A method and apparatus for integrally injection molding a plastic part with an insert preloaded therein

Abstract

The application relates to an integrated injection molding method and equipment for a plastic part with an embedded part, and relates to the technical field of injection molding, which comprises the following steps: in response to a grabbing signal, obtaining inherent embedded part parameters of the embedded part, obtaining a feeding position for feeding the embedded part and an embedded rod position where the embedded part needs to be placed; determining the embedded part length according to the embedded part parameters, determining a butt joint path according to the feeding position and the embedded rod position; controlling a grabbing rod to pick up the embedded part and move to the embedded rod position along the butt joint path; determining a pushing distance for pushing the embedded part to the embedded rod according to the embedded part length and a butt joint gap; controlling a pushing structure to drive the embedded part to be nested on the embedded rod based on the pushing distance; collecting a pushing resistance of the pushing structure affected by a reaction force during the pushing process; and if the pushing resistance does not exceed an unqualified threshold, determining that the embedded part is placed. The application has the effects of improving embedded part placement accuracy and reducing the influence of unqualified embedded parts on product quality and molds.

Description

Technical Field

[0001] This invention relates to the field of injection molding technology, and in particular to an integrated injection molding method and equipment for pre-installed inserts in plastic parts. Background Technology

[0002] Plastic parts have poor thread strength and wear resistance, making it difficult to meet the requirements of high-strength assembly. The industry generally adopts embedded metal thread insert structure to improve the connection reliability and service life of plastic parts.

[0003] Currently, in the industry's insert injection molding operations, insert pre-installation mainly relies on manual placement or simple pushing devices to complete the positioning and placement. During the operation, a standardized pre-installation mode with fixed stroke and fixed pressure is mostly adopted, which only completes the basic alignment and socket placement of the insert. The overall operation is a conventional mechanical pre-installation method.

[0004] However, this method can only achieve basic placement of inserts. When there are quality problems with the inserts or the inserts are misplaced, it will directly affect the product quality and even damage the mold. Summary of the Invention

[0005] To improve the accuracy of insert placement and reduce the impact of defective inserts on product quality and molds, this invention provides an integrated injection molding method and equipment for pre-installed inserts on plastic parts.

[0006] In a first aspect, the present invention provides an integrated injection molding method for plastic parts with pre-installed inserts, employing the following technical solution: A method for integral injection molding of a plastic part with pre-installed inserts, comprising: S10: In response to the material gripping signal, obtain the inherent insert parameters of the insert, and obtain the feeding position for feeding the insert and the position of the inserting rod where the insert needs to be placed. S11: Determine the insert length based on the insert parameters, and determine the docking path based on the feeding position and the position of the insert rod; S12: Control the preset gripping lever to pick up the insert and move it along the docking path to the inserting lever position; S13: Determine the pushing distance to push the insert onto the mounting rod by combining the insert length and the preset mating gap; S14: The push structure based on the preset propulsion distance control drives the insert to be fitted onto the mounting rod; S15: During the propulsion process, the propulsion resistance of the pushing structure is collected under the influence of the reaction force; S16: If the propulsion resistance does not exceed the preset defect threshold, the insert placement is determined to be complete.

[0007] By adopting the above technical solution, and using the pushing resistance collected during the pushing process, combined with the defect threshold to complete the pre-installation status judgment, abnormal working conditions such as foreign object jamming and alignment misalignment during the insert pre-installation process can be accurately identified, thereby improving the insert pre-installation accuracy and injection molding quality.

[0008] Optionally, after obtaining the propulsion drag, the following may also be included: S20: If the propulsion resistance exceeds the defect threshold, stop moving and obtain the distance traveled; S21: Set the clamping position and withdrawal distance according to the moving distance, the position of the insert rod, and the mating gap; S22: Based on the clamping position control, the preset clamping device clamps the insert and removes the insert from the insert rod based on the withdrawal distance; S23: Take a surface image of the mounting rod; S24: Compare the surface image with a preset reference image to determine the size of the foreign object; S25: Determine the cleaning distance by considering the size of the foreign object, the length of the insert, and the distance traveled; S26: The push structure is moved based on the cleaning distance to clean up foreign objects.

[0009] By adopting the above technical solution, the size of foreign objects is accurately calculated by comparing the actual image of the surface of the mounting rod with the reference image. The cleaning distance is calibrated by combining the size of the foreign object, the length of the insert, and the moving distance with multi-dimensional parameters. Then, the pushing structure is placed on the outside of the mounting rod to clean the foreign objects.

[0010] Optionally, after obtaining the movement distance, the following may also be included: S30: Compare the moving distance with the docking gap; S31: When the moving distance is consistent with the docking gap, it is determined to be docking offset; S32: Read the installation positions of all pressure sensors set along the circumferential direction on the pushing structure and the corresponding propulsion resistance they collect; S33: Determine the offset vector based on the distribution of installation locations and their corresponding propulsion resistance; S34: Adjust the movement of the gripper lever based on offset vector control.

[0011] By adopting the above technical solution, the resistance data collected by multiple pressure sensors distributed circumferentially on the push structure and the sensor position distribution relationship are used to accurately calculate the offset direction and offset amount to generate an offset vector, and then drive the gripping rod to adjust its position accordingly to achieve docking.

[0012] Optionally, after determining that the propulsion resistance does not exceed the undesirable threshold, the following steps are also included: S40: The resistance curve for pushing is generated by arranging the distance traveled as the horizontal axis and the real-time collected propulsion resistance as the vertical axis. S41: Divide the resistance curve into distance intervals and determine the corresponding resistance fluctuations within the intervals; S42: If the resistance fluctuation is greater than the preset fluctuation threshold, it indicates that there is a small foreign object blocking the flow. S43: Determine the location of the foreign object by the distance range corresponding to the resistance fluctuation that is greater than the fluctuation threshold; S44: Perform a preset secondary inspection process based on the location of the foreign object to determine whether the internal thread of the insert is damaged by the foreign object.

[0013] By adopting the above technical solution, the location of foreign objects can be accurately located by utilizing the abnormal fluctuation range, and the secondary inspection process can be linked to verify the damage status of the insert's internal thread, thereby reducing the chance of missed detection after damage to the internal thread caused by tiny foreign objects.

[0014] Optional, secondary testing procedures include: S50: Based on the position of the foreign object, the preset eddy current detection device moves and collects real-time eddy current characteristics; S51: Compare the real-time eddy current characteristics with the preset standard eddy current characteristics to obtain the abnormal waveform; S52: When there is transient pulse noise in the abnormal waveform, it is determined that there is a metallic foreign object but no damage, and the subsequent preset mold closing and injection molding process can continue to be executed. S53: When the abnormal waveform exhibits a stable periodic change, it is determined that the internal thread of the insert is damaged; S54: Control the clamping device to remove the insert and update the cleaning distance based on the foreign object location, mating gap, and insert size; S55: Based on the cleaning distance, control the movement of the push structure to clean up foreign objects.

