A robot automatic die steel structure embedding device and method

Abstract

The present invention provides a robot automatic embedding die steel structure device and method, which includes a workbench, a vibrating feeding mechanism, a first grasping mechanism, a tray mechanism and a second grasping mechanism. Among them, the vibrating feeding mechanism is arranged on one side of the workbench and is used for feeding steel sleeves; the first grasping mechanism is arranged on the workbench and is used for grasping the steel sleeves from the vibrating feeding mechanism onto the tray mechanism; the tray mechanism is arranged on the workbench and on one side of the first grasping mechanism and is used for stacking steel sleeves; the second grasping mechanism is arranged on the side of the workbench away from the vibrating feeding mechanism and is used for grasping the steel sleeves stacked on the tray mechanism together and embedding them into the die. The automatic feeding, palletizing and die embedding of copper sleeves are realized by the manipulator, which improves the efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of automated equipment, and particularly to a robot automatic embedding die steel structure equipment and method. Background Art

[0002] With the development of technology, automated equipment has gradually been applied to the production of various products. For example, the outer casings of new energy batteries are mostly formed by injection molding. When assembling them on an automated production line, precise positioning of the products is required. However, it is relatively difficult to directly achieve positioning for injection molded parts. Therefore, during injection molding, steel structures such as steel sleeves need to be embedded into the casings to meet the requirements of positioning and identification by automated equipment, and at the same time, the strength of the injection molded parts can also be increased. In the current process, manual insertion of steel sleeves into the mold, one by one, requires a large amount of labor, is relatively slow, and has low efficiency, which is not suitable for the needs of large-scale automated production. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: In order to overcome the deficiencies in the prior art, the present invention provides a robot automatic embedding die steel structure equipment and method.

[0004] The technical solution adopted by the present invention to solve its technical problem is: A robot automatic embedding die steel structure equipment, including a workbench, a vibrating feeding mechanism, a first grasping mechanism, a tray mechanism, and a second grasping mechanism, wherein,

[0005] The vibrating feeding mechanism is arranged on one side of the workbench and is used for feeding the steel sleeves;

[0006] The first grasping mechanism is arranged on the workbench and is used for grasping the steel sleeves from the vibrating feeding mechanism onto the tray mechanism;

[0007] The tray mechanism is arranged on the workbench and on one side of the first grasping mechanism and is used for stacking the steel sleeves;

[0008] The second grasping mechanism is arranged on the side of the workbench away from the vibrating feeding mechanism and is used for grasping the steel sleeves stacked on the tray mechanism together and embedding them into the mold.

[0009] Further, the vibrating feeding mechanism includes a vibrating table, a vibrator, a conveying channel, a conveying channel support assembly, and a pusher assembly. The vibrator is arranged on the vibrating table. One end of the conveying channel is connected to the outlet of the vibrator, and the other end extends to the pusher assembly. The conveying channel support assembly is arranged below the conveying channel and is used for supporting and adjusting the inclination angle of the conveying channel; the pusher assembly is used for pushing the steel sleeves to the grasping position.

[0010] Furthermore, the pushing assembly includes a bracket, a support plate, a guide plate, a guide rail, a push plate and a cylinder. The bottom of the bracket is fixed on the workbench, the support plate is fixedly connected to the top of the bracket, the guide rail is arranged on the support plate, and the extension direction of the guide rail is perpendicular to the extension direction of the conveyor path, the push plate is arranged on the guide rail, and one end is connected to the cylinder, the cylinder can drive the push plate to move linearly on the guide rail, and the cylinder is fixed on the support plate, a U-shaped positioning groove is provided on the side of the push plate facing the feeding guide rail, and two mutually parallel guide plates are provided on the left and right sides of the position between the push plate and the conveyor path outlet, the guide plate is used to position the steel sleeve coming out of the conveyor path so that the steel sleeve can accurately enter the U-shaped positioning groove, the height of the steel sleeve is higher than the upper surface of the push plate, and sufficient grasping position is reserved for the first manipulator to grasp.

