Feeding pin system for injection molded parts and working method thereof

Abstract

The present invention relates to a feeding and insertion system for injection molded parts and a working method thereof. A feeding and insertion system for injection molded parts comprises several feeding and insertion modules, and a conveying module, wherein the conveying module comprises a first slider conveying unit, a first grabbing and transferring unit, several second slider conveying units, and several second grabbing and transferring units; a single feeding and insertion module comprises at least one pin row feeding unit, and a pin insertion unit, wherein the single pin row feeding unit comprises a pin row separation device, an equidistant conveying device, and a punching device that are sequentially connected, and the pin insertion unit comprises a rotating motor, the output end of which is connected to a rotating base plate, and the top of the rotating base plate is equipped with at least one insertion device, and the single insertion device is used to clamp the pins from the output end of the corresponding punching device. It can realize fully automatic and stable pin insertion, thereby reducing labor costs, shortening production time, improving production efficiency, reducing scrap, and ensuring stable product quality.

Description

Technical Field

[0001] The present invention relates to the technical field of injection molding, in particular to a feeding pin system for injection molded parts and a working method thereof. Background Art

[0002] Pin headers serve as interfaces between injection molded parts and external devices or systems, enabling the transmission of electrical signals, data, or fluids. During the injection molding process, these pin headers are usually fixed to the slider of the injection mold. This allows the pin headers to be placed inside the mold before injection molding. Finally, during demoulding, the slider is separated from the pin header, securing the pin header to the molded part and making it an integral part of the molded part.

[0003] In the related art, since the pin header raw materials are usually packaged in the form of pin header tape, which includes a pin header tape and an isolation film, and the isolation film is covered on one end surface of the pin header tape, when inserting the pins into the mold slider, the isolation film must first be separated from the pin header tape, and then the pin header tape needs to be separated into independent pins, and then the pins are bent 90° and finally inserted into the corresponding positions of the mold slider.

[0004] However, the above-mentioned pin insertion operations on the mold slider need to be completed manually. Due to the complex operation process and numerous steps, problems such as pin deformation and missing pins often occur in the actual production process, resulting in a high product scrap rate, long production time, low production efficiency, high labor costs, and unstable product quality. In addition, when faced with the working conditions of arranging multiple different types of pins on the same injection molded part, the above-mentioned problems are more serious. Summary of the Invention

[0005] In response to the shortcomings of the above-mentioned existing production technology, the applicant provides a feeding and insertion pin system for injection molded parts and a working method thereof, which can realize fully automatic and stable pin insertion, thereby reducing labor costs, shortening production time, improving production efficiency, reducing scrap, and ensuring stable product quality.

[0006] The technical solutions adopted in the present invention are as follows:

[0007] A feeding pin system for injection molded parts, comprising several feeding pin modules and a conveying module, wherein the conveying module comprises a first slider conveying unit, a first grabbing and transferring unit, several second slider conveying units, and several second grabbing and transferring units; the first slider conveying unit is used for feeding the mold slider, the first grabbing and transferring unit is used for transferring the mold slider at the discharge end of the first slider conveying unit to the feed end of the corresponding second slider conveying unit, a single first slider conveying unit is used for conveying workpieces inside the corresponding feeding pin module, and a single second grabbing and transferring unit is used for conveying workpieces at the discharge end of the previous feeding pin module to the feed end of the next feeding pin module;

[0008] A single feeding pin module includes at least one pin loading unit and a pin insertion unit. The single pin loading unit includes a pin separation device, an equidistant conveying device and a punching device arranged in sequence. The single pin separation device is used to remove the isolation film attached to the surface of the pin strip and convey the pin strip to the feeding end of the equidistant conveying device. The single equidistant conveying device conveys the pin strip forward according to the set distance, so that the corresponding pin strip advances equidistantly in the punching device. The single punching device is used to cut the pin strip into independent pins and bend the pins 90°. The pin insertion unit includes a rotating motor, the output end of the rotating motor is connected to the rotating base plate, and the top of the rotating base plate is equipped with at least one insertion device. The single insertion device is used to clamp the pin from the output end of the corresponding punching device, and the rotating motor drives the rotating base plate to rotate, thereby driving the corresponding insertion device to rotate, so that the insertion device inserts the pin into the workpiece conveyed by the corresponding second slider conveying unit.

[0009] As a further improvement of the above technical solution:

[0010] The first slider conveying unit includes a conveyor belt device, and the discharge end of the conveyor belt device is equipped with a slider adjustment device; the single second slider conveying unit includes a screw feeding device, and the working end of the screw feeding device is equipped with a conveying seat device; the first grabbing and transferring unit includes a first linear slide, and the single second grabbing and transferring unit includes a second linear slide, and the output end of the single second linear slide and the output end of the first linear slide are respectively connected to the grabbing device.

[0011] The structure of a single grasping device is as follows: it includes a vertically arranged grasping connecting plate, a lifting cylinder is fixed on the end face of the grasping connecting plate, the output end of the lifting cylinder is connected to the grasping mounting seat, and the grasping mounting seat is fixed with grasping cylinders arranged opposite to each other in the horizontal direction, and the output ends of the two grasping cylinders are respectively connected to the clamping claws; the lifting cylinder drives the mounting seat to make reciprocating linear motion in the vertical direction, thereby driving the two clamping claws to approach or move away from the workpiece, and the two grasping cylinders simultaneously drive the corresponding clamping claws to make linear motion close to or away from the workpiece, thereby clamping or releasing the workpiece.

[0012] The structure of a single conveying seat device is as follows: it includes a conveying base, the top of the conveying base is equipped with several conveying positioning pins and several L-shaped conveying positioning blocks, the conveying positioning blocks locate the corners of the mold slider, and the conveying positioning pins correspond to the positioning holes on the mold slider; the bottom of the conveying base is equipped with an L-shaped conveying sensor plate; a clamping cylinder is fixed on the conveying base, the output end of the clamping cylinder is connected to the clamping seat, the clamping cylinder extends, thereby driving the clamping seat to fit the side end face and top end face of the mold slider, thereby clamping the workpiece.

[0013] The structure of the slider adjustment device is as follows: it includes a first fixed seat arranged in front of the mold slider along the conveying direction of the mold slider, and a second fixed seat fixed to one side of the conveyor belt device, the arrangement direction of the first fixed seat and the arrangement direction of the second fixed seat are perpendicular to each other; it also includes an adjustment cylinder fixed to the other side of the conveyor belt device, the output end of the adjustment cylinder is connected to the movable seat, the movable seat and the second fixed seat are arranged in parallel with each other, and the adjustment cylinder drives the movable seat to move linearly towards or away from the second fixed seat, so that the discharge position of each mold slider on the conveyor belt device is the same.

