An automatic device for embedding and injection molding of a blade of a cell wall breaking machine and boxing

Abstract

The application discloses a kind of automatic embedding injection molding and boxing of wall breaking machine blade automatic equipment, including base and material taking manipulator, base is equipped with blade supply mechanism, glue frame supply mechanism, finished product boxing mechanism and finished product discharge mechanism;Blade supply mechanism is used to transport blade to the grabbing position of material taking manipulator;Material taking manipulator is used to grab and place blade into injection mold, also can grab the product shaped in injection mold to finished product boxing mechanism;Glue frame supply mechanism is used to transport empty glue frame to finished product boxing mechanism, and finished product boxing mechanism is used to product sequentially placed into glue frame, and finished product discharge mechanism is used to send full glue frame out of base.The application can realize complete automatic process from blade supply, blade into mold, finished product after injection to finished product automatic boxing, stacking and discharging by the cooperation of each mechanism, reduce manual intervention, improve the degree of automation of equipment, can reduce labor cost and improve production capacity.

Description

Technical Field

[0001] This invention relates to the field of automated injection molding production technology, specifically to an automated device for automatically embedding the blades of a wall-breaking machine into the injection molding and packaging process. Background Technology

[0002] A high-speed blender is a food processing device that uses high-speed rotating blades to break down the cell walls of fruits and vegetables before they reach the digestive system, thus promoting the absorption of dietary fiber and phytochemicals. The blade assembly in a high-speed blender is typically a structure where metal blades are encased in plastic. Currently, these blade assemblies are primarily manufactured using a plastic-encapsulated metal injection molding process. During injection molding, the metal blades are first placed into the injection mold, and then the mold is closed and injection molded.

[0003] Currently, existing technologies for producing these blade components mostly involve manually placing the metal blades into the injection mold, followed by injection molding. After molding, the finished blade components are then manually removed from the mold for storage and packaging. Therefore, each injection molding machine requires a dedicated person for loading and unloading. Furthermore, manual operation carries the risk of blade cuts and workplace injuries, resulting in a high operational risk. With continuously rising labor costs, businesses face significant challenges. Replacing manual labor with mechanical mechanisms or machines is a crucial means of reducing costs and increasing efficiency. Therefore, it is necessary to design an automated device capable of automatically inserting blender blades and packaging the finished product. Summary of the Invention

[0004] To address some or all of the problems existing in the prior art, this invention provides an automated device for automatically embedding and packaging blender blades in injection molding. The device includes a base and a robotic arm for picking up materials. The robotic arm is connected to an external drive unit, which drives the robotic arm to move back and forth between the injection mold and the base. The base is equipped with a blade feeding mechanism, a plastic frame feeding mechanism, a finished product packaging mechanism, and a finished product discharging mechanism. The blade feeding mechanism is connected to the robotic arm and is used to deliver the blades one by one to the gripping position of the robotic arm. The material handling robot is connected to the finished product boxing mechanism and the blade feeding mechanism, respectively. It is used to grab the blades on the blade feeding mechanism and place them into the injection mold, and can also grab the molded products in the injection mold and place them onto the finished product boxing mechanism. The plastic frame feeding mechanism is connected to the finished product boxing mechanism and is used to transport empty plastic frames onto the finished product boxing mechanism. The finished product boxing mechanism is used to place the processed products into the plastic frames in sequence. The finished product discharge mechanism is connected to the finished product boxing mechanism and is used to send the full plastic frames containing the products out of the machine base.

[0005] As a further improvement of the present invention, the blade feeding mechanism includes a feeding turntable, a top feeding mechanism, a loading robot, and a transfer positioning seat, all connected to the machine base. The feeding turntable is provided with multiple release limit seats, which are used to stack and place blades. The feeding turntable can drive each release limit seat to be connected to the top feeding mechanism in sequence. The top feeding mechanism is used to push the blades on the release limit seats to the gripping height of the loading robot. The loading robot is connected to the release limit seats and the transfer positioning seat, respectively, and is used to grip the blades on the release limit seats and place them on the transfer positioning seat.

[0006] As a further improvement of the present invention, the feeding turntable includes a turntable fixing seat, the turntable fixing seat is connected to the machine base, the turntable fixing seat is provided with a rotary drive mechanism, the output end of the rotary drive mechanism is provided with an indexing turntable, and the feeding limit seat is connected to the indexing turntable respectively.

[0007] As a further improvement of the present invention, the material feeding mechanism includes a material feeding fixing seat, which is connected to the machine base. The material feeding fixing seat is provided with a lifting drive assembly, and a lifting rod is provided on the output end of the lifting drive assembly. The lifting drive assembly can drive the lifting rod to move up and down, and the lifting rod is used to push the blade on the material feeding limit seat to rise.

[0008] As a further improvement of the present invention, the finished product boxing mechanism includes a boxing robot and a plastic frame conveying mechanism respectively connected to the machine base. The plastic frame conveying mechanism is connected to the plastic frame feeding mechanism, the finished product discharging mechanism, and the boxing robot. The plastic frame conveying mechanism is used to receive empty plastic frames conveyed by the plastic frame feeding mechanism, and can also convey plastic frames filled with products to the finished product discharging mechanism. The transfer positioning seat is provided with a loading limit seat and a unloading limit seat. The loading robot is connected to the loading limit seat, and the picking robot is connected to the loading limit seat and the unloading limit seat respectively. The picking robot can grab the blade on the loading limit seat and place it into the injection mold, and can also grab the molded product in the injection mold and place it into the unloading limit seat. The boxing robot is connected to the unloading limit seat and the plastic frame conveying mechanism respectively, and is used to grab the product on the unloading limit seat and place it into the plastic frame on the plastic frame conveying mechanism.

[0009] As a further improvement of the present invention, the plastic frame conveying mechanism includes a conveying fixed frame connected to a machine base. A plastic frame lifting module is mounted on the conveying fixed frame, and a plastic frame receiving mechanism is mounted on the output end of the plastic frame lifting module. The plastic frame lifting module can drive the plastic frame receiving mechanism to connect to both a plastic frame feeding mechanism and a finished product discharging mechanism. The plastic frame receiving mechanism includes a plastic frame receiving fixed frame connected to the output end of the plastic frame lifting module. A plastic frame receiving motor and a plastic frame receiving conveyor belt are mounted on the plastic frame receiving fixed frame. The plastic frame receiving motor can drive the plastic frame receiving conveyor belt to move on the plastic frame receiving fixed frame. One end of the plastic frame receiving fixed frame is provided with a plastic frame limiting plate, and the other end is provided with a plastic frame positioning mechanism. The plastic frame positioning mechanism and the plastic frame limiting plate are used to limit the plastic frame on the plastic frame receiving conveyor belt.

[0010] As a further improvement of the present invention, the material handling robot includes a robot arm mounting base, on which a first rotating module is provided, and a second rotating module is provided at the output end of the first rotating module. The driving directions of the first rotating module and the second rotating module are perpendicular to each other. A robot arm mounting base is provided at the output end of the second rotating module. A front mold feeding assembly is provided on one side of the robot arm mounting base, and a rear mold feeding assembly and a finished product picking assembly are provided on the other side. The front mold feeding assembly is used to move the blade on the loading limit seat to the front mold of the injection mold. The rear mold feeding assembly is used to move the blade on the loading limit seat to the rear mold of the injection mold. The finished product picking assembly is used to grab the injection-molded finished product from the injection mold and place it on the unloading limit seat.

[0011] As a further improvement of the present invention, the loading limit seat includes at least one front mold blade positioning block and at least one rear mold blade positioning block, and the front mold blade positioning block and the rear mold blade positioning block are respectively provided with contour grooves; the output end of the boxing robot is provided with a flipping component, the flipping component is used to grab the blade from the front mold blade positioning block and flip it 90°, and the picking robot can pick up the blade from the flipping component and place it into the front mold of the injection mold.

[0012] As a further improvement of the present invention, the finished product unloading mechanism includes an unloading conveyor line installed on the machine base. The unloading conveyor line is connected to the plastic frame conveying mechanism, which can transport plastic frames filled with products to the unloading conveyor line. The unloading conveyor line is provided with a stacking mechanism and a full plastic frame blocking mechanism. The full plastic frame blocking mechanism is used to limit the plastic frames filled with products on the unloading conveyor line. The stacking mechanism is used to stack the plastic frames on the unloading conveyor line. The unloading conveyor line is used to send the stacked plastic frames out of the machine base.

