Automatic plug-in machine and method

Abstract

The invention relates to the field of plug-in machines, in particular to an automatic plug-in machine and method, the automatic plug-in machine comprises a feeding mechanism, a conveying mechanism, a forming mechanism and a grabbing mechanism, and the feeding mechanism, the conveying mechanism and the forming mechanism are arranged around the grabbing mechanism; the feeding mechanism comprises a shaft feeding device and a shaft transfer device. The shaft feeding device comprises a correcting assembly, and the shaft transfer device corresponds to the correcting assembly. The grabbing mechanism comprises an inserting and taking device, the inserting and taking device comprises a shaft inserting structure and a part taking structure, the shaft inserting structure is used for grabbing materials on the shaft transferring device, and the part taking structure is used for grabbing materials on the forming mechanism. The problem that an existing plug-in forming device is low in production efficiency is solved.

Description

[Technical field]

[0001] The present invention relates to the technical field of plug-in machines, and in particular to an automatic plug-in machine and method. [Background technology]

[0002] In the current machinery manufacturing industry, plug-in molding devices play a vital role, and their performance and efficiency are directly related to product quality and production costs.

[0003] Traditional plug-in molding devices are mostly operated manually or semi-automatically, with low production efficiency. In addition, manual operation causes large errors, making it difficult to ensure product consistency and stability. This not only increases production costs, but also limits production capacity. [Summary of the invention]

[0004] In order to solve the problem of low production efficiency of existing plug-in molding devices, the present invention provides an automatic plug-in machine and method.

[0005] In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions: an automatic insertion machine, comprising a feeding mechanism, a transporting mechanism, a molding mechanism and a grasping mechanism, wherein the feeding mechanism, the transporting mechanism and the molding mechanism are arranged around the grasping mechanism; the feeding mechanism comprises a shaft feeding device and a shaft transfer device; the shaft feeding device comprises a correction component, and the shaft transfer device is arranged corresponding to the correction component; the grasping mechanism comprises an insertion device, and the insertion device comprises a shaft insertion structure and a picking structure, the shaft insertion structure is used to grab the material on the shaft transfer device, and the picking structure is used to grab the material on the molding mechanism.

[0006] Preferably, the feeding mechanism comprises a workbench, the shaft feeding device and the shaft transfer device are arranged on the workbench, a slide rail assembly is provided between the shaft transfer device and the workbench, and the shaft transfer device moves toward the grasping mechanism through the slide rail assembly.

[0007] Preferably, a positioning groove is provided on the shaft transfer device, and a positioning pin matching the positioning groove is provided on the insertion and extraction device.

[0008] Preferably, the grasping mechanism comprises a mechanical arm, and the mechanical arm is rotatably connected to the insertion device.

[0009] Preferably, the robotic arm comprises a plurality of rotational joints.

[0010] Preferably, the insertion and extraction device comprises a mounting plate, and the shaft insertion structure and the extraction structure are respectively arranged on opposite sides of the mounting plate.

[0011] Preferably, the insertion and extraction device comprises a plurality of the insertion shaft structures and a plurality of the extraction structures.

[0012] Preferably, the molding mechanism comprises a barrel and a mold, the barrel is communicated with the mold, and the transport mechanism is arranged close to the mold.

[0013] Preferably, the mold comprises a plurality of mold cavities.

[0014] In order to solve the above technical problems, the present invention provides another technical solution as follows: an automatic plug-in molding method, comprising:

[0015] Loading the shaft parts to the shaft transfer device through the shaft loading device;

[0016] Grab the shaft in the shaft transfer device through the grasping mechanism and fix the shaft into the forming device;

[0017] The product in the forming device is taken out by the grabbing mechanism and sent to the transport mechanism.

[0018] Compared with the prior art, the automatic plug-in forming device and method provided by the present invention has the following beneficial effects:

[0019] 1. An automatic plug-in machine provided in an embodiment of the present invention comprises a feeding mechanism, a transport mechanism, a forming mechanism and a grabbing mechanism. The feeding mechanism, the transport mechanism and the forming mechanism are arranged around the grabbing mechanism, so that the layout of the automatic plug-in machine is compact, the space utilization rate is improved, and it is convenient for the grabbing mechanism to efficiently operate other mechanisms, thereby improving production efficiency;

[0020] The feeding mechanism includes a shaft feeding device and a shaft transfer device; the shaft feeding device includes a correction component, and the shaft transfer device and the correction component are arranged correspondingly to facilitate receiving the corrected shaft; the grasping mechanism includes an insertion device, and the insertion device includes a shaft insertion structure and a pickup structure. The shaft insertion structure is used to grab the material on the shaft transfer device, and the pickup structure is used to grab the material on the forming mechanism. The shaft and the formed product can be grabbed at the same time through the insertion device, so as to quickly complete the pickup and shaft insertion operations on the forming mechanism and improve work efficiency.

[0021] 2. The loading mechanism of the embodiment of the present invention includes a workbench, a shaft loading device and a shaft transfer device are arranged on the workbench, a slide rail assembly is provided between the shaft transfer device and the workbench, the shaft transfer device moves toward the grasping mechanism through the slide rail assembly, a plurality of shaft holes for placing shaft parts are provided on the shaft transfer device, and the shaft transfer device reciprocates along the slide rail assembly to facilitate moving the idle shaft hole to the outlet of the correction assembly to receive the shaft part, and moving the received shaft part to the outer edge of the workbench, so as to shorten the moving route of the grasping mechanism and thus improve work efficiency.

