Single multi-embedded full-automatic feeding station

Abstract

The utility model relates to a kind of single multiple pre-embedded piece full-automatic feeding station in the field of automation, including manipulator, embedded part fixture, first camera and feeding assembly;Embedded part fixture includes mutually matched sub-embedded part fixture and parent embedded part fixture, and sub-embedded part fixture and first camera are installed on manipulator.This application is matched by setting sub-parent embedded part fixture, wherein parent embedded part fixture is same with pre-embedded piece structure position in injection mold, and sub-embedded part fixture simultaneously assembles multiple pre-embedded pieces in the pre-embedded piece hole position of injection mold one-time, realizes the full-automatic feeding of nut type pre-embedded piece, effectively improves production efficiency, simultaneously, sub-embedded part fixture is integrated on the manipulator of grabbing pre-embedded piece, changes multiple station, multiple station type production line mode into one station type workstation mode, not only significantly improves duty ratio, and only single manipulator can realize the installation of pre-embedded piece, reduces the configuration use of manipulator, conveying line and other devices, greatly reduces production cost.

Description

Technical Field

[0001] This utility model relates to the field of automation technology, specifically to a fully automatic feeding station for multiple pre-embedded parts in a single operation. Background Technology

[0002] With the improvement of new material performance, more and more mechanical parts are being replaced by injection-molded products instead of pure metal parts. Incorporating pre-embedded components such as nuts into injection-molded products can effectively improve product strength, optimize product design, reduce costs, and promote environmental sustainability. The general procedure is as follows: First, a metal part is embedded in the mold, and then liquid plastic is injected. Under the influence of gravity and heat, the liquid plastic melts and adheres to the mold cavity to form the desired shape of the product. During the molding process, the liquid plastic passes through through holes in the metal part. After the product cools and solidifies, the injection-molded part is fixed within the grooves and through holes of the metal part, and then the molded product is removed.

[0003] Current injection molding operations often employ production lines with multiple workstations, requiring numerous robotic arms and conveying devices for transporting embedded parts. When inserting nut-type metal embedded parts one by one into the embedded part mounting holes of the injection mold using robotic arms, this process is time-consuming and inefficient, especially when the injection molded product contains multiple embedded parts. To address this, those skilled in the art have made improvements by pre-setting positioning fixtures to pre-place the embedded parts onto a fixture before installation. For example, invention patent CN111730804A discloses a robotic arm clamping fixture, including an embedding fixture, a positioning fixture, and a robotic arm. The positioning fixture is mounted on the robotic arm. The embedding fixture includes a fixture body and a driving device for moving the fixture body. The fixture body includes a fixture support and an insert placement platform mounted on the fixture support. The insert placement platform has multiple insert placement positions for placing metal inserts, and each insert placement position has an insert positioning element for positioning the metal insert. This clamping fixture alleviates the efficiency problem of placing multiple embedded parts at the same time to some extent, but the inserts still need to be placed manually on the embedding fixture, and the positioning fixture design is relatively complex, making it difficult to guarantee the efficiency and accuracy of the operation, and it is difficult to apply to the fully automated installation of nut-type structural parts. Utility Model Content

[0004] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a fully automatic feeding station for multiple embedded parts in a single operation.

[0005] According to the present invention, a fully automatic feeding station for multiple pre-embedded parts in a single operation includes a robotic arm, an embedded part fixture, a first camera, and a feeding assembly.

[0006] The embedded part fixture includes a sub-embedded part fixture and a mother embedded part fixture. The sub-embedded part fixture includes a first motor, a first push block, a sleeve shaft, and a fixing plate. The fixing plate is mounted on the robotic arm. Multiple sleeve shafts are arranged on the outer surface of the fixing plate according to the pre-embedded part installation positions. The front end of each sleeve shaft is provided with a sleeve head for fitting the pre-embedded part. The first push block is a sleeve structure with multiple convex columns formed on the plate. The first push block slides on the sleeve shaft through the sleeve. The drive shaft of the first motor passes through the fixing plate and drives the first push block. The mother embedded part fixture includes a second motor, a second push block, and a support frame. The support frame includes an embedded part plate located at the top. The embedded part plate has multiple through-hole embedded part holes arranged according to the pre-embedded part installation positions. The second push block is a top shaft structure with multiple convex columns formed on the plate. The second push block is driven and connected to the bottom of the embedded part plate by the second motor. The top shaft extends into the embedded part hole and slides freely.

