Workpiece detection and packaging equipment and working method thereof

Abstract

The present invention discloses a workpiece inspection and packaging equipment, comprising: a frame, a workbench is provided on the frame, a loading station, an inspection station, and a placing station are provided on the workbench, and a perforation is provided at the placing station; the loading station is provided with a material discharge mechanism, a workpiece conveying mechanism, a material waiting platform, and a flipping mechanism; the inspection station is provided with a turntable assembly, an inspection mechanism, a cylinder positioning mechanism, and a material discharge mechanism, wherein the inspection mechanism includes a cylinder through gauge inspection mechanism and a cylinder stop gauge inspection mechanism, the placing station is provided with a tray positioning switching mechanism, and also includes a workpiece placing device, and the workpiece placing device is provided on the workbench. The present invention integrates the inspection feeding device, the inspection device, and the tray positioning switching device on the inspection equipment, and uses a robot fixture to transport the finished product after injection molding to the inspection feeding device, and the inspection and unloading are all automated, which effectively improves its inspection and unloading efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of sensor processing, and in particular relates to workpiece detection and packaging equipment. Background Art

[0002] Cylinders and discs are important components of steering angle sensors. During the processing, they need to be injection molded, and the finished products after injection molding need to be tested for through gauges and stop gauges. Before testing, the products need to be turned over. Currently, many testing devices are mostly manually turned over before placing the products at the testing station, or turned over and placed at a designated position, and then grabbed to the testing station by a robot. In addition, many existing testing equipment are mostly separate. After testing at one station, the product is moved to another station for testing, which not only increases the workload of the staff, but also increases the time cost of testing; not only does it require the use of special staff, but also the efficiency of its loading cannot be guaranteed, which will affect the testing efficiency of the subsequent products; during the testing process, the product may also be offset, which will affect the testing quality of the product by the testing agency; the tested products need to be unloaded. In the existing unloading, many of them are unloaded by grabbing the tested products onto the conveyor belt by a robot, and then manually collecting them. The unloading efficiency is slow and it also requires a lot of time for the staff. The efficiency of the whole process is low, which affects its processing efficiency. Summary of the invention

[0003] Purpose of the invention: In order to overcome the above-mentioned shortcomings, the purpose of the present invention is to provide a workpiece inspection and packaging equipment with a simple structure. The inspection and feeding device, the inspection device and the tray positioning and switching device are integrated on the inspection device. The finished product after injection molding is transported to the inspection and feeding device by a robot fixture, and the finished product is flipped onto the inspection device for inspection by a flipping mechanism. The inspected good products are then placed in the tray by a workpiece placing device. When the tray is full, the tray positioning and switching device is used to automatically switch the tray, thereby effectively improving the inspection and discharging efficiency.

[0004] Technical solution: In order to achieve the above-mentioned purpose, the present invention provides a workpiece detection and packaging equipment, including: a frame, a workbench is provided on the frame, a loading station, a detection station and a placing station are provided on the workbench, and a perforation is provided at the placing station; the loading station is provided with a discharging mechanism, a workpiece conveying mechanism, a waiting platform and a flipping mechanism, the discharging mechanism is arranged on the loading station, the workpiece conveying mechanism is arranged on one side of the discharging mechanism, the waiting platform is arranged on the workbench and is arranged on one side of the discharging mechanism, and cooperates with the workpiece conveying mechanism, and the flipping mechanism is arranged on the side of the waiting platform away from the workpiece conveying mechanism; the detection station is provided with a turntable assembly, a detection mechanism, a cylinder positioning mechanism and a unloading mechanism, wherein the detection mechanism includes a cylinder through gauge detection mechanism and a cylinder stop gauge detection mechanism, the turntable assembly is arranged on the workbench, and a group of placement plates for placing products are provided on the turntable assembly, and are arranged on one side of the flipping mechanism; the cylinder through gauge detection mechanism is arranged at the cylinder through gauge detection station; the cylinder stop gauge detection mechanism is arranged at the cylinder stop gauge detection station; the cylinder positioning mechanism is arranged between the cylinder through gauge detection mechanism and the cylinder stop gauge detection mechanism, and the cylinder through gauge detection mechanism, the cylinder stop gauge detection mechanism and the cylinder positioning mechanism are all arranged on the outside of the turntable assembly; the unloading mechanism is arranged on one side of the cylinder stop gauge detection mechanism; the workbench is provided with defective product discharge ports on both sides of the unloading mechanism; the placement station is provided with a tray positioning switching mechanism, and the tray positioning switching mechanism is arranged on both sides of the perforation, and a group of slide rails are arranged on both sides of the perforation on the workbench, and also includes a tray moving tooling, a position adjustment drive mechanism, a group of tray brackets and a group of tray lifting mechanisms, the tray moving tooling is arranged at the perforation, and is slidably connected to the slide rail through a slider, the position adjustment drive mechanism is arranged on the workbench, and the tray moving tooling is connected to the position adjustment drive mechanism through a drive frame, the tray lifting mechanism is arranged on the inner wall of the frame, and the tray bracket is connected to the tray lifting mechanism through a sliding seat; it also includes a workpiece placing device, and the workpiece placing device is arranged on the workbench.

[0005] Furthermore, the material discharge mechanism includes a horizontal moving mechanism and a placing tool, the horizontal moving mechanism is arranged on the workbench, and the placing tool is arranged on the horizontal moving mechanism, the two are slidably connected, and at least one placing station is provided on the placing tool; the workpiece transporting mechanism includes a transport fixing frame, a transport mounting frame, a transport driving mechanism and a transport assembly, the transport fixing frame is arranged on the workbench, the transport mounting frame is arranged on the transport fixing frame, the transport driving mechanism is arranged on the transport mounting frame, and the transport assembly is connected to the transport driving mechanism; the transport assembly includes a transport lifting drive cylinder, a transport adapter frame, a three-claw drive cylinder and a transport clamp, the transport lifting drive cylinder is fixed on a sliding plate, the sliding plate is slidably connected to a screw rod in the transport driving mechanism through a sliding seat, the transport adapter frame is connected to the transport lifting drive cylinder, the three-claw drive cylinder is fixed on the transport adapter frame, and the transport clamp is connected to the three-claw drive cylinder.

[0006] Furthermore, the flip mechanism includes a flip fixed frame, a flip driving cylinder and a flip clamp assembly, wherein the flip fixed frame is fixed on the workbench, the flip driving cylinder is fixed on the flip fixed frame, and the flip clamp assembly is connected to the flip driving cylinder; it also includes a lifting fixed frame and a lifting driving cylinder, wherein the lifting fixed frame is arranged on the workbench, a group of slide rails are arranged on the lifting fixed frame, the flip fixed frame is slidably connected to the slide rails through a slider, the lifting driving cylinder is fixed on the lifting fixed frame, and its output end is connected to the top frame of the flip fixed frame. The flip clamp assembly includes a clamp driving cylinder 1 and a group of flip clamps, wherein the clamp driving cylinder 1 is connected to the flip driving cylinder through the flip driving frame, and the flip clamp is connected to the clamp driving cylinder.

[0007] Preferably, the cylindrical go gauge detection mechanism comprises a first detection fixed frame, a first detection lifting drive mechanism and a first detection mechanism, the first detection fixed frame is fixed on the workbench, the first detection lifting drive mechanism is installed on the first detection fixed frame, and a group of slide rails are provided on the side of the first detection fixed frame away from the first detection lifting drive mechanism, and the lifting plate in the first detection mechanism is connected to the first detection lifting drive mechanism through a group of slide blocks; the cylindrical stop gauge detection mechanism comprises a second detection fixed frame, a second detection lifting drive mechanism and a second detection mechanism, the second detection fixed frame is fixed on the workbench, the second detection lifting drive mechanism is installed on the first detection fixed frame A group of slide rails are provided on the second detection fixing frame, and the side of the second detection fixing frame away from the second detection lifting drive mechanism, and the lifting plate in the second detection mechanism is connected to the second detection lifting drive mechanism through a group of sliders; the cylinder positioning mechanism includes a positioning fixing frame, a fixed adapter frame, a fixed plate and a positioning lifting drive cylinder, the positioning fixing frame is fixed on the workbench, and a group of slide rails are provided on the positioning fixing frame, the fixed adapter frame is slidably connected to the slide rails through a group of sliders, the retaining plate is connected to the fixed adapter frame, the positioning lifting drive cylinder is fixed on the positioning fixing frame, and its output end is connected to the fixed adapter frame, and a group of positioning holes are provided on the fixed plate.

[0008] In addition, it also includes a waiting-to-be-loaded transfer device, which includes a rotating support frame, a rotating drive cylinder, a rotating drive frame and a rotating clamping claw assembly, the rotating support frame is fixed on the workbench, the rotating drive cylinder is connected to the rotating support frame, the rotating drive frame is connected to the output end of the rotating drive cylinder, and the rotating clamping claw assembly is connected to the rotating drive frame; the rotating clamping claw assembly includes a lifting drive cylinder 2, a clamping claw drive cylinder 2 and a group of clamping claws, the lifting drive cylinder 2 is fixed on the rotating drive frame, the clamping claw drive cylinder 2 is connected to the lifting drive cylinder 2 through an adapter frame, and the clamping claws are connected to the clamping claw drive cylinder 2; it also includes a defective product sorting rack, the defective product sorting rack includes a through-gauge defective product sorting rack and a stop-gauge defective product sorting rack, and the through-gauge defective product sorting rack and the stop-gauge defective product sorting rack are arranged in reverse.

