Fully automatic insert feeding machine

Abstract

This invention discloses a fully automatic insert feeding machine, relating to the field of insert feeding technology. It features the advantages of automatically placing two inserts into a robotic gripper position for easy automatic gripping by the robotic arm, and facilitating the insertion of the inserts into the injection mold after gripping. The key technical points are: it includes a transmission track, a robotic arm, a distribution component, and a feeding mechanism that delivers inserts one by one onto the transmission track. The distribution component moves a single insert from the exit of the transmission track to the gripping position for the robotic arm to grasp, with its side abutting against the exit position of the transmission track. The robotic arm has an end effector at its end. After the distribution component moves the insert to the gripping position, the end effector picks up the insert from the distribution component. The end effector is equipped with an ejector; when the end effector releases its suction force from the insert, the ejector pushes the insert away from the end effector, allowing the insert to enter the injection mold.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of insert feeding, in particular to a full-automatic insert feeding machine. BACKGROUND

[0002] Insert injection molding is a process in which an insert is fixed in a proper position in an injection mold in advance, then plastic is injected for molding, and the insert is tightly embedded in the plastic after the mold is opened to obtain a product. The simplest operation method for insert injection molding is to place the insert in the corresponding position of the injection mold by a mechanical hand device.

[0003] The structure of the insert is shown in Figure 15 The insert includes a plate body and extension plates extending away from the plate body from both sides of one end of the plate body, the extension plates and the plate body integrally form a T shape, and a rectangular mounting hole is formed in the plate body. When loaded into the injection mold, the two inserts need to be placed as shown in Figure 15 Then, the mechanical hand takes them and then sends them into the injection mold.

[0004] However, the operation method of placing the insert by the mechanical hand device still needs manual placement of the insert on the mechanical hand gripping position to ensure the position accuracy of the mechanical hand device in grabbing the insert. Therefore, the mechanical hand device needs to wait for manual placement of the insert on the mechanical hand gripping position every time the insert is transferred, which has low automation degree and needs manual cooperation. If the insert is not placed by the manual cooperation, the entire injection molding process will be stopped, which reduces the efficiency of the injection molding machine. In addition, how to take and place the insert by the mechanical hand is also a problem to be solved.

[0005] Therefore, the applicant has developed a new technical solution in the actual production process to solve the above technical problems. SUMMARY

[0006] In view of the above technical deficiencies, the purpose of the present application is to provide a full-automatic insert feeding machine which has the advantages of automatically placing two inserts on the mechanical hand gripping position, facilitating automatic grabbing by the mechanical hand, and facilitating pushing of the insert into the injection mold after grabbing.

[0007] To solve the above technical problems, the present application adopts the following technical solutions:

[0008] The present application provides a full-automatic insert feeding machine, which comprises a transmission track, a mechanical hand, a distribution piece, and a feeding mechanism for sequentially delivering inserts to the transmission track. The distribution piece moves a single insert at the outlet of the transmission track to a gripping position for the mechanical hand to grab. The side surface of the distribution piece abuts against the outlet position of the transmission track.

[0009] The end of the manipulator is provided with an end effector, and the dispensing member moves the insert to a grabbing position, and the end effector sucks the insert from the dispensing member;

[0010] The end effector is matched with an ejection member, and when the end effector releases the suction force on the insert, the ejection member pushes the insert away from the end effector, so that the insert enters the injection mold.

[0011] By adopting the above technical scheme, the feeding mechanism delivers the inserts to the transmission tracks one by one, so that the inserts are closely arranged in the transmission tracks one after another, facilitating the movement of the inserts out of the outlet of the transmission track, and the dispensing member moves the single insert, the insert on the transmission track is moved to the grabbing position of the manipulator, then the manipulator drives the end effector to move to the grabbing position, so that the end effector contacts the insert, and then sucks the insert to the suction block, finally the manipulator moves the insert to the injection mold of the injection molding machine, and the ejection member pushes the insert into the injection mold. The above process realizes the automatic placement of the insert to the grabbing position of the manipulator, facilitates the automatic grabbing of the manipulator, and facilitates the pushing of the insert into the injection mold after grabbing, thereby improving the automation degree of the insert feeding, reducing manual work, facilitating the whole injection molding process, and improving the efficiency of the injection molding machine.

[0012] Preferably, the end effector comprises a grabbing plate, the grabbing plate is provided with a suction block matched with the shape of the insert output by the transmission track, the suction block is provided with a corresponding hole corresponding to the mounting hole on the insert, and the size of the corresponding hole is greater than that of the mounting hole, the suction block is provided with an air suction pipeline on both sides of the corresponding hole, and the ejection member is arranged on the fixed plate and pushes the insert away from the suction block through the corresponding hole.

[0013] Preferably, the number of the transmission tracks is multiple and horizontally distributed in parallel, the feeding mechanism comprises a vibrating disc for delivering the inserts to each transmission track one by one, each transmission track is horizontally distributed, and the bottom of the transmission track is provided with a straight vibrator.

