Blade threading equipment

Abstract

The present invention discloses a blade rod threading equipment, comprising a blade tray automatic loading and unloading device, a blade tray station, a CCD identification device, a blade automatic loading device, a blade transfer positioning device, a bead automatic loading device, a bead sorting device, a string rod automatic loading device, a loading station, a blade and bead automatic loading device and a finished product unloading device; the CCD identification device is arranged for the blade tray station, the blade transfer positioning device has a blade transfer position, the blade automatic loading device is connected between the blade tray station and the blade transfer position; the bead automatic loading device is connected with the bead sorting device, the blade and bead automatic loading device is connected between the bead sorting device and the loading station, and the blade and bead automatic loading device is connected between the blade transfer position and the loading station, and the string rod automatic loading device and the finished product unloading device are respectively connected to the loading station.

Description

Technical Field

[0001] The present invention relates to the field of automatic blade rod threading technology, in particular to a blade rod threading device, which is mainly but not limited to the automatic rod threading operation of a numerically controlled blade. Background Art

[0002] CNC tools are tools used for cutting in mechanical manufacturing. Most of them are made of beads and CNC blades inserted on a string rod. Among them, the beads are also called metal gaskets, which are high-precision, high-hardness sheet materials with holes (or wound columns with holes). When processing, it is necessary to complete the initial assembly of the CNC tool by passing the string rod through the through hole of the beads and the through hole of the CNC blade.

[0003] In traditional assembly technology, manual assembly is mostly adopted. Specifically, in manual loading technology, the blade and beads are placed on the jig respectively, one end of the string rod is fixed, and the beads and the CNC blade are inserted into the string rod in sequence to complete the preliminary assembly of the CNC tool. It can be seen from this that the traditional manual assembly technology has high labor intensity. In addition, manual operation to fix the string rod is prone to errors, which in turn affects the accuracy of the CNC tool. Subsequently, the prior art has improved the assembly technology of CNC tools, and CNC tool assembly equipment and production lines have emerged. Among them, the assembly equipment mostly uses a turntable, and a plurality of installation positions are set on the turntable. The string rod is inserted into the installation position to complete the positioning and installation of the string rod, and the different installation positions are switched by rotating the turntable to facilitate the assembly of different string rods. However, the assembly equipment has a complex design structure, a large overall volume, and a high equipment cost.

[0004] Therefore, it is necessary to study a new technical solution to solve the above problems. Summary of the invention

[0005] In view of this, the present invention aims to address the deficiencies in the prior art, and its main purpose is to provide a blade rod threading device, which utilizes a CCD recognition device to perform visual recognition features on the blade at the blade tray station, and is sent to the blade transfer position by an automatic blade loading device, and a blade and bead automatic loading device is utilized to take beads from a bead sorting device to the loading station, and the blade is taken from the blade transfer position to the loading station. The string rod assembly has good versatility, and at the same time, the equipment structure is relatively simpler, which is conducive to reducing the size of the equipment, better controlling the equipment cost, and facilitating the promotion and application of the equipment.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A blade rod threading device, including a blade tray automatic loading and unloading device, a blade tray station, a CCD identification device, a blade automatic loading device, a blade transfer positioning device, a bead automatic loading device, a bead sorting device, a string rod automatic loading device, a loading station, a blade and bead automatic loading device and a finished product unloading device;

[0008] Among them, the CCD identification device is set for the blade tray station, the blade transfer positioning device has a blade transfer position, and the blade automatic loading device is connected between the blade tray station and the blade transfer position; the bead automatic loading device is connected with the bead sorting device, the blade and bead automatic loading device is connected between the bead sorting device and the loading station, and the blade and bead automatic loading device is connected between the blade transfer position and the loading station, and the string rod automatic loading device and the finished product unloading device are respectively connected to the loading station.

[0009] As a preferred solution, the blade transfer positioning device includes a transfer platform and a flipping mechanism, and the blade transfer position is arranged on the transfer platform; the blade tray station and the transfer platform are arranged at a horizontal interval; the flipping mechanism includes a clamping assembly and a flipping motor that drives the clamping assembly to flip up and down, and the clamping assembly is located above the transfer platform; the blade automatic loading device includes a first transverse driving device and a blade picking mechanism, and the first transverse driving device drives the blade picking mechanism to translate laterally to travel back and forth between the blade tray station and the transfer platform; and the CCD recognition device is connected to a control system, and the control system is also respectively connected to the first transverse driving device, the blade picking mechanism, and the flipping motor.

[0010] As a preferred solution, the clamping assembly includes a clamping cylinder and a clamping jaw, the clamping cylinder drives the clamping jaw to open and close, and the clamping jaw is arranged on the transfer platform; the transfer platform is connected to a lifting cylinder, and the lifting cylinder drives the transfer platform to reciprocate up and down; the lifting cylinder and the flipping motor are respectively arranged on a translation seat, and the translation seat is connected to an XY electric slide, and the XY electric slide drives the translation seat to translate in the XY axis; the translation seat is also provided with a Z-axis drive mechanism, and the Z-axis drive mechanism drives the flipping motor to lift and lower relative to the translation seat.

[0011] As a preferred solution, the automatic bead feeding device is a vibration plate, the vibration plate includes a vibration plate body, a material bin is provided on the vibration plate body, and a discharge port is provided on the material bin;

[0012] The bead sorting device includes a positioning plate, a driving device, a mounting frame, a material receiving frame and a material receiving pipe arranged on the material receiving frame; the positioning plate, the driving device and the material receiving frame are all arranged on the mounting frame, the driving device drives the positioning plate to rotate, and a plurality of material holes are arranged on the positioning plate at intervals along the circumferential direction. One end of the discharge port is connected to the upper end of the material receiving pipe through a guide hose, and the lower end of the material receiving pipe is arranged corresponding to the material hole.

[0013] As a preferred solution, a plurality of detection holes are arranged at intervals on the peripheral side walls of the positioning plate, and the detection holes pass through the material hole; a material presence detection device is also arranged on the side of the positioning plate, and the material presence detection device includes a detection head and a detection cylinder, and the detection head is arranged corresponding to the detection hole, and the detection cylinder drives the detection head to reciprocate horizontally in the extension direction of the detection head.

[0014] As a preferred solution, the material receiving rack includes a vertical plate and a horizontal plate, the vertical plate is provided with a vertical adjustment groove, the horizontal plate is provided with a horizontal adjustment groove, the horizontal plate is connected to the vertical adjustment groove to adjust the vertical installation position of the horizontal plate on the vertical plate, the material receiving pipe is connected to a mounting block, and the mounting block is connected to the horizontal adjustment groove to adjust the horizontal installation position of the mounting block on the horizontal plate.

