Automatic feeding method for multi-specification plugs

Abstract

The application relates to an automatic feeding method of multi-specification plugs, belongs to the technical field of non-standard automation equipment, and solves the problem that the existing aircraft plugs cannot be automatically fed. The application comprises the following steps: making a plug assembly sequence list; filling the plugs and making a plug position information table; and connecting a plug feeding part and a support. The application can ensure the position accuracy and movement precision of the whole feeding device, multiple components work cooperatively, the automatic feeding of the plugs is realized, the jacking head cannot run out of range, the feeding device is prevented from malfunctioning, and the use safety is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of non-standard automation equipment, and in particular relates to an automatic feeding method for plugs of multiple specifications. Background Art

[0002] After the docking of the aircraft cabin sections is completed, a large number of cylindrical holes of various specifications will remain on the aircraft surface. These holes need to be sealed with plugs to ensure the smoothness of the aircraft's exterior surface and to provide thermal insulation. Currently, the feeding, selection, and sealing of the plugs are still all done manually. However, the number of holes that need to be sealed is in the hundreds or even thousands, and the specifications are numerous, resulting in low plugging efficiency and long labor hours. Such a large amount of simple, repetitive work urgently needs to be completed by automated equipment. A key part of the research on automated sealing equipment is to realize the automation of the feeding of a large number of cylindrical plugs of different specifications.

[0003] Therefore, it is necessary to study an automatic feeding method for multi-specification plugs to cope with the shortcomings of the existing technology and solve the above problems. Summary of the Invention

[0004] In view of the above analysis, an embodiment of the present invention aims to provide an automatic feeding method for plugs of various specifications, so as to solve the problem that existing aircraft plugs cannot be automatically fed.

[0005] The purpose of the present invention is mainly achieved through the following technical solutions:

[0006] An automatic feeding method for plugs of various specifications utilizes an automatic feeding device for plugs of various specifications. The feeding device includes a base, a bracket, a translation portion, a lifting portion, a plug charging portion, a detection portion, and a controller. The bracket, the translation portion, and the plug charging portion are all arranged on the base. The lifting portion is arranged on the translation portion and can translate on the translation portion. The detection portion is arranged on the lifting portion. The translation portion, the lifting portion, and the detection portion are all connected to the controller.

[0007] The automatic feeding method includes the following steps:

[0008] Step 1: Prepare a list of plug assembly sequences;

[0009] Step 2: Install the plug and prepare the plug position information table;

[0010] Step 3: Store the plug position information table into the controller;

[0011] Step 4: Connect the plug charging part and the base;

[0012] Step 5: Start feeding;

[0013] Step 6: Locate the plug according to the location information;

[0014] Step 7: Move the lifting part into place;

[0015] Step 8: Lift the plug;

[0016] Step 9: Stop lifting and remove the plug;

[0017] Step 10: The feeding device is reset to zero, ending the automatic feeding process.

[0018] Furthermore, step 1 includes sub-step 11, wherein sub-step 11 compiles material numbers for plugs of various specifications and models.

[0019] Furthermore, step 1 also includes sub-step 12, wherein sub-step 12 is to sort the material numbers of the plugs according to the assembly sequence and establish a plug assembly sequence list.

[0020] Furthermore, step 1 also includes sub-step 13, wherein sub-step 13 is to specify the adaptation relationship between the plug material number and the ejector rod 49, and to establish a material number and ejector rod adaptation relationship table.

[0021] Furthermore, step 2 includes a sub-step 21: assigning respective position numbers to all storage holes.

[0022] Furthermore, step 2 further includes a sub-step 22 : filling the plug into the storage hole 52 .

[0023] Furthermore, the outer diameter of the plug is 0.1 mm to 0.5 mm smaller than the inner diameter of the storage hole 52 .

[0024] Furthermore, step 2 also includes sub-step 23: formulating a plug position information table.

[0025] Furthermore, the information table includes the plug material number and the position number of the storage hole corresponding to the material number.