[0009] Furthermore, the tray moving tooling includes a group of longitudinal support plates, a group of transverse support plates, and a group of positioning mechanisms. The longitudinal support plates are relatively arranged at both ends of the perforations, and a pad block is arranged below them. The pad block is slidably connected to the slide rail through a slider, the transverse support plates are arranged on the two longitudinal support plates, and the positioning mechanism is arranged on the longitudinal support plates.

[0010] Furthermore, the positioning mechanism includes a group of positioning blocks and a positioning drive cylinder. A group of transverse slide rails are provided on the longitudinal support plate. The two positioning blocks are connected by a linkage sliding seat. The linkage sliding seat is slidably connected to the transverse slide rails through a slider. The positioning drive cylinder is fixed on the longitudinal support plate, and its output end is connected to the linkage sliding seat. The positioning ends of the positioning blocks cooperate with the positioning slots at both ends of the material tray.

[0011] Preferably, the position adjustment drive mechanism includes a servo motor and a screw rod, the screw rod is connected to the workbench through a group of bearing seats, and a drive seat is provided on the screw rod, the output end of the servo motor is connected to one end of the screw rod, and the drive frame is connected to the drive seat.

[0012] Preferably, the tray lifting mechanism includes a group of vertical slide rails, a lifting screw and a lifting drive motor, the vertical slide rails are arranged relative to the inner wall of the frame, the lifting screw is arranged between the vertical slide rails, the lifting drive motor is fixed to the frame through a motor mounting seat, and its output end is arranged on the main drive wheel, and the output end of the lifting screw is provided with a driven wheel, and the main drive wheel and the driven wheel are connected by a belt drive.

[0013] Further preferably, the tray bracket includes a group of support brackets and placement racks, the support brackets are connected to the vertical slide rails through sliders, and are connected to the lifting screw rods through sliding seats, and the placement racks are arranged on the top of the support brackets.

[0014] Furthermore, the workpiece placing mechanism includes a placing fixed frame, a placing transverse moving module and a placing mechanism, the placing fixed frame is fixed on the frame, the placing transverse moving module is arranged on the placing fixed frame, and the placing mechanism is slidably connected with the placing transverse moving module through a sliding plate; the placing mechanism includes a placing lifting drive cylinder, a placing adapter frame, a placing drive cylinder and a placing clamp, the placing lifting drive cylinder is fixed on the sliding plate, the placing adapter frame is connected to the placing lifting drive cylinder, the placing drive cylinder is installed on the placing adapter frame, and the placing clamp is connected to the placing drive cylinder.

[0015] It can be seen from the above technical solution that the present invention has the following beneficial effects:

[0016] 1. The workpiece inspection and packaging equipment described in the present invention integrates the inspection and feeding device, the inspection device and the tray positioning and switching device on the inspection device, and transports the finished product after injection molding to the inspection and feeding device through a robot clamp, and flips the finished product onto the inspection device for inspection through a flipping mechanism, and then places the inspected good products into the tray through a workpiece placing device. When the tray is full, the tray positioning and switching device automatically switches the tray, thereby effectively improving the inspection and discharging efficiency.

[0017] 2. The material discharge mechanism described in the present invention includes a horizontal moving mechanism and a placing tool. The setting of the horizontal moving mechanism can adjust the position of the placing tool so that it can better feed the workpiece transport mechanism; the setting of the flipping mechanism flips the product 180 degrees and then places the product at the inspection station for easy inspection.

[0018] 3. The detection device integrates the through gauge detection and the no-stop gauge detection on the outside of the turntable assembly. The through gauge turntable assembly completes the rotation of the product in the two detection processes, effectively reducing the time of moving the workpiece and improving its detection efficiency. At the same time, the setting of the cylinder positioning mechanism can improve the stability of product detection, avoid deviation during product detection, and further improve its detection stability and detection quality; the fixed plate can simultaneously position the products on the through gauge detection station and the no-stop gauge detection station, further optimizing the structure of the positioning mechanism.

[0019] 4. The tray positioning and switching mechanism has a simple structure and reasonable design. The position adjustment drive mechanism moves the full tray horizontally to one side. The tray lifting mechanism drives the tray bracket to rise and catch the full tray, and then drives it down. At the same time, the tray lifting mechanism on the other side lifts the empty tray to the loading station to realize batch unloading, so that the full tray and the empty tray can be switched automatically, which effectively improves the unloading efficiency and reduces the workload of the staff.

[0020] 7. The setting of the positioning mechanism can improve the stability of the tray movement. At the same time, after the positioning block is retracted by the positioning drive cylinder, it is convenient for the tray lifting mechanism to lift the full or empty tray. The positioning end of the positioning block matches the positioning slots at both ends of the tray. The setting of the positioning slots can further improve the stability of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the workpiece detection and packaging equipment of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the detection and feeding device in the present invention;

[0023] Figure 3 It is a structural schematic diagram of another viewing angle of the detection and feeding device in the present invention;

[0024] Figure 4 It is a structural schematic diagram of the detection device in the present invention;

[0025] Figure 5 It is a structural schematic diagram of the tray positioning switching device in the present invention;

[0026] Figure 6 It is a front view of the tray positioning switching device in the present invention;

[0027] Figure 7 It is a structural schematic diagram of the component feeding equipment in the present invention;

[0028] Figure 8 It is a structural schematic diagram of the cylinder detection and feeding device in the present invention;

[0029] Fig. 9 It is a front view of the cylinder detection and feeding device in the present invention;

[0030] Fig.10 It is a structural schematic diagram of the feeding detection mechanism in the present invention;

[0031] Fig.11 It is a structural schematic diagram of the feeding detection mechanism of the present invention from another perspective;

[0032] Fig.12 It is a structural schematic diagram of the placing mechanism in the present invention;

[0033] Fig.13 It is a side view of the wafer feeding device of the present invention;

[0034] Fig.14 It is a structural schematic diagram of the wafer feeding device in the present invention;

[0035] Fig.15 It is a front view of the wafer feeding device of the present invention;

[0036] Fig.16 It is a schematic diagram of the structure of the robot clamp in the present invention.

[0037] Fig.17 It is a structural schematic diagram of the fully automatic insert injection molding loading and unloading detection and packaging equipment described in the present invention. DETAILED DESCRIPTION

[0038] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. Example

[0039] like Figures 1 to 6The workpiece inspection and packaging equipment shown in the figure comprises: a frame, a workbench is provided on the frame, a loading station, an inspection station and a placing station are provided on the workbench, and a perforation is provided at the placing station; the loading station is provided with a discharge mechanism 21, a workpiece conveying mechanism 22, a waiting platform 23 and a flipping mechanism 24, the discharge mechanism 21 is provided on the loading station, the workpiece conveying mechanism 22 is provided on one side of the discharge mechanism 21, the waiting platform 23 is provided on the workbench, and is provided on one side of the discharge mechanism 21, and cooperates with the workpiece conveying mechanism 22, and the flipping mechanism 24 is provided on the side of the waiting platform 23 away from the workpiece conveying mechanism 22; the inspection station is provided with a turntable assembly 25, an inspection mechanism, a cylinder positioning mechanism 28 and a discharge mechanism 29, wherein the inspection mechanism The structure includes a cylinder through gauge detection mechanism 26 and a cylinder stop gauge detection mechanism 27, the turntable assembly 25 is arranged on the workbench, and a group of placement plates 251 for placing products are provided on the turntable assembly 25, and are arranged on one side of the flipping mechanism 24; the cylinder through gauge detection mechanism 26 is arranged at the cylinder through gauge detection station; the cylinder stop gauge detection mechanism 27 is arranged at the cylinder stop gauge detection station; the cylinder positioning mechanism 28 is arranged between the cylinder through gauge detection mechanism 26 and the cylinder stop gauge detection mechanism 27, and the cylinder through gauge detection mechanism 26, the cylinder stop gauge detection mechanism 27 and the cylinder positioning mechanism 28 are all arranged on the outer side of the turntable assembly 25; the unloading mechanism 29 is arranged on one side of the cylinder stop gauge detection mechanism 27; and defective product discharge ports are arranged on both sides of the unloading mechanism 29 on the workbench;

[0040] The placement station is provided with a tray positioning switching mechanism 3, and the tray positioning switching mechanism 3 is arranged on both sides of the perforation. A group of slide rails 31 are arranged on both sides of the perforation on the workbench, and also includes a tray moving tooling 32, a position adjustment drive mechanism 33, a group of tray brackets 35 and a group of tray lifting mechanisms 36. The tray moving tooling 32 is arranged at the perforation and is slidably connected to the slide rail 31 through a slider. The position adjustment drive mechanism 33 is arranged on the workbench, and the tray moving tooling 32 is connected to the position adjustment drive mechanism 33 through a drive frame 34. The tray lifting mechanism 36 is arranged on the inner wall of the frame, and the tray bracket 36 is connected to the tray lifting mechanism 36 through a sliding seat; it also includes a workpiece placement device 37, and the workpiece placement device 37 is arranged on the workbench.

