleeve, the knotted part with an increased diameter drives the cross sleeve to move, so that the distance between it and the induction switch is less than the set value, and the corresponding alarm system is triggered to prevent the rope from continuing to pass through, and the equipment alarms and shuts down; the structure of the rope winding mechanism includes two parts: one part is a plurality of groups of clamps A rope head assembly, multiple groups of rope head clamping assemblies correspond to the number and position of the elastic rope threading blocks one by one, each group of rope head clamping assemblies includes two rope head fixing clamps arranged in parallel, the rope head fixing clamps are driven by a clamping cylinder and fixedly mounted on a positioning plate; the other part is a plurality of rope winding motion clamps arranged above the positioning plate, each rope winding motion clamp is controlled by a clamping cylinder, and a plurality of rope winding motion clamps are simultaneously mounted on the front surface of a moving mechanism through a mounting frame, and move on corresponding guide rails in horizontal, transverse and vertical directions, and the moving mechanism moves along a longitudinal guide rail, and the longitudinal guide rail is horizontally arranged at both ends of the upper surface of a fixedly mounted rope winding frame; the rope threading mechanism is mounted on a rope winding frame located below the moving mechanism; a carrier plate frame docked with the rope winding frame is provided on the front side of the rope winding frame, and a rope length adjustment mechanism and a rope handling mechanism are arranged on the carrier plate frame.

[0009] The structure of the rope handling mechanism includes a plurality of carrier plates, each of which is provided with a long waist hole corresponding to the number of the rope clamping head assemblies on the front side, and a group of winding roller assemblies are provided on the carrier plates at both ends of the rear side of each long waist hole, and the structure of the winding roller assembly includes a fixed column and a movable column arranged adjacent to each other, the fixed column is fixedly arranged on the upper surface of the carrier plate, the top of the movable column extends out from the short waist hole opened on the carrier plate, and the bottom is driven by the adjustment mechanism to move relative to the fixed column along the short waist hole; a plurality of groups of guide rope assemblies corresponding to the number of the rope clamping head assemblies and the rope winding movement clamp are provided on the carrier plate located at the rear side of the winding roller assembly, and each group of guide rope assemblies includes two guide rope clamps arranged at intervals, and each guide rope clamp is provided with a narrow strip in the middle A groove, in which an ejector plate moving up and down is installed, two adjacent groups of guide rope assemblies are installed in the same fixture, and the bottoms of all the ejector plates loaded thereon are simultaneously connected to a base plate movably installed at the bottom of the fixture; the structure of the rope length adjustment mechanism includes a rope winding roller, and its installation structure is as follows: a transverse guide rail and a longitudinal movable module vertically arranged at the transverse guide rail are provided on the upper surface of the carrier frame; the carrier is driven by a driving mechanism to move along the transverse guide rail, and the rope winding roller is installed on the sliding component of the longitudinal movable module through a cylinder mounting plate, and a lifting cylinder for controlling the lifting of the rope winding roller is provided at the bottom of the cylinder mounting plate, and the sliding component and the lifting cylinder respectively drive the rope winding roller to move horizontally and up and down in the long waist hole.

[0010] A gear rack mechanism is installed at the bottom of the carrier plate, and the gear part on it is connected to the camshaft to drive the cam on the camshaft to rotate. The number of cams corresponds to the number of clamps for installing the guide rope assembly, and periodically contacts the bottom plate of the clamp to periodically push the ejector piece in the guide rope clamp to move; the structure of the rope pushing mechanism includes: a mechanical claw provided on the six-axis robot and cooperating with the carrier plate, and a driving motor connected to the gear rack mechanism; the structure of the adjustment mechanism at the bottom of each movable column includes an adjustment assembly, and a long connecting plate that drives all adjustment assemblies to move simultaneously through a cylinder, and the structure of each adjustment assembly includes a rotating block, the middle of which is connected to the movable column through a needle shaft, a fixing bolt is installed at one end of the rotating block, and a ball is installed at the other end, and a groove cooperating with the ball is provided on the long connecting plate.

[0011] The specific structure of the iron sheet feeding device is as follows: it includes a feeding frame, a discharging frame located at the front side of the feeding frame and arranged next to it, the vibrating plate feeding mechanism is fixed on the feeding frame, and the loading mechanism is installed on the discharging frame; the discharging frame located at the rear side of the loading mechanism is connected to the moving mechanism through a two-axis linear module, so that the moving mechanism moves in the horizontal and vertical directions; the structure of the loading mechanism is as follows: it includes an iron sheet loading plate, a plurality of iron sheet loading blocks are fixedly installed on the iron sheet loading plate, and an iron sheet profiling groove is provided in the iron sheet loading block; a plurality of positioning guide columns are arranged at intervals on the iron sheet loading plate at both ends of the iron sheet loading block; a material receiving platform is fixed on the discharging frame located on one side of the iron sheet loading plate, a plurality of material receiving fixtures are installed on the material receiving platform, and two material receiving grooves are arranged in parallel on each material receiving fixture; the vibrating plate feeding mechanism includes a plurality of rotating vibrating plates, and two discharging grooves parallel to each other and respectively connected to the two material receiving grooves are arranged on the straight vibration upper edge at the end of each rotating vibrating plate in the discharging direction.

[0012] The structure of the material moving mechanism is specifically as follows: it includes a movable mounting plate installed on the two-axis linear module, a push rod cylinder is installed on the upper surface of the movable mounting plate, and a plurality of U-shaped fixing blocks are arranged at intervals on the lower surface, and a movable splint is inserted through the plurality of U-shaped fixing blocks at the same time, and the movable splint is consistent in direction with the push rod of the push rod cylinder, one end of the movable splint is connected to the push rod of the push rod cylinder through a vertical connecting plate, and a movable block is provided on the movable splint located on one side of each of the U-shaped fixing blocks to cooperate with the U-shaped fixing blocks to form a clamping structure, and the spacing and number of the clamping structures correspond to the material receiving troughs respectively.

[0013] The iron sheet handling mechanism and the finished product grabbing mechanism are both mounted on the top plate located on the second execution end of the six-axis robot; the specific structure of the iron sheet handling mechanism is as follows: it includes a bottom plate 1, which is connected to the front side of the bottom surface of the top plate by pins, and a plurality of groups of cylindrical pins are provided on the bottom plate 1 that move vertically along it, and a plurality of iron sheet transfer clamps are provided on the bottom plate 1 at intervals, and a positioning groove for accommodating the iron sheet is provided in each iron sheet transfer clamp block, and small positioning rollers are respectively provided on the end surface and one side surface of the iron sheet transfer clamp block, and the small positioning rollers are connected to the positioning grooves by spring members, and each iron sheet transfer clamp block has a plurality of positioning rollers around it. The small positioning rollers respectively cooperate with a group of the cylindrical pins. When the cylindrical pins are ejected from the lower surface of the bottom plate, they squeeze the adjacent cylindrical pins to complete the reference positioning of the iron sheet in the positioning groove; the number and position of the iron sheet transfer clamps and the iron sheet loading blocks correspond one to one, and the bottom plate one is also provided with positioning holes that cooperate with the positioning guide columns; the specific structure of the finished product grabbing mechanism is: it includes a bottom plate two, which is fixedly mounted on the rear side of the bottom surface of the top plate, and a plurality of finished product grabbing clamps are provided on the bottom plate two, and the number and position of the finished product grabbing clamps and the iron sheet transfer clamps correspond one to one.

