Toilet brush head automatic hair planting production line

Abstract

A toilet brush head automatic planting production line, comprising an automatic planting brush head discharging device and an automatic planting machine group, wherein the vibration discharging device, the feeding state switching mechanism, the rod adjusting mechanism and the feeding visual device of the automatic planting brush head discharging device jointly realize the automatic arrangement of the rod body from the lying scattered state to the directional standing state and the accurate adjustment of the circumferential angle, so that the rod body can wait for grabbing in the preset directional posture on the waiting insertion core of the automatic planting brush head discharging device; and the automatic planting machine group comprises a planting device and a feeding and discharging manipulator, the feeding and discharging manipulator realizes the integrated feeding and discharging operation of the to-be-planted rod body and the finished brush head, and the finished product conveying and collecting are completed by the discharging conveying unit, forming a complete and continuous automatic planting production process of the toilet brush head, and the whole production process does not need manual intervention, thereby improving the production efficiency and the utilization rate of the planting machine group.

Description

Technical Field

[0001] This invention relates to the field of toilet brush head manufacturing equipment technology, specifically to an automatic bristle implantation production line for toilet brush heads. Background Technology

[0002] Toilet brushes are an indispensable cleaning tool in daily life. Their brush heads usually consist of a handle and bristles inserted into the end of the handle.

[0003] Currently, the bristle implantation process for brush heads mostly adopts a semi-automated production mode. That is, the brush rods to be implanted are placed one by one in a fixed direction on the bristle implantation station of the bristle implantation machine. After the bristle implantation is completed, the brush heads are removed manually and placed into a collection container.

[0004] However, firstly, the slow speed of manual feeding and unloading makes it difficult to match the production rhythm of high-speed tufting machines, resulting in low actual utilization of the tufting unit. Especially when multiple tufting units are configured, if manual feeding is still relied upon, the overall efficiency of the equipment cannot be fully released. Secondly, the brush rod needs to be oriented at a specific circumferential angle before tufting to ensure that the direction of brush insertion is consistent with the design requirements of the brush head. Currently, manual alignment of the tufting insert rod of the tufting device is required. Manual placement is inefficient, labor-intensive, and has poor production continuity, making it difficult to meet the needs of industrial production. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention provides an automatic bristle implantation production line for toilet brush heads, which solves the problems of low efficiency, high labor intensity, poor production continuity, and difficulty in meeting the needs of industrialized production caused by manual loading and unloading of brush rods in existing technologies.

[0006] The technical solution adopted by this invention to solve its technical problem is: An automatic tufting production line for toilet brush heads, characterized by comprising an automatic tufting brush head feeding device and an automatic tufting machine unit. The automatic feeding device for bristle-embedded brush heads includes a feeding worktable and a vibrating feeding device, a feeding lifting device, a feeding state switching mechanism, a feeding vision device, a rod adjustment mechanism, and a feeding waiting mechanism installed on the feeding worktable. The vibrating discharge device is used to feed the rods out one by one in a specific direction; The feeding and lifting device is used to receive the rods sent out by the vibrating discharge device and lift them; The feeding state switching mechanism is used to receive the raised rod and change it from a lying state to an upright state; The loading vision device is used to detect the circumferential angle of the upright rod; The rod adjustment mechanism is used to clamp the rod in the upright state from the feeding state switching mechanism and transfer it to the feeding vision device, and rotate the rod to a set circumferential angle according to the detection result of the feeding vision device. The loading and waiting mechanism is used to receive the rod after the angle has been adjusted and place it in an oriented position; The automatic tufting machine includes a tufting device and a loading / unloading robot. The loading / unloading robot is used to transfer the rods on the loading waiting mechanism to the tufting device for tufting and to remove and output the tufted brush head.

[0007] In this invention, the feeding lifting device includes a feeding lifting bracket, a feeding lifting telescopic cylinder, and a feeding lifting seat. The feeding lifting bracket is installed on the feeding workbench, the cylinder body of the feeding lifting telescopic cylinder is installed on the feeding lifting bracket, and the feeding lifting seat is installed on the telescopic rod of the feeding lifting telescopic cylinder. The upper part of the feeding lifting seat has a feeding positioning and limiting part and two feeding lifting sides. The feeding positioning and limiting part and the two feeding lifting sides are triangularly distributed, and a radial limiting space for limiting the radial movement of the rod is formed between the two feeding lifting sides. The feeding positioning and limiting part is provided with an axial limiting surface for limiting the axial movement of the rod.

[0008] In this invention, the feeding lifting seat is provided with a lifting blocking plate for blocking the material outlet of the linear vibrating feeder during the upward lifting process of the feeding lifting seat.

[0009] In this invention, the feeding state switching mechanism includes a state switching bracket, a switching rotation device, and a switching clamping mechanism, wherein the state switching bracket is mounted on the feeding workbench; the switching rotation device is mounted on the state switching bracket; and the switching clamping mechanism is mounted on the rotation output end of the switching rotation device.

[0010] In this invention, the rod adjustment mechanism includes an adjustment bracket, an adjustment horizontal movement mechanism, an adjustment lifting mechanism, an adjustment rotation device, and an adjustment clamping mechanism. The adjustment bracket is fixed to the loading workbench, the adjustment horizontal movement mechanism is mounted on the adjustment bracket, the adjustment lifting mechanism is mounted on the action output end of the adjustment horizontal movement mechanism, the adjustment rotation device is mounted on the action output end of the adjustment lifting mechanism, and the adjustment clamping mechanism is mounted on the rotation output end of the adjustment rotation device.

[0011] In this invention, the material waiting mechanism includes a material waiting core assembly and a material waiting core moving mechanism. The material waiting core assembly includes a vertically arranged material waiting core rod. The top of the material waiting core rod is provided with a material waiting core portion and a material waiting positioning protrusion. The outer diameter of the material waiting core portion is adapted to the rod hole of the rod body, and the shape of the material waiting positioning protrusion matches the rod groove.

[0012] In this invention, the loading and waiting mechanism includes a waiting insert moving mechanism, which includes a waiting insert guide rail, a waiting insert slide, and a waiting insert driving mechanism. The waiting insert guide rail and the waiting insert driving mechanism are mounted on the loading workbench. The waiting insert slide is slidably connected to the waiting insert guide rail. The waiting insert driving mechanism drives the waiting insert slide to reciprocate along the waiting insert guide rail. The waiting insert assembly is fixed on the waiting insert slide.

[0013] In this invention, the waiting molten core assembly further includes a waiting lock core seat. A waiting molten core mating part protrudes from the lower outer circumferential surface of the waiting molten core rod. The bottom of the waiting lock core seat is provided with a waiting lock core mating groove, and the top is provided with a waiting molten core clearance hole for the waiting molten core rod to pass through. The waiting lock core mating groove matches the waiting molten core mating part, and the waiting lock core seat is fixedly installed on the waiting molten core slide.

[0014] In this invention, the waiting insert slide is provided with a square through hole for preventing rotation of the waiting insert through its upper and lower ends, and a waiting insert anti-rotation block corresponding to the square through hole is raised on the bottom surface of the waiting insert rod, and the waiting insert anti-rotation block is adapted to fit into the square through hole.

[0015] In this invention, the top of the insert portion has a insert guide protrusion, the outer diameter of the insert guide protrusion is smaller than the outer diameter of the insert portion, and the top of the insert guide protrusion has a hemispherical insert guide ball head, the diameter of the insert guide ball head is the same as the outer diameter of the insert guide protrusion, and the insert guide ball head is used to provide guidance when the insert portion is inserted into the rod hole of the rod body.

[0016] The beneficial effects of this invention are as follows: The automatic tufting production line for toilet brush heads of this invention includes an automatic tufting machine, a feeding and conveying unit, and an automatic tufting brush head unloading device. The vibration discharge device, feeding state switching mechanism, rod adjustment mechanism, and feeding vision device of the automatic tufting brush head unloading device work together to achieve automated sorting and precise circumferential angle adjustment of the rod from a lying, loose state to a oriented, upright state, allowing the rod to wait for grasping in a preset oriented posture on the waiting insert of the automatic tufting brush head unloading device. The automatic tufting machine includes a tufting device and a loading and unloading robot. The loading and unloading robot realizes the integrated loading and unloading operation of the rod to be tufted and the finished brush head, and the feeding and conveying unit completes the finished product conveying and collection, forming a complete and continuous automatic tufting production process for toilet brush heads. The entire production process requires no manual intervention, improving production efficiency and the utilization rate of the tufting machine. At the same time, visual inspection and closed-loop adjustment ensure the accuracy and consistency of the circumferential orientation of the brush head rod, effectively improving the product yield.