[0011] The action process of the pushing assembly: the cylinder drives the push plate to move on the guide rail so that the U-shaped positioning groove is aligned with the outlet of the conveyor. When the steel sleeve on the conveyor is pushed into the U-shaped positioning groove, the push rod of the cylinder is pushed forward, and the steel sleeve moves to the side of the conveyor driven by the push plate. When the push plate moves to the upper limit column on the support plate, it stops, so that the steel sleeve in the U-shaped positioning groove is staggered with the position of the conveyor, and there is enough space to accommodate the grabbing assembly to avoid collision and interference with the conveyor when the grabbing assembly descends.

[0012] Furthermore, the first grabbing mechanism includes a first manipulator, an adapter plate, a grabbing assembly and a visual detection assembly, the middle part of the adapter plate is installed at the end of the actuator of the first manipulator, the grabbing assembly and the visual detection assembly are respectively arranged at both ends of the adapter plate, and the grabbing assembly is used to grab the steel sleeve and place it on the pin seat, and the visual detection assembly is used to identify the placement status of the steel sleeve on the pallet mechanism.

[0013] Furthermore, the tray mechanism includes a chassis, a pin seat and a chassis drive, wherein the chassis drive is arranged below the chassis and can drive the chassis to rotate in a circle, and the pin seats are multiple and arranged circumferentially on the upper surface of the chassis for stacking the steel sleeves. By rotating the chassis, the pin seats on the four corners are covered to place the copper sleeves.

[0014] Furthermore, the second grasping mechanism includes a second manipulator, a support plate, a clamp and a limit column. The support plate is installed at the end of the actuator of the second manipulator. The clamp is multiple and circumferentially arranged on the bottom surface of the support plate, and the number and position of the clamp match the pin seat on the tray mechanism. The clamp can grasp the steel sleeve on the pin seat. The limit column is arranged on the support plate, and the length of the limit column on one side of the bottom surface of the support plate is greater than or equal to the length of the clamp.

[0015] The clamp on the second robot can place multiple steel sleeves into the mold at one time, which improves efficiency and accuracy; the clamp is pneumatically driven, with stable clamping force, which can prevent the steel sleeve from falling off the clamp during circulation; the limit column limits the distance between the support plate and the bottom plate, thereby preventing the clamp from descent and collision with the chassis, causing damage to the clamp.

[0016] A method for automatically embedding a mold steel structure with a robot, using the above-mentioned automatic embedding mold steel structure device with a robot, further comprising the following steps:

[0017] S1: Place the steel sleeve in the vibrator, vibrate the material through the vibrator, move the steel sleeve along the conveyor to the support plate of the push assembly, and position the steel sleeve through the guide plate at the outlet of the conveyor, and then drive the push plate to move on the guide rail through the cylinder, so that the U-shaped positioning groove on the side of the push plate is directly opposite to the steel sleeve between the guide plates, so that the steel sleeve enters the U-shaped positioning groove, and the push rod of the cylinder extends to drive the push plate to move forward to the grabbing position, so that the steel sleeve in the U-shaped positioning groove is staggered with the conveyor;

[0018] S2: The first manipulator drives the grabbing assembly to move to the top of the steel sleeve of the push plate, and clamps the steel sleeve through the grabbing assembly. Then, the first manipulator drives the grabbing assembly and the visual inspection assembly to move to the top of the chassis of the tray mechanism. The first manipulator drives the adapter plate to rotate, so that the grabbing assembly moves to the pin seat position, and then the steel sleeve is placed on the pin seat; the first manipulator drives the adapter plate to rotate, so that the visual inspection assembly moves to the top of the pin seat where the steel sleeve has just been placed, and detects whether the placement position of the steel sleeve meets the requirements; then, the chassis drive drives the chassis to rotate, so that the next pin seat rotates to the position of the current pin seat. At the same time, the first manipulator drives the grabbing assembly to return to grab the next copper sleeve, and continues to place it on the pin seat according to the operation of step S2;

[0019] S3: When all the copper sleeves are placed on the pin seats on the chassis, the second manipulator drives the pallet to move above the chassis, aligns the clamps at the bottom of the pallet with the copper sleeves on the pin seats one by one, grabs all the copper sleeves, and then places the copper sleeves in the steel sleeve embedding position of the mold through the second manipulator. Then the second manipulator resets, and the mold is closed for injection molding.