[0014] Preferably, the dispensing member comprises a staggered plate abutting with the outlet of each transmission track on one side, and an electric cylinder one driving the staggered plate to move back and forth in a direction perpendicular to the transmission track, the staggered plate is provided with a receiving port abutting with the outlet of each transmission track, when the electric cylinder one drives the staggered plate to make the receiving port directly opposite to the outlet of the transmission track, the insert on the transmission track enters the receiving port, and when the electric cylinder one drives the staggered plate to make the receiving port staggered with the outlet of the transmission track, the side surface of the staggered plate abuts against the outlet of the transmission track, so that the insert cannot be sent out from the transmission track.

[0015] Preferably, the distribution component further includes a detection plate located on the side of the misalignment plate away from the transmission track. One side of the detection plate extends above the misalignment plate. When the receiving port on the misalignment plate is distributed opposite to the outlet of the transmission track, one end of the detection plate is located directly above the receiving port. The detection plate is provided with a position sensor for detecting whether the insert has entered the receiving port.

[0016] The position sensor is facing the side of the receiving port away from the conveyor track.

[0017] Preferably, the number of transmission tracks is set to two. The fully automatic insert feeder also includes a support platform that supports the distribution component at the outlet of the two transmission tracks. The distribution component includes two linear tracks that slide along the length of the support platform and are connected to the upper surface of the support platform. The two linear tracks are distributed along the length of the two transmission tracks and are connected to the two transmission tracks respectively. The two linear tracks are fixedly connected at one end near the two transmission tracks by a connecting plate. One end of the connecting plate extends horizontally out of one of the linear tracks, and the connecting plate is located outside the support platform. The support platform is provided with an electric cylinder two that pushes the linear track to slide on the support platform. The piston rod of the electric cylinder two is fixed on one of the linear tracks. When an insert enters the linear track, both linear tracks are provided with detection components for detecting whether an insert has entered the linear track.

[0018] Preferably, the detection component includes a long strip plate disposed on the lower end face of the connecting plate, with motors at both ends of the long strip plate. The motor shafts are vertically upward, and a vertical rod is coaxially fixed at the upper end of the motor shaft. A rectangular block is disposed at the upper end of the vertical rod. A through hole is provided on the linear track for the rectangular block to move up and down. A groove is provided on the side of the rectangular block away from the motor. A positioning rod is vertically slidably connected in the groove and inserted into the mounting hole. A compression spring is provided at the bottom of the groove to allow the positioning rod to be inserted into the mounting hole. A limiting component is provided on the transmission track to restrict the insert from moving upward out of the linear track. A second position sensor is provided in the linear track on the side of the through hole away from the transmission track. The second position sensor is used to detect whether one end of the insert passes through the opening of the through hole.

[0019] The connecting plate is equipped with a drive component that moves the long strip plate up and down.

[0020] Preferably, the limiting member includes a limiting plate disposed on the upper end face of each transmission track. When the straight track is aligned and connected with the transmission track, the limiting plate is located above the straight track and the lower end face of the limiting plate is rotatably connected to a plurality of rollers I that roll on the upper end face of the insert. The upper end face of the positioning rod is rotatably connected to a plurality of rollers II that roll on the lower end face of the insert.

[0021] Preferably, the support platform is provided with an adjustment component for detecting the orientation of the insert and adjusting the insert to the correct orientation;

[0022] The adjusting component includes two L-shaped adjusting plates set on the upper surface of the support platform, which are staggered from the two transmission tracks. The vertical end of the adjusting plate is fixedly connected to the support platform, and the horizontal end is provided with an adjusting frame for the insert to pass through. Each adjusting frame is provided with a pressure sensor on its lower end surface to control the motor to rotate 180°. The pressure sensor is located at the end of the adjusting frame away from the end that cooperates with the extension plate.

[0023] Preferably, the linear track includes a slide plate that is slidably connected to the support platform. The length direction of the slide plate is distributed along the length direction of the transmission track. An entry groove is provided on the upper surface of the slide plate for the insert to enter in the width direction. The length direction of the entry groove is distributed along the length direction of the slide plate and extends through both sides of the length direction of the slide plate. When the insert slides into the entry groove, the upper surface of the insert is flush with the opening of the entry groove, that is, the insert is flush with the upper surface of the slide plate.

[0024] The beneficial effects of this invention are as follows: the feeding mechanism delivers inserts one by one to the conveying track, so that the inserts are closely arranged one after another in the conveying track, which facilitates the individual movement of the inserts out of the conveying track outlet. The distributed component performs the movement of individual inserts. The inserts on the conveying track are moved individually to the gripping position of the robot arm. Then, the robot arm drives the end effector to move to the gripping position, so that the end effector contacts the insert and picks up the insert onto the suction block. Finally, the robot arm moves the insert to the injection mold of the injection molding machine, and the ejector pushes the insert into the injection mold. The above process realizes the purpose of automatically placing the inserts to the gripping position of the robot arm, which facilitates the automatic gripping of the robot arm and the push of the insert into the injection mold after gripping. This improves the automation level of insert feeding, reduces manual labor, facilitates the entire injection molding process, and thus improves the efficiency of the injection molding machine. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of Embodiment 1;

[0027] Figure 2 This is a schematic diagram illustrating the structure of the vibratory feeder in Embodiment 1.