[0026] Furthermore, step 4 also includes sub-step 41: returning the lifting part to zero.

[0027] Furthermore, sub-step 41 further includes the following steps: the translation portion moves the lifting portion to one end of the translation portion, and the lifting portion moves the lifting head to one end of the lifting portion.

[0028] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0029] (1) The multiple components of the present invention work together to achieve automatic feeding of plugs. Under the control of the controller, the translation part moves the lifting part into position, the lifting part pushes out the plugs loaded in the plug loading part, and the detection part confirms the length of the plugs pushed out, completing the automatic feeding of the plugs;

[0030] (2) The present invention provides positioning for the static components through multiple components to ensure the overall position accuracy of the feeding device. The first positioning groove ensures the accurate positioning of the bracket, and the second positioning groove ensures the accurate positioning of the plug loading part;

[0031] (3) The present invention ensures that the moving parts of the feeding device move into position through multiple motors, thereby ensuring the movement accuracy of the feeding device of the present invention. The first motor can ensure that the lifting part moves into position, the second motor ensures that the lifting part moves into position, and the third motor rotates 90° each time to quickly switch different types of ejectors and put them into position;

[0032] (4) The first proximity switch and the second proximity switch of the present invention ensure that the lifting component does not operate beyond the range, prevent the feeding device from malfunctioning, and ensure safe use.

[0033] In the present invention, the above-mentioned technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of the present invention will be described in the following content, and some advantages will become apparent from the description or be learned through practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained as particularly pointed out in the text and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like parts throughout the drawings.

[0035] Figure 1 It is a flow chart of the automatic feeding method;

[0036] Figure 2 It is a schematic diagram of the overall structure of the automatic feeding device;

[0037] Figure 3 It is a structural diagram of the lifting part of the plug;

[0038] Figure 4 It is a structural diagram of the jacking component;

[0039] Figure 5 It is a structural diagram of the silo;

[0040] Figure 6 It is a structural diagram of the detection unit.

[0041] Figure markings: 1-base; 2-bracket; 3-translation part; 4-lifting part; 5-plug loading part; 6-detection part; 31-linear module; 32-moving platform; 33-first motor; 41-track mounting plate; 42-vertical plate; 43-second motor; 44-slide rail; 45-screw; 46-slider; 47-lifting seat; 48-support arm; 49-lifting rod; 51-bin; 52-storage hole; 53-support arm slot; 54-extended bin; 55-second positioning slot; 56-clamp; 61-mounting bracket; 62-photoelectric sensor. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0043] Example 1

[0044] A specific embodiment of the present invention, as Figure 1 As shown, a method for automatically feeding plugs of various specifications is disclosed, which is suitable for the automatic feeding of plugs in the assembly stage of aircraft;

[0045] The automatic feeding method of the present invention comprises the following steps:

[0046] Step 1: Create a plug assembly sequence list, including the following steps:

[0047] Sub-step 11: Prepare material numbers for plugs of various specifications and models;

[0048] Sub-step 12: Sort the material numbers of the plugs according to the assembly sequence and create a plug assembly sequence list;

[0049] Specifically, the plug assembly order list includes a row number m and a material number, and a row has only one plug, that is, one material number;

[0050] Sub-step 13: specifying the matching relationship between the plug material number and the ejector rod 49, and establishing a table of the matching relationship between the material number and the ejector rod;

[0051] Step 2: Install the plug and prepare the plug position information table, including the following steps:

[0052] Sub-step 21: setting respective position numbers for all storage holes 52;

[0053] Sub-step 22: Filling a plug of appropriate specifications into the storage hole 52;

[0054] Specifically, the outer diameter of the plug is 0.1 mm to 0.5 mm smaller than the inner diameter of the storage hole 52;

[0055] Sub-step 23: formulating a plug position information table, the information table including the plug material number and the position number of the storage hole 52 corresponding to the material number;

[0056] Step 3: Store the plug position information table into the controller;

