Lid and spoon assembly apparatus
By using the synchronous reverse motion of the material handling robot and the ejection module, the problems of high-cost visual inspection and low efficiency in existing lid and spoon assembly equipment are solved, achieving efficient and low-cost lid and spoon assembly.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DONGGUAN JINGHUA AUTOMATION TECH CO LTD
- Filing Date
- 2025-05-23
- Publication Date
- 2026-06-02
AI Technical Summary
Existing lid and spoon assembly equipment suffers from high costs and low production efficiency due to the high precision visual inspection system.
The material handling robot and the ejector module move in opposite directions synchronously. The material handling robot is driven into the injection molding machine by a moving drive mechanism. The material handling telescopic component keeps the relative position of the spoon and the lid stable, and the assembly is carried out directly, eliminating the need for a vision inspection system.
It reduced equipment costs, improved production efficiency, shortened the cycle time for a single production run, reduced the time spent on visual analysis, and enhanced the overall efficiency of the equipment.
Smart Images
Figure CN224311247U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of lid and spoon assembly technology, and in particular to a lid and spoon assembly device. Background Technology
[0002] In the production of products such as ice cream and yogurt on the market, the lid usually comes with a spoon for customers to use. In the production of these product lids, the pre-printed label is placed into the injection molding machine cavity by using in-mold labeling technology. The label is fused to the PP / PE material lid body by mold closing and injection molding. The injection molding process produces independent lids and spoons at the same time. Then, the automated assembly equipment first uses a material handling robot arm to take the spoon and lid out of the injection molding machine. Then, the position of the spoon and lid is checked by a vision inspection mechanism. Finally, the assembly robot arm assembles the spoon onto the lid. However, this automated assembly equipment has the following problems: (1) The high-precision vision inspection system significantly increases the equipment investment, resulting in high cost; (2) Vision positioning and multi-robot collaborative operation form a bottleneck in production cycle, resulting in low production efficiency.
[0003] Therefore, given the rapid growth in consumer demand, there is an urgent need for a lid and spoon assembly machine that is highly efficient and has low equipment costs. Utility Model Content
[0004] The purpose of this invention is to provide a lid and spoon assembly device with high production efficiency and low equipment cost.
[0005] To achieve the above objectives, this utility model provides a lid and spoon assembly device, including an injection molding machine, a moving drive mechanism, a material handling robot, and an assembly robot. The injection molding machine includes a fixed mold assembly and a movable mold assembly that can move relative to the fixed mold assembly to close the mold. The fixed mold assembly includes an ejector module for ejecting the lid and spoon formed thereon. The moving drive mechanism is located on one side of the injection molding machine. The material handling robot includes a material handling mounting frame, a material handling telescopic assembly, and a material handling suction assembly. The material handling mounting frame is mounted on the moving drive mechanism, and the material handling telescopic assembly... The component is mounted on the material-picking mounting frame, and the output end of the material-picking telescopic component is connected to the material-picking suction component; the moving drive mechanism can drive the material-picking robot to enter or leave the injection molding machine and move to a position corresponding to the assembly robot; the material-picking telescopic component is used to drive the material-picking suction component to move and adsorb the cover and the spoon on the fixed mold component, and to move in the opposite direction when the ejector module ejects the cover and the spoon; the assembly robot is used to assemble the spoon on the material-picking suction component into the cover.
[0006] Preferably, the lid and spoon assembly equipment further includes a material carrier and a loading robot. The material carrier is used to store labels, and the loading robot is mounted on the moving drive mechanism. The moving drive mechanism can drive the picking robot and the loading robot to move together, so that the loading robot can transport the labels on the material carrier to the moving mold assembly.
[0007] Preferably, the loading robot includes a loading mounting frame and a loading suction assembly. The loading mounting frame is disposed on the moving drive mechanism, and the loading suction assembly is disposed on the loading mounting frame and is used to suction the label on the material carrier into the moving mold assembly.