[0041] The material discharging mechanism 21 includes a horizontal moving mechanism 211 and a placing tool 212, wherein the horizontal moving mechanism 211 is arranged on a workbench, and the placing tool 212 is arranged on the horizontal moving mechanism 211, and the two are slidably connected, and at least one placing station is arranged on the placing tool 212; the workpiece transporting mechanism 22 includes a transport fixing frame 221, a transport mounting frame 222, a transport driving mechanism 223 and a transport assembly 224, wherein the transport fixing frame 221 is arranged on a workbench, the transport mounting frame 222 is arranged on the transport fixing frame 221, and the transport driving mechanism 223 is arranged on the transport mounting frame 222 The transport assembly 224 is connected to the transport drive mechanism 223; the transport assembly 224 includes a transport lifting drive cylinder 2241, a transport adapter frame 2242, a three-claw drive cylinder 2243 and a transport clamp 2244. The transport lifting drive cylinder 2241 is fixed on a sliding plate 2245, and the sliding plate 2245 is slidably connected to the screw rod in the transport drive mechanism 223 through a sliding seat. The transport adapter frame 2242 is connected to the transport lifting drive cylinder 2241, the three-claw drive cylinder 2243 is fixed on the transport adapter frame 2242, and the transport clamp 2244 is connected to the three-claw drive cylinder 2243. The waiting platform 23 includes a waiting fixed frame 231 and a waiting placement frame 232. The waiting fixed frame 231 is fixed on the workbench, and the waiting placement frame 232 is fixed on the top of the waiting fixed frame 231.

[0042] As shown in the figure, the flip mechanism 24 includes a flip fixed frame 241, a flip drive cylinder 242 and a flip clamp assembly 243. The flip fixed frame 241 is fixed on the workbench, the flip drive cylinder 242 is fixed on the flip fixed frame 241, and the flip clamp assembly 243 is connected to the flip drive cylinder 242; it also includes a lifting fixed frame 244 and a lifting drive cylinder 245. The lifting fixed frame 244 is arranged on the workbench, a group of slide rails are arranged on the lifting fixed frame 244, the flip fixed frame 241 is slidably connected to the slide rails through a slider, and the lifting drive cylinder 245 is fixed on the lifting fixed frame 244, and its output end is connected to the top frame of the flip fixed frame 241. The flip clamp assembly 243 includes a clamp drive cylinder 1 2431 and a group of flip clamps 2432. The clamp drive cylinder 1 2431 is connected to the flip drive cylinder 242 through the flip drive frame, and the flip clamp 2432 is connected to the clamp drive cylinder 1 2431.

[0043] like Figure 4The cylindrical through gauge detection mechanism 26 shown includes a first detection fixed frame 261, a first detection lifting drive mechanism 262 and a first detection mechanism 263, wherein the first detection fixed frame 261 is fixed on the workbench, the first detection lifting drive mechanism 262 is installed on the first detection fixed frame 261, and a group of slide rails are provided on the side of the first detection fixed frame 261 away from the first detection lifting drive mechanism 262, and the lifting plate in the first detection mechanism 263 is connected to the first detection lifting drive mechanism 262 through a group of slide blocks; the cylindrical stop gauge detection mechanism 27 includes a second detection fixed frame 271, a second detection lifting drive mechanism 272 and a second detection mechanism 273, wherein the second detection fixed frame 271 is fixed on the workbench, and the second detection lifting drive mechanism 272 is installed on the second detection fixed frame 2 71, and a group of slide rails are provided on the side of the second detection fixed frame 271 away from the second detection lifting drive mechanism 272, and the lifting plate in the second detection mechanism 273 is connected to the second detection lifting drive mechanism 272 through a group of sliders; the cylinder positioning mechanism 28 includes a positioning fixed frame 281, a fixed adapter frame 282, a fixed plate 283 and a positioning lifting drive cylinder 284, the positioning fixed frame 281 is fixed on the workbench, and a group of slide rails are provided on the positioning fixed frame 281, the fixed adapter frame 282 is slidably connected to the slide rails through a group of sliders, the retaining plate 283 is connected to the fixed adapter frame 282, the positioning lifting drive cylinder 283 is fixed on the positioning fixed frame 281, and its output end is connected to the fixed adapter frame 282, and a group of positioning holes 2831 are provided on the fixed plate 283.

[0044] The invention also includes a transport device 29 to be loaded, which includes a rotating support frame 291, a rotating drive cylinder 292, a rotating drive frame 293 and a rotating clamping claw assembly 294. The rotating support frame 291 is fixed on the workbench, the rotating drive cylinder 292 is connected to the rotating support frame 291, the rotating drive frame 293 is connected to the output end of the rotating drive cylinder 292, and the rotating clamping claw assembly 294 is connected to the rotating drive frame 293; the rotating clamping claw assembly 294 includes a lifting drive cylinder 292, a rotating drive cylinder 293, and a rotating drive cylinder 294. 941, a second clamping drive cylinder 2942 and a group of clamping claws 2943, the second lifting drive cylinder 2941 is fixed on the rotating drive frame 293, the second clamping drive cylinder 2942 is connected to the second lifting drive cylinder 2941 through an adapter frame, and the clamping claws 2943 are connected to the second clamping drive cylinder 2942; it also includes a defective product sorting rack 295, the defective product sorting rack 295 includes a through-gauge defective product sorting rack and a stop-gauge defective product sorting rack, and the through-gauge defective product sorting rack and the stop-gauge defective product sorting rack are arranged in reverse.

[0045] The tray moving tooling 32 includes a set of longitudinal support plates 321, a set of transverse support plates 322, and a set of positioning mechanisms 323. The longitudinal support plates 321 are relatively arranged at the two ends of the perforation, and a padding block is arranged below the longitudinal support plates 321. The padding block is slidably connected to the slide rail 31 through a slider. The transverse support plates 322 are arranged on the two longitudinal support plates 321. The positioning mechanism 323 is arranged on the longitudinal support plates 321. The positioning mechanism 323 includes a set of positioning blocks 3231 and a positioning drive cylinder 3232. A set of transverse slide rails 3233 are arranged on the longitudinal support plates 321. The two positioning blocks 3231 are connected through a linkage sliding seat 3234. The linkage sliding seat 3234 is slidably connected to the transverse slide rail 3233 through a slider. The positioning drive cylinder 3232 is fixed on the longitudinal support plates 321, and its output end is connected to the linkage sliding seat 3234. The positioning end of the positioning block 3231 matches the positioning slots at both ends of the tray. The position adjustment driving mechanism 33 includes a servo motor 331 and a screw rod 332 . The screw rod 332 is connected to the workbench through a group of bearing seats, and a driving seat 333 is provided on the screw rod 332 . The output end of the servo motor 331 is connected to one end of the screw rod 332 , and the driving frame 34 is connected to the driving seat 333 .

[0046] The tray lifting mechanism 36 includes a set of vertical slide rails 361, a lifting screw rod 362 and a lifting drive motor 363. The vertical slide rails 361 are relatively arranged on the inner wall of the frame, the lifting screw rod 362 is arranged between the vertical slide rails 361, the lifting drive motor 363 is fixed to the frame through a motor mounting seat, and its output end is arranged on the main drive wheel, the output end of the lifting screw rod 362 is provided with a driven wheel, and the main drive wheel and the driven wheel are connected by a belt drive. The tray bracket 35 includes a set of support brackets 351 and a placement rack 352. The support bracket 351 is connected to the vertical slide rails 361 through a slider, and is connected to the lifting screw rod 362 through a sliding seat, and the placement rack 352 is arranged on the top of the support bracket 351.

[0047] The workpiece placing mechanism 37 includes a placing fixed frame 371, a placing transverse moving module 372 and a placing mechanism 373. The placing fixed frame 371 is fixed on the frame, the placing transverse moving module 372 is arranged on the placing fixed frame 371, and the placing mechanism 373 is slidingly connected with the placing transverse moving module 372 through a second sliding plate; the placing mechanism 373 includes a placing lifting drive cylinder 3731, a placing adapter frame 3732, a placing drive cylinder 3733 and a placing clamp 3734. The placing lifting drive cylinder 3731 is fixed on the second sliding plate, the placing adapter frame 3732 is connected to the placing lifting drive cylinder 3731, the placing drive cylinder 3733 is installed on the placing adapter frame 3732, and the placing clamp 3734 is connected to the placing drive cylinder 3733.