[0015] As a preferred solution, the loading station is provided with a string rod turntable mechanism, and the string rod turntable mechanism includes a rotating mechanism, a lifting mechanism and a movable plate; the rotating mechanism is arranged on the movable plate, and the rotating mechanism includes a turntable, and installation positions are respectively arranged on both sides of the turntable, wherein the transfer station and the loading station are respectively located on both sides of the movable plate, and the turntable is rotated so that: the installation positions at two opposite sides are switched at the transfer station and the loading station; and the lifting mechanism drives the movable plate to lift and lower.

[0016] As a preferred embodiment, the automatic loading device for blades and beads includes a loading robot, a material receiving mechanism is installed at the lower end of the loading robot, wherein the loading robot is a PPU robot, and a first clamp and a second clamp are respectively installed on both sides of the lower end of the loading robot; and the material receiving mechanism includes a clamping rod mechanism, the clamping rod mechanism includes a clamping part, a material receiving clamp is provided at the lower end of the clamping part, and the material receiving clamp is connected to the lifting Z-axis mechanism, so that: driven by the lifting Z-axis mechanism, the material receiving clamp performs a lifting movement.

[0017] As a preferred solution, the automatic string rod loading device and the finished product unloading device are designed as an integrated device, which includes an XYZ three-axis manipulator, an empty string rod bin, and a finished product bin. The empty string rod bin and the finished product bin are arranged side by side, and the XYZ three-axis manipulator is connected between the empty string rod bin and an installation position of the turntable, and the XYZ three-axis manipulator is connected between another installation position of the turntable and the finished product bin.

[0018] As a preferred solution, the CCD recognition device includes a second transverse driving device and a CCD detection head, and the second transverse driving device drives the CCD detection head to translate transversely.

[0019] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical scheme that it mainly utilizes a CCD recognition device to perform visual recognition features on the blade at the blade tray station, which is sent to the blade transfer position by an automatic blade loading device, and the blade and bead automatic loading device is used to take the beads from the bead sorting device to the loading station, and the blade is taken from the blade transfer position to the loading station. The string rod assembly has good versatility. At the same time, the equipment structure is relatively simpler, which is conducive to reducing the size of the equipment, better controlling the equipment cost, and facilitating the promotion and application of the equipment.

[0020] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a diagram showing the process of assembling a CNC blade, beads and a string rod to form a finished product according to an embodiment of the present invention;

[0022] Figure 2 is a perspective view of a blade-piercing rod device according to an embodiment of the present invention;

[0023] Figure 3 is a three-dimensional view of the blade-piercing rod device according to an embodiment of the present invention from another angle;

[0024] Figure 4 is a top view of a blade-piercing rod device according to an embodiment of the present invention;

[0025] Figure 5 It is a flowchart of the action of the blade piercing device according to an embodiment of the present invention;

[0026] Figure 6 It is a three-dimensional diagram of a blade tray automatic loading and unloading device, a blade tray station, a CCD recognition device, a blade automatic loading device, and a blade transfer positioning device according to an embodiment of the present invention;

[0027] Figure 7 It is a three-dimensional diagram of a CCD recognition device, a blade automatic feeding device, and a blade transfer positioning device according to an embodiment of the present invention;

[0028] Figure 8 is a three-dimensional diagram of a blade transfer positioning device according to an embodiment of the present invention;

[0029] Fig. 9 is a three-dimensional diagram of a CCD recognition device according to an embodiment of the present invention;

[0030] Fig.10 It is a three-dimensional diagram of an automatic bead feeding device and a bead sorting device according to an embodiment of the present invention;

[0031] Fig.11 It is a three-dimensional diagram from another angle of the automatic bead feeding device and the bead sorting device according to the embodiment of the present invention;

[0032] Fig.12 It is a first stereoscopic view of the string rod turntable mechanism of the loading station of the embodiment of the present invention;

[0033] Fig.13 is a second stereoscopic view of the string rod turntable mechanism of the loading station of the embodiment of the present invention;

[0034] Fig.14 is a third stereoscopic view of the string rod turntable mechanism of the loading station of the embodiment of the present invention;

[0035] Fig.15 is a side view of the rotating mechanism of the skewer turntable mechanism according to an embodiment of the present invention;

[0036] Fig.16 is a three-dimensional diagram of a rotating mechanism of a skewer turntable mechanism according to an embodiment of the present invention;

[0037] Fig.17 is a perspective view of a blade and a bead automatic loading device according to an embodiment of the present invention;

[0038] Fig.18 is a first stereoscopic view of a loading manipulator of a blade and bead automatic loading device according to an embodiment of the present invention;

[0039] Fig.19 is a second perspective view of the loading manipulator of the blade and bead automatic loading device according to the embodiment of the present invention;

[0040] Fig. 20 is a three-dimensional diagram of a blade and a material receiving mechanism of an automatic bead loading device according to an embodiment of the present invention;

[0041] Fig.21 is a first stereoscopic view of a clamping rod mechanism of a blade and a bead automatic loading device according to an embodiment of the present invention;

[0042] Fig. 22 is a second perspective view of the clamping rod mechanism of the blade and bead automatic loading device according to an embodiment of the present invention;

[0043] Fig.23 It is a three-dimensional diagram of the lifting Z-axis mechanism of the blade and bead automatic loading device according to an embodiment of the present invention.

[0044] Description of the accompanying drawings:

[0045] 10. Automatic loading and unloading device for blade tray 11. Blade tray station