[0017] In addition, when multiple automatic flocking units are configured, the equipment utilization efficiency can be maximized by rationally arranging and sharing the feeding and discharging devices and unloading conveyor units, thereby effectively improving production capacity and reducing overall production costs. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 A schematic diagram of an automated tufting production line for toilet brush heads; Figure 2 A 3D view of the automatic feeding device for brush heads to be planted; Figure 3 For the three-dimensional discharge vibratory feeder Figure 1 ; Figure 4 For the three-dimensional discharge vibratory feeder Figure 2 ; Figure 5 A 3D view of the rod discharge control mechanism; Figure 6 This is a schematic diagram showing the positions of the linear vibrating feeder, the feeding state switching mechanism, and the feeding lifting device. Figure 7 This is a schematic diagram of the lever adjustment mechanism; Figure 8 This is a schematic diagram of the material loading and waiting mechanism; Figure 9 This is a schematic diagram of the ferrule assembly awaiting material delivery; Figure 10 This is an exploded view of the waiting insert rod, the waiting insert slide, and the waiting lock cylinder seat; Figure 11 This is a three-dimensional view of the hair-embedding device; Figure 12 This is a schematic diagram of the hair grafting position changing mechanism; Figure 13 This is a schematic diagram of the slanted swing mechanism for hair grafting; Figure 14 A schematic diagram of the combination of the hair-planting oblique swing mechanism and the hair-planting rotary transfer mechanism; Figure 15 A schematic diagram of the hair grafting rotary transfer mechanism; Figure 16 This is a sectional view of the installation of the hair grafting rotary positioning mechanism; Figure 17 A schematic diagram of a core-pushing component for tufting; Figure 18 This is a 3D view of a loading and unloading robot. Figure 19 A 3D view of the robotic gripper mechanism; Figure 20 This is a schematic diagram of a pressure detection device. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0020] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, unless otherwise explicitly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection using welding, a detachable connection using bolts, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] Reference Figure 1-20 This embodiment provides an automatic tufting production line for toilet brush heads, including an automatic tufting brush head discharge device 1, an automatic tufting unit 2, and a feeding and conveying unit 3. This embodiment uses two automatic tufting units 2 as an example. The two automatic tufting units 2 are respectively located on both sides of the automatic tufting brush head discharge device 1, and these two automatic tufting units 2 share the same automatic tufting brush head discharge device 1 and feeding and conveying unit 3. This maximizes the feeding capacity of the automatic tufting brush head discharge device 1, improves overall production efficiency, and reduces equipment footprint. In practical applications, the number of automatic tufting units 2 can also be one, or more than two depending on production capacity requirements.

[0024] Furthermore, the automatic bristle brush head feeding device 1 is used for automatically feeding the brush head rod 100. One end of the rod 100 is a semi-circular head, and the other end has a rod hole 101. The open end wall of the rod hole 101 has a rod groove 102. The automatic bristle brush head feeding device 1 includes a feeding worktable A1 and a vibrating feeding device, a feeding lifting device A2, a feeding state switching mechanism A3, a feeding vision device A4, a rod adjustment mechanism A5, and a feeding waiting mechanism A6 installed on the feeding worktable A1. The vibrating feeding device is used to send the rod out one by one in a certain direction; the feeding lifting device A2 is used to receive the rod sent out by the vibrating feeding device and lift it to a predetermined height; the feeding state switching mechanism A3 is used to receive the lifted rod and remove it from the feed table. The system transitions from a lying position to an upright position. The loading vision device A4 detects the circumferential angle of the upright member. The member adjustment mechanism A5 picks up the upright member from the loading state switching mechanism A3 and transfers it to the loading vision device A4, rotating the member to a set circumferential angle based on the detection result of the loading vision device A4. The loading waiting mechanism A6 receives the adjusted member and positions it accordingly. After the member adjustment mechanism A5 picks up the member, the control system controls the member adjustment mechanism A5 to rotate the member's circumferential angle based on the detection result of the loading vision device A4 until the member reaches the preset circumferential angle. After adjustment, the member adjustment mechanism A5 transfers the member to the loading waiting mechanism A6, positioning it in the loading waiting mechanism A6.

[0025] Furthermore, each of the automatic tufting machine units 2 includes a tufting device B1 and a loading / unloading robot B2. The tufting device B1 is used to tuft the rods, and the loading / unloading robot B2 is used to transfer the rods on the loading waiting mechanism A6 to the tufting device B1 for tufting, and to remove the tufted brush heads and output them to the unloading conveyor unit 3, which then transports the brush heads to the brush head placement frame. If the unloading conveyor unit 3 is not provided, the loading / unloading robot B2 directly transports the brush heads to the brush head placement frame. When two automatic tufting machine units 2 are configured, the two loading / unloading robots B2 take turns picking up materials from the same loading waiting mechanism A6. The unloading conveyor unit 3 includes a main conveyor line, which respectively receives the brush heads unloaded from the two automatic tufting machine units 2. The unloading action of each automatic tufting machine unit 2 is coordinated by the control system to avoid interference on the main conveyor line during unloading. This embodiment uses an example where each automatic tufting machine unit 2 has two tufting devices B1 to fully utilize the feeding capacity of the automatic tufting brush head feeding device 1, thereby improving overall production efficiency and reducing equipment footprint. In practical applications, the number of tufting devices B1 can also be one, or more than two depending on production capacity requirements.

[0026] In this embodiment, the vibratory discharge device includes a discharge vibratory plate A7 and a linear vibratory feeder A8. The discharge vibratory plate A7 includes a vibratory plate body A71 and a vibratory discharge conveying channel A701 connected to the vibratory plate body A71. The vibratory plate body A71 has a spirally rising motion track A711 inside, and the upper end of the motion track A711 has a track discharge port A712. The vibratory plate body A71 has a plate discharge channel A702 corresponding to the area below the track discharge port A712. The lower end of the plate discharge channel A702 is inclined and connected to the inlet of the vibratory discharge conveying channel A701.

[0027] Furthermore, the vibratory feeder body A71 is provided with a rod discharge control mechanism A72. The rod discharge control mechanism A72 includes a discharge control base frame A721, a discharge control adjustment frame A722, a discharge control arm A723, and a discharge insertion lever A724. The discharge control base frame A721 is height-adjustably mounted on the vibratory feeder body A71, and the discharge control adjustment frame A722 is horizontally adjustable and mounted on the discharge control base frame A721. The discharge control adjustment frame A722 is fixed with... A discharge control screw A7221 is provided, and the upper end of the discharge control arm A723 is provided with a discharge control arm collar A7231 fitted on the discharge control screw A7221, so that the discharge control arm A723 is rotatably mounted on the discharge control screw A7221; the discharge insertion lever A724 is fixed on the lower end of the discharge control arm A723, and the discharge control arm A723 has a restoring force that always swings toward the track discharge port A712 under its own weight and the weight of the discharge insertion lever A724.

[0028] Furthermore, the discharge control base A721 is provided with a vertically oriented control base elongated hole in the length direction. The vibratory feeder body A71 is provided with at least two control base connecting screw holes arranged from top to bottom and corresponding to the control base elongated hole. The control base connecting screw holes are threaded with control base connecting bolts for locking the discharge control base A721. After loosening the base connecting bolts, the installation height of the discharge control base A721 can be adjusted up and down along the control base elongated hole. Similarly, the discharge control adjustment frame A722 is provided with a horizontally oriented adjustment frame elongated hole in the length direction. The discharge control base A721 is provided with at least two horizontally arranged adjustment frame connecting screw holes corresponding to the adjustment frame elongated hole. The adjustment frame connecting screw holes are threaded with adjustment frame connecting bolts for locking the discharge control adjustment frame A722. After loosening the adjustment frame connecting bolts, the installation position of the discharge control adjustment frame A722 can be adjusted horizontally along the adjustment frame elongated hole.

[0029] Furthermore, the discharge control arm collar A7231 is provided with a discharge control arm bushing A725 coaxially arranged with the discharge control arm collar A7231. The discharge control arm collar A7231 can rotate relative to the discharge control arm bushing A725. The discharge control arm bushing A725 is fitted onto the discharge control screw A7221, thereby realizing the swing installation of the discharge control arm A723. In addition, the axial length of the discharge control arm bushing A725 is greater than the axial length of the discharge control arm collar A7231. Two arm limiting structures are threaded on the discharge control screw A7221 to limit the movement of the discharge control arm collar A7231 along the axial direction of the discharge control screw A7221. The two arm limiting structures respectively abut and lock the two axial ends of the discharge control arm bushing A725, thereby fixing the axial and circumferential positions of the discharge control arm bushing A725 on the discharge control screw A7221. The two arm limiting structures form an arm ring movable area for the discharge control arm collar A7231 to move. The arm limiting structure includes an arm limiting nut A726 threaded onto the discharge control screw A7221. By adjusting the position of the arm limiting nut A726, the rotational connection position of the discharge control arm collar A7231 can be adjusted along the axial direction of the discharge control screw A7221, so that the discharge insertion lever A724 on the discharge control arm A723 can better control the movement of the rod 100.