[0028] Figure 3 This is a schematic diagram illustrating the structure of the transmission track in Embodiment 1.

[0029] Figure 4 This is a schematic diagram of the structure of Embodiment 1, illustrating how the gripping plate picks up the insert on the misaligned plate;

[0030] Figure 5 This is a schematic diagram illustrating the structure of the misaligned plate in Embodiment 1.

[0031] Figure 6 This is a schematic diagram of the structure of Embodiment 1, illustrating the suction block suctioning the insert and the push rod being pushed out.

[0032] Figure 7 This is a schematic diagram illustrating the structure of the top rod in Embodiment 1.

[0033] Figure 8 This is a schematic diagram illustrating the structure of the intake pipe in Embodiment 1.

[0034] Figure 9 This is a schematic diagram of the structure of Embodiment 2;

[0035] Figure 10 This is a schematic diagram illustrating the structure after the straight track and the transmission track are misaligned, as shown in Embodiment 2.

[0036] Figure 11 This is a schematic diagram illustrating the structure of the insert after it enters the adjustment frame in Embodiment 2.

[0037] Figure 12 This is a schematic diagram of the structure of Embodiment 2, which illustrates the return of the positioning rod to the through hole after the insert in the adjustment frame is sucked up;

[0038] Figure 13 This is a schematic diagram illustrating the structure of the rectangular block in Embodiment 2.

[0039] Figure 14 This is a schematic diagram illustrating the structure of the compression spring in Embodiment 2.

[0040] Figure 15 This is a schematic diagram showing the correct orientation of two inserts picked up by a robotic arm in the prior art.

[0041] Figure 16 This is a schematic diagram of the structure of Embodiment 2, which shows the reversed position of the left-side insert after the two inserts are output by the transmission track.

[0042] Explanation of reference numerals in the attached figures:

[0043] In the diagram: 1. Conveyor track; 11. Vibratory feeder; 12. Guide plate; 121. Guide groove; 122. Limiting strip; 123. Conveyor plate; 124. Baffle; 13. Straight vibrator; 14. Fixing plate; 141. Vertical plate; 142. Gripping plate; 143. Suction block; 144. Corresponding hole; 145. Suction pipe; 146. Moving plate; 147. Guide rod; 148. Electric cylinder four; 149. Top rod; 1491. Tip; 15. Cabinet; 151. Support platform; 152. Support plate; 153. Misalignment plate; 1531. Material receiving port; 1532. Mounting block; 1533. Electric cylinder one; 154. Detection plate; 1541. Position sensor 1; 16. Linear track; 161. Slide plate; 162. Entry groove; 163. Connecting plate; 1631. Guide column; 1632. Horizontal plate; 1633. Electric cylinder 3; 164. Electric cylinder 2; 165. Long strip plate; 166. Motor; 1661. Upright pole; 1662. Rectangular block; 1663. Through hole; 1664. Slide groove; 1665. Positioning rod; 1666. Compression spring; 1667. Position sensor 2; 1668. Roller 2; 167. Limiting plate; 1671. Roller 1; 17. Adjusting plate; 171. Adjusting frame; 2. Insert; 21. Plate body; 22. Extension plate; 23. Mounting hole. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Example 1: A fully automatic insert feeding machine, such as Figure 1 and Figure 2 The system includes a transmission track 1, a robotic arm, a distributor, and a feeding mechanism that delivers inserts 2 (not shown in the figure) one by one onto the transmission track 1. The distributor moves a single insert 2 at the exit of the transmission track 1 to a gripping position for the robotic arm to grasp. The side of the distributor abuts against the exit position of the transmission track 1. The number of transmission tracks 1 is set to be multiple and horizontally distributed in parallel with each other, preferably two transmission tracks 1. The feeding mechanism includes a vibratory plate 11 that delivers inserts 2 one by one onto each transmission track 1. Each transmission track 1 is horizontally distributed and a vertical vibrator 13 is provided at the bottom of the transmission track 1.

[0046] The inserts 2 within the two transmission tracks 1 are arranged such that one insert 2 is adjacent to the other, and the sides of the two adjacent inserts 2 with extension plates 22 are in contact with each other. The side of one insert 2 on one transmission track 1 with its extension plate 22 is closer to the side of the other insert 2 on the other transmission track 1 with its extension plate 22 (e.g., ...).Figure 11 As shown in the image).

[0047] The end effector of the robot arm is provided. After the distributor moves the insert 2 to the gripping position, the end effector picks up the insert 2 from the distributor. The end effector is equipped with an ejector. When the end effector releases the suction force with the insert, the ejector pushes the insert 2 away from the end effector, so that the insert 2 enters the injection mold.

[0048] like Figure 2 and Figure 4 and Figure 6 and Figure 8 The end effector includes a fixed plate 14 mounted on the robotic arm. A gripping plate 142 is connected to the fixed plate 14 via two opposing upright plates 141. The gripping plate 142 has two suction blocks 143 that respectively match the shape of the inserts 2 output from the two transmission tracks 1. The suction blocks 143 have corresponding holes 144 that correspond to the mounting holes 23 on the inserts 2, and the size of the corresponding holes 144 is larger than the size of the mounting holes 23. The suction blocks 143 have suction pipes 145 on both sides of the corresponding holes 144. The end of the suction pipe 145 away from the suction block 143 is connected to a vacuum pump (not shown in the figure). The vacuum pump causes the suction pipe 145 to generate suction force on the inserts 2. The ejector is mounted on the fixed plate 14 and passes through the corresponding holes 144 to push the inserts 2 away from the suction blocks 143.