[0015] By adopting the above technical solution, the abnormal waveform type can be identified by comparing the real-time eddy current characteristics with the standard eddy current characteristics, and the two abnormal working conditions of simple metal foreign object adhesion and thread damage can be distinguished, so as to achieve accurate classification and handling of working conditions.

[0016] Optional methods for obtaining the defect threshold include: S60: Obtain the insert material, insert weight, and thread structure from the insert parameters, and obtain the insert rod material from the insert rod parameters; S61: Determine the coefficient of friction by combining the material of the insert and the material of the insert rod, and determine the contact area by combining the length of the insert and the thread structure; S62: Match the basic resistance based on the friction coefficient and contact area; S63: The upper limit of resistance is obtained by correcting the basic resistance based on the additional sliding resistance caused by the weight of the insert; S64: Combine the upper limit of resistance and the preset floating resistance to obtain the defect threshold.

[0017] By adopting the above technical solution, the friction coefficient and contact area of ​​the insert and the mounting rod are matched by the material and structural parameters, and the basic resistance is standardized. Then, the upper limit of resistance is obtained by converting the additional sliding resistance into the self-weight of the insert. The floating resistance is used to compensate for assembly and working condition errors and accurately calibrate the defect threshold.

[0018] Optionally, the control of the gripper lever before picking up the insert includes: S70: Employs coaxial telecentric CCD visual imaging technology to acquire panoramic images of the insert in a transparent state; S71: Extract the thread features inside the insert from the panoramic image; S72: Compare the thread characteristics with the preset standard characteristics to determine if there is any damage; S73: Based on the absence of damage, generate and issue a material gripping signal; S74: Based on the existence of damage, further determine the damage level and classify the materials for cutting.

[0019] By adopting the above technical solution, distortion-free thread images are obtained using coaxial telecentric CCD imaging, the integrity of the thread is determined by NCC template matching, and the defect size, damage level, and material classification are quantified and classified by the eight-neighbor connected domain algorithm, thus eliminating defective inserts from the source.

[0020] Secondly, this application provides an integrated injection molding equipment for pre-installed inserts in plastic parts, employing the following technical solution: An integrated injection molding equipment for pre-installed insert plastic parts is applied to an integrated injection molding method for pre-installed insert plastic parts as described in the first aspect. It includes an injection molding assembly with a molding cavity and a pre-installed unloading assembly. The injection molding assembly is used to complete the injection, pressure holding and cooling, and mold opening and part removal molding processes. The molding cavity matches the shape of the product. The molding cavity is provided with an insert rod for fixing and placing the insert, and the position of the insert rod corresponds to the installation position of the insert inside the product; The pre-loading assembly includes an insert pre-loading component, which is connected to an external drive device. The insert pre-loading component is driven by the drive device to perform multi-axis displacement adjustment above the injection molding assembly. The insert pre-loading component is used to fix the insert on the insert rod before injection molding.

[0021] By adopting the above technical solution, using a dedicated insert rod inside the cavity to match the installation position of the product insert, and in conjunction with a multi-axis adjustable insert pre-assembly component, the automatic picking, alignment and pre-assembly of inserts can be achieved, adapting to the integrated injection molding process, improving the assembly accuracy of inserts and the injection molding effect of the product.

[0022] Optionally, the insert pre-installed component includes a gripping rod and a push sleeve, the push sleeve being sleeved on the outside of the gripping rod; The gripping rod is used to fit the insert for picking up the insert. The pushing sleeve slides along the surface of the gripping rod and is used to push the insert fitted on the gripping rod off and fit it onto the mounting rod to complete the placement.

[0023] By adopting the above technical solution, the gripping rod is used to achieve stable picking of the insert, and the sliding push sleeve is used to achieve smooth insertion and pushing of the insert. The nested structure has high positioning accuracy, reduces the problems of offset, jamming and bumping during the pre-assembly process, and improves the pre-assembly accuracy and molding quality of the insert.

[0024] Optionally, the pre-installed unloading assembly further includes a product unloading component and an adjustment component. Both the insert pre-installation component and the product unloading component are connected to the adjustment component for transmission. The adjustment component drives the product unloading component and the insert pre-installation component to rotate synchronously and adjust to perform different processes in time. The product unloading component is used to remove the injection-molded product to complete the unloading.

[0025] By adopting the above technical solution, the pre-assembly and unloading components are driven to rotate in a time-sharing manner using the adjustment components, achieving seamless connection of processes, accelerating the production cycle, and completing the automatic unloading of finished products with the independent unloading structure, forming a fully automated closed-loop operation, improving equipment integration and production efficiency.

[0026] In summary, the present invention has at least one of the following beneficial technical effects: By using the pushing resistance collected during the pushing process and combining it with the defect threshold to complete the pre-installation status judgment, it can accurately identify abnormal working conditions such as foreign object jamming and alignment misalignment during the insert pre-installation process, and improve the insert pre-installation accuracy and injection molding quality. The size of foreign objects is accurately calculated by comparing the actual image of the surface of the mounting rod with the reference image. The cleaning distance is calibrated by combining the size of the foreign object, the length of the insert, and the moving distance with multi-dimensional parameters. Then, the pushing structure is put on the outside of the mounting rod to clean the foreign objects. By utilizing a dedicated insert rod within the mold cavity to match the installation position of the product insert, and in conjunction with a multi-axis adjustable insert pre-assembly component, the system enables automated insertion picking, alignment, and pre-assembly. This adapts to the integrated injection molding process, improving the assembly accuracy of the insert and the injection molding effect of the product. Attached Figure Description

[0027] Figure 1 This is a partial structural diagram of an integrated injection molding equipment for pre-installed inserts in plastic parts, as described in this application. Figure 1 ; Figure 2 This is a partial structural diagram of an integrated injection molding equipment for pre-installed inserts in plastic parts, as described in this application. Figure 2 ; Figure 3 This is a partial structural schematic diagram of the injection-molded component of this application; Figure 4 yes Figure 3 Enlarged view of point A in the middle; Figure 5 This is a structural schematic diagram of the pre-assembled feeding assembly of this application; Figure 6 This is a structural schematic diagram of the insert feeding assembly of this application.