[0007] The robotic arm is equipped with a support for gripping the embedded parts. A first camera is mounted on the robotic arm. The first camera acquires the position information of the embedded parts located in the feeding assembly. The support is driven to move to a predetermined position and places the embedded parts one by one into the embedded part holes. The robotic arm moves the sleeve head to align with the embedded part holes and moves it downward. The sleeve head enters the embedded part holes. The second motor drives the second push block to move upward. The upward-moving top shaft pushes the embedded parts onto the sleeve head. The robotic arm drives the sub-embedded part fixture to move in front of the injection molding machine mold. The first motor drives the first push block to move forward. The forward-moving sleeve pushes the embedded parts onto the sleeve head into the embedded part mounting holes of the mold.

[0008] In some embodiments, the sleeve is symmetrically provided with a top bead on its circumference, and the top bead is radially extended and retracted by an elastic element built into the sleeve cavity.

[0009] In some embodiments, the robotic arm includes a robotic arm, a shaft head, a load-bearing frame, and a support. The shaft head is connected to the robotic arm, the upper end of the load-bearing frame is driven to the shaft head, the support is mounted on the lower end of the load-bearing frame, and the first camera is connected to the robotic arm.

[0010] In some embodiments, the shaft head includes a drive unit and a rotating unit. The drive unit has a U-shaped structure. The closed upper end of the drive unit is connected to the robotic arm. The rotating unit is rotatably connected to the open lower end of the drive unit. The drive unit drives the rotating unit to swing. The upper end of the load-bearing frame is rotatably connected to the rotating unit. The rotating unit drives the load-bearing frame to rotate.

[0011] In some embodiments, the feeding assembly includes a vibratory feeder and an embedded part feeder, wherein the embedded part feeder inputs the embedded part into the vibratory feeder, and the vibratory feeder disperses the embedded part located in the feeder by vibration.

[0012] In some embodiments, there are multiple sets of feeding components, and the embedded parts output by the multiple sets of feeding components are of different types.

[0013] In some embodiments, a second camera is also included, which is mounted on the robotic arm and is used to obtain whether an embedded part is placed in the embedded part mounting hole of the mold.

[0014] In some embodiments, a material handling fixture is also included, which is connected to one side of the load-bearing frame and is equipped with a suction cup for removing the injection-molded product from the mold.

[0015] In some embodiments, an injection molding machine is also included for injection molding the product, and the robotic arm is positioned on the injection molding machine.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The fully automatic feeding station for nut-type embedded parts in this application sets up a female and male embedded part fixture that cooperate with each other. The female embedded part fixture is in the same position as the embedded part in the injection mold. The male embedded part fixture assembles multiple embedded parts into the embedded part holes of the injection mold at the same time, realizing fully automatic feeding of nut-type embedded parts and effectively improving production efficiency. At the same time, the male embedded part fixture is integrated into the robot arm that grips the embedded parts, changing the multi-station production line mode to a one-stop workstation mode. This not only significantly improves the duty cycle, but also requires only a single robot arm to install the embedded parts, reducing the configuration and use of robots, conveyor lines and other devices, and greatly reducing production costs.

[0018] 2. The fully automatic feeding station for nut-type embedded parts in this application improves the accuracy of embedded part installation by integrating a second camera and a material handling fixture into the robotic arm, further enhancing the integration of the device and realizing a fully automatic workstation that includes removing the injection-molded embedded parts. Attached Figure Description

[0019] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of the fully automatic feeding station for multiple pre-embedded parts in a single operation according to this utility model;

[0021] Figure 2This is a schematic diagram of the structure of the embedded part fixture of this utility model mounted on a robotic arm;

[0022] Figure 3 for Figure 2 Enlarged structural diagram of section A in the middle;

[0023] Figure 4 This is a schematic diagram of the structure of the embedded part fixture of this utility model;

[0024] Figure 5 This is a schematic diagram of the structure of the mother embedded part fixture of this utility model;

[0025] Figure 6 This is a schematic diagram of the internal structure of the mother embedded part fixture of this utility model;

[0026] Figure 7 This is a schematic diagram of the structural layout of a fully automatic feeding station for multiple pre-embedded parts and an injection molding machine according to this utility model. Detailed Implementation

[0027] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0028] Example 1

[0029] This embodiment provides a fully automated feeding station for multiple embedded parts in a single operation, such as... Figure 1-7 As shown, it mainly includes a robotic arm 100, an embedded part fixture 200, a first camera 300, and a feeding assembly 400.