[0049] The purpose of this design is to pick up the insert 2 from the gripping position, using two suction pipes 145 to pick up the insert 2 onto the suction block 143. Then, the robot moves the insert 2 into the injection molding machine, facing the injection mold. The suction block 143 places the insert 2 into the injection mold at the position where it is placed. Then, the suction pipes stop suction, and the ejector pushes the insert 2 into the injection mold through the corresponding hole 144, thus completing the work of embedding the insert 2 into the injection mold. The injection mold has holes for insert 2 to be inserted, which is an existing structure. Therefore, it is only necessary for the robot to move the insert 2 onto the injection mold and align it with the holes for insert 2 to be placed. Then, a portion of the suction block 143 with the insert 2 is inserted into the holes for insert 2 in the injection mold. Finally, the ejector pushes the insert 2 into the corresponding position in the injection mold.

[0050] like Figure 6 and Figure 7The ejector includes a movable plate 146 disposed on the side of the gripping plate 142 opposite to the suction block 143. The gripping plate 142 has several guide rods 147 extending through the movable plate 146. An electric cylinder 148 is disposed on the side of the movable plate 146 opposite to the gripping plate 142. The piston rod of the electric cylinder 148 extends vertically downwards and extends through the movable plate 146, fixing itself to the surface of the gripping plate 142. Corresponding holes 144 on the suction block 143 extend through the upper surface of the gripping plate 142. The movable plate 146 is provided with a push rod 149, one end of which moves within the corresponding hole 144. The end of the push rod 149 that extends beyond the corresponding hole 144 is designated as a tip 1491. This facilitates the tip 1491 of the push rod 149 entering the mounting hole 23 of the insert 2, and also allows the tip 1491 to abut against the wall of the mounting hole 23 after partially entering it, thereby pushing the insert 2. At this time, the diameter of the push rod 149 is larger than the diameter of the mounting hole 23. When the ejector is not needed, i.e., when gripping the insert 2, only the piston rod of the electric cylinder 148 needs to extend, causing the push rod 149 to move into the suction block 143. When the ejector is needed, i.e., when the robot moves the insert 2 into the injection mold, the piston rod of the electric cylinder 148 retracts, causing one end of the push rod 149 to exit the corresponding hole 144 of the suction block 143, thus facilitating the ejection of the insert 2.

[0051] like Figure 2 and Figure 4 and Figure 6 Two vibratory feeders 11 are used to feed the inserts 2 one by one onto two parallel transmission tracks 1, so that the inserts 2 are closely arranged one after another in the transmission tracks 1. At this time, the vibrator 13 causes the inserts 2 on the transmission tracks 1 to move away from the vibratory feeders 11, and then move them out of the outlet of the transmission track 1 one by one. The distributed parts perform the movement of individual inserts 2, so that the inserts 2 on each transmission track 1 are moved individually to the gripping position of the robot. Then the robot moves the gripping plate 142 to the gripping position, so that the two suction blocks 143 face each other and make contact. Two inserts 2 are fed into the injection mold of the injection molding machine. Then, the suction pipe 145 starts to suck in air, which picks up the inserts 2 and puts them onto the suction block 143. Finally, the robot moves the inserts 2 into the injection mold of the injection molding machine. Then, the suction of the inserts 2 is released, so that the ejector pushes the inserts 2 into the injection mold. The above process realizes the automatic placement of the two inserts 2 into the gripping position of the robot, which is convenient for the robot to automatically grasp and push the inserts into the injection mold after grasping. This improves the automation of insert 2 feeding, reduces manual labor, facilitates the entire injection molding process, and thus improves the efficiency of the injection molding machine.

[0052] like Figure 1 and Figure 2The system also includes cabinets 15 with upward-facing openings, a vibratory feeder 11, and transmission tracks 1, a linear vibrator 13, and a distribution component, all located on the inner bottom plate of cabinet 15. The upward-facing openings of cabinet 15 facilitate the movement of the fixed plate 14 into and out of cabinet 15 by a robotic arm. A support platform 151 is provided on the inner bottom plate of cabinet 15 to support the distribution component at the exits of the two transmission tracks 1. The robotic arm can be an existing robotic arm, allowing the fixed plate 14 to reciprocate between cabinet 15 and the injection molding machine; details will not be elaborated upon here.

[0053] like Figure 2 The support platform 151 is distributed along the line connecting the outlets of the two transmission tracks 1. The distribution component includes a horizontally distributed support plate 152 on the support platform 151. A misalignment plate 153 is slidably connected to the support plate 152 via a slide rail. The sliding direction of the misalignment plate 153 is perpendicular to the length direction of the two transmission tracks 1. The length direction of the misalignment plate 153 is distributed along the line connecting the outlets of the two transmission tracks 1.