[0048] The working method of the workpiece detection and packaging equipment in this embodiment is as follows:

[0049] 1): First, start the workpiece detection and packaging equipment to put the empty tray on the top and lift it to the material swinging position. The positioning drive cylinder 3232 in the positioning mechanism 323 drives the positioning block 3231 to insert into the positioning slots at both ends of the tray to position the tray;

[0050] 2): The robot exits the mold and moves to the top of the finished product placement tooling 212 of the inspection device 2, and after placing the finished product, the robot leaves; the horizontal moving mechanism 211 drives the placement tooling 212 to move to the bottom of the transport component 224;

[0051] 3): The transport lifting drive cylinder 2241 in the transport component 224 drives the transport adapter frame 2242 to move downward, and the transport adapter frame 2242 drives the three-claw drive cylinder 2243 and the transport clamp 2244 to descend to the product, and the three-claw drive cylinder 2243 drives the transport clamp 2244 to grab the product, and the transport lifting drive cylinder 2241 drives the transport adapter frame 2242 to rise, and driven by the transport adapter frame 2242, the transport clamp 2244 drives the product to rise together; the transport drive mechanism 223 drives the transport component 224 to move to the waiting material placement frame 232 of the waiting material platform 23;

[0052] 4): The lifting drive cylinder 245 drives the flipping clamp assembly 243 in the flipping mechanism 24 to move to the product on the material placement rack 232, and the flipping clamp assembly 243 clamps the product. The flipping drive cylinder 242 drives the flipping clamp assembly 243 to flip the product 180° to the inspection station, and the finished product to be inspected is placed on the placement plate 251; the flipping drive cylinder 242 reverses 180° and returns to its original position;

[0053] 5): The driving mechanism in the turntable assembly 25 drives the turntable to rotate, and rotates the product in the placement plate 251 to the cylinder gauge detection station; the positioning lifting drive cylinder 284 in the cylinder positioning mechanism 28 drives the fixing plate 283 to descend and fix the cylinder;

[0054] 6): The first detection lifting drive mechanism 262 drives the first detection mechanism 263 to descend to a suitable position, and the first detection mechanism 263 detects the product. After the detection, the first detection lifting drive mechanism 262 drives the first detection mechanism 263 to return to the initial position; the positioning lifting drive cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to rise, so that the fixed plate 283 is separated from the cylinder;

[0055] 7): The driving mechanism in the turntable assembly 25 drives the disc to rotate and rotates the cylinder to the stop gauge detection station; the positioning lifting driving cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to descend and fix the cylinder; the second detection lifting driving mechanism 272 drives the second detection mechanism 273 to descend to a suitable position, and the second detection mechanism 273 detects the product. After the detection, the second detection lifting driving mechanism 272 drives the second detection mechanism 273 to return to the initial position; the positioning lifting driving cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to rise, so that the fixed plate 283 is separated from the cylinder;

[0056] 8): The driving mechanism in the turntable assembly 25 drives the disc to rotate and rotates the cylinder to the waiting position; the lifting drive cylinder 2941 drives the clamping jaw drive cylinder 2942 and a group of clamping jaws 2943 to descend and clamp the finished product, and the lifting drive cylinder 2941 then drives the clamping jaw drive cylinder 2942 and a group of clamping jaws 2943 and the clamped finished product to rise together, and the rotating drive cylinder 292 drives the rotating drive frame 293 and the rotating clamping jaw assembly 294 to rotate 180° to place the product on the waiting platform, and the defective products are respectively placed in the through-gauge defective product sorting rack and the stop-gauge defective product sorting rack to enter the corresponding through-gauge defective opening and stop-gauge defective opening;

[0057] 9): The placing transverse shifting module 372 drives the placing mechanism 373 to move above the loading platform, the placing lifting drive cylinder 3731 drives the placing drive cylinder 3733 and the placing clamp 3734 to move downward, the placing drive cylinder 3733 drives the placing clamp 3734 to clamp the finished product, the placing lifting drive cylinder 3731 rises, and the placing transverse shifting module 372 drives the placing mechanism 373 and the clamped finished product to move above the tray; during this process, the tray lifting mechanism 36 lifts the empty tray to the material placing station, and the positioning drive cylinder 3232 in the positioning mechanism 323 drives the positioning block 3231 to insert into the positioning slots at both ends of the tray to position the tray; the placing lifting drive cylinder 3731 descends, and the placing drive cylinder 3733 drives the placing clamp 3734 to place the finished product into the cavity of the tray;

[0058] 10) Repeat the above steps until the tray is full, the servo motor 331 in the position adjustment drive mechanism 33 drives the screw rod 332 to rotate, the screw rod 332 drives the drive seat 333 to drive the drive frame 34 to move along the slide rail 31, during which the drive frame 34 drives the tray moving tooling 32 and the tray thereon to move to the full tray position;

[0059] 11): The tray lifting mechanism 36 drives the tray bracket 35 to rise until the tray bracket 35 holds the tray, and then the positioning drive cylinder 3232 drives the positioning block 3231 to return to the initial position, and the tray lifting mechanism 36 drives the tray bracket 35 to descend to the specified position with the tray full of products.

[0060] Example 2

[0061] like Figures 1 to 17 As shown, the embodiment described in this embodiment is a fully automatic insert injection molding loading and unloading, inspection and packaging production line, which includes the workpiece inspection and packaging equipment in Example 1, and its structure is the same as the structure in Example 1. In addition, it also includes: a component loading device 1, a robot fixture 4 and an injection molding machine 5, the component loading device 1 is arranged at the feed port of the injection molding machine 5, the inspection device 2 is arranged at the discharge port of the injection molding machine 5, the material tray positioning switching device 3 is arranged at the discharge port of the inspection device 2, the robot fixture 4 is arranged on one side of the injection molding machine 5, and is arranged between the component loading device 1 and the inspection device 2, and the robot fixture 4 cooperates with the component loading device 1, the inspection device 2 and the injection molding machine 5. The fully automatic insert injection molding loading and unloading inspection and packaging production line described in the present invention improves the component loading equipment, inspection equipment and robot fixture structure in the entire production line, and integrates the feeding of cylinders and wafers on the same equipment, so that they can realize automatic loading without interfering with each other, and realizes automation of the loading and the inspection of the upper and lower ends of the cylinder, effectively improving the feeding efficiency, and integrates the wafer taking fixture, the cylinder taking fixture and the finished product taking fixture on the same robot, so that it can grab and carry the cylinder, wafer and finished product, and meet the needs of the component loading equipment, inspection equipment and injection molding machine at the same time, effectively reducing the use of robots and reducing equipment costs;

[0062] The detection and feeding device, the detection device and the tray positioning and switching device are integrated on the detection equipment. The finished product after injection molding is transported to the detection and feeding device by the robot fixture, and the finished product is turned over to the detection device for detection by the turning mechanism. Then, the tested good products are placed in the tray by the workpiece placing device. When the tray is full, the tray positioning and switching device is used to automatically switch the tray, which effectively improves the detection and discharge efficiency.

[0063] like Figures 7 to 12 The component loading device 1 shown includes a cylinder detection loading device and a wafer loading device, and the cylinder detection loading device and the wafer loading device are both arranged on a workbench;

[0064] like Figure 7 , Figure 8The cylinder detection feeding device shown includes a feeding mechanism 11, a feeding detection mechanism 12, a placing mechanism 13 and a placing tool 15. The feeding detection mechanism 12 is arranged on a workbench and at the discharge port of the feeding mechanism 11. The placing mechanism 13 is arranged on one side of the feeding detection mechanism 12, and a feeding conveying mechanism 14 is arranged at the end of the feeding detection mechanism 12, and the two are slidably connected; the placing mechanism 13 includes a placing mounting frame 131, a position adjustment component 132 and a group of placing components 133, the position adjustment component 132 is arranged on the placing mounting frame 131, and the placing component 133 is connected to the position adjustment component 132; Fig.12 The placement assembly 133 shown includes a rotary drive cylinder 1331, a placement adapter frame 1332, and a clamping assembly 1333. The rotary drive cylinder 1331 is connected to the longitudinal drive frame 13223 through a first connecting frame. The placement adapter frame 1332 is connected to the placement adapter frame 1332 through a coupling. The clamping assembly 1333 is installed on the placement adapter frame 1332. The position adjustment assembly 132 includes a transverse adjustment assembly 1321 and a longitudinal adjustment assembly 1322. The transverse adjustment assembly 1321 includes a transverse mounting plate 13211, a transverse servo drive mechanism 13212, and a transverse sliding plate 13213. The transverse mounting plate 13211 is provided with a group of slide rails, and the transverse mounting plate 13211 is provided with perforations. The transverse servo drive mechanism 13212 is arranged on the placement mounting frame. The transverse sliding plate 13213 is slidably connected to the slide rails through a slider, and is connected to the transverse servo drive mechanism through a sliding seat. The longitudinal adjustment assembly 1322 shown includes a longitudinal mounting frame 13221, a longitudinal adjustment drive cylinder 13222 and a longitudinal drive frame 13223. The longitudinal mounting frame 13221 is provided with a set of vertical slide rails. The longitudinal mounting frame 13221 is connected to the transverse sliding plate 13213. The longitudinal drive frame 13223 is slidably connected to the vertical slide rails through a sliding block. The longitudinal adjustment drive cylinder 13222 is fixed to the longitudinal mounting frame 13221, and its output end is connected to the longitudinal drive frame 13223. The setting of the position adjustment assembly 132 allows it to adjust the horizontal and vertical positions of the placement assembly as needed, so as to facilitate the placement of the complete cylinder. The clamping assembly 1333 includes a clamping drive cylinder 13331 and a group of clamping claws 13332 . The clamping drive cylinder 13331 is fixed on the placement adapter frame 1332 , and the clamping claws 13332 are connected to the clamping drive cylinder 13331 .

[0065] The loading and conveying mechanism 14 includes two groups of vertical support frames 141, a group of conveying guide rails 142 and a conveying drive mechanism 143. The vertical support frames 141 are relatively arranged on the workbench, the conveying guide rails 142 are arranged on the vertical support frames 141, and the conveying drive mechanism 143 is arranged between the two vertical support frames 141, and the placing tool 15 is slidably connected to the conveying guide rails 142 through a group of sliding blocks; the conveying drive mechanism 143 includes a group of support seats, a group of pulleys and a conveying drive motor, the support columns are relatively arranged, the support seats are provided with pulleys, and the two pulleys are connected by a conveyor belt transmission, the conveying drive motor is fixed on the workbench, and its output end is connected to one of the pulleys, and the bottom of the placing tool 15 is connected to the conveyor belt through a clamp.