[0008] Preferably, the moving drive mechanism includes an infeed / outfeed traverse drive module, an infeed / outfeed mounting frame, a first position movement adjustment module, and a second position movement adjustment module. The infeed / outfeed mounting frame is disposed on the infeed / outfeed traverse drive module. The first position movement adjustment module and the second position movement adjustment module are disposed on the infeed / outfeed mounting frame in the same movement adjustment direction, and the movement adjustment direction of the first position movement adjustment module and the second position movement adjustment module is perpendicular to the traverse drive direction of the infeed / outfeed traverse drive module. The material picking mounting frame is disposed on the first position movement adjustment module, and the material loading mounting frame is disposed on the second position movement adjustment module. The infeed / outfeed traverse drive module is used to drive the material picking robot and the material loading robot to enter and exit the injection molding machine. The first position movement adjustment module is used to adjust the position of the material picking robot, and the second position movement adjustment module is used to adjust the position of the material loading robot.
[0009] Preferably, the material-grabbing telescopic component is a telescopic cylinder driven structure; when the material-grabbing component is driven to move and adsorb the lid and the spoon on the fixed mold component, the telescopic cylinder driven structure is in a ventilated state; when the ejector module ejects the lid and the spoon, the telescopic cylinder driven structure is in a de-ventilated state.
[0010] Preferably, the assembly robot includes an assembly flipping drive assembly, an assembly lifting drive assembly, and an assembly suction assembly. The assembly lifting drive assembly is disposed on the assembly flipping drive assembly, and a plurality of assembly suction assemblies are respectively disposed on the assembly lifting drive assembly. The assembly suction assemblies are used to pick up the spoon on the material picking assembly, press the spoon into the lid, and pick up the assembly of the spoon and the lid. The assembly lifting drive assembly is used to drive the assembly suction assembly to transport the spoon on the material picking assembly to a position corresponding to the lid. The assembly flipping drive assembly is used to drive the assembly suction assembly to flip and unload the material.
[0011] Preferably, the assembly adsorption component includes an assembly adsorption base, a first suction nozzle, a second suction nozzle, and a push-pressing module. The assembly adsorption base is disposed on the assembly lifting drive component. The assembly adsorption base has a positioning groove for positioning. The first suction nozzle is disposed in the positioning groove and is used to adsorb the spoon. The second suction nozzle is disposed outside the positioning groove and is used to adsorb the lid. The push-pressing module is disposed on the assembly adsorption base. By moving the push-pressing module through the positioning groove, the spoon in the positioning groove is pushed out and pressed into the lid on the material picking and suction component.
[0012] Preferably, the lid and spoon assembly equipment further includes a discharge mechanism, on which the assembly robot can place the assembly of the spoon and the lid on the discharge mechanism, which is used to discharge the assembly of the spoon and the lid.
[0013] Preferably, the discharge mechanism includes a discharge frame and discharge guide rails, discharge positioning components, and discharge pushing components respectively disposed on the discharge frame. A plurality of discharge guide rails are arranged sequentially in the same direction. The discharge guide rails are used to place the assembly of the spoon and the lid. A plurality of discharge positioning components are respectively disposed below each discharge guide rail. The discharge positioning components are used to adsorb and position the assembly of the spoon and the lid when the assembly robot places the assembly of the spoon and the lid on the discharge guide rail. The discharge pushing components are used to push the assembly of the spoon and the lid to slide along the discharge guide rail.
[0014] Preferably, the lid and spoon assembly equipment further includes a feeding conveyor belt, a material box, and a material blocking component. A plurality of material boxes are sequentially arranged on the feeding conveyor belt along the conveying direction of the feeding conveyor belt. The material box is used to load the assembly of the spoon and the lid. The feeding conveyor belt is used to drive the material box to move so that the material box is connected to the discharge guide rail. The material blocking component is arranged between the feeding conveyor belt and the discharge guide rail. The material blocking component is used to block or release the assembly of the spoon and the lid on the discharge guide rail from entering the material box.