[0014] The structure of the finished product receiving device is as follows: it includes a variable distance component, a product grabbing component and a product receiving carrier; the structure of the variable distance component is as follows: it includes a short horizontal linear slide rail, on which are provided a plurality of variable displacement sliders sliding along the rail, each variable displacement slider is provided with a receiving platform, on which is provided a groove for placing finished products; it also includes a short longitudinal linear slide rail, which is vertically butted to one side of the short horizontal linear slide rail, on which is provided a variable displacement plate sliding along the rail, the variable displacement plate is trapezoidal in structure, on which are provided a plurality of long oblique waist holes, the long oblique waist holes are inclined along the hypotenuse direction of the trapezoid, and the plurality of long oblique waist holes are evenly distributed in a divergent shape along the length direction of the variable displacement plate; one end of the bottom of each variable displacement slider is slidably matched with the short horizontal linear slide rail, and the other end is connected to the variable displacement plate through a positioning pin member penetrated through the long oblique waist hole, the variable displacement plate is driven by a driving mechanism to move along the short longitudinal linear slide rail, thereby driving the variable displacement slider to slide along the short horizontal linear slide rail to adjust the spacing between each variable displacement slider.

[0015] The short transverse linear slide rail and the short longitudinal linear slide rail are simultaneously installed on a material receiving movable plate, and the material receiving movable plate is slidably installed on a group of long transverse linear slide rails, and the long transverse linear slide rails are fixed on the product grabbing machine table, and the front side of the product grabbing machine table is connected with a material receiving circulation machine table, on which the product material receiving carrier is driven to circulate through a transmission mechanism; the structure of the product material receiving carrier is as follows: it includes a fixture bottom fixing plate, and the upper surface of the fixture bottom fixing plate is evenly provided with a plurality of vertical carriers, and the two side surfaces of the vertical carrier are provided with a plurality of evenly arranged contoured loading grooves in the vertical direction, and the contoured loading grooves are contoured structures with one side open and extending in the horizontal direction.

[0016] The transmission mechanism adopts two sets of sprocket transmission mechanisms arranged in parallel and at intervals. A supporting bottom plate is installed on the track formed by the sprockets, and a positioning pin cooperating with the bottom fixing plate of the fixture is provided on the supporting bottom plate.

[0017] A small frame is provided on each of the material receiving and circulating machines on both sides of the conveying mechanism. Each small frame is provided with a set of circulating longitudinal slide rails. A chain transmission structure sliding along the circulating longitudinal slide rails is installed on the slide rails, and a full-circle rotating slide is installed on the slide rails. A supporting base plate is also installed on each full-circle rotating slide.

[0018] The product grabbing assembly is arranged on a product grabbing machine platform located at the rear side of the long horizontal linear slide rail. The product grabbing machine platform is provided with a horizontal longitudinal slide rail, on which a two-axis movable slide rail is provided which slides along the rail. The product grabbing assembly is installed on the two-axis movable slide rail and moves vertically and horizontally. The structure of the product grabbing assembly includes a grabbing claw assembly, and the grabbing claw assembly includes upper and lower claws and left and right claws spaced apart in two rows front and back. The claw bodies of the upper and lower claws include two corresponding parts set up in the upper and lower parts, and the claw bodies of the left and right claws include two corresponding parts set up in the left and right parts. The upper and lower claws and the left and right claws are respectively driven by corresponding cylinder components.

[0019] The beneficial effects of the present invention are as follows:

[0020] The invention has a compact and reasonable structure and is easy to operate. An automatic iron sheet feeding device, a rope winding device, a finished product receiving device, two six-axis robots, and the linkage production with the injection molding machine save manpower and improve production yield and equipment utilization.

[0021] The rope winding device solves the problem of the existing technology that the rope is too soft and too small to be accurately positioned. The rope can be accurately placed in the positioning position and cut according to the specific rope length. The handling and pushing process is reasonably designed, the rope quality is stable, and the processing cycle is greatly shortened to meet the production design requirements. During the rope threading process, the rope is cut by laser cutting according to the rated weight of the heavy hammer and the rope length of the fixed rope jig, ensuring the stable quality of each section of rope; the rope pushing mechanism is positioned by the precision carrier positioning mechanism, using the cam mechanism, positioning holes and positioning guide pillars, and at the same time positioning with the rope pin of the injection mold to achieve high-precision rope pushing, which can stably eject multiple rope ends at the same time;

[0022] The execution end of the six-axis robot has the functions of transporting products and iron sheets at the same time. It circulates between the iron sheet loader and the injection molding machine, and between the injection molding machine and the finished product recycling device. It completes the transportation of iron sheets and the grasping of products at the same time, greatly improving production efficiency.

[0023] The product receiving carrier is transported to the predetermined position on the rack by the conveying mechanism. Multiple sets of empty receiving carriers are placed each time, and the conveyor belt moves to the predetermined position. At the same time, the full product receiving carrier at the positioned position is synchronously placed on another conveyor belt to flow to the exit, and the operator takes it out, which greatly saves manpower and enables one operator to take care of multiple equipment, improves the production safety factor, reduces the frequency of employees taking and placing fixtures, and thus reduces employee fatigue. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the rope winding device of the present invention.

[0026] Figure 3 for Figure 2 Enlarged view of part A in the middle.

[0027] Figure 4 for Figure 3 Enlarged view of part B in the middle.

[0028] Figure 5 The figure is a schematic diagram of the installation structure of the rope winding motion chuck of the rope winding device of the present invention.

[0029] Figure 6This is a schematic diagram of the structure of the rope winding device of the present invention after the mounting frame and the components thereon are removed.

[0030] Figure 7 for Figure 6 Enlarged view of part C in the middle.

[0031] Figure 8 for Figure 2 Another perspective of .

[0032] Fig. 9 for Figure 8 Enlarged view of part D in the middle.

[0033] Fig.10 This is a schematic structural diagram of a six-axis robot of the present invention.

[0034] Fig.11 for Fig.10 Another perspective (looking up).

[0035] Fig.12 for Fig.11 Enlarged view of middle part E.

[0036] Fig.13 for Fig.12 Enlarged view of part F in the middle.

[0037] Fig.14 It is a schematic diagram of the three-dimensional structure of the iron sheet feeding device of the present invention.

[0038] Fig.15 for Fig.14 Enlarged view of the middle G section.

[0039] Fig.16 for Fig.14 Enlarged view of the middle H part.

[0040] Fig.17 It is a schematic diagram of the installation structure of the material moving mechanism of the iron sheet feeding device of the present invention.

[0041] Fig.18 This is a schematic structural diagram of the six-axis robot 2 of the present invention.

[0042] Fig.19 for Fig.18 Another perspective (looking up).

[0043] Fig. 20 for Fig.19 Enlarged view of part I in the middle.

[0044] Fig.21 for Fig. 20 Enlarged view of the middle J part.

[0045] Fig. 22 It is a schematic diagram of the three-dimensional structure of the finished product receiving device of the present invention.

[0046] Fig.23 for Fig. 22 Enlarged view of the middle K section.

