An embedding jig based on robotic arm grasping

Abstract

The present invention relates to the technical field of fixtures, and particularly relates to an embedding fixture based on manipulator grasping, which includes a feeding mechanism having at least a carrier plate, a profiling part, and a positioning and guiding part, and a material transfer mechanism having at least a feeding plate, a second profiling seat, and a suction top assembly. The main part is placed on the first profiling seat, and several accessories are placed on the positioning and guiding part. The main part is fed to the second profiling seat, and the suction top assembly grabs the accessories. The complete set of matching parts is integrally fed, transferred, and embedded into an injection molding machine. By setting the feeding mechanism and the material transfer mechanism, the present invention integrally feeds and embeds the matching inserts, and during the feeding and embedding process, precise limiting and positioning are carried out to avoid shaking and skewing, and the inserts that do not meet the shape, size, and tolerance standards can be screened, improving the situation of unstable and limited embedding of the inserts caused by reasons such as size, tolerance, material, and special shape, making the production safer and faster.

Description

Technical Field

[0001] The present invention relates to the technical field of fixtures, and particularly to an embedding fixture based on robotic arm grasping. Background Art

[0002] Injection molded parts are various injection molded products produced by injection molding machines, including various packages, parts, etc. Complete sets of components are embedded into the injection molding machine one by one for injection molding to obtain the target injection molded part.

[0003] As one of the key terminal products in the construction of the smart grid, smart electricity meters are responsible for the tasks of collecting, measuring, and transmitting raw electrical energy data, and are the basis for realizing information integration, analysis optimization, and information display.

[0004] Currently, in the front-end forming production process of smart electricity meters, it is still based on old electricity meters. For the embedded molding of the wire pressing terminals and nuts by encapsulation, most still stay in the manual way of pulling the door and embedding, which not only has low efficiency and unqualified production capacity, but also is extremely prone to danger, with the risks of scalding and mold pressing; although some other processing methods have achieved semi-automatic production, due to factors such as different materials, different sizes, non-standard tolerances, and product irregularities of the wire pressing terminals and nuts, the limitations of the embedding fixture are very high, often resulting in batch defects. Therefore, the present invention provides an embedding fixture based on robotic arm grasping to solve the problems existing in the prior art. Summary of the Invention

[0005] The object of the present invention is to provide an embedding fixture based on robotic arm grasping to solve the technical problems that the manual pulling the door and embedding of components in the prior art is prone to personnel danger and the high limitations of the embedding fixture due to factors such as the materials, sizes, tolerances, and irregularities of the components of the embedding fixture, which easily cause poor quality of the wafers.

[0006] The technical solution of the present invention is: An embedding fixture based on robotic arm grasping, comprising:

[0007] A feeding mechanism, including a carrier plate, on which a profiling part for placing the main part and a positioning and guiding part for placing the accessory are provided, and a first driving part is provided at the bottom of the carrier plate;

[0008] A material transfer mechanism, including a feeding plate and a second driving part for driving the feeding plate to move, and a second profiling seat and a suction and lifting assembly are provided on the feeding plate;

[0009] The first driving part drives the carrier plate to move towards the second profiling seat, sends the main part in the profiling part into the second profiling seat, and the suction and lifting assembly grabs the accessory on the positioning and guiding part;

[0010] The material transfer mechanism is moved as a whole to the working area of the injection molding machine through the third driving mechanism, the second driving member pushes the feeding plate to feed the newly grasped main part into the injection molding machine, and the ceiling assembly releases the accessories into the injection molding machine.

[0011] Preferably, the profiling portion includes a plurality of positioning guide pillars, a limit block, and a first profiling seat fixedly mounted on the bearing plate by the positioning block, and the first profiling seat is directly opposite to the second profiling seat;

[0012] The main part is inserted into the first profiling seat, the limiting block and the positioning block cooperate with each other to limit the front and rear ends of the main part, and the positioning guide column is matched and plugged with the hole on the main part;

[0013] The end of the first contour seat is flush with one side edge of the carrying plate, and the distance between the other side edge of the first contour seat and the limiting block is fixed.