[0022] 3. The shaft transfer device in the embodiment of the present invention is provided with a positioning groove, and the insertion device is provided with a positioning pin matching the positioning groove. Accurate positioning is achieved through the cooperation of the positioning pin and the positioning groove, so that the insertion device can accurately insert and extract the shaft.

[0023] 4. The insertion and extraction device of the embodiment of the present invention includes a mounting plate, and the shaft insertion structure and the extraction structure are respectively arranged on opposite sides of the mounting plate, so that the shaft and product grasped by the insertion and extraction device are distributed on both sides of the mounting plate to avoid mutual limitation.

[0024] 5. The insertion and extraction device of the embodiment of the present invention includes multiple shaft insertion structures and multiple piece extraction structures, which can simultaneously grab multiple shafts and multiple products, thereby improving work efficiency.

[0025] 6. The molding mechanism of the embodiment of the present invention includes a barrel and a mold, the barrel is connected to the mold, and the transportation mechanism is arranged close to the mold to shorten the distance that the grasping mechanism sends the product to the transportation mechanism, thereby improving overall work efficiency.

[0026] 7. The mold of the embodiment of the present invention includes multiple mold cavities, which can mold multiple products at the same time, thereby improving production efficiency.

[0027] 8. The embodiment of the present invention also provides an automatic plug-in molding method, comprising: feeding the shaft member to the shaft transfer device through the shaft feeding device; grabbing the shaft member in the shaft transfer device through the grabbing mechanism and fixing the shaft member to the molding device; taking out the product in the molding device through the grabbing mechanism and sending it to the transport mechanism. It has the same beneficial effects as the automatic plug-in machine described in any of the above items, and will not be repeated here.

Brief Description of the Drawings

[0028] Figure 1 It is a schematic diagram of the structure of the automatic insertion machine provided by the first embodiment of the present invention.

[0029] Figure 2 It is a structural schematic diagram of a feeding mechanism provided in the first embodiment of the present invention.

[0030] Figure 3 It is a schematic structural diagram of a loading bin provided in the first embodiment of the present invention.

[0031] Figure 4 It is a schematic structural diagram of a pusher assembly provided in the first embodiment of the present invention.

[0032] Figure 5 It is a schematic structural diagram of a material discharge chute provided in the first embodiment of the present invention.

[0033] Figure 6 It is a schematic structural diagram of a correction component provided in the first embodiment of the present invention.

[0034] Figure 7It is a partial structural schematic diagram of the feeding mechanism provided in the first embodiment of the present invention.

[0035] Figure 8 It is a partial enlarged view of the feeding mechanism provided in the first embodiment of the present invention.

[0036] Fig. 9 It is a structural schematic diagram of the grabbing mechanism provided in the first embodiment of the present invention.

[0037] Fig.10 It is a schematic structural diagram of the retrieval end of the insertion and retrieval device provided in the first embodiment of the present invention.

[0038] Fig.11 It is a schematic structural diagram of the insertion shaft end of the insertion and extraction device provided in the first embodiment of the present invention.

[0039] Fig.12 It is a structural schematic diagram of the transportation mechanism provided by the first embodiment of the present invention.

[0040] Fig.13 It is a structural schematic diagram of a forming mechanism provided in the first embodiment of the present invention.

[0041] Fig.14 It is a schematic structural diagram of a mold provided by the first embodiment of the present invention.

[0042] Fig.15 It is a flow chart of the steps of an automatic plug-in molding method provided by the second embodiment of the present invention.

[0043] Description of the accompanying drawings:

[0044] 100. Automatic plug-in machine;

[0045] 1. Feeding mechanism; 11. Feeding device for shaft; 111. Feeding bin; 1111. Guide assembly; 1112. Pushing assembly; 1113. Ejecting assembly; 1114. Through slot; 1115. Discharging port; 1116. First limiting inclined block; 1117. Second limiting inclined block; 112. Unloading chute; 1121. Material shortage detection member; 1122. Material dividing assembly; 1123. Baffle; 1124. Fixing member; 1125. Discharge hole; 113, correction assembly; 1131, rotating table; 1132, limit frame; 1133, limit driving member; 1134, accommodating chamber; 1135, limit slide; 1136, limit baffle; 114, positive and negative detection member; 12, shaft transfer device; 121, shaft hole; 122, positioning groove; 123, inclined block; 124, bearing member; 125, bracket; 126, bottom plate; 13, workbench; 14, slide rail assembly;

[0046] 2. Transport mechanism; 21. Loading platform; 22. Conveyor belt; 221. Loading end; 222. Unloading end;

[0047] 3. Molding mechanism; 31. Cylinder; 32. Mold; 321. Mold cavity; 33. Base; 34. Mold closing structure;

[0048] 4. Grabbing mechanism; 41. Insertion and extraction device; 411. Insertion shaft structure; 412. Extraction structure; 413. Mounting plate; 414. Positioning pin; 42. Robotic arm; 421. Rotation joint. [Specific implementation method]

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0050] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0051] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present invention.