[0030] The robotic arm 100 mainly includes a robotic arm 110, a shaft head 120, a support frame 130, and a support fixture 140. The robotic arm 110 is a truss-type mechanism with a three-axis robotic arm. The X-axis robotic arm of the robotic arm 110 can be mounted on the injection molding machine 700 to perform corresponding actions, improving the overall compactness of the loading station and reducing costs by eliminating the need for a separate support. The shaft head 120 mainly consists of a drive unit 121 and a rotating unit 122. The drive unit 121 is generally inverted U-shaped, with its upper end connected to the lower end of the Z-axis robotic arm of the robotic arm 110. The upper end of the rotating unit 122 is rotatably connected between the two legs of the drive unit 121, allowing the drive unit 121 to drive the rotating unit 122 to swing. The support frame 130 is a rectangular frame structure, with its upper end connected to the rotating unit 122, which drives the support frame 130 to rotate. The support 140 is installed at the lower end of the support frame 130. Specifically, the support 140 includes a drive cylinder 141 and support legs 142. The drive cylinder 141 is suspended and connected to the lower end of the support frame 130, and the support legs 142 are two semi-circular cylinders, driven and connected to the drive shaft of the drive cylinder 141. The two support legs 142 are used to extend into the air of the embedded nut, and then the drive cylinder 141 drives the two support legs 142 to move linearly away from each other, thereby clamping the embedded nut in an internal support manner. The first camera 300 is suspended and connected to the lower end of the Z-axis robotic arm through a hanging bracket. The first camera 300 is used to photograph the embedded part below and transmit it to the terminal system. The terminal system calculates the position information of the embedded part and sends instructions to the robotic arm 100 and the embedded part fixture 200, etc., to execute corresponding actions.

[0031] The embedded part fixture 200 includes a sub-embedded part fixture 210 and a mother embedded part fixture 220 that cooperate to complete the batch transfer of embedded parts. For example... Figure 4As shown, the sub-embedded part fixture 210 mainly includes a first motor 211, a first push block 212, sleeve shafts 213, and a fixing plate 214. The fixing plate 214 is installed on one side of the support frame 130, and multiple sleeve shafts 213 are connected to the outer surface of the fixing plate 214. The structural layout of the multiple sleeve shafts 213 on the fixing plate 214 is the same as the structural layout of the pre-embedded part mounting holes in the injection mold of the injection molding machine 700. The front end of the sleeve shaft 213 is a sleeve head 2130, which is used to fit the pre-embedded part. In this embodiment, the sleeve 2130 is provided with a top bead 2131 along its circumferential surface. A spring is installed inside the cavity of the sleeve 2130 to push the top bead 2131, allowing the top bead 2131 to extend and retract radially. During fitting, the retraction allows the embedded part to enter the sleeve 2130. After fitting, the elastic force keeps the top bead 2131 in tight contact with the inner circumferential surface of the embedded part, thus preventing the embedded part from falling off. The first pushing block 212 is a structure with multiple columnar sleeves 2120 formed on the plate. Each sleeve 2120 has an open end structure, and the structural layout of the multiple sleeves 2120 on the plate is the same as the structural layout of the shaft 213. The inner diameter of the sleeve 2120 is adapted to the shaft 213. The first pushing block 212 is slidably connected to the shaft 213 via the sleeve 2120, at which time the sleeve 2130 is located outside the end face of the sleeve 2120. The first motor 211 is mounted on the inner surface of the fixed plate 214. The drive shaft of the first motor 211 passes through the fixed plate 214 and drives the first push block 212 to slide on the sleeve shaft 213.

[0032] The mother component fixture 220 mainly includes a second motor 221, a second push block 222, and a support frame 223, such as Figure 4-5 As shown, the support frame 223 is a frame structure formed by an upper embedded plate 2230, a lower base plate, and multiple columns in the middle. The embedded plate 2230 has pre-embedded holes 2231, and the pre-embedded parts are through-hole structures used to accommodate them. The second push block 222 has a similar structure to the first push block 212, also forming multiple columnar top shafts 2220 on the plate. The top shafts 2220 can be solid columns or hollow cylinders. The second push block 222 is slidably connected to the embedded plate 2230 via the second motor 221. Specifically, the second motor 221 is mounted on the base plate of the support frame 223 and located between the embedded plate 2230 and the base plate. The plate of the second push block 221 is mounted on the drive shaft of the second motor 221. At this time, the top shaft 2220 is located in the pre-embedded hole 2231. When the second motor 221 drives the second push block 221 to move up and down, the top shaft 2220 slides up and down in the pre-embedded hole 2231.