[0020] The beneficial effects of the present invention are as follows: the present invention provides a robot automatic embedding mold steel structure equipment, which adopts a manipulator to automatically realize the loading, coding and embedding of the copper sleeve into the mold, thereby improving the production efficiency and the accuracy of the steel sleeve placement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a structural schematic diagram of the robot automatic embedding mold steel structure equipment of the present invention.

[0023] Figure 2 It is a schematic structural diagram of the vibrating feeding mechanism.

[0024] Figure 3 It is a partially enlarged schematic diagram of the vibrating feeding mechanism.

[0025] Figure 4 It is a schematic structural diagram of the first grasping mechanism.

[0026] Figure 5 It is a schematic structural diagram of the tray mechanism.

[0027] Figure 6 It is a schematic structural diagram of the second grasping mechanism.

[0028] Figure 7 It is a partially enlarged schematic structural diagram of the second grasping mechanism.

[0029] Figure 8 It is a schematic diagram of the equipment working process.

[0030] In the figure: 1. Workbench, 2. Vibrating feeding mechanism, 2.1. Vibrating table, 2.2. Vibrator, 2.3. Conveyor, 2.4. Conveyor support assembly, 2.5. Pushing component, 2.51. Bracket, 2.52. Support plate, 2.53. Guide plate, 2.54. Guide rail, 2.55. Pushing plate, 2.56. Cylinder, 3. First grasping mechanism, 3.1. First manipulator, 3.2. Adapter plate, 3.3. Grasping component, 3.4. Vision detection component, 4. Tray mechanism, 4.1. Chassis, 4.2. Pin seat, 4.3. Chassis drive, 5. Second grasping mechanism, 5.1. Second manipulator, 5.2. Pallet, 5.3. Claw, 5.4. Limit post, 6. Steel sleeve. Embodiment

[0031] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic way. Therefore, they only show the components related to the present invention. Directions and references (such as up, down, left, right, etc.) can only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not adopted in a restrictive sense, and the scope of the claimed subject matter is only defined by the appended claims and their equivalents.

[0032] As Figure 1As shown, a robot automatic embedding mold steel structure equipment of the present invention includes a workbench 1, a vibration feeding mechanism 2, a first grasping mechanism 3, a tray mechanism 4 and a second grasping mechanism 5, wherein the vibration feeding mechanism 2 is arranged on one side of the workbench 1, and is used for loading the steel sleeve 6; the first grasping mechanism 3 is arranged on the workbench 1, and is used to grasp the steel sleeve 6 from the vibration feeding mechanism 2 to the tray mechanism 4; the tray mechanism 4 is arranged on the workbench 1 and is located on one side of the first grasping mechanism 3, and is used to stack the steel sleeve 6; the second grasping mechanism 5 is arranged on the side of the workbench 1 away from the vibration feeding mechanism 2, and is used to grasp the steel sleeve 6 stacked on the tray mechanism 4 and embed it into the mold.

[0033] like Figure 2 As shown, the vibration feeding mechanism 2 includes a vibration table 2.1, a vibrator 2.2, a conveyor path 2.3, a conveyor path support assembly 2.4 and a material pushing assembly 2.5. The vibrator 2.2 is arranged on the vibration table 2.1, one end of the conveyor path 2.3 is connected to the outlet of the vibrator 2.2, and the other end extends to the material pushing assembly 2.5. The conveyor path support assembly 2.4 is arranged below the conveyor path 2.3, and the bottom is fixed on the vibration table 2.1, and is used to support and adjust the inclination angle of the conveyor path 2.3; in order to facilitate the first manipulator 3.1 to grasp the steel sleeve 6, the material pushing assembly 2.5 is used to push the steel sleeve 6 to the grasping position, which is staggered with the position of the conveyor path 2.3 to avoid interference during grasping.