[0015] Compared with the prior art, the present invention's lid and spoon assembly equipment, after the injection molding machine has finished molding the spoon and lid, uses a moving drive mechanism to drive a material-picking robot into the injection molding machine. The material-picking telescopic component of the robot drives the material-picking suction component to move and adsorb the lid and spoon on the fixed mold assembly. Then, the ejector module ejects the lid and spoon. During this process, the material-picking telescopic component moves in the opposite direction as the ejector module ejects. Because the material-picking suction component always maintains adsorption of the spoon and lid, the relative position of the lid and spoon remains unchanged after they are completely ejected. Therefore, after the moving drive mechanism drives the material-picking robot to exit the injection molding machine, there is no need to detect the position of the spoon and lid using a vision system. The moving drive mechanism can drive the material-picking robot to move directly to the position corresponding to the assembly robot, directly using the assembly robot to assemble the spoon from the material-picking suction component into the lid, completing the assembly of the spoon and lid. Therefore, the lid and spoon assembly equipment of this utility model utilizes the synchronous reverse movement of the material handling robot and the ejection module (the material handling telescopic component compensates for displacement in the reverse direction with the ejection action) to keep the relative position of the lid and spoon stable during the ejection process. This eliminates the need for a high-cost vision inspection system, directly reducing equipment investment. At the same time, it eliminates the time-consuming visual analysis and shortens the single production cycle, resulting in high production efficiency and low equipment cost. Attached Figure Description
[0016] Figure 1 This is a three-dimensional structural diagram of the lid and spoon assembly device of this utility model.
[0017] Figure 2 This is a partial structural diagram of the lid and spoon assembly device of this utility model.
[0018] Figure 3 This is a connection structure diagram of the moving drive mechanism, material handling robot, and material feeding robot of the lid and spoon assembly equipment of this utility model.
[0019] Figure 4 This is a three-dimensional structural diagram of the material handling robot of the lid and spoon assembly equipment of this utility model.
[0020] Figure 5 This is a three-dimensional structural diagram of the assembly robot arm of the lid and spoon assembly equipment of this utility model.
[0021] Figure 6 This is a three-dimensional structural diagram of the assembly adsorption component of the assembly robot arm of the lid and spoon assembly equipment of this utility model.
[0022] Figure 7 This is a connection structure diagram of the material discharge mechanism and the material conveyor belt of the lid and spoon assembly equipment of this utility model.
[0023] Figure 8 yes Figure 7 Enlarged view of point A in the middle.
[0024] Figure 9 yes Figure 7 Enlarged view of point B in the middle. Detailed Implementation
[0025] To explain the technical content and structural features of this utility model in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.
[0026] Please see Figures 1 to 5 The lid and spoon assembly equipment 100 of this utility model includes an injection molding machine 1, a moving drive mechanism 2, a material handling robot 3, and an assembly robot 4. The injection molding machine 1 is provided with a fixed mold assembly 11 and a moving mold assembly 12 that can move relative to the fixed mold assembly 11 to close the mold. The fixed mold assembly 11 is provided with an ejector module for ejecting the lid and spoon formed thereon. The moving drive mechanism 2 is located on one side of the injection molding machine 1. The material handling robot 3 includes a material handling mounting frame 31, a material handling telescopic assembly 32, and a material handling suction assembly 33. The material handling mounting frame 31 is located on the moving drive mechanism. 2. The material-grabbing telescopic component 32 is mounted on the material-grabbing mounting frame 31, and its output end is connected to the material-grabbing suction component 33. The moving drive mechanism 2 can drive the material-grabbing robot 3 to enter or leave the injection molding machine 1 and move to the position corresponding to the assembly robot 4. The material-grabbing telescopic component 32 is used to drive the material-grabbing suction component 33 to move and absorb the lid and spoon on the fixed mold assembly 11, and to move in the opposite direction when the lid and spoon are ejected by the ejector module. The assembly robot 4 is used to assemble the spoon on the material-grabbing suction component 33 into the lid. The specific structure and principle of the ejector module are well known to those skilled in the art, and therefore will not be described in detail here.