[0014] Preferably, a limit plate and a limit column, as well as a clamping module cooperating with the limit column are provided at the bottom of the feeding plate;

[0015] The limiting plate and the second contour seat are both provided with limiting holes for the limiting column to penetrate and install; the top of the limiting column is fixed on the feeding plate, and the bottom of the limiting column is inserted into the hole at the head of the main component; the clamping module abuts against the tail of the main component, and the limiting column cooperates with the clamping module to clamp the main component.

[0016] Preferably, the material transfer mechanism further comprises a posture fixing plate for the third driving mechanism to grasp and manipulate, and a pushing plate arranged between the posture fixing plate and the feeding plate, and the posture fixing plate, the pushing plate and the feeding plate are connected by a receiving column;

[0017] The second driving member is fixed to the bottom of the posture fixing plate, the driving end of the second driving member is connected to the pushing plate, and the second contour seat is arranged at the bottom of the feeding plate;

[0018] The limiting plate is configured to be L-shaped, including a vertical supporting plate body and a horizontal plate body at the bottom, the top of the supporting plate body is fixed on the pushing plate, and the supporting plate body passes through the feeding plate and abuts against the main part; the limiting hole on the limiting plate is arranged on the horizontal plate body;

[0019] The pushing plate can move along the length direction of the receiving column under the action of the second driving member, and drive the limiting plate to move to push the main part out.

[0020] Preferably, the clamping module comprises a plug pressing plate, a clamping plate and a clamping driving member for pushing the clamping plate to move;

[0021] A spring is installed on the clamp through a spring placement groove. The spring passes through the plug pressure plate and is connected to a plug at the end. The plug abuts and clamps the main part, and under the action of the spring elastic force, the plug can pop out and detach from the plug pressure plate.

[0022] Preferably, the ceiling suction assembly comprises an accessory sleeve fixed on the feeding plate and an accessory suction rod penetrating and installed in the accessory sleeve;

[0023] An air path cavity is provided inside the accessory suction rod, the top of the accessory suction rod is fixed on the pushing plate, and a negative pressure air supply structure is provided on the accessory suction rod. The nozzle end of the accessory suction rod faces the accessory on the positioning guide part; the positioning guide part is provided as an accessory positioning column, and the accessory positioning column is installed on the supporting plate.

[0024] Preferably, the first contour seat can feed multiple main parts at the same time, and the first contour seat is provided with a concave and convex structure matching the outer contour of the main part, the limit block keeps the head parts of multiple main parts aligned toward the side wall of the head part of the main part, and the positioning block is provided with multiple limiting slots, and the limiting slots are matched and positioned with the main part one-to-one.

[0025] Preferably, the positioning guide pillars include a group of first positioning guide pillars and a group of second positioning guide pillars, the first positioning guide pillars assist in positioning the head of the main component, and the second positioning guide pillars assist in positioning the tail of the main component.

[0026] Preferably, a bottom support plate is provided at the bottom of the bearing plate, the limit block, the positioning block, the positioning guide column and the first driving member are respectively mounted on the bottom support plate, and the driving end of the first driving member is connected to the bearing plate.

[0027] Preferably, a sliding sleeve is fixedly connected to the pushing plate, the sliding sleeve is sleeved on the receiving column, and the inner wall of the sliding sleeve is smooth.

[0028] Compared with the prior art, the advantages of the present invention are:

[0029] (1) The main part station and accessory station of the supporting parts are set on the feeding mechanism and the material transfer mechanism at the same time, which can automatically feed, transfer, embed and take out the supporting fixture as a whole, improve efficiency, ensure personnel safety and avoid unnecessary dangerous accidents.

[0030] (2) The provided feeding mechanism includes a first profiling seat and positioning blocks, limiting blocks, and positioning guide columns arranged on the periphery of the first profiling seat. The positioning blocks, limiting blocks, and positioning guide columns can not only limit and position the main components on the first profiling seat, but also pre-screen the main components that do not meet the size, tolerance standards, and are of special shapes through their mutual cooperation, improving the quality of injection molded products.