[0030] In this embodiment, a counterweight module is provided at the lower end of the discharge control arm A723. This counterweight module increases the weight at the lower end of the discharge control arm A723, giving it sufficient swing inertia during reset, thus allowing the rod 100 to be quickly pushed into the disc discharge channel A702. The counterweight module includes a counterweight nut A727 and a counterweight screw A7232. The counterweight screw A7232 is welded to the lower end of the discharge control arm A723, and the counterweight nut A727 is threaded onto the counterweight screw A7232, thus achieving the installation of the counterweight nut A727. Furthermore, the number of counterweight nuts A727 can be configured according to usage requirements. For example, multiple counterweight nuts A727 can be installed to increase the counterweight weight, or the number of counterweight nuts A727 can be reduced to lighten the counterweight.

[0031] In this embodiment, a vibration mounting tube A715 is also fixed on the vibratory feeder body A71. The vibration mounting tube A715 is inclined, with its upper end corresponding to the lower part of the track outlet A712, and its lower end inclined towards the vibration discharge conveying channel A701. The feed channel A702 is formed by the cavity of the vibration discharge tube A716, which is inserted into the vibration mounting tube A715. The vibration mounting tube A715 is threaded with a discharge mechanism for locking the vibration discharge tube A716. The screw of the discharge pipe locking screw rests against the outer wall of the vibrating discharge pipe A716. Tightening the discharge pipe locking screw fixes the vibrating discharge pipe A716 inside the vibrating mounting pipe A715. Loosening the discharge pipe locking screw allows adjustment of the extension length of the vibrating discharge pipe A716 inside the vibrating mounting pipe A715, thereby adjusting the feeding and discharging positions of the rod 100 into the disc discharge channel A702 to accommodate the discharge requirements of rods 100 of different specifications; or, a vibrating discharge pipe A716 with a different inner diameter and / or length can be replaced to match rods 100 of different sizes.

[0032] In this embodiment, a discharge guide trough A717 is installed on the vibratory feeder body A71. The discharge guide trough is located below the vibratory discharge pipe A716 and is used to receive the rod 100 falling from the vibratory discharge pipe A716. A discharge guide trough cover plate A718 is installed on the discharge guide trough A717, which partially covers the upper part of the groove cavity of the discharge guide trough A717. The groove cavity of the discharge guide trough A717 and the discharge guide trough cover plate A718 form the vibratory discharge conveying channel A701. The part of the groove cavity of the discharge guide trough A717 not covered by the discharge guide trough cover plate A718 forms the inlet of the vibratory discharge conveying channel A701.

[0033] In the initial state, the lower end of the discharge control arm A723 and the discharge insertion lever A724 are positioned close to the motion track A711, with the end of the discharge insertion lever A724 pointing towards the direction from which the rod 100 originates. When the rod 100 spirals upward along the motion track A711 under vibration and reaches the track discharge port A712, if the opening of the rod hole 101 of the rod 100 is exactly facing the discharge insertion lever A724, the discharge insertion lever A724 will be inserted into the rod hole 101 as the rod 100 continues to move forward. Afterward, as the rod 100 continues to move forward, the end of the rod 100 corresponding to the opening of the rod hole 101 will abut against the discharge control arm A723, pushing the discharge insertion lever A724 and the lower end of the discharge control arm A723, forcing the discharge control arm A723 to overcome the restoring force and swing outward, i.e., deflect away from the track discharge port A712.

[0034] As the rod 100 moves further forward, its semi-circular head gradually approaches and eventually passes the track discharge port A712. The instant the semi-circular head of the rod 100 completely leaves the track discharge port A712, the rod 100 stops pushing the lower end of the discharge control arm A723 and the discharge insertion lever A724 away from the track discharge port A712. Under the influence of the resetting trend, the discharge control arm A723 swings back towards the track discharge port A712, pushing the rod 100, which has detached from the track, towards the disc discharge channel A702, causing it to fall into the disc discharge channel A702 and then slide into the vibrating discharge conveyor channel A701. Therefore, the rod body 100 can only be pushed out when the rod hole 101 is facing the correct direction. When the round head of the rod body 100 is facing the lever, the material insertion lever A724 cannot be inserted. After the rod body 100 leaves the track outlet A712, it eventually falls back into the vibratory feeder body A71 and waits to be conveyed again.

[0035] In this embodiment, the feed end of the linear vibrating feeder A8 corresponds to the discharge port of the vibrating discharge conveying channel A701, and the discharge end of the linear vibrating feeder A8 corresponds to the loading lifting device A2. The loading lifting device A2 includes a loading lifting bracket A21, a loading lifting telescopic cylinder A22, and a loading lifting seat A23. The loading lifting bracket A21 is mounted on the loading workbench A1, the cylinder body of the loading lifting telescopic cylinder A22 is mounted on the loading lifting bracket A21, and the loading lifting seat A23 is mounted on the telescopic rod of the loading lifting telescopic cylinder A22. The upper part of 23 has a feeding positioning and limiting part A231 and two feeding lifting side parts A232. The feeding positioning and limiting part A231 and the two feeding lifting side parts A232 are triangularly distributed. A radial limiting space is formed between the two feeding lifting side parts A232 to limit the radial movement of the rod 100. The feeding positioning and limiting part A231 is provided with an axial limiting surface to limit the axial movement of the rod 100. The axial limiting surface and the back end face of the two feeding lifting side parts A232 form a state switching clamping space. The state switching clamping space is used to leave space for the feeding state switching mechanism A3 to clamp the rod 100.

[0036] In this embodiment, the feeding lifting seat A23 is provided with a lifting blocking plate A233 for blocking the discharge port of the linear vibrating feeder A8 during the upward lifting process of the feeding lifting seat A23. The lifting blocking plate A233 is located at the lower part of the feeding lifting seat A23. When the lifting blocking plate A233 blocks the discharge port of the linear vibrating feeder A8, the rod 100 cannot flow out from the discharge port of the linear vibrating feeder A8, thus preventing the rod 100 from falling onto the feeding workbench A1.

[0037] In this embodiment, the feeding state switching mechanism A3 includes a state switching bracket A31, a switching rotation device A32, and a switching clamping mechanism A33. The state switching bracket A31 is mounted on the feeding workbench A1; the switching rotation device A32 is a rotary cylinder and is mounted on the state switching bracket A31; the switching clamping mechanism A33 is a pneumatic clamping finger and is mounted on the rotation output end of the switching rotation device A32. During operation, the switching rotation device A32 first drives the switching clamping mechanism A33 to rotate to an angle suitable for the horizontally lowered rod 100, and the switching clamping mechanism A33 clamps the lifted rod 100. Subsequently, the feeding lifting device A2 resets and descends, and the switching rotation device A32 drives the switching clamping mechanism A33 and the rod 100 to rotate as a whole, for example, by 90 degrees, so that the rod 100 changes from lying down to standing up, and at this time the rod hole 101 and the rod groove 102 of the rod 100 are both facing downward.

[0038] In this embodiment, the rod adjustment mechanism A5 includes an adjustment bracket A51, an adjustment horizontal movement mechanism A52, an adjustment lifting mechanism A53, an adjustment rotation device A54, and an adjustment clamping mechanism A55. The adjustment bracket A51 is fixed on the loading workbench A1, the adjustment horizontal movement mechanism A52 is mounted on the adjustment bracket A51, the adjustment lifting mechanism A53 is mounted on the action output end of the adjustment horizontal movement mechanism A52, the adjustment rotation device A54 is mounted on the action output end of the adjustment lifting mechanism A53, and the adjustment clamping mechanism A55 is mounted on the rotation output end of the adjustment rotation device A54. The loading workbench A1 is equipped with a vision inspection cavity, and the loading vision device A4 is located in the vision inspection cavity. The loading vision device A4 includes an industrial camera A41 and a supplementary light A42 mounted on the loading workbench A1 via a vision inspection bracket. The lens of the industrial camera A41 is set upward. The vision inspection bracket is mounted on the loading workbench A1. The industrial camera A41 is used to photograph the rod groove 102 at the bottom of the rod 100 to obtain the circumferential angle information of the rod 100, so that the subsequent adjustment and rotation device A54 can drive the adjustment and clamping mechanism A55 to rotate to the target angle according to the angle information.