[0027] After the injection molding machine 1 completes the injection molding of the spoon and the lid, the moving mold assembly 12 of the injection molding machine 1 moves and separates from the fixed mold assembly 11. The moving drive mechanism 2 drives the material handling robot 3 to enter the injection molding machine 1, so that the material handling telescopic assembly 32 of the material handling robot 3 drives the material handling suction assembly 33 to move and adsorb the lid and the spoon on the fixed mold assembly 11. Then the ejector assembly ejects the lid and the spoon. During this process, the material handling telescopic assembly 32 moves in the opposite direction as the ejector assembly ejects. Since the material handling suction assembly 33 always keeps adsorbing the spoon and the lid, the relative position of the lid and the spoon remains unchanged after the lid and the spoon are completely ejected. Therefore, after the moving drive mechanism 2 drives the material handling robot 3 to exit the injection molding machine 1, there is no need to detect the position of the spoon and the lid through the vision system. The moving drive mechanism 2 can drive the material handling robot 3 to move directly to the position corresponding to the assembly robot 4, and directly use the assembly robot 4 to assemble the spoon on the material handling suction assembly 33 into the lid, thus completing the assembly of the spoon and the lid.
[0028] Please see Figures 1 to 3 In one embodiment, the lid and spoon assembly device 100 of this utility model further includes a material carrier 5 and a loading robot 6. The material carrier 5 is used to store labels, and the loading robot 6 is mounted on a moving drive mechanism 2. The moving drive mechanism 2 can drive a picking robot 3 to move together with the loading robot 6, so that the loading robot 6 transports the labels on the material carrier 5 into the moving mold assembly 12 to achieve in-mold labeling. Specifically, the loading robot 6 includes a loading mounting frame 61 and a loading suction assembly 62. The loading mounting frame 61 is mounted on the moving drive mechanism 2, and the loading suction assembly 62 is mounted on the loading mounting frame 61 and is used to suck the labels on the material carrier 5 into the moving mold assembly 12. The loading suction assembly 62 can be an existing suction nozzle adsorption module.
[0029] Please see Figures 1 to 3 In one embodiment, the moving drive mechanism 2 includes an infeed / outfeed transverse drive module 21, an infeed / outfeed mounting frame 22, a first position moving adjustment module 23, and a second position moving adjustment module 24. The infeed / outfeed mounting frame 22 is disposed on the infeed / outfeed transverse drive module 21. The first position moving adjustment module 23 and the second position moving adjustment module 24 are disposed on the infeed / outfeed mounting frame 22 in the same moving adjustment direction, and the moving adjustment direction of the first position moving adjustment module 23 and the second position moving adjustment module 24 is perpendicular to the transverse drive direction of the infeed / outfeed transverse drive module 21. The picking mounting frame 31 is disposed on the first position moving adjustment module 23, and the loading mounting frame 61 is disposed on the second position moving adjustment module 24. The infeed / outfeed transverse drive module 21 is used to drive the picking robot 3 and the loading robot 6 to enter and exit the injection molding machine 1. The first position moving adjustment module 23 is used to move and adjust the position of the picking robot 3, and the second position moving adjustment module 24 is used to move and adjust the position of the loading robot 6. The material handling robot 3 and the loading robot 6 are driven into the injection molding machine 1 by the infeed / outfeed lateral movement drive module 21. Simultaneously, the position of the material handling robot 3 is adjusted by the first position movement adjustment module 23, and the position of the loading robot 6 is adjusted by the second position movement adjustment module 24. This ensures that the material handling robot 3 and the loading robot 6 move closer and further apart, guaranteeing their effective entry into the injection molding machine 1 for subsequent actions. The infeed / outfeed lateral movement drive module 21, the first position movement adjustment module 23, and the second position movement adjustment module 24 can all be existing linear drive modules.