[0014] The structure of a single needle row separation device is as follows: it includes a first turntable assembly, a second turntable assembly and a feed rack respectively connected to the discharge end of the first turntable assembly; the needle row raw material is wound on the first turntable assembly, the isolation film of the needle row raw material is wound on the second turntable assembly, and the needle row belt of the needle row raw material is received by the feed rack.

[0015] The structure of a single equidistant conveying device is as follows: it includes a mounting base arranged in the horizontal direction, a conveying trough for conveying the needle strip is provided on the top of the mounting base, and a positioning mounting seat and a conveying mounting seat arranged in the vertical direction are respectively provided on the top of the mounting base next to the conveying trough, the positioning mounting seat and the conveying mounting seat are arranged at intervals along the conveying direction of the needle strip, and the conveying mounting seat is arranged in front of the positioning mounting seat; a positioning cylinder is fixed on the positioning mounting seat, and the output end of the positioning cylinder is connected to the positioning connecting seat, and a plurality of first positioning columns are fixed at the bottom of the positioning connecting seat, and the positioning cylinder drives the positioning connecting seat to perform linear motion in the vertical direction, thereby driving the first positioning column to insert into the corresponding needle positioning hole on the needle strip or to disengage from the corresponding needle positioning hole; a first conveying cylinder is fixed on the mounting base, and the output end of the first conveying cylinder is connected to the conveying connecting seat The rod is connected to the conveying mounting seat, and a second conveying cylinder is fixed on the conveying mounting seat, and the output end of the second conveying cylinder is connected to the conveying connecting seat, and several second positioning columns are fixed to the bottom of the conveying connecting seat, and the second conveying cylinder drives the conveying connecting seat to perform linear motion in the vertical direction, thereby driving the second positioning column to insert into the corresponding needle row positioning hole on the needle row belt or to disengage from the corresponding needle row positioning hole; a first conveying limit block and a second conveying limit block arranged at intervals are fixed on the side wall of the mounting base, and one end of the conveying connecting rod is located between the first conveying limit block and the second conveying limit block; the first conveying cylinder retracts so that the conveying connecting rod is in contact with the first conveying limit block, and the first conveying cylinder extends so that the conveying connecting rod is in contact with the second conveying limit block, thereby driving the conveying mounting seat to move equidistantly through the conveying connecting rod, and then driving the needle row belt to advance equidistantly.

[0016] The structure of a single stamping device is as follows: it includes a stamping cylinder, and the output end of the stamping cylinder is connected to the stamping die through a stamping hinge assembly.

[0017] The structure of a single plug-in device is as follows: it includes a plug-in base, a plug-in motor is fixed on the plug-in base, the output end of the plug-in motor is connected to the plug-in screw, the outer circumference of the plug-in screw is equipped with a plug-in connecting seat, the top of the plug-in connecting seat is fixed with the plug-in mounting seat, the plug-in motor drives the plug-in screw to rotate, thereby driving the plug-in mounting seat to perform linear motion along the axial direction of the plug-in screw through the plug-in connecting seat; the top of the plug-in mounting seat is fixed with a plug-in fixing seat, the side of the plug-in fixing seat is provided with a square through hole, the top of the plug-in fixing seat is provided with a T-shaped slide groove, and the inner bottom wall surface of the T-shaped slide groove is provided with two first waist circular holes arranged in sequence and spaced apart, and the two first waist circular holes are both connected to the square through hole; the square A movable plate is installed in the square through hole, and two second waisted circular holes arranged relatively obliquely are provided on the end surface of the movable plate. The movable plate is connected to the output end of the plug-in cylinder, and the plug-in cylinder is fixed on the plug-in mounting seat; the two second waisted circular holes correspond one-to-one to the two first waisted circular holes, and a sliding pin is installed in a single first waisted circular hole and the corresponding second waisted circular hole at the same time. The top of the single sliding pin is connected to the T-shaped slider through a connecting pin, and the top of the single T-shaped slider is equipped with a clamp; the plug-in cylinder drives the movable plate to slide in the square through hole, so that the two sliding pins make a linear motion close to or apart, thereby driving the two T-shaped sliders to make a linear motion close to or apart along the length direction of the T-shaped slide groove, and then the two clamps clamp or release the pins.

[0018] A working method based on the above-mentioned injection molding feeding pin system includes the following steps:

[0019] S1. The pin header loading unit in each level of the pin loading module cuts and bends the corresponding pin header tape, thereby outputting the corresponding pins at the discharge end of each pin header loading unit;

[0020] At the same time, the mold slider is placed on the feeding end of the first slider conveying unit by the first external manipulator, and the mold slider is conveyed to the feeding end of the first grabbing and transferring unit by the first slider conveying unit;

[0021] S2. The mold slider is transferred to the inlet end of the second slider conveying unit corresponding to the first-stage feeding pin insertion module via the first grabbing and transferring unit. The mold slider is then driven forward by the second slider conveying unit, thereby transferring the mold slider to the working end of the first-stage feeding pin insertion module, thereby aligning the pin insertion position on the mold slider with the pin insertion position of the first-stage feeding pin insertion module;

[0022] S3. In the first-stage pin insertion module, the rotary motor drives the insertion device to rotate via the rotating base plate, causing the insertion device to pick up the corresponding pin from the discharge end of the corresponding pin header loading unit and then insert the pin into the corresponding insertion position on the mold slider, thereby obtaining a semi-finished workpiece;

[0023] S4. After the semi-finished workpiece is inserted into the pin-insertion module at each level, it is transferred step by step to the next-level loading and insertion module through the corresponding second grasping and transferring unit until it reaches the last-level loading and insertion module and completes the insertion, thereby obtaining a finished workpiece, which is then unloaded by the second external manipulator.

[0024] The beneficial effects of the present invention are as follows:

[0025] The present invention has a compact and reasonable structure and is easy to operate. By arranging a feeding pin module and a conveying module, it can automatically and accurately complete the insertion of multiple pins on the mold slider. Specifically, it can insert seven types of pins totaling 52 pins on the mold slider, and can avoid problems such as mixed insertion, missed insertion, and pin deformation that occur when manual pin insertion occurs. It can effectively save manpower, improve production efficiency, and increase the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the present invention.