[0066] The placing tool 15 includes a placing tool base plate 151, and at least one placing station is provided on the placing tool base plate 151. A group of vertical support frames 152 are provided on the placing station, and a horizontal mounting frame 153 is provided on the vertical support frame 152. An inner support frame 154 is provided on the horizontal mounting frame 153, and openings are provided on both sides of the inner support frame 154; it also includes a lifting drive cylinder 155 and a push head 156, the lifting drive cylinder 155 is fixed on the placing tool base plate 151, and the push head 156 is connected to the output end of the lifting drive cylinder 155, and the push head 156 cooperates with the opening.

[0067] like Fig.10 , Fig.11The detection frame 121 shown is provided with a first station, a second station and a third station, a product placement rack 1211 is provided at the first station, a first groove is provided on the product placement rack 1211, a second groove is provided on one side of the second groove, a placement seat 1212 is provided at the second station and the third station, and detection mechanisms 122 are provided on both sides of the second station and the third station of the detection frame 121; it also includes a pushing mechanism 123 and a clamping device 124, the pushing mechanism 123 is provided on the outer side of the feeding port of the detection frame 121; the clamping device 124 is provided on the outer side of the detection frame 121, and is slidably connected to the back plate of the detection frame 121 through a position adjustment mechanism 125; a first correction motor 1213 and a second correction motor 1214 are provided under the top plate of the detection frame 121, the output end of the first correction motor 1213 is connected to the placement seat 1212 of the second station, and the output end of the second correction motor 1214 is connected to the placement seat 1212 at the third station. The pushing mechanism 123 includes a pushing drive cylinder 1231 and a pushing piece 1232. The pushing drive cylinder 1231 is fixed to the detection frame 121 through a cylinder fixing seat, and the pushing piece 1232 is connected to the driving slide of the pushing drive cylinder 1231. The clamping device 124 includes a first clamping mechanism 1241 and a clamping rotation mechanism 1242. The first clamping mechanism 1241 and the clamping rotation mechanism 1242 are both fixed to the lifting drive plate 1255. The first clamping mechanism 1241 includes a first clamping drive cylinder 12411 and a group of first clamping claws 12412. The first clamping drive cylinder 12411 is connected to the lifting drive plate 1255 through a fixing seat. The first clamping claws 12412 are arranged opposite to each other and connected to the output end of the first clamping drive cylinder 12411. The clamping and rotating mechanism 1242 includes a rotating drive cylinder 12421 and a set of second clamping jaws 12422. The rotating drive cylinder 12421 is connected to the lifting drive plate 1255 through a fixed seat, and the second clamping jaws 12422 are connected to the output end of the rotating drive cylinder 12421. The inner sides of the first clamping jaw 12412 and the second clamping jaw 12422 are both provided with arc grooves. It should be noted that the arc groove can be selected according to the shape characteristics of the product, and can be an arc or other shapes, as long as it can meet the needs of product clamping.The position adjustment mechanism 125 includes a transverse drive plate 1251, a transverse drive cylinder 1252, a vertical drive plate 1253 and a lifting drive cylinder 1254. A group of transverse guide rails are provided on the back plate. The transverse drive plate 1251 is connected to the transverse guide rails through a group of sliding seats. The transverse drive cylinder 1252 is fixed to the back plate through a cylinder fixing seat, and its output end is connected to one side of the transverse drive plate 1251. A group of vertical guide rails are provided on the outer side of the transverse drive plate 1251. The vertical drive plate 1253 is slidably connected to the vertical guide rails through a slider. The lifting drive cylinder 1254 is fixed to the transverse drive plate 1251, and its output end is connected to the vertical drive plate 1253. A lifting drive plate 1255 is provided on the top of the vertical drive plate 1253. The clamping device 124 is arranged on the lifting drive plate 1255. The cylinder detection and feeding device realizes automatic loading through the feeding mechanism, and the feeding and detection mechanism realizes detection of the product. The detected product is placed on the placing tooling through the placing mechanism to feed the next process. The loading, detection, placing and feeding are integrated into one device, so that the whole feeding process of the cylinder can be automated, the workload of the staff can be reduced, and the feeding efficiency of the front section can be improved; the clamping component can clamp the cylinder, and it cooperates with the position adjustment component to realize the transportation of the cylinder. The setting of the rotary drive cylinder can adjust the angle of the cylinder so that the cylinders on the tooling are placed at the same angle; at least one placing station is provided on the placing tooling, so that the placing station can be reasonably set according to actual needs, so as to realize the purpose of conveying multiple products at the same time and improve the conveying efficiency. The setting of the internal support frame can play a good supporting role for its cylinder.

[0068] like Figures 13 to 15 The wafer loading device shown in the figure includes a wafer feeding mechanism 16, a feeding positioning mechanism 17, a wafer conveying mechanism 18 and a swing mechanism 19. The wafer feeding mechanism 16 includes a group of wafer trays 161 and a lifting mechanism 162. The lifting mechanism 162 is connected to the frame through an adapter frame, and the wafer tray 161 is connected to the lifting mechanism 162 through a lifting frame 163. The feeding positioning mechanism 17 is arranged on the workbench and on both sides of the perforation. The feeding positioning mechanism 17 cooperates with the wafer tray 161. The wafer conveying mechanism 18 is arranged on the workbench and on one side of the wafer feeding mechanism 16. The swing mechanism 19 is arranged on the support frame and cooperates with the wafer feeding mechanism 16 and the wafer conveying mechanism 18.

[0069] like Fig.11The feeding positioning mechanism 17 shown includes a positioning mounting plate 171, a positioning drive plate 172, a group of positioning clamping jaw assemblies 173 and a positioning drive cylinder 174. The positioning mounting plate 171 is fixed on the workbench and is provided with a vertical slide rail. The positioning drive plate 172 is arranged on the outer side of the positioning mounting plate 171 and is slidably connected to the vertical slide rail through a group of sliding seats. The positioning clamping jaw assembly 173 is arranged on the positioning drive plate 172. The positioning drive cylinder 174 is fixed to the lower part of the positioning mounting plate 171, and its output end is connected to the positioning drive plate 172; it also includes a positioning column assembly 175, and the positioning column assembly 175 is installed on one side of the positioning mounting plate 171. A set of transverse slide rails is provided on one side of the workbench located at the perforation, a movable driving plate 1711 is provided below the positioning mounting plate 171, the movable driving plate 1711 is slidably connected to the transverse slide rails through a slider, and a positioning driving cylinder 1712 is provided behind the movable driving plate 1711, the positioning driving cylinder 1712 is fixed on the workbench, and its output end is connected to the movable driving plate 1711. The positioning column assembly 175 includes a second positioning driving cylinder 1751, a positioning driving seat 1752 and a positioning pin 1753, the second positioning driving cylinder 1751 is fixed on the positioning mounting plate 171, the positioning driving seat 1752 is provided at the output end of the second positioning driving cylinder 1751, and a clamping seat is provided on the positioning driving seat 1752, and one end of the positioning pin 1753 is provided in the clamping seat 1754. The positioning jaw assembly 173 includes a jaw mounting seat 1731, a jaw driving rod 1732, a group of connecting plates 1733 and a jaw block 1734. The jaw mounting seat 1731 is fixed in the groove of the positioning mounting plate 171, and the jaw driving rod 1732 is connected to the positioning driving plate 172. The upper end of the jaw driving rod 1732 is provided with a first connecting ear, and the connecting plates 1733 are provided on both sides of the first connecting ear and are connected by pins. The jaw block 1734 is provided on the jaw mounting seat 1731, and a jaw connecting ear 17341 is provided at the lower part thereof. The upper part of the jaw connecting ear 17341 is connected by a pin, and the lower part is connected to the upper part of the connecting plate 1733 by a pin.

[0070] like Figures 13 to 15The pendulum mechanism 19 shown includes a pendulum support seat 191, a pendulum transverse mounting plate 192, a pendulum vertical mounting plate 193, a pendulum lifting drive assembly 194 and a pendulum assembly 195. The pendulum support seat 191 is slidably connected to the slide rails on both sides of the support frame through a group of sliding seats. The pendulum transverse mounting plate 192 is arranged on the pendulum support seat 191, and a group of transverse slide rails are arranged on the pendulum transverse mounting plate 192. The pendulum vertical mounting plate 193 is slidably connected to the transverse slide rails through a sliding seat. The pendulum lifting drive assembly 194 is arranged on the pendulum vertical mounting plate 193, and the pendulum assembly 195 is slidably connected to the pendulum lifting drive assembly 194; the pendulum assembly 195 includes a pendulum fixing plate 1951, a pendulum driving cylinder 1952 and a wafer grabbing assembly 1953, the pendulum fixing plate 1951 is connected to the driving rod of the pendulum lifting drive assembly 194 through a sliding seat, the pendulum driving cylinder 1952 is connected to the pendulum fixing plate 1951 through a fixed frame, the wafer grabbing assembly 1953 is arranged below the fixed frame and is connected to the pendulum driving cylinder 1952; it also includes a disc changing mechanism 196, the disc changing mechanism 196 includes a disc changing drive mechanism 1961, a disc changing suction cup 1962, and a disc changing lifting drive cylinder 1963, the disc changing drive mechanism 1961 is arranged on the support frame, the disc changing suction cup 1962 is arranged below the pendulum supporting seat 191, the disc changing lifting drive cylinder 1963 is fixed on the pendulum supporting seat 191, and its output end is connected to the disc changing suction cup 1962. The disk changing drive mechanism 1961 includes a servo motor 19611 and a driving screw 19612. The servo motor 19611 is fixed on the workbench through a motor fixing seat. The driving screw 19612 is fixed on the support frame through a group of bearing seats. The driving screw 19612 is located at one end of the servo motor 19611 and is provided with a driven wheel. The output end of the servo motor 19611 is provided with a driving wheel, and the driving wheel is connected by a transmission belt. The pendulum support seat 191 is connected to the driving screw 19612 through a sliding seat.