[0030] Please see Figure 4In one embodiment, the material-grabbing telescopic component 32 is a telescopic cylinder driven structure. When the material-grabbing and suction component 33 is driven to move and adsorb the lid and spoon on the fixed mold component 11, the telescopic cylinder driven structure is in a ventilated state. Therefore, the telescopic cylinder driven structure can drive the material-grabbing and suction component 33 to move through an extension action, so that the material-grabbing and suction component 33 moves to adsorb the lid and spoon on the fixed mold component 11. When the ejector module ejects the lid and spoon, the telescopic cylinder driven structure is in a de-ventilated state. Therefore, when the ejector module ejects the lid and spoon, the material-grabbing telescopic component 32 moves in the opposite direction with the ejection action to compensate for the displacement. After the lid and spoon are completely ejected, the telescopic cylinder driven structure can be ventilated again to keep the position of the material-grabbing and suction component 33 stationary, avoiding shaking when the moving drive mechanism 2 drives the material-grabbing robot 3 to leave the injection molding machine 1 and move to the position corresponding to the assembly robot 4. However, the structure of the material-grabbing telescopic component 32 is not limited to this. For example, the material-grabbing telescopic component 32 can also adopt a hydraulic cylinder driven structure. Specifically, the material scooping assembly 33 includes a material scooping frame and several suction parts respectively installed on the material scooping frame. The material scooping telescopic assembly 32 is connected to the material scooping frame. The suction parts are used to pick up lids or spoons, but are not limited to these.
[0031] Please see Figure 2 , Figure 5 and Figure 6 In one embodiment, the assembly robot 4 includes an assembly flipping drive assembly 41, an assembly lifting drive assembly 42, and an assembly suction assembly 43. The assembly lifting drive assembly 42 is disposed on the assembly flipping drive assembly 41, and several assembly suction assemblies 43 are respectively disposed on the assembly lifting drive assembly 42. The assembly suction assemblies 43 are used to pick up the spoon from the material picking assembly 33, press the spoon into the lid, and pick up the assembly of the spoon and the lid. The assembly lifting drive assembly 42 is used to drive the assembly suction assembly 43 to transport the spoon from the material picking assembly 33 to the position corresponding to the lid. The assembly flipping drive assembly 41 is used to drive the assembly suction assembly 43 to flip and unload the material. However, the structure of the assembly robot 4 is not limited to this. For example, the assembly robot 4 can also use an existing four-axis robot or a six-axis robot to pick up, assemble, and unload the spoon and the lid.
[0032] Specifically, in one embodiment, the assembly adsorption component 43 includes an assembly adsorption base 431, a first suction nozzle 432, a second suction nozzle 433, and a push-press module 434. The assembly adsorption base 431 is disposed on the assembly lifting drive component 42. The assembly adsorption base 431 is provided with a positioning groove for positioning. The first suction nozzle 432 is disposed in the positioning groove and is used to adsorb the spoon. The second suction nozzle 433 is disposed outside the positioning groove and is used to adsorb the lid. The push-press module 434 is disposed on the assembly adsorption base 431. By moving the push-press module 434 through the positioning groove, the spoon in the positioning groove is pushed out and pressed into the lid on the material picking and suction component 33. First, the first suction nozzle 432 adsorbs and picks up the spoon on the material-picking assembly 33, positioning the spoon in the positioning groove. Then, the assembly lifting drive assembly 42 drives the assembly suction assembly 43 to move up or down, moving the spoon picked up by the first suction nozzle 432 to the position corresponding to the lid on the material-picking assembly 33. Next, the push-pressing module 434 moves into the positioning groove to push the spoon out of the positioning groove and press it into the lid on the material-picking assembly 33, thus assembling the spoon inside the lid. After assembly, the assembly flipping drive assembly 41 drives the assembly suction assembly 43 to flip and move, thereby unloading the assembly of the spoon and lid.