[0031] (3) By setting a clamping module, a limiting plate, and a limiting column, they cooperate with each other to limit and position the moving main components. Among them, the docking of the limiting column with the mounting hole of the main component can further screen the perforated main components with mounting holes that do not meet the tolerance standards. The clamping module can adapt to main components of different lengths while clamping the material, avoiding the shaking and tilting caused by terminal size problems, solving the problems of easy deviation and skew of the main components during movement, and poor embedding due to non-standardization, and improving the embedding stability of the jig.

[0032] (4) Compared with the existing method of using suction cups or magnets to grab hardware accessories, the present application uses a suction and jacking assembly to grab and transfer accessories, which can adaptively grab accessories jigs of different materials, shapes, and sizes, solve the problems of skew and eccentricity caused by grabbing accessories alone, and can well handle the space limitation and depth problems of accessory embedding when embedding accessories. Description of the Drawings

[0033] The present invention will be further described below in conjunction with the drawings and embodiments:

[0034] Figure 1 Schematic diagram of the structure of an embedding jig based on robot grabbing according to the present invention;

[0035] Figure 2 Schematic diagram of the structure of the accessory placed on the surface of the carrier plate according to the present invention;

[0036] Figure 3 Schematic diagram of the structure of the back of the carrier plate according to the present invention;

[0037] Figure 4 Schematic diagram of the structure of the profiling part according to the present invention;

[0038] Figure 5 Schematic diagram of the embodiment structure of the accessory according to the present invention;

[0039] Figure 6 Schematic diagram of the structure of the clamping module according to the present invention;

[0040] Figure 7 Schematic diagram of the structure of the second profiling seat according to the present invention;

[0041] Figure 8 Schematic diagram of the clamping module and the limiting column cooperating to clamp the moving main component according to the present invention;

[0042] Figure 9 It is a partial structural schematic diagram of the material transfer mechanism of the present invention;

[0043] Figure 10 It is a schematic diagram of the limiting fixation of the main part transferred to the feeding plate according to the present invention;

[0044] Figure 11 A schematic diagram of positioning the main component by the first limiting column and the second limiting column of the present invention;

[0045] Figure 12 It is a schematic diagram of the partial structure of the ceiling assembly of the present invention;

[0046] Figure 13 A schematic diagram of the pneumatic grabbing attachment of the ceiling assembly of the present invention;

[0047] Figure 14 It is a schematic diagram of the installation of the second profiling seat at the bottom of the feeding plate of the present invention;

[0048] Figure 15 It is a schematic diagram of the overall connection between the material transfer mechanism and the material feeding mechanism of the present invention.

[0049] Among them: 1. Feeding mechanism; 2. Transferring mechanism; 3. Clamping module; 4. Matching parts; 5. Sliding sleeve; 6. Retrieving mechanism;

[0050] 11. profiling part; 12. bearing plate; 13. positioning guide part; 14. first driving member; 15. bottom support plate; 16. bearing; 17. auxiliary guide rod;

[0051] 20. Limiting hole; 21. Feeding plate; 22. Pushing plate; 23. Posture fixing plate; 24. Second driving member; 25. Second contour seat; 26. Ceiling assembly; 27. Limiting plate; 28. Limiting column; 29. Receiving column;

[0052] 31. plug pressure plate; 32. clamping plate; 33. plug; 34. clamping drive member; 35. spring;

[0053] 41. Main part; 42. Accessory; 43. Perforation; 44. Slot;

[0054] 110. Restriction slot; 111. First contour seat; 112. Limit block; 113. Positioning block; 114. Positioning guide post; 261. Accessory sleeve; 262. Accessory suction rod; 263. Negative pressure air supply structure; 271. Support plate; 272. Horizontal plate; 320. Spring placement slot; 1141. First positioning guide post; 1142. Second positioning guide post. DETAILED DESCRIPTION

[0055] The following further elaborates on the content of the present invention in conjunction with specific embodiments:

[0056] As Figure 1 shown, an embedding fixture based on robotic arm grasping includes a feeding mechanism 1 and a material transfer mechanism 2. The feeding mechanism 1 places the matching parts thereon to supply materials to the material transfer mechanism 2, and the material transfer mechanism 2 integrally transfers the matching parts and embeds them into an injection molding machine.