[0057] Step 4: Connecting the plug charging portion 5 and the bracket 2, including the following steps;

[0058] Sub-step 41: the lifting portion 4 is reset to zero, that is, the translation portion 3 moves the lifting portion 4 to one end of the translation portion 3, and the lifting portion 4 moves the lifting head to one end of the lifting portion 4;

[0059] Sub-step 42: Connecting the silo 51 and the bracket 2;

[0060] Step 5: Start feeding;

[0061] The controller includes a register for recording the last feeding record n. The user sends a start feeding instruction to the controller according to the plug assembly sequence list, including the following steps:

[0062] Sub-step 51: Check the last feeding record n; if there is no record, that is, n is null, execute sub-step 52; if there is a record, that is, n has a value and n is less than m, execute sub-step 53; if n = m, execute step 10;

[0063] Sub-step 52: At this time, assign n=1, read the material number of the first row of the plug assembly sequence list, and execute step 6;

[0064] Sub-step 53: At this time, assign n=n+1, read the material number of the nth row in the plug assembly sequence list, and execute step 6;

[0065] Step 6: Locate the plug according to the location information, including the following steps:

[0066] Sub-step 61: Read the plug position information table to confirm the plug position corresponding to the current material number;

[0067] Sub-step 62: converting the plug position into a rotation angle of the first motor 33;

[0068] Step 7: Move the lifting part 4 into place;

[0069] Specifically, the controller issues an instruction to control the first motor 33 to rotate according to the angle calculated in step 62, and the first motor 33 drives the movable platform 32 and the lifting part 4 to move into position. At this time, the lifting head is located at one end of the storage hole 52 where the plug is located;

[0070] Step 8: Lifting the plug, including the following steps:

[0071] Specifically, the controller reads the material number and ejector pin adaptation relationship table and determines the ejector pin 49, sends the rotation angle to the third motor, rotates the ejector pin 49 corresponding to the plug material number to one end of the storage hole 52 and aligns it with the storage hole 52, and sends a rotation signal to the second motor 43, which rotates and drives the slider 46 to move. The ejector pin 49 connected to the slider 46 is inserted into the storage hole 52 and ejects the plug out of the storage hole 52;

[0072] Step 9: Stop lifting and remove the plug, including the following steps:

[0073] Sub-step 91: The photoelectric sensor 62 measures the ejection length of the plug and transmits the data to the controller;

[0074] Sub-step 92: When the plug ejection length reaches a predetermined length, the controller stops the second motor 43 from rotating;

[0075] Sub-step 93: Subsequently, the robot or the user completely removes the plug from the storage hole 52. After the photoelectric sensor 62 detects that the plug has been removed, the current value of n is stored in the register;

[0076] Sub-step 94: executing step 5;

[0077] Step 10: Delete the n value of the register, return the feeding device to zero, and end the automatic feeding process.

[0078] Specifically, the lifting portion 4 returns to zero, that is, the translation portion 3 moves the lifting portion 4 to one end of the translation portion 3 , and the lifting portion 4 moves the lifting head to one end of the lifting portion 4 .

[0079] Example 2

[0080] Another specific embodiment of the present invention is as follows Figure 2 As shown, a feeding device for the automatic feeding method of Example 1 is disclosed, including a base 1, a bracket 2, a translation part 3, a lifting part 4, a plug loading part 5, a detection part 6 and a controller (not shown in the figure), the bracket 2, the translation part 3 and the plug loading part 5 are all arranged on the base 1, the lifting part 4 is arranged on the translation part 3, the lifting part 4 can translate on the translation part 3, the detection part 6 is arranged on the lifting part 4, and the translation part 3, the lifting part 4 and the detection part 6 are all connected to the controller.

[0081] Preferably, the plug charging portion 5 is provided at one end of the bracket 2. The bracket 2 is used to position, fix and support the plug charging portion 5.