[0027] Figure 2 It is a structural schematic diagram of the conveying module in the present invention.

[0028] Figure 3 It is a structural schematic diagram of the first slider conveying unit in the present invention.

[0029] Figure 4 It is a structural schematic diagram of the first grabbing and transferring unit in the present invention.

[0030] Figure 5 It is a structural schematic diagram of the second slider conveying unit and the second grabbing and transferring unit in the present invention.

[0031] Figure 6 It is a structural schematic diagram of the grabbing device in the present invention.

[0032] Figure 7 for Figure 6 main view.

[0033] Figure 8 It is a structural schematic diagram of the conveying seat device in the present invention.

[0034] Figure 9 It is a structural schematic diagram of the needle arrangement and loading unit in the present invention.

[0035] Figure 10It is a structural schematic diagram of the medium-distance conveying device of the present invention.

[0036] Figure 11 for Figure 10 Top view of .

[0037] Figure 12 This is an exploded view of the medium-distance conveying device of the present invention.

[0038] Figure 13 It is a structural schematic diagram of the pin unit in the present invention.

[0039] Figure 14 It is an exploded view of the insertion and removal device in the present invention.

[0040] Figure 15 It is a schematic diagram of the installation structure of the plug-in fixing seat and the movable plate in the present invention.

[0041] Figure 16 It is a top view of the movable plate in the present invention.

[0042] Figure 17 It is a structural schematic diagram of the finished workpiece in the present invention.

[0043] Among them: 1. First linear slide; 2. Second linear slide; 3. Grabbing device; 4. Support frame; 5. Screw feeding device; 6. Conveyor seat device; 7. Conveyor belt device; 8. Slider adjustment device; 9. Pin guide rail; 10. Pin stripping device; 11. Equidistant conveying device; 12. Punching device; 13. Insertion and extraction device; 14. Rotating motor; 15. Rotating bottom plate; 16. Mold slide; 17. Grabbing slot; 18. Pin strip belt; 19. Pin strip positioning hole; 20. Pin pin; 21. Feeding pin module; 22. Conveying module

[0044] 301, grabbing connecting plate; 302, lifting cylinder; 303, clamping claw; 304, grabbing cylinder; 305, grabbing mounting seat; 306, grabbing connecting seat; 307, grabbing slide rail; 308, grabbing slider;

[0045] 501, feed motor; 502, feed transmission assembly; 503, feed screw; 504, feed slide rail; 505, feed slider; 506, feed shaft sleeve;

[0046] 601, clamping cylinder; 602, clamping seat; 603, conveying base; 604, conveying sensor plate; 605, conveying positioning pin; 606, conveying positioning block;

[0047] 801, first fixed seat; 802, second fixed seat; 803, movable seat; 804, adjustment cylinder; 805, adjustment slot;

[0048] 1001, first turntable assembly; 1002, second turntable assembly; 1003, feeding rack;

[0049] 1101, mounting base; 1102, conveying trough; 1103, feeding rack; 1104, detection sensor; 1105, positioning mounting base; 1106, positioning cylinder; 1107, positioning connecting base; 1108, first positioning column; 1109, conveying mounting base; 1110, conveying connecting base; 1111, first conveying cylinder; 1112, second conveying cylinder; 1113, first conveying stop block; 1114, second conveying stop block; 1115, conveying connecting rod; 1116, second positioning column;

[0050] 1201, stamping cylinder; 1202, stamping hinge assembly; 1203, stamping die;

[0051] 1301. Plug in the base; 1302. Plug in the motor; 1303. Plug in the transmission assembly; 1304. Plug in the slide rail; 1305. Plug in the slider; 1306. Plug in the screw rod; 1307. Plug in the connecting seat; 1308. Plug in the mounting seat; 1309. Plug in the cylinder; 1310. Plug in the fixing seat; 1311. First waist circular hole; 1312. Second waist circular hole; 1313. Movable plate; 1314. T-shaped slide groove; 1315. Square through hole; 1316. Clamp; 1317. Sliding pin; 1318. Connecting pin; 1319. T-shaped slider. DETAILED DESCRIPTION

[0052] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0053] The structure and function of the present invention are as follows:

[0054] like Figures 1-16As shown, the injection molding feeding pin system of this embodiment includes several feeding pin modules 21 and a conveying module 22. The conveying module 22 includes a first slider conveying unit, a first grabbing and transferring unit, several second slider conveying units, and several second grabbing and transferring units; the first slider conveying unit is used to feed the mold slider 16, and the first grabbing and transferring unit is used to transfer the mold slider 16 at the discharge end of the first slider conveying unit to the corresponding second slider conveying unit feeding end. A single first slider conveying unit is used to transport the workpiece inside the corresponding feeding pin module 21, and a single second grabbing and transferring unit is used to transport the workpiece at the discharge end of the previous feeding pin module 21 to the feeding end of the next feeding pin module 21; a single feeding pin module 21 includes at least one pin row feeding unit and a pin unit. A single pin row feeding unit includes a pin row separation device 10, an equidistant conveying device 11 and a stamping press arranged in sequence. Device 12, a single pin stripping separation device 10 is used to remove the isolation film attached to the surface of the pin strip 18, and convey the pin strip 18 to the feeding end of the equidistant conveying device 11, and the single equidistant conveying device 11 conveys the pin strip 18 forward according to the set distance, so that the corresponding pin strip 18 advances equidistantly in the punching device 12, and the single punching device 12 is used to cut the pin strip 18 into independent pins 20 and bend the pins 20 90°. The pin insertion unit includes a rotating motor 14, and the output end of the rotating motor 14 is connected to the rotating base plate 15. The top of the rotating base plate 15 is equipped with at least one insertion device 13. The single insertion device 13 is used to clamp the pin 20 from the output end of the corresponding punching device 12. The rotating motor 14 drives the rotating base plate 15 to rotate, thereby driving the corresponding insertion device 13 to rotate, and then the insertion device 13 inserts the pin 20 into the workpiece conveyed by the corresponding second slider conveying unit. The injection molding part feeding pin system of this embodiment can automatically and accurately complete the insertion of multiple pins 20 on the mold slider 16 by providing a feeding pin module 21 and a conveying module 22. Figure 17 As shown, seven types of pins 20 totaling fifty-two can be inserted into the mold slider 16, thereby avoiding problems such as mixed insertion, missed insertion, and pin deformation caused by manual pin insertion, which can effectively save manpower, improve production efficiency, and increase yield rate.