[0046] 20. Automatic blade feeding device 21. First transverse driving device

[0047] 22. Blade material taking mechanism 221. Material taking manipulator

[0048] 222. Lifting motor

[0049] 30. Transfer platform 31. Lifting cylinder

[0050] 32. Translation seat 33. XY electric slide

[0051] 34. Z-axis drive mechanism 35. Mounting plate

[0052] 40. Flipping mechanism 41. Clamping assembly

[0053] 42. Flip motor 411. Clamping cylinder

[0054] 412, Gripper 50, CCD recognition device

[0055] 51. Second traverse drive device 52. CCD detection head

[0056] 610, vibration plate 611, vibration plate body

[0057] 612, silo 613, discharge port

[0058] 614, guide hose 620, positioning plate

[0059] 621. Driving device 622. Mounting frame

[0060] 623, receiving rack 624, receiving pipe

[0061] 6201, material hole 6202, detection hole

[0062] 6231, vertical board 6232, horizontal board

[0063] 6233, mounting block 630, material presence detection device

[0064] 631, detection head 632, detection cylinder

[0065] 710, rotating mechanism 711, turntable

[0066] 7111, rotating shaft 712, rotating motor

[0067] 713. Fiber optic sensor 714. Photoelectric switch

[0068] 715, rotary cylinder 720, string rod positioning mechanism

[0069] 721, Gripper Cylinder 722, Down Pressure Cylinder

[0070] 723, positioning block 724, first telescopic cylinder

[0071] 725, second telescopic cylinder 726, support plate

[0072] 727, column 730, lifting mechanism

[0073] 731, first screw rod 732, second screw rod

[0074] 733, lifting motor 740, movable plate

[0075] 750, synchronization device 751, first synchronous pulley

[0076] 752, second synchronous pulley 753, third synchronous pulley

[0077] 754, synchronous conveyor belt 760, first positioning platform

[0078] 770, second positioning platform 780, guide column

[0079] 790, string rod A, transfer station

[0080] B. Loading station C. Installation station

[0081] 810, loading manipulator 811, first gripper

[0082] 812, second gripper 813, pneumatic finger cylinder

[0083] 820, fixed frame 821, adjustment plate

[0084] 8211, limit groove 8212, cam

[0085] 8213, connecting block 8214, horizontal slide rail

[0086] 8215, guide block 822, first motor

[0087] 830, clamping rod mechanism 831, first clamping part

[0088] 832, second clamping part 833, first clamping cylinder

[0089] 834, second clamping cylinder 840, linkage device

[0090] 841, first limit block 842, second limit block

[0091] 843, synchronous roller 844, synchronous belt

[0092] 845. Second motor 846. Light sensor

[0093] 850, material receiving clamp 860, lifting Z axis mechanism

[0094] 861, movable block 862, linear module

[0095] 863, telescopic cylinder 864, third motor

[0096] 865, photosensitive sensor 866, cable plastic drag chain

[0097] 901, XYZ three-axis manipulator 902, empty string bar warehouse

[0098] 903, finished product warehouse 304, blade transfer positioning device

[0099] 101. Automatic string feeding device 102. Loading station

[0100] 103. Finished product unloading device 601. Bead automatic loading device

[0101] 602. Bead sorting device 800. Blade and bead automatic loading device. DETAILED DESCRIPTION

[0102] Please refer to Figures 1 to 23 As shown, it shows the specific structure of an embodiment of the present invention.

[0103] In the description of the present invention, it should be noted that directional words such as the terms "up", "down", "front", "back", "left", "right", etc., which indicate directions and positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and cannot be understood as limiting the specific scope of protection of the present invention.

[0104] A blade rod threading device includes a blade tray automatic loading and unloading device 10, a blade tray station 11, a CCD identification device 50, a blade automatic loading device 20, a blade transfer positioning device 304, a bead automatic loading device 601, a bead sorting device 602, a string rod automatic loading device 101, a loading station 102, a blade and bead automatic loading device 800 and a finished product unloading device 103.

[0105] The CCD recognition device 50 is set for the blade tray station 11 to visually identify the blade in the tray and locate the center point. The blade transfer positioning device 304 has a blade transfer position. The blade automatic feeding device 20 is connected between the blade tray station 11 and the blade transfer position. The blade automatic feeding device 20 grabs the blade from the blade tray of the blade tray station 11 and sends it to the blade tray station. The bead automatic feeding device 601 is connected to the bead sorting device 601. The blade and the bead automatic loading device 800 are connected between the bead sorting device 602 and the loading station 102, and the blade and the bead automatic loading device 800 are connected between the blade transfer position and the loading station 102, so the blade and the bead automatic loading device 800 clamp the blade transfer position and the beads of the bead sorting device 602 and load them onto the string rod in sequence. And the string rod automatic loading device 101 and the finished product unloading device 103 are respectively connected to the loading station 102.

[0106] At the automatic loading and unloading device 10 for blade trays, the automatic loading and unloading device 10 for blade trays includes an upper bin, a blade taking position, a lower bin and a transfer mechanism. Usually, both the upper and lower bins can accommodate several layers of blade trays; full trays are manually loaded into the upper bin from the top, and the transfer mechanism moves to the full bin to take materials from the bottom (i.e., take a blade tray), and after taking the next full tray, it is clamped and positioned, and moved to the blade taking position; after all the blades in the tray are taken out, the transfer mechanism carries the empty trays into the lower bin, lifts them up from the bottom and loads them into the lower bin, and the empty trays are manually taken away from the top of the lower bin.

[0107] like Figures 6 to 9 As shown, the automatic blade feeding device 20 , the transfer platform 30 , the turning mechanism 40 , and the CCD identification device 50 are arranged on the frame 10 .

[0108] The automatic loading and unloading device 10 for blade trays is a linear conveyor, which has a full tray upper position, a blade tray removal position (also referred to as a blade tray working position), and an empty tray lower position in sequence. Several layers of full trays are stacked at the full tray upper position, and the full trays are manually (or automatically) loaded from the top. The transfer mechanism moves to the full tray upper position to take materials from the bottom of the full bin, takes the next layer of full trays and clamps them in place, and moves to the blade tray removal position. After all the blades in the trays are taken out, the transfer mechanism carries the empty trays to the empty tray lower position, lifts them up from the bottom of the empty tray lower position and loads them into the lower bin, and the empty trays are taken away from the top manually (or automatically). Here, the automatic loading and unloading device of the blade material tray includes a material tray transfer mechanism and a loading mechanism and an unloading mechanism arranged corresponding to the material tray transfer mechanism; the material tray transfer mechanism includes a Y-axis moving device, a lifting device and a carrier, the Y-axis moving device drives the carrier to move back and forth between the loading mechanism and the unloading mechanism, the lifting device drives the carrier to move up and down, and a material tray clamping device is arranged on the carrier; it also includes two Y-axis mounting frames arranged at left and right intervals, and the material tray transfer mechanism is located between the two Y-axis mounting frames; the Y-axis moving device includes a Y-axis moving plate and a driving device that drives the Y-axis moving plate to move; the lifting device is arranged on the Y-axis moving plate, and the lifting device includes a lifting plate, a lifting drive motor and a screw nut assembly, the screw nut assembly has high precision, and the lifting plate is located below the Y-axis moving plate, The lifting plate is provided with support rods symmetrically arranged front and back, the support rods extend upwardly from the Y-axis moving plate, the carrier is arranged on the top of the support rods, the screw rod and nut assembly includes a screw rod and a nut, the input end of the screw rod extends upwardly from the Y-axis moving plate, the output end of the screw rod extends downwardly from the lifting plate, the nut is arranged on the lifting plate, the output end of the screw rod is adapted to the nut, the output end of the lifting drive motor is connected to the input end of the screw rod, the output end of the lifting drive motor and the input end of the screw rod are both located on the upper side of the Y-axis moving plate; and both ends of the two Y-axis mounting frames are connected by a fixed plate, and a cover plate for covering the lifting device is provided on the two fixed plates to prevent foreign objects from falling into the lifting device during the movement of the material tray transferring mechanism, thereby ensuring the normal operation of the lifting device, which is safe and reliable.

[0109] The blade transfer positioning device 304 includes a transfer platform 30 and a flip mechanism 40, wherein the blade transfer position is arranged on the transfer platform 30; the blade tray station 11 and the transfer platform 30 are arranged at a horizontal interval. The flip mechanism 40 includes a clamping assembly and a flip motor for driving the clamping assembly to flip up and down, wherein the clamping assembly is located above the transfer platform 30; the blade automatic feeding device includes a first transverse driving device and a blade picking mechanism, wherein the first transverse driving device drives the blade picking mechanism to translate horizontally to move back and forth between the blade tray station and the transfer platform; and the CCD recognition device is connected to a control system, wherein the control system is also respectively connected to the first transverse driving device, the blade picking mechanism, and the flip motor.