[0047] Fig.24 for Fig.23 Enlarged view of the middle M part.

[0048] Fig.25 for Fig. 22 Another perspective of .

[0049] Fig.26 for Fig.25 Enlarged view of the middle L part.

[0050] Fig. 27 It is a schematic diagram of the installation structure of the product grabbing assembly of the finished product receiving device of the present invention.

[0051] Fig.28 for Fig. 27 Enlarged view of the middle N part.

[0052] In the figure:

[0053] 1. Injection molding machine; 2. Rope winding device; 3. Iron sheet feeding device; 4. Six-axis robot 1; 5. Six-axis robot 2; 6. Finished product receiving device;

[0054] 21. Plate carrier rack; 22. Horizontal guide rail; 23. Rope transport mechanism; 24. Longitudinal moving module; 25. Rope winding roller; 26. Rope winding mechanism; 27. Rope winding rack; 28. Elastic rope threading block; 29. ​​Rope threading mechanism; 231. Plate carrier; 232. Roller winding assembly; 233. Rope guide assembly; 234. Long waist hole; 235. Gear rack mechanism; 236. Camshaft; 237. Cam; 238. Adjustment assembly; 239. Long connecting plate; 261. Rope head fixing clamp; 262. Rope winding movement clamp head; 264, mounting frame; 265, moving mechanism; 271, longitudinal guide rail; 281, cross sleeve; 282, induction switch; 291, threading plate; 292, threading weight; 293, weight roller; 2321, fixed column; 2322, movable column; 2323, short waist hole; 2331, guide rope clamp; 2381, fixing bolt; 2382, rotating block; 2383, needle shaft; 2384, ball bearing; 241, sliding part; 252, cylinder mounting plate; 253, lifting cylinder;

[0055] 31. Vibrating plate feeding mechanism; 32. Material shifting mechanism; 33. Two-axis linear module; 34. Material loading mechanism; 35. Loading rack; 36. Unloading rack; 37. Material receiving platform; 311. Material discharging trough; 324. Mobile mounting plate; 321. Push rod cylinder; 325. Movable splint; 326. U-shaped fixing block; 322. Vertical connecting plate; 323. Movable block; 341. Iron sheet loading plate; 342. Iron sheet loading block; 343. Positioning guide column; 371. Material receiving fixture; 3711. Material receiving trough;

[0056] 41. Mechanical claw; 42. Driving motor;

[0057] 51. Top plate; 52. Bottom plate 1; 53. Cylindrical pin; 54. Iron sheet transfer clamp; 55. Bottom plate 2; 56. Positioning hole; 57. Finished product grabbing fixture; 58. Positioning groove; 541. Positioning small roller;

[0058] 61. Product grabbing assembly; 62. Product receiving carrier; 63. Conveying mechanism; 64. Variable pitch assembly; 65. Long horizontal linear slide; 66. Product grabbing machine; 67. Receiving transfer machine; 68. Full-circle rotating slide; 69. Transfer longitudinal slide; 611. Grabbing claw assembly; 612. Two-axis movable slide; 613. Horizontal longitudinal slide; 621. Fixture bottom fixing plate; 622. Vertical carrier; 623. Support bottom plate; 624. Positioning pin; 641. Displacement plate; 642. Long oblique waist hole; 643. Displacement slider; 644. Receiving platform; 645. Short horizontal linear slide; 646. Receiving movable plate; 647. Short longitudinal linear slide; 6111. Upper and lower jaws; 6112. Left and right jaws; 6221. Contour loading trough. DETAILED DESCRIPTION

[0059] The specific implementation of the present invention is described below in conjunction with the accompanying drawings.

[0060] like Figure 1 As shown, the fully automatic hook assembly system of this embodiment includes an injection molding machine 1, a rope winding device 2 and an iron sheet feeding device 3 are respectively provided on both sides of the injection molding machine 1, and a finished product receiving device 6 is provided in front of the injection molding machine 1;

[0061] like Figure 2-Figure 13 As shown, the rope winding device 2 is provided with a rope threading mechanism 29, a rope knot detection mechanism and a rope winding mechanism 26, a rope length adjustment mechanism and a rope handling mechanism 23; Figure 12-14 As shown, the iron sheet feeding device 3 is provided with a vibrating plate feeding mechanism 31, a material moving mechanism 32 and a material loading mechanism 34; as shown in 1, Figure 12-14 , Figure 18-Figure 22As shown, it also includes a six-axis robot 1 4 and a six-axis robot 2 5. The execution end of the six-axis robot 4 is provided with a rope pushing mechanism that cooperates with the rope transporting mechanism 23, which transfers the rope transporting mechanism 23 to the injection molding machine 1 and pushes the cut rope to the mold. The execution end of the six-axis robot 2 5 is provided with an iron sheet transporting mechanism that cooperates with the loading mechanism 34, and a finished product grabbing mechanism that grabs the finished product from the mold of the injection molding machine 1 to the finished product receiving device 6.

[0062] like Figure 2 , Figure 6 and Figure 7 As shown, the structure of the rope threading mechanism 29 is as follows: it includes a plurality of rope threading components arranged at intervals, and the structure of each rope threading component includes two threading plates 291 arranged in parallel at intervals in front and behind, and the threading plate 291 is provided with a rope threading hole, and a rope threading weight 292 is provided between the two threading plates 291, and a groove is provided on the top thereof, and a weight-type roller 293 is installed in the groove; the structure of the rope knot detection mechanism is as follows: it includes a plurality of elastic rope threading blocks 28, and each elastic rope threading block 28 is provided with an induction switch 282 on the front side, and a cavity is provided in the elastic rope threading block 28, and a cross sleeve 281 is installed in the cavity through a spring member, and the inner diameter of the cross sleeve 281 is greater than the outer diameter of the rope. In the process of the rope passing through the elastic rope threading block 28 from the cross sleeve 281, the knotted part with an increased diameter drives the cross sleeve 281 to move, so that the distance between it and the induction switch 282 is less than the set value, and the corresponding alarm system is triggered to prevent the rope from continuing to pass through, and the equipment alarms and shuts down;

[0063] like Figure 2-Figure 5 As shown, the structure of the rope winding mechanism 26 includes two parts: one part is a plurality of rope clamping head assemblies, and the number and position of the plurality of rope clamping head assemblies correspond to the elastic rope threading block 28 one by one, and each group of rope clamping head assemblies includes two rope head fixing clamps 261 arranged in parallel, and the rope head fixing clamps 261 are driven by a clamping cylinder and fixedly mounted on the positioning plate; the other part is a plurality of rope winding motion clamps 262 arranged above the positioning plate, and each rope winding motion clamp 262 is controlled by a clamping cylinder, and the plurality of rope winding motion clamps 262 are mounted on the mounting frame 2 64 is installed on the front surface of a moving mechanism 265 at the same time, and moves on the corresponding guide rails in the horizontal, lateral and vertical directions. The moving mechanism 265 moves along a longitudinal guide rail 271, and the longitudinal guide rail 271 is horizontally arranged at both ends of the upper surface of a fixedly installed rope winding frame 27; the rope threading mechanism 29 is installed on the rope winding frame 27 located below the moving mechanism 265; the front side of the rope winding frame 27 is provided with a carrier frame 21 connected thereto, and the rope length adjustment mechanism and the rope handling mechanism 23 are arranged on the carrier frame 21.