[0028] The parts referred to by the numbers in the above attached figures are as follows: 1. Injection molding assembly; 11. Molding cavity; 12. Moving mold base; 13. Fixed mold base; 14. Insert rod; 2. Pre-installation unloading assembly; 21. Adjustment component; 211. Base; 212. Rotating structure; 213. Rotating plate; 214. Connecting frame; 22. Insert pre-installation component; 221. Mounting plate; 222. Gripping rod; 223. Pushing structure; 224. Pushing plate; 225. Pushing sleeve; 23. Product unloading component; 231. Fixing plate; 232. Suction cup; 3. Insert loading assembly; 31. Loading track; 32. Limiting block; 33. Side push cylinder; 34. Bearing block; 341. Bearing groove. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0030] This invention discloses an integrated injection molding equipment for plastic parts with pre-installed inserts.

[0031] Reference Figure 1 and Figure 2 An integrated injection molding equipment for plastic parts with pre-installed inserts includes an injection molding component 1, a pre-installed feeding component 2, and an insert feeding component 3.

[0032] Reference Figure 3 and Figure 4 The injection molding assembly 1 includes a moving mold base 12, a fixed mold base 13, and insert rods 14. The moving mold base 12 and the fixed mold base 13 are slidably arranged relative to each other. After the moving mold base 12 and the fixed mold base 13 come close to each other to complete the mold closing, they form a molding cavity 11 that matches the shape of the product. There are two insert rods 14, which are fixedly installed on the moving mold base 12. The insert rods 14 are located in the molding cavity 11, and the position of the insert rods 14 corresponds to the installation position of the inserts inside the product.

[0033] The pre-assembly unloading assembly 2 includes an insert pre-assembly component 22, a product unloading component 23, and an adjustment component 21. The insert pre-assembly component 22 and the product unloading component 23 are both connected to the adjustment component 21 for transmission. The adjustment component 21 drives the product unloading component 23 and the insert pre-assembly component 22 to rotate synchronously and adjust to perform different processes in different time periods.

[0034] Reference Figure 5 The adjusting component 21 includes a base 211, a rotating structure 212, a rotating plate 213, and a connecting frame 214. The base 211 is connected to an external driving device and is driven by the driving device to perform multi-axis displacement adjustment above the injection molding assembly 1, thereby driving the insert pre-installation component 22 and the product unloading component 23 to move synchronously. The rotating structure 212 can be a servo motor. The rotating structure 212 is fixedly installed below the base 211, the rotating plate 213 is fixedly installed at the output end of the rotating structure 212, and the connecting frame 214 is fixedly installed on the side of the rotating plate 213. The insert pre-installation component 22 and the product unloading component 23 are respectively fixedly installed at both ends of the connecting frame 214.

[0035] The insert pre-installation component 22 includes a mounting plate 221, a gripping rod 222, a pushing structure 223, a pushing plate 224, and a pushing sleeve 225. The mounting plate 221 is fixedly installed at the lower end of the connecting frame 214. The pushing structure 223 can be a pushing cylinder. The pushing structure 223 is fixedly installed at the upper end of the mounting plate 221. The output end of the pushing structure 223 passes through the mounting plate 221 and faces downward. The pushing plate 224 is fixedly installed at the output end of the pushing structure 223. The pushing plate 224 is connected to the mounting plate via a guide rod. 221 Limiting sliding connection, the gripping rod 222 adopts ball clamping type gripping rod 222, the lower end of the gripping rod 222 has a ball groove on the outer periphery, and the groove is provided with radially ejectable balls. There are two gripping rods 222 corresponding to the mounting rod 14. The gripping rod 222 is fixedly installed at the lower end of the mounting plate 221 and passes through the push plate 224. There are two push sleeves 225 and they correspond one to one with the gripping rod 222. The push sleeve 225 is sleeved on the outside of the corresponding gripping rod 222 and slides along the surface of the gripping rod 222.

[0036] Two sets of product unloading components 23 are arranged vertically. Each set of product unloading components 23 includes a fixing plate 231 and a suction cup 232. The fixing plate 231 is fixedly installed on the upper side of the connecting frame 214, and the suction cup 232 is fixedly installed on the fixing plate 231. The execution direction of the suction cup 232 is facing to the left, and the end faces of the suction cup 232 in the two sets of product unloading components 23 are in the same vertical plane.

[0037] Reference Figure 6The insert feeding assembly 3 includes a feeding track 31, a limiting block 32, a side-push cylinder 33, and a support block 34. The support block 34 has a support groove 341 that can only accommodate a single insert. There are two limiting blocks 32 on the left and right sides. There is a through groove between the two limiting blocks 32 corresponding to the end of the feeding track 31. The limiting blocks 32 are fixedly installed at the front end of the feeding track 31 to restrict the left and right sliding of the insert. The support block 34 is slidably installed at the front end of the limiting block 32. The output end of the side-push cylinder 33 is fixedly connected to the support block 34 to drive the support block 34 to slide.

[0038] Inserts are sequentially fed into the through slots between the limiting blocks 32 via the feeding track 31 and stopped by the bearing block 34. The side-push cylinder 33 drives the bearing block 34 to move to the left, aligning the bearing groove 341 with the through slot. An insert in the through slot moves into the bearing groove 341. The side-push cylinder 33 then drives the bearing block 34 to move to the right, causing the single insert in the bearing groove 341 to move synchronously. The stopping position of this insert is the insert feeding station. The base 211 is translated by an external drive device, which in turn drives the gripping rod 222 to move to the designated position. Above the insert loading station, the drive device continues to move the gripping rod 222 downwards to insert into the insert. The ball bearings inside the gripping rod 222 eject radially, securing the insert and completing the gripping. Once both gripping rods 222 have completed their gripping, the injection molding assembly 1 completes the previous injection molding process. The moving mold base 12 moves away from the fixed mold base 13 to complete mold opening, and the molded product remains inside the fixed mold base 13. The drive device is then controlled to move the gripping rod 222 between the moving mold base 12 and the fixed mold base 13. During this movement, the rotating structure 212 is activated. The rotating plate 213 rotates 90 degrees, adjusting the vertical connecting frame 214 to a horizontal position. At this time, the gripping rod 222 is horizontally oriented towards the insert rod 14 on the fixed mold base 13. The two gripping rods 222 are controlled to be coaxially aligned with the two insert rods 14 and close together. After being in contact, the ball bearings are retracted to unlock the insert. The pushing structure 223 is activated to drive the pushing plate 224 to move. The pushing plate 224 drives the pushing sleeve 225 to slide along the surface of the gripping rod 222 to push the insert off the gripping rod 222 and fit it onto the insert rod. Placement is completed on 14; then the drive device is controlled to move the suction cup 232 at the other end of the connecting frame 214 to the product inside the fixed mold base 13, so that the suction cup 232 is attached to the inner top of the product and suction is applied, driving the suction cup 232 to transfer the product to the designated product unloading station, and starting the rotating structure 212 to drive the rotating plate 213 to continue rotating 90 degrees, so that the horizontal connecting frame 214 is adjusted so that the end near the suction cup 232 is vertically downward, and the suction of the suction cup 232 is stopped to allow the product to detach from the suction cup 232, completing the product unloading.