[0052] In various embodiments of the present invention, it should be understood that the size of the sequence number of each process does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0053] The flow chart and block diagram in the accompanying drawings of the present invention illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, which is determined based on the functions involved. It should be particularly noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs a specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0054] See also Figure 1 , Figure 2 The first embodiment of the present invention provides an automatic insertion machine 100, including a feeding mechanism 1, a transport mechanism 2, a molding mechanism 3 and a gripping mechanism 4, wherein the feeding mechanism 1, the transport mechanism 2 and the molding mechanism 3 are arranged around the gripping mechanism 4; the feeding mechanism 1 includes a shaft feeding device 11 and a shaft transfer device 12; the shaft feeding device 11 includes a correction component 113, and the shaft transfer device 12 is arranged corresponding to the correction component 113; the gripping mechanism 4 includes an insertion device 41, and the insertion device 41 includes a shaft insertion structure 411 and a pickup structure 412, the shaft insertion structure 411 is used to grab the material on the shaft transfer device 12, and the pickup structure 412 is used to grab the material on the molding mechanism 3.

[0055] It should be noted that the feeding mechanism 1, the transport mechanism 2 and the forming mechanism 3 are arranged around the grasping mechanism 4 in sequence. The grasping mechanism 4 can correspond to the corresponding mechanism by rotating the corresponding angle, so as to perform related operations. Through the surrounding layout setting, the layout design of the automatic insertion machine 100 is optimized, making its overall structure compact and improving space utilization, and the operation line of the grasping mechanism 4 is optimized, thereby improving its work efficiency.

[0056] For details, please refer to Figure 3 - Figure 6The shaft feeding device 11 is used to transport shaft parts, including a feeding part and a discharging part. The feeding part includes a feeding bin 111, and the discharging part includes a discharging chute 112 and a correction component 113. The discharging chute 112 is tilted relative to the feeding bin 111; the feeding bin 111 is tilted, and a discharging port 1115 is provided at the lower end of the feeding bin 111. The higher end of the discharging chute 112 is a feeding end, and the lower end is a discharging end. The feeding end is connected with the discharging port 1115. The discharge end is connected with the correction component 113, so that the shaft can realize automatic dropping through the gravity on the slope of the loading bin 111 and the unloading chute 112, thereby improving the loading efficiency; the correction component 113 includes a rotating table 1131, and the rotating table 1131 is provided with a accommodating cavity 1134 for accommodating the shaft parts sliding down from the discharge end, and the direction of the shaft parts can be adjusted by rotating the rotating table 1131. The shaft parts are finally loaded after being corrected by the rotating table 1131, thereby improving the loading accuracy.

[0057] As a feasible implementation mode, the loading bin 111 is mounted above the unloading chute 112 through a fixed bracket, and the loading bin 111 is configured to be inclined toward the discharge port 1115, and the discharge port 1115 is connected to the feed end. The shaft in the loading bin 111 automatically rolls toward the discharge port 1115 under the action of gravity, and accurately drops into the feed end through the discharge port 1115, and the shaft on the feed end also moves toward the lower discharge end under the action of gravity.

[0058] It can be understood that the shaft feeding device 11 includes an inclined feeding bin 111, a discharge chute 112 and a correction component 113, and the feeding bin 111, the discharge chute 112 and the correction component 113 are connected to each other from high to low in sequence, so that the shaft can slide down from the feeding bin 111, the discharge chute 112 and the correction component 113 in sequence under the action of gravity, and finally be fed to the shaft transfer device 12 corresponding to the correction component 113.

[0059] The shaft feeding device 11 of the present embodiment tilts the corresponding parts so that the shaft parts are automatically transported and dropped based on gravity. The feeding structure is simple, which saves costs and improves feeding efficiency.

[0060] Furthermore, a front and back detection member 114 is provided on the discharge end of the discharge chute 112 .

[0061] As a feasible implementation method, the groove width of the unloading chute 112 is slightly larger than the maximum diameter of the shaft, and the shaft slides in the unloading chute 112 in its length direction. The front and back detection parts 114 are set at the end of the discharge end. When the shaft slides to the corresponding position of the front and back detection parts 114 at the discharge end, the front and back detection parts 114 identify and detect the outer diameters of the two ends of the shaft, so as to determine whether the current placement direction of the shaft is correct.

[0062] In another feasible embodiment, the groove width of the material discharge chute 112 can be set to be slightly larger than the length of the shaft, and the shaft slides in the material discharge chute 112 in the diameter direction.

[0063] Specifically, first openings communicating with the outside are provided at both ends of the accommodating cavity 1134 in the length direction. The first openings are provided corresponding to the discharge end, and the shaft on the discharge end slides into the correction assembly 113 through the first openings.

[0064] In some embodiments, the accommodating chamber 1134 is coaxially arranged with the discharge chute 112, that is, the accommodating chamber 1134 has the same inclination angle as the discharge chute 112, so that the shaft on the discharge chute 112 can be accurately transferred to the accommodating chamber 1134, and under the action of gravity, it can leave the correction component 113 through the first opening of the accommodating chamber 1134 away from one end of the discharge chute 112 and enter the next process.