[0064] The structure of the rope handling mechanism 23 includes a plurality of carrier plates 231, each of which has a long waist hole 234 corresponding to the number of the rope clamping head assemblies on the front side, and a group of winding roller assemblies 232 are respectively provided on the carrier plates 231 at both ends of the rear side of each long waist hole 234, and the structure of the winding roller assembly 232 includes adjacent fixed columns 2321 and movable columns 2322, the fixed columns 2321 are fixedly arranged on the upper surface of the carrier plate 231, the top of the movable column 2322 extends from the short waist hole 2323 opened on the carrier plate 231, and the bottom is driven by the adjustment mechanism to move along the short waist hole 2323. 323 moves relative to the fixed column 2321; on the carrier plate 231 located at the rear side of the winding roller assembly 232, there are multiple groups of guide rope assemblies 233 corresponding to the number of the rope clamping head assembly and the rope winding movement clamping head 262, each group of guide rope assemblies 233 includes two guide rope clamping blocks 2331 arranged at intervals, each guide rope clamping block 2331 is provided with a narrow strip-shaped groove in the middle, and an ejection piece moving up and down along the groove is installed in the groove, and two adjacent groups of guide rope assemblies 233 are installed in the same clamp, and the bottoms of all the ejection pieces loaded thereon are connected to the bottom plate movably installed at the bottom of the clamp at the same time;

[0065] like Figure 2 , Figure 6-Figure 13 As shown, the structure of the rope length adjustment mechanism includes a rope winding roller 25, and its installation structure is as follows: a transverse guide rail 22 and a longitudinal moving module 24 vertically arranged with the transverse guide rail 22 are arranged on the upper surface of the carrier frame 21; the carrier 231 is driven by the driving mechanism to move along the transverse guide rail 22, and the rope winding roller 25 is installed on the sliding component 241 of the longitudinal moving module 24 through a cylinder mounting plate 252, and a lifting cylinder 253 for controlling the lifting of the rope winding roller 25 is arranged at the bottom of the cylinder mounting plate 252, and the sliding component 241 and the lifting cylinder 253 respectively drive the rope winding roller 25 to move horizontally and vertically in the long waist hole 234;

[0066] A gear rack mechanism 235 is installed at the bottom of the carrier plate 231, and the gear member on the gear rack mechanism 235 is connected to the cam shaft 236, driving the cam 237 on the cam shaft 236 to rotate. The number of cams 237 corresponds to the number of fixtures for installing the guide rope assembly 233, and periodically contacts the bottom plate of the fixture to periodically push the ejector in the guide rope clamp block 2331 to move. The structure of the rope pushing mechanism includes: a mechanical claw 41 provided on the six-axis robot 4 and cooperating with the carrier plate 231, and a mechanical claw 41 connected to the gear rack mechanism 235. connected to a driving motor 42; the structure of the adjustment mechanism at the bottom of each movable column 2322 includes an adjustment component 238, and a long connecting plate 239 that drives all the adjustment components 238 to move simultaneously through a cylinder, the structure of each adjustment component 238 includes a rotating block 2382, the middle of which is connected to the movable column 2322 through a needle shaft 2383, a fixing bolt 2381 is installed at one end of the rotating block 2382, and a ball 2384 is installed at the other end, and a groove that cooperates with the ball 2384 is provided on the long connecting plate 239.

[0067] like Figure 14-Figure 21 As shown, the specific structure of the iron sheet feeding device 3 is as follows: Fig.14 As shown, it includes a loading frame 35, a discharging frame 36 located in front of the loading frame 35 and arranged next to it, a vibration plate feeding mechanism 31 is fixed on the loading frame 35, and a loading mechanism 34 is installed on the discharging frame 36; the discharging frame 36 located on the rear side of the loading mechanism 34 is connected to a moving mechanism 32 through a two-axis linear module 33, so that the moving mechanism 32 moves in both horizontal and vertical directions;

[0068] like Fig.15 As shown, the structure of the loading mechanism 34 is as follows: it includes an iron sheet loading plate 341, on which a plurality of iron sheet loading blocks 342 are fixedly mounted, and in which an iron sheet profiling groove is provided; and a plurality of positioning guide posts 343 are provided at intervals on the iron sheet loading plate 341 at both ends of the iron sheet loading blocks 342;

[0069] like Fig.16 As shown, a material receiving platform 37 is fixed on the unloading frame 36 located on one side of the iron sheet loading plate 341, and a plurality of material receiving fixtures 371 are installed on the material receiving platform 37, and each material receiving fixture 371 is provided with two parallel material receiving grooves 3711; the structure of the vibration disk feeding mechanism 31 is: it includes a plurality of rotating vibration disks, and the straight vibration upper edge at the end of each rotating vibration disk is provided with two discharge grooves 311 parallel to each other and respectively connected with the two material receiving grooves 3711 in the discharge direction.

[0070] like Fig.17 As shown, the structure of the material moving mechanism 32 is specifically as follows: it includes a movable mounting plate 324 mounted on the two-axis linear module 33, a push rod cylinder 321 is mounted on the upper surface of the movable mounting plate 324, and a plurality of U-shaped fixing blocks 326 are arranged at intervals on the lower surface, and a movable splint 325 is inserted through the plurality of U-shaped fixing blocks 326 at the same time, and the movable splint 325 is consistent in direction with the push rod of the push rod cylinder 321, and one end of the movable splint 325 is connected to the push rod of the push rod cylinder 321 through a vertical connecting plate 322, and a movable block 323 is provided on the movable splint 325 located on one side of each U-shaped fixing block 326, which cooperates with the U-shaped fixing block 326 to form a clamping structure, and the spacing and number of the clamping structure correspond to the material receiving trough 3711 respectively.

[0071] like Figure 18-Figure 21As shown, the sheet metal handling mechanism and the finished product grabbing mechanism are both mounted on a top plate 51 located on the execution end of the six-axis robot 2 5; the specific structure of the sheet metal handling mechanism is as follows: it includes a bottom plate 52, which is connected to the front side of the bottom surface of the top plate 51 by pins, and a plurality of groups of cylindrical pins 53 are provided on the bottom plate 52 to move vertically therewith, and a plurality of sheet metal transfer clamps 54 are provided on the bottom plate 52 at intervals, and a positioning groove 58 for accommodating the sheet metal is provided in each sheet metal transfer clamp 54, and small positioning rollers 541 are provided on the end surface and one side surface of the sheet metal transfer clamp 54, respectively, and the small positioning rollers 541 are connected to the positioning groove 58 through a spring member, and each sheet metal transfer clamp 54 is provided with a plurality of positioning rollers 541 around the bottom plate 52. The small positioning rollers 541 respectively cooperate with a group of cylindrical pins 53. When the cylindrical pins 53 are ejected from the lower surface of the bottom plate 52, the adjacent cylindrical pins 53 are squeezed to complete the reference positioning of the iron sheet in the positioning groove 58; the number and position of the iron sheet transfer clamp 54 and the iron sheet loading block 342 correspond one to one, and the bottom plate 52 is also provided with a positioning hole 56 that cooperates with the positioning guide column 343; the specific structure of the finished product grabbing mechanism is: it includes a bottom plate 55, which is fixedly mounted on the rear side of the bottom surface of the top plate 51, and a plurality of finished product grabbing clamps 57 are provided on the bottom plate 55, and the number and position of the finished product grabbing clamps 57 and the iron sheet transfer clamps 54 correspond one to one.