[0055] like Figure 2 As shown, the first slider conveying unit includes a conveyor belt device 7, and the discharge end of the conveyor belt device 7 is equipped with a slider adjustment device 8; the conveyor belt device 7 is used to load the empty mold slider 16, and the conveyor belt device 7 adopts a conventional belt conveyor product on the market; the slider adjustment device 8 is used to position and center the mold slider 16 at the discharge end of the conveyor belt device 7, thereby ensuring the position accuracy of the mold slider 16 at the discharge end of the conveyor belt device 7, so as to improve the grasping accuracy of the first grasping and transferring unit;

[0056] like Figure 3As shown, the structure of the slider adjustment device 8 is as follows: it includes a first fixed seat 801 arranged in front of the mold slider 16 along the conveying direction of the mold slider 16, and a second fixed seat 802 fixed to one side of the conveyor belt device 7, and the arrangement direction of the first fixed seat 801 and the arrangement direction of the second fixed seat 802 are perpendicular to each other; it also includes an adjustment cylinder 804 fixed to the other side of the conveyor belt device 7, the output end of the adjustment cylinder 804 is connected to the movable seat 803, the movable seat 803 and the second fixed seat 802 are arranged in parallel at intervals, and the adjustment cylinder 804 drives the movable seat 803 to move linearly towards or away from the second fixed seat 802, so that the discharge position of each mold slider 16 on the conveyor belt device 7 is the same. The conveyor belt device 7 conveys the mold slider 16 forward so that the front end face of the mold slider 16 is fitted with one side end face of the first fixed seat 801, thereby performing the first repositioning of the mold slider. By extending the adjustment cylinder 804 to drive the movable seat 803 forward, the opposite side end faces of the mold slider 16 are respectively fitted with the side end faces of the movable seat 803 and the second fixed seat 802, thereby performing the second repositioning of the mold slider 16. Through double positioning, it is ensured that the discharge position of each mold slider 16 on the conveyor belt device 7 is the same; in addition, an adjustment groove 805 is provided on the end face of the first fixed seat 801 that is fitted with the mold slider 16. When the mold slider 16 is fitted with the first fixed seat 801, it is stuck in the adjustment groove 805, thereby further improving its position adjustment accuracy.

[0057] like Figure 2 As shown, a single second slider conveying unit includes a screw feeding device 5, and a conveying seat device 6 is equipped at the working end of the screw feeding device 5; the screw feeding device 5 is used to drive the conveying seat device 6 to perform reciprocating linear motion, and the conveying seat device 6 is used to convey workpieces (including empty mold sliders 16, semi-finished workpieces, and finished workpieces); Figure 5 The structure of the single screw feeding device 5 is as follows: it includes a feed mounting seat, a feed slide rail 504 is fixed on the top of the feed mounting seat, and several feed sliders 505 are installed on the feed slide rail 504. The top of the feed slider 505 is fixedly connected to the corresponding conveying seat device 6. A feed motor 501 is arranged on one side of the feed mounting seat, and the output end of the feed motor 501 is connected to the feed screw 503 through the feed transmission assembly 502. The feed screw 503 is rotatably mounted on the feed mounting seat, and a feed shaft sleeve 506 is installed on the outer circumferential surface of the feed screw 503, and the feed shaft sleeve 506 is connected to the corresponding conveying seat device 6; the feed motor 501 drives the feed screw 503 to rotate through the feed transmission assembly 502, thereby driving the feed shaft sleeve 506 to make reciprocating linear motion along the axial direction of the feed screw 503, and then drives the corresponding conveying seat device 6 to make reciprocating linear motion along the feed slide rail 504; Figure 8As shown, the structure of a single conveying seat device 6 is as follows: it includes a conveying base 603, the top of which is equipped with several conveying positioning pins 605 and several L-shaped conveying positioning blocks 606. The conveying positioning blocks 606 locate the corners of the mold slider 16, and the conveying positioning pins 605 correspond to the positioning holes on the mold slider 16; the bottom of the conveying base 603 is equipped with an L-shaped conveying sensor 604; a clamping cylinder 601 is fixed on the conveying base 603, and the output end of the clamping cylinder 601 is connected to the clamping seat 602. The clamping cylinder 601 extends, thereby driving the clamping seat 602 to fit the side end face and top end face of the mold slider 16, thereby clamping the workpiece. The feed motor 501 adopts a servo motor, which can drive the workpiece to move accurately through the corresponding conveying seat device 6, so as to ensure that the position of the pin to be inserted on the mold slider 16 is aligned with the pin position of the pin insertion unit, preventing mixed insertion and missed insertion.

[0058] like Figure 2 As shown, the first grabbing and transporting unit includes a first linear slide 1, and the single second grabbing and transporting unit includes a second linear slide 2. The output end of the single second linear slide 2 and the output end of the first linear slide 1 are both connected to the grabbing device 3. Figure 4 As shown, the output end of the first linear slide 1 is connected to a gripping device 3, the first linear slide 1 is supported by a support frame 4, and the first linear slide 1 adopts a pneumatic slide; Figure 5 As shown, the output end of a single second linear slide 2 is connected to a gripping device 3, and the second linear slide 2 is an electric slide;

[0059] like Figure 6-Figure 7As shown, the structure of a single grasping device 3 is as follows: it includes a vertically arranged grasping connecting plate 301, a lifting cylinder 302 is fixed on the end face of the grasping connecting plate 301, the output end of the lifting cylinder 302 is connected to the grasping mounting seat 305, and the grasping mounting seat 305 is fixed with grasping cylinders 304 arranged opposite to each other in the horizontal direction, and the output ends of the two grasping cylinders 304 are respectively connected to the clamping jaws 303; the lifting cylinder 302 drives the mounting seat 305 to make reciprocating linear motion in the vertical direction, thereby driving the two clamping jaws 303 to approach or move away from the workpiece, and the two grasping cylinders 304 simultaneously drive the corresponding clamping jaws 303 to make linear motion close to or away from the workpiece, thereby clamping or releasing the workpiece. In this embodiment, the output ends of the two grabbing cylinders 304 are respectively connected to the corresponding clamping jaws 303 through an L-shaped grabbing connecting seat 306. A first grabbing sliding assembly is installed between the grabbing connecting seat 306 and the grabbing mounting seat 305. The first grabbing sliding assembly includes a grabbing slider 308 fixed to a single grabbing connecting seat 306, and two grabbing slide rails 307 fixed to the grabbing mounting seat 305. The two grabbing slide rails 307 correspond one-to-one with the two grabbing sliders 308, thereby improving the grabbing stability of the clamping jaws 303; the ends of the clamping jaws 303 are hook-shaped, corresponding to the grabbing grooves 17 provided on both sides of the mold slider 16, thereby further improving the grabbing stability;