[0071] like Figures 13 to 14The wafer conveying mechanism 18 shown includes a conveying support frame 181, a conveying driving mechanism 182, and a wafer transfer tool 183. The conveying support frame 181 is arranged on a workbench, the conveying driving mechanism 182 is arranged above the conveying support frame 181, and the wafer transfer tool 183 is arranged on the conveying driving mechanism 182 and is slidably connected to the driving rod of the conveying driving mechanism 182 through a sliding seat. The wafer transfer tool 183 includes a wafer clamp support frame 1831, and at least one wafer placement station is arranged on the top of the wafer clamp support frame 1831. The wafer placement station is provided with a wafer pusher 1832, and a vacuum adsorption mechanism 1833 is arranged on the outer side of the wafer pusher 1832. A pusher cylinder 1834 is arranged on the wafer clamp support frame 1831 below the wafer pusher 1832, and the output end of the pusher cylinder 1834 is connected to the wafer pusher 1832. The wafer loading device realizes automatic feeding through the wafer feeding mechanism, which has a high degree of automation, improves its feeding efficiency, and reduces the workload of staff. At the same time, the feeding positioning mechanism can position the wafer tray, which is convenient for the swing mechanism to transfer the wafers in the tray, and effectively improves the stability of the tray; the setting of the feeding positioning mechanism can position the left and right sides of the tray by driving the positioning clamp assembly through the positioning drive cylinder; the positioning drive cylinder can drive the mobile drive plate to adjust the position of the feeding positioning mechanism, and improve its positioning effect; the setting of the tray changing mechanism can move the empty tray to the specified position, so that loading and tray changing can be automated, reducing the workload of staff.

[0072] like Fig.16 The robot fixture 4 shown includes a robot, at least one wafer-taking fixture 42, at least one cylinder-taking fixture 43 and at least one finished product-taking fixture 44. A fixture mounting seat for installing the fixture is provided at the end of the robot. The wafer-taking fixture 42 and the cylinder-taking fixture 43 are reversely mounted on both sides of the fixture mounting seat 45, and the finished product-taking fixture 44 is arranged on the fixture mounting seat 45 at one end away from the robot. The robot fixture of the present invention optimizes the fixture structure at the robot end and integrates multiple fixture components on the same robot, so that the same robot fixture can meet the fixture handling needs of different products. At the same time, it can also reduce the investment in equipment costs and reduce the space occupied by the equipment. The at least one wafer-taking fixture, at least one cylinder-taking fixture and at least one finished product fixture allow the number of corresponding fixtures to be selected according to actual needs, so as to facilitate batch operation and improve the efficiency of clamping and handling. Fig.16The wafer removal fixture 42 shown includes a driving fixed frame 421, a fixing plate 422, an installation fixing plate assembly 423, a suction cup 424, a wafer pushing head 425 and a wafer pushing cylinder 426. The fixing plate 422 is arranged on one side of the driving fixed frame 421, and the two are connected by a group of connecting plates. The installation fixing plate assembly 423 is arranged on one side of the fixing plate 422, the suction cup 424 is arranged on the installation fixing plate assembly 423, the pushing head 425 is arranged on the inner side of the suction cup 424, the wafer pushing cylinder 426 is fixed to the side of the driving fixed frame 421 away from the suction cup 424, and the output end of the wafer pushing cylinder 426 is connected to the wafer pushing head 425; grooves are provided at both ends of the installation fixing plate assembly 422, and a first positioning guide column is provided in the groove, one end of the first positioning guide column is connected to the fixing plate 422, and the other end is connected to the driving fixed frame 421. The cylindrical clamp 43 comprises a cylindrical drive fixing frame 431, a cylindrical flat plate 432, a cylindrical fixing column 433, a group of cylindrical push heads 434 and a cylindrical push head cylinder 435. The cylindrical drive fixing frame 431 is connected through a clamp mounting seat 45. The cylindrical flat plate 432 is arranged between the cylindrical drive fixing frames 431. The cylindrical fixing column 433 is arranged on the cylindrical flat plate 432. The cylindrical flat plate 432 is provided with perforations on both sides of the cylindrical fixing column 433. The cylindrical push head 434 is arranged between the cylindrical drive fixing frame 431 and the cylindrical push head cylinder 435. The cylinder push head cylinder 435 is fixed on the cylinder drive fixing frame 431, and its output end is connected to the drive plate of the cylinder push head 434; the finished product clamp 44 includes a finished product fixing plate 441, a finished product advance and retreat cylinder 442, a clamping jaw assembly 443 and a material ejecting head round rod 444, the finished product advance and retreat cylinder 442 is fixed on the finished product fixing plate 441, the clamping jaw assembly 443 is connected to the finished product advance and retreat cylinder 442, and the material ejecting head round rod 444 is arranged on the side of the finished product advance and retreat cylinder 442. The finished product clamping jaw assembly 443 includes a clamping jaw driving block 4431 and a finished product clamping jaw 4432, the clamping jaw driving block 4431 is connected to the output end of the finished product advance and retreat cylinder 442, and the finished product clamping jaw 4432 is connected to the clamping jaw driving block 4431. The finished product clamping jaw 4432 is L-shaped.

[0073] The working method of a fully automatic insert injection molding loading and unloading inspection and packaging production line described in this embodiment is as follows: 1): first start the inspection device 2 to put the empty material tray on the top and lift it to the swinging position, and the positioning drive cylinder 3232 in the positioning mechanism 323 drives the positioning block 3231 to insert the positioning slots at both ends of the material tray to position the material tray; 2): start the component feeding device 1, that is, the vibration plate in the vibration plate feeding mechanism sends the cylinder through the direct vibration flow to the first groove of the product placement rack 1211 at the first station on the inspection frame 121 of the discharge port until it is on the same horizontal line with the second groove, and the pushing drive cylinder 1231 in the pushing mechanism 123 drives the pushing member 1232 to move forward, pushes the cylinder into the second groove, and is arranged below the clamping device 124;