[0039] In this embodiment, the horizontal moving mechanism A52 adopts a linear moving module, and the lifting mechanism A53 includes an lifting cylinder A531 and an lifting slide A532. The cylinder body of the lifting cylinder A531 is fixed on the action output end of the horizontal moving mechanism A52, and the piston rod of the lifting cylinder A531 is connected to the rotating device A54. The lifting slide A532 is guided and installed on the action output end of the horizontal moving mechanism A52 through the lifting guide rail slider assembly, and the rotating device A54 is installed on the lifting slide A532.

[0040] Furthermore, the adjustment rotation device A54 includes an adjustment rotation base A541 and an adjustment rotation motor A542. The adjustment rotation base A541 is mounted on the adjustment lifting slide A532, and the adjustment rotation motor A542 is mounted on the top of the adjustment rotation base A541. The rotation output end of the adjustment rotation motor A542 is connected to an adjustment rotation shaft rotatably mounted on the adjustment rotation base A541. The bottom of the adjustment rotation shaft is provided with a clamping mechanism A55 for connecting to it. The adjustment rotating seat A543; the adjustment clamping mechanism A55 includes an adjustment clamping cylinder A551 and multiple adjustment jaws A552 driven by the adjustment clamping cylinder A551. The adjustment clamping cylinder A551 is mounted on the adjustment rotating seat A543. The adjustment clamping cylinder A551 is an adjustment three-jaw cylinder. Each of the three jaws of the adjustment three-jaw cylinder is equipped with one of the adjustment jaws A552. The inner side of the adjustment jaw A552 is provided with an adjustment arc-shaped clamping surface adapted to the outer wall of the rod 100.

[0041] During operation, the adjusting horizontal movement mechanism A52 and the adjusting lifting mechanism A53 work together to move the adjusting clamping mechanism A55 directly above the rod 100 held by the feeding state switching mechanism A3, and lower it to clamp the upright rod 100. Then, the mechanism carries the rod 100 to the recognition station of the feeding vision device A4. The feeding vision device A4 captures an image of the lower end of the rod 100 and identifies the current circumferential position of the rod groove 102. Based on the recognition result, the control system controls the adjusting rotation device A54 to rotate the rod 100 horizontally until the rod groove 102 rotates to the predetermined docking angle. After the angle adjustment is completed, the rod adjusting mechanism A5 moves the rod 100 to the feeding waiting mechanism A6, at which point the rod groove 102 corresponds to the waiting positioning protrusion A612 of the waiting insert rod A61.

[0042] In this embodiment, the material loading waiting mechanism A6 includes a material loading insert assembly and a material loading insert moving mechanism. The material loading insert assembly includes a vertically arranged material loading insert rod A61. The top of the material loading insert rod A61 is provided with a material loading insert portion A611 and a material loading positioning protrusion A612. The outer diameter of the material loading insert portion A611 is adapted to the rod hole 101 of the rod body 100, and the shape of the material loading positioning protrusion A612 matches the rod groove 102. The ferrule moving mechanism includes a ferrule guide rail A62, a ferrule slide A63, and a ferrule driving mechanism A64. The ferrule guide rail A62 and the ferrule driving mechanism A64 are mounted on the loading worktable A1. The ferrule slide A63 is slidably connected to the ferrule guide rail A62. The ferrule driving mechanism A64 drives the ferrule slide A63 to reciprocate along the ferrule guide rail A62. The ferrule assembly is fixed on the ferrule slide A63.

[0043] Furthermore, the molten core assembly also includes a molten core seat A65. A molten core mating part A613 protrudes from the lower outer circumference of the molten core rod A61. The bottom of the molten core seat A65 has a molten core mating groove A651, and the top has a molten core clearance hole A652 for the molten core rod A61 to pass through. The molten core mating groove A651 matches the molten core mating part A613. The molten core seat A65 is fixedly installed on the molten core slide A63 using bolts. The bottom surface of the molten core mating part A613 and the bottom surface of the molten core rod A61 are both supported by the top surface of the molten core seat A65, thereby achieving a stable installation of the molten core rod A61 on the molten core slide A63. After the upper end of the insert rod A61 passes through the insert clearance hole A652, its insert mating part A613 is embedded in the insert lock cylinder mating groove A651. The groove wall of the insert lock cylinder mating groove A651 includes two opposite lock cylinder mating groove arc surfaces and two opposite lock cylinder mating groove planes. The outer peripheral surface of the insert mating part A613 includes two opposite lock cylinder mating part arc surfaces and two opposite lock cylinder mating part planes. The lock cylinder mating part planes and the lock cylinder mating groove planes are in one-to-one contact, forming a circumferential limit to prevent the insert rod A61 from rotating after installation.

[0044] Furthermore, the insert slide A63 is provided with a square through hole A631 for preventing rotation of the insert through its upper and lower ends. The bottom surface of the insert rod A61 is provided with a block A614 for preventing rotation of the insert corresponding to the square through hole A631. The block A614 is adapted to fit into the square through hole A631, thereby further restricting the circumferential rotation of the insert rod A61 on the insert slide A63.

[0045] In this embodiment, the top of the insert portion A611 has a insert guide protrusion A615, the outer diameter of which is smaller than the outer diameter of the insert portion A611. The top of the insert guide protrusion A615 has a hemispherical insert guide ball head A616, the diameter of which is the same as the outer diameter of the insert guide protrusion A615. The insert guide ball head A616 is used to provide guidance when the insert portion A611 is inserted into the rod hole 101 of the rod body 100. The outer peripheral surface of the insert portion A611 and the outer peripheral surface of the guide protrusion of the insert guide protrusion A615 are smoothly transitioned by the insert guide cone surface A610, thereby avoiding jamming when the insert rod A61 is inserted into the insert hole.

[0046] In this embodiment, the top of the waiting-to-position protrusion A612 has a waiting-to-position guide protrusion A617. The waiting-to-position guide protrusion A617 includes a waiting-to-position guide arc surface with an upward arc shape. The outer peripheral surface of the waiting-to-position guide arc surface is smoothly connected to the side wall of the waiting-to-position guide protrusion A617. Furthermore, a waiting-to-insert avoidance groove A618 is provided at the connection between the side wall of the waiting-to-position guide protrusion A617 and the outer peripheral surface of the waiting-to-insert core A611. The waiting-to-insert avoidance groove A618 is used to avoid the edge at the connection between the groove surface of the rod groove 102 of the rod body 100 and the wall of the rod hole 101, so as to avoid interference or scratching between the waiting-to-insert core rod A61 and the inner wall of the rod body 100 during the insertion process, thereby improving the smoothness of the insertion and the positioning accuracy of the waiting-to-insert core rod A61.

[0047] In this embodiment, since the rod body 100 is made of plastic, the rod hole 101 of the rod body 100 is prone to shrinkage after molding. If the insert part A611 to be inserted into the rod hole 101 of the rod body 100 with shrinkage, the hole wall of the rod hole 101 of the rod body 100 will be locally and tightly fitted with the outer peripheral surface of the insert part A611. At the same time, the rod hole 101 of the rod body 100 is usually only a single-end open structure. When the insert part A611 to be inserted into the rod hole 101 of the rod body 100, the gas in the sealed space of the rod hole 101 cannot be smoothly discharged. The internal air pressure will form resistance, resulting in excessive insertion resistance of the insert, difficulty in assembly, or positioning offset and insufficient positioning accuracy after the insert is assembled. To solve the above problems, the material insertion clearance groove A618 forms a material-side exhaust channel. The upper end of the material-side exhaust channel extends through the material insertion core guide cone surface A610, and the lower end extends to the top surface of the material insertion core rod A61, so that when the material insertion core A611 is inserted into the rod hole 101, the gas in the rod hole 101 can flow out through the gap between the bottom of the rod body 100 and the top surface of the material insertion core rod A61. In addition, the waiting insert rod A61 has an axial exhaust channel A619 inside. The upper end of the axial exhaust channel A619 passes through the top of the waiting insert guide ball head A616, and the lower end passes through the bottom surface of the waiting insert anti-rotation block A614. This allows the gas in the rod hole 101 to be discharged from the axial exhaust channel A619 through the waiting insert anti-rotation square through hole A631, thereby further reducing the insertion resistance and ensuring that the waiting insert rod A61 can be smoothly and accurately assembled into the rod hole 101 of the rod body 100.

[0048] In this embodiment, the waiting insert drive mechanism A64 is a rodless cylinder. The waiting insert drive mechanism A64 is installed on the loading workbench A1. The action output end of the waiting insert drive mechanism A64 is fixedly connected to the waiting insert slide A63, thereby driving the waiting insert slide A63 to move.