[0057] There are many specific implementation manners of the applicable matching parts 4, such as common object fittings used in sets, such as bolts, nuts, pipes, wheels, pins, rods, shafts, etc., and a matching part formed by a combination of one or more of them. The matching part 4 includes a main part 41 to be injection molded and an accessory part 42.

[0058] As Figure 5 shown in, a specific structural embodiment of a matching part 4 is given; among them, the main part 41 is a wire pressing terminal dedicated to an intelligent electric meter, and the accessory part 42 is a nut (cylindrical nut) matching the wire pressing terminal. There is a perforation 43 penetrating the terminal at the head of the main part 41, the wire pressing terminal, and there are two slot holes 44 penetrating one side of the terminal at the tail.

[0059] The feeding mechanism 1 includes a profiling part 11, a bearing plate 12, a positioning and guiding part 13, a first driving part 14, and a bottom support plate 15; the material transfer mechanism 2 includes a feeding plate 21 and a second driving part 24 for driving the feeding plate 21 to move, and a second profiling seat 25 and a suction and lifting assembly 26 are arranged on the feeding plate 21.

[0060] The first driving part 14 drives the bearing plate 12 to move towards the second profiling seat 25 to send the main part 41 in the profiling part 11 into the second profiling seat 25, and the suction and lifting assembly 26 grabs the accessory part 42 on the positioning and guiding part 13; the third driving mechanism integrally moves the material transfer mechanism 2 to the working area of the injection molding machine, and the second driving part 24 pushes the feeding plate 21 to send the newly grabbed main part 41 into the injection molding machine, and the suction and lifting assembly 26 releases the accessory into the injection molding machine. By providing the feeding mechanism 1 and the material transfer mechanism 2 in this application, the matching parts can be integrally fed and embedded, improving the injection molding efficiency.

[0061] The bottom support plate 15 serves as the overall support plate of the feeding mechanism 1 and can be installed on any platform without being restricted by the site; the bearing plate 12 is arranged on the bottom support plate 15 and is installed through a bearing 16 and an auxiliary guide rod 17. The bearing 16 is arranged at the bottom of the bearing plate 12, and the auxiliary guide rod 17 is installed on the bearing plate 12 and inserted into the bearing 16. During the process of the first driving part 14 pushing the bearing plate 12, the bearing plate 12 is prevented from shaking. Refer to the appendix Figure 3 .

[0062] The main component 41 is placed on the profiling part 11. The positioning and guiding part 13 and the first driving part 14 are installed on the bottom support plate 15, and the driving end of the first driving part 14 is connected to the bottom of the bearing plate 12. The positioning and guiding part 13 is set as an accessory positioning post, and the top of the positioning and guiding part 13 penetrates through the bearing plate 12, and the accessory 42 is placed on the positioning and guiding part 13.

[0063] When the first driving part 14 works, it pushes the bearing plate 12 upward horizontally to send the main component 41 (pressing terminal) into the second profiling seat 25; the terminal is placed in the first profiling seat 111 in a fitting manner to prevent the terminal from tilting during the lifting process. The first driving part 14 can adopt a motor or a cylinder. As shown in the appendix Figure 1 shown, the first driving part 14 specifically uses a cylinder, and through the ventilation action, the terminal and the nut are jacked upward and sent into the second profiling seat 25.

[0064] Specifically, the profiling part 11 includes a first profiling seat 111 fixedly installed on the bearing plate 12, a limiting block 112, a positioning block 113 and a number of positioning guide posts 114 fixedly installed on the bottom support plate 15; the limiting block 112 and the positioning block 113 cooperate with each other to limit the head and tail ends of the main component 41, and the positioning guide posts 114 for auxiliary positioning include a group of first positioning guide posts 1141 and a group of second positioning guide posts 1142.

[0065] Multiple matching parts 4 can be placed on the first profiling seat 111 at the same time. As Figure 2 shown, four pressing terminals are placed on the first profiling seat 111; there are five positioning and guiding parts 13, and a cylindrical nut is placed on each positioning and guiding part 13. The relative positions of the five positioning and guiding parts 13 are processed according to the size of the product to limit the position of the nut and perform precise die positioning on the nut.