[0065] Furthermore, an information processor is provided on the shaft feeding device 11, which is used to receive information from the front and back detection parts 114, and control the correction component 113 to perform corresponding operations based on the information.

[0066] Further, please refer to Figure 6 A limiting frame 1132 is provided on the peripheral side of the rotating platform 1131, and a second opening is provided at a position of the limiting frame 1132 corresponding to the first opening.

[0067] It should be noted that the shaft can enter the rotating table 1131 inside the limiting frame 1132 through the second opening, and the limiting frame 1132 is arranged at intervals on the circumferential side of the rotating table 1131 so that when the rotating table 1131 rotates, the limiting frame 1132 can block the first opening of the accommodating cavity 1134 to prevent the shaft accommodated therein from being thrown out when the rotating table 1131 rotates.

[0068] Specifically, the second opening of the limiting frame 1132 is correspondingly arranged to facilitate the shaft to enter and exit the rotating platform 1131 through the opening.

[0069] Furthermore, a limiting chute 1135 is provided at one end of the limiting frame 1132 away from the unloading chute 112, and a limiting baffle 1136 is provided on the limiting chute 1135 to slide and cooperate with the limiting chute 1135.

[0070] It should be noted that one end of the limit baffle 1136 is connected to the limit driving component 1133, and the limit driving component 1133 drives the limit baffle 1136 to slide along the limit sliding groove 1135 to block or offset the second opening; when the limit baffle 1136 slides to block the second opening, the shaft can be accommodated in the accommodating cavity 1134 for direction correction; when the limit baffle 1136 slides to offset the second opening, the shaft that does not need to be corrected as detected by the positive and negative detection components 114 or the shaft that has been corrected by the rotating table 1131 can slide out of the second opening smoothly and enter the next process link.

[0071] It can be understood that when the rotating table 1131 rotates, the limit frame 1132 and the limit baffle 1136 can prevent the shaft from slipping out of the first opening. After the direction of the shaft is adjusted, the limit baffle 1136 is moved so that the shaft can slide out of the correction assembly 113 from the second opening and enter the next process link to complete the loading of the shaft.

[0072] Further, please refer to Figure 5 A through hole is provided on the side of the unloading chute 112, and a material dividing component 1122 is also provided at the discharge end of the unloading chute 112. The material dividing component 1122 includes a first driving member, and a baffle 1123 and a fixing member 1124 are connected to the first driving member. The baffle 1123 and the fixing member 1124 are respectively arranged at the two ends of the front and back detection member 114, and the fixing member 1124 is movably matched with the through hole. The baffle 1123 is movably arranged on the end surface of the discharge end close to the correction component 113, and a discharge hole is provided on the baffle 1123.

[0073] It should be noted that the first driving member is arranged corresponding to the front and back detection member 114, and is connected with a baffle 1123 and a fixing member 1124. The baffle 1123 and the fixing member 1124 move along a predetermined track under the action of the first driving member to fix the shaft on the discharge end.

[0074] As a feasible implementation, the baffle 1123 is disposed at the end of the discharging end to block the discharging slot of the discharging end so as to fix the shaft at the detection point of the front and back detection member 114 for front and back detection.

[0075] Specifically, the baffle 1123 is also provided with a discharge hole 1125 that matches the discharge slot at the discharge end. When the first driving member drives the baffle 1123 to move to the point where the discharge hole 1125 corresponds to the discharge slot at the discharge end, the shaft slides through the discharge hole 1125 and falls onto the correction component 113. Conversely, when the first driving member drives the baffle 1123 to move to the point where the discharge hole 1125 is misaligned with the discharge slot at the discharge end, the baffle 1123 can limit the shaft on the discharge end from sliding downward, so that the shaft stays at the discharge end, facilitating the corresponding detection by the positive and negative detection members 114.

[0076] In some embodiments, a through hole is opened on the side of the unloading chute 112, specifically above the end of the positive and negative detection member 114 away from the baffle 1123. It should be understood that the length of the positive and negative detection member 114 matches the length of the shaft member, that is, the positions of the positive and negative detection member 114 and the through hole usually correspond to two adjacent shaft members respectively.

[0077] The fixing member 1124 is driven to move by the first driving member, so that the fixing member 1124 can support the shaft member on the unloading chute 112 through the through hole, so as to prevent the baffle 1123 from moving to the discharge hole 1125 and corresponding to the discharge slot at the discharge end, and the shaft member above the positive and negative detection member 114 also slides through the discharge hole 1125; when the shaft member after being detected by the positive and negative detection member 114 slides to the correction component 113, the first driving member first drives the baffle 1123 to block the discharge slot at the discharge end, and then drives the fixing member 1124 to move away from the shaft member to contact its support for the shaft member, so that the supported shaft member slides down to the position of the positive and negative detection member 114 for detection; it should be understood that when the shaft member slides down to the position corresponding to the positive and negative detection member 114, the first driving member drives the fixing member 1124 to move towards the direction close to the shaft member to support the corresponding shaft member to prevent it from sliding down.