[0072] like Figure 22-Figure 28 As shown, the structure of the finished product receiving device 6 is as follows: it includes a variable distance component 64, a product grabbing component 61 and a product receiving carrier 62;

[0073] like Figure 25-26 As shown, the structure of the pitch-changing assembly 64 is as follows: it includes a short transverse linear slide rail 645, on which a plurality of displacement sliders 643 are provided to slide along the short transverse linear slide rail, each displacement slider 643 is provided with a material receiving platform 644, on which a groove for placing finished products is provided; it also includes a short longitudinal linear slide rail 647, which is vertically docked at one side of the short transverse linear slide rail 645, on which a displacement plate 641 is provided to slide along the short longitudinal linear slide rail 647, the displacement plate 641 is in a trapezoidal structure, on which a plurality of long oblique waist holes 642 are opened, and the long oblique waist holes 642 It is inclined along the hypotenuse of the trapezoid, and multiple long oblique waist holes 642 are evenly distributed in a divergent shape along the length direction of the displacement plate 641; one end of the bottom of each displacement slider 643 is slidably matched with the short horizontal linear slide rail 645, and the other end is connected to the displacement plate 641 through a positioning pin passing through the long oblique waist hole 642. The displacement plate 641 is driven by a driving mechanism and moves along the short longitudinal linear slide rail 647, thereby driving the displacement slider 643 to slide along the short horizontal linear slide rail 645 to adjust the spacing between each displacement slider 643.

[0074] The short transverse linear slide rail 645 and the short longitudinal linear slide rail 647 are simultaneously installed on a receiving material moving plate 646, and the receiving material moving plate 646 is slidably installed on a set of long transverse linear slide rails 65, and the long transverse linear slide rails 65 are fixed on the product grabbing machine platform 66. The front side of the product grabbing machine platform 66 is connected to a receiving material circulation machine platform 67, on which the product receiving material carrier 62 is driven to circulate through the transmission mechanism 63;

[0075] like Figure 22-Figure 24 As shown, the structure of the product receiving carrier 62 is: it includes a jig bottom fixing plate 621, a plurality of vertical carriers 622 are evenly arranged on the upper surface of the jig bottom fixing plate 621, and a plurality of contoured loading grooves 6221 are evenly arranged in the vertical direction on both side surfaces of the vertical carrier 622, and the contoured loading grooves 6221 are contoured structures that are open on one side and extend in the horizontal direction.

[0076] like Fig.25 As shown, the transmission mechanism 63 adopts two sets of sprocket transmission mechanisms arranged in parallel and at intervals. A support base plate 623 is installed on the track formed by the sprockets, and a positioning pin 624 is provided on the base plate 623 to cooperate with the bottom fixing plate 621 of the fixture.

[0077] A small frame is provided on each of the material receiving and circulating machines 67 located on both sides of the conveying mechanism 63. Each small frame is provided with a set of circulating longitudinal slide rails 69. A chain transmission structure sliding along the circulating longitudinal slide rails 69 is installed, and a full-circle rotating slide 68 is installed on it. Each full-circle rotating slide 68 is also installed with a supporting base plate 623.

[0078] like Fig. 27 , Fig.28 As shown, the product grabbing assembly 61 is arranged on a product grabbing machine platform 66 located at the rear side of the long horizontal linear slide rail 65. A horizontal longitudinal slide rail 613 is provided on the product grabbing machine platform 66, and a two-axis movable slide 612 sliding along the horizontal slide rail is provided thereon. The product grabbing assembly 61 is installed on the two-axis movable slide 612 and moves vertically and horizontally. The structure of the product grabbing assembly 61 includes a grabbing claw assembly 611. The grabbing claw assembly 611 includes two rows of upper and lower clamping claws 6111 and left and right clamping claws 6112 spaced apart in front and back rows. The claw bodies of the upper and lower clamping claws 6111 include two parts correspondingly arranged in the upper and lower parts, and the claw bodies of the left and right clamping claws 6112 include two parts correspondingly arranged in the left and right parts. The upper and lower clamping claws 6111 and the left and right clamping claws 6112 are respectively driven by corresponding cylinder components.

[0079] The design and working principle of the present invention:

[0080] The whole system working process:

[0081] 1) The rope winding device 2 performs rope threading, knot detection, rope winding, and adjustment of the winding length of multiple ropes, and cuts each group of ropes into two sections by laser cutting (the cutting component is not shown in the figure), and then uses the six-axis robot 4 to move the rope transporting mechanism 23 to the injection molding machine 1, and the rope pushing mechanism works to push the rope onto the mold of the injection molding machine 1; at the same time, the iron sheet feeding device 3 feeds the iron sheet through the vibration plate, and the six-axis robot 25 transports the iron sheet to the mold of the injection molding machine 1. The processed product (the overall structure of the iron sheet + rope) is transferred by the six-axis robot 25 to the finished product receiving device 6, and docked by the variable distance component 64, and then the grab claw component 611 inserts a group of products into the product receiving carrier 62, and finally the product receiving carrier 62 completes the receiving.

[0082] 2) Workflow of some devices:

[0083] a) Rope winding device 2:

[0084] The rope is manually passed through the threading plate 291, and the rope passes through the bottom of the weight roller 293 on the rope threading weight 292 and enters the elastic rope threading block 28. After the cross sleeve 281 in the elastic rope threading block 28 detects the rope knot, it is pulled, triggering the induction switch 282, and the rope threading stops, which plays the role of rope knot detection; after a normal rope passes the rope knot detection, one end is clamped by the rope head fixing clamp 261, and the other end is driven by the rope winding movement clamp 262, and after passing a corresponding rope winding roller 25 in front, the rope winding roller 25 is driven by the corresponding driving machine The rope is driven by the structure and the moving mechanism, and moves in the long waist hole 234 of the carrier plate 231, and the rope length can be adjusted to a set length. After adjustment, the other end of the rope is clamped by another adjacent rope head fixing clamp 261, thereby winding the rope into a ring structure, and then cutting the rope into two sections on the left and right with the rope winding roller 25 as the center by laser cutting. The process characteristics here are: since the diameter of a single rope is relatively small, it is difficult to take and place it alone. The cutting method is used, and the cut rope is then placed in a mold for injection molding, which can avoid the risk of the injection molding process of the entire rope. In this process, in order to better position and fix the rope, a guide rope assembly 233 is used, wherein the fixed column 2321 and the movable column 2322 cooperate with each other to clamp the rope, and the guide rope clamp block 2331 guides, positions and clamps the rope, and the cut rope remains in the guide rope clamp block 2331; the mechanical claw 41 of the six-axis robot 4 grabs the carrier plate 231 carrying the cut rope, and a gear rack mechanism 235 is set at the bottom of the carrier plate 231, which cooperates with the driving mechanism on the six-axis robot 4, and uses a cam to lift the bottom plate at the bottom of the guide rope assembly 233 clamp, so that the rope is pushed out of the groove of the guide rope clamp block 2331 to the mold of the injection molding machine 1 through the ejection piece, completing the processing and feeding of the rope part;