[0110] The automatic blade loading device 20 includes a first transverse driving device 21 and a blade picking mechanism 22. The first transverse driving device 21 drives the blade picking mechanism 22 to move laterally to move back and forth between the blade tray station 11 and the transfer platform 30; the blade picking mechanism 22 includes a picking robot and a lifting motor 222. The lifting motor 222 drives the picking robot 221 to reciprocate up and down, thereby accurately placing the blade on the transfer platform 30, which is convenient for the loading robot to clamp it.

[0111] The transfer platform 30 is connected to a lifting cylinder 31, and the lifting cylinder 31 drives the transfer platform 30 to reciprocate up and down; the lifting cylinder 31 and the flip motor 42 are respectively arranged on a translation seat 32, and the translation seat 32 is connected to an XY electric slide 33, and the XY electric slide 33 drives the translation seat 32 XY axial translation; the translation seat 32 is also provided with a Z-axis drive mechanism 34, and the Z-axis drive mechanism 34 drives the flip motor 42 to rise and fall relative to the translation seat 32, so that the position of the transfer platform 30 is flexibly adjustable, so that the XY axial and Z axial positions can be adjusted as needed according to the speed of different process rhythms, providing a more suitable transfer platform position, better connecting the loading robot, and helping to improve loading efficiency. In this embodiment, the Z-axis driving mechanism 34 is a Z-axis motor, and the output axis of the Z-axis motor is horizontal (specifically the X-axis direction, the blade tray station 11 and the transfer platform 30 are arranged at a distance along the X-axis direction), and its output shaft is equipped with a gear, and the gear is meshed with the vertical rack, and the vertical rack is connected to the flip motor 42. Therefore, when the Z-axis motor is working, the gear drives the vertical rack to rise and fall, so that the flip motor 42 rises and falls accordingly. Usually, a vertical guide rail is provided on the translation seat 32, so that a slider can be provided on the mounting plate 35 of the flip motor 42, and the slider is adapted to the vertical guide rail to improve the stability of the flip motor when it rises and falls.

[0112] The flipping mechanism 40 includes a clamping assembly 41 and a flipping motor 42 that drives the clamping assembly 41 to flip up and down. The clamping assembly 41 is located above the transfer platform 30; the clamping assembly 41 includes a clamping cylinder 411 and a clamping jaw 412. The clamping cylinder 411 drives the clamping jaw 412 to open and close. The clamping jaw 412 is arranged on the transfer platform 30, so that the transfer platform 30 also has a flipping function. According to different loading processes, the blade can be flipped and then provided to the loading robot for material collection.

[0113] The CCD recognition device 50 is disposed toward the blade tray station 11; the CCD recognition device 50 includes a second transverse driving device 51 and a CCD detection head 52, and the second transverse driving device 51 drives the CCD detection head 52 to translate transversely. In addition, the CCD recognition device 50 is connected to a control system, and the control system is also connected to the first transverse driving device 21, the blade material taking mechanism 22, and the flip motor 42 respectively.

[0114] By setting up the automatic blade feeding device 20, the flipping mechanism 40 and the CCD identification device 50, the blade picking mechanism can be guided to accurately clamp the blade, so as to accurately place the blade on the transfer platform, which is convenient for the loading robot to clamp it. The transfer platform can provide the blade with a fixed unique position, which solves the problem that the loading robot in the traditional technology sometimes cannot accurately clamp the blade directly from the blade tray, which is beneficial to improving the loading efficiency and loading accuracy; at the same time, due to the setting of the flipping mechanism, the transfer platform also has a flipping function, and the blade can be flipped according to different loading processes before being provided to the loading robot for material picking, which solves the problem that different loading processes in the traditional technology require the use of different tool processing equipment.

[0115] like Figure 10 to Figure 11 As shown, the automatic bead feeding device 601 is a vibration plate 610, and the vibration plate 610 includes a vibration plate body 611, and a material bin 612 is provided on the vibration plate body 611, and a discharge port 613 is provided on the material bin 612. The bead sorting device 602 includes a positioning plate 620, a driving device 621, a mounting frame 622, a material receiving frame 623, and a material receiving pipe 624 provided on the material receiving frame 623; one end of the discharge port 613 is connected to the upper end of the material receiving pipe 624 through a guide hose 614. Usually, the vibration plate 610 is installed at a position higher than the material receiving frame 623 and the positioning plate 620, ensuring that the discharge port 613 is higher than the feed port of the material receiving pipe 624, and the guide hose 614 is used to form a connection between the discharge port 613 and the feed port 613 of the material receiving pipe 624, so that the connection is convenient and the guidance is reliable. The inner diameter of the guide hose 614 is slightly larger than the outer diameter of the material, ensuring that the material can pass neatly and smoothly in the guide hose 614. The automatic bead feeding device is connected with the bead sorting device, and through the cooperation of the vibration plate and the positioning plate, the discharge port is connected to the material receiving pipe through the guide hose. When the material is poured into the silo, the material is discharged in an orderly manner along the guide hose, and then flows into the material hole through the material receiving pipe. The positioning plate is driven to rotate by the driving device to realize the automatic feeding, which is conducive to improving the feeding efficiency; it effectively solves the problem of low manual feeding efficiency in traditional technology; in particular, it can realize the connection between the vibration plate and the positioning plate with the help of the guide hose and the material receiving pipe to realize material transfer. It has a simple structure and simplifies the electric control method. It is stable and reliable in operation, which is conducive to reducing equipment costs and has strong practicality.

[0116] The positioning plate 620, the driving device 621, and the material receiving rack 623 are all arranged on the mounting rack 622, and the driving device 621 drives the positioning plate 620 to rotate. The positioning plate 620 is provided with a plurality of material holes 6201 at intervals along the circumferential direction, and the material holes 6201 have an upper end opening. The circumferential side wall of the positioning plate 620 is also provided with a plurality of detection holes 6202 at intervals, and the detection holes 6202 pass through the material holes 6201, and each detection hole 6202 corresponds to a material hole 6201; a material presence detection device 630 is also arranged on the side of the positioning plate 620, and the material presence detection device 630 includes a detection head 631 and a detection cylinder 632, and the detection head 631 is arranged corresponding to the detection hole 6202, and the detection cylinder 632 drives the detection head 631 to reciprocate horizontally in the extension direction of the detection head 631, so that the detection head 631 is close to or away from the detection hole 6202. By designing a material presence detection device set on the side of the positioning plate, the material in the material hole on the positioning plate is detected, which effectively solves the problem of subsequent assembly errors caused by missing assembly in traditional technologies, thereby reducing the qualified rate and consistency of products.