[0060] In addition, several grabbing positioning pins are installed on the bottom end face of the grabbing mounting seat 305, which correspond to the positioning holes on the mold slider 16 to improve its grabbing position accuracy; a second grabbing sliding assembly is installed between the grabbing mounting seat 305 and the grabbing connecting plate 301, which is used to improve the movement smoothness of the grabbing device 3; one side of the grabbing connecting plate 301 is equipped with two first grabbing limit blocks arranged at intervals along its height direction, and one side of the grabbing mounting seat 305 is equipped with a second grabbing limit block, which is located between the two first grabbing limit blocks, thereby limiting the displacement of the grabbing mounting seat 305, and then controlling the displacement of the clamping jaw 303.

[0061] In this embodiment, a pin guide rail 9 is arranged next to each second slider conveying unit, which is used to cooperate with the pins 20 in the finished workpiece and semi-finished workpiece. It can prevent the pins 20 in the workpiece from deforming during the workpiece conveying process of the second slider conveying unit, thereby improving the yield rate.

[0062] like Figure 9As shown, the structure of a single pin header separation device 10 is as follows: it includes a first turntable assembly 1001, a second turntable assembly 1002 connected to the discharge end of the first turntable assembly 1001, and a feed rack 1003. The pin header raw material is wound on the first turntable assembly 1001, and the isolation film of the pin header raw material is wound on the second turntable assembly 1002. The pin header tape 18 of the pin header raw material is received by the feed rack 1003. In this embodiment, the pin header raw material is packaged in a disc, which includes the pin header tape 18 and the isolation tape attached to the pin header tape 18. The pin header tape 18 includes several pins 20. Adjacent pins 20 are connected by connecting pieces. Each connecting piece is provided with a pin header positioning hole 19 to facilitate the positioning of the pin header tape 18 by the pin loading module 21.

[0063] like Figure 10-12As shown, the structure of a single equidistant conveying device 11 is as follows: it includes a mounting base 1101 arranged in the horizontal direction, a conveying groove 1102 for conveying the pin strip 18 is provided on the top of the mounting base 1101, and a positioning mounting seat 1105 and a conveying mounting seat 1109 arranged in the vertical direction are respectively provided on the top of the mounting base 1101 next to the conveying groove 1102. The positioning mounting seat 1105 and the conveying mounting seat 1109 are arranged at intervals along the conveying direction of the pin strip 18, and the conveying mounting seat 1109 is arranged in front of the positioning mounting seat 1105; The positioning cylinder 1106 is fixed on the mounting seat 1105, and the output end of the positioning cylinder 1106 is connected to the positioning connection seat 1107. A plurality of first positioning posts 1108 are fixed at the bottom of the positioning connection seat 1107. The positioning cylinder 1106 drives the positioning connection seat 1107 to move linearly in the vertical direction, thereby driving the first positioning posts 1108 to insert into or remove from the corresponding pin positioning holes 19 on the pin strip 18; the first conveying cylinder 1111 is fixed on the mounting base 1101, and the output end of the first conveying cylinder 1111 is connected to the conveying connecting rod. 1115 is connected to the conveying mounting seat 1109, and the second conveying cylinder 1112 is fixed on the conveying mounting seat 1109. The output end of the second conveying cylinder 1112 is connected to the conveying connecting seat 1110. Several second positioning columns 1116 are fixed at the bottom of the conveying connecting seat 1110. The second conveying cylinder 1112 drives the conveying connecting seat 1110 to move linearly in the vertical direction, thereby driving the second positioning columns 1116 to insert into the corresponding pin positioning holes 19 on the pin strip 18 or to disengage from the corresponding pin positioning holes 19; the side wall surface of the mounting base 1101 is fixed A first conveying stopper 1113 and a second conveying stopper 1114 are spaced apart, with one end of a conveying connecting rod 1115 located between the first conveying stopper 1113 and the second conveying stopper 1114. When the first conveying cylinder 1111 retracts, the conveying connecting rod 1115 abuts against the first conveying stopper 1113. When the first conveying cylinder 1111 extends, the conveying connecting rod 1115 abuts against the second conveying stopper 1114. This, in turn, drives the conveying mounting base 1109 to move equidistantly via the conveying connecting rod 1115, thereby driving the needle strip 18 forward equidistantly. A detection sensor 1104 is located between the mounting base 1101 and the feed rack 1103 to provide a position signal for the needle strip 18.

[0064] like Figure 9As shown, the structure of a single stamping device 12 is as follows: it includes a stamping cylinder 1201 , and the output end of the stamping cylinder 1201 is connected to the stamping die 1203 through a stamping hinge assembly 1202 . The stamping device 12 is used to cut and bend the pin strip 18 by configuring a suitable stamping die. In this embodiment, the stamping die 1203 is a purchased product, which includes a movable die connected to one end of the stamping hinge assembly 1202 and a fixed static die. The stamping cylinder 1201 drives the movable die to open or close relative to the static die through the stamping hinge assembly 1202. When the movable die is opened relative to the static die, a pin 20 at the discharge end of the stamping die 1203 is removed by the insertion device 13, and the pin strip 18 is conveyed forward according to the set distance by the equidistant conveying device 11. When the movable die is closed relative to the static die, the pin strip 18 can be bent, cut and separated, so that a certain number of straight pins 20 connected to each other at the front end of the pin strip 18 are transformed into a corresponding number of independent 90° bent pins 20.