[0085] The rope handling mechanism 23 is provided with at least two as shown in the figure along the transverse guide rail 22, which cooperate with the rope winding motion chuck 262 to complete the winding of one of the carrier plates 231 at one time. The winding roller 25 extends from the long waist hole 234 and moves along the long waist hole 234 to determine the rope length. After cutting, it is moved to the injection mold by the six-axis robot 4, and the other carrier plate 231 continues to move to the bottom of the rope winding motion chuck 262 to repeat the next cycle; the rope winding roller 25 moves along the long waist hole 234 to adjust the rope length of the winding. In addition to the structure of this embodiment, the driving method of the rope winding roller 25 can also adopt other mechanism forms commonly used in the mechanical field such as a screw module; the rope winding motion chuck 262 is driven by the corresponding cylinder to clamp or loosen the rope head, and through the mounting frame 264 on the front side of the moving mechanism 265 along two axes (horizontal transverse direction, vertical direction) and the moving mechanism 265 along the longitudinal guide rail 271 (horizontal longitudinal direction), it can move along three axes to complete the rope winding process of the circular arc path.

[0086] b) Iron sheet feeding device 3:

[0087] After the material is loaded through the vibration plate, the discharge groove 311 on the straight vibration at the output end of the rotating vibration plate is connected with the receiving groove 3711 on the receiving fixture 371 of the receiving platform 37 connected thereto, so that the iron sheet is transported to the receiving platform 37, and then the material transfer mechanism 32 is used to move the iron sheet from the receiving platform 37 to the loading mechanism 34: a series of U-shaped fixed blocks are fixedly installed on the bottom surface of the movable mounting plate 324, which together constitute a channel in which a movable splint 325 can be inserted, and the movable splint 325 driven by the push rod cylinder 321 moves in the channel, so that the movable block 323 (here named as the movable block reflects its follow-up property of reciprocating with the movable splint 325, which is actually The upper part is fixedly connected to the bottom surface of the movable clamping plate 325) and the U-shaped fixed block 326 cooperate with each other to clamp or loosen, forming a plurality of clamping claw structures that can grab iron sheets, clamping multiple iron sheets at one time, and the material moving mechanism 32 moves along the two-axis linear module 33 (horizontally and vertically) to move the iron sheets to the iron sheet loading block 342; wherein, the execution end of the six-axis robot 25 is configured to have two parts with two functions, one part is to grab the iron sheet at the iron sheet feeding device 3 from the loading mechanism 34 and send it to the injection molding machine 1 and the rope to complete the injection molding process, and the other part is to put the finished product molded at the injection molding machine 1 on the variable pitch component 64 of the finished product receiving device 6 at one time;

[0088] Specifically, the design features of the mechanism of the six-axis robot 2 5 for moving the iron sheet are as follows: the bottom plate 1 52 is set at the bottom of the top plate 51, the cylindrical pin 53 can move up and down in the bottom plate 1 52, the positioning groove 58 in the iron sheet transfer clamp 54 is connected with the positioning small roller 541 set on the side and end surface of the iron sheet transfer clamp 54, so that the positioning small roller 541 is stressed and supports the iron sheet placed in the positioning groove 58 through the spring member, and when the cylindrical pin 53 is lifted, the positioning small roller 541 is stressed, so that the iron sheet is tightly attached to the same side, same surface and same end surface in the positioning groove 58, thereby improving the positioning accuracy. In this process, the positioning hole 56 on the bottom plate 1 52 cooperates with the positioning guide column 343 on the iron sheet loading plate 341, so that the two are initially positioned to ensure the docking accuracy of the iron sheet; the finished product grabbing fixture 57 for grabbing the product is also fixed to the bottom of the top plate 51 through the bottom plate 2 55, and a conventional clamping mechanism can be selected according to actual needs.

[0089] c) Finished product receiving device 6:

[0090] The design principle and characteristics of the variable pitch component 64 are as follows: the displacement plate 641 and the displacement slider 643 move in two mutually perpendicular directions respectively. During the forward and backward movement of the displacement plate 641, the displacement slider 643 is driven to move left and right by the long oblique waist hole 642, so that the spacing of the receiving table 644 can be adjusted, and the arrangement spacing of the products in the injection molding machine 1 is adjusted to be adapted to the arrangement spacing of the grabbing claw component 611 on the finished product receiving device 6, and the parameter gap between the processing equipment in the two links is adaptively and quickly adjusted, and the processing process is optimized to greatly improve the efficiency; the function of the product grabbing component 61 is to grab the product from the variable pitch component 64 to the product receiving carrier 62, and the grabbing claw component 611 moves with the two-axis moving slide 612 (horizontally, horizontally, The vertical direction) moves on the horizontal longitudinal slide rail 621 to meet the three-axis movement. The design features of the grab claw assembly 611 are as follows: the front and rear rows are respectively provided with upper and lower clamping claws 6111 that open and close up and down, and left and right clamping claws 6112 that open and close left and right. Multiple upper and lower and left and right claws correspond to each other front and back. The iron sheet part of the product is fixed by the upper and lower clamping claws 6111 (in the horizontal direction), and the rope body part of the product is fixed by the left and right clamping claws 6112. The horizontally grasped products are inserted into the contoured loading grooves 6221 of the vertical carrier 622 of the product receiving carrier 62 in rows in the vertical direction without changing the direction. The number of contoured loading grooves 6221 of the vertical carrier 622 of each product receiving carrier 62 is set according to actual production needs.

[0091] The product receiving carrier 62 is fixed on the chain drive mechanism on the front side through the bottom fixing plate 621 of the fixture. After one group of loading is completed, it flows along the chain drive mechanism to the full-circle rotating slide 68 on the left. The slide moves to the rear side of the frame along the longitudinal slide rail 69. After rotating 180 degrees (switching the direction of the product receiving carrier 62 front and back), it is transported by the chain drive mechanism on the rear side to the full-circle rotating slide 68 on the right side. Similarly, the slide moves to the front side of the frame along the longitudinal slide rail 69 for unloading by manual or other workpieces, completing an unloading cycle. In addition to the chain drive form, the conveying mechanism 63 can also be replaced by other conventional technical means such as belt drive rack, screw drive, etc.

[0092] The other unspecified structures of the clamping jaw structure, driving structure, transmission structure, induction component structure, etc. recorded in the present invention are all commonly used in the production process of this field, so the specific structure, connection relationship and working principle are not repeated. In addition to the implementation methods mentioned in this application, the clamping jaw structure, driving structure, transmission structure, induction component structure, etc. can also be conventionally replaced by other commonly used technical means in this field.