[0013] As a further improvement of the present invention, the discharge conveyor line includes a discharge conveyor frame connected to the machine base, a discharge conveyor drive assembly on the discharge conveyor frame, a discharge conveyor belt sleeved on the discharge conveyor frame, and the output end of the discharge conveyor drive assembly connected to the discharge conveyor belt; the palletizing mechanism includes a palletizing fixing frame connected to the discharge conveyor frame, a palletizing electric cylinder on the palletizing fixing frame, a palletizing mounting block on the output end of the palletizing electric cylinder, a lifting cylinder on the palletizing mounting block, a lifting block on the output end of the lifting cylinder, and the lifting cylinder can drive the lifting block to engage or disengage with the full-glue frame on the discharge conveyor line.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention, through the coordinated operation of various mechanisms, achieves a complete automated process from blade feeding, blade placement into the mold, finished product removal after injection molding, to automatic packaging and palletizing of finished products. This reduces manual intervention, increases the automation level of the equipment, and significantly reduces labor costs. Furthermore, using automated equipment to replace manual operation reduces the possibility of workplace injuries and also greatly increases production capacity. Before processing, a robotic arm is installed on an external drive unit, and the control center of the external drive unit is connected to the control center of the automated equipment for automatically embedding and packaging the blender blades. The blades are then placed onto the blade feeding mechanism manually or via a host computer. During processing, the blade feeding mechanism delivers the blades one by one to the gripping position of the robotic arm. Simultaneously, the plastic frame feeding mechanism delivers empty plastic frames to the finished product packaging mechanism. Next, the external drive unit drives the robotic arm to the gripping position, which picks up the blade and moves it to the injection mold, where it is placed into the mold for injection molding. After injection molding is complete, the robotic arm re-enters the injection mold, removes the molded product, and moves it to the finished product packaging mechanism, placing the product onto the packaging mechanism. The packaging mechanism then sequentially loads the received products into empty plastic crates supplied by the plastic crate feeding mechanism. Once a plastic crate is full, the packaging mechanism transfers the full crate to the finished product unloading mechanism, which then stacks the full crates and sends them out of the machine base. Attached Figure Description

[0015] To more clearly illustrate the solutions in this invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is a schematic diagram of the base structure in an embodiment of the present invention; Figure 3 This is a schematic diagram of the blade feeding mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the feeding turntable in an embodiment of the present invention; Figure 5 This is a schematic diagram of the top-feeding mechanism in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the transfer positioning seat in an embodiment of the present invention; Figure 7 This is a schematic diagram of the material handling robot in an embodiment of the present invention; Figure 8 This is a schematic diagram of the material handling robot from another perspective in an embodiment of the present invention; Figure 9 This is a schematic diagram of the finished product boxing mechanism in an embodiment of the present invention; Figure 10 This is a schematic diagram of the boxing robot in an embodiment of the present invention; Figure 11 This is a schematic diagram of the structure of the plastic frame conveying mechanism in an embodiment of the present invention; Figure 12 This is a schematic diagram of the frame positioning mechanism in an embodiment of the present invention; Figure 13 This is a schematic diagram of the finished product discharge mechanism in an embodiment of the present invention; Figure 14 This is a schematic diagram of the full-glue frame blocking mechanism in an embodiment of the present invention; Figure 15 This is a schematic diagram of the palletizing mechanism in an embodiment of the present invention; Figure 16 This is a schematic diagram of the structure of the glue frame feeding mechanism in an embodiment of the present invention. Detailed Implementation

[0017] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings are used to distinguish different objects, not to describe a particular order.

[0018] In this invention, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this invention can be combined with other embodiments.

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0020] like Figures 1-16 As shown, an automated device for automatically embedding blender blades into injection molding and packaging includes a base 100 and a material handling robot 200. The base 100 serves as the basic support platform for the entire device. A blade feeding mechanism 300, a plastic frame feeding mechanism 400, a finished product packaging mechanism 500, and a finished product discharging mechanism 600 are mounted on the base 100. The material handling robot 200 is mounted on an external drive device, which can be a multi-axis robot or a linear module combination, capable of driving the material handling robot 200 to move back and forth between the injection mold 700 and the base 100. In actual production processes, large-scale automated injection molding workshops are typically equipped with mechanical structures containing three-dimensional drive modules; therefore, in implementing this invention, it is only necessary to install the material handling robot 200 onto the corresponding mechanical structure and connect the control center of the three-dimensional drive module to the control center of the automated device provided in this embodiment to realize this invention. The blade feeding mechanism 300 is connected to the picking robot 200 and is used to feed the blades one by one to the gripping position of the picking robot 200. The picking robot 200 is connected to the finished product boxing mechanism 500 and the blade feeding mechanism 300 respectively. It is used to pick up the blades on the blade feeding mechanism 300 and place them into the injection mold 700. It can also pick up the molded products in the injection mold 700 and place them onto the finished product boxing mechanism 500. The plastic frame feeding mechanism 400 is connected to the finished product boxing mechanism 500 and is used to feed empty plastic frames onto the finished product boxing mechanism 500. The finished product boxing mechanism 500 is used to place the processed products into the plastic frames one by one. The finished product discharge mechanism 600 is connected to the finished product boxing mechanism 500 and is used to send the full plastic frames containing the products out of the machine base 100.

[0021] Before processing, the material handling robot 200 is installed on the external drive unit, and the control center of the external drive unit is connected to the control center of the automated equipment. The blades are then placed onto the blade feeding mechanism 300 manually or via a host computer. During operation, the blade feeding mechanism 300 separates stacked blades one by one and transports them to the gripping position of the material handling robot 200. The material handling robot 200 moves to this gripping position to grasp the blades, and then the external drive unit moves it to the injection mold 700 to place the blades into the cavity of the injection mold 700. After injection molding, the material handling robot 200 re-enters the injection mold 700 to remove the molded product (i.e., the blade assembly wrapped in plastic) and moves it to the processing position of the finished product packaging mechanism 500. Simultaneously, the plastic frame feeding mechanism 400 transports empty plastic frames to the designated position on the finished product packaging mechanism 500. The robotic arm 200 places the product onto the finished product packaging mechanism 500, which then places the product into empty plastic crates. Once the crates are full, the packaging mechanism 500 transfers the full crates to the finished product unloading mechanism 600, which then stacks the full crates and sends them out of the machine base 100, completing one production cycle.

[0022] like Figures 3-6As shown, the blade feeding mechanism 300 includes a feeding turntable 310, a top-loading mechanism 320, a loading robot 330, and a transfer positioning seat 340. The feeding turntable 310 is equipped with multiple discharge limit seats 350, which are used to stack and place blades, serving as a batch storage mechanism to enable continuous feeding. The feeding turntable 310, through its rotational motion, drives each discharge limit seat 350 to sequentially connect with the working position of the top-loading mechanism 320, thereby achieving continuous cyclic feeding of blades. When the blades in one discharge limit seat 350 are removed, the feeding turntable 310 can immediately rotate the next fully loaded discharge limit seat 350 above the top-loading mechanism 320, thus ensuring continuous feeding, avoiding equipment downtime due to manual material changes, and significantly improving equipment production efficiency. The top-feeding mechanism 320 pushes the blades on the unloading limit seat 350 located at the current working position from the bottom upwards, so that the uppermost blade on the unloading limit seat 350 reaches the gripping height of the loading robot 330. This structure eliminates the need for the loading robot 330 to adapt to different blade heights each time, simplifying the motion control logic of the loading robot 330 and improving the success rate and reliability of gripping. The loading robot 330 is connected to both the unloading limit seat 350 and the transfer positioning seat 340. The function of the loading robot 330 is to grip the blades located at the gripping height on the unloading limit seat 350, and then move and precisely place them on the transfer positioning seat 340. The transfer positioning seat 340, as a secondary positioning transfer platform, can perform final position and attitude correction on the blades, providing a high-precision picking position for the subsequent operation of the picking robot 200. Through the coordinated operation of the above four core components, the blade feeding mechanism 300 constructs a complete fully automatic blade supply cycle, completely replacing manual operation, reducing labor costs, and improving processing efficiency.

[0023] Specifically, such as Figure 4 As shown, the feeding turntable 310 includes a turntable fixing base 311, which is fixedly connected to the machine base 100. A rotary drive mechanism is mounted on the turntable fixing base 311, and an indexing turntable 312 is provided on the output end of the rotary drive mechanism. Discharge limit seats 350 are respectively fixedly mounted on the indexing turntable 312. During operation, the rotary drive mechanism drives the indexing turntable 312 to rotate precisely at a preset angle, thereby driving each discharge limit seat 350 to move synchronously and sequentially and precisely deliver each discharge limit seat 350 to the working position directly above the top material mechanism 320. Compared with a linear arrangement, this turntable structure allows for more discharge limit seats 350 to be arranged in the same space, resulting in higher space utilization.