[0066] Among them, a plurality of concave-convex structures matching the outer contour of the main component 41 are arranged on the first profiling seat 111, and multiple main components 41 can be fed at the same time. The main component 41 is placed in the first profiling seat 111 in a fitting manner, and the first profiling seat 111 is directly opposite to the second profiling seat 25 above.

[0067] If the terminals are different, only the first profiling seat 111 and the first profiling seat 111 need to be replaced.

[0068] Refer to the appendix Figure 4 , the tail end of the first profiling seat 111 is flush with one side edge of the bearing plate 12 and aligned with the positioning block 113. The tail of the terminal is placed in the limiting slot 110 of the positioning block 113. The limiting slot 110 is matched and positioned with the main component 41 one by one to prevent the terminal from shaking left and right, and cooperate with the second positioning guide post 1142 at the bottom to perform precise positioning on the terminal.

[0069] An activity groove for the movement of the limit block 112 is provided on the bearing plate 12. The limit block 112 penetrates through the activity groove and is vertically arranged on one side of the head of the first profiling seat 111. Moreover, the distance between one side edge of the head of the first profiling seat 111 and the limit block 112 is fixed. The side wall surface of the limit block 112 facing the head of the main part 41 is flat, keeping the heads of multiple main parts 41 aligned. The limit block 112 cooperates with the first positioning guide post 1141 to position the head of the terminal.

[0070] Moreover, since the positions between the limit block 112 and the positioning block 113 are fixed, when the wire pressing terminal is placed on the first profiling seat 111, terminals with too large dimensions cannot be fitted and placed inside the first profiling seat 111, and terminals with too large dimensions or abnormal shapes can be screened out. Also, since the distance between the limit block 112 and the first profiling seat 111 is fixed, when the first positioning guide post 1141 cannot be inserted into the perforation 43 as scheduled, terminals with too large tolerances in the head perforation 43 or abnormal-shaped terminals can be pre-screened out. Similarly, the first positioning guide post 1141 at the head and the second positioning guide post 1142 at the tail cooperate with each other, and terminals with non-standard tolerances in the tail slot 44 can be screened out. The schematic diagram of the first positioning guide post 1141 and the second positioning guide post 1142 inserted and positioned for the main part 41 refers to the appendix Figure 11 .

[0071] Therefore, the limit block 112, the positioning block 113, and several positioning guide posts 114 on the periphery of the first profiling seat 111 can not only limit and accurately position the supplied terminals, but also pre-screen the terminals, filter out terminals with too large dimensions, prevent terminals with too large dimensions from being stuck in the mold, and screen the structure and slot hole dimensions of the terminals, filter out terminals with poor tolerances, solve the problem of poor injection molding and embedding caused by inaccurate terminal tolerances, abnormal shapes, skewness, and deviation, and improve the stability of embedding.

[0072] In this embodiment, the "head", "head part", and "tail part" are set for the convenience of description according to the first and last placement orientations when the wire pressing terminal is installed, and they are relative concepts that will change with the change of the installation angle direction of the terminal. Similarly, the orientation nouns such as "high", "low", "upper", and "lower" that appear in this embodiment are also for the convenience of description with the perspective of the attached drawings of the specification as an example, and they are relative concepts and not fixed. When the perspective is changed, the description of the corresponding relative concepts will change.

[0073] The material transfer mechanism 2 further includes a posture fixing plate 23 for the third driving mechanism to grasp and operate, and a pushing plate 22 arranged between the posture fixing plate 23 and the feeding plate 21. A limit plate 27, a limit post 28, and a clamping module 3 cooperating with the limit post 28 are arranged at the bottom of the feeding plate 21. The schematic diagram of the structure of the material transfer mechanism refers to the appendix Figure 14 , and the schematic diagram of the main part 41 being pushed to the bottom of the feeding plate 21 for limit positioning refers to the appendix Figure 10。

[0074] The posture fixing plate 23, the pushing plate 22 and the feeding plate 21 are connected by four groups of receiving columns 29, and there are four groups of receiving columns 29; the second driving member 24 is fixed to the bottom of the posture fixing plate 23, the driving end of the second driving member 24 is connected to the pushing plate 22, and the second profiling seat 25 is arranged at the bottom of the feeding plate 21, and a fitting groove matching the terminal of the main part 41 is arranged on the second profiling seat 25. For the structural schematic diagram of the second profiling seat 25, please refer to the appendix Figure 7 。

[0075] Among them, the third driving mechanism adopts a multi-axis robotic arm (hand), and the second driving member 24 can adopt a motor or a cylinder. The posture fixing plate 23 serves as the support of the entire fixture and is installed on the side of the multi-axis robotic arm. The grasping and embedding actions are performed by external devices. The multi-axis robotic arm and related external devices are not shown in the drawings.