[0054] like Figure 2 and Figure 4 and Figure 5 The misalignment plate 153 has a receiving port 1531 communicating with the two transmission rails 1. The receiving port 1531 is sized to accommodate an insert 2 and is rectangular in shape. A mounting block 1532 is provided on one side of the misalignment plate 153 on the support plate 152. An electric cylinder 1533 is mounted on the mounting block 1532 to drive the misalignment plate 153 to reciprocate along the slide rails. Two Z-shaped detection plates 154 are provided on the support plate 152. Each detection plate 154 is located on the side of the misalignment plate 153 opposite to the two transmission rails 1. One side of 54 is connected to the support plate 152 by bolts, and the other side extends horizontally to the top of the misalignment plate 153. When the two receiving ports 1531 on the misalignment plate 153 are respectively distributed opposite to the outlets of the two transmission tracks 1, one end of the two detection plates 154 is located directly above the two receiving ports 1531. Both detection plates 154 are equipped with position sensors 1541 for detecting whether the insert 2 has entered the receiving port 1531. The position sensors 1541 face the side of the receiving port 1531 away from the transmission track 1.

[0055] One side of the misalignment plate 153 is attached to the outlet of each transmission track 1. When the electric cylinder 1533 moves the misalignment plate 153 so that the receiving port 1531 is aligned with the outlet of the transmission track 1, the insert 2 on the transmission track 1 enters the receiving port 1531. When the electric cylinder 1533 moves the misalignment plate 153 so that the receiving port 1531 is misaligned with the outlet of the transmission track 1, the side of the misalignment plate 153 abuts against the outlet of the transmission track 1, so that the insert 2 cannot be sent out from the transmission track 1.

[0056] like Figure 3The structure of the transmission track 1 corresponding to the distribution component is as follows: a long strip guide plate 12 is fixedly connected to the linear vibrator 13. The upper end of the guide plate 12 has a guide groove 121 for the insert 2 to enter. The guide groove 121 extends through both sides of the guide plate 12 along its length. A limiting strip 122 extending above the insert 2 is provided on the opening wall of the guide groove 121. One end of the limiting strip 122 does not extend directly above the side of the insert 2 with the extension plate 22. The guide groove 121 on the guide plate 12 is directly opposite to and communicates with the receiving port 1531. The linear vibrator 13 can be a YQ-140Z linear vibratory feeder, but is not limited to this.

[0057] like Figures 1-8 The working principle of the distribution component:

[0058] Step 1: The two vibratory feeders 11 deliver the inserts 2 one by one into the two transmission tracks 1 until one insert 2 enters the receiving port 1531 at the exit of the transmission track 1. When one insert 2 is completely inside the receiving port 1531, the position sensor 1541 detects the insert 2 and controls the electric cylinder 1533 to work and control the robot arm to move the fixed plate 14 into the cabinet 15.

[0059] Step 2: Cylinder 1533 controls the misalignment plate 153 to move to one side until the receiving port 1531 is misaligned with the transmission track 1. This causes the insert 2 at the outlet of the transmission track 1 to be limited by the side wall of the misalignment plate 153, and the receiving port 1531 to be completely moved out of direct view of the detection plate 154. At this point, this position is the gripping position for the insert 2. Cylinder 1533 stops working. After the robot moves into the cabinet 15, the suction block 143 comes into contact with the insert 2. The suction pipe 145 starts to suck in air, which then adsorbs the insert 2 onto the suction block 143. Subsequently, the robot controls the suction block 143 to move out of the cabinet 15 and into the injection molding machine. Since the robot moves into the cabinet 15 from outside, it will only grip after the Cylinder 1533 moves the receiving port 1531 to the gripping position.

[0060] Step 3: The electric cylinder 1533 controls the misalignment plate 153 to move in the opposite direction, so that the receiving port 1531 is connected to the transmission track 1 again, which facilitates the next insert 2 to enter the receiving port 1531. By repeating the first and second steps, continuous automatic feeding of the robotic arm gripping position can be achieved.

[0061] like Figure 1 In addition, the surrounding side walls of the cabinet 15 can also be set as openable doors to facilitate maintenance and inspection of the operation of the equipment inside the cabinet 15. Furthermore, an inlet is provided on the side wall of the cabinet 15 with the vibratory feeder 11 for inserting the insert 2 into the vibratory feeder 11.

[0062] Example 2: A fully automatic insert feeding machine, which differs from Example 1 in that, as shown in Example 1...Figures 9-12 The distribution component includes two linear rails 16 that are slidably connected to the upper surface of the support platform 151 along its length. The two linear rails 16 are distributed along the length of the two transmission rails 1 and are respectively connected to the two transmission rails 1. The two linear rails 16 are fixedly connected at their ends near the two transmission rails 1 by a connecting plate 163, which is located outside the support platform 151, indicating that one end of the linear rail 16 extends out of the support platform 151. The support platform 151 is equipped with an electric cylinder 164 that pushes the linear rail 16 to slide on the support platform 151. The piston rod of the electric cylinder 164 is fixed to one of the linear rails 16. Since the two linear rails 1... 6 is connected by a connecting plate 163. Therefore, when the electric cylinder 164 drives one of the linear tracks 16 to move, the other linear track 16 moves together. One end of the connecting plate 163 extends horizontally out of one of the linear tracks 16. The electric cylinder 164 drives the linear track 16 to move away from the side of the linear track 16 extending from the connecting plate 163, thereby realizing the misalignment of the linear track 16 with the transmission track 1. After the misalignment, the inserts 2 in both transmission tracks 1 are blocked and limited by the side wall of the connecting plate 163. When one insert 2 enters the linear track 16, both linear tracks 16 are provided with a detection device for detecting whether one insert 2 has entered the linear track 16.