[0117] The material receiving frame 623 is provided with a material receiving pipe 624, the lower end of which is provided corresponding to the upper opening of the material hole 6201, and the lower end of which is located above the upper opening of the material hole 6201. The material receiving frame 623 includes a vertical plate 6231 and a horizontal plate 6232, the vertical plate 6231 is provided with a vertical adjustment slot, the horizontal plate 6232 is provided with a horizontal adjustment slot, the horizontal plate 6232 is connected to the vertical adjustment slot to adjust the vertical installation position of the horizontal plate 6232 on the vertical plate 6231, the material receiving pipe 624 is connected with a mounting block 6233, the mounting block 6233 is connected to the horizontal adjustment slot to adjust the horizontal installation position of the mounting block 6233 on the horizontal plate 6232, and the height of the material receiving pipe 624 is conveniently adjusted to meet the material receiving requirements of different materials. In this embodiment, there are two vertical plates 6231, one high and one low, and three horizontal plates 6232. Two horizontal plates 6232 are connected to the higher vertical plate 6231 and to the upper and middle parts of the material receiving pipe 624, and the other horizontal plate 6232 is connected to the lower vertical plate 6231 and to the lower part of the material receiving pipe 624. In this way, multi-point connection and positioning are formed for the material receiving pipe 624 to avoid shaking of the material receiving pipe 624. In actual design, the driving device 621 and the material presence detection device 630 are respectively connected to the control system, and the rotation direction of the positioning disk 620 can be clockwise, then the material picking position of the positioning disk 620 is set on the clockwise forward direction side of the material presence detection device 630, when the material presence detection device 630 feeds back that there is material in the material hole 6201, the manipulator takes the material normally, if the material presence detection device 630 feeds back that there is no material in the material hole 6201, the positioning disk 620 continues to rotate until the material hole 6201 containing material rotates to the material picking position.

[0118] like Figures 12 to 16As shown, the loading station is provided with a rod-string turntable mechanism, and the rod-string turntable mechanism includes a rotating mechanism 710, a lifting mechanism 730 and a movable plate 740; the rotating mechanism 710 is provided on the movable plate 740, and the rotating mechanism 710 includes a turntable 711, and mounting positions are respectively provided on both sides of the turntable 711, wherein the transfer station and the loading station are respectively located on both sides of the movable plate 740, and the turntable 711 is rotated so that: the mounting positions at the two opposite sides are switched between the transfer station and the loading station; and the lifting mechanism 730 drives the movable plate 740 to move up and down. The lifting mechanism 730 is provided with a first screw rod 731, a second screw rod 732, and a lifting motor 733, and the first screw rod 731 and the second screw rod 732 are driven to rotate by the lifting motor 733, and the first screw rod 731 and the second screw rod 732 respectively pass through the internal threaded holes of the movable plate 740, so that: the lifting mechanism 730 drives the movable plate 740 to move up and down. Furthermore, the upper ends of the first screw rod 731 and the second screw rod 732 are respectively connected to the first positioning platform 760, so that: the first positioning platform 760 positions the first screw rod 731 and the second screw rod 732, and the first screw rod 731 and the second screw rod 732 together drive the movable plate 740 and the rotating mechanism 710 to perform lifting and lowering movements, so as to adjust the upper and lower positions of the rotating mechanism 710. Furthermore, the rotating mechanism 710 includes a turntable 711 and a rotating motor 712, and the rotating motor 712 is connected to the center of the turntable 711, and the turntable 711 rotates around the center of the turntable 711, so that the turntable 711 switches the corresponding workstation.

[0119] In this embodiment, the rotating motor 712 is installed at the lower end of the turntable 11, and the turntable 711 has a rotating shaft 7111, and the rotating shaft 7111 passes through the movable plate 740 and is connected to the rotating motor 712, so that: under the drive of the rotating motor 712, the turntable 711 rotates around the rotating shaft 7111 on the movable plate 740, so that the turntable 711 switches the corresponding station. Among them, the two ends of the turntable 711 are respectively provided with mounting positions C, and the front and rear sides of the movable plate 740 are respectively formed with a transfer station A and a loading station B corresponding to the mounting position C, so that: when the turntable 711 is rotated, the mounting positions C on the two opposite sides of the turntable 711 are switched between the transfer station A and the loading station B, so that the turntable 711 can load and unload the string rod 790. In addition, optical fiber sensors 713 are respectively arranged on both sides of the loading station B on the movable plate 740 to ensure that after the turntable 711 rotates 180°, the mounting position C and the loading station B are aligned and positioned. Also, a photoelectric switch 714 and a rotary cylinder 715 are also arranged at the lower end of the turntable 711. Specifically, the photoelectric switch 714 is arranged beside the rotating shaft 7111 of the turntable 711, and the rotary cylinder 715 is located at the rear end of the movable plate 740. In addition, the photoelectric switch 714 is respectively connected to the optical fiber sensor 713 and the rotary cylinder 715, so that: when the turntable 711 rotates, the optical fiber sensor 713 switches and aligns the transfer station A and the loading station B, and the rotary cylinder 715 clamps the lower end of the turntable 711 to further ensure the positioning of the turntable 711. Positioning mechanisms 720 are respectively arranged on both sides of the turntable 711.

[0120] The positioning mechanism 720 is provided with a downward pressure cylinder 722, and a clamping cylinder 721 is provided above the downward pressure cylinder 722. The installation position C is formed between the clamping cylinder 721 and the downward pressure cylinder 722, so as to clamp and install the upper and lower ends of the string rod 790. In this embodiment, a positioning block 723 is also provided on the turntable 711. The positioning block 723 is located at the lower end of the installation position C, and the positioning block 723 is located on the outer side of the downward pressure cylinder 722. The upper end of the positioning block 723 is concave downward with a positioning groove to achieve the positioning installation of the lower end of the string rod 790. In addition, in order to facilitate the clamping operation of the string rod 790, the clamping cylinder 721 is provided with a first telescopic cylinder 724, and the downward pressure cylinder 722 is provided with a second telescopic cylinder 725, so as to respectively achieve the inner and outer position adjustment of the two ends of the string rod 790. Among them, a number of columns 727 are connected between the downward pressure cylinder 722 and the clamping claw cylinder 721. Specifically, a support plate 726 is provided at the lower end of the first telescopic cylinder 724, one end of the column 727 is connected to the turntable 711, and the other end of the column 727 is connected to the support plate 726 to ensure that the clamping claw cylinder 721 is firmly installed on the upper end of the downward pressure cylinder 722.