[0076] The clamping module 3 includes a plug pressing plate 31, a clamping plate 32 and a clamping driving member 34 for pushing the clamping plate 32 to move. A plug 33 is arranged on the plug pressing plate 31. For the structure of the clamping module 3, please refer to the appendix Figure 6 。

[0077] A sliding barrel sleeve 5 is fixedly connected to the pushing plate 22. The sliding barrel sleeve 5 is sleeved on the receiving column 29, and the inner wall of the sliding barrel sleeve 5 is smooth. Under the action of the second driving member 24, the pushing plate 22 can move along the length direction of the receiving column 29 and drive the limiting plate 27 to move so as to push out the main part 41.

[0078] During the process of the lifting and feeding of the bearing plate 12, the first positioning guide post 1141 and the second positioning guide post 1142 are gradually separated from the main part 41, the tail of the main part 41 gradually falls off the positioning block 113, and the main part 41 gradually becomes unstable.

[0079] Therefore, in this embodiment, limiting holes 20 for the limiting post 28 to pass through and be installed are arranged on both the limiting plate 27 and the second profiling seat 25. The top of the limiting post 28 is fixed to the feeding plate 21, and the bottom of the limiting post 28 is inserted into the through hole 43 at the head of the main part 41; the clamping module 3 abuts against the tail of the main part 41, and the limiting post 28 abuts against the wall of the through hole. The main part 41 is clamped and limited through the cooperation of the clamping module 3 and the limiting post 28 to prevent the main part from shifting and skewing.

[0080] Specifically, in combination with the appendix Figure 8As shown in the figure, the limiting plate 27 is arranged in an L shape and includes a vertical support plate body 271 and a horizontal plate body 272 at the bottom. The top of the support plate body 271 is fixed on the pushing plate 22, and the support plate body 271 penetrates through the feeding plate 21 and abuts against the main part 41; the limiting hole 20 on the limiting plate 27 is arranged on the horizontal plate body 272. The support plate body 271 can not only connect the feeding plate 21 and the pushing plate 22, but also push the main part 41 outwards as a support rod when the matching part 4 is sent into the injection molding machine.

[0081] Moreover, since the limiting post 28 is vertically and fixedly installed on the feeding plate 21, if the limiting post 28 cannot be smoothly inserted into the perforation 43 of the terminal head, and the terminal position is placed correctly, it indicates that the tolerance of the perforation 43 on the terminal is relatively large, and the terminals with non-standard tolerances can be further screened out.

[0082] A spring 35 is installed on the clamping plate 32 through a spring placement groove 320. The spring 35 penetrates through the plug head pressing plate 31 and is connected to the plug head 33. The plug head 33 is made of soft elastic rubber material. During the process of the plug head 33 abutting against and clamping the main part 41, under the elastic force of the spring 35, the plug head 33 can be pushed outwards against the surface of the main part 41, so as to push the main part 41 towards the limiting block 112 side to keep the terminals neat. Within the allowable tolerance range, in the case of relatively poor tolerance, it can adaptively clamp and limit terminals of different lengths to prevent problems such as terminal size from causing terminal shaking and tilting, and solve the problem of poor embedding caused by terminal deviation and non-standardization, greatly improving the stability of embedding.