[0039] The external drive device can be a three-axis Cartesian coordinate gantry robot, which is existing technology; a material unloading bin for temporarily storing products is set in the execution area of ​​the drive device, which is conventional technology in this field, and the product unloading station is above the material unloading bin.

[0040] Based on the same inventive concept, embodiments of the present invention provide an integrated injection molding method for pre-installed inserts in plastic parts.

[0041] A method for integral injection molding of a plastic part with pre-installed inserts, comprising the following steps: S10: In response to the material gripping signal, obtain the inherent insert parameters of the insert, and obtain the feeding position for feeding the insert and the position of the insert rod where the insert needs to be placed.

[0042] The material grabbing signal refers to the digital trigger signal issued after the side-push cylinder 33 starts to push a single insert to the insert loading station to start picking up the material; after the photoelectric sensor pre-set at the insert loading station detects that the insert is in place, the system automatically generates and issues the material grabbing signal.

[0043] Insert parameters refer to the data set of all inherent physical and structural properties corresponding to the insert. The operator obtains the relevant physical information in advance according to the model of the insert, integrates it with the data obtained from actual measurement, and enters it into the system in advance. When using it, the insert parameters are directly read.

[0044] The loading position refers to the three-dimensional coordinate position where the center of the gripping rod 222 coincides with the center of the insert when the gripping rod 222 performs the picking action. A three-dimensional coordinate system is established with the center of the execution range of the gripping rod 222 as the coordinate origin. The operator determines the three-dimensional coordinates of the insert loading station in advance according to the installation position of the insert loading component 3, which is then used as the loading position and entered into the system. The loading position is directly read when in use.

[0045] The position of the insert rod is the fixed three-dimensional coordinate position of the center axis of the insert rod 14 on the specified mold. In the same three-dimensional coordinate system, the operator determines the specific three-dimensional coordinates in advance according to the stopping position of the insert rod 14 after the mold is opened, and enters them into the system. When in use, the position of the insert rod can be directly read to obtain the position.

[0046] S11: Determine the insert length based on the insert parameters, and determine the docking path based on the feeding position and the position of the insert rod.

[0047] Insert length refers to the complete length dimension of the insert at both ends along its own axial direction; the insert length is obtained by the operator in advance by actually measuring the standard insert and integrating it into the insert parameters.

[0048] The docking path refers to the continuous servo motion trajectory of the gripper rod 222 from the loading position to the inserting rod position, which includes a linear conveying section, a buffer deceleration section, and a radial centering fine-tuning section. The system automatically generates a basic path based on the coordinates of the loading position and the inserting rod position, combined with the equipment avoidance safety height algorithm. Since the gripper rod 222 is in a vertical state after picking up the insert and in a horizontal state when docking with the inserting rod 14, it is necessary to adjust the gripper rod 222 through the control adjustment component 21 during the movement. It is necessary to combine the structural parameters of the adjustment component 21 itself to obtain the coordinate position change of the end of the gripper rod 222 before and after adjustment. At the same time, there is a preset docking gap between the gripper rod 222 and the inserting rod 14 after docking, and the coordinate position changes further. Integrating all the coordinate position changes with the basic path, the final docking path is obtained, so that after picking up the insert, the gripper rod 222 moves to the inserting rod position and docks horizontally with the inserting rod 14 under the dual influence of the drive equipment and the adjustment component 21, with a gap between the two rods.

[0049] S12: Control the preset gripping lever 222 to pick up the insert and move it along the docking path to the insert position.

[0050] The gripping rod 222 refers to the gripping rod 222 in an integrated injection molding equipment for plastic parts with pre-installed inserts. Its specific structure has been disclosed in detail above.

[0051] S13: Determine the pushing distance for pushing the insert onto the mounting rod 14 by combining the insert length and the preset mating gap.

[0052] The mating clearance refers to the axial buffer fit stroke reserved between the front end face of the insert and the starting end face of the insert rod 14. The mating clearance is set directly by the operator in advance according to the mechanical dimensions of the mold drawing and entered into the system. The mating clearance is directly read when in use.

[0053] The advance distance refers to the total axial travel required for the pusher structure 223 to push the insert completely into the mounting rod 14 to the standard assembly position; the advance distance is calculated by summing the insert length and the mating gap.

[0054] S14: The push structure 223, based on the preset propulsion distance control, drives the insert to be sleeved on the mounting rod 14.

[0055] The push structure 223 refers to the push structure 223 in an integrated injection molding equipment for plastic parts with pre-installed inserts. The specific structure has been disclosed in detail above.

[0056] S15: During the propulsion process, the propulsion resistance of the pusher structure 223 under the influence of reaction force is collected.

[0057] The pushing resistance refers to the axial reaction force generated by the friction between the inner thread of the insert and the outer side of the insert rod 14 or by obstruction by foreign objects during the pushing process; the pushing resistance is collected in real time by the pressure sensor built into the pushing structure 223.

[0058] S16: If the propulsion resistance does not exceed the preset defect threshold, the insert placement is determined to be complete.

[0059] The defect threshold refers to the critical resistance value that distinguishes normal thread friction resistance from foreign object jamming resistance; the method for obtaining it will be disclosed in detail in subsequent steps.

[0060] The fact that the propulsion resistance did not exceed the defect threshold indicates that the insert moves smoothly along the surface of the insert rod 14 and there are no foreign objects blocking the insert.

[0061] After obtaining the propulsion drag, the following steps are also included: S20: If the propulsion resistance exceeds the adverse threshold, stop moving and obtain the distance traveled.

[0062] If the propulsion resistance exceeds the defect threshold, it means that the insert is blocked by foreign objects or the insert rod 14 during the process of being driven to move by the push structure 223, resulting in a hard jamming load.

[0063] The travel distance refers to the actual axial distance traveled by the push structure 223 from the start of push to the point where the push resistance exceeds the defect threshold; the pulses are accumulated in real time by a pre-set servo encoder and the pulse values ​​are converted into axial length, i.e., travel distance, when the machine stops.

[0064] S21: Set the clamping position and withdrawal distance based on the moving distance, the position of the insert rod, and the mating gap.

[0065] The clamping position refers to the coordinates of the clamping point on the outside of the insert held by the clamping device to ensure stable clamping force. The end coordinates of the gripping rod 222 are determined according to the position of the insert rod and the docking gap. These coordinates are also the end coordinates of the insert. The end coordinates of the insert after movement are calculated based on the moving distance. The coordinates of the two ends of the insert are obtained according to the length of the insert. The middle value is selected as the clamping position.