[0065] like Figure 13-16As shown, the structure of a single plug-in device 13 is as follows: it includes a plug-in base 1301, a plug-in motor 1302 is fixed on the plug-in base 1301, the output end of the plug-in motor 1302 is connected to the plug-in screw rod 1306, the outer circumference of the plug-in screw rod 1306 is equipped with a plug-in connecting seat 1307, the top of the plug-in connecting seat 1307 is fixed with a plug-in mounting seat 1308, the plug-in motor 1302 drives the plug-in screw rod 1306 to rotate, thereby driving the plug-in mounting seat 1308 through the plug-in connecting seat 1307. The seat 1308 moves linearly along the axial direction of the insertion screw 1306; the top of the insertion mounting seat 1308 is fixed with the insertion fixing seat 1310, and the side of the insertion fixing seat 1310 is provided with a square through hole 1315. The top of the insertion fixing seat 1310 is provided with a T-shaped slide 1314, and the inner bottom wall surface of the T-shaped slide 1314 is provided with two first waist-round holes 1311 arranged in sequence and spaced apart. The two first waist-round holes 1311 are both connected to the square through hole 1315; the square through hole 1315 A movable plate 1313 is installed inside, and two second waisted circular holes 1312 arranged relatively obliquely are provided on the end surface of the movable plate 1313. The movable plate 1313 is connected to the output end of the plug-in cylinder 1309, and the plug-in cylinder 1309 is fixed on the plug-in mounting seat 1308; the two second waisted circular holes 1312 correspond to the two first waisted circular holes 1311 one by one, and a sliding pin 1317 is installed in each first waisted circular hole 1311 and the corresponding second waisted circular hole 1312. The top of 317 is connected to the T-shaped slider 1319 via a connecting pin 1318. A clamp 1316 is mounted on the top of each T-shaped slider 1319. The insertion and removal cylinder 1309 drives the movable plate 1313 to slide within the square through-hole 1315, causing the two sliding pins 1317 to move linearly toward or away from each other. This in turn drives the two T-shaped sliders 1319 to move linearly toward or away from each other along the length of the T-shaped slot 1314, thereby causing the two clamps 1316 to clamp or release the pins 20. The transport mount 1109 is assembled with the mounting base 1101 via a slide rail assembly, and the positioning mount 1105 is fixed to the top of the mounting base 1101.

[0066] like Figure 1 As shown, in the feeding pin module 21 of this embodiment, one or two pin header feeding units can be arranged, and the layout is specifically determined according to the number of pins to be processed and the production environment; in addition, in order to improve the pin insertion efficiency, when one pin header feeding unit is arranged, two insertion devices 13 can be arranged, and the insertion devices 13 are arranged at 90° intervals along the circumference; when two pin header feeding unit chambers are arranged, three insertion devices 13 can be arranged, and the three insertion devices 13 are evenly spaced along the semicircle circumference.

[0067] In this embodiment, the feeding transmission assembly 502 and the inserting and removing transmission assembly 1303 both adopt pulley transmission, which has high transmission accuracy and good stability.

[0068] Based on the above-mentioned injection molding feeding pin system, this embodiment provides a working method, including the following steps:

[0069] S1. Each level of the pin feeding module 21 in the pin feeding unit are cut and bent on the corresponding pin strip 18, so that the corresponding pins 20 are output at the discharge end of each pin feeding unit;

[0070] At the same time, the empty mold slider 16 is placed on the inlet end of the first slider conveying unit by the first external manipulator, and the mold slider 16 is conveyed to the inlet end of the first grabbing and transferring unit by the first slider conveying unit;

[0071] S2. The mold slider 16 is transferred to the feeding end of the second slider conveying unit corresponding to the first-stage feeding pin insertion module 21 by the first grabbing and transferring unit. The mold slider 16 is driven forward by the second slider conveying unit, thereby transferring the mold slider 16 to the working end of the first-stage feeding pin insertion module 21, thereby aligning the pin insertion position on the mold slider 16 with the pin insertion position of the first-stage feeding pin insertion module 21;

[0072] S3. In the first-stage pin-feeding module 21, the rotating motor 14 rotates the insertion device 13 via the rotating base plate 15, causing the insertion device 13 to pick up the corresponding pin 20 from the discharge end of the corresponding pin-feeding unit and then insert the pin 20 into the corresponding insertion position on the mold slider 16, thereby obtaining a semi-finished workpiece;

[0073] S3.1. When the first-level feeding pin module 21 is feeding the pin, the specific working process is as follows:

[0074] In the first-stage feeding pin module 21, the isolation film is separated from the pin strip 18 by the pin strip separation device 10, and the pin strip 18 is conveyed to the feeding end of the equidistant conveying device 11. At this time, the pin strip 18 enters the conveying trough 1102;

[0075] The positioning cylinder 1106 extends, and drives the first positioning post 1108 to descend simultaneously through the positioning connector 1107, so that the first positioning post 1108 is inserted into a portion of the pin header positioning hole 19, thereby positioning the pin header belt 18;

[0076] The second delivery cylinder 1112 extends, drives the second positioning post 1116 to be inserted into another part of the needle row positioning hole 19 through the delivery connection seat 1110, and then the positioning cylinder 1106 retracts, so that the first positioning post 1108 is disengaged from the corresponding needle row positioning hole 19;

[0077] When the movable die of the stamping die 1203 is opened, the first conveying cylinder 1111 extends, pushing the conveying mounting seat 1109 forward through the conveying connecting rod 1115, thereby driving the needle strip 18 forward a certain distance through the second positioning column 1116;

[0078] When the needle strip 18 in the equidistant conveying device 11 moves forward, it drives the needle strip 18 and the pins 20 in the punching device 12 to move forward, so that the pins 20 are continuously moved to the output end of the punching device 12;

[0079] When the pin position to be inserted on the mold slide 16 is aligned with the pin position of the first-stage loading pin module 21, the rotary motor 14 drives the rotary base plate 15 to rotate, thereby driving an insertion device 13 on the rotary base plate 15 to rotate, so that the clamp 1316 of the insertion device 13 is aligned with a pin 20 at the output end of the punching device 12;

[0080] The plug-in motor 1302 drives the plug-in screw 1306 to rotate, thereby driving the plug-in mounting seat 1308 to make a linear motion close to the corresponding pin 20 through the plug-in connecting seat 1307, thereby moving the two clamps 1316 into place, and then the plug-in cylinder 1309 retracts, driving the movable plate 1313 to retreat, thereby driving the sliding pin 1317 to slide in the corresponding first waist circular hole 1311 and second waist circular hole 1312, thereby causing the T-shaped slider 1319 to make a similar linear motion in the T-shaped slide groove 1314, so that the two clamps 1316 close to clamp the corresponding pin 20, and the plug-in motor 1302 rotates again, driving the plug-in mounting seat 1308 to return to its original position through the plug-in screw 1306;

[0081] The rotating motor 14 drives the rotating base plate 15 to rotate again, and the rotating base plate 15 drives the insertion device 13 with the pin 20 clamped therein to rotate 90 degrees. Subsequently, the insertion motor 1302 of the insertion device 13 drives the insertion mounting seat 1308 to make a linear motion close to the corresponding mold slide 16 via the insertion screw 1306, thereby inserting the corresponding pin 20 into the corresponding position of the mold slide 16. Then, the insertion cylinder 1309 extends, driving the two clamps 1316 to open, thereby releasing the corresponding pin 20. The insertion motor 1302 rotates again, and drives the insertion mounting seat 1308 to return to its original position via the insertion screw 1306.