[0078] For further information, see Figure 3 , Figure 4 A pushing assembly 1112 is provided on the discharge port 1115 and is slidably matched therewith. The pushing assembly 1112 includes a second driving member. A limiting inclined block is provided on the second driving member near the discharge port 1115, and a limiting groove matching the limiting inclined block is provided on the bottom surface of the upper bin.

[0079] It should be noted that the pushing assembly 1112 is arranged on a side of the upper bin 111 where a discharge port is opened, and is slidably cooperated with the upper bin 111 to block the discharge port and restrict the shaft in the upper bin 111 from sliding out of the discharge port; or release the discharge port so that the shaft in the upper bin 111 can slide through the discharge port into the discharge chute 112.

[0080] As a feasible implementation mode, the limiting bevel block includes a first limiting bevel block 1116 and a second limiting bevel block 1117. A limiting groove matching the second limiting bevel block 1117 is provided on the bottom surface of the upper material bin 111 near the discharge port 1115. The first limiting bevel block 1116 and the second limiting bevel block 1117 are respectively arranged on opposite sides of the bottom surface of the upper material bin 111.

[0081] It can be understood that the distance between the limit groove and the first limit bevel 1116 can accommodate a shaft. When the second driving member drives the limit bevel to move upward, the second limit bevel 1117 passes through the limit groove and moves upward to block the shaft behind the limit groove to prevent it from sliding down. At the same time, the first limit bevel 1116 also moves upward under the drive of the second driving member, releasing the blockage of the discharge port 1115, so that the shaft between the first limit bevel 1116 and the limit groove can slide from the discharge port 1115 to the unloading chute 112 connected thereto.

[0082] Furthermore, a guide assembly 1111 is provided at the upper bin 111 near the discharge port 1115, and the guide assembly 1111 includes a first guide plate and a second guide plate. The first guide plate is arranged parallel to the bottom surface of the upper bin, and the distance between the first guide plate and the bottom surface of the upper bin 111 can allow a single shaft to roll. The second guide plate is a V-shaped plate, and one end of the second guide plate is connected to an end of the first guide plate away from the discharge port 1115, and the other end is connected to the end surface where the discharge port 1115 is located.

[0083] It should be noted that the guide assembly 1111 is disposed on the inner side of the loading bin 111 close to the discharge port 1115 , and is used to guide the shaft in the loading bin 111 to roll toward the discharge port 1115 .

[0084] Specifically, the first guide plate is close to the discharge port 1115 and is arranged parallel to the bottom surface of the loading bin 111. The distance between the first guide plate and the bottom surface of the loading bin 111 is slightly larger than the maximum diameter of the shaft, that is, it can only allow one shaft to roll through, thereby avoiding the accumulation of multiple shafts here, and avoiding the large amount of material discharged from the discharge port 1115, which causes the shafts to accumulate or fall out of the discharge chute 112, thereby reducing the overall loading efficiency.

[0085] In addition, a second guide plate is connected to one end of the first guide plate away from the discharge port 1115. The second guide plate is specifically V-shaped, and the connecting end of the second guide plate and the first guide plate is inclined upward relative to the first guide plate, and the shafts stacked in the upper bin 111 are gradually guided in layers to the discharge port 1115 through the inclined connecting end; the other end of the second guide plate is inclinedly arranged above the first guide plate, and its higher end is connected to the inner side surface of the upper bin 111. The shafts stacked above the first guide plate slide to the higher end of the upper bin 111 through the inclined second guide plate, and then slide to the discharge port 1115, thereby avoiding the situation where the shafts are stacked above the first guide plate and cannot slide from the discharge port 1115.

[0086] Furthermore, a material lifting assembly 1113 is provided at the bottom end of the upper material bin 111. The material lifting assembly 1113 includes a third driving member, and a top plate is connected to the third driving member. A through groove 1114 matching the top plate is formed on the bottom surface of the upper material bin 111.

[0087] It should be noted that the through slot 1114 is arranged corresponding to the second guide plate, and the top plate moves upward under the drive of the third driving member, and passes through the through slot 1114 to squeeze the shaft members stacked under the second guide plate, so that they roll toward the discharge port one by one.

[0088] Furthermore, the width of the upper bin 111 matches the length of the shaft.

[0089] As a feasible implementation, the width of the loading bin 111 is slightly larger than the length of the shaft, and can just accommodate a shaft arranged in its length direction, and reserve a movable gap for its sliding to prevent the shaft from getting stuck during the sliding process.

[0090] Furthermore, both the feeding end of the unloading chute 112 and the bottom end of the loading bin 111 are provided with a material shortage detection member 1121 .

[0091] It can be understood that the material shortage detection component 1121 is used to detect whether there is a shaft component at the corresponding position. If the detection result is that there is no shaft component, the information is fed back to the information processor, and the information processor controls the corresponding components to perform corresponding operations based on the received information.

[0092] Specifically, the material shortage detection part 1121 on the unloading chute 112 is arranged on the feeding end, and when it detects that there is a shortage of material at the feeding end, the information processor controls the pushing assembly 1112 to push the axis in the upper bin 111 to the unloading chute 112; the material shortage detection part 1121 on the upper bin 111 is arranged close to the bottom end of the upper bin 111, and is preferably arranged at a position slightly higher than the diameter of the shaft from the bottom surface of the upper bin 111, that is, when only a single layer of shaft parts is left in the upper bin 111, the material shortage detection part 1121 arranged thereon detects that the upper bin 111 is short of parts, and promptly notifies the corresponding staff or equipment to replenish materials. At the same time, the only remaining shaft parts in the upper bin 111 can also continue to be fed to the unloading chute 112 during the replenishment period, so as to avoid idling of the shaft feeding device 11 and improve the overall feeding efficiency.