[0082] Preferably, the translation unit 3 is disposed on the base 1 and includes a linear module 31, a mobile platform 32, and a first motor 33. The linear module 31 is disposed on the base 1, and the mobile platform 32 is disposed on the linear module 31. The first motor 33 is connected to one end of the linear module 31 via a coupling. The first motor 33 can drive the linear module 31 to rotate, thereby moving the mobile platform 32. The lifting unit 4 is disposed on the mobile platform 32, and the translation unit 3 can drive the lifting unit 4 to move along the translation unit 3.

[0083] Preferably, the first motor 33 is a servo motor, and the first motor 33 can send the angle and number of revolutions it has rotated to the controller, and the controller can calculate the distance moved by the mobile platform 32 and the lifting part 4 based on this data; the controller can send the angle and number of revolutions data to the first motor 33, thereby accurately controlling the distance moved by the mobile platform 32 and the lifting part 4.

[0084] Preferably, if Figure 3 As shown, the lifting part 4 includes a track mounting plate 41 and a spiral lifting part. The track mounting plate 41 is connected to the moving platform 32, and the spiral lifting part is arranged at one end of the track mounting plate 41. The translation part 3 can drive the track mounting plate 41 to move along the translation part 3.

[0085] Preferably, there are two groups of spiral lifting parts, which are respectively arranged at both ends of the track mounting plate 41. The spiral lifting parts are used to lift the plug. The two groups of spiral lifting parts improve the efficiency of the feeding device of the present invention.

[0086] Preferably, the spiral lifting part includes a vertical plate 42, a second motor 43, a slide rail 44, a lead screw 45, a slider 46 and a lifting head.

[0087] The vertical plate 42 is arranged at one end of the track mounting plate 41. The second motor 43, the slide rail 44 and the lead screw 45 are all arranged on the vertical plate 42. The vertical plate 42 provides a stable foundation for the spiral lifting part to ensure accurate positioning of the spiral lifting part.

[0088] The lead screw 45 can rotate on the vertical plate 42. One end of the lead screw 45 is connected to the second motor 43. A slider 46 is provided on the lead screw 45. The lead screw 45 and the slider 46 form a lead screw pair. The slider 46 of the lead screw pair can be driven by the lead screw 45 and slide stably on the lead screw 45.

[0089] The slider 46 is also connected to the slide rail 44 , and the slide rail 44 limits the movement direction of the slider 46 to ensure that the slider 46 cannot always separate from the slide rail 44 and slide along the direction of the slide rail 44 .

[0090] The lifting head is arranged on the slide 46 , and the lifting head is used to push the plug out of the plug charging part 5 .

[0091] The second motor 43 can drive the screw 45 to rotate. When the screw 45 rotates, it drives the slider 46 to slide on the slide rail 44. The lifting head moves with the slider 46. The screw pair ensures the accuracy of the moving distance of the lifting head, and the slide rail 44 ensures that the moving direction of the lifting head does not deviate.

[0092] Preferably, the second motor 43 is a servo motor, and the second motor 43 can send the angle and number of revolutions it has rotated to the controller, and the controller can calculate the distance moved by the slider 46 and the lifting head based on this data; the controller can send the angle and number of revolutions data to the second motor 43, and then accurately control the distance moved by the slider 46 and the lifting head.

[0093] Preferably, if Figure 4 As shown, the lifting head includes a lifting seat 47, a support arm 48 and a push rod 49. The lifting seat 47 is connected to the slider 46, and the support arm 48 is respectively connected to the lifting seat 47 and the push rod 49, and the push rod 49 is used to push the plug out of the plug charging part 5.

[0094] Preferably, the jacking head further includes a third motor (not shown), which is connected to the controller and disposed at one end of the jacking seat 47. Multiple arms 48 are provided, each of which has one end connected to the third motor. Rotation of the third motor drives the rotation of the multiple arms 48. Multiple push rods 49 are cylindrical, each with a different diameter to accommodate plugs of varying diameters, ensuring uniform force on the bottom surfaces of plugs of varying sizes during the jacking phase.