[0121] The first positioning platform 760 is provided with a synchronization device 750, and the synchronization device 750 is provided between the first screw rod 731 and the second screw rod 732, and the synchronization device 750 is respectively connected to the lifting motor 733, the first screw rod 731, and the second screw rod 732. Through the synchronization device 750, under the drive of the lifting motor 733, the synchronization of the first screw rod 731 and the second screw rod 732 is achieved, so as to achieve the lifting and lowering synchronous control of the two ends of the movable plate 740, thereby achieving the lifting and lowering synchronous control of the rotating mechanism 710. Among them, the synchronization device 750 includes a synchronous transmission belt 754 and a synchronous pulley, and the synchronous pulley includes a first synchronous pulley 751, a second synchronous pulley 752, and a third synchronous pulley 753. The upper ends of the first screw rod 731 and the second screw rod 732 are connected to the first synchronous pulley 751 and the second synchronous pulley 752 respectively, the first positioning platform 760 is provided with a third synchronous pulley 753, the synchronous conveyor belt 54 is connected to the first synchronous pulley 751, the second synchronous pulley 752, and the third synchronous pulley 753, and, in this embodiment, the lifting motor 733 is provided on the second screw rod 732, specifically, the lifting motor 733 is provided on the second synchronous pulley 752 , to drive the second screw rod 732 to make the right end of the movable plate 740 perform lifting movement, and at the same time, driven by the synchronous conveyor belt 754, the first synchronous pulley 751 drives the first screw rod 731 to make the left end of the movable plate 740 perform lifting movement, and the synchronous conveyor belt 754 ensures the synchronization of the first screw rod 731 and the second screw rod 732, thereby ensuring the synchronous lifting movement of the left and right ends of the movable plate 740; in addition, the third synchronous pulley 753 is set to allow the synchronous conveyor belt 754 to buffer. In actual implementation, the lifting motor 733 is set at the upper end of the second screw rod 732, which is also acceptable.

[0122] In addition, in this embodiment, the lower ends of the first screw rod 731 and the second screw rod 732 are also connected to the second positioning platform 770, so that: the upper and lower ends of the first screw rod 731 and the second screw rod 732 are respectively connected to the first positioning platform 760 and the second positioning platform 770, and the second positioning platform 770 is arranged in parallel with the first positioning platform 760. Among them, a guide column 780 is arranged between the first positioning platform 760 and the second positioning platform 770. In this embodiment, four guide columns 780 are arranged, and the four guide columns 780 are respectively arranged at the four corners of the first positioning platform 760 and the second positioning platform 770, and the four guide columns 780 pass through the four corners of the movable plate 740, so that: between the first positioning platform 760 and the second positioning platform 770, the movable plate 740 is lifted and lowered along the guide columns 780, and the four guide columns 780 limit the movable plate 740, so as to further ensure that the movable plate 740 is lifted and lowered in the vertical direction, and the lifting action is stable and controllable.

[0123] During assembly, first, the string rod 790 is placed in the installation position C, the upper end of the string rod 790 is clamped by the clamping cylinder 721, and the lower end of the string rod 790 is clamped by the pressing cylinder 722. At this time, the string rod 790 is located on the transfer station A; in the rotating mechanism 710, the turntable 711 rotates 180°, and the string rod 790 is transferred to the loading station B, so that the string rod 790 is loaded with blades and beads. In the process of loading blades and beads, the first screw rod 731 and the second screw rod 732 drive the movable plate 740 to move downward in the vertical direction to match the working position of the loading robot. After loading is completed, the movable plate 740 can be controlled to rise and reset as a whole; finally, the turntable 711 rotates to rotate the loaded string rod 790 from the loading station B to the transfer station A, so that the robot can take away the loaded string rod 790. In this way, the string rod turntable mechanism is provided with a rotating mechanism and a lifting mechanism. The lifting mechanism enables the movable plate and the rotating mechanism to perform lifting movements to match the working position of the loading robot and simplify the loading structure; and the rotating mechanism is provided with a turntable, and installation positions are respectively provided on both sides of the turntable, which can meet the loading and unloading operations of the string rod. At the same time, it can realize the switching between the transfer station and the loading station, reduce the pause time of string rod loading, and increase the effective working time of automated processing equipment, which is beneficial to improving processing efficiency and can also meet the needs of different processing and loading of the string rod; it has a simple structure, small size, and is easy to produce, which is beneficial to reducing the device cost of the string rod loading function part.

[0124] like Figures 17 to 23As shown, the blade and bead automatic loading device 800 includes a loading manipulator 810, and a material receiving mechanism is installed at the lower end of the loading manipulator 810, wherein the loading manipulator is a PPU manipulator, and the first clamping claw 811 and the second clamping claw 812 are installed on both sides of the lower end of the loading manipulator to clamp and load the beads and the blade respectively; and the material receiving mechanism includes a clamping rod mechanism 830, and the clamping rod mechanism 830 includes a clamping part to clamp the beads and the blade to load the string rod. The lower end of the clamping part is provided with a material receiving clamp 850 to clamp the string rod, and the material receiving clamp 850 is connected to the lifting Z-axis mechanism 860, so that: driven by the lifting Z-axis mechanism 860, the material receiving clamp 850 performs a lifting movement to adjust the height of the material receiving clamp 850, and then adjust the upper and lower positions of the string rod to ensure that the string rod is loaded smoothly.

[0125] The loading manipulator 810 is mounted on a fixed frame 820, which is a gantry frame, wherein an adjustment plate 821 is provided on the fixed frame 820. A limiting groove 8211 is provided on the adjustment plate 821, and the limiting groove 8211 is recessed from front to back, so that the loading manipulator 810 can perform limiting movement in the area of ​​the limiting groove 8211. The limiting groove 8211 is n-shaped, that is, it has a first vertical groove, a first arc groove, a transverse groove, a second arc groove and a second vertical groove connected in sequence, wherein a cam 8212 is provided on the limiting groove 8211, and the rear end of the loading manipulator 810 extends backward to form a movable shaft, and the movable shaft is clamped on the cam 8212, so that the cam 8212 drives the loading manipulator 810 to perform limiting movement on the limiting groove 8211. The cam 8212 is connected to the first motor 822, which is a servo motor. Specifically, the cam 8212 is connected to one end of the connecting block 8213, and the first motor 822 is connected to the other end of the connecting block 8213, so as to limit the loading manipulator 810. Driven by the first motor 822, the loading manipulator 810 performs limiting movement on the adjustment plate 821. In addition, a horizontal slide rail 8214 is provided below the adjustment plate 821, and a guide block 8215 is installed on the horizontal slide rail 8214. A slot is recessed at the front end of the guide block 8215, and the left and right sides of the loading manipulator 810 are respectively clamped at the two ends of the slot, so that: under the drive of the first motor 822, the connecting block 8213 drives the cam 8212 to move on the limit slot 8211, and the cam 8212 drives the loading manipulator 810 to move along the limit slot 8211. At the same time, the loading manipulator 810 drives the guide block 8215 to slide on the horizontal slide rail 8214, further ensuring the stable movement of the loading manipulator 810. The structural design of this loading manipulator 810 makes the movement high-speed and stable, the structure compact, and the installation and debugging convenient. The cycle time of the two clamps at the material picking position and the loading position is very short, which improves the loading efficiency.