[0033] The feeding assembly 400 is used to supply embedded parts, such as... Figure 1As shown, the system mainly includes a feeder 410 and a vibratory feeder 420, both mounted on a worktable. A female embedded part fixture 220 is also placed on the worktable and positioned close to the vibratory feeder 420. Taking a nut as an example, the nut is fed from the feeder 410 to the vibratory feeder 420. The vibratory feeder 420 disperses the nuts falling into the feeder through vibration, forming individual, non-overlapping nuts. In some embodiments, the feeder assembly 400 consists of two sets. The embedded nut types placed in the two sets of feeders 410 are different, mainly in terms of shape and size, but both are structural parts with holes.

[0034] The working procedure of the fully automatic nut-type embedded part feeding station provided in this embodiment is as follows: After the embedded nut is fed into the vibratory feeder 420 by the feeder 410, the vibration of the vibratory feeder 420 causes the nuts falling into the feeder to be dispersed, especially the nuts that are stacked together are basically dispersed due to the vibration. The robot arm 100 moves to a predetermined position above the vibratory feeder through the coordinated movement of its X-axis robot arm, Y-axis robot arm and Z-axis robot arm. The first camera 300 takes pictures of the embedded nut located in the vibratory feeder 420 according to the instructions and transmits them to the terminal control system. The terminal control system sends instructions to the robot arm 100 and the embedded part fixture 200 respectively according to the position information of the nut in the vibratory feeder 420. First, the robot arm 110 drives the support 140 to move to the predetermined position, and then the shaft head 120 drives the support 140 to move to the predetermined position. After the support frame 130 rotates to a predetermined angle, the two support legs 142 of the support 140 enter the holes of the embedded nut. The drive cylinder 141 drives the two support legs 142 to move away from each other by a predetermined distance, and the embedded nut is grasped. Continuing through the displacement of the robotic arm 110 and the rotation of the shaft head 120, the embedded nut is moved above the embedded plate 2230 and placed in the embedded hole 2231. The two support legs 142 are then driven closer together by the drive cylinder 141 to place the embedded nut into the embedded hole 2231. A predetermined number of embedded nuts are placed into the embedded holes 2231 of the embedded plate 2230 in the above manner. After the embedded part is placed in the embedded hole 2231 at the predetermined position on the embedded plate 2230, the support frame 130 is flipped by the drive unit 121, that is, the support frame 130 changes from vertical to basically horizontal. Then, the support frame 130 is rotated by the rotating unit 122 by a predetermined angle so that the sub-embedded part fixture 210 and the mother embedded part fixture 220 are vertically opposite each other. At this time, the robotic arm 110 drives the sub-embedded part fixture 210 to move down a predetermined distance, and the sleeve head 2130 of the sleeve shaft 213 enters the embedded hole 2231 and is located in the hole of the embedded part nut. The second push block 222 is driven to move upward by the second motor 221, and the top shaft 2220 pushes the embedded part nut onto the sleeve head 2130. Since the sleeve head 2130 is circumferentially provided with top balls, the nut does not slip off the sleeve head 2130. The sub-embedded part fixture 210 is moved to a predetermined position in front of the injection mold of the injection molding machine 700 by the action of the robotic arm 110 and the shaft head 120. At this time, the pre-embedded part nut on the sleeve head 2130 is aligned with the pre-embedded part hole of the injection mold. The first motor 211 pushes the first top block 212 forward, and the pre-embedded part nut is pushed from the sleeve head 2130 into the pre-embedded part hole through the sleeve 2120, thus completing the fully automated installation of the pre-embedded part.As described above, this embodiment achieves fully automated feeding of nut-type embedded parts by setting up mutually cooperating female and male embedded part fixtures. The female embedded part fixture is in the same position as the embedded part structure in the injection mold, and the male embedded part fixture assembles multiple embedded parts into the embedded part holes of the injection mold at one time, effectively improving production efficiency. At the same time, the male embedded part fixture is integrated into the robot arm that grips the embedded parts, changing the multi-station production line mode to a one-stop workstation mode. This not only significantly improves the duty cycle, but also requires only a single robot arm to install the embedded parts, reducing the configuration and use of robot arms, conveyor lines and other devices, and greatly reducing production costs.