[0063] The purpose of setting up the linear track 16 is as follows: The insert 2 is packaged in a packaging bag, and when it is needed to be loaded, it is unpacked and poured into the vibratory feeder 11. At this time, there will be some packaging bags or other debris in the vibratory feeder 11. The setting of the linear track 16 allows these debris to be pushed to one side of the linear track by the insert 2 after it moves into the linear track 16, making it easier to remove the debris.

[0064] like Figures 11-14The testing component includes a long strip plate 165 mounted on the lower end face of the connecting plate 163. Motors 166, which are servo motors, are mounted at both ends of the long strip plate 165. The shafts of the motors 166 are vertically upwards, and a vertical rod 1661 is coaxially fixed to the upper end of each shaft. A rectangular block 1662 is mounted on the upper end of the vertical rod 1661. A through hole 1663 is provided on the linear track 16 for the rectangular block 1662 to move up and down. A sliding groove 1664 is provided on the side of the rectangular block 1662 away from the motor 166. An insertion device is vertically slidably connected within the sliding groove 1664. The positioning rod 1665 is a rectangular rod inside the mounting hole 23. The bottom of the groove 1664 is provided with a compression spring 1666 that allows the positioning rod 1665 to be inserted into the mounting hole 23. The transmission track 1 is provided with a limiting member that restricts the insert 2 from moving upward out of the linear track 16. The linear track 16 is provided with a position sensor 1667 located on the side of the through hole 1663 away from the transmission track 1. The position sensor 1667 is used to detect whether one end of the insert 2 passes through the opening of the through hole 1663. The connecting plate 163 is provided with a driving member that drives the elongated plate 165 to rise and fall.

[0065] like Figures 9-12 The structure of the transmission track 1 corresponding to the distribution component is as follows: a long strip transmission plate 123 fixedly connected to the straight vibrator 13, with L-shaped baffles 124 at both ends of the width direction of the transmission plate 123. The vertical side of the baffle 124 is connected to the transmission plate 123, and the horizontal side extends to the top of the insert 2 and contacts the upper end face of the insert 2. There is a gap between the horizontal plates of the two baffles 124. The linear track 16 includes a slide plate 161 slidably connected to the support platform 151. The length direction of the slide plate 161 is distributed along the length direction of the transmission track 1. The upper end face of the slide plate 161 is provided with an entry groove 162 for the insert 2 to enter in the width direction. The length direction of the entry groove 162 is distributed along the length direction of the slide plate 161 and passes through both sides of the length direction of the slide plate 161. When the insert 2 slides into the entry groove 162, the upper end face of the insert 2 is flush with the opening of the entry groove 162, that is, the insert 2 is flush with the upper end face of the slide plate 161. The entry slot 162 on the slide plate 161 is connected to the space between the two baffles 124 on the transmission plate 123, which facilitates the insertion piece 2 to slide into the entry slot 162.

[0066] like Figures 9-12The limiting components include limiting plates 167 disposed on the upper end face of each transmission track 1. One end of the limiting plate 167 is fixed to the horizontal portion of the two baffles 124 by screws. When the linear track 16 is aligned and connected to the transmission track 1, the limiting plate 167 is positioned above the linear track 16, and a plurality of rollers 1671 that roll on the upper end face of the insert 2 are rotatably connected to the lower end face of the limiting plate 167. A plurality of rollers 1668 that roll on the lower end face of the insert 2 are rotatably connected to the upper end face of the positioning rod 1665. The height of the connecting plate 163 is lower than the height of the upper end face of the linear track 16.

[0067] like Figures 9-12 The driving component includes several guide posts 1631 disposed on the lower end face of the connecting plate 163. The lower end of each guide post 1631 passes through the elongated plate 165 and is connected to the lower end of each guide post 1631 by a horizontal plate 1632. An electric cylinder 1633 is disposed on the horizontal plate 1632. At this time, the electric cylinder 1633 is fixed to the lower end face of the horizontal plate 1632, and the piston rod of the electric cylinder 1633 extends out of the horizontal plate 1632. The piston rods of the electric cylinder 1633 are vertically upward and fixedly connected to the lower end face of the elongated plate 165. When the piston rod of the electric cylinder 1633 extends upward, it can drive the elongated plate 165 to move upward.

[0068] like Figures 9-12 Sometimes, the output of the vibratory feeder 11 via the insert 2 may result in the insert 2 being output in the reverse direction: for example, when... Figure 15 The output of insert 2 on the left side is Figure 16 Regarding the left-side insert 2, if the incorrectly oriented insert 2 is installed into the injection mold, a defective product will be produced. Therefore, the support table 151 is equipped with an adjustment component for detecting the orientation of insert 2 and repositioning it to the correct direction. The orientation of insert 2 refers to: (e.g., ...) Figure 15 The correct orientation of insert 2 on the left side is positive; for example... Figure 16 The left insert 2 is opposite to the correct direction.