[0126] The first clamping jaw 811 and the second clamping jaw 812 are respectively arranged on the left and right sides of the loading manipulator 810, and the first clamping jaw 811 and the second clamping jaw 812 are respectively provided with pneumatic finger cylinders 813 for clamping. In this embodiment, the first clamping jaw 811 is installed on the left side of the lower end of the loading manipulator 810, and the second clamping jaw 812 is installed on the right side of the lower end of the loading manipulator 810. The first clamping jaw 811 is a beading clamping jaw, and the second clamping jaw 812 is a blade clamping jaw, so as to clamp beads and blades respectively.

[0127] The material receiving mechanism includes a clamping rod mechanism 830 disposed at the front end of the loading manipulator 810, and the clamping rod mechanism 830 includes a clamping portion. A material receiving clamp 850 is disposed at the lower end of the clamping rod mechanism 830, and a lifting Z-axis mechanism 860 is disposed at the lower end of the material receiving clamp 850, wherein the material receiving clamp 850 is connected to the lifting Z-axis mechanism 860, so that: driven by the lifting Z-axis mechanism 860, the material receiving clamp 850 performs lifting movement, and then adjusts the upper and lower positions of the material receiving clamp 850, so as to automatically receive the material. The clamping rod mechanism 830 includes a clamping portion, and the clamping portion has a first clamping portion 831 and a second clamping portion 832 disposed up and down, and the first clamping portion 831 and the second clamping portion 832 are connected by a linkage device 840, and the linkage device 840 is connected to a second motor 845. The first clamping cylinder 833 and the second clamping cylinder 834 are respectively arranged on both sides of the clamping part. Specifically, the first clamping cylinder 833 and the second clamping cylinder 834 are respectively arranged on the left and right sides of the first clamping part 831 to control the opening and closing degree of the first clamping part 831. In this embodiment, the first clamping arm and the second clamping arm are respectively arranged on the left and right sides of the first clamping part 831 and the second clamping part 832 to clamp the beads and blades loaded on the loading manipulator 810. The linkage device 840 includes a first limit block 841 and a second limit block 842, wherein the first limit block 841 and the second limit block 842 are respectively diamond-shaped structures, wherein the first limit block 841 is horizontally arranged on the first clamping part 831, and on the first clamping part 831, the left and right sides of the first limit block 841 are respectively connected to the first clamping arm and the second clamping arm. The first limit block 841 is connected to the second limit block 842 through a connecting shaft, and the second limit block 842 is clamped on the second clamping portion 832. Specifically, on the second clamping portion 832, the second limit block 842 is clamped between the first clamping arm and the second clamping arm to control the distance between the first clamping arm and the second clamping arm in the second clamping portion 832, thereby controlling the degree of opening and closing of the second clamping portion 832. And, the second motor 845 is disposed at the rear end of the linkage device 840. Specifically, the first limit block 841 and the second motor 845 are respectively provided with synchronous rollers 843, and the synchronous rollers 843 are respectively connected to the synchronous belt 844. Driven by the second motor 845, the synchronous belt 844 drives the synchronous roller 843 of the first limit block 841, and then the first limit block 841 rotates, and the connecting shaft at the lower end of the first limit block 841 drives the second limit block 842 to rotate, so that the two ends of the second limit block 842 push the first clamping arm and the second clamping arm of the second clamping part 832 apart, so that the second clamping part 832 opens and closes, thereby controlling the falling speed and height of the blade or beads.

[0128] In actual implementation, light sensors 846 can be respectively set on both sides of the clamping rod mechanism 830. Specifically, light sensors 846 are respectively set on the left and right sides of the first clamping part 831, and light sensors 846 are respectively set on the left and right sides of the second clamping part 832, so that the first clamping arm and the second clamping arm of the first clamping part 831 and the second clamping part 832 can control the opening and closing movements.

[0129] The lower end of the clamping part is provided with a material receiving clamp 850, and the material receiving clamp 850 is connected to the lifting Z-axis mechanism 860. The material receiving clamp 850 is used to clamp the string rod, and at the same time, the lifting Z-axis mechanism 860 can adjust the upper and lower positions of the material receiving clamp 850, thereby adjusting the position of the string rod, so that the clamping part can load beads and blades on the string rod. Among them, in this embodiment, the lifting Z-axis mechanism 860 is provided with a movable block 861, and the movable block 861 is connected to the material receiving clamp 850. Specifically, the lifting Z-axis mechanism 860 includes a linear module 862 and a third motor 864. And, the linear module 862 is provided with a movable block 861, and the third motor 864 is arranged on the side of the linear module 862 to drive the movable block 861 to perform lifting and lowering movements. The upper end of the movable block 861 is also equipped with a telescopic cylinder 863, which is connected to the front end of the material receiving clamp 850 to control the material receiving clamp 850 to move forward and backward so that the string rod clamped by the material receiving clamp 850 can be loaded with beads and blades. In actual implementation, the material receiving clamp 850 can also be equipped with a photosensitive sensor 865 to adjust the position of the material receiving clamp 850. In addition, the lifting Z-axis mechanism 860 can also be equipped with a cable plastic drag chain 866 to protect its cables.

[0130] During operation, first, driven by the first motor 822, the connecting block 8213 drives the cam 8212 to move on the limiting groove 8211 of the adjusting plate 821, wherein the guide block 8215 guides and limits the horizontal movement direction of the loading manipulator 810 on the slide rail, and adjusts the height and horizontal position of the loading manipulator 810, thereby controlling the first clamping jaw 811 and the second clamping jaw 812 of the loading manipulator 810 to alternately clamp the beads and the blade, and load them into the string rod in sequence; then, the second clamping jaw 812 of the loading manipulator 810 clamps the blade on the work station, and at the same time, the first clamping jaw 811 can The loading operation is performed on the clamped beads; or, the first clamping jaw 811 of the loading robot 810 clamps the beads on the workstation, and at the same time, the second clamping jaw 812 can load the clamped blade; in the material receiving mechanism, the first clamping part 831 and the second clamping part 832 of the clamping rod mechanism 830 open and clamp the string rod in turn to control the falling speed of the blade and the beads; and the material receiving clamp 850 located at the lower end of the clamping part clamps the string rod, adjusts the height of the string rod by the lifting Z-axis mechanism 860, and adjusts the front and rear position of the string rod by the telescopic cylinder 863 to achieve smooth loading of the string rod. In this way, a loading robot is provided through a blade and bead loading mechanism, and a material receiving mechanism is installed at the lower end of the loading robot, wherein two clamping claws are respectively provided at the lower end of the loading robot to clamp and load the beads and the blade respectively; at the same time, the material receiving mechanism includes a clamping rod mechanism, and the clamping rod mechanism includes a clamping part so as to clamp and load the beads and the blade into the string rod; in addition, a material receiving clamp is provided at the lower end of the clamping part, and the material receiving clamp is connected to the lifting Z-axis mechanism, so that: driven by the lifting Z-axis mechanism, the material receiving clamp performs a lifting movement, wherein the material receiving clamp clamps the string rod, and the upper and lower positions of the string rod are adjusted by adjusting the height of the material receiving clamp to ensure that the string rod is loaded smoothly; it has a simple structure, occupies little space, and is easy to produce.