[0033] Please see Figure 2 , Figure 7 and Figure 8 In one embodiment, the lid and spoon assembly device 100 of this utility model further includes a discharge mechanism 7. The assembly robot 4 can place the spoon and lid assembly on the discharge mechanism 7, which is used to discharge the spoon and lid assembly. Specifically, the discharge mechanism 7 includes a discharge frame 71 and discharge guide rails 72, discharge positioning components 73, and discharge pushing components 74 respectively disposed on the discharge frame 71. Several discharge guide rails 72 are arranged sequentially in the same direction. The discharge guide rails 72 are used to place the spoon and lid assembly. Several discharge positioning components 73 are respectively disposed below each discharge guide rail 72. The discharge positioning components 73 are used to adsorb and position the spoon and lid assembly when the assembly robot 4 places the spoon and lid assembly on the discharge guide rail 72. The discharge pushing components 74 are used to push the spoon and lid assembly to slide along the discharge guide rail 72. The material discharge and pushing component 74 can adopt a linear drive module to drive the push plate to move, so that the push plate pushes the assembly of the spoon and the lid to slide along the material discharge guide rail 72; the material discharge positioning component 73 can adopt an existing suction nozzle adsorption structure, but is not limited thereto.
[0034] After the spoon is assembled inside the lid, the assembly flipping drive component 41 drives the assembly adsorption component 43 to flip and move, thereby transporting the spoon and lid assembly onto the discharge guide rail 72. The discharge positioning component 73 adsorbs and positions the spoon and lid assembly, ensuring that the spoon and lid assembly accurately and effectively stays on the discharge guide rail 72. Then, the discharge positioning component 73 releases the spoon and lid assembly, and the discharge pushing component 74 pushes the spoon and lid assembly to slide along the discharge guide rail 72, so that the spoon and lid assembly are arranged sequentially on the discharge guide rail 72. At the same time, it avoids the position where the assembly robot 4 places the spoon and lid assembly on the discharge guide rail 72, so that the subsequent assembly robot 4 can place the next batch of spoon and lid assemblies on the discharge guide rail 72.
[0035] Please see Figures 7 to 9 In one embodiment, the lid and spoon assembly device 100 of this utility model further includes a feeding conveyor belt 8, a material box 81, and a material blocking component 9. A plurality of material boxes 81 are sequentially arranged on the feeding conveyor belt 8 along the conveying direction of the feeding conveyor belt 8. The material box 81 is used to load the assembly of spoon and lid. The feeding conveyor belt 8 is used to drive the material box 81 to move so that the material box 81 is connected to the discharge guide rail 72. The material blocking component 9 is arranged between the feeding conveyor belt 8 and the discharge guide rail 72. The material blocking component 9 is used to block or release the assembly of spoon and lid on the discharge guide rail 72 from entering the material box 81. The material box 81 is moved by the feeding conveyor belt 8, so that the empty material box 81 is connected to the discharge guide rail 72. The discharge pushing component 74 pushes the spoon and lid assembly into the material box 81. When the material box 81 is full of spoon and lid assemblies, the blocking component 9 prevents spoon and lid assemblies on the discharge guide rail 72 from entering the material box 81, so that the feeding conveyor belt 8 can move the material box 81 containing spoon and lid assemblies to discharge. The blocking component 9 can adopt a structure in which the baffle is driven by a cylinder to lift and lower, so as to block or release spoon and lid assemblies on the discharge guide rail 72 from entering the material box 81.