[0083] As shown in the attached Figure 12 and attached Figure 13 As shown in the figure, the ceiling suction assembly 26 includes an accessory sleeve 261 fixed on the feeding plate 21 and an accessory suction rod 262 installed through the accessory sleeve 261; an air path cavity is arranged inside the accessory suction rod 262. The top of the accessory suction rod 262 is fixed on the pushing plate 22, and a negative pressure air supply structure 263 is arranged on the accessory suction rod 262. The suction nozzle of the accessory suction rod 262 faces the accessory 42 on the positioning guide part 13. Through the ventilation action, the suction nozzle grabs the accessory 42, and when the main part 41 is buried in the injection molding machine, the accessory 42 is released to bury the nut in the mold cavity. The slender accessory sleeve 261 and accessory suction rod 262 sleeved together can solve the problem of small space for nut embedding and inconvenient operation caused by deep embedding. The installation schematic diagram of the ceiling suction assembly 16 on the material transfer mechanism 2 refers to the attached Figure 9 .

[0084] The accessory suction rod 262 is sleeved with the accessory sleeve 261, and the stacked sleeves grab the accessory, which can be applicable to accessories of different materials and shapes. Compared with the common suction cup or magnet grabbing methods, the versatility is better and the grabbing is stable.

[0085] On one side of the material transfer mechanism 2, a material picking mechanism 6 is also provided. The material picking mechanism 6 adopts a suction cup structure and a suction cup driving mechanism for driving the suction cup to act. The material picking mechanism 6 and the material transfer mechanism 2 are arranged back to back and staggered to avoid the problem of action interference in picking and embedding.

[0086] This application can not only be used for the grasping and embedding of the electric meter pressure terminal (main part) and the nut (accessory), but also be applied to the injection molding process of complete sets of components similar to this.

[0087] In summary, referring to the Figure 15 schematic connection structure diagram of the feeding mechanism 1 and the material transfer mechanism 2 shown in the attached drawings, the principle process of the jig grasping and embedding the matching parts is as follows:

[0088] The complete set of matching parts 4 is loaded onto the first profiling seat 111 of the feeding mechanism. The first limiting component composed of the limiting block 112, positioning block 113, first positioning guide post 1141, and second positioning guide post 1142 arranged on the periphery of the first profiling seat 111 limits and accurately positions the main part 41 of the matching parts, preventing the main part 41 from shifting and skewing. At the same time of positioning, the main parts with too large dimensions can be pre-screened, and the accessory 42, the nut, is positioned and placed on the positioning guide portion 13.

[0089] The bearing plate 12 on which the first profiling seat 111 is installed is lifted upward under the push of the first driving member 14 to send the main part 41 into the second profiling seat 25 at the bottom of the feeding plate 21. During the process of lifting and transferring the material, the second limiting component composed of the limiting post 28 and the clamping module 3 clamps and limits the main part 41 to avoid the main part 41 from shaking or tilting, and the accessory is grasped by the accessory suction rod 262 installed on the feeding plate 21.

[0090] The third driving mechanism (not shown) grabs and holds the posture fixing plate 23 to transfer the material picking mechanism 6 and the material transfer mechanism 2 as a whole to the feeding port of the injection molding machine. The material picking mechanism 6 takes out the injection molded product from the injection molding machine; then the material transfer mechanism 2 is moved to a position directly opposite to the feeding port of the injection molding machine. The second driving member 24 fixedly installed at the bottom of the top layer posture fixing plate 23 pushes the pushing plate 22 to move, and the main part 41 is pushed and embedded into the injection molding machine through the limiting plate 27 installed on the pushing plate 22 and penetrating the feeding plate 21. At the same time, the accessory suction rod 262 releases the accessory to embed the accessory into the injection molding machine. In this way, the process is repeated continuously to realize the continuous automatic feeding, grasping, and embedding injection molding process of the matching parts. During the process of grasping and embedding, the problems of unstable and limited insert embedding caused by different materials, different shapes, inaccurate tolerances, special shapes, etc. of the jig parts can be solved, and the safety and speed of production can be improved.

[0091] The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention.