[0131] Also, in the present embodiment, in the blade rod threading equipment, the automatic string rod loading device 101 and the finished product unloading device 103 are designed as an integrated device, and the integrated device includes an XYZ three-axis manipulator 901, an empty string rod bin 902, and a finished product bin 903. The empty string rod bin 902 and the finished product bin 903 are arranged side by side, and the XYZ three-axis manipulator 901 is connected between the empty string rod bin 902 and an installation position of the turntable 711, and the XYZ three-axis manipulator 901 is connected between another installation position of the turntable 711 and the finished product bin 903.

[0132] The design focus of the present invention is that it mainly uses a CCD recognition device to visually identify the characteristics of the blade at the blade tray station, and the blade is sent to the blade transfer position by an automatic blade loading device. The blade and bead automatic loading device is used to take the beads from the bead sorting device to the loading station, and the blade is taken from the blade transfer position to the loading station. The string rod assembly has good versatility. At the same time, the equipment structure is relatively simpler, which is conducive to reducing the size of the equipment, better controlling the equipment cost, and facilitating the promotion and application of the equipment.

Claims

1. A blade rod piercing device, Features: It includes automatic loading and unloading device for blade tray, blade tray station, CCD identification device, automatic blade loading device, blade transfer positioning device, automatic bead loading device, bead sorting device, automatic string rod loading device, loading station, automatic loading device for blades and beads, and finished product unloading device; Among them, the CCD identification device is set for the blade tray station, the blade transfer positioning device has a blade transfer position, and the blade automatic feeding device is connected between the blade tray station and the blade transfer position; the bead automatic feeding device is connected with the bead sorting device, the blade and bead automatic loading device is connected between the bead sorting device and the loading station, and the blade and bead automatic loading device is connected between the blade transfer position and the loading station, and the string rod automatic feeding device and the finished product unloading device are respectively connected to the loading station; The blade transfer positioning device includes a transfer platform and a flip mechanism, the blade transfer position is arranged on the transfer platform; the blade tray station and the transfer platform are arranged with a horizontal spacing; the flip mechanism includes a clamping assembly and a flip motor driving the clamping assembly to flip up and down, and the clamping assembly is located above the transfer platform; the blade automatic feeding device includes a first transverse driving device and a blade picking mechanism, the first transverse driving device drives the blade picking mechanism to translate horizontally to go back and forth between the blade tray station and the transfer platform; and the CCD recognition device is connected to a control system, and the control system is also respectively connected to the first transverse driving device, the blade picking mechanism, and the flip motor; The clamping assembly includes a clamping cylinder and a clamping jaw, the clamping cylinder drives the clamping jaw to open and close, and the clamping jaw is arranged on the transfer platform; the transfer platform is connected to a lifting cylinder, and the lifting cylinder drives the transfer platform to reciprocate up and down; the lifting cylinder and the flipping motor are respectively arranged on a translation seat, and the translation seat is connected to an XY electric slide, and the XY electric slide drives the translation seat to translate in the XY axis; the translation seat is also provided with a Z-axis driving mechanism, and the Z-axis driving mechanism drives the flipping motor to lift up and down relative to the translation seat; the automatic bead feeding device is a vibration plate, and the vibration plate includes a vibration plate body, and a material bin is arranged on the vibration plate body, and a discharge port is arranged on the material bin; The bead sorting device includes a positioning plate, a driving device, a mounting frame, a material receiving frame and a material receiving pipe arranged on the material receiving frame; the positioning plate, the driving device and the material receiving frame are all arranged on the mounting frame, the driving device drives the positioning plate to rotate, and a plurality of material holes are arranged on the positioning plate at intervals along the circumferential direction. One end of the discharge port is connected to the upper end of the material receiving pipe through a guide hose, and the lower end of the material receiving pipe is arranged corresponding to the material hole.

2. The blade-piercing rod device according to claim 1, Features: The side walls of the positioning plate are also provided with a plurality of detection holes at intervals, and the detection holes pass through the material hole; a material presence detection device is also provided on the side of the positioning plate, and the material presence detection device includes a detection head and a detection cylinder, the detection head is provided corresponding to the detection hole, and the detection cylinder drives the detection head to reciprocate horizontally in the extension direction of the detection head.

3. The blade-piercing rod device according to claim 1, Features: The material receiving rack includes a vertical plate and a horizontal plate, the vertical plate is provided with a vertical adjustment slot, the horizontal plate is provided with a horizontal adjustment slot, the horizontal plate is connected to the vertical adjustment slot to adjust the vertical installation position of the horizontal plate on the vertical plate, the material receiving pipe is connected to a mounting block, and the mounting block is connected to the horizontal adjustment slot to adjust the horizontal installation position of the mounting block on the horizontal plate.

4. The blade-piercing rod device according to claim 1, Features: The loading station is provided with a string rod turntable mechanism, and the string rod turntable mechanism includes a rotating mechanism, a lifting mechanism and a movable plate; the rotating mechanism is arranged on the movable plate, and the rotating mechanism includes a turntable, and installation positions are respectively arranged on both sides of the turntable, and a transfer station and a loading station are formed on the front and rear sides of the movable plate corresponding to the installation positions, respectively, wherein the transfer station and the loading station are respectively located on both sides of the movable plate, and the turntable is rotated so that: the installation positions on two opposite sides are switched at the transfer station and the loading station; and the lifting mechanism drives the movable plate to lift and lower.

5. The blade-piercing rod device according to claim 1, Features: The automatic loading device for blades and beads includes a loading robot, a material receiving mechanism is installed at the lower end of the loading robot, wherein the loading robot is a PPU robot, and a first clamp and a second clamp are respectively installed on both sides of the lower end of the loading robot; and the material receiving mechanism includes a clamping rod mechanism, the clamping rod mechanism includes a clamping part, and a material receiving clamp is provided at the lower end of the clamping part, and the material receiving clamp is connected to the lifting Z-axis mechanism, so that: driven by the lifting Z-axis mechanism, the material receiving clamp performs a lifting movement.

6. The blade-piercing rod device according to claim 4, Features: The automatic string rod loading device and the finished product unloading device are designed as an integrated device, which includes an XYZ three-axis manipulator, an empty string rod bin, and a finished product bin. The empty string rod bin and the finished product bin are arranged side by side. The XYZ three-axis manipulator is connected between the empty string rod bin and an installation position of the turntable, and the XYZ three-axis manipulator is connected between another installation position of the turntable and the finished product bin.

7. The blade-piercing rod device according to claim 1, Features: The CCD recognition device includes a second transverse driving device and a CCD detection head, and the second transverse driving device drives the CCD detection head to translate transversely.

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