[0034] like Figure 3 As shown, the pusher assembly 2.5 includes a bracket 2.51, a support plate 2.52, a guide plate 2.53, a guide rail 2.54, a pusher plate 2.55 and a cylinder 2.56. The bottom of the bracket 2.51 is fixed on the workbench 1, the support plate 2.52 is fixedly connected to the top of the bracket 2.51, the guide rail 2.54 is arranged on the support plate 2.52, and the extension direction of the guide rail 2.54 is perpendicular to the extension direction of the conveying path 2.3, the pusher plate 2.55 is arranged on the guide rail 2.54, and one end is connected to the cylinder 2.56, and the cylinder 2.56 is provided. 56 can drive the push plate 2.55 to move linearly on the guide rail 2.54, and the cylinder 2.56 is fixed on the support plate 2.52. The push plate 2.55 is provided with a U-shaped positioning groove on the side facing the feeding guide rail 2.54, and two mutually parallel guide plates 2.53 are provided on the left and right sides of the position between the push plate 2.55 and the outlet of the conveying path 2.3. The guide plate 2.53 is used to position the steel sleeve 6 coming out of the conveying path 2.3, so that the steel sleeve 6 can accurately enter the U-shaped positioning groove. The height of the steel sleeve 6 is higher than the upper surface of the push plate 2.55.

[0035] like Figure 4As shown in the figure, the first grasping mechanism 3 includes a first manipulator 3.1, a transfer plate 3.2, a grasping component 3.3 and a vision detection component 3.4. The middle of the transfer plate 3.2 is installed at the end of the actuator of the first manipulator 3.1. The grasping component 3.3 and the vision detection component 3.4 are respectively arranged at both ends of the transfer plate 3.2. The grasping component 3.3 is used to grasp the steel sleeve 6 and place it on the pin seat 4.2, and the vision detection component 3.4 is used to identify the placement state of the steel sleeve 6 on the tray mechanism 4 and detect whether it is placed in place. In this embodiment, in order to simplify the control process, the grasping component 3.3 and the vision detection component 3.4 are symmetrically arranged at both ends of the transfer plate 3.2, that is, the distances between their positions and the rotation axis of the transfer plate 3.2 are equal. The vision detection component 3.4 includes a connecting piece, a camera and a light source, and the connecting piece is used to connect the camera and the light source to the transfer plate 3.2.

[0036] As Figure 5 shown in the figure, the tray mechanism 4 includes a chassis 4.1, a pin seat 4.2 and a chassis drive 4.3. The chassis drive 4.3 is arranged below the chassis 4.1 and can drive the chassis 4.1 to rotate circumferentially. There are multiple pin seats 4.2, which are arranged on the upper surface of the chassis 4.1 along the circumferential direction for stacking steel sleeves 6. By rotating the chassis 4.1, the pin seats 4.2 at the four corners can be covered to realize the placement of copper sleeves. In this embodiment, the chassis drive 4.3 preferably consists of a servo motor and a reducer. The servo motor can accurately output a fixed rotation angle with relatively high precision, ensuring that the pin seats 4.2 on the chassis 4.1 can all rotate to the same position, facilitating the subsequent placement of the copper sleeve 6 by the grasping component 3.3. The number of pin seats 4.2 on the chassis 4.1 can be matched according to the positioning requirements of the injection molded parts, and can be evenly placed or unevenly placed. In this embodiment, four pin seats 4.2 are arranged on the chassis 4.1 and evenly placed, and the included angle between adjacent pin seats is 90°. Therefore, each time it rotates, the chassis 4.1 only needs to rotate 90°. When the pin seats 4.2 are unevenly placed, the rotation angle of the chassis 4.1 can be adjusted according to the placement position.

[0037] As Figure 6 and Figure 7As shown, the second grasping mechanism 5 includes a second manipulator 5.1, a support plate 5.2, a clamp 5.3 and a limit column 5.4. The support plate 5.2 is installed at the end of the actuator of the second manipulator 5.1. There are multiple clamps 5.3, which are circumferentially arranged on the bottom surface of the support plate 5.2, and the number and position of the clamps 5.3 match the pin seat 4.2 on the tray mechanism 4. In this embodiment, there are four clamps 5.3, and pneumatic clamps are used; the clamps 5.3 can grasp the steel sleeve 6 on the pin seat 4.2, and the limit column 5.4 is arranged on the support plate 5.2, and the length of the limit column 5.4 on one side of the bottom surface of the support plate 5.2 is greater than or equal to the length of the clamp 5.3. The clamping jaws 5.3 on the second manipulator 5.1 can be used to place multiple steel sleeves 6 into the mold at one time, thereby improving efficiency and accuracy; the clamping jaws 5.3 are pneumatically driven, and the clamping force is stable, which can prevent the steel sleeves 6 from falling off the clamping jaws 5.3 during circulation; the limiting column 5.4 limits the distance between the support plate 5.2 and the bottom plate, thereby preventing the clamping jaws 5.3 from descenting and colliding with the chassis 4.1, causing damage to the clamping jaws 5.3.