[0049] When receiving the rod 100, the waiting insert drive mechanism A64 drives the waiting insert slide A63 to move the waiting insert rod A61 horizontally closer to the rod adjustment mechanism A5. The rod adjustment mechanism A5 slides the rod 100, which has been adjusted at the correct angle, downwards into the waiting insert rod A61, so that the waiting insert part A611 is inserted into the rod hole 101, and at the same time, the waiting positioning protrusion A612 is engaged in the rod groove 102. Then, the clamping mechanism A55 is adjusted to release and reset. The waiting insert moving mechanism can drive the waiting insert assembly carrying the rod 100 to reset to the waiting position. At this time, the rod 100 is reliably held in a vertical state and has accurate circumferential positioning, waiting for the loading and unloading robot B2 to directly grab and transfer it to the tufting insert rod of the tufting station of the tufting device B1 for tufting operation, thereby ensuring the quality of tufting.

[0050] In this embodiment, the bristle implantation device B1 includes a bristle implantation base B11, a bristle implantation bracket B12 disposed on the upper end of the bristle implantation base B11, a bristle implantation mechanism B13 for implanting bristles into the rod 100, and a bristle implantation position changing mechanism for controlling the movement of the rod 100 below the bristle implantation mechanism B13; the bristle implantation mechanism B13 is installed on the top of the bristle implantation bracket B12 and is used to implant bristles into the rod 100. The bristle implantation mechanism B13 is a conventional bristle implantation mechanism, and its specific structure and working principle will not be described in detail here.

[0051] Furthermore, the hair grafting position transformation mechanism is used to control the brush head rod 100 to change its spatial posture below the hair grafting mechanism B13, thereby cooperating with the hair grafting mechanism B13 to perform hair grafting work. The bristle placement mechanism includes a bristle lifting and moving mechanism B14, a bristle horizontal moving mechanism B15 driven by the bristle lifting and moving mechanism B14, a bristle oblique swinging mechanism B16 driven by the bristle horizontal moving mechanism B15, and a bristle rotation and repositioning mechanism B17 driven by the bristle oblique swinging mechanism B16. The fixed end of the bristle lifting and moving mechanism B14 is mounted on the bristle base B11, and the lifting output end of the bristle lifting and moving mechanism B14 is connected to the bristle horizontal moving mechanism B15. The horizontal output end of the bristle horizontal moving mechanism B15 is connected to the bristle oblique swinging mechanism B16. The swinging output end of the bristle oblique swinging mechanism B16 is equipped with the bristle rotation and repositioning mechanism B17, ultimately enabling the brush head rod 100 to achieve lifting, horizontal feeding, oblique swinging, and rotation around its own axis.

[0052] In this embodiment, the tufting rotation and repositioning mechanism B17 includes a tufting rotation and repositioning motor B171 and a tufting positioning insert assembly. The tufting rotation and repositioning motor B171 is mounted on the swing output end of the tufting oblique swing mechanism B16, and the output shaft of the tufting rotation and repositioning motor B171 is connected to the tufting positioning insert assembly for transmission.

[0053] Furthermore, the tufting positioning insert assembly includes a tufting insert rotating seat B172 driven to rotate by the output shaft of the tufting rotation and positioning motor B171, and a tufting insert component B173 mounted on the tufting insert rotating seat B172. The tufting insert component B173 is used to insert into the rod hole 101 of the brush head rod 100 and drive the rod 100 to rotate synchronously. The tufting insert component B173 includes, in sequence along the axial direction, a tufting insert connecting part B1731, a tufting insert base B1732, a tufting insert limiting part B1733, a tufting insert part B1734, and a tufting guide part B1735. The tufting insert base B1732 is fastened to the tufting insert rotating seat B172 by tufting insert bolts, thereby achieving a fixed connection between the tufting insert component B173 and the tufting insert rotating seat B172. The center of the end face of the tufting insert rotating base B172 is provided with a tufting insert connecting groove B1721. The tufting insert connecting part B1731 is adapted to be installed in the tufting insert connecting groove B1721. The cross-sections of the tufting insert connecting groove B1721 and the tufting insert connecting part B1731 are both non-circular, thereby restricting their relative rotation and allowing them to rotate synchronously. Preferably, the cross-sections of the tufting insert connecting groove B1721 and the tufting insert connecting part B1731 are both square. The end face of the tuft insert limiting part B1733 forms a tuft insert insertion stop surface B1736. The tuft insert part B1734 is configured to fit into the rod hole 101 of the brush head rod 100, thereby positioning the brush head rod 100. When the brush head rod 100 is fitted onto the tuft insert part B1734, the end face of the rod 100 abuts against the tuft insert insertion stop surface B1736, thereby limiting the axial position of the rod 100. At the same time, the tuft insert part B1734 is used to position the rod hole 101 of the rod 100, thereby achieving radial positioning. The outer circumferential surface of the tuft insert part B1734 is provided with a raised insert positioning part B1737, which can be embedded into the rod groove 102 of the brush head rod 100, thereby restricting the relative rotation between the rod 100 and the tuft insert part B173, so that the rod 100 can rotate synchronously with the tuft insert part B173 to change the circumferential position of the tuft. The tuft introduction part B1735 extends outward from the end of the tuft insert part B1734 and gradually narrows in outer diameter. The end of the tuft introduction part B1735 is provided with a semi-circular tuft introduction ball head B1738, which facilitates insertion.

[0054] In this embodiment, the tufting lifting and moving mechanism B14 includes a tufting lifting drive mechanism B141 and a tufting lifting slide B142. The tufting lifting slide B142 is vertically guided and fitted onto the side of the tufting bracket B12 via a tufting lifting guide rail slider assembly. The tufting lifting drive mechanism B141 can be a screw jack or an electric telescopic cylinder. Its fixed end is connected to the tufting bracket B12 or the tufting base B11, and its driving end is connected to the tufting lifting slide B142, thereby driving the tufting lifting slide B142 and the components above it to move up and down as a whole. Preferably, the tufting lifting drive mechanism B141 is a screw jack driven by a tufting lifting servo motor.

[0055] In this embodiment, the horizontal movement mechanism B15 for tufting includes a horizontal slide block B151 for tufting and a horizontal drive mechanism B152 for tufting. The horizontal slide block B151 for tufting is horizontally slidably mounted on the top surface of the lifting slide block B142 for tufting via a horizontal guide rail slider assembly. The horizontal drive mechanism B152 for tufting employs a lead screw drive mechanism driven by a horizontal servo motor for tufting. The fixed end of the horizontal drive mechanism B152 for tufting is fixed to the lifting slide block B142 for tufting, and the horizontal movement output end of the horizontal drive mechanism B152 for tufting is fixedly connected to the horizontal slide block B151 for tufting. Thus, when the horizontal drive mechanism B152 for tufting is working, it can drive the horizontal slide block B151 to move back and forth in the horizontal direction.

[0056] In this embodiment, the tufting oblique swing mechanism B16 includes a first oblique swing arm B161, a second oblique swing arm B162, an oblique swing seat B163, and a tufting swing drive mechanism. The lower ends of the first oblique swing arm B161 and the second oblique swing arm B162 are both fixedly mounted on the tufting horizontal slide B151 by bolts, and the first oblique swing arm B161 and the second oblique swing arm B162 are spaced apart. The oblique swing seat B163 includes an oblique swing plate B1631 and a first oblique side arm B1632 and a second oblique side arm B1633 connected to its two sides. A first oblique rotating shaft B1634 is fixedly mounted on the first oblique side arm B1632 and rotatably mounted on the first oblique swing arm B161. The first oblique rotating shaft B1634 is rotatably mounted in the first bearing mounting groove at the upper end of the first oblique swing arm B161 through a first rotating shaft bearing B1635; the second oblique side arm B1632 and the second oblique side arm B1633 are fixedly mounted on the first oblique side arm B1632 and rotatably mounted on the first oblique swing arm B161 by the first rotating shaft bearing B1635; the second oblique side arm B1632 and the second oblique side arm B1633 are fixedly mounted on the first oblique side arm B1632 and rotatably mounted on the first oblique side arm B161 by ... A second oblique pivot B1636 is fixedly mounted on the arm B1633 and rotatably mounted on the second oblique swing arm B162. The second oblique pivot B1636 is rotatably mounted in the second bearing mounting groove at the upper end of the second oblique swing arm B162 via the second pivot bearing B1637. The first oblique pivot B1634 and the second oblique pivot B1636 are coaxially arranged to form the swing axis of the oblique swing seat B163, thereby realizing the oblique swing seat B163 swinging around the swing axis.