[0024] In this embodiment, the rotary drive mechanism includes a feeding drive motor 313 and an indexing device 314. The feeding drive motor 313 is fixedly mounted on the turntable mounting base 311, and its output end is connected to the input end of the indexing device 314, while the indexing turntable 312 is mounted on the output end of the indexing device 314. The combination of "motor plus indexing device 314" is a classic industrial solution for achieving precise intermittent motion. The indexing device 314 (also known as a cam divider) can convert the continuous rotary motion of the motor into intermittent, precise indexing motion of the output shaft, achieving accurate positioning, excellent locking capability, and high dynamic response. This structure ensures that the indexing turntable 312 can be stably locked after rotating to its position, without wobbling due to inertia, thus providing a solid foundation for the stable lifting of the top material mechanism 320 and the precise gripping of the loading robot 330. In other embodiments, the rotary drive mechanism can also adopt other existing structures or devices capable of rotary drive, such as a structure involving a stepper motor and a gear module.

[0025] In this embodiment, there are eight material feeding limit seats 350, and these eight material feeding limit seats 350 are evenly distributed in a circular array on the indexing turntable 312. In other embodiments, the number of material feeding limit seats 350 can also be any other number.

[0026] like Figure 5 As shown, the top-feeding mechanism 320 includes a top-feeding fixed seat 321, which is connected to the base 100. A lifting drive assembly is mounted on the top-feeding fixed seat 321, and a lifting rod 322 is connected to the output end of the lifting drive assembly. The lifting drive assembly can drive the lifting rod 322 to move up and down. When the unloading limit seat 350 is rotated above the top-feeding mechanism 320, the lifting drive assembly drives the lifting rod 322 to lift upwards, thereby pushing the entire stack of blades on the unloading limit seat 350 to rise synchronously, and then pushing the uppermost blade to the fixed gripping height required by the loading robot 330. The structure is simple and the operation is reliable.

[0027] Specifically, the lifting drive assembly includes a lifting motor 323 and a lifting screw 324. The lifting motor 323 is fixedly connected to the material-supporting base 321, and the lifting screw 324 is connected to the output end of the lifting motor 323. A lifting mounting base 325 is sleeved on the lifting screw 324, and the lifting rod 322 is fixedly mounted on the lifting mounting base 325. During operation, the lifting motor 323 drives the lifting screw 324 to rotate, and the lifting screw 324 converts the rotational motion into linear motion of the lifting mounting base 325, thereby driving the lifting rod 322 to rise and fall smoothly.

[0028] To ensure the smoothness and guiding accuracy of the lifting process, a lifting guide rod 326 is also provided on the lifting mounting base 321. The lifting mounting base 325 is sleeved around the lifting guide rod 326 and forms a sliding fit with the lifting guide rod 326. The function of the lifting guide rod 326 is to provide precise guidance for the lifting movement of the lifting mounting base 325, preventing the lifting rod 322 from deviating or swaying during the movement, thereby ensuring that the lifting rod 322 can accurately push the blade into place. It also protects the lifting screw 324 from lateral forces and extends its service life.

[0029] like Figure 3 As shown, in this embodiment, the loading robot 330 is a four-axis robotic arm. The four-axis robotic arm has four degrees of freedom, enabling flexible movement in the horizontal plane and achieving lifting, lowering, and rotational movements. It is very suitable for completing the task of picking up and placing materials from the feeding turntable 310 to the transfer positioning seat 340 within a limited space. A loading suction cup 331 is provided at the output end of the four-axis robotic arm, and this loading suction cup 331 is externally connected to a negative pressure device. During operation, the negative pressure device generates a vacuum, and the loading suction cup 331 grasps the blades by negative pressure adsorption. During operation, the four-axis robotic arm drives the loading suction cup 331 to move, thereby completing the task of grasping the blades from the discharge limiting seat 350 and placing them on the transfer positioning seat 340.

[0030] like Figure 6 As shown, the transfer positioning seat 340 is equipped with a loading limit seat 341 and a unloading limit seat 342. The loading robot 330 is connected to the loading limit seat 341 and can place the blades onto the loading limit seat 341. The picking robot 200 is connected to both the loading limit seat 341 and the unloading limit seat 342. The picking robot 200 can pick up the blades from the loading limit seat 341 and place them into the injection mold 700, and can also pick up the molded products from the injection mold 700 and place them onto the unloading limit seat 342. The finished product packaging mechanism 500 is connected to the unloading limit seat 342 and can remove the products from the unloading limit seat 342 and pack them into a plastic frame.

[0031] like Figures 7-8 As shown, the material handling robot 200 includes a robot mounting base 210, which is fixedly connected to the output end of an external drive device. In actual production, large-scale automated injection molding workshops are usually equipped with mechanical structures containing three-dimensional drive modules. Therefore, when implementing this invention, it is only necessary to install the robot mounting base 210 onto the corresponding mechanical structure and connect the control center of the three-dimensional drive module to the control center of the automated equipment to realize this invention.

[0032] A first rotating module 220 is mounted on the robot arm mounting base 210. A second rotating module 230 is mounted on the output end of the first rotating module 220, and the driving directions of the first rotating module 220 and the second rotating module 230 are perpendicular to each other. A robot arm mounting base 240 is mounted on the output end of the second rotating module 230. The orthogonal layout of the first rotating module 220 and the second rotating module 230 enables the robot arm mounting base 240 to achieve multi-dimensional posture adjustment. Both the first rotating module 220 and the second rotating module 230 can adopt any existing rotary drive device, such as a structure of a hollow rotating platform driven by a motor.

[0033] A front mold feeding assembly 250 is provided on one side of the robot arm mounting base 240, and a rear mold feeding assembly 260 and a finished product picking assembly 270 are provided on the other side. The front mold feeding assembly 250 is used to grab the cutting blade from the loading limit seat 341 and move it into the front mold of the injection mold. The rear mold feeding assembly 260 is used to grab the cutting blade from the loading limit seat 341 and move it into the rear mold of the injection mold. The finished product picking assembly 270 is used to grab the finished product from the injection mold 700 and place it onto the unloading limit seat 342. This clearly defined component layout allows the loading and unloading actions to proceed independently and alternately, significantly improving the cycle efficiency of the equipment. Through the coordinated drive of the first rotating module 220 and the second rotating module 230, the robot mounting base 240 can freely switch between various postures such as lying flat, standing upright and flipping, so that the front mold feeding assembly 250, the rear mold feeding assembly 260 and the finished product picking assembly 270 can flexibly adjust their working postures according to the different opening directions of the front mold and the rear mold of the injection mold and the workpiece placement direction on the transfer positioning seat 340, realizing the compatibility of a single robot with multiple workstations and multiple postures.

[0034] To accommodate the potentially different blade placement orientations of the front and rear molds in injection molding, this embodiment includes a loading limit seat 341 comprising at least one front mold blade positioning block 343 and at least one rear mold blade positioning block 344. Both the front mold blade positioning block 343 and the rear mold blade positioning block 344 are provided with contour grooves that match the blade's shape. The shape of the contour grooves matches the blade's outline. When the loading robot 330 places the blade into the contour groove, the groove precisely limits and corrects the blade, ensuring that the blade ultimately resides in a completely consistent and accurate position and orientation.

[0035] like Figure 9As shown, the finished product cartoning mechanism 500 includes a cartoning robot 510 and a plastic frame conveying mechanism respectively mounted on the base 100. The plastic frame conveying mechanism is connected to the plastic frame feeding mechanism 400, the finished product unloading mechanism 600, and the cartoning robot 510. The plastic frame conveying mechanism is used to receive empty plastic frames conveyed by the plastic frame feeding mechanism 400, and can also convey plastic frames filled with products to the finished product unloading mechanism 600. The cartoning robot 510 is connected to the unloading limit seat 342 and the plastic frame conveying mechanism respectively, and is used to grab the products on the unloading limit seat 342 and place them into the plastic frames on the plastic frame conveying mechanism.