[0038] like Figure 8 As shown, a method for automatically embedding a mold steel structure with a robot, using the above-mentioned automatic embedding mold steel structure device with a robot, also includes the following steps:

[0039] S1: Place the steel sleeve 6 in the vibrator 2.2, vibrate the material through the vibrator 2.2, move the steel sleeve 6 along the conveyor 2.3 to the support plate 2.52 of the push assembly 2.5, and position the steel sleeve 6 through the guide plate 2.53 at the outlet of the conveyor 2.3, and then drive the push plate 2.55 to move on the guide rail 2.54 through the cylinder 2.56, so that the U-shaped positioning groove on the side of the push plate 2.55 is opposite to the steel sleeve 6 between the guide plates 2.53, so that the steel sleeve 6 enters the U-shaped positioning groove, and the push rod of the cylinder 2.56 extends to drive the push plate 2.55 to move forward to the grabbing position, so that the steel sleeve 6 in the U-shaped positioning groove is staggered with the conveyor 2.3;

[0040] S2: The first manipulator 3.1 drives the grasping component 3.3 to move, so that the grasping component 3.3 moves above the steel sleeve 6 of the push plate 2.55. The steel sleeve 6 is clamped by the grasping component 3.3. Then, the first manipulator 3.1 drives the grasping component 3.3 and the vision detection component 3.4 to move above the chassis 4.1 of the tray mechanism 4 together. The first manipulator 3.1 drives the adapter plate 3.2 to rotate, so that the grasping component 3.3 moves to the position of the pin seat 4.2, and then the steel sleeve 6 is placed on the pin seat 4.2. The first manipulator 3.1 drives the adapter plate 3.2 to rotate, so that the vision detection component 3.4 moves above the pin seat 4.2 where the steel sleeve 6 has just been placed to detect whether the placement position of the steel sleeve 6 meets the requirements. Then, the chassis drive 4.3 drives the chassis 4.1 to rotate, so that the next pin seat 4.2 rotates to the position of the current pin seat 4.2. At the same time, the first manipulator 3.1 drives the grasping component 3.3 and the vision detection component 3.4 to return to grasp the next copper sleeve and continue to place it on the pin seat 4.2 according to the operation in step S2.

[0041] S3: When all the copper sleeves are placed on the pin seats 4.2 on the chassis 4.1, the second manipulator 5.1 drives the pallet 5.2 to move above the chassis 4.1, so that the jaws 5.3 at the bottom of the pallet 5.2 are aligned with the copper sleeves 6 on the pin seats 4.2 one by one, and all the copper sleeves 6 are grabbed. Then, the second manipulator 5.1 places the copper sleeves in the steel sleeve embedding positions of the mold. Then the second manipulator 5.1 resets, and the mold is closed for the injection molding process.

[0042] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant staff can make various changes and modifications completely within the scope not deviating from the present invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A robot automatic die steel structure embedding device, characterized in that: it includes a workbench, a vibrating feeding mechanism, a first grasping mechanism, a tray mechanism and a second grasping mechanism. Among them, the vibrating feeding mechanism is arranged on one side of the workbench and is used for feeding the steel sleeves; the first grasping mechanism is arranged on the workbench and is used for grasping the steel sleeves from the vibrating feeding mechanism onto the tray mechanism; the tray mechanism is arranged on the workbench and on one side of the first grasping mechanism and is used for stacking the steel sleeves; the second grasping mechanism is arranged on the side of the workbench away from the vibrating feeding mechanism and is used for grasping the steel sleeves stacked on the tray mechanism together and embedding them into the die; the first grasping mechanism includes a first manipulator, a transfer plate, a grasping component and a visual detection component. The middle of the transfer plate is installed at the end of the actuator of the first manipulator. The grasping component and the visual detection component are respectively arranged at both ends of the transfer plate. And the grasping component is used for grasping the steel sleeve and placing it on the pin seat. The visual detection component is used for identifying the placement state of the steel sleeve on the tray mechanism; the tray mechanism includes a chassis, pin seats and a chassis drive. The chassis drive is arranged below the chassis and can drive the chassis to rotate circumferentially. The pin seats are multiple and are arranged on the upper surface of the chassis along the circumferential direction and are used for stacking the steel sleeves; the second grasping mechanism includes a second manipulator, a support plate, clamping jaws and limit posts. The support plate is installed at the end of the actuator of the second manipulator. The clamping jaws are multiple and are arranged on the bottom surface of the support plate along the circumferential direction. And the number and position of the clamping jaws match those of the pin seats on the tray mechanism. The clamping jaws can grasp the steel sleeves on the pin seats. The limit posts are arranged on the support plate. And the length of the limit posts on one side of the bottom surface of the support plate is greater than or equal to the length of the clamping jaws.