[0093] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A fully automatic hook assembly system, comprising an injection molding machine (1), characterized in that: A rope winding device (2) and an iron sheet feeding device (3) are respectively provided on both sides of the injection molding machine (1), and a finished product receiving device (6) is provided in front of the injection molding machine (1); the rope winding device (2) is provided with a rope threading mechanism (29), a rope knot detection mechanism and a rope winding mechanism (26), a rope length adjustment mechanism and a rope conveying mechanism (23); the iron sheet feeding device (3) is provided with a vibration plate feeding mechanism (31), a material moving mechanism (32) and a material loading mechanism (34); It also includes a six-axis robot 1 (4) and a six-axis robot 2 (5), wherein the execution end of the six-axis robot 1 (4) is provided with a rope pushing mechanism cooperating with the rope transport mechanism (23), which transfers the rope transport mechanism (23) to the injection molding machine (1) and pushes the cut rope to the mold, and the execution end of the six-axis robot 2 (5) is provided with an iron sheet transport mechanism cooperating with the material loading mechanism (34), and a finished product grabbing mechanism for grabbing the finished product from the mold of the injection molding machine (1) to the finished product receiving device (6); the structure of the rope threading mechanism (29) is as follows: it includes a plurality of rope threading components arranged at intervals, and the structure of each rope threading component includes two threading plates (291) arranged in parallel at intervals in front and behind, and the threading plates (291) are provided with rope threading holes, and a rope threading weight (292) is provided between the two threading plates (291), and a groove is provided on the top of the threading plate, and a weight-type roller (293) is installed in the groove; The structure of the rope knot detection mechanism is as follows: it comprises a plurality of elastic rope threading blocks (28), each elastic rope threading block (28) is provided with a sensing switch (282) on the front side, a cavity is provided in the elastic rope threading block (28), a cross sleeve (281) is installed in the cavity via a spring member, the inner diameter of the cross sleeve (281) is larger than the outer diameter of the rope, and when the rope passes through the elastic rope threading block (28) from the cross sleeve (281), the knotted part with an increased diameter drives the cross sleeve (281) to move, so that the distance between the cross sleeve (281) and the sensing switch (282) is less than a set value, and the corresponding alarm system is triggered to prevent the rope from continuing to pass through, and the device alarms and stops; The structure of the rope winding mechanism (26) includes two parts: one part is a plurality of rope clamping head assemblies, the number and position of the plurality of rope clamping head assemblies correspond to the elastic rope threading blocks (28), each group of rope clamping head assemblies includes two rope head fixing clamps (261) arranged in parallel, the rope head fixing clamps (261) are driven by a clamping cylinder and fixedly mounted on a positioning plate; the other part is a plurality of rope winding motion clamps (262) arranged above the positioning plate, each rope winding motion clamp (262) is controlled by a clamping cylinder, and the plurality of rope winding motion clamps (262) are fixedly mounted on a positioning plate. The rope winding movement chuck (262) is simultaneously mounted on the front surface of a moving mechanism (265) through a mounting frame (264), and moves on corresponding guide rails in horizontal and vertical directions. The moving mechanism (265) moves along a longitudinal guide rail (271), and the longitudinal guide rail (271) is horizontally arranged at both ends of the upper surface of a fixedly mounted rope winding frame (27); the rope threading mechanism (29) is mounted on the rope winding frame (27) located below the moving mechanism (265); A plate carrier frame (21) docking with the rope winding frame (27) is provided at the front side thereof, and a rope length adjustment mechanism and a rope handling mechanism (23) are provided on the plate carrier frame (21); the rope handling mechanism (23) comprises a plurality of plates (231), each of which is provided with long waist holes (234) corresponding to the number of rope clamping head assemblies on the front side thereof, and a group of winding roller assemblies (232) are provided on the plates (231) at both ends of the rear side of each long waist hole (234), respectively; the structure of the winding roller assemblies (232) comprises adjacently arranged fixed columns (2321) and movable columns (2322), the fixed columns (2321) being fixedly provided on the upper surface of the plate carrier (231), the top of the movable columns (2322 extending out from the short waist holes (2323) provided on the plate carrier (231), and the bottom thereof being driven by the adjustment mechanism to move along the short waist holes (2323) relative to the fixed columns (2321); A plurality of groups of guide rope assemblies (233) corresponding in number to the number of the rope clamping head assemblies and the rope winding movement clamping head (262) are arranged on the carrier plate (231) located at the rear side of the winding roller assembly (232), each group of guide rope assemblies (233) comprising two guide rope clamping blocks (2331) arranged at intervals, each guide rope clamping block (2331) having a narrow strip-shaped groove in the middle, an ejection plate that moves up and down along the groove is installed in the groove, two adjacent groups of guide rope assemblies (233) are installed in the same clamp, and the bottoms of all the ejection plates loaded thereon are simultaneously connected to a bottom plate movably installed at the bottom of the clamp; The structure of the rope length adjustment mechanism comprises a rope winding roller (25), and its installation structure is as follows: a transverse guide rail (22) and a longitudinal moving module (24) arranged perpendicular to the transverse guide rail (22) are arranged on the upper surface of the carrier frame (21); the carrier (231) is driven by a driving mechanism to move along the transverse guide rail (22); the rope winding roller (25) is installed on a sliding component (241) of the longitudinal moving module (24) via a cylinder mounting plate (252); a lifting cylinder (253) for controlling the lifting of the rope winding roller (25) is arranged at the bottom of the cylinder mounting plate (252); the sliding component (241) and the lifting cylinder (253) respectively drive the rope winding roller (25) to move horizontally and vertically in the long waist hole (234); The specific structure of the iron sheet feeding device (3) is as follows: it comprises a feeding frame (35), and a discharging frame (36) located in front of and adjacent to the feeding frame (35); the vibrating plate feeding mechanism (31) is fixed on the feeding frame (35), and the loading mechanism (34) is installed on the discharging frame (36); the discharging frame (36) located on the rear side of the loading mechanism (34) is connected to the moving mechanism (32) via a two-axis linear module (33), so that the moving mechanism (32) can move in both horizontal and vertical directions; The structure of the material loading mechanism (34) is as follows: it comprises an iron sheet material loading plate (341), a plurality of iron sheet material loading blocks (342) are fixedly mounted on the iron sheet material loading plate (341), and an iron sheet profiling groove is arranged in the iron sheet material loading block (342); a plurality of positioning guide pillars (343) are arranged at intervals on the iron sheet material loading plate (341) at both ends of the iron sheet material loading block (342); a material receiving platform (37) is fixed on the material unloading frame (36) located on one side of the iron sheet material loading plate (341), a plurality of material receiving fixtures (371) are mounted on the material receiving platform (37), and each material receiving fixture (371) is provided with two material receiving grooves (3711) in parallel; The structure of the vibration plate feeding mechanism (31) comprises a plurality of rotating vibration plates, and the upper straight vibration line at the end of each rotating vibration plate is provided with two discharge grooves (311) which are parallel to each other and respectively connected to the two receiving grooves (3711) in the discharge direction.

2. The fully automatic hook assembly system according to claim 1, characterized in that: A gear rack mechanism (235) is installed at the bottom of the carrier plate (231), and the gear member on the gear rack mechanism is connected to the cam shaft (236), driving the cam (237) on the cam shaft (236) to rotate. The number of cams (237) corresponds to the number of clamps for installing the guide rope assembly (233), and the cams (237) are periodically in contact with the bottom plate of the clamp, and periodically push the ejector plate in the guide rope clamp block (2331) to move. The structure of the rope-pushing mechanism comprises: a mechanical claw (41) provided on the six-axis robot (4) and cooperating with the carrier plate (231), and a driving motor (42) connected to the gear rack mechanism (235); The structure of the adjustment mechanism at the bottom of each movable column (2322) includes an adjustment component (238) and a long connecting plate (239) that drives all the adjustment components (238) to move simultaneously through a cylinder. The structure of each adjustment component (238) includes a rotating block (2382), the middle of which is connected to the movable column (2322) through a needle shaft (2383). A fixing bolt (2381) is installed at one end of the rotating block (2382), and a ball (2384) is installed at the other end. The long connecting plate (239) is provided with a groove that cooperates with the ball (2384).