[0036] During operation, the plastic crate conveying mechanism first receives empty plastic crates from the plastic crate feeding mechanism 400 and positions them at the boxing position. Then, the boxing robot 510 picks up the pre-placed injection-molded product from the unloading limit seat 342 and precisely places it into the plastic crate located on the plastic crate conveying mechanism. Once a plastic crate is full, the conveying mechanism transports the full crate to the finished product unloading mechanism 600, completing one automatic boxing cycle.

[0037] like Figure 10 As shown, the boxing robot 510 includes a robot arm mounting frame 511 fixedly connected to the base 100. An X-axis drive module 512 is mounted on the robot arm mounting frame 511. A Y-axis drive module 513 is mounted on the output end of the X-axis drive module 512, a Z-axis drive module 514 is mounted on the output end of the Y-axis drive module 513, and a finished product gripping component 520 is mounted on the output end of the Z-axis drive module 514. The output end of the X-axis drive module 512 drives the Y-axis drive module 513 to move horizontally along the X-axis, the output end of the Y-axis drive module 513 drives the Z-axis drive module 514 to move horizontally along the Y-axis, and the Z-axis drive module 514 drives the finished product gripping component 520 to move vertically along the Z-axis. Through the coordinated movement of these three drive modules, the finished product gripping component 520 can freely reach any point within a rectangular three-dimensional space. This means that regardless of the size of the packaging frame or the number of rows and columns of compartments within it, the cartoning robot 510 can accurately place products into any designated compartment, greatly enhancing the equipment's versatility and adaptability. The X-axis drive module 512, Y-axis drive module 513, and Z-axis drive module 514 can employ any existing linear drive device, such as a motor lead screw module, a motor synchronous belt mechanism, an electric cylinder, or a pneumatic cylinder.

[0038] The finished product gripping assembly 520 includes a gripping mounting base 521 fixedly installed at the output end of the Z-axis drive module 514, on which a finished product gripper cylinder 522 is mounted. When the X-axis drive module 512, Y-axis drive module 513, and Z-axis drive module 514 cooperate to drive the finished product gripping assembly 520 to the gripping position of the unloading limit seat 342, the finished product gripper cylinder 522 operates to securely grip the product from the unloading limit seat 342. Then, driven by the X-axis drive module 512, Y-axis drive module 513, and Z-axis drive module 514, the finished product gripping assembly 520 moves to the unloading position of the plastic frame conveying mechanism, and the finished product gripper cylinder 522 opens to place the product into the plastic frame grid. The finished product gripper cylinder 522 provides a stable and controllable clamping force, ensuring reliable gripping while avoiding damage to the product surface.

[0039] like Figure 6 As shown, to improve the convenience of finished product unloading, a pusher cylinder 345 is also provided on the transfer positioning seat 340. A positioning mounting block 346 is connected to the output end of the pusher cylinder 345. The positioning mounting block 346 slides with the transfer positioning seat 340. The loading limit seat 341 and the unloading limit seat 342 are respectively connected to the positioning mounting block 346. When the finished product picking component 270 takes the finished product out of the injection mold 700 and moves it to the vicinity of the transfer positioning seat 340, the pusher cylinder 345 can drive the positioning mounting block 346 to slide, thereby driving the unloading limit seat 342 to actively move to the gripping position of the finished product boxing mechanism 500, reducing the travel of the picking robot 200 and improving placement accuracy and efficiency. Initially, the pusher cylinder 345 is extended, and the unloading limit seat 342 is located near the picking robot 200, allowing the picking robot 200 to place the injection-molded finished product onto the unloading limit seat 342. After the finished product is placed, the pusher cylinder 345 retracts, pushing the positioning mounting block 346 and the unloading limit seat 342, along with the finished product on them, to slide to the other side away from the picking robot 200, which is the most convenient position for the cartoning robot 510 to grasp. After the cartoning robot 510 grasps the finished product at this position, the pusher cylinder 345 extends again, driving the unloading limit seat 342 back to its initial position, waiting for the next material reception. This "step-by-step" material reception method cleverly solves the spatial coordination problem between different mechanisms, allowing the pre-processing station and the cartoning robot 510 to work independently in areas that do not interfere with each other, improving the smoothness and safety of the entire system.

[0040] To ensure the positioning accuracy of the product placed by the picking robot 200, a finished product positioning post 347 is also provided on the unloading limit seat 342. The finished product positioning post 347 is used to limit the product placed on the unloading limit seat 342. Specifically, the injection-molded finished product usually has a process hole or assembly hole at its lower end. When the picking robot 200 places the finished product upright on the unloading limit seat 342, the hole passes through the finished product positioning post 347. Through the guiding and limiting function of the finished product positioning post 347, the tipping or positional deviation of the finished product can be effectively prevented, providing a stable and reliable positioning reference for the subsequent gripping and handling by the cartoning robot 510, and improving the stability of the entire production process.

[0041] like Figure 10 As shown, a flipping assembly 280 is also provided on the output end of the Z-axis drive module 514. The flipping assembly 280 can grab the blade from the front mold blade positioning block 343 and flip it 90°. Then, the material handling robot 200 picks up the flipped blade from the flipping assembly 280 and places it into the front mold of the injection mold. Because in the actual injection molding process, the blade mounting surfaces of the front mold and the rear mold are often opposite, if they are not flipped, the orientation of the two sets of blades will be inconsistent after mold closing, resulting in product scrap. Therefore, by adding the flipping assembly 280, the front mold feeding assembly 250 and the rear mold feeding assembly 260 grab the front side of the blade and the back side of the blade, respectively. After placing the blade into the front mold and the rear mold, the blade orientation is exactly opposite, and after mold closing and injection molding, the orientation of the two sets of blades can be kept consistent.

[0042] Specifically, the flipping assembly 280 includes a flipping mounting block 281, which is fixedly connected to the output end of the Z-axis drive module 514. A flipping drive assembly is mounted on the flipping mounting block 281, and a flipping mounting block 282 is mounted on the output end of the flipping drive assembly. The flipping drive assembly can drive the flipping mounting block 282 to rotate and swing. A flipping suction cup 283 is mounted on the flipping mounting block 282, and the flipping suction cup 283 is externally connected to a negative pressure device. Preferably, the flipping drive assembly is a flipping cylinder 284, the cylinder body of which is connected to the flipping mounting block 281, one side of the flipping mounting block 282 is hinged to the flipping mounting block 281, and the output end of the flipping cylinder 284 is connected to the flipping mounting block 282. During operation, the X-axis drive module 512, Y-axis drive module 513, and Z-axis drive module 514 work together to drive the flipping suction cup 283 to engage with the blade on the front mold blade positioning block 343. The negative pressure suction of the flipping suction cup 283 picks up the blade. After the flipping suction cup 283 picks up the blade from the front mold blade positioning block 343, the flipping cylinder 284 extends, driving the flipping mounting block 282 to rotate 90° around the hinge, thus flipping the blade. Then, the material handling robot 200 picks up the back side of the blade from the flipping suction cup 283 and places it into the injection molding front mold.

[0043] In this embodiment, the flipping component 280 is mounted on the cartoning robot 510, which improves the utilization rate of the cartoning robot 510. Specifically, when the material handling robot 200 is busy operating on one side of the injection mold, the cartoning robot 510 actively drives the flipping component 280 to the front mold blade positioning block 343 of the transfer positioning seat 340, pre-attaches the blade and completes a 90° flipping action, thus preparing for the next material handling robot 200 to pick up material from the front mold. At the same time, if there is already a finished product that has been injected into the unloading limit seat 342, the cartoning robot 510 will also perform the cartoning action simultaneously, grabbing the finished product and accurately placing it into the plastic frame. Through this parallel operation mode of "material loading and pre-flipping" and "material unloading and cartoning", the cartoning robot 510 achieves dual task coverage within one complete working cycle of the material handling robot 200, significantly reducing its own idle time and improving the time utilization rate and overall production efficiency of the entire machine.

[0044] like Figures 7-8 As shown, the front mold unloading assembly 250 includes a first telescopic cylinder 251, which is connected to the robot arm mounting base 240. A front mold unloading mounting block 252 is mounted on the output end of the first telescopic cylinder 251, and a front mold unloading suction cup 253 is mounted on the front mold unloading mounting block 252. The rear mold unloading assembly 260 includes a second telescopic cylinder 261, which is connected to the robot arm mounting base 240. A rear mold unloading mounting block 262 is mounted on the output end of the second telescopic cylinder 261, and a rear mold unloading suction cup 263 is mounted on the rear mold unloading mounting block 262. Through the telescopic movements of the first telescopic cylinder 251 and the second telescopic cylinder 261, the suction cup can be extended when material needs to be picked up or unloaded, avoiding interference with other components. During movement, it retracts, making the overall structure more compact.