[0036] Combination Figures 1 to 9 The specific working principle of the lid and spoon assembly device 100 of this utility model is as follows:
[0037] The loading robot 6 picks up the label from the material carrier 5. The moving drive mechanism 2 drives the picking robot 3 to move together with the loading robot 6, so that the loading robot 6 and the picking robot 3 enter the injection molding machine 1. The loading robot 6 transports the label from the material carrier 5 into the moving mold assembly 12. At the same time, the picking telescopic component 32 of the picking robot 3 drives the picking suction component 33 to move and suction the lid and spoon on the fixed mold assembly 11. Then, the ejector assembly ejects the lid and spoon. During this process, the picking telescopic component 32 moves in the opposite direction as the ejector assembly ejects. Afterward, the moving drive mechanism 2 drives the picking robot 3 and the loading robot 6 to move out of the injection molding machine 1, and moves the picking robot 3 to the position corresponding to the assembly robot 4. The loading robot 6 moves to the position corresponding to the material carrier 5. The assembly robot 4 takes out the spoon from the picking suction component 33 and transports it into the lid on the picking suction component 33, completing the assembly of the spoon and the lid. Next, the assembly robot 4 transports the spoon and lid assembly onto the discharge guide rail 72 of the discharge mechanism 7. The discharge positioning component 73 first adsorbs and positions the spoon and lid assembly, then releases it. The discharge pushing component 74 pushes the spoon and lid assembly to slide along the discharge guide rail 72, allowing it to enter the material box 81. When the material box 81 is full of spoon and lid assemblies, the blocking component 9 prevents spoon and lid assemblies on the discharge guide rail 72 from entering the material box 81, causing the discharge conveyor belt 8 to move and discharge the material box 81 containing the spoon and lid assemblies.
[0038] In summary, the lid and spoon assembly equipment 100 of this invention utilizes the synchronous reverse movement of the picking robot 3 and the ejection module (the picking telescopic component 32 compensates for displacement in the reverse direction with the ejection action) to maintain the stability of the relative position of the lid and spoon during the ejection process. This eliminates the need for a high-cost vision inspection system, directly reducing equipment investment. It also eliminates the time-consuming visual analysis, shortening the production cycle time and resulting in high production efficiency and low equipment cost. Furthermore, this invention achieves seamless integration of the picking robot 3 with the injection molding machine 1 and the assembly robot 4 through the mobile drive mechanism 2. This compresses the traditional separate "picking-inspection-transfer-assembly" process into an integrated "synchronous ejection adsorption-linear transfer-direct assembly" operation, reducing the waiting time for robot arm collaboration, lowering the risk of failure due to communication delays between multiple mechanisms, and improving the overall equipment efficiency (OEE).
[0039] The above-disclosed examples are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the claims of the present utility model shall fall within the scope of the present utility model.
Claims
1. A lid and spoon assembly device, characterized in that, This includes injection molding machines, mobile drive mechanisms, material handling robots, and assembly robots; The injection molding machine is provided with a fixed mold assembly and a moving mold assembly that can move relative to the fixed mold assembly to close the mold. The fixed mold assembly is provided with an ejector module for ejecting the cap and spoon formed thereon. The moving drive mechanism is located on one side of the injection molding machine; The material handling robot includes a material handling mounting frame, a material handling telescopic component, and a material handling suction component. The material handling mounting frame is mounted on the moving drive mechanism, and the material handling telescopic component is mounted on the material handling mounting frame. The output end of the material handling telescopic component is connected to the material handling suction component. The moving drive mechanism can drive the material handling robot to enter or leave the injection molding machine and move to a position corresponding to the assembly robot. The material handling telescopic component is used to drive the material handling suction component to move and suction the cover and the spoon on the fixed mold assembly, and moves in the opposite direction when the ejector module ejects the cover and the spoon. The assembly robot is used to assemble the spoon on the material-feeding assembly into the lid.
2. The lid and spoon assembly device according to claim 1, characterized in that, It also includes a material carrier and a loading robot. The material carrier is used to store labels, and the loading robot is mounted on the moving drive mechanism. The moving drive mechanism can drive the picking robot and the loading robot to move together, so that the loading robot can transport the labels on the material carrier to the moving mold assembly.
3. The lid and spoon assembly device according to claim 2, characterized in that, The loading robot includes a loading mounting frame and a loading suction assembly. The loading mounting frame is mounted on the moving drive mechanism, and the loading suction assembly is mounted on the loading mounting frame and is used to suction the label on the material carrier into the moving mold assembly.