2. The robot automatic die steel structure embedding device according to claim 1, characterized in that: the vibrating feeding mechanism includes a vibrating table, a vibrator, a conveying channel, a conveying channel support component and a pushing component. The vibrator is arranged on the vibrating table. One end of the conveying channel is connected to the outlet of the vibrator, and the other end extends to the pushing component. The conveying channel support component is arranged below the conveying channel and is used for supporting and adjusting the inclination angle of the conveying channel; the pushing component is used for pushing the steel sleeve to the grasping position.

3. The robot automatic die steel structure embedding device according to claim 2, characterized in that: the pushing component includes a bracket, a support plate, a guide plate, a guide rail, a pushing plate and a cylinder. The bottom of the bracket is fixed on the workbench. The support plate is fixedly connected to the top of the bracket. The guide rail is arranged on the support plate, and the extending direction of the guide rail is perpendicular to the extending direction of the conveying channel. The pushing plate is arranged on the guide rail and one end is connected to the cylinder. The cylinder can drive the pushing plate to move linearly on the guide rail. And the cylinder is fixed on the support plate. The side of the pushing plate facing the feeding guide rail is provided with a U-shaped positioning groove. And there are two parallel guide plates on the left and right sides of the position between the pushing plate and the outlet of the conveying channel. The height of the steel sleeve is higher than the upper surface of the pushing plate.

4. A method for robot automatic die steel structure embedding, characterized in that: Using the robot automatic die steel structure embedding equipment described in any one of claims 1-3, the following steps are further included: S1: Place the steel sleeve in the vibrator, feed the material by vibrating through the vibrator, the steel sleeve moves along the conveying channel to the support plate of the pushing component, and the steel sleeve is positioned by the guiding plate at the outlet of the conveying channel. Then, drive the pushing plate to move on the guide rail through the cylinder, so that the U-shaped positioning groove on the side of the pushing plate is directly opposite to the steel sleeve between the guiding plates, and the steel sleeve enters the U-shaped positioning groove. The push rod of the cylinder extends to drive the pushing plate to move forward to the grasping position, so that the steel sleeve in the U-shaped positioning groove is staggered from the conveying channel; S2: The first manipulator drives the grasping component to move, so that the grasping component moves above the steel sleeve of the pushing plate at the grasping position, and then descends. Clamp the steel sleeve through the grasping component. Then, the first manipulator drives the grasping component and the visual inspection component to move above the chassis of the tray mechanism together. The first manipulator drives the adapter plate to rotate, so that the grasping component moves to the position of the pin seat, and then place the steel sleeve on the pin seat; The first manipulator drives the adapter plate to rotate, so that the visual inspection component moves above the pin seat where the steel sleeve was just placed to detect whether the placement position of the steel sleeve meets the requirements; Then, the chassis drive drives the chassis to rotate, so that the next pin seat rotates to the position of the first grasping mechanism. At the same time, the first manipulator drives the grasping component to return to grasp the next copper sleeve, and continue to place it on the pin seat according to the operation in step S2; S3: When all the pin seats on the chassis are filled with copper sleeves, the second manipulator drives the tray to move above the chassis, so that the claws at the bottom of the tray are aligned with the copper sleeves on the pin seats one by one, grab all the copper sleeves, and then place the copper sleeves in the mold through the second manipulator.

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