[0066] When gripping the insert, the gripping rod 222 is inserted into the insert. When the ball inside the gripping rod 222 pops out, the end of the gripping rod 222 and the insert are flush. At this time, the end face of the push sleeve 225 is in contact with the insert. The appropriate assembly position of the insert on the mounting rod 14 is that the end of the insert and the mounting rod 14 are flush.

[0067] The withdrawal distance refers to the axial retraction stroke required for the clamping device to completely disengage the insert from the insert rod 14 after clamping the insert; the withdrawal distance is calculated by subtracting the moving distance from the mating clearance.

[0068] S22: The clamping device, based on the clamping position control preset, clamps the insert and removes the insert from the insert rod 14 based on the withdrawal distance.

[0069] Clamping devices refer to multi-jaw clamping assemblies that can open and close to encircle the outer circle of an insert, used to remove abnormal inserts. They are conventional technical devices in this field and will not be described in detail.

[0070] S23: Take a surface image of the mounting rod 14.

[0071] The surface image refers to the image taken of the area where the insert rod 14 is located after the insert is removed; the surface image is taken of the insert rod 14 by an industrial camera that is pre-set around the insert rod 14 after the clamping equipment has finished unloading the abnormal insert.

[0072] Multiple industrial cameras can be set around the mounting rod 14 to capture the surface of the mounting rod 14 from multiple angles, avoiding blind spots and ensuring that foreign objects at any position on the mounting rod 14 can be captured completely.

[0073] S24: Compare the surface image with a preset reference image to determine the size of the foreign object.

[0074] A reference image refers to a standard reference image of a standard mounting rod 14 with no metal debris, burrs, or scratches on its surface, taken by the same industrial camera. The reference image is obtained by the operator in advance by taking and selecting images from the same set of industrial cameras under the condition that the mounting rod 14 is in a standard state.

[0075] Foreign object size refers to the actual axial length of the foreign object attached to the surface of the mounting rod 14; by comparing the surface image and the reference image to obtain the foreign object features, reading the size of the foreign object features in the image, and combining the conversion ratio between the image size and the actual size, the actual size of the corresponding foreign object is calculated, i.e., the foreign object size.

[0076] S25: Determine the cleaning distance by combining the size of the foreign object, the length of the insert, and the moving distance.

[0077] The cleaning distance refers to the axial movement required for the push structure 223 to move directly along the surface of the insert rod 14 to remove foreign objects; the cleaning distance is calculated by summing the size of the foreign object, the length of the insert, and the movement distance.

[0078] The pushing structure 223 here specifically refers to the pushing sleeve 225. The pushing sleeve 225 is sleeved on the outside of the gripping rod 222. The diameter of the gripping rod 222 is the same as the diameter of the embedding rod 14. Therefore, the pushing sleeve 225 can move along the surface of the gripping rod 222 to the surface of the embedding rod 14. The pushing sleeve 225 is in close contact with the surface of the embedding rod 14, which can push foreign objects to be cleaned.

[0079] S26: Based on the cleaning distance, control the movement of the push structure 223 to clean up foreign objects.

[0080] When the clamping device unloads the insert, the gripping rod 222 will retract to avoid it. After the insert unloading is completed, the gripping rod 222 will reset and re-connect with the insert rod 14. Based on the cleaning distance, the push sleeve 225 will move to move along the gripping rod 222 and the insert rod 14 to clean up foreign objects.

[0081] After obtaining the distance traveled, the following steps are also included: S30: Compare the moving distance with the docking gap.

[0082] During the push process, the real-time moving distance is continuously compared with the docking gap.

[0083] S31: When the moving distance is consistent with the docking gap, it is determined to be docking offset.

[0084] The movement distance is consistent with the docking gap, indicating that the position where the pushing resistance exceeds the standard is exactly located at the docking end of the insert rod 14. This is most likely caused by the axial offset between the gripping rod 222 and the insert rod 14, and is directly judged as docking offset.

[0085] The misalignment refers to the fact that the central axis of the gripping rod 222 does not coincide with the central axis of the inserting rod 14, and the insert is pressed against the outer periphery of the inserting rod 14 on one side, resulting in misalignment and jamming.

[0086] S32: Read the installation positions of all pressure sensors set along the circumferential direction on the push structure 223 and the corresponding propulsion resistance collected.

[0087] The installation position refers to the circumferential angle coordinates and radial installation height parameters of multiple pressure sensors circumferentially arranged along the end of the push sleeve 225. The operator establishes a three-dimensional coordinate system in advance based on the specific structure of the push sleeve 225, taking the center position of the push sleeve 225 as the origin, and sets the corresponding coordinate data of the pressure sensor according to the actual installation position. This data is then entered into the system as the installation position and can be directly read during use.

[0088] In the previous text, when comparing the propulsion resistance with the defect threshold, the propulsion resistance used was the propulsion resistance with the largest value among all propulsion resistances.

[0089] S33: Determine the offset vector based on the distribution of installation locations and their corresponding propulsion resistance.

[0090] The offset vector refers to the angle and direction of the offset of the gripping rod 222, with the central axis of the mounting rod 14 as the origin. A two-dimensional orthogonal coordinate system with the central axis of the mounting rod 14 as the origin is established. First, the unified reference pressure of each sensor under the standard alignment condition is retrieved. During the pushing process, the real-time pressure of each channel is collected simultaneously and the pressure difference of each channel relative to the reference is calculated. Then, the unidirectional offset in each direction is obtained according to the pressure difference matching calibration curve. When the sensors on both sides are under pressure at the same time, the offset is corrected by the apportionment correction coefficient. Then, the unidirectional offset is decomposed into X and Y axis offset components by combining the installation angle of each sensor. All components are superimposed to obtain the total X and Y offset components. The total radial offset distance and offset azimuth angle are calculated based on the total components. Finally, the total X and Y offset components are combined to form an offset vector that carries the offset distance and offset direction information.

[0091] S34: Adjust and move the gripper lever 222 based on the offset vector control.

[0092] Based on the offset direction and offset distance data carried by the calculated offset vector, the gripping rod 222 is driven to make a radial reverse fine adjustment to eliminate the coaxiality deviation between the insert and the mounting rod 14.

[0093] After determining that the propulsion resistance has not exceeded the undesirable threshold, the following steps are also included: S40: The resistance curve for pushing is generated by arranging the distance traveled as the horizontal axis and the real-time collected propulsion resistance as the vertical axis.

[0094] The resistance curve is a continuous two-dimensional curve plotted with the axial travel of the pusher as the horizontal axis and the propulsion resistance collected in real time as the vertical axis. The corresponding travel distance and propulsion resistance are read at a preset fixed sampling frequency and integrated to obtain the resistance curve.