[0057] In this embodiment, the tufting swing drive mechanism includes a tufting swing motor module B164. The housing of the tufting swing motor module B164 is fixedly installed on the outside of the first inclined swing arm B161. The rotation output shaft of the tufting swing motor module B164 extends into the inside of the first inclined swing arm B161 and is fixedly installed with a swing main gear B165. An integrally formed swing driven gear B16321 that meshes with the swing main gear B165 is provided on the first inclined side arm B1632. The swing driven gear B16321 is coaxially arranged with the first inclined rotating shaft B1634. When the tufting swing motor module B164 is working, the transmission between the swing main gear B165 and the swing driven gear B16321 can cause the inclined swing seat B163 to swing around the axis of the first inclined rotating shaft B1634, thereby adjusting the tilt angle of the tufting rotation and positioning mechanism B17 and the rod 100.

[0058] In this embodiment, the housing of the tufting rotary transposition motor B171 is fixedly mounted on the front of the inclined swing plate B1631. The rotary output shaft of the tufting rotary transposition motor B171 passes through the inclined swing plate B1631, and a drive synchronous pulley B1711 is mounted on the rotary output shaft of the tufting rotary transposition motor B171. The tufting insert rotating seat B172 is rotatably mounted on the front of the inclined swing plate B1631 via a tufting insert bearing. One end of the tufting insert rotating seat B172 passes through the back of the inclined swing plate B1631 and is mounted with a tufting driven synchronous pulley B175. The drive synchronous pulley B1711 and the tufting driven synchronous pulley B175 are connected by a tufting synchronous belt drive, thereby driving the tufting insert rotating seat B172 to rotate.

[0059] In this embodiment, the tufted insert rotating seat B172 includes a tufted insert mounting section B1722, a tufted bearing mounting section B1723, a tufted thread section B1724, and a tufted pulley mounting section B1725 arranged sequentially along the axial direction. A tufted insert connecting groove B1721 is provided on the tufted insert mounting section B1722, and the tufted insert component B173 is mounted on the tufted insert mounting section B1722. The inclined swing plate B1631 has tufted bearing mounting holes penetrating its front and back sides. A bearing isolation step protrudes within the tufted bearing mounting holes. The tufted insert bearing includes a first tufted insert bearing B176 and a second tufted insert bearing B177 respectively mounted on both sides of the bearing isolation step. The outer rings of both the first tufted insert bearing B176 and the second tufted insert bearing B177 abut against the bearing isolation step. At the connection between the tufted insert mounting section B1722 and the tufted bearing mounting section B1723, a bearing limiting step B1726 protrudes and abuts against the inner ring of the first tufted insert bearing B176. A first bearing locking nut B178 is screwed onto the tufted thread section B1724. The first bearing locking nut B178 has a second bearing locking step that abuts against the inner ring of the second tufted insert bearing B177. Furthermore, a second bearing locking nut B179 is also screwed onto the tufted thread section B1724. The second bearing locking nut B179 and the first bearing locking nut B178 cooperate to clamp and fix the inner rings of the first tufted insert bearing B176 and the second tufted insert bearing B177, thereby ensuring that the tufted insert rotating seat B172 rotates stably on the inclined swing plate B1631 and avoiding axial movement. The tufting driven synchronous pulley B175 is mounted on the tufting pulley mounting section B1725 and is fixed to the tufting insert rotating seat B172 by a key connection and / or set screws to achieve synchronous rotation.

[0060] In this embodiment, to facilitate the easy separation of the brush head rod 100 from the tufting insert B173 after tufting is completed, the tufting oblique swing mechanism B16 is provided with a brush head pushing mechanism B18 for pushing the rod to move in the direction of separating from the tufting insert B173. The brush head pushing mechanism B18 includes a tufting pushing component B181, a pushing telescopic cylinder B182, and a pushing reset elastic component B183. The center of the tufting insert rotating seat B172 is provided with a pushing clearance hole B1720 extending along the axial direction of the tufting insert rotating seat B172. The cylinder body of the pushing telescopic cylinder B182 is fixedly installed on the pushing bracket on the back of the oblique swing plate B1631. The telescopic rod of the pushing telescopic cylinder B182 is equipped with a pushing control rod B184 that extends into the pushing clearance hole B1720.

[0061] Furthermore, one end of the pusher clearance hole B1720 penetrates the axial end face of the tufting pulley mounting section B1725, and the other end penetrates the bottom surface of the insert connecting groove B1721. A pusher movement space is left between the bottom surface of the insert connecting groove B1721 and the bottom surface of the tufting insert connecting part B1731. A tufting pusher extension hole B1701 is axially formed at the center of the bottom end face of the tufting insert connecting part B1731, and the tufting pusher extension hole B1701 penetrates to... The tuft insert is inserted into the stop surface B1736. The tuft pusher B181 consists of a pusher base B1811 and multiple pusher portions B1812 disposed on the pusher base B1811. The pusher base B1811 is axially slidably placed within the pusher's active space. The number of pusher portions B1812 matches and corresponds one-to-one with the number of tuft pusher extension holes B1701. Each pusher portion B1812 is always partially slidably inserted into the tuft pusher extension hole B1701. The pusher return elastic element B183 is a compression spring. Both ends of the pusher return elastic element B183 abut against the pusher base B1811 and the tuft insert connecting portion B1731, respectively, to push the tuft pusher B181 backward away from the tuft pusher extension hole B1701. When unloading is required, the telescopic rod of the pusher cylinder B182 extends, and the pusher control rod B184 pushes the pusher base B1811 to move in the direction close to the extension hole B1701 of the tufted pusher. The pusher part B1812 overcomes the elastic force of the pusher reset elastic element B183 and extends out of the extension hole B1701 of the tufted pusher, pushing the end face of the rod body 100, causing the rod body 100 to move axially along the tufted insert part B1734. The insert positioning part disengages from the rod groove 102, thereby reducing the constraint force of the tufted insert part B173 on the rod body 100, making it easier for the loading and unloading robot B2 to remove the tufted rod body 100 from the tufted insert part B173. After the pusher cylinder B182 retracts, the tufted pusher part B181 automatically resets under the action of the reset elastic element.

[0062] Furthermore, a first tufting spring groove B1702 is provided on the bottom surface of the tufting core connecting part B1731, and a second tufting spring groove B1801 is provided on the pusher base B1811. One end of the pusher reset elastic member B183 is inserted into the first tufting spring groove B1702, and the other end is inserted into the second tufting spring groove B1801, ensuring that the pusher reset elastic member B183 is stably guided within the pusher movement space.

[0063] Furthermore, since the rod body 100 is made of plastic, the rod hole 101 of the rod body 100 is prone to shrinkage after molding. If the tufted insert B1734 is inserted into the rod hole 101 of the rod body 100 with the shrinkage, the wall of the rod hole 101 of the rod body 100 will be locally and tightly fitted with the outer peripheral surface of the insert of the tufted insert B1734. At the same time, the rod hole 101 of the rod body 100 is usually only a single-end open structure. When the tufted insert B1734 is inserted into the rod hole 101 of the rod body 100, the gas in the sealed space of the rod hole 101 cannot be smoothly discharged. The internal air pressure will form resistance, resulting in excessive insertion resistance of the insert, difficulty in assembly, or positioning misalignment and insufficient positioning accuracy after the insert is assembled. To solve the above problems, the tufting inlet portion B1735 is provided with a radial tufting exhaust channel B1703 that penetrates the tufting inlet portion B1735 radially and an axial tufting exhaust channel B1704 that extends axially along the tufting inlet portion B1735. One end of the axial tufting exhaust channel B1704 penetrates the groove surface of the first tufting spring groove B1702, and the other end extends axially and connects to the radial tufting exhaust channel B1703. The radial tufting exhaust channel B1703, the axial tufting exhaust channel B1704, and the push core clearance hole B1720 are sequentially connected to form the tufting exhaust channel. The gas in the rod hole 101 is discharged from the tufting exhaust channel, thereby further reducing the insertion resistance and ensuring that the tufting insert rod can be smoothly and accurately assembled into the rod hole 101 of the rod body 100.

[0064] In this embodiment, to improve the smoothness of sliding of the tufting pusher component B181, the tufting pusher base B1811 is provided with multiple pusher ball structures B170. The groove sidewall of the insert connecting groove B1721 is provided with ball rolling grooves B1705 corresponding one-to-one with the multiple pusher ball structures B170. The pusher ball structure B170 includes multiple pusher balls B170 and a ball retainer. The outer surface of the pusher base B1811 is provided with... The ball retainer is fitted with a retainer recess, and the ball retainer has multiple ball grooves. The pusher ball B170 is installed in the ball groove and partially embedded in the ball rolling groove B1705. When the tuft pusher part B181 moves axially, the pusher ball B170 rolls in the ball rolling groove B1705 to reduce frictional resistance and improve the smoothness of movement of the tuft pusher part B181.