[0069] like Figures 9-12 The adjustment components include two L-shaped adjustment plates 17 set on the upper surface of the support platform 151, which are staggered with the two transmission tracks 1 respectively. The vertical end of the adjustment plate 17 is fixedly connected to the support platform 151, and the horizontal end is provided with an adjustment frame 171 for the insert 2 to pass through. The inner frame wall of the adjustment frame 171 is adapted to the correct direction of the insert 2. Each adjustment frame 171 is provided with a pressure sensor (not shown in the figure) on its lower end surface. The pressure sensor is located at the end of the adjustment frame 171 away from the end that cooperates with the extension plate 22. When the pressure sensor senses the pressure, it sends a signal to the controller, which controls the motor 166 to rotate 180°.

[0070] like Figures 9-14 The working principle of the distribution component:

[0071] Step 1: Two vibratory feeders 11 deliver inserts 2 one by one into the two transmission tracks 1, until the first insert 2 enters the linear track 16 at the exit of the transmission track 1. At this time, each roller 1671 rolls on the upper surface of the first insert 2. When one end of the first insert 2 passes through the opening of the through hole 1663, it is detected by the position sensor 1667. At this time, the position sensor controls the electric cylinder 1633 to push the elongated plate 165 upward, so that the rectangular block 1662 moves upward until it reaches the fixed position. The roller 1668 on the positioning rod 1665 abuts against the lower end face of the first insert 2, causing the positioning rod 1665 to move partially into the slide groove 1664, compressing the compression spring 1666 to have an elastic restoring force, and this elastic restoring force does not restrict the first insert 2 from continuing to slide into the linear track 16; when the first insert 2 has not passed through the through hole 1663, the positioning rod 1665 and the rectangular block 1662 are both located in the through hole 1663, and the compression spring 1666 is in its natural state;

[0072] Step 2: As the first insert 2 continues to enter the linear track 16, the mounting hole 23 on the first insert 2 moves to be opposite to the positioning rod 1665. Under the restoring force of the compression spring 1666, the positioning rod 1665 moves upward and automatically inserts into the mounting hole 23, thereby positioning the first insert 2.

[0073] Step 3: Electric cylinder 2 164 drives the two linear tracks 16 to move, so that the linear tracks 16 are misaligned with the transmission track 1, and the linear tracks 16 are located directly below the adjustment frame 171.

[0074] Step 4: The piston rod of the electric cylinder 1633 extends upward and drives the elongated plate 165 upward, which in turn causes the rectangular block 1662 on the elongated plate 165 to support the lower end of the first insert 2 to move upward. At this time, the positioning rod 1665 is in the mounting hole 23. As the rectangular block 1662 moves upward, it drives the first insert 2 to move towards the adjustment frame 171. If the first insert 2 can pass through the adjustment frame 171, it indicates that the orientation of the first insert 2 is correct. If the orientation of the first insert 2 is incorrect, it will get stuck in the adjustment frame 171. The lower end face of 1 then presses against the pressure sensor. The pressure sensor senses the pressure and sends a signal to the controller. The controller first controls the electric cylinder 1633 to move the long strip plate 165 downward a certain distance, and then controls the motor 166 to rotate 180°. At this time, after the first insert 2 is rotated to the correct direction, the electric cylinder 1633 again moves the long strip plate 165 upward, so that the first insert 2 passes through the adjustment frame 171 until the upper end face of the first insert 2 moves to the upper end face of the adjustment frame 171. At this time, it is the gripping position of the robot arm.

[0075] Repeating the above steps will allow for continuous feeding of insert 2;

[0076] When the upper surface of the first insert 2 moves to the upper surface of the adjustment frame 171, a position sensor 3 can be set on the inner wall of the adjustment frame 171 to control the robot arm to move into the cabinet 15 for grasping. Other sensors can also be set to control the robot arm. This article does not impose any restrictions.