[0093] It can be understood that the shaft feeding device 11 provided in this embodiment first places the shaft parts into the inclined feeding bin 111 regardless of direction through manual or automated equipment, and the shaft parts in the feeding bin 111 slide toward the discharge port 1115 under the action of gravity, and are fed one shaft part at a time into the discharge chute 112 through the pushing component 1112. The shaft parts also slide to their discharge ends in the discharge chute 112 under the action of gravity, and are detected by the positive and negative detection components 114 to see whether their placement direction is correct. If the direction is correct, they slide directly to the next process through the correction component 113. If the direction is wrong, they slide into the correction component 113 to adjust the direction before sliding to the next process.

[0094] The shaft feeding device 11 provided in this embodiment realizes automatic transportation of the shaft based on gravity by simply tilting the transportation parts. The transportation process is smooth, the surface is not easily scratched, and the feeding structure is simple, which is conducive to reducing equipment costs. Through the cooperation of the positive and negative detection parts 114 and the correction components 113, automatic identification and correction of the direction of the shaft are realized, which reduces manual intervention, reduces production costs, and improves the efficiency and accuracy of shaft feeding.

[0095] For further information, see Figure 7 , Figure 8 The feeding mechanism 1 includes a workbench 13, a shaft feeding device 11 and a shaft transfer device 12 are arranged on the workbench 13, a slide rail assembly 14 is arranged between the shaft transfer device 12 and the workbench 13, and the shaft transfer device 12 moves toward the grasping mechanism 4 through the slide rail assembly 14.

[0096] It should be noted that the shaft transfer device 12 includes a base plate 126, one side of the base plate 126 is slidably matched with the slide rail assembly 14, and the other side is provided with a support member 124. The support member 124 is provided with an axial hole 121 for placing the shaft member, and brackets 125 are provided at both ends of the length direction of the support member 124 and are rotatably connected thereto. An inclined block 123 is provided at one end of the base plate 126 close to the shaft feeding device 11, and the inclination of the inclined block 123 matches the inclination of the correction assembly 113.

[0097] It can be understood that the supporting member 124 rotates toward the inclined block 123 to above the inclined block 123. At this time, the inclination of the supporting member 124 matches the inclination of the correction component 113. The bottom plate 126 is moved by the slide rail assembly 14, so that the shaft hole 121 corresponds to the outlet of the correction component 113, so that the shaft can accurately enter the shaft hole 121 after sliding out of the correction component 113. When the shaft holes on the supporting member 124 are all filled with shafts, the supporting member 124 is rotated in the direction away from the inclined block 123, so that the shaft is placed perpendicular to the bottom plate 126, which is convenient for the shaft insertion structure 411 to grab the shaft.

[0098] As a feasible implementation, two supporting members 124 are provided on the bottom plate 126, and two axial holes 121 may be opened on the supporting members 124, each axial hole 121 may fix an axial member, and an axial loading device 11 is provided on both sides of the axial transfer device 12, which can load materials to the two supporting members 124 at the same time, thereby improving the loading efficiency.

[0099] Optionally, the number of the shaft feeding device 11, the bearing member 124 and the shaft holes on the bearing member 124 arranged on the peripheral side of the shaft transfer device 12 can be set according to actual conditions.

[0100] Specifically, the axial hole 121 on the supporting member 124 is arranged along the length direction of the slide rail assembly 14, and the shaft transfer device 12 is slidably matched with the workbench 13 through the slide rail assembly 14. The shaft transfer device 12 slides along the track of the slide rail assembly 14, so that the axial hole 121 on the supporting member 124 corresponds to the outlet of the correction assembly 113, so that the shaft can accurately slide onto the shaft transfer device 12 through the correction assembly 113; when the axial holes 121 on the shaft transfer device 12 are all placed with shafts, the shaft transfer device 12 is conveyed to the edge of the workbench 13, that is, close to the grasping mechanism 4, through the slide rail assembly 14, so as to shorten the moving path required for the grasping mechanism 4 to insert the shaft on the shaft transfer device 12, thereby improving work efficiency.

[0101] Please also refer to Figure 5 , Figure 6 and Figure 7 A positioning groove 122 is provided on the shaft transfer device 12 , and a positioning pin 414 matching the positioning groove 122 is provided on the insertion and extraction device 41 .

[0102] It can be understood that, through the cooperation between the positioning pin 414 and the positioning groove 122 , the shaft inserting structure 411 can be accurately positioned and grasp the shaft member carried by the shaft transfer device 12 .

[0103] Furthermore, the grasping mechanism 4 includes a mechanical arm 42 , and the mechanical arm 42 is rotatably connected to the insertion device 41 .

[0104] It should be noted that the robot arm 42 includes a plurality of rotating joints 421, which can rotate on three spatial axes of X, Y, and Z, perform various movements in a three-dimensional space, and execute processing operations at different angles and directions.