[0095] Preferably, there are four arms 48 arranged in a cross shape, with the angle between two adjacent arms 48 being 90 degrees. One end of each of the four arms 48 is connected to the third motor; the other end of each of the four arms 48 is provided with a push rod 49 of different diameters.

[0096] Preferably, the third motor is a servo motor, and the controller can control the third motor to rotate 90 degrees each time to switch different types of ejector rods 49 so as to adapt to plugs of different specifications.

[0097] Preferably, if Figure 5 As shown, the plug loading unit 5 includes a hopper 51, a storage hole 52, and an arm slot 53. The hopper 51 is connected to one end of the bracket 2. Multiple storage holes 52 are provided on the hopper 51, and the arm slot 53 is formed on the sidewall of the hopper 51. The storage holes 52 are used to load plugs, and the hopper 51 can simultaneously load multiple plugs.

[0098] Preferably, the silo 51 is a rectangular parallelepiped, and the storage holes 52 are two rows of through holes between the two end faces of the silo 51. The arm slot 53 is the hollow portion between the storage hole 52 and the side wall of the silo 51. The arm slot 53 is used to accommodate the support arm 48. The support arm 48 can move within the arm slot 53, and the support arm slot 53 can also be used to observe whether the plug in the storage hole 52 is filled and the plug's position.

[0099] Preferably, if the length of the plug exceeds the length of the storage hole 52, the plug loading part 5 also includes an extension bin 54, which is connected to the silo 51. The extension bin 54 is also provided with a storage hole 52, and the extension bin 54 and the storage hole 52 of the silo 51 are jointly loaded with the same plug.

[0100] Preferably, the shape of the cross section of the extended bin 54 is the same as the shape and area of ​​the cross section of the silo 51, and the position and inner diameter of the storage hole 52 are also the same. After the extended bin 54 is connected to the silo 51, the storage hole 52 becomes an extended hole, which can be filled with a plug that is longer than the silo 51.

[0101] Preferably, a second positioning groove 55 is provided at both ends of the silo 51. The second positioning groove 55 is a pit at the end of the silo 51. The bottom surface of the pit is flat, and the side wall of the bracket 2 is flat. One end of the bracket 2 can sink into the pit and be fixedly connected to the silo 51. The second positioning groove 55 is used to calibrate the connection position of the bracket 2 and the silo 51, so that the positioning of the silo 51 is accurate, and ultimately ensure the accurate position of the plug loading part 5.

[0102] In a specific embodiment of the present invention, the inner diameter of the storage hole 52 is determined according to the size of the plug. The inner diameter of the storage hole 52 is 0.1mm-0.5mm larger than the outer diameter of the plug, which facilitates the lifting and sliding of the plug in the storage hole 52 and serves to position and guide the plug and the push rod 49.

[0103] In a specific embodiment of the present invention, Figure 6 As shown, the plug loading unit 5 includes a clamping plate 56 and a connector (not shown). The storage hole 52 is provided with a groove, and the clamping plate 56 is mounted on the groove via the connector, allowing the clamping plate 56 to enter the groove. The connector is elastic and can keep the clamping plate 56 in a state of being ejected from the groove. The clamping plate 56 can clamp and secure the plug in the storage hole 52, ensuring that the plug does not fall out of the storage hole 52.

[0104] Preferably, the connecting member is a leaf spring, one end of which is connected to the clamping plate 56 and the other end of which is connected to the bottom surface of the groove. The leaf spring can provide thrust for the clamping plate 56 and prevent the clamping plate 56 from completely protruding from the groove.

[0105] Preferably, the storage hole 52 includes two grooves, two clamping plates 56, and two connecting pieces. The two clamping plates 56 can jointly clamp the plug, keeping it concentric with the storage hole 52 and ensuring that the ejector rod 49 pushes the plug. The clamping plates 56 can clamp and fix the plug in the storage hole 52, ensuring that the plug does not fall out of the storage hole 52.