[0045] The finished product handling assembly 270 includes a third telescopic cylinder 271, which is connected to the robotic arm mounting base 240. A handling gripper cylinder 272 is mounted on the output end of the third telescopic cylinder 271. Further, a finished product handling mounting base 273 is mounted on the output end of the third telescopic cylinder 271. Two handling gripper cylinders 272 are provided, symmetrically distributed along the centerline of the finished product handling mounting base 273. This symmetrical dual-gripper layout allows for the simultaneous handling of two finished products (e.g., a two-cavity mold) or the stable clamping of a single finished product, preventing rotation or tilting and improving handling efficiency and reliability.

[0046] At the start of processing, the blade feeding mechanism 300 sequentially places the blades onto the front mold blade positioning block 343 and the rear mold blade positioning block 344 of the loading limit seat 341. First, the external drive device drives the picking robot 200 to move to the corresponding position on the loading limit seat 341. Then, the first rotating module 220 is controlled to drive the robot mounting base 240 to rotate upward by 90°, so that the picking direction of the rear mold unloading assembly 260 is consistent with the blade placement direction on the rear mold blade positioning block 344. The rear mold unloading assembly 260 picks up the blade from the rear mold blade positioning block 344 through the rear mold unloading suction cup 263, and then the first rotating module 220 resets. For the blades that need to be placed in the front mold, the cartoning robot 510 drives the flipping assembly 280 to transport them to the corresponding position of the front mold blade positioning block 343. Then, the cartoning robot 510 drives the flipping assembly 280 to grab the blade from the front mold blade positioning block 343 and flip it upwards by 90°. Then, through the cooperation of the first rotating module 220 and the second rotating module 230, the front mold feeding assembly 250 is driven to align with the flipping assembly 280. After that, the front mold feeding assembly 250 picks up the blade from the flipping assembly 280. Then, the external drive device drives the material handling robot 200 to move to the corresponding position of the injection mold, and the front mold feeding assembly 250 and the rear mold feeding assembly 260 place the blades sequentially on the front mold and the rear mold of the injection mold, respectively.

[0047] After placement, the robotic arm 200 is driven to leave the mold, and the injection molding machine begins mold closing and injection molding. After the product injection is completed, the robotic arm 200 is driven again to extend into the mold, and the finished product picking component 270 (the third telescopic cylinder 271 extends, and the picking claw cylinder 272 clamps) picks up the molded product from the mold. Then, the robotic arm 200 is driven to move to the unloading limit seat 342, and the posture is adjusted by the first rotating module 220 and the second rotating module 230 to align the finished product picking component 270 with the unloading limit seat 342, placing the finished product on the unloading limit seat 342, and ensuring that the hole at the bottom of the finished product passes through the finished product positioning post 347, completing the automatic unloading of the finished product. This cycle is repeated to realize the fully automatic picking and unloading process of the blade injection pre-embedded.

[0048] like Figure 9 , Figure 11As shown, the plastic crate conveying mechanism includes a conveying frame 530 fixedly mounted on the base 100. A plastic crate lifting module 540 is mounted on the conveying frame 530, and a plastic crate receiving mechanism 550 is provided at the output end of the lifting module 540. The lifting module 540 can drive the receiving mechanism 550 to move vertically up and down. When a new plastic crate needs to be received, the lifting module 540 drives the receiving mechanism 550 to rise to a height that aligns with the feeding mechanism 400, which then pushes in an empty plastic crate. When boxing is required, the lifting module 540 drives the receiving mechanism 550 to raise the plastic crate to the boxing height of the boxing robot 510, so that the boxing robot 510 can place the finished product into the plastic crate on the receiving mechanism 550. When a full plastic frame needs to be delivered, the plastic frame lifting module 540 drives the plastic frame receiving mechanism 550 to descend to the height where it docks with the finished product discharge mechanism 600. The finished product discharge mechanism 600 then delivers the full plastic frame out of the machine base 100. This vertical lifting docking method allows the plastic frame feeding and receiving to be stacked vertically, which greatly saves the factory space occupied by the equipment compared to a horizontal arrangement, making the whole machine more compact.

[0049] Specifically, the plastic frame receiving mechanism 550 includes a plastic frame receiving fixing frame 551, which is connected to the output end of the plastic frame lifting module 540. A plastic frame receiving motor 552 and a plastic frame receiving conveyor belt 553 driven by the plastic frame receiving motor 552 are mounted on the plastic frame receiving fixing frame 551. The plastic frame receiving motor 552 can drive the plastic frame receiving conveyor belt 553 to move on the plastic frame receiving fixing frame 551. A plastic frame limiting plate 554 is fixed to one end of the plastic frame receiving fixing frame 551, and a movable plastic frame positioning mechanism 560 is mounted on the other end. When empty plastic crates are needed, the plastic crate feeding mechanism 400 conveys the empty plastic crates to the plastic crate receiving conveyor belt 553. The conveyor belt 553 is then rotated to pull the plastic crates onto it until one end of the crate touches the plastic crate limiting plate 554. At this point, the plastic crate positioning mechanism 560 activates, pressing the plastic crate against the other end, thus precisely fixing the plastic crate in a predetermined position on the plastic crate receiving conveyor belt 553. After boxing is completed, the plastic crate positioning mechanism 560 releases, and the plastic crate receiving conveyor belt 553 rotates in the opposite direction, pushing the full plastic crates onto the finished product discharging mechanism 600. This active conveying design with limiting at both ends ensures that the position of the plastic crate within the mechanism is always unique and precise, guaranteeing the stability of the boxing operation.

[0050] like Figure 12As shown, the plastic frame positioning mechanism 560 includes a plastic frame positioning block 561 fixedly mounted on the plastic frame receiving and fixing frame 551. A plastic frame positioning cylinder 562 is mounted on the plastic frame positioning block 561, and a plastic frame positioning block 563 is hinged to the plastic frame positioning cylinder 562. One end of the plastic frame positioning block 563 is hinged to the cylinder body of the plastic frame positioning cylinder 562, and the other end is hinged to the piston rod of the plastic frame positioning cylinder 562. In the initial state, the piston rod of the plastic frame positioning cylinder 562 is in a retracted state, causing the plastic frame positioning block 563 to lie flat, allowing the plastic frame to enter the plastic frame receiving conveyor belt 553. During boxing, the piston rod of the plastic frame positioning cylinder 562 extends, pushing the plastic frame positioning block 563 to rotate upwards around the hinge point to an upright state. The upright frame positioning block 563, acting like a retaining wall, together with the frame limiting plate 554 at the other end, clamps the frame firmly onto the frame receiving conveyor belt 553. When the frame needs to be discharged, the piston rod of the frame positioning cylinder 562 retracts, pulling the frame positioning block 563 downwards to a flat position. The upper surface of the flat-lying frame positioning block 563 is lower than the surface of the conveyor belt, causing no interference to the movement of the frame. This ingenious design uses a simple cylinder to switch between the "locked" and "released" states of the frame, resulting in a reliable and cost-effective structure.

[0051] like Figure 11 As shown, in this embodiment, the plastic frame lifting module 540 includes a plastic frame lifting motor 541 and a plastic frame lifting screw assembly 542. The output shaft of the plastic frame lifting motor 541 is connected to the input end of the plastic frame lifting screw assembly 542. A plastic frame receiving lifting slider 543 is provided on the output end of the plastic frame lifting screw assembly 542, and a plastic frame receiving fixing frame 551 is fixedly connected to the plastic frame receiving lifting slider 543. During operation, the plastic frame lifting motor 541 drives the plastic frame receiving lifting slider 543 to slide on the plastic frame lifting screw assembly 542, thereby driving the plastic frame receiving mechanism 550 to move up and down. In other embodiments, the plastic frame lifting module 540 can also adopt any existing linear drive device, such as a motor synchronous belt structure, an electric cylinder, etc.