[0105] As a feasible implementation mode, the robot arm 42 is specifically a six-axis robot, and the end of the robot arm 42 is connected to the insertion device 41. The robot arm 42 is arranged between the feeding mechanism 1, the transportation mechanism 2 and the forming mechanism 3. The robot arm 42 realizes a turning action through the rotating joint 421 thereon, thereby sending the insertion device 41 to the corresponding mechanism to perform related operation tasks, such as turning the end of the robot arm 42 to the feeding mechanism 1 direction, controlling the insertion shaft structure 411 on the insertion device 41 to grab the shaft on the shaft transfer device 12; or turning the end of the robot arm 42 to the forming mechanism 3 direction, controlling the insertion shaft structure 411 on the insertion device 41 to perform the insertion shaft operation, and / or controlling the picking structure 412 to grab the product on the forming mechanism 3; or after the picking structure 412 grabs the product, the robot arm 42 is rotated to the transportation mechanism 2 direction, and the product on the picking structure 412 is placed on the transportation mechanism 2.

[0106] Please also read Figure 8As a feasible implementation, the transport mechanism 2 includes a loading platform 21, and the height of the loading platform 21 is similar to the height of the base 33, so that the grasping mechanism 4 does not need to perform height positioning adjustment when transferring the product from the forming mechanism 3 to the transport mechanism 2, which simplifies the movement of the robot arm 42 and improves its work efficiency.

[0107] Specifically, a conveyor belt 22 is provided on the loading platform 21, and the conveyor belt 22 includes a loading end 221 and an unloading end 222. The loading end 221 is close to the mold 32, so that the picking structure 412 can take out the molded product on the mold 32 and quickly transfer it to the loading end 221. The conveyor belt 22 slides relative to the loading platform 21, thereby transferring the product thereon from the loading end 221 to the unloading end 222.

[0108] It can be understood that the loading end 221 is close to the mold 32, which shortens the distance that the pickup structure 412 takes to transport the product from the mold 32 to the loading end 221, thereby improving the working efficiency of the grasping mechanism 4; the product can be quickly and accurately transported to the destination through the conveyor belt 22, which greatly improves the logistics efficiency and saves human resources. The conveying method of the conveyor belt is relatively stable, which can reduce the damage rate of the product.

[0109] Furthermore, the insertion and extraction device 41 includes a plurality of insertion shaft structures 411 and a plurality of extraction structures 412 .

[0110] It should be noted that the shaft inserting structure 411 is used to grab the shaft on the shaft transfer device 12 and insert the shaft into the corresponding position on the mold 32; the picking structure 412 is used to grab the molded product in the mold 32 and transfer the product to the transportation mechanism 2.

[0111] In a specific embodiment, a plurality of shaft inserting structures 411 and a plurality of component taking structures 412 are provided on the insertion and taking device 41, so that the insertion and taking device 41 can grab a plurality of shaft components and products at the same time, thereby improving the overall work efficiency.

[0112] Furthermore, the insertion and extraction device 41 includes a mounting plate 413 , and the shaft insertion structure 411 and the extraction structure 412 are respectively arranged on opposite sides of the mounting plate 413 .

[0113] It can be understood that the shaft insertion structure 411 and the picking structure 412 are respectively arranged on the opposite sides of the mounting plate 413, so that the space on both sides of the mounting plate 413 can be fully utilized to accommodate the shaft and the product, thereby avoiding the shaft or product on the shaft insertion structure 411 and the picking structure 412 being limited to each other when picking up the product, resulting in the failure of picking up the product.

[0114] For further information, see Fig. 9 and Fig.10The molding mechanism 3 includes a barrel 31 and a mold 32 , the barrel 31 is connected to the mold 32 , and the transportation mechanism 2 is arranged close to the mold 32 .

[0115] It should be noted that the molding mechanism 3 includes a base 33, on which a clamping structure 34, a barrel 31 and a mold 32 are arranged. The barrel 31 is used to store and supply injection molding raw materials. A heater is usually provided around the barrel 31 to heat the raw materials to melt them, and then the molten raw materials are injected into the mold 32 for injection molding.

[0116] Specifically, the mold 32 includes two ends that open and close on the left and right. One end of the mold 32 is connected to the clamping structure 34, and the other end is connected to the barrel. When the mold 32 completes the shaft insertion, the clamping structure 34 pushes the mold 32 to close, and the barrel 31 injects the molten raw material into the mold 32, and the final product is injection molded in the mold 32.

[0117] Furthermore, the mold 32 includes a plurality of mold cavities 321, which can simultaneously injection mold a plurality of products, thereby greatly improving production efficiency.

[0118] As a feasible implementation mode, four mold cavities 321 are provided on the mold 32, and four shaft holes 121 are opened on the shaft transfer device 12, that is, the shaft transfer device 12 can carry four shaft members at the same time. Similarly, four shaft insertion structures 411 and four pickup structures 412 are provided on the insertion and extraction device 41, and the positions of the mold cavities 321, the shaft holes 121, the shaft insertion structures 411 and the pickup structures 412 are arranged correspondingly, so that the shaft insertion structures 411 and the pickup structures 412 can complete the removal and insertion of four shaft members and the pickup and delivery of four products at one time, thereby greatly improving the production efficiency.