3. The fully automatic hook assembly system according to claim 1, characterized in that: The structure of the material moving mechanism (32) is specifically as follows: it includes a movable mounting plate (324) mounted on a two-axis linear module (33); a push rod cylinder (321) is mounted on the upper surface of the movable mounting plate (324); a plurality of U-shaped fixing blocks (326) are arranged at intervals on the lower surface; a movable clamping plate (325) is inserted through the plurality of U-shaped fixing blocks (326); the movable clamping plate (325) is in the same direction as the push rod of the push rod cylinder (321); one end of the movable clamping plate (325) is connected to the push rod of the push rod cylinder (321) through a vertical connecting plate (322); a movable block (323) is provided on the movable clamping plate (325) located on one side of each U-shaped fixing block (326) and cooperates with the U-shaped fixing block (326) to form a clamping claw structure; and the spacing and number of the clamping claw structure correspond to the material receiving trough (3711), respectively.

4. The fully automatic hook assembly system according to claim 3, characterized in that: The iron sheet transport mechanism and the finished product grabbing mechanism are both mounted on a top plate (51) located on the second (5) execution end of the six-axis robot; The specific structure of the iron sheet transport mechanism is as follows: it comprises a bottom plate (52) connected to the front side of the bottom surface of the top plate (51) by pins, the bottom plate (52) is provided with a plurality of groups of cylindrical pins (53) moving vertically thereon, a plurality of iron sheet transfer clamps (54) are arranged at intervals on the bottom plate (52), each of the iron sheet transfer clamps (54) is provided with a positioning groove (58) for accommodating the iron sheet, and small positioning rollers (541) are respectively provided on the end surface and one side surface of the iron sheet transfer clamp (54), and the small positioning rollers (541) are respectively arranged by spring members The positioning groove (58) is communicated with the positioning groove (58), and the positioning small rollers (541) around each iron sheet transfer clamp (54) respectively cooperate with a group of the cylindrical pins (53). When the cylindrical pins (53) are pushed out from the lower surface of the bottom plate (52), the adjacent cylindrical pins (53) are squeezed to complete the reference positioning of the iron sheet in the positioning groove (58); the number and position of the iron sheet transfer clamp (54) and the iron sheet loading block (342) correspond to each other, and the bottom plate (52) is also provided with a positioning hole (56) that cooperates with the positioning guide column (343); The specific structure of the finished product grabbing mechanism is as follows: it comprises a second bottom plate (55) which is fixedly mounted on the rear side of the bottom surface of the top plate (51); a plurality of finished product grabbing clamps (57) are arranged on the second bottom plate (55); the number and position of the finished product grabbing clamps (57) and the iron sheet transfer clamps (54) respectively correspond one to one.

5. The fully automatic hook assembly system according to claim 1, characterized in that: The structure of the finished product receiving device (6) is as follows: it comprises a variable distance component (64), a product grabbing component (61) and a product receiving carrier (62); The structure of the variable pitch component (64) is as follows: it includes a short transverse linear slide rail (645) on which a plurality of variable position sliders (643) sliding along the same are provided, each variable position slider (643) being provided with a material receiving platform (644) on which a groove for placing finished products is provided; it also includes a short longitudinal linear slide rail (647) vertically docked with one side of the short transverse linear slide rail (645), the short longitudinal linear slide rail (647) being provided with a variable position plate (641) sliding along the same, the variable position plate (641) being in a trapezoidal structure, on which a plurality of long oblique waist holes (642) are opened, and the long oblique waist holes (642) are arranged along the same. The hypotenuse of the trapezoid is inclined, and a plurality of long oblique waist holes (642) are evenly distributed in a divergent shape along the length direction of the displacement plate (641); one end of the bottom of each displacement slider (643) is slidably matched with the short transverse linear slide rail (645), and the other end is connected to the displacement plate (641) through a positioning pin member passing through the long oblique waist hole (642); the displacement plate (641) is driven by a driving mechanism to move along the short longitudinal linear slide rail (647), thereby driving the displacement slider (643) to slide along the short transverse linear slide rail (645) to adjust the spacing between each displacement slider (643).

6. The fully automatic hook assembly system according to claim 5, characterized in that: The short transverse linear slide rail (645) and the short longitudinal linear slide rail (647) are simultaneously installed on a material receiving movable plate (646), and the material receiving movable plate (646) is slidably installed on a set of long transverse linear slide rails (65), and the long transverse linear slide rails (65) are fixed on a product grabbing machine table (66), and the front side of the product grabbing machine table (66) is connected to a material receiving circulation machine table (67), which drives the product receiving carrier (62) to circulate through a transmission mechanism (63); The structure of the product receiving carrier (62) is as follows: it comprises a fixture bottom fixing plate (621), a plurality of vertical carriers (622) are evenly arranged on the upper surface of the fixture bottom fixing plate (621), and a plurality of contoured material loading grooves (6221) are evenly arranged in the vertical direction on both side surfaces of the vertical carriers (622), and the contoured material loading grooves (6221) are contoured structures with one side opening and extending in the horizontal direction.

7. The fully automatic hook assembly system according to claim 6, characterized in that: The transmission mechanism (63) adopts two sets of sprocket transmission mechanisms arranged in parallel and at intervals. A support base plate (623) is installed on the track formed by the sprockets, and a positioning pin (624) is provided on the support base plate (623) that cooperates with the bottom fixing plate (621) of the fixture.

8. The fully automatic hook assembly system according to claim 7, characterized in that: A small frame is provided on each of the receiving and circulating machines (67) located on both sides of the conveying mechanism (63), and each small frame is provided with a set of circulating longitudinal slide rails (69). A chain transmission structure sliding along the circulating longitudinal slide rails (69) is installed, and a full-circle rotating slide (68) is installed on the full-circle rotating slide. A supporting bottom plate (623) is also installed on each full-circle rotating slide (68).

9. The fully automatic hook assembly system according to claim 5, characterized in that: The product grabbing assembly (61) is arranged on a product grabbing machine platform (66) located at the rear side of the long horizontal linear slide rail (65). The product grabbing machine platform (66) is provided with a horizontal longitudinal slide rail (613), on which a two-axis movable slide (612) sliding along the horizontal slide rail is provided. The product grabbing assembly (61) is installed on the two-axis movable slide rail (612) and moves vertically and horizontally. The structure of the product grabbing assembly (61) includes a grabbing claw assembly (611). The grabbing claw assembly (611) includes two rows of upper and lower clamping claws (6111) and left and right clamping claws (6112) arranged at intervals in front and back. The claw body of the upper and lower clamping claws (6111) includes two parts correspondingly arranged in the upper and lower parts, and the claw body of the left and right clamping claws (6112) includes two parts correspondingly arranged in the left and right parts. The upper and lower clamping claws (6111) and the left and right clamping claws (6112) are respectively driven by corresponding cylinder components.

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