[0052] In the specific processing, the plastic frame lifting module 540 first drives the plastic frame receiving mechanism 550 to rise to the height where it docks with the plastic frame feeding mechanism 400. The plastic frame feeding mechanism 400 sends out the empty plastic frame, and the plastic frame receiving motor 552 drives the plastic frame receiving conveyor belt 553 to rotate, pulling the empty plastic frame onto the plastic frame receiving conveyor belt 553 until one end of the plastic frame touches the plastic frame limiting plate 554. Then, the plastic frame positioning cylinder 562 drives the plastic frame positioning block 563 to stand upright, pressing and fixing the plastic frame from the other end. Afterwards, the plastic frame lifting module 540 will drive the plastic frame receiving mechanism 550 to rise again to the boxing position of the boxing robot 510. At the same time, the picking robot 200 will place the injection-molded finished product onto the unloading limiting seat 342, and then the pushing cylinder 345 will extend, pushing the unloading limiting seat 342 along with the finished product to the gripping position of the boxing robot 510. According to a preset program, the cartoning robot 510, through the coordinated operation of the X-axis drive module 512, Y-axis drive module 513, and Z-axis drive module 514, moves the finished product gripping component 520 to the finished product gripping position on the unloading limit seat 342, and the finished product gripper cylinder 522 closes to grip the finished product. The cartoning robot 510 then moves the finished product to the designated cell of the fixed empty plastic frame on the plastic frame receiving conveyor belt 553, and the finished product gripper cylinder 522 opens to place the finished product into the cell. The above gripping and placement actions are repeated until all cells of the current plastic frame are filled. After boxing is completed, the frame lifting module 540 drives the frame receiving mechanism 550 to descend to the height where it aligns with the finished product discharge mechanism 600. The frame positioning cylinder 562 drives the frame positioning block 563 to lie flat, releasing the frame from its lock. The frame receiving motor 552 rotates in the opposite direction, driving the frame receiving conveyor belt 553 to deliver the full frame, which is then smoothly transferred to the finished product discharge mechanism 600. Subsequently, the frame lifting module 540 again drives the frame receiving mechanism 550 to align with the frame feeding mechanism 400, receiving the next empty frame and starting a new boxing cycle. This process repeats continuously, achieving fully automated and uninterrupted boxing of injection-molded products.

[0053] like Figure 13 As shown, the finished product unloading mechanism 600 includes an unloading conveyor line 610 mounted on the machine base 100. The unloading conveyor line 610 is connected to a plastic frame conveying mechanism, which transports plastic frames filled with products onto the unloading conveyor line 610. The unloading conveyor line 610 is equipped with a stacking mechanism 620 and a full plastic frame blocking mechanism 630. The full plastic frame blocking mechanism 630 is used to limit the plastic frames filled with products to a predetermined position on the unloading conveyor line 610, preventing the plastic frames from exceeding the stacking station during transport. The stacking mechanism 620 is used to stack the plastic frames on the unloading conveyor line 610, that is, to stack subsequent plastic frames on top of previous plastic frames in sequence. The unloading conveyor line 610 is responsible for sending the stacked plastic frames out of the machine base 100 as a whole, completing the finished product unloading process.

[0054] Specifically, the discharge conveyor line 610 includes a discharge conveyor frame 611, which is connected to the base 100, providing a stable support foundation for the entire discharge conveyor line 610. The discharge conveyor frame 611 is equipped with a discharge conveying drive assembly, and a discharge conveyor belt 612 is sleeved on the discharge conveyor frame 611. The output end of the discharge conveying drive assembly is connected to the discharge conveyor belt 612. When the discharge conveying drive assembly is started, it drives the discharge conveyor belt 612 to circulate, and the rubber frames placed on the discharge conveyor belt 612 are conveyed forward as the conveyor belt advances, realizing the function of discharging full rubber frames.

[0055] Specifically, the discharge conveying drive assembly includes a discharge conveying motor 613, which is fixedly mounted on the discharge conveying frame 611. A discharge drive wheel 614 is connected to the output end of the discharge conveying motor 613. The discharge drive wheel 614 is rotatably connected to the discharge conveying frame 611, meaning it is mounted on the discharge conveying frame 611 via bearings and other components, allowing it to rotate freely. The discharge conveying frame 611 also has a rotatable discharge driven wheel 615, and a discharge conveyor belt 612 is fitted onto the discharge drive wheel 614 and the discharge driven wheel 615. During operation, the discharge conveying motor 613 drives the discharge drive wheel 614 to rotate, which in turn drives the discharge conveyor belt 612 to rotate, and the discharge conveyor belt 612 then drives the discharge driven wheel 615 to rotate synchronously. This motor-and-pulley drive method offers high transmission efficiency, convenient maintenance, and provides a stable linear speed, ensuring accurate positioning of the conveyor frame.

[0056] like Figure 14 As shown, the full-frame blocking mechanism 630 includes a full-frame blocking fixing block 631, which is fixedly connected to the discharge conveyor frame 611, firmly mounting the entire full-frame blocking mechanism 630 onto the discharge conveyor frame 611. A full-frame blocking cylinder 632 is mounted on the full-frame blocking fixing block 631, and a full-frame blocking block 633 is mounted on the output end of the full-frame blocking cylinder 632. When it is necessary to block the frame, the full-frame blocking cylinder 632 extends, driving the full-frame blocking block 633 to lift and extend upwards, reaching a height higher than the discharge conveyor belt 612, thereby blocking the frame moving along the discharge conveyor belt 612 and stopping it at a predetermined position. When it is necessary to release the frame, the full-frame blocking cylinder 632 retracts, causing the full-frame blocking block 633 to descend, retracting it to a height lower than the discharge conveyor belt 612, releasing the obstruction of the frame, allowing the frame to continue forward transport. This cylinder-driven blocking method offers rapid response and precise positioning, making it ideal for intermittent positioning control on automated production lines.

[0057] In addition, a material receiving sensor 640 is installed on the discharge conveyor 611 at a position corresponding to the full-frame blocking mechanism 630. The material receiving sensor 640 is used to detect whether a frame has arrived on the discharge conveyor belt 612. When the material receiving sensor 640 detects that a frame has arrived at a predetermined position, it sends a signal to the control system. The control system then determines the next action based on the current working status: if there is no stacking task in progress, it controls the stacking mechanism 620 to start lifting the first frame; if a predetermined number of stacks has been completed, it can remind the operator to remove the stacked frames in time through sound and light. The introduction of the material receiving sensor 640 enables closed-loop detection and control of the entire discharge process, avoiding jamming or empty operation caused by position errors, and improving the automation level and reliability of the equipment.

[0058] like Figure 13 , Figure 15As shown, there are two palletizing mechanisms 620, and the two palletizing components are symmetrically distributed on both sides of the discharge conveyor line 610. Specifically, the palletizing mechanism 620 includes a palletizing fixing frame 621, which is connected to the discharge conveyor frame 611, providing a solid mounting base for the palletizing mechanism 620. The palletizing fixing frame 621 is equipped with a palletizing electric cylinder 622, and the output end of the palletizing electric cylinder 622 is equipped with a palletizing mounting block 623. The palletizing mounting block 623 is equipped with a lifting cylinder 624, and the output end of the lifting cylinder 624 is equipped with a lifting block 625. The lifting cylinder 624 can drive the lifting block 625 to move towards the rubber frame on the discharge conveyor line 610, thereby forming a locking with the edge or bottom groove of the rubber frame, or moving in the opposite direction to disengage from the rubber frame. During operation, once the first full-filled frame is conveyed to the palletizing station by the discharge conveyor belt 612 and limited by the full-filled frame blocking mechanism 630, the two palletizing mechanisms 620 operate simultaneously. The lifting cylinder 624 extends, driving the lifting block 625 to securely engage with the bottom or side of the first full-filled frame. Then, the palletizing electric cylinder 622 starts, driving the palletizing mounting block 623 to move upward. The palletizing mounting block 623 causes the lifting cylinder 624 and the first full-filled frame held by the lifting block 625 to rise together, raising the first full-filled frame to a position higher than the height of one frame. At this point, sufficient space is left below the first full-filled frame for the discharge conveyor belt 612. The process begins with the second full frame being transported to the discharge conveyor 610 by the frame conveyor 612. The discharge conveyor belt 612 then delivers it to the palletizing station, where the full frame blocking mechanism 630 again limits its movement. Next, the palletizing electric cylinder 622 reverses its direction, causing the palletizing mounting block 623, the lifting cylinder 624, and the first full frame to descend smoothly until the bottom of the first full frame is stacked on top of the second full frame, achieving two layers of palletizing. The lifting cylinder 624 then retracts, disengaging the lifting block 625 from the first full frame. This process can then be repeated to stack the third and fourth frames sequentially until the set number of stacking layers is reached. Finally, the full frame blocking mechanism 630 retracts completely, and the discharge conveyor belt 612 delivers the stacked frame assembly out of the machine base 100. This palletizing mechanism 620, through the combination of electric and pneumatic cylinders, achieves precise vertical lifting and reliable gripping, resulting in a high degree of automation and neat, stable stacking.