[0119] Optionally, the number of mold cavities 321, shaft holes 121, shaft insertion structures 411 and piece removal structures 412 can be set according to actual conditions, and can be the same number or different numbers. The specific number can be adjusted according to actual conditions and no excessive restrictions are imposed here.

[0120] For further information, see Fig.11 The second embodiment of the present invention also provides an automatic plug-in molding method, comprising:

[0121] Step S1: Loading the shaft component to the shaft transfer device through the shaft loading device;

[0122] Step S2: grabbing the shaft in the shaft transfer device through the grabbing mechanism and fixing the shaft to the forming device;

[0123] Step S3: The product in the forming device is taken out by the grabbing mechanism and sent to the transport mechanism.

[0124] It can be understood that a plurality of shafts of different directions are stored in the loading bin 111. The shafts are discharged one by one from the loading bin 111 into the discharge chute 112 for positive and negative detection by the positive and negative detection components 114. The shafts that have completed the detection continue to be discharged into the correction component 113 for corresponding adjustment. The adjusted shafts continue to slide down onto the shaft transfer device 12. The shaft feeding device 11 is tilted as a whole, so that the shafts can be automatically adjusted by the shaft feeding device 11 and discharged into the shaft transfer device 12, thereby reducing the cost of mechanical automation and improving the efficiency and accuracy of shaft feeding.

[0125] When the shaft is loaded onto the shaft transfer device 12, the shaft transfer device 12 moves along the slide rail assembly 14 to the edge of the workbench 13, the robotic arm 42 positions the insertion device 41 above the shaft transfer device 12, and grabs the shaft on the shaft transfer device 12 through the shaft insertion structure 411; the shaft transfer device 12 and the robotic arm 42 move in both directions, which speeds up the efficiency of grabbing the shaft.

[0126] After the shaft-inserting structure 411 has completed taking the shaft, the robotic arm 42 moves the insertion device 41 to the molding mechanism 3, first takes out the product on the mold 32 through the picking structure 412, and then returns the insertion device 41 to a safe position, that is, the insertion device 41 leaves the molding mechanism 3, rotates the insertion device 41 180 degrees, so that the shaft-inserting structure 411 corresponds to the mold 32 end of the molding mechanism 3, and moves the shaft-inserting structure 411 into the mold 32, and inserts the shaft thereon into the mold cavity 321; finally, the picking structure 412 is moved to the transport mechanism 2 by the robotic arm 42, and the product thereon is placed on the transport mechanism 2 for transmission.

[0127] The above is a detailed introduction to an automatic insertion machine and method disclosed in an embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention. Any modifications, equivalent substitutions and improvements made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic plug-in machine, characterized in that: It includes a feeding mechanism, a transporting mechanism, a forming mechanism and a grabbing mechanism, wherein the feeding mechanism, the transporting mechanism and the forming mechanism are arranged around the grabbing mechanism; The feeding mechanism includes a shaft feeding device and a shaft transfer device; the shaft feeding device includes a correction component, and the shaft transfer device is arranged corresponding to the correction component; The grabbing mechanism includes an inserting device, and the inserting device includes a shaft inserting structure and a picking structure. The shaft inserting structure is used to grab the material on the shaft transfer device, and the picking structure is used to grab the material on the forming mechanism.

2. The automatic insertion machine according to claim 1, characterized in that: The feeding mechanism comprises a workbench, the shaft feeding device and the shaft transfer device are arranged on the workbench, a slide rail assembly is arranged between the shaft transfer device and the workbench, and the shaft transfer device moves toward the grasping mechanism through the slide rail assembly.

3. The automatic insertion machine according to claim 1, characterized in that: The shaft transfer device is provided with a positioning groove, and the insertion and extraction device is provided with a positioning pin matching the positioning groove.

4. The automatic insertion machine according to claim 1, characterized in that: The grabbing mechanism comprises a mechanical arm, and the mechanical arm is rotatably connected to the insertion device.

5. The automatic insertion machine according to claim 4, characterized in that: The robotic arm includes a plurality of rotational joints.

6. The automatic insertion machine according to claim 1, characterized in that: The inserting and removing device comprises a mounting plate, and the inserting shaft structure and the removing structure are respectively arranged on opposite sides of the mounting plate.

7. The automatic insertion machine according to claim 1, characterized in that: The inserting and removing device comprises a plurality of the inserting shaft structures and a plurality of the removing structures.

8. The automatic insertion machine according to claim 1, characterized in that: The molding mechanism comprises a barrel and a mold, the barrel is communicated with the mold, and the transport mechanism is arranged close to the mold.

9. The automatic insertion machine according to claim 8, characterized in that: The mold includes a plurality of mold cavities.

10. An automatic plug-in molding method, applied to the automatic plug-in machine according to any one of claims 1 to 9, characterized in that: include: Loading the shaft parts to the shaft transfer device through the shaft loading device; Grab the shaft in the shaft transfer device through the grasping mechanism and fix the shaft into the forming device; The product in the forming device is taken out by the grabbing mechanism and sent to the transport mechanism.

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