[0074] 3): The lifting drive cylinder 1254 drives the vertical drive plate 1253 to drive the clamping device 124 to descend, the first clamping drive cylinder 12411 drives the first clamping claw 12412 to clamp the cylinder, and the lifting drive cylinder 1254 drives the vertical drive plate 1253 to rise; the horizontal drive cylinder 1252 drives the horizontal drive plate 1251 to move forward, so that the first clamping claw 12412 clamps the cylinder and moves it above the second station; 4): The lifting drive cylinder 1254 drives the vertical drive plate 1253 to drive the clamping device 124 to descend, and put the cylinder into the second station. The photoelectric sensor will detect the angle of the cylinder. If the angle does not meet the requirements, the first correction motor 1213 will drive the cylinder to rotate to a suitable angle; then the detection mechanism 122 will The front and back of the cylinder are detected; 5): the lifting drive cylinder 1254 drives the vertical drive plate 1253 to drive the clamping device 124 to descend, and the clamping rotating mechanism 1242 clamps the product, and the lowering drive cylinder 1254 drives the vertical drive plate 1253 to drive the clamping rotating mechanism 1242 to rise; 6): the horizontal drive cylinder 1252 drives the horizontal drive plate 1251 to move forward, so that the rotating drive cylinder 12421 and the second clamping jaw 12422 move to the third station, the rotating drive cylinder 12421 drives the second clamping jaw 12422 to rotate 180°, and the lifting drive cylinder 1254 drives the vertical drive plate 1253 to drive the clamping rotating mechanism 1242 to descend, and place the product in the third station; the photoelectric sensor detects the angle of the cylinder Detection, if the angle does not meet the requirements, the second correction motor 1214 drives the cylinder to rotate to the specified angle, and then the detection mechanism detects the product; the cylinder after detection is transported and placed to the placement station corresponding to the placement tooling 15 by the placement mechanism 13, and the cylinder is placed on the outside of the inner support frame 154, that is, the lateral adjustment component 1321 drives the longitudinal adjustment component 1322 and the placement component 133 to move to the third station; 7): the longitudinal adjustment drive cylinder 13222 in the longitudinal adjustment component 1322 drives the longitudinal drive frame 13223 and the placement component 133 to move downward, and the clamping drive cylinder 13331 in the clamping component 1333 drives the clamping claw 13332 to clamp the cylinder; the longitudinal adjustment drive cylinder 13222 drives The placement component 133 clamps the cylinder and moves it up, and the lateral adjustment component 1321 drives the longitudinal adjustment component 1322 and the placement component 133 to move to the corresponding placement station on the placement tooling 15; 8): The rotary drive cylinder 1331 rotates to rotate the placement component 133 holding the cylinder to a specified angle; until the corresponding placement station on the placement tooling 15 is filled with products; the conveying drive mechanism 143 in the loading conveying mechanism 14 drives the placement tooling 15 to move along the conveying guide rail 142 to the position to be clamped by the robot fixture 4; 9): The tray changing lifting drive cylinder 1963 drives the tray changing suction cup 1962 to descend, and the tray changing suction cup 1962 sucks the material tray, and the tray changing lifting drive cylinder 1963 drives the tray changing suction cup 1962 to rise with the sucked material tray;The servo motor 19611 in the disc changing drive mechanism 1961 drives the driving screw 19612 to drive the pendulum support seat 191 to move. During this process, the disc changing suction cup 1962 will drive the material tray to move above the lifting mechanism 162, and the disc changing lifting drive cylinder 1963 drives the disc changing suction cup 1962 to lower the sucked wafer material tray 161 to the top of the lifting frame 163; 10): The lifting mechanism 162 lifts the wafer material tray 161 loaded with wafers to the positioning clamping claw assembly 173, and the positioning drive cylinder 1712 supports the moving drive plate 1711, so that the positioning clamping claw assemblies 173 on both sides press the wafer material tray 161; 11): The horizontal moving drive assembly drives the pendulum vertical mounting plate 193 and the pendulum lifting drive assembly arranged thereon. 194 and the ornament mechanism 195 move together to the top of the wafer tray 161; the ornament lifting drive component 194 drives the ornament mechanism 195 to descend, and the suction cup in the wafer grabbing component 1953 in the ornament mechanism 195 sucks the wafer; 12): the ornament lifting drive component 194 drives the ornament mechanism 195 to rise, and the lateral movement drive component drives the ornament vertical mounting plate 193 and the ornament lifting drive component 194 and the ornament mechanism 195 disposed thereon. The wafer sucked by the move to the wafer transfer tooling 183, and the wafers are placed in the corresponding positions in turn; the conveying drive mechanism 182 drives the wafer transfer tooling 183 to convey the wafer to the designated position, waiting for the robot fixture 4 to grab it; 13): the robot fixture 4 clamps the wafer and the cylinder, that is, it runs When the cylinder and wafer are to be clamped, the robot descends the wafer clamp 42 to move the wafer transfer fixture 183, the vacuum suction on the wafer transfer fixture 183 is closed, and the push cylinder 1834 drives the wafer push head 1832 to push the wafer toward the wafer clamp 42, the suction cup 424 adsorbs the wafer, and the positioning pin on the wafer clamp 42 positions the wafer; 14): The robot drives the wafer clamp 42 to leave the safe position and rotate 180°, and the robot descends the cylinder clamp 43 to the top of the placement fixture 15; the lifting drive cylinder 155 drives the push head 156 to push the cylinder toward the cylinder clamp 43, and the cylinder fixing column 433 in the cylinder clamp 43 fixes the cylinder; the robot retreats and waits for the injection molding machine 5 to open the mold and enter the mold; 15): The finished product advance and retreat cylinder 442 in the finished product fixture 44 moves forward, the clamping claw assembly 443 clamps the product ejected from the mold, and at the same time the ejecting head round rod 444 pushes off the product head, and the finished product advance and retreat cylinder 442 retreats; 16): The robot drives the cylinder fixture 43 to the cylinder position of the mold, the cylinder push head cylinder 435 drives the cylinder push head 434 to move, and the cylinder is sent into the mold through the cylinder push head 434, and the cylinder push head cylinder 435 retreats; 17): The robot drives the wafer fixture 42 to the wafer position of the mold, the wafer push cylinder 426 drives the wafer push head 425 to move, and the wafer push head 425 sends the wafer into the mold; 18): The robot exits the mold and runs to the top of the finished product placement tooling 212 of the detection equipment 2, and the robot leaves after the finished product is put down;The horizontal moving mechanism 211 drives the placement tooling 212 to move to the bottom of the transport component 224; 19): The transport lifting drive cylinder 2241 in the transport component 224 drives the transport adapter frame 2242 to move downward, and the transport adapter frame 2242 drives the three-claw drive cylinder 2243 and the transport clamp 2244 to descend to the product, and the three-claw drive cylinder 2243 drives the transport clamp 2244 to grab the product, and the transport lifting drive cylinder 2241 drives the transport adapter frame 2242 to rise, and driven by the transport adapter frame 2242, the transport clamp 2244 drives the product to rise together; the transport drive mechanism 223 drives the transport component 224 to move to the waiting material placement frame 232 of the waiting material platform 23; 20): The lifting drive cylinder 245 drives the flipping mechanism 24 The flipping jaw assembly 243 in the turntable assembly moves to the product on the material placement rack 232, the flipping jaw assembly 243 clamps the product, and the flipping drive cylinder 242 drives the flipping jaw assembly 243 to flip the product 180° to the inspection station, and the finished product to be inspected is placed on the placement plate 251; the flipping drive cylinder 242 reverses 180° and returns to its original position; 21): the driving mechanism in the turntable assembly 25 drives the turntable to rotate, and rotates the product in the placement plate 251 to the cylinder gauge inspection station; the positioning lifting drive cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to descend and fix the cylinder; 22): the first inspection lifting drive mechanism 262 drives the first inspection mechanism 263 to descend to a suitable position, and the first inspection mechanism 263 inspects the product The product is inspected, and after the inspection, the first inspection lifting drive mechanism 262 will drive the first inspection mechanism 263 to return to the initial position; the positioning lifting drive cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to rise, so that the fixed plate 283 is separated from the cylinder; 23): the drive mechanism in the turntable assembly 25 drives the disc to rotate, and rotates the cylinder to the stop gauge inspection station; the positioning lifting drive cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to descend and fix the cylinder; the second inspection lifting drive mechanism 272 will drive the second inspection mechanism 273 to descend to a suitable position, and the second inspection mechanism 273 inspects the product. After the inspection, the second inspection lifting drive mechanism 272 will drive the second inspection mechanism 273 to return to the initial position; The positioning lifting drive cylinder 284 in the cylinder positioning mechanism 28 drives the fixed plate 283 to rise, so that the fixed plate 283 is separated from the cylinder; 24): the driving mechanism in the turntable assembly 25 drives the disc to rotate, and rotates the cylinder to the waiting position; the lifting drive cylinder 2941 drives the clamping claw drive cylinder 2942 and a group of clamping claws 2943 to descend and clamp the finished product, and the lifting drive cylinder 2941 then drives the clamping claw drive cylinder 2942 and a group of clamping claws 2943 and the clamped finished product to rise together, and the rotating drive cylinder 292 drives the rotating drive frame 293 and the rotating clamping claw assembly 294 to rotate 180° to place the product on the waiting platform, and the defective products are respectively placed in the through gauge defective product sorting rack and the stop gauge defective product sorting rack to enter the corresponding through gauge defective opening and stop gauge defective opening;25): The placing transverse shifting module 372 drives the placing mechanism 373 to move above the loading platform, the placing lifting driving cylinder 3731 drives the placing driving cylinder 3733 and the placing clamping claw 3734 to move downward, the placing driving cylinder 3733 drives the placing clamping claw 3734 to clamp the finished product, the placing lifting driving cylinder 3731 rises, and the placing transverse shifting module 372 drives the placing mechanism 373 and the clamped finished product to move above the tray; in this process, the tray lifting mechanism 36 lifts the empty tray to the material placing station, and the positioning driving cylinder 3232 in the positioning mechanism 323 drives the positioning block 3231 to insert into the positioning slots at both ends of the tray to position the tray; the placing lifting driving cylinder 3731 descends, and the placing driving cylinder 3 733 drives the placing clamp 3734 to place the finished product into the cavity of the tray; 26) Repeat the above steps until the tray is full, the servo motor 331 in the position adjustment drive mechanism 33 drives the screw 332 to rotate, the screw 332 drives the drive seat 333 to drive the drive frame 34 to move along the slide rail 31, during which the drive frame 34 will drive the tray moving tooling 32 and the tray on it to move to the full tray position; 27): The tray lifting mechanism 36 drives the tray bracket 35 to rise until the tray bracket 35 holds the tray, the positioning drive cylinder 3232 drives the positioning block 3231 to return to the initial position, and the tray lifting mechanism 36 drives the tray bracket 35 to descend to the specified position with the tray full of products. ;