[0082] Thus completing one loading and pin insertion;

[0083] The specific working process of the subsequent levels of feeding pin modules 21 is similar to the working process of the first level feeding pin module 21, and will not be repeated hereafter;

[0084] S4. After the semi-finished workpiece is inserted into the pin-insertion module 21 at each level, it is transferred step by step to the next-level loading and insertion module 21 through the corresponding second grasping and transferring unit until it reaches the last-level loading and insertion module 21 and completes the insertion. A finished workpiece is obtained and the finished workpiece is unloaded by the second external manipulator.

[0085] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any modifications may be made within the scope of protection of the present invention.

Claims

1. A feeding pin system for injection molded parts, characterized by: The invention comprises a plurality of feeding pin modules (21) and a conveying module (22), wherein the conveying module (22) comprises a first slider conveying unit, a first grabbing and transferring unit, a plurality of second slider conveying units, and a plurality of second grabbing and transferring units; the first slider conveying unit is used for feeding the mold slider (16), the first grabbing and transferring unit is used for transferring the mold slider (16) at the discharge end of the first slider conveying unit to the feed end of the corresponding second slider conveying unit, a single second slider conveying unit is used for conveying the mold slider (16) inside the corresponding feeding pin module (21), and a single second grabbing and transferring unit is used for conveying the mold slider (16) at the discharge end of the previous feeding pin module (21) to the feed end of the next feeding pin module (21); A single feeding pin module (21) includes at least one pin feeding unit and a pin insertion unit. The single pin feeding unit includes a pin separation device (10), an equidistant conveying device (11) and a punching device (12) arranged in sequence. The single pin separation device (10) is used to remove the isolation film attached to the surface of the pin strip (18) and convey the pin strip (18) to the feeding end of the equidistant conveying device (11). The single equidistant conveying device (11) conveys the pin strip (18) forward according to the set distance, so that the corresponding pin strip (18) advances equidistantly in the punching device (12). The single punching device (12) is used to cut the pin strip (18) The pins (20) are cut into independent pins (20), and the pins (20) are bent 90 degrees. The pin insertion unit includes a rotary motor (14), the output end of the rotary motor (14) is connected to the rotary base plate (15), and the top of the rotary base plate (15) is equipped with at least one insertion device (13). The single insertion device (13) is used to clamp the pins (20) from the output end of the corresponding punching device (12). The rotary motor (14) drives the rotary base plate (15) to rotate, thereby driving the corresponding insertion device (13) to rotate, and then the insertion device (13) inserts the pins (20) into the mold slider (16) transported by the corresponding second slider transport unit; The structure of a single plug-in device (13) is as follows: it includes a plug-in base (1301), a plug-in motor (1302) is fixed on the plug-in base (1301), the output end of the plug-in motor (1302) is connected to a plug-in screw rod (1306), a plug-in connecting seat (1307) is provided on the outer circumference of the plug-in screw rod (1306), a plug-in mounting seat (1308) is fixed on the top of the plug-in connecting seat (1307), and the plug-in motor (1302) drives the plug-in screw rod (1306) to rotate, thereby driving the plug-in mounting seat (1308) to perform linear motion along the axial direction of the plug-in screw rod (1306) through the plug-in connecting seat (1307); The top of the plug-in mounting seat (1308) is fixed with a plug-in fixing seat (1310), a square through hole (1315) is provided on the side of the plug-in fixing seat (1310), a T-shaped slide groove (1314) is provided on the top of the plug-in fixing seat (1310), and two first waist-round holes (1311) arranged in sequence and spaced apart are provided on the inner bottom wall of the T-shaped slide groove (1314), and both first waist-round holes (1311) are connected to the square through hole (1315); A movable plate (1313) is installed in the square through hole (1315), and two second waisted circular holes (1312) arranged relatively obliquely are provided on the end surface of the movable plate (1313). The movable plate (1313) is connected to the output end of the plug-in cylinder (1309), and the plug-in cylinder (1309) is fixed on the plug-in mounting seat (1308); The two second girdle holes (1312) correspond to the two first girdle holes (1311) one by one, a sliding pin (1317) is installed in each of the first girdle hole (1311) and the corresponding second girdle hole (1312), the top of the single sliding pin (1317) is connected to the T-shaped slider (1319) via a connecting pin (1318), and the top of the single T-shaped slider (1319) is equipped with a clamp (1316); The insertion and extraction cylinder (1309) drives the movable plate (1313) to slide in the square through hole (1315), causing the two sliding pins (1317) to move linearly toward or away from each other, thereby driving the two T-shaped sliders (1319) to move linearly toward or away from each other along the length direction of the T-shaped slide groove (1314), thereby causing the two clamps (1316) to clamp or release the pins (20).

2. The injection molding feeding pin system according to claim 1, wherein: The first slider conveying unit comprises a conveyor belt device (7), and the discharge end of the conveyor belt device (7) is equipped with a slider adjustment device (8); The single second slider conveying unit comprises a screw feeding device (5), wherein the working end of the screw feeding device (5) is equipped with a conveying seat device (6); The first grabbing and transferring unit comprises a first linear slide (1), and the single second grabbing and transferring unit comprises a second linear slide (2). The output end of the single second linear slide (2) and the output end of the first linear slide (1) are respectively connected to the grabbing device (3).

3. The injection molding feeding pin system according to claim 2, wherein: The structure of a single grabbing device (3) is as follows: it comprises a grabbing connecting plate (301) arranged vertically, a lifting cylinder (302) is fixed on the end surface of the grabbing connecting plate (301), the output end of the lifting cylinder (302) is connected to a grabbing mounting seat (305), grabbing cylinders (304) arranged opposite to each other in a horizontal direction are fixed on the grabbing mounting seat (305), and the output ends of the two grabbing cylinders (304) are respectively connected to the clamping claws (303); The lifting cylinder (302) drives the mounting seat (305) to perform reciprocating linear motion in the vertical direction, thereby driving the two clamping claws (303) to approach or move away from the mold slider (16), and the two grasping cylinders (304) simultaneously drive the corresponding clamping claws (303) to perform linear motion close to or away from each other, thereby clamping or releasing the mold slider (16).