[0095] S41: Divide the resistance curve into distance intervals and determine the corresponding resistance fluctuations within the intervals.

[0096] Distance intervals refer to multiple stroke units that divide the advancing distance equally according to a fixed step length. According to the preset fixed step length, the total advancing distance is divided equally to automatically divide several independent distance intervals. The fixed step length is preset by the operator and entered into the system.

[0097] Resistance fluctuation refers to the change in propulsion resistance between the later-collected and earlier-collected propulsion resistance within a single distance interval. Resistance fluctuation is calculated by subtracting the later-collected and earlier-collected propulsion resistances and then quotienting the result with the distance length of the single distance interval.

[0098] S42: If the resistance fluctuation is greater than the preset fluctuation threshold, it indicates that there is a small foreign object blocking the flow.

[0099] The fluctuation threshold is the critical value that distinguishes between normal threaded fit small friction fluctuations and resistance fluctuations caused by foreign objects blocking the fit. The fluctuation threshold is obtained by repeatedly pushing a standard workpiece without foreign objects to collect the normal fluctuation peak value and superimposing it with a safety float margin. The operator obtains and enters the value into the system in advance and reads the fluctuation threshold directly when using the system.

[0100] If the resistance fluctuation is greater than the fluctuation threshold, it means that the insert is blocked by a foreign object at the current position, resulting in a large change in resistance. There is a possibility that the foreign object has scratched the internal threads of the insert, and a second inspection of the insert is required.

[0101] Since this situation occurs after the propulsion resistance is determined not to exceed the defect threshold, the insert will move to the standard assembly position under the action of the push structure 223.

[0102] S43: Determine the location of the foreign object by the distance range corresponding to the resistance fluctuation that is greater than the fluctuation threshold.

[0103] The foreign object location refers to the axial region where the foreign object is attached to the mounting rod 14, that is, the axial travel range corresponding to the resistance fluctuation exceeding the threshold; obtain the transverse axis travel segment corresponding to the resistance fluctuation exceeding the standard, record the start and end distance of this segment as the axial location of the foreign object, that is, the foreign object location.

[0104] S44: Perform a preset secondary inspection process based on the location of the foreign object to determine whether the internal thread of the insert is damaged by the foreign object.

[0105] The secondary inspection process refers to the in-situ inspection process based on eddy current nondestructive testing to identify whether scratches or damage have occurred on the internal threads of inserts; the specific control methods will be disclosed in detail in subsequent steps.

[0106] The secondary testing process includes the following steps: S50: Based on the position of the foreign object, the preset eddy current detection device moves and collects real-time eddy current characteristics.

[0107] Eddy current testing equipment refers to a non-destructive testing execution component that can be servo-moved along the axial direction of the mounting rod 14 and is equipped with a ring-shaped eddy current induction coil, which is existing technology.

[0108] Real-time eddy current characteristics refer to the waveform of the impedance amplitude and phase continuously changing signal fed back from the metal thread area of ​​the induction insert after the eddy current coil is energized; the eddy current detection equipment outputs alternating excitation current to the coil, synchronously collects the induction feedback signal, and converts it into amplitude and phase timing data to form real-time eddy current characteristics.

[0109] S51: The abnormal waveform is obtained by comparing the real-time eddy current characteristics with the preset standard eddy current characteristics.

[0110] Standard eddy current characteristics refer to the reference eddy current waveform data collected from the same axial position of intact metal threads without foreign objects, scratches, or defects. Eddy current testing equipment is used to test qualified and undamaged standard inserts, and eddy current signals are collected in segments as standard eddy current characteristics. These are pre-entered into the system by the operator and directly read during use.

[0111] Abnormal waveforms refer to the waveform distortion signals generated after performing a difference operation between real-time eddy current features and standard eddy current features. By comparing the difference between real-time eddy current features and standard eddy current features at the same position point by point, the distortion signals that deviate from the reference are extracted to obtain abnormal waveforms.

[0112] If no abnormal waveform is found, it means that the insert is normal and the subsequent processes can continue.

[0113] S52: When there is transient pulse noise in the abnormal waveform, it is determined that there is a metallic foreign object but no damage, and the subsequent preset mold closing injection process can continue to be executed.

[0114] Transient pulse clutter refers to a single, short-duration, and irregular isolated pulse signal in an abnormal waveform. A standard sample with only metal debris attached and intact threads is prepared in advance. After the sample is placed in place, eddy current detection is started. The waveform generated by the foreign object passing through the detection area is collected multiple times. Parameters such as the peak value of the waveform pulse, duration, and non-periodic single-peak shape are extracted and summarized to form transient pulse clutter, which is then entered into the system and directly read when needed.

[0115] The presence of transient pulse noise in the abnormal waveform indicates that there are only temporarily attached metal debris or foreign objects in the insert, and the internal threads are not damaged.

[0116] The mold closing injection molding process refers to the process in which, after the insert has passed inspection, the moving and fixed molds of the mold are closed, and molten plastic is injected into the mold cavity to encapsulate and form the insert. The mold closing injection molding process is set in advance by the operator according to the actual operation process of the production equipment and entered into the system. When it is determined that there is no damage to the internal threads of the insert, the system automatically sends a trigger signal and starts execution. This process is a conventional technical means in this field.

[0117] S53: When the abnormal waveform exhibits a stable periodic change, it is determined that the internal thread of the insert is damaged.

[0118] Stable periodic change refers to the abnormal waveform continuously repeating regular, equally spaced distorted peaks along the axial travel, matching the thread profile period; if the system extracts the peak interval of the distorted waveform, and the interval matches the thread pitch and repeats continuously for multiple turns, it is determined to be a stable periodic change, and the insert internal thread is determined to be damaged.

[0119] S54: Control the clamping device to remove the insert and update the cleaning distance based on the foreign object position, mating gap, and insert size.

[0120] Based on the location of the foreign object, the distance between the foreign object and the end of the insert rod 14 is determined. The updated cleaning distance is then calculated by summing this distance with the mating gap and the length in the insert dimensions.

[0121] S55: Based on the cleaning distance, the push structure 223 is moved to clean up foreign objects.

[0122] The cleaning steps are the same as the cleaning method in S26.

[0123] The method for obtaining the defect threshold includes the following steps: S60: Obtain the insert material, insert weight, and thread structure from the insert parameters, and obtain the insert rod material from the insert rod parameters.

[0124] The material of the insert refers to the grade and material properties of the metal material used in the body of the metal insert; it is obtained in advance by the operator based on the material of the standard insert and integrated into the insert parameters.