Claims

1. A workpiece inspection and packaging device, characterized in that: include: A frame, wherein a workbench is provided on the frame, a loading station, a testing station, and a placing station are provided on the workbench, and a perforation is provided at the placing station; The loading station is provided with a material discharging mechanism (21), a workpiece conveying mechanism (22), a material waiting platform (23) and a turning mechanism (24); the material discharging mechanism (21) is arranged on the loading station; the workpiece conveying mechanism (22) is arranged on one side of the material discharging mechanism (21); the material waiting platform (23) is arranged on a workbench and on one side of the material discharging mechanism (21) and cooperates with the workpiece conveying mechanism (22); the turning mechanism (24) is arranged on a side of the material waiting platform (23) away from the workpiece conveying mechanism (22); The inspection station is provided with a turntable assembly (25), an inspection mechanism, a cylinder positioning mechanism (28) and a feeding mechanism (29), wherein the inspection mechanism comprises a cylinder through gauge inspection mechanism (26) and a cylinder stop gauge inspection mechanism (27), the turntable assembly (25) is arranged on a workbench, and a group of placement plates (251) for placing products are provided on the turntable assembly (25), and are arranged on one side of the turning mechanism (24); the cylinder through gauge inspection mechanism (26) is arranged at the cylinder through gauge inspection station; the cylinder stop gauge inspection mechanism (27) is provided at the cylinder through gauge inspection station; The gauge detection mechanism (27) is arranged at the cylinder stop gauge detection station; the cylinder positioning mechanism (28) is arranged between the cylinder through gauge detection mechanism (26) and the cylinder stop gauge detection mechanism (27), and the cylinder through gauge detection mechanism (26), the cylinder stop gauge detection mechanism (27) and the cylinder positioning mechanism (28) are all arranged on the outside of the turntable assembly (25); the unloading mechanism (29) is arranged on one side of the cylinder stop gauge detection mechanism (27); and defective product discharge ports are arranged on both sides of the unloading mechanism (29) on the workbench; The flip mechanism (24) comprises a flip fixing frame (241), a flip driving cylinder (242) and a flip clamping claw assembly (243); the flip fixing frame (241) is fixed on a workbench; the flip driving cylinder (242) is fixed on the flip fixing frame (241); and the flip clamping claw assembly (243) is connected to the flip driving cylinder (242); It also includes a lifting fixed frame (244) and a lifting drive cylinder (245), wherein the lifting fixed frame (244) is arranged on a workbench, a group of slide rails are arranged on the lifting fixed frame (244), the flip fixed frame (241) is slidably connected to the slide rails via a slider, and the lifting drive cylinder (245) is fixed on the lifting fixed frame (244), and its output end is connected to the top frame of the flip fixed frame (241); The flip clamp assembly (243) comprises a clamp driving cylinder 1 (2431) and a group of flip clamps (2432), wherein the clamp driving cylinder 1 (2431) is connected to the flip driving cylinder (242) via a flip driving frame, and the flip clamp (2432) is connected to the clamp driving cylinder 1 (2431); The placement station is provided with a tray positioning switching mechanism (3), the tray positioning switching mechanism (3) is arranged on both sides of the perforation, the workbench is provided with a group of slide rails (31) on both sides of the perforation, and also includes a tray moving tool (32), a position adjustment drive mechanism (33), a group of tray brackets (35) and a group of tray lifting mechanisms (36), the tray moving tool (32) is arranged at the perforation and is slidably connected to the slide rail (31) through a slider, the position adjustment drive mechanism (33) is arranged on the workbench, and the tray moving tool (32) is connected to the position adjustment drive mechanism (33) through a drive frame (34), the tray lifting mechanism (36) is arranged on the inner wall of the frame, and the tray bracket (35) is connected to the tray lifting mechanism (36) through a sliding seat; The tray moving tooling (32) comprises a group of longitudinal support plates (321), a group of transverse support plates (322), and a group of positioning mechanisms (323); the longitudinal support plates (321) are arranged at two ends of the perforation relative to each other, and a padding block is arranged below the longitudinal support plates (321); the padding block is slidably connected to the slide rail (31) via a slider; the transverse support plates (322) are arranged on the two longitudinal support plates (321); and the positioning mechanism (323) is arranged on the longitudinal support plates (321); It also includes a workpiece placing device 37, and the workpiece placing device (37) is arranged on the workbench.

2. The workpiece detection and packaging equipment according to claim 1, characterized in that: The material discharging mechanism (21) comprises a horizontal moving mechanism (211) and a placing tool (212); the horizontal moving mechanism (211) is arranged on a workbench; the placing tool (212) is arranged on the horizontal moving mechanism (211); the two are slidably connected; and at least one placing station is arranged on the placing tool (212); The workpiece transport mechanism (22) comprises a transport fixing frame (221), a transport mounting frame (222), a transport driving mechanism (223) and a transport assembly (224); the transport fixing frame (221) is arranged on a workbench; the transport mounting frame (222) is arranged on the transport fixing frame (221); the transport driving mechanism (223) is arranged on the transport mounting frame (222); and the transport assembly (224) is connected to the transport driving mechanism (223); The transport assembly (224) comprises a transport lifting drive cylinder (2241), a transport adapter frame (2242), a three-claw drive cylinder (2243) and a transport clamp (2244); the transport lifting drive cylinder (2241) is fixed on a sliding plate (2245); the sliding plate (2245) is slidably connected to a screw rod in the transport drive mechanism (223) via a sliding seat; the transport adapter frame (2242) is connected to the transport lifting drive cylinder (2241); the three-claw drive cylinder (2243) is fixed on the transport adapter frame (2242); and the transport clamp (2244) is connected to the three-claw drive cylinder (2243).

3. The workpiece detection and packaging equipment according to claim 1, characterized in that: The cylindrical gauge detection mechanism (26) comprises a first detection fixed frame (261), a first detection lifting drive mechanism (262) and a first detection mechanism (263), wherein the first detection fixed frame (261) is fixed on a workbench, the first detection lifting drive mechanism (262) is installed on the first detection fixed frame (261), and a group of slide rails are provided on a side of the first detection fixed frame (261) away from the first detection lifting drive mechanism (262), and a lifting plate in the first detection mechanism (263) is connected to the first detection lifting drive mechanism (262) via a group of slide blocks; The cylinder stop gauge detection mechanism (27) comprises a second detection fixed frame (271), a second detection lifting drive mechanism (272) and a second detection mechanism (273), wherein the second detection fixed frame (271) is fixed on a workbench, the second detection lifting drive mechanism (272) is installed on the second detection fixed frame (271), and a group of slide rails are provided on a side of the second detection fixed frame (271) away from the second detection lifting drive mechanism (272), and a lifting plate in the second detection mechanism (273) is connected to the second detection lifting drive mechanism (272) via a group of slide blocks; The cylinder positioning mechanism (28) comprises a positioning fixing frame (281), a fixed adapter frame (282), a fixed plate (283) and a positioning lifting drive cylinder (284); the positioning fixing frame (281) is fixed on a workbench, and a group of slide rails are provided on the positioning fixing frame (281); the fixed adapter frame (282) is slidably connected to the slide rails via a group of sliders; the fixed plate (283) is connected to the fixed adapter frame (282); the positioning lifting drive cylinder (284) is fixed on the positioning fixing frame (281), and an output end thereof is connected to the fixed adapter frame (282); and a group of positioning holes (2831) are provided on the fixed plate (283).

4. The workpiece detection and packaging equipment according to claim 1, characterized in that: The unloading mechanism (29) comprises a rotating support frame (291), a rotating drive cylinder (292), a rotating drive frame (293) and a rotating clamping claw assembly (294); the rotating support frame (291) is fixed on a workbench; the rotating drive cylinder (292) is connected to the rotating support frame (291); the rotating drive frame (293) is connected to the output end of the rotating drive cylinder (292); and the rotating clamping claw assembly (294) is connected to the rotating drive frame (293); The rotating clamping jaw assembly (294) comprises a second lifting drive cylinder (2941), a second clamping jaw drive cylinder (2942) and a group of clamping jaws (2943), wherein the second lifting drive cylinder (2941) is fixed on the rotating drive frame (293), the second clamping jaw drive cylinder (2942) is connected to the second lifting drive cylinder (2941) via an adapter frame, and the clamping jaws (2943) are connected to the second clamping jaw drive cylinder (2942); and further comprises a defective product sorting frame (295), wherein the defective product sorting frame (295) comprises a through-gauge defective product sorting frame and a stop-gauge defective product sorting frame, wherein the through-gauge defective product sorting frame and the stop-gauge defective product sorting frame are arranged in opposite directions.

5. The workpiece detection and packaging equipment according to claim 1, characterized in that: The positioning mechanism (323) comprises a group of positioning blocks (3231) and a positioning drive cylinder (3232); a group of transverse slide rails (3233) are provided on the longitudinal support plate (321); the two positioning blocks (3231) are connected via a linkage sliding seat (3234); the linkage sliding seat (3234) is slidably connected to the transverse slide rail (3233) via a slider; the positioning drive cylinder (3232) is fixed on the longitudinal support plate (321); an output end of the positioning drive cylinder (3232) is connected to the linkage sliding seat (3234); and the positioning ends of the positioning blocks (3231) are matched with positioning slots at both ends of the material tray.

6. The workpiece detection and packaging equipment according to claim 1, characterized in that: The tray lifting mechanism (36) comprises a group of vertical slide rails (361), a lifting screw rod (362) and a lifting drive motor (363); the vertical slide rails (361) are arranged relative to the inner wall of the frame; the lifting screw rod (362) is arranged between the vertical slide rails (361); the lifting drive motor (363) is fixed to the frame via a motor mounting seat, and its output end is arranged on the main driving wheel; the output end of the lifting screw rod (362) is provided with a driven wheel; the main driving wheel and the driven wheel are connected via a belt drive.

7. The workpiece detection and packaging equipment according to claim 1, characterized in that: The tray bracket (35) comprises a group of support brackets (351) and a placement rack (352); the support bracket (351) is connected to a vertical slide rail (361) via a slide block and is connected to a lifting screw rod (362) via a slide seat; the placement rack (352) is arranged on the top of the support bracket (351).

8. The workpiece detection and packaging equipment according to claim 1, characterized in that: The workpiece placement device (37) comprises a placement fixing frame (371), a placement transverse movement module (372) and a placement mechanism (373), wherein the placement fixing frame (371) is fixed on a frame, the placement transverse movement module (372) is arranged on the placement fixing frame (371), and the placement mechanism (373) is slidably connected to the placement transverse movement module (372) via a second sliding plate; The placing mechanism (373) comprises a placing lifting drive cylinder (3731), a placing adapter frame (3732), a placing drive cylinder (3733) and a placing clamp (3734); the placing lifting drive cylinder (3731) is fixed on the second sliding plate; the placing adapter frame (3732) is connected to the placing lifting drive cylinder (3731); the placing drive cylinder (3733) is installed on the placing adapter frame (3732); and the placing clamp (3734) is connected to the placing drive cylinder (3733).

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