4. The injection molding feeding pin system according to claim 2, wherein: The structure of a single conveying seat device (6) is as follows: it includes a conveying base (603), the top of the conveying base (603) is equipped with a plurality of conveying positioning pins (605) and a plurality of L-shaped conveying positioning blocks (606), the conveying positioning blocks (606) are used to position the corners of the mold slider (16), and the conveying positioning pins (605) correspond to the positioning holes on the mold slider (16); The bottom of the conveying base (603) is equipped with an L-shaped conveying sensor sheet (604); A clamping cylinder (601) is fixed on the conveying base (603), and the output end of the clamping cylinder (601) is connected to the clamping seat (602). The clamping cylinder (601) extends, thereby driving the clamping seat (602) to fit the side end face and the top end face of the mold slider (16), thereby clamping the mold slider (16).

5. The injection molding feeding pin system according to claim 2, wherein: The structure of the slider adjustment device (8) is as follows: it comprises a first fixed seat (801) arranged in front of the mold slider (16) along the conveying direction of the mold slider (16), and a second fixed seat (802) fixed to one side of the conveyor belt device (7), wherein the arrangement direction of the first fixed seat (801) and the arrangement direction of the second fixed seat (802) are perpendicular to each other; It also includes an adjusting cylinder (804) fixed to the other side of the conveyor belt device (7), the output end of the adjusting cylinder (804) is connected to the movable seat (803), the movable seat (803) and the second fixed seat (802) are arranged in parallel with each other, and the adjusting cylinder (804) drives the movable seat (803) to move linearly towards or away from the second fixed seat (802), so that the discharge position of each mold slider (16) on the conveyor belt device (7) is the same.

6. The injection molding feeding pin system according to claim 1, wherein: The structure of a single needle row separation device (10) is as follows: it includes a first turntable assembly (1001), a second turntable assembly (1002) and a feeding rack (1003) respectively connected to the discharge end of the first turntable assembly (1001), a needle row material is wound on the first turntable assembly (1001), an isolation film of the needle row material is wound on the second turntable assembly (1002), and a needle row belt (18) of the needle row material is received by the feeding rack (1003).

7. The injection molding feeding pin system according to claim 1, wherein: The structure of a single equidistant conveying device (11) is as follows: it includes a mounting base (1101) arranged in a horizontal direction, a conveying trough (1102) for conveying the needle strip (18) is provided on the top of the mounting base (1101), and a positioning mounting seat (1105) and a conveying mounting seat (1109) arranged in a vertical direction are respectively installed on the top of the mounting base (1101) next to the conveying trough (1102), the positioning mounting seat (1105) and the conveying mounting seat (1109) are arranged in a spaced relationship along the conveying direction of the needle strip (18), and the conveying mounting seat (1109) is arranged in front of the positioning mounting seat (1105); A positioning cylinder (1106) is fixed on the positioning mounting seat (1105), an output end of the positioning cylinder (1106) is connected to the positioning connecting seat (1107), a plurality of first positioning columns (1108) are fixed to the bottom of the positioning connecting seat (1107), and the positioning cylinder (1106) drives the positioning connecting seat (1107) to move linearly in the vertical direction, thereby driving the first positioning columns (1108) to be inserted into or removed from the corresponding pin header positioning holes (19) on the pin header belt (18); A first conveying cylinder (1111) is fixed on the mounting base (1101), and an output end of the first conveying cylinder (1111) is connected to the conveying mounting seat (1109) through a conveying connecting rod (1115). A second conveying cylinder (1112) is fixed on the conveying mounting seat (1109), and an output end of the second conveying cylinder (1112) is connected to the conveying connecting seat (1110). A plurality of second positioning columns (1116) are fixed to the bottom of the conveying connecting seat (1110). The second conveying cylinder (1112) drives the conveying connecting seat (1110) to move linearly in the vertical direction, thereby driving the second positioning columns (1116) to be inserted into or removed from the corresponding needle positioning holes (19) on the needle strip (18); A first conveying limit block (1113) and a second conveying limit block (1114) arranged at intervals are fixed on the side wall surface of the mounting base plate (1101), and one end of the conveying connecting rod (1115) is located between the first conveying limit block (1113) and the second conveying limit block (1114); The first conveying cylinder (1111) retracts, causing the conveying connecting rod (1115) to abut against the first conveying limit block (1113); the first conveying cylinder (1111) extends, causing the conveying connecting rod (1115) to abut against the second conveying limit block (1114), thereby driving the conveying mounting seat (1109) to move equidistantly through the conveying connecting rod (1115), thereby driving the needle strip (18) to move equidistantly.

8. The injection molding feeding pin system according to claim 1, wherein: The structure of a single punching device (12) is as follows: it comprises a punching cylinder (1201), and the output end of the punching cylinder (1201) is connected to a punching die (1203) via a punching hinge assembly (1202).

9. A method for operating the injection molding feeding pin system according to claim 1, characterized in that: The steps include: S1. The pin header feeding unit in each level of the pin feeding module (21) cuts and bends the corresponding pin header belt (18), thereby outputting the corresponding pins (20) at the discharge end of each pin header feeding unit; At the same time, the empty mold slider (16) is placed on the inlet end of the first slider conveying unit by the first external manipulator, and the mold slider (16) is conveyed to the inlet end of the first grabbing and transferring unit by the first slider conveying unit; S2. The mold slider (16) is transferred to the feeding end of the second slider conveying unit corresponding to the first-level feeding pin insertion module (21) through the first grabbing and transferring unit, and the mold slider (16) is driven forward by the second slider conveying unit, thereby transferring the mold slider (16) to the working end of the first-level feeding pin insertion module (21), thereby aligning the pin insertion position on the mold slider (16) with the pin insertion position of the first-level feeding pin insertion module (21); S3. In the first-stage pin-feeding module (21), the rotating motor (14) drives the insertion device (13) to rotate via the rotating base plate (15), so that the insertion device (13) clamps the corresponding pin (20) from the discharge end of the corresponding pin-feeding unit, and then inserts the pin (20) into the corresponding position to be inserted on the mold slider (16), thereby obtaining a semi-finished workpiece; S4. After the semi-finished workpiece is inserted into the pin-insertion module (21) at each level, it is transferred step by step to the next level of the loading and insertion module (21) through the corresponding second grasping and transferring unit until it reaches the last level of the loading and insertion module (21) and completes the insertion, thereby obtaining a finished workpiece, which is then unloaded by the second external manipulator.

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