Claims

1. An embedding jig based on manipulator grasping, characterized in that, include: The feeding mechanism comprises a carrying plate, on which a contoured portion for placing a main part and a positioning guide portion for placing an accessory are arranged, and a first driving member is arranged at the bottom of the carrying plate; The material transfer mechanism comprises a feeding plate and a second driving member driving the feeding plate to move, wherein a second contour seat and a ceiling assembly are arranged on the feeding plate; The first driving member drives the carrying plate to move toward the second profiling seat, and the main member in the profiling portion is sent into the second profiling seat, and the ceiling assembly grabs the attachment on the positioning guide portion; The material transfer mechanism is moved as a whole to the working area of the injection molding machine by the third driving mechanism, the second driving member pushes the feeding plate to feed the newly grasped main part into the injection molding machine, and the ceiling assembly releases the accessories into the injection molding machine; The profiling part includes a plurality of positioning guide pillars, a limit block, and a first profiling seat fixedly mounted on the bearing plate by the positioning block, and the first profiling seat is directly opposite to the second profiling seat; The main part is inserted into the first profiling seat, the limiting block and the positioning block cooperate with each other to limit the front and rear ends of the main part, and the positioning guide column is matched and plugged with the hole on the main part; Wherein, the end of the first profiling seat is flush with one side edge of the carrying plate, and the distance between the other side edge of the first profiling seat and the limit block is fixed; The first profiling seat can feed multiple main parts at the same time, and a concave-convex structure matching the contour of the main part is provided on the first profiling seat, the side wall of the limit block facing the main part is kept flat so that the heads of the multiple main parts are aligned, and the positioning block is provided with multiple limiting grooves, and the limiting grooves are matched and positioned with the main part one by one; A limit plate, a limit column and a clamping module matched with the limit column are arranged at the bottom of the feeding plate; The limiting plate and the second contour seat are both provided with limiting holes for the limiting column to penetrate and install; the top of the limiting column is fixed on the feeding plate, and the bottom of the limiting column is inserted into the hole at the head of the main part; the clamping module abuts against the tail of the main part and cooperates with the limiting column to clamp the main part; The material transfer mechanism further includes a posture fixing plate for the third driving mechanism to grasp and operate, and a pushing plate arranged between the posture fixing plate and the feeding plate, wherein the posture fixing plate, the pushing plate and the feeding plate are connected by a receiving column; The second driving member is fixed to the bottom of the posture fixing plate, the driving end of the second driving member is connected to the pushing plate, and the second contour seat is arranged at the bottom of the feeding plate; The limiting plate is configured to be L-shaped, including a vertical supporting plate body and a horizontal plate body at the bottom, the top of the supporting plate body is fixed on the pushing plate, and the supporting plate body passes through the feeding plate and abuts against the main part; the limiting hole on the limiting plate is arranged on the horizontal plate body; The pushing plate can move along the length direction of the receiving column under the action of the second driving member, and drive the limiting plate to move to push the main part out.

2. The embedded jig based on robotic arm grasping according to claim 1, wherein, The clamping module includes a plug pressing plate, a clamping plate, and a clamping driving member for pushing the clamping plate to move; A spring is installed on the clamp through a spring placement groove. The spring passes through the plug pressure plate and is connected to a plug at the end. The plug abuts and clamps the main part, and under the action of the spring elastic force, the plug can pop out and detach from the plug pressure plate.

3. The embedded jig based on robotic arm grasping according to claim 1, wherein The ceiling suction assembly includes an accessory sleeve fixed on the feeding plate and an accessory suction rod installed through the accessory sleeve; An air path cavity is provided inside the accessory suction rod, the top of the accessory suction rod is fixed on the pushing plate, and a negative pressure air supply structure is provided on the accessory suction rod. The nozzle end of the accessory suction rod faces the accessory on the positioning guide part; the positioning guide part is provided as an accessory positioning column, and the accessory positioning column is installed on the supporting plate.

4. A burying jig based on robotic arm grasping according to claim 1, characterized in that, The positioning guide pillars include a group of first positioning guide pillars and a group of second positioning guide pillars, the first positioning guide pillars assist in positioning the front part of the main part, and the second positioning guide pillars assist in positioning the rear part of the main part.

5. A burying jig based on manipulator grasping according to claim 1, characterized in that, A bottom support plate is arranged at the bottom of the bearing plate, the limit block, the positioning block, the positioning guide column and the first driving member are respectively mounted on the bottom support plate, and the driving end of the first driving member is connected to the bearing plate.

6. The embedded jig based on the mechanical hand grasping according to claim 1, wherein, A sliding sleeve is fixedly connected to the pushing plate, the sliding sleeve is sleeved on the receiving column, and the inner wall of the sliding sleeve is smooth.

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