[0059] To further improve the smoothness and guiding accuracy of the lifting movement of the palletizing mechanism 620, a palletizing guide sleeve 626 is provided on the palletizing fixing frame 621, and a palletizing guide rod 627 is provided on the palletizing mounting block 623. One end of the palletizing guide rod 627 passes through the palletizing guide sleeve 626, and the two are slidably engaged. When the palletizing electric cylinder 622 drives the palletizing mounting block 623 to lift or lower, the palletizing guide rod 627 slides synchronously within the palletizing guide sleeve 626. This guiding structure can effectively resist the eccentric load torque and prevent the palletizing mounting block 623 from tilting or swaying during the lifting and lowering process, thereby ensuring the horizontal posture of the full-coverage frame during the lifting and lowering process and avoiding collisions or stacking misalignments caused by tilting between the frames.

[0060] In practice, the finished product packaging mechanism 500 sequentially loads the injection-molded finished products into empty plastic frames located on the plastic frame receiving conveyor belt 553. When a plastic frame is full, the plastic frame lifting module 540 is activated, causing the plastic frame receiving mechanism 550 to descend to the same height as the discharge conveyor line 610. Subsequently, the plastic frame receiving motor 552 drives the plastic frame receiving conveyor belt 553 to rotate, pushing the full plastic frame forward onto the discharge conveyor belt 612. The discharge conveyor motor 613 drives the discharge conveyor belt 612 through the discharge drive wheel 614, transporting the full plastic frame to the palletizing station. When the full-filled frame comes into contact with the full-filled frame blocking block 633, it indicates that the full-filled frame has reached the stacking position. Simultaneously, the incoming material sensor 640 detects the full-filled frame and sends a feedback signal. The control system then controls the lifting cylinder 624 to extend, causing the lifting block 625 to engage with the frame. The stacking cylinder 622 then drives the stacking mounting block 623 to rise, raising the first full-filled frame to a height higher than the previous frame, making space for subsequent frames. Next, the frame conveying mechanism transports the second full-filled frame to the outgoing conveyor belt 612 in the same manner. The outgoing conveyor belt 612 delivers it to the stacking station, where the full-filled frame blocking mechanism 630 again limits its movement. The stacking cylinder 622 reverses its direction, causing the first full-filled frame to descend smoothly and stack above the second full-filled frame. The lifting cylinder 624 retracts, and the lifting block 625 disengages from the frame. This lifting, feeding, and descending stacking action is repeated until the set number of stacking layers is reached. Finally, the full-length frame blocking cylinder 632 retracts completely, and the discharge conveyor belt 612 sends the stacked frame group out of the machine base 100, completing the finished product discharge.

[0061] like Figure 16As shown, the plastic crate feeding mechanism 400 includes an empty plastic crate conveyor line 410 mounted on a base 100. The empty plastic crate conveyor line 410 is connected to the plastic crate conveying mechanism and can convey empty plastic crates to the plastic crate receiving conveyor belt 553. The empty plastic crate conveyor line 410 is equipped with a stacking mechanism 420 and an empty plastic crate blocking mechanism 430. The empty plastic crate blocking mechanism 430 can connect with the plastic crates on the empty plastic crate conveyor line 410 to limit the plastic crates on the empty plastic crate conveyor line 410, preventing the plastic crates from continuing to slide or fall due to inertia, thus ensuring the accuracy and stability of the feeding. The stacking mechanism 420 can connect with the stacked plastic crates on the empty plastic crate conveyor line 410 to lift the plastic crates on the empty plastic crate conveyor line 410 except for the bottom layer.

[0062] In this embodiment, there are two stacking mechanisms 420, which are symmetrically distributed on the left and right sides of the empty plastic frame conveyor line 410. When multiple plastic frames are stacked on the empty plastic frame conveyor line 410, the stacking mechanisms 420 move from both sides, engaging with the second layer of plastic frames and lifting them upwards. This separates all plastic frames from the bottom layer, leaving the bottom layer alone on the empty plastic frame conveyor line 410. The bottom layer is then fed onto the plastic frame receiving conveyor belt 553, thus achieving individual separation and feeding of the stacked plastic frames. By setting the stacking mechanisms 420, the plastic frame stacking and feeding can be achieved, further improving the buffering capacity of the plastic frame feeding mechanism 400, reducing the number of manual or computer-controlled feeding operations, and improving efficiency.

[0063] In this embodiment, the empty glue frame conveying line 410 and the discharge conveying line 610 have the same structure, and the empty glue frame blocking mechanism 430 and the full glue frame blocking mechanism 630 have the same structure; therefore, the specific structure of the empty glue frame conveying line 410 and the empty glue frame blocking mechanism 430 will not be described in this article.

[0064] On the other hand, the stacking mechanism 420 and the palletizing mechanism 620 have the same structure, so the structure of the stacking mechanism 420 will not be described in detail here. However, in actual operation, the stacking mechanism 420 and the palletizing mechanism 620 perform the opposite functions. The stacking mechanism 420 first lifts all empty plastic frames except the bottom one. After the bottom empty plastic frame is sent away, the remaining plastic frames are lowered back onto the empty plastic frame conveyor line 410, thereby realizing stacking and feeding.

[0065] In practice, the stacked empty plastic frames are first placed at the starting end of the empty plastic frame conveyor line 410. The empty plastic frame conveyor line 410 then transports the stacked plastic frames to the location of the stacking mechanism 420. The empty plastic frame blocking mechanism 430 then operates, limiting the empty plastic frames to the receiving position. Subsequently, the plastic frame lifting module 540 drives the plastic frame receiving mechanism 550 to descend to a height level with the empty plastic frame conveyor line 410. Then, the stacking mechanism 420 lifts all plastic frames from the second layer upwards, leaving the bottommost plastic frame alone on the empty plastic frame conveyor line 410. The empty plastic frame blocking mechanism 430 releases the empty plastic frame, and the empty plastic frame conveyor line 410 continues to move, transporting the individual plastic frames forward to the plastic frame receiving conveyor belt 553. The plastic frame receiving motor 552 drives the plastic frame receiving conveyor belt 553 to fully pull the plastic frame in until one end of the plastic frame touches the plastic frame limiting plate 554, thus realizing the automatic supply of empty plastic frames.

[0066] Working principle: Before starting the equipment, the operator or a host computer places stacks of blades into the various feeding limit seats 350 on the feeding turntable 310. During operation, the feeding turntable 310 rotates, sequentially sending the feeding limit seats 350 containing the blades to the working position of the lifting mechanism 320. The lifting mechanism 320 lifts the uppermost blade on the feeding limit seat 350 to a fixed gripping height. The loading robot 330 drives the loading suction cup 331 to pick up the blade and move it onto the loading limit seat 341. After the blade is in place, the picking robot 200, mounted on an external drive device (such as a multi-axis robot), begins its operation. The material handling robot 200 adjusts its posture via the first rotating module 220 and the second rotating module 230. First, the rear mold unloading assembly 260 directly grabs the blade from the rear mold blade positioning block 344. For the blades required by the front mold, the flipping assembly 280, driven by the boxing robot 510, picks up the blade from the front mold blade positioning block 343 and flips it upwards by 90°. Then, the front mold unloading assembly 250 picks up the flipped blade from the flipping assembly 280. Afterwards, the material handling robot 200 carries the blade to the injection mold and places the blade into the cavities of the front and rear molds respectively. Then it exits, and the injection molding machine closes the mold and performs injection molding.

[0067] After injection molding, the robotic arm 200 re-enters the mold, and the finished product picking component 270 grips the molded product (the blade assembly wrapped in plastic), exits, and moves to the unloading limit seat 342. It then aligns the finished product positioning post 347 with the hole on the bottom of the product, precisely placing the product onto the unloading limit seat 342. Subsequently, the pusher cylinder 345 retracts, pushing the unloading limit seat 342 along with the product to the gripping position of the finished product packaging mechanism 500.

[0068] Simultaneously, the plastic crate feeding mechanism 400 also operates synchronously. Manually or via a host computer, empty plastic crates are placed on the empty plastic crate conveyor line 410. The stacking mechanism 420 lifts the second and subsequent layers of plastic crates, allowing the bottom layer of empty plastic crates to be transported separately to the plastic crate conveying mechanism. The plastic crate lifting module 540 drives the plastic crate receiving mechanism 550 to rise to a height level with the empty plastic crate conveyor line 410, and the empty plastic crates are pulled in by the plastic crate receiving conveyor belt 553. Afterward, the plastic crate lifting module 540 raises the plastic crate receiving mechanism 550 to the boxing station.