[0077] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A fully automatic insert loading machine, characterized in that, The device comprises a conveying track (1), a mechanical hand, a distribution piece and a feeding mechanism for feeding the inserts (2) to the conveying track (1) one by one, the distribution piece moves the single insert (2) at the outlet of the conveying track (1) to a grabbing position for the mechanical hand to grab, and the side of the distribution piece abuts against the outlet position of the conveying track (1); The end of the mechanical hand is provided with an end effector, and the distribution piece moves the insert (2) to the grabbing position, and the end effector sucks the insert (2) from the distribution piece; The end effector is matched with an ejector, and when the end effector releases the suction force on the insert (2), the ejector ejects the insert (2) from the end effector, so that the insert (2) enters the injection mold. The end effector comprises a grabbing plate (142), the grabbing plate (142) is provided with a suction block (143) matched with the shape of the insert (2) output by the conveying track (1), the suction block (143) is provided with a corresponding hole (144) corresponding to the mounting hole (23) on the insert (2), and the size of the corresponding hole (144) is greater than that of the mounting hole (23), the suction block (143) is provided with an air suction pipeline (145) on both sides of the corresponding hole (144), and the ejector is arranged on the fixed plate (14) and ejects the insert (2) from the suction block (143) through the corresponding hole (144); The number of the conveying tracks (1) is two, and the full-automatic insert feeding machine further comprises a supporting table (151) for supporting the distribution piece at the outlets of the two conveying tracks (1), the distribution piece comprises two linear tracks (16) slidably connected to the upper end surface of the supporting table (151) along the length direction of the supporting table (151), the two linear tracks (16) are respectively distributed along the length direction of the two conveying tracks (1) and respectively communicate with the two conveying tracks (1), the two linear tracks (16) are fixedly connected through a connecting plate (163) at one end close to the two conveying tracks (1), one end of the connecting plate (163) horizontally extends out of one of the linear tracks (16), and the connecting plate (163) is located outside the supporting table (151), the supporting table (151) is provided with an electric cylinder two (164) for sliding the linear track (16) on the supporting table (151), and the piston rod of the electric cylinder two (164) is fixed on one of the linear tracks (16), when one insert (2) enters the linear track (16), the two linear tracks (16) are respectively provided with a detection piece for detecting whether one insert (2) has entered the linear track (16).

2. The full-automatic insert feeder as claimed in claim 1, characterized in that, The number of the conveying tracks (1) is multiple and horizontally distributed in parallel, and the feeding mechanism comprises a vibrating disc (11) for feeding the inserts (2) to the conveying tracks (1) one by one, the conveying tracks (1) are horizontally distributed, and the bottom of the conveying track (1) is provided with a straight vibrator (13).

3. The full-automatic insert feeder as claimed in claim 1, characterized in that, The detection piece includes a long strip-shaped plate (165) arranged on the lower end surface of the connecting plate (163), both ends of the long strip-shaped plate (165) are provided with motors (166), the rotating shafts of the motors (166) are vertically upwardly distributed, the upper ends of the rotating shafts of the motors (166) are coaxially fixedly provided with vertical rods (1661), the upper ends of the vertical rods (1661) are provided with rectangular blocks (1662), the linear track (16) is provided with a through hole (1663) for the up-down movement of the rectangular blocks (1662), the side, away from the motor (166), of the rectangular block (1662) is provided with a sliding groove (1664), the sliding groove (1664) is vertically and slidingly connected with a positioning rod (1665) inserted into the installation hole (23), the groove bottom of the sliding groove (1664) is provided with a compression spring (1666) for inserting the positioning rod (1665) into the installation hole (23), the transmission track (1) is provided with a limiting piece for limiting the upward movement of the insert piece (2) out of the linear track (16), the linear track (16) is provided with a position sensor two (1667) located on the side, away from the transmission track (1), of the through hole (1663), and the position sensor two (1667) is used for detecting whether one end of the insert piece (2) passes through the aperture of the through hole (1663). The connecting plate (163) is provided with a driving piece for driving the long strip-shaped plate (165) to ascend and descend.

4. The full-automatic insert feeder as claimed in claim 3, characterized in that, The limiting piece includes a limiting plate (167) arranged on the upper end surface of each transmission track (1), when the linear track (16) is aligned with the transmission track (1) and communicates with the transmission track (1), the limiting plate (167) is located above the linear track (16), and the lower end surface of the limiting plate (167) is rotationally connected with a plurality of roller one (1671) rolling on the upper end surface of the insert piece (2), and the upper end surface of the positioning rod (1665) is rotationally connected with a plurality of roller two (1668) rolling on the lower end surface of the insert piece (2).

5. The full-automatic insert feeder as claimed in claim 4, characterized in that, The supporting table (151) is provided with an adjusting piece for detecting the front and back of the insert piece (2) and adjusting the insert piece (2) to the correct direction.

6. The full-automatic insert feeder as claimed in claim 5, wherein The adjusting piece includes an L-shaped adjusting plate (17) arranged on the upper end surface of the supporting table (151), the number of the adjusting plate (17) is two and the two adjusting plates (17) are distributed in a staggered manner with the two transmission tracks (1), the vertical end of the adjusting plate (17) is fixedly connected with the supporting table (151), and the horizontal end is provided with an adjusting frame (171) for the insert piece (2) to pass through, the lower end surface of each adjusting frame (171) is provided with a pressure sensor for controlling the motor (166) to rotate by 180°, and the pressure sensor is located at the end of the adjusting frame (171) away from the extension plate (22).

7. The fully automatic insert feeder of claim 1, wherein The straight track (16) comprises a sliding plate (161) in sliding connection with the support table (151), the length direction of the sliding plate (161) is distributed along the length direction of the transmission track (1), the upper end surface of the sliding plate (161) is provided with an entering groove (162) for the width direction of the insert (2) to enter, the length direction of the entering groove (162) is distributed along the length direction of the sliding plate (161) and penetrates through the length direction of the sliding plate (161) on both sides, when the insert (2) slides into the entering groove (162), the upper end surface of the insert (2) is flush with the groove opening of the entering groove (162), that is, the insert (2) is flush with the upper end surface of the sliding plate (161).

Images