[0065] In this embodiment, the loading and unloading robot B2 includes a robot gripping mechanism and a robot body B21 for driving the robot gripping mechanism to move in space. The robot body B21 is mounted on a robot base. The robot body B21 can be a multi-axis joint robot arm, and its motion output end can drive the robot gripping mechanism to move up and down, left and right, forward and backward and rotate to complete the loading and unloading action.

[0066] Furthermore, the robotic gripping mechanism includes a robotic mounting base B22, a robotic connecting base B23, a robotic rod gripping module B24 for gripping the brush head rod 100, and a robotic brush head gripping module B25 for gripping the brush head after bristle implantation. The robotic mounting base B22 is fixedly installed on the action output end of the robotic body B21 by bolt connection.

[0067] Furthermore, the robotic arm mounting base B22 is provided with a mounting base surface, and the robotic arm connecting base B23 is provided with a first mounting surface B231, a second mounting surface B232, and a third mounting surface B233 arranged in a triangular pattern. The included angles between the first mounting surface B231 and the second mounting surface B232, and between the first mounting surface B231 and the third mounting surface B233, are both 45°. The first mounting surface B231 is attached to the mounting base surface and is detachably connected to the robotic arm mounting base B22, while the second mounting surface B232 and the third mounting surface B233 are perpendicular to each other. The robotic arm rod clamping module B24 is mounted on the second mounting surface B232, and the robotic arm brush head clamping module B25 is mounted on the third mounting surface B233. This arrangement creates a compact and interference-free layout for the robotic arm clamping mechanism at the end of the robotic arm body B21, preventing interference between the robotic arm rod clamping module B24 and the robotic arm brush head clamping module B25.

[0068] In this embodiment, the robotic arm gripping module B24 includes a first robotic arm three-jaw cylinder B241 mounted on the robotic arm connecting seat B23, and a first robotic arm gripper module controlled by the first robotic arm three-jaw cylinder B241 to open and close. The first robotic arm three-jaw cylinder B241 is mounted on the second mounting surface B232 by bolts. The first robotic arm gripper module includes three first robotic arm gripper blocks B242. 242 are respectively installed on the three grippers of the three-jaw cylinder B241 of the first robotic arm, and the three first robotic arm gripper blocks B242 are evenly distributed in the circumferential direction. The inner side of each first robotic arm gripper block B242 is provided with a robotic arm gripping concave arc groove that is adapted to the shape of the brush head rod 100. When the three first robotic arm gripper blocks B242 are in the retracted state, the gripping concave arc grooves of the three first robotic arm gripper blocks B242 together form a rod clamping position to stably clamp the brush head rod 100.

[0069] In this embodiment, the robotic arm gripping module B24 further includes a pressure detection device, which includes a pressure sensor B243, a detection base B244, a detection slide B245, and a detection reset spring B246. The detection base B244 is fixedly mounted on the housing of the first robotic arm three-jaw cylinder B241, and the detection slide B245 is slidably mounted on the detection base B244. The pressure sensor B243 is fixedly mounted on the middle of the detection base B244 and located between the detection base B244 and the detection slide B245. The detection reset spring B246 is disposed between the detection base B244 and the detection slide B245, providing elastic force for the detection slide B245 to move away from the detection base B244.

[0070] Furthermore, the detection slide B245 is Y-shaped and has three detection connecting arms B2451. Each detection connecting arm B2451 is provided with a monitoring guide rod B247, which is fixed to the detection connecting arm B2451 by bolts. The detection base B244 is Y-shaped and has three detection support arms B2441. Each detection support arm B2441 is equipped with a detection guide sleeve B2. 48. The detection guide sleeve B248 has a guide through hole, and the monitoring guide rod B247 slides through the corresponding guide through hole, allowing the detection slide B245 to slide smoothly relative to the detection base B244 along the axial direction. Each monitoring guide rod B247 is fitted with a detection reset spring B246, and the two ends of the detection reset spring B246 abut against the end face of the detection guide sleeve B248 and the detection connecting arm B2451 of the detection slide B245, respectively. In addition, a rod limiting head B2471 is provided on the end of the monitoring guide rod B247 away from the detection connecting arm B2451 to prevent the monitoring guide rod B247 from disengaging from the guide through hole.

[0071] In this embodiment, the robotic brush head clamping module B25 includes a second robotic wide-mouth gripper cylinder B251 mounted on the robotic arm connecting seat B23, and a second robotic gripper module controlled by the second robotic wide-mouth gripper cylinder B251 to open and close. The second robotic wide-mouth gripper cylinder B251 is preferably a wide-mouth gripper cylinder, and the second robotic wide-mouth gripper cylinder B251 is bolted to the third mounting surface B233. The second robotic gripper module includes two second gripper modules, each of which includes a second robotic gripper block B252 and a second robotic gripper piece B253 mounted on the second robotic gripper block B252. The second robotic gripper blocks B252 of the two second gripper modules are respectively mounted on the two grippers of the second robotic wide-mouth gripper cylinder B251, and the two second robotic gripper blocks B252 are arranged opposite to each other. The second robotic gripper B253 is provided with a second robotic hook B2531, which is used to hook the brush head rod 100 when gripping the brush head, so that the brush head rod 100 can be pulled out from the bristle implantation station, realizing the automatic transfer of the brush head after bristle implantation.

[0072] In this embodiment, the second robotic arm wide-mouth gripper cylinder B251 is equipped with a brush head positioning sensor B254 for detecting the brush head. The brush head positioning sensor B254 is preferably a diffuse reflection photoelectric sensor. The second robotic arm wide-mouth gripper cylinder B251 is equipped with a brush head positioning sensor bracket for mounting the brush head positioning sensor B254. The brush head positioning sensor bracket is fixed to the housing of the second robotic arm wide-mouth gripper cylinder B251 by bolts. The detection direction of the brush head positioning sensor B254 is towards the gripping area of ​​the second robotic arm gripper module. It is used to confirm whether the brush head is in position when the second robotic arm gripper module grips the brush head, thereby ensuring the accuracy and reliability of the gripping action. When the brush head positioning sensor B254 detects that the brush head has entered the clamping area, the control system issues a clamping command. The second robotic arm wide-mouth gripper cylinder B251 drives the two second gripper modules to close. The second robotic arm hook B2531 on the second robotic arm clamping plate B253 hooks the brush head rod 100, completing the stable clamping of the brush head. Then, driven by the second robotic arm wide-mouth gripper cylinder B251, the brush head is pulled out from the bristle planting station along a predetermined trajectory, transferred to the unloading station and released, completing the automatic transfer and unloading process of the brush head.

[0073] The loading and unloading process of the B2 loading and unloading robot is as follows: Step one: The main body of the robotic arm B21 moves upward and rotates, driving the robotic arm gripping mechanism to move to the automatic material discharge device, causing the three first robotic arm gripper blocks B242 of the robotic arm gripping module B24 to open and surround the rod 100 on the insert rod A61. Subsequently, the main body of the robotic arm B21 drives the entire robotic arm gripping module B24 to move downward along the axial direction of the rod 100. When the middle part of the detection slide B245 built into the center of the gripper abuts against the top of the rod 100, the detection slide B245 is limited; as the robotic arm gripping module B24 continues to move downward, the detection slide B245 overcomes the elastic force of the detection reset spring B246 and slides backward relative to the detection base B244, thereby pressing the pressure sensor B243. When the pressure value detected by pressure sensor B243 reaches the preset first threshold, the control system determines that it has accurately contacted the end face of rod 100 and immediately stops axial movement to avoid damaging the feeding waiting mechanism A6. Subsequently, the first robotic arm three-jaw cylinder B241 drives the three first robotic arm gripper blocks B242 to close and clamp rod 100. Then, the robotic arm body B21 moves upward to remove rod 100 from the waiting insert rod A61, completing the material handling.