4. The lid and spoon assembly device according to claim 3, characterized in that, The moving drive mechanism includes an infeed / outfeed transverse drive module, an infeed / outfeed mounting frame, a first position moving adjustment module, and a second position moving adjustment module. The infeed / outfeed mounting frame is disposed on the infeed / outfeed transverse drive module. The first position moving adjustment module and the second position moving adjustment module are disposed on the infeed / outfeed mounting frame in the same moving adjustment direction, and the moving adjustment direction of the first position moving adjustment module and the second position moving adjustment module is perpendicular to the transverse drive direction of the infeed / outfeed transverse drive module. The material picking mounting frame is disposed on the first position moving adjustment module, and the material feeding mounting frame is disposed on the second position moving adjustment module. The infeed / outfeed transverse drive module is used to drive the picking robot and the loading robot to enter and exit the injection molding machine. The first position movement adjustment module is used to move and adjust the position of the picking robot, and the second position movement adjustment module is used to move and adjust the position of the loading robot.
5. The lid and spoon assembly device according to claim 1, characterized in that, The material handling telescopic component is a telescopic cylinder driven structure; when the material handling component is driven to move and adsorb the lid and the spoon on the fixed mold component, the telescopic cylinder driven structure is in a ventilated state; when the ejector module ejects the lid and the spoon, the telescopic cylinder driven structure is in a de-ventilated state.
6. The lid and spoon assembly device according to claim 1, characterized in that, The assembly robot includes an assembly flipping drive assembly, an assembly lifting drive assembly, and an assembly suction assembly. The assembly lifting drive assembly is disposed on the assembly flipping drive assembly, and several assembly suction assemblies are respectively disposed on the assembly lifting drive assembly. The assembly suction assemblies are used to pick up the spoon on the material picking assembly, press the spoon into the lid, and pick up the assembly of the spoon and the lid. The assembly lifting drive assembly is used to drive the assembly suction assemblies to move the spoon on the material picking assembly to the position corresponding to the lid. The assembly flipping drive assembly is used to drive the assembly suction assemblies to flip and unload the material.
7. The lid and spoon assembly device according to claim 6, characterized in that, The assembly adsorption component includes an assembly adsorption base, a first suction nozzle, a second suction nozzle, and a push-pressing module. The assembly adsorption base is disposed on the assembly lifting drive component. The assembly adsorption base has a positioning groove for positioning. The first suction nozzle is disposed in the positioning groove and is used to adsorb the spoon. The second suction nozzle is disposed outside the positioning groove and is used to adsorb the lid. The push-pressing module is disposed on the assembly adsorption base. By moving the push-pressing module through the positioning groove, the spoon in the positioning groove is pushed out and pressed into the lid on the material picking and suction component.
8. The lid and spoon assembly device according to claim 1, characterized in that, It also includes a material discharge mechanism, on which the assembly robot can place the assembly of the spoon and the lid onto the material discharge mechanism, which is used to discharge the assembly of the spoon and the lid.
9. The lid and spoon assembly device according to claim 8, characterized in that, The material discharge mechanism includes a material discharge frame and material discharge guide rails, a material discharge positioning component, and a material discharge pushing component respectively disposed on the material discharge frame. A plurality of material discharge guide rails are arranged sequentially in the same direction. The material discharge guide rails are used to place the assembly of the spoon and the lid. A plurality of material discharge positioning components are respectively disposed below each of the material discharge guide rails. The material discharge positioning components are used to adsorb and position the assembly of the spoon and the lid when the assembly robot places the assembly of the spoon and the lid on the material discharge guide rail. The material discharge pushing component is used to push the assembly of the spoon and the lid to slide along the material discharge guide rail.
10. The lid and spoon assembly device according to claim 9, characterized in that, It also includes a feeding conveyor belt, a material box, and a material blocking assembly. Several of the material boxes are sequentially arranged on the feeding conveyor belt along the conveying direction of the feeding conveyor belt. The material box is used to load the assembly of the spoon and the lid. The feeding conveyor belt is used to drive the material box to move so that the material box is connected to the discharge guide rail. The material blocking assembly is arranged between the feeding conveyor belt and the discharge guide rail. The material blocking assembly is used to block or release the assembly of the spoon and the lid on the discharge guide rail from entering the material box.