[0106] Preferably, the detection unit 6 includes a mounting bracket 61 and a photoelectric sensor 62. One end of the mounting bracket 61 is connected to the vertical plate 42, and the other end of the mounting bracket 61 is a flat plate. The photoelectric sensor 62 is disposed on the flat plate at the other end of the mounting bracket 61. The photoelectric sensor 62 can measure the length of the plug extending from the hopper 51 and transmit the data to the controller.

[0107] Preferably, the detection unit 6 further includes a first proximity switch and a second proximity switch (neither of which is shown in the figure). The first proximity switch and the second proximity switch are both provided on the vertical plate 42, and the slider 46 can move between the first proximity switch and the second proximity switch. The first proximity switch and the second proximity switch are both connected to a controller. When the slider 46 touches the first proximity switch or the second proximity switch, the first proximity switch or the second proximity switch sends a signal to the controller, which can stop the rotation of the second motor 43, thereby stopping the movement of the slider 46. The first proximity switch and the second proximity switch can limit the movement range of the slider 46, thereby ensuring the safety of the pushing device.

[0108] When this embodiment is used, the plug loading part 5 is first filled with plugs that meet the specifications of the storage holes 52, and then the order of the storage holes 52 and the position information of the plugs of various specifications are stored in the controller, the plug loading part 5 is connected to the bracket 2, and a feeding instruction is sent to the controller according to the plug assembly requirement information. The controller finds the position of the plug that meets the requirements based on the order of the storage holes 52 and the position information of the plugs of various specifications stored previously, and the controller converts the above position into the rotation angle of the first motor 33 and sends it to the first motor 33. The first motor 33 rotates the corresponding angle, thereby driving the mobile platform 32 and the lifting part 4 moves into position. At this point, the lifting head is located at one end of the storage hole 52 where the plug is located. The controller sends the rotation angle to the third motor, rotating the ejector pin 49 corresponding to the plug to one end of the storage hole 52 and aligning it with the storage hole 52. The controller sends a rotation signal to the second motor 43, which rotates, thereby driving the slider 46 to move. The ejector pin 49 connected to the slider 46 inserts into the storage hole 52 and ejects the plug out of the storage hole 52. The photoelectric sensor 62 measures the ejection length of the plug and transmits the data to the controller. When the ejection length reaches the predetermined length, the controller stops the rotation of the second motor 43. Subsequently, the robot or user will completely remove the plug from the storage hole 52, the feeding device will reset, and the automatic plug feeding process will cease.

[0109] Compared with the prior art, under the control of the controller, the translation part 3 provided in this embodiment moves the lifting part 4 into place, the lifting part 4 pushes out the plug loaded in the plug loading part 5, and the detection part 6 confirms the length of the plug pushed out, and finally the automatic feeding of the plug can be completed; the first positioning groove ensures the accurate positioning of the bracket, and the second positioning groove 55 ensures the accurate positioning of the plug loading part, and together ensures the overall position accuracy of the feeding device; the first motor 33 can ensure that the lifting part 4 moves into place, the second motor 43 ensures that the lifting head moves into place, and the third motor rotates 90° each time, quickly switching different models of push rods 49 and putting them into place, ensuring the movement accuracy of the feeding device of the present invention; the first proximity switch and the second proximity switch ensure that the lifting head will not run out of range, prevent the feeding device from malfunctioning, and ensure safe use.