[0074] Step Two: The main body of the robotic arm B21 moves the robotic arm gripping mechanism to the tufting station of the tufting device B1. Then, the robotic arm brush head gripping module B25 is aligned with the finished brush head that has been tufted. The second robotic arm wide-mouth gripper cylinder B251 is activated, the second gripper clamps the finished brush head, and pulls the finished brush head out of the tufting insert B173, completing the removal of the finished brush head. Subsequently, the main body of the robotic arm B21 moves, aligning the tufting rod 100 held on the robotic arm rod gripping module B24 with the tufting station. The main body of the robotic arm B21 sends the rod 100 down along the tufting insert B173 to a preset release position. At this time, the rod hole 101 of the rod 100 has formed a stable guiding fit with the tufting insert B173, and there is still a small gap of 2-5mm between the bottom end face of the rod 100 and the final positioning surface of the tooling. Upon reaching the release position, the first robotic arm's three-jaw cylinder B241 drives the three first robotic arm gripper blocks B242 to open, releasing the grip on the rod 100. Subsequently, the robotic arm body B21 drives the entire robotic arm rod gripping module B24 to continue moving downwards. At this time, the middle part of the detection slide B245 pushes against the top of the rod 100, pushing the rod 100 downwards along the tufting insert B173 until the bottom end face of the rod 100 is completely against the positioning surface of the tooling, and the insert positioning part of the tufting insert B173 of the tufting device B1 is embedded into the rod groove 102. At this point, the rod 100 is limited, and the continuing downward-moving detection slide B245 will overcome the elastic force of the detection reset spring B246 and slide backwards, pressing against the pressure sensor B243. When the pressure value detected by pressure sensor B243 reaches the preset second threshold (which is greater than the first threshold during material handling), the control system determines that the rod 100 has been fully pushed into place, stops pressing down, and controls the robot body B21 to move upward and reset. This process utilizes pressure feedback to achieve flexible pushing, effectively preventing damage to the rod 100 or tooling from rigid impacts.

[0075] Step 3: The main body of the robotic arm B21 transfers the finished brush head held by the robotic arm brush head clamping module B25 to the unloading conveyor belt. The second robotic arm wide-mouth gripper cylinder B251 releases the second gripper, completing the unloading of the finished product.

[0076] The loading and unloading robot B2 can perform the above steps in a cycle to achieve continuous automated production.

[0077] The above description is only a preferred embodiment of the present invention. Any technical solution that achieves the purpose of the present invention by essentially the same means is within the protection scope of the present invention.

Claims

1. An automatic bristle-planting production line for toilet brush heads, characterized in that: Includes an automatic feeding device for bristle-adhesive brush heads (1) and an automatic bristle-adhesive unit (2); The automatic feeding device (1) for the bristle-planting brush head includes a feeding workbench (A1) and a vibrating feeding device, a feeding lifting device (A2), a feeding state switching mechanism (A3), a feeding vision device (A4), a rod adjustment mechanism (A5), and a feeding waiting mechanism (A6) installed on the feeding workbench (A1). The vibrating discharge device is used to feed the rods out one by one in a specific direction; The feeding lifting device (A2) is used to receive the rods sent out by the vibrating discharge device and lift them; The feeding state switching mechanism (A3) is used to receive the raised rod and change it from a lying state to an upright state; The loading vision device (A4) is used to detect the circumferential angle of the upright rod. The rod adjustment mechanism (A5) is used to clamp the rod in the upright state from the feeding state switching mechanism (A3) and transfer it to the feeding vision device (A4), and rotate the rod to a set circumferential angle according to the detection result of the feeding vision device (A4). The loading and waiting mechanism (A6) is used to receive the rod after the angle has been adjusted and place it in an oriented position; The automatic tufting machine (2) includes a tufting device (B1) and a loading / unloading robot (B2). The loading / unloading robot (B2) is used to transfer the rod on the loading waiting mechanism (A6) to the tufting device (B1) for tufting, and to remove and output the tufted brush head.

2. The automatic bristle-planting production line for toilet brush heads according to claim 1, characterized in that: The loading lifting device (A2) includes a loading lifting bracket (A21), a loading lifting telescopic cylinder (A22), and a loading lifting seat (A23). The loading lifting bracket (A21) is mounted on the loading workbench (A1), the cylinder body of the loading lifting telescopic cylinder (A22) is mounted on the loading lifting bracket (A21), and the loading lifting seat (A23) is mounted on the telescopic rod of the loading lifting telescopic cylinder (A22). The upper part of (A23) has a feeding positioning and limiting part (A231) and two feeding lifting side parts (A232). The feeding positioning and limiting part (A231) and the two feeding lifting side parts (A232) are triangularly distributed. A radial limiting space is formed between the two feeding lifting side parts (A232) to limit the radial movement of the rod (100). The feeding positioning and limiting part (A231) is provided with an axial limiting surface to limit the axial movement of the rod (100).

3. The automatic bristle-planting production line for toilet brush heads according to claim 2, characterized in that: The feeding lifting seat (A23) is provided with a lifting blocking plate (A233) for blocking the discharge port of the linear vibrating feeder (A8) during the upward lifting process of the feeding lifting seat (A23).

4. The automatic bristle-planting production line for toilet brush heads according to claim 2, characterized in that: The feeding state switching mechanism (A3) includes a state switching bracket (A31), a switching rotation device (A32), and a switching clamping mechanism (A33). The state switching bracket (A31) is mounted on the feeding worktable (A1); the switching rotation device (A32) is mounted on the state switching bracket (A31); and the switching clamping mechanism (A33) is mounted on the rotation output end of the switching rotation device (A32).

5. The automatic bristle-planting production line for toilet brush heads according to claim 4, characterized in that: The rod adjustment mechanism (A5) includes an adjustment bracket (A51), an adjustment horizontal movement mechanism (A52), an adjustment lifting mechanism (A53), an adjustment rotation device (A54), and an adjustment clamping mechanism (A55). The adjustment bracket (A51) is fixed on the loading worktable (A1), the adjustment horizontal movement mechanism (A52) is mounted on the adjustment bracket (A51), the adjustment lifting mechanism (A53) is mounted on the action output end of the adjustment horizontal movement mechanism (A52), the adjustment rotation device (A54) is mounted on the action output end of the adjustment lifting mechanism (A53), and the adjustment clamping mechanism (A55) is mounted on the rotation output end of the adjustment rotation device (A54).

6. The automatic bristle-planting production line for toilet brush heads according to claim 1, characterized in that: The material loading waiting mechanism (A6) includes a material loading insert assembly and a material loading insert moving mechanism. The material loading insert assembly includes a vertically arranged material loading insert rod (A61). The top of the material loading insert rod (A61) is provided with a material loading insert part (A611) and a material loading positioning protrusion (A612). The outer diameter of the material loading insert part (A611) is adapted to the rod hole (101) of the rod body (100). The shape of the material loading positioning protrusion (A612) matches the rod groove (102).

7. The automatic bristle-planting production line for toilet brush heads according to claim 5, characterized in that: The loading and waiting mechanism (A6) includes a loading insert moving mechanism, which includes a loading insert guide rail (A62), a loading insert slide (A63), and a loading insert drive mechanism (A64). The loading insert guide rail (A62) and the loading insert drive mechanism (A64) are mounted on the loading worktable (A1). The loading insert slide (A63) is slidably connected to the loading insert guide rail (A62). The loading insert drive mechanism (A64) drives the loading insert slide (A63) to reciprocate along the loading insert guide rail (A62). The loading insert assembly is fixed on the loading insert slide (A63).

8. The automatic bristle-planting production line for toilet brush heads according to claim 7, characterized in that: The waiting molten core assembly also includes a waiting molten core seat (A65). A waiting molten core mating part (A613) is raised on the lower outer circumferential surface of the waiting molten core rod (A61). The bottom of the waiting molten core seat (A65) is provided with a waiting molten core mating groove (A651), and the top is provided with a waiting molten core clearance hole (A652) for the waiting molten core rod (A61) to pass through. The waiting molten core mating groove (A651) matches the waiting molten core mating part (A613), and the waiting molten core seat (A65) is fixedly installed on the waiting molten core slide (A63).

9. The automatic bristle-planting production line for toilet brush heads according to claim 8, characterized in that: The insert slide (A63) is provided with a square through hole (A631) for preventing rotation of the insert through its upper and lower ends. The bottom surface of the insert rod (A61) is provided with a square block (A614) for preventing rotation of the insert corresponding to the square through hole (A631). The square block is adapted to fit into the square through hole (A631).

10. The automatic bristle-planting production line for toilet brush heads according to claim 9, characterized in that: The top of the insert portion (A611) has a insert guide protrusion (A615), the outer diameter of which is smaller than the outer diameter of the insert portion (A611). The top of the insert guide protrusion (A615) has a hemispherical insert guide ball head (A616), the diameter of which is the same as the outer diameter of the insert guide protrusion (A615). The insert guide ball head (A616) is used to provide guidance when the insert portion (A611) is inserted into the rod hole (101) of the rod body (100).

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