[0069] The cartoning robot 510 drives the finished product gripping component 520 via the X, Y, and Z axis drive module to pick up products from the unloading limit seat 342 and accurately place them into the designated cells of the carton frame. This gripping and placing process is repeated until the carton is full. Once full, the carton lifting module 540 lowers to a height level with the finished product unloading mechanism 600, and the carton receiving conveyor belt 553 rotates in the opposite direction, sending the full carton to the unloading conveyor line 610. The unloading conveyor line 610 delivers the full carton to the palletizing station, where the palletizing mechanism 620 lifts and raises the first carton, stacking it on top once the second carton is in place. This process is repeated until the set number of palletized cartons is reached, at which point they are all sent out of the machine base via the unloading conveyor line 610, completing one production cycle.

[0070] The specific embodiments described above are preferred embodiments of the present invention and are not intended to limit the specific scope of the present invention. The scope of the present invention includes, but is not limited to, these specific embodiments. All equivalent changes made in accordance with the present invention are within the protection scope of the present invention.

Claims

1. An automated device for automatically embedding and packaging blender blades in injection molding, characterized in that: The system includes a base and a material handling robot. The material handling robot is connected to an external drive device, which can drive the material handling robot to move back and forth between the injection mold and the base. The base is equipped with a blade feeding mechanism, a plastic frame feeding mechanism, a finished product boxing mechanism, and a finished product unloading mechanism. The blade feeding mechanism is connected to the material handling robot and is used to feed the blades one by one to the gripping position of the material handling robot. The material handling robot is connected to the finished product boxing mechanism and the blade feeding mechanism respectively. It is used to grab the blades on the blade feeding mechanism and place them into the injection mold, and it can also grab the molded products in the injection mold and place them onto the finished product boxing mechanism. The glue frame feeding mechanism is connected to the finished product boxing mechanism and is used to feed empty glue frames onto the finished product boxing mechanism. The finished product boxing mechanism is used to place the processed products into the glue frames in sequence. The finished product discharging mechanism is connected to the finished product boxing mechanism and is used to send the full glue frames containing the products out of the machine base.

2. The automated equipment for automatically embedding and packaging blender blades as described in claim 1, characterized in that: The blade feeding mechanism includes a feeding turntable, a top feeding mechanism, a loading robot, and a transfer positioning seat, all connected to the machine base. The feeding turntable is equipped with multiple release limit seats for stacking and placing blades. The feeding turntable can drive each release limit seat to be connected to the top feeding mechanism in sequence. The top feeding mechanism is used to push the blades on the release limit seats to the gripping height of the loading robot. The loading robot is connected to both the release limit seats and the transfer positioning seat, and is used to grip the blades on the release limit seats and place them on the transfer positioning seat.

3. The automated equipment for automatically embedding and packaging blender blades according to claim 2, characterized in that: The feeding turntable includes a turntable fixing seat, which is connected to the machine base. The turntable fixing seat is provided with a rotary drive mechanism, and the output end of the rotary drive mechanism is provided with an indexing turntable. The feeding limit seat is connected to the indexing turntable.

4. The automated equipment for automatically embedding and packaging blender blades according to claim 2, characterized in that: The material feeding mechanism includes a material feeding fixing seat, which is connected to the machine base. The material feeding fixing seat is provided with a lifting drive assembly, and a lifting rod is provided on the output end of the lifting drive assembly. The lifting drive assembly can drive the lifting rod to move up and down, and the lifting rod is used to push the blade on the material feeding limit seat to rise.

5. The automated equipment for automatically embedding and packaging blender blades according to any one of claims 2-4, characterized in that: The finished product boxing mechanism includes a boxing robot and a plastic frame conveying mechanism respectively connected to the machine base. The plastic frame conveying mechanism is connected to the plastic frame feeding mechanism, the finished product discharging mechanism and the boxing robot respectively. The plastic frame conveying mechanism is used to receive empty plastic frames conveyed by the plastic frame feeding mechanism, and can also convey plastic frames filled with products to the finished product discharging mechanism. The transfer positioning seat is provided with a loading limit seat and a unloading limit seat. The loading robot is connected to the loading limit seat. The picking robot is connected to the loading limit seat and the unloading limit seat respectively. The picking robot can grab the blade on the loading limit seat and place it into the injection mold. It can also grab the molded product in the injection mold and place it into the unloading limit seat. The cartoning robot is connected to the unloading limit seat and the plastic frame conveying mechanism, respectively, and is used to pick up the products on the unloading limit seat and place them into the plastic frame on the plastic frame conveying mechanism.

6. The automated equipment for automatically embedding and packaging blender blades according to claim 5, characterized in that: The plastic frame conveying mechanism includes a conveying fixed frame, which is connected to the machine base. The conveying fixed frame is equipped with a plastic frame lifting module. The output end of the plastic frame lifting module is equipped with a plastic frame receiving mechanism. The plastic frame lifting module can drive the plastic frame receiving mechanism to be connected to the plastic frame feeding mechanism and the finished product discharging mechanism respectively. The plastic frame receiving mechanism includes a plastic frame receiving fixing frame, which is connected to the output end of the plastic frame lifting module. The plastic frame receiving fixing frame is equipped with a plastic frame receiving motor and a plastic frame receiving conveyor belt. The plastic frame receiving motor can drive the plastic frame receiving conveyor belt to move on the plastic frame receiving fixing frame. One end of the plastic frame receiving fixing frame is equipped with a plastic frame limiting plate, and the other end is equipped with a plastic frame positioning mechanism. The plastic frame positioning mechanism and the plastic frame limiting plate are used to limit the plastic frame on the plastic frame receiving conveyor belt.

7. The automated equipment for automatically embedding and packaging blender blades according to claim 5, characterized in that: The material handling robot includes a robot mounting base, on which a first rotating module is provided, and on the output end of the first rotating module a second rotating module is provided. The driving directions of the first rotating module and the second rotating module are perpendicular to each other. On the output end of the second rotating module a robot mounting base is provided. On one side of the robot mounting base a front mold feeding assembly is provided, and on the other side a rear mold feeding assembly and a finished product picking assembly are provided. The front mold feeding assembly is used to move the blade on the feeding limit seat to the front mold of the injection mold, the rear mold feeding assembly is used to move the blade on the feeding limit seat to the rear mold of the injection mold, and the finished product picking assembly is used to pick up the injection molded finished product from the injection mold and place it on the unloading limit seat.

8. The automated equipment for automatically embedding and packaging blender blades according to claim 7, characterized in that: The loading limit seat includes at least one front mold blade positioning block and at least one rear mold blade positioning block, and the front mold blade positioning block and the rear mold blade positioning block are respectively provided with contour grooves; The output end of the boxing robot is equipped with a flipping component, which is used to grab the blade from the front mold blade positioning block and flip it 90°. The picking robot can pick up the blade from the flipping component and place it into the front mold of the injection mold.

9. The automated equipment for automatically embedding and packaging blender blades according to claim 5, characterized in that: The finished product unloading mechanism includes an unloading conveyor line installed on the machine base. The unloading conveyor line is connected to the plastic frame conveying mechanism, which can transport plastic frames filled with products to the unloading conveyor line. The discharge conveyor line is equipped with a stacking mechanism and a full-frame blocking mechanism. The full-frame blocking mechanism is used to limit the full-frame of the product on the discharge conveyor line. The stacking mechanism is used to stack the frames on the discharge conveyor line. The discharge conveyor line is used to send the stacked frames out of the machine base.

10. The automated equipment for automatically embedding and packaging blender blades according to claim 9, characterized in that: The discharge conveyor line includes a discharge conveyor frame, which is connected to the machine base. The discharge conveyor frame is equipped with a discharge conveyor drive assembly, and a discharge conveyor belt is sleeved on the discharge conveyor frame. The output end of the discharge conveyor drive assembly is connected to the discharge conveyor belt. The palletizing mechanism includes a palletizing fixing frame connected to the discharge conveyor frame. The palletizing fixing frame is equipped with a palletizing electric cylinder. The output end of the palletizing electric cylinder is equipped with a palletizing mounting block. The palletizing mounting block is equipped with a lifting cylinder. The output end of the lifting cylinder is equipped with a lifting block. The lifting cylinder can drive the lifting block to engage or disengage with the full-glue frame on the discharge conveyor line.

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