[0110] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. An automatic feeding method for plugs of various specifications, characterized in that: A feeding device is used, comprising a base (1), a bracket (2), a translation part (3), a lifting part (4), a plug charging part (5), a detection part (6) and a controller, wherein the bracket (2), the translation part (3) and the plug charging part (5) are all arranged on the base (1), the lifting part (4) is arranged on the translation part (3), the detection part (6) is arranged on the lifting part (4), the lifting part (4) can translate on the translation part (3), and the translation part (3), the lifting part (4) and the detection part (6) are all connected to the controller; The lifting part (4) includes a track mounting plate (41) and a spiral lifting part; the spiral lifting part is divided into two groups and is respectively arranged at both ends of the track mounting plate (41); the spiral lifting part includes a vertical plate (42), a second motor (43), a slide rail (44), a lead screw (45), a slider (46) and a lifting head, the lifting head is arranged on the slider (46), and the lifting head is used to push the plug out of the plug loading part (5); The jacking head includes a jacking seat (47), a support arm (48), a push rod (49) and a third motor. The jacking seat (47) is connected to the slider (46). The support arm (48) is respectively connected to the jacking seat (47) and the push rod (49). The push rod (49) is used to push the plug out of the plug charging part (5). The third motor is connected to the controller and is arranged at one end of the jacking seat (47). There are multiple support arms (48). One end of each of the multiple support arms (48) is connected to the third motor. The rotation of the third motor drives the multiple support arms (48) to rotate. There are multiple push rods (49), and the diameters of the push rods (49) are different. The automatic feeding method comprises the following steps: Step 1: Prepare a list of plug assembly sequences; Step 2: Install the plug and prepare the plug position information table; Step 3: Store the plug position information table into the controller; Step 4: Connect the plug charging part (5) and the bracket (2); Step 5: Start feeding; Step 6: Locate the plug according to the location information; Step 7: Move the lifting part into place; Step 8: Lift the plug; Step 9: Stop lifting and remove the plug; Step 10: The feeding device is reset to zero, ending the automatic feeding process; Wherein: Step 8: lifting the plug, including the following steps; The controller reads the material number and the ejector rod adaptation relationship table and determines the ejector rod (49), sends the rotation angle to the third motor, rotates the ejector rod (49) corresponding to the plug material number to one end of the storage hole (52) of the plug loading part (5) and aligns it with the storage hole (52), and the controller sends a rotation signal to the second motor (43), and the second motor (43) rotates to drive the slider (46) to move, and the ejector rod (49) connected to the slider (46) is inserted into the storage hole (52) and pushes the plug out of the storage hole (52).

2. The automatic feeding method of multi-specification plugs according to claim 1, characterized in that: The step of formulating a plug assembly sequence list includes the following sub-steps: compiling material numbers for plugs of various specifications and models.

3. The automatic feeding method of multi-specification plugs according to claim 2, characterized in that: The step of formulating a plug assembly sequence list further includes the following sub-steps: sorting the material numbers of the plugs according to the assembly sequence to establish the plug assembly sequence list.

4. The automatic feeding method of multi-specification plugs according to claim 3 is characterized in that: The step of formulating a plug assembly sequence list also includes the following sub-steps: specifying the matching relationship between the plug material number and the ejector rod (49), and establishing a material number and ejector rod matching relationship table.

5. The automatic feeding method of multi-specification plugs according to claim 1, characterized in that: The step of loading the plug and formulating the plug position information table includes the following sub-steps: formulating respective position numbers for all storage holes (52).

6. The automatic feeding method of multi-specification plugs according to claim 5, characterized in that: The step of filling the plug and formulating the plug position information table also includes the following sub-steps: filling the plug into the storage hole (52).

7. The automatic feeding method of multi-specification plugs according to claim 6, characterized in that: The outer diameter of the plug is 0.1 mm to 0.5 mm smaller than the inner diameter of the storage hole (52).

8. The automatic feeding method of multi-specification plugs according to claim 5, characterized in that: The method of loading the plug and formulating the plug position information table further includes the following sub-steps: formulating the plug position information table.

9. The automatic feeding method of multi-specification plugs according to claim 8, characterized in that: The plug position information table includes a plug material number and a position number of a storage hole (52) corresponding to the plug material number.

10. The automatic feeding method of multi-specification plugs according to claim 1, characterized in that: The steps of connecting the plug charging part (5) and the bracket (2) include the following sub-steps: the lifting part (4) is reset to zero, the translation part (3) moves the lifting part (4) to one end of the translation part (3), and the lifting part (4) moves the lifting head to one end of the lifting part (4).

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