[0125] Insert weight refers to the standard self-weight of a single complete insert; it is obtained in advance by the operator through actual measurement and integrated into the insert parameters.

[0126] The thread structure refers to the structural parameters of the insert's internal thread pitch, thread angle, effective thread fit length, and number of thread turns; the operator obtains the corresponding structural parameters in advance based on the standard insert's manufacturing drawings and integrates them into the insert parameters.

[0127] The material of the mounting rod refers to the grade and material properties of the metal material used in the mounting rod 14; the operator obtains the material of the mounting rod in advance according to the manufacturing drawings during mold processing and integrates it into the mounting rod parameters.

[0128] S61: Determine the coefficient of friction by combining the material of the insert and the material of the insert rod, and determine the contact area by combining the length of the insert and the thread structure.

[0129] The coefficient of friction refers to the sliding friction coefficient corresponding to the pairing of the metal material of the insert and the metal material of the mounting rod 14. The operator shall in advance look up the standard friction coefficients between common metal materials and integrate them into a friction coefficient comparison table, and enter it into the system. When in use, the corresponding friction coefficient shall be obtained by directly comparing the material of the insert and the material of the mounting rod with the friction coefficient comparison table.

[0130] The contact area refers to the total effective contact area between the insert's internal thread and the mounting rod 14. The thread profile angle, effective thread length, and thread pitch diameter of the insert's internal thread are obtained by retrieving the pre-stored thread structure parameters. Combined with the smooth cylindrical outer diameter of the mounting rod 14, the arc length of the single-turn internal thread tooth surface that contacts the cylindrical rod is calculated to obtain the single-turn contact area. This is multiplied by the effective number of thread turns to obtain the single-sided contact area. The areas of the thread tooth surfaces on both sides are then superimposed to obtain the final effective contact area of ​​the thread fit.

[0131] S62: Match the basic resistance based on the coefficient of friction and contact area.

[0132] The basic resistance refers to the theoretical standard sliding resistance generated solely by friction of the threaded contact surface; the basic resistance is calculated by multiplying the friction coefficient, contact area, and preset standard normal force.

[0133] Using a standard qualified insert, the insert rod 14 is uniformly inserted with the rated standard pushing force. The normal load at each point of the thread is collected by the radial pressure sensor. The total normal pressure is obtained by superimposing the normal loads of all contact areas. The average value is taken after multiple pushes, which is the standard normal pressure corresponding to this type of insert. This value is obtained in advance by the operator and entered into the system.

[0134] S63: The upper limit of resistance is obtained by correcting the basic resistance based on the additional sliding resistance caused by the weight of the insert.

[0135] The upper limit of resistance refers to the maximum normal allowable resistance value after the sliding resistance of the insert's own weight is corrected. Under the horizontal pushing condition, the insert's own weight forms a radial additional clamping force perpendicular to the axis of the insert rod 14. The additional sliding resistance corresponding to the self-weight is calculated by combining the thread contact area and the friction coefficient. This additional sliding resistance is added to the basic resistance to obtain the corrected upper limit of resistance.

[0136] S64: Combine the upper limit of resistance and the preset floating resistance to obtain the defect threshold.

[0137] Floating resistance refers to the safety margin of resistance used to offset minor fluctuations in working conditions and to allow for assembly tolerances. Multiple undamaged and foreign object-free qualified inserts are selected, and real-time axial resistance is collected multiple times under standard horizontal pushing conditions. The maximum positive offset difference between the measured resistance and the upper limit of resistance is statistically analyzed, and this difference is calibrated as floating resistance and entered into the system.

[0138] The failure threshold is calculated by summing the upper limit of resistance and the floating resistance.

[0139] Before the gripper lever 222 picks up the insert, the following steps are included: S70: Employs coaxial telecentric CCD visual imaging technology to acquire panoramic images of the insert in a transparent state.

[0140] A panoramic image refers to a complete through-hole panoramic image of an insert captured by a coaxial telecentric CCD camera, fully covering the entire internal thread area. Before the gripper 222 picks up the material, the insert is located at the insert loading station. The light is set below the insert loading station, and then the coaxial telecentric camera, which is pre-set above the insert loading station, is used to capture the image vertically, outputting a complete panoramic image.

[0141] S71: Extract the thread features inside the insert from the panoramic image.

[0142] Thread features refer to the set of image feature points of thread peaks, valleys, pitch, and thread integrity in a panoramic image. The thread contour is extracted using an image edge detection algorithm, and the coordinates, spacing, and grayscale features are extracted to form a thread feature dataset, i.e., thread features.

[0143] S72: Compare the thread characteristics with the preset standard characteristics to determine if there is any damage.

[0144] Standard features refer to standard thread image feature templates of qualified inserts that are free from bumps, defects, and cracks; these are taken in advance by operators using qualified standard inserts, and the thread features are extracted and pre-entered into the system for direct reading during use.

[0145] S73: Based on the absence of damage, generate and issue a material gripping signal.

[0146] No damage means that the actual thread features match the standard features better than the qualified threshold, and the thread has no missing teeth, cracks, or dents. The similarity of features is compared using image algorithms, and if the similarity is greater than the qualified threshold, it is determined that there is no damage.

[0147] The NCC normalized cross-correlation template matching algorithm is adopted. The thread image is first preprocessed and aligned with the standard template, and the image similarity matching score is calculated.

[0148] The qualified threshold refers to the critical value of the matching degree of visual comparison of whether the thread is intact or not, which is used to distinguish between intact threads and damaged threads. A large number of standard inserts and inserts with different minor damages are selected, and the thread images of each sample are collected and the image matching degree is calculated. The lowest matching degree of intact parts and the highest matching degree of damaged parts are extracted, and the middle value of the two is taken as the qualified threshold and pre-entered into the system.

[0149] S74: Based on the existence of damage, further determine the damage level and classify the materials for cutting.

[0150] Damage exists when the actual thread characteristics match the standard characteristics less than the acceptable threshold, and the thread has defects such as missing teeth, cracks, deformation, or dents; if the characteristic similarity is less than the acceptable threshold, the insert is judged to have inherent damage.

[0151] Damage level refers to the classification standard of minor and severe defects based on the area of ​​thread defects, crack length, and number of missing teeth. First, defect pixels are extracted by image difference and adaptive threshold segmentation. Then, independent defect regions are separated by the eight-neighbor connected domain algorithm. The number of defect pixels is counted to calculate the area. The contour is refined to obtain the continuous length of the defect. The two size parameters are compared with the preset classification interval to output the corresponding thread damage level.

[0152] Material cutting is performed according to the current damage level of the thread.

[0153] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for integral injection molding of a plastic part with pre-installed inserts, characterized in that, include: S10: In response to the material gripping signal, obtain the inherent insert parameters of the insert, and obtain the feeding position for feeding the insert and the position of the inserting rod where the insert needs to be placed. S11: Determine the insert length based on the insert parameters, and determine the docking path based on the feeding position and the position of the insert rod; S12: Control the preset gripping lever (222) to pick up the insert and move it along the docking path to the insert position; S13: Determine the pushing distance for pushing the insert onto the mounting rod (14) by combining the insert length and the preset mating gap; S14: The push structure (223) based on the preset propulsion distance control drives the insert to be sleeved on the mounting rod (14); S15: During the propulsion process, the propulsion resistance of the pusher structure (223) under the influence of the reaction force is collected; S16: If the pushing resistance does not exceed the preset defect threshold, the insert placement is determined to be complete; After obtaining the propulsion drag, it also includes: S20: If the propulsion resistance exceeds the defect threshold, stop moving and obtain the distance traveled; S21: Set the clamping position and withdrawal distance according to the moving distance, the position of the insert rod, and the mating gap; S22: The clamping device, based on the clamping position control preset, clamps the insert and removes the insert from the insert rod (14) based on the withdrawal distance; S23: Take a surface image of the mounting rod (14); S24: Compare the surface image with a preset reference image to determine the size of the foreign object; S25: Determine the cleaning distance by considering the size of the foreign object, the length of the insert, and the distance traveled; S26: Based on the cleaning distance control push structure (223) moves to clean up foreign objects.

2. The method for integrated injection molding of a plastic part with pre-installed inserts according to claim 1, characterized in that, After obtaining the movement distance, it also includes: S30: Compare the moving distance with the docking gap; S31: When the moving distance is consistent with the docking gap, it is determined to be docking offset; S32: Read the installation positions of all pressure sensors set along the circumferential direction on the pushing structure (223) and the corresponding propulsion resistance collected; S33: Determine the offset vector based on the distribution of installation locations and their corresponding propulsion resistance; S34: Adjust the movement of the gripper lever (222) based on the offset vector control.

3. The method for integrated injection molding of a plastic part with pre-installed inserts according to claim 1, characterized in that, After determining that the propulsion resistance has not exceeded the undesirable threshold, the following steps are also included: S40: The resistance curve for pushing is generated by arranging the distance traveled as the horizontal axis and the real-time collected propulsion resistance as the vertical axis. S41: Divide the resistance curve into distance intervals and determine the corresponding resistance fluctuations within the intervals; S42: If the resistance fluctuation is greater than the preset fluctuation threshold, it indicates that there is a small foreign object blocking the flow. S43: Determine the location of the foreign object by the distance range corresponding to the resistance fluctuation that is greater than the fluctuation threshold; S44: Perform a preset secondary inspection process based on the location of the foreign object to determine whether the internal thread of the insert is damaged by the foreign object.

4. The method for integrated injection molding of a plastic part with pre-installed inserts according to claim 3, characterized in that, The secondary testing process includes: S50: Based on the position of the foreign object, the preset eddy current detection device moves and collects real-time eddy current characteristics; S51: Compare the real-time eddy current characteristics with the preset standard eddy current characteristics to obtain the abnormal waveform; S52: When there is transient pulse noise in the abnormal waveform, it is determined that there is a metallic foreign object but no damage, and the subsequent preset mold closing and injection molding process continues. S53: When the abnormal waveform exhibits a stable periodic change, it is determined that the internal thread of the insert is damaged; S54: Control the clamping device to remove the insert and update the cleaning distance based on the foreign object location, mating gap, and insert size; S55: Based on the cleaning distance control push structure (223) moves to clean up foreign objects.

5. The method for integrated injection molding of a plastic part with pre-installed inserts according to claim 1, characterized in that, Methods for obtaining the defect threshold include: S60: Obtain the insert material, insert weight, and thread structure from the insert parameters, and obtain the insert rod material from the insert rod parameters; S61: Determine the coefficient of friction by combining the material of the insert and the material of the insert rod, and determine the contact area by combining the length of the insert and the thread structure; S62: Match the basic resistance based on the friction coefficient and contact area; S63: The upper limit of resistance is obtained by correcting the basic resistance based on the additional sliding resistance caused by the weight of the insert; S64: Combine the upper limit of resistance and the preset floating resistance to obtain the defect threshold.

6. The method for integrated injection molding of a plastic part with pre-installed inserts according to claim 1, characterized in that, Before the control gripper (222) picks up the insert, it includes: S70: Employs coaxial telecentric CCD visual imaging technology to acquire panoramic images of the insert in a transparent state; S71: Extract the thread features inside the insert from the panoramic image; S72: Compare the thread characteristics with the preset standard characteristics to determine if there is any damage; S73: Generates and issues a material gripping signal based on the absence of damage; S74: Based on the existence of damage, further determine the damage level and classify the materials for cutting.

7. An integrated injection molding equipment for pre-installed inserts in plastic parts, controlled by the integrated injection molding method for pre-installed inserts in plastic parts as described in any one of claims 1 to 6, characterized in that, It includes an injection molding assembly (1) with a molding cavity (11) and a pre-loading unloading assembly (2). The injection molding assembly (1) is used to complete the injection, pressure holding and cooling and mold opening and part removal molding processes. The molding cavity (11) matches the product shape. The molding cavity (11) is provided with an insert rod (14) for fixing and placing inserts, and the position of the insert rod (14) corresponds to the installation position of the insert inside the product; The pre-loading assembly (2) includes an insert pre-loading component (22), which is connected to an external drive device. The insert pre-loading component (22) is driven by the drive device to perform multi-axis displacement adjustment above the injection molding assembly (1). The insert pre-loading component (22) is used to fix the insert on the insert rod (14) before injection molding.

8. The integrated injection molding equipment for pre-installed inserts in plastic parts according to claim 7, characterized in that, The insert pre-installed component (22) includes a gripping rod (222) and a push sleeve (225), the push sleeve (225) being sleeved on the outside of the gripping rod (222); The gripping rod (222) is used for insert placement to complete insert pickup. The push sleeve (225) slides along the surface of the gripping rod (222). The push sleeve (225) is used to push the insert placed on the gripping rod (222) off and onto the mounting rod (14) to complete placement.

9. The integrated injection molding equipment for pre-installed inserts in plastic parts according to claim 7, characterized in that, The pre-installed unloading assembly (2) also includes a product unloading component (23) and an adjustment component (21). The insert pre-installation component (22) and the product unloading component (23) are both connected to the adjustment component (21) in a transmission manner. The adjustment component (21) drives the product unloading component (23) and the insert pre-installation component (22) to rotate synchronously and adjust to perform different processes in different time periods. The product unloading component (23) is used to remove the injection-molded product to complete the unloading.

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