[0035] Example 2

[0036] This embodiment 2 is based on embodiment 1. By integrating a second camera and a material handling fixture into the robotic arm, the accuracy of the embedded part installation is improved, and the integration of the device is further enhanced, realizing a fully automated workstation that includes removing the injection-molded embedded part. Specifically:

[0037] like Figure 1-7 As shown, a second camera 500 is installed on the support frame 130. The second camera 500 and the sub-embedded part fixture 210 are located on opposite sides of the support frame 130. After the sub-embedded part fixture 210 pushes the embedded part nut into the embedded part mounting hole of the injection mold of the injection molding machine 700, the second camera 500 takes a picture to determine whether the embedded part is installed in place, ensuring that the embedded part is installed in place and ensuring the product qualification rate.

[0038] Furthermore, a material handling fixture 600 is also installed on the support frame 130. The material handling fixture 600 mainly consists of a fixture plate 610 and suction cups 620 connected to the fixture plate 610. The suction cups 620 are trumpet-shaped, and multiple suction cups 620 are installed on the fixture plate 610, which is located on one side of the support frame 130, as shown in the attached figure. After the injection molding machine 700 completes injection and opens the injection mold, the suction cups 620 can be used to pick up the injection molded product by the movement of the robotic arm 110 and the shaft head 120. Then, the sub-embedded part fixture 210 is moved to a predetermined position in front of the injection mold of the injection molding machine 700, and the embedded part nut is pushed from the sleeve head 2130 into the embedded part hole through the sleeve 2120, completing the fully automated installation of the embedded part.

[0039] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A fully automatic feeding station for multiple pre-embedded parts in a single operation, characterized in that, It includes a robotic arm (100), an embedded part fixture (200), a first camera (300), and a feeding assembly (400); The embedded part fixture (200) includes a sub-embedded part fixture (210) and a mother embedded part fixture (220). The sub-embedded part fixture (210) includes a first motor (211), a first push block (212), a sleeve shaft (213), and a fixing plate (214). The fixing plate (214) is mounted on the robot (100). Multiple sleeve shafts (213) are arranged on the outer surface of the fixing plate (214) according to the embedded part installation position. The front end of the sleeve shaft (213) is provided with a sleeve head (2130) for sleeved with the embedded part. The first push block (212) is a sleeve (2120) structure with multiple convex columns formed on the plate. The first push block (212) slides on the sleeve shaft (213) through the sleeve (2120). The first motor The drive shaft of (211) passes through the fixed plate (214) and drives the first push block (212). The mother embedded part fixture (220) includes a second motor (221), a second push block (222), and a stand (223). The stand (223) includes an embedded part plate (2230) located at the top. The embedded part plate (2230) is provided with multiple through-hole embedded holes (2231) according to the pre-embedded part installation position. The second push block (222) is a top shaft (2220) structure with multiple convex columns formed on the plate. The second push block (222) is driven and connected to the bottom of the embedded part plate (2230) by the second motor (221). The top shaft (2220) extends into the embedded hole (2231) and slides freely. The robotic arm (100) is equipped with a support (140) for gripping the embedded parts. A first camera (300) is mounted on the robotic arm (100). The first camera (300) acquires the position information of the embedded parts located in the feeding assembly (400). The support (140) is driven to move to a predetermined position and places the embedded parts one by one into the embedded part holes (2231). The robotic arm moves the sleeve (2130) to be aligned with the embedded part holes (2231) and moves it downward. The sleeve (2130) enters the... Inside the embedded part hole (2231), the second motor (221) drives the second push block (222) to move upward, and the upward-moving top shaft (2220) pushes the embedded part onto the sleeve (2130). The robot (100) drives the sub-embedded part fixture (210) to move to the front of the injection molding machine mold, and the first motor (211) drives the first push block (212) to move forward. The forward-moving sleeve (2120) pushes the embedded part sleeved on the sleeve (2130) into the embedded part mounting hole of the mold.

2. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 1, characterized in that, The sleeve (2130) is symmetrically provided with a top bead (2131) on its circumference, and the top bead (2131) is radially extended and retracted by an elastic element built into the cavity of the sleeve (2130).

3. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 1, characterized in that, The robotic arm (100) includes a robotic arm (110), a shaft head (120), a load-bearing frame (130), and a support (140). The shaft head (120) is connected to the robotic arm (110), the upper end of the load-bearing frame (130) is driven to the shaft head (120), the support (140) is installed at the lower end of the load-bearing frame (130), and the first camera (300) is connected to the robotic arm (110).

4. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 3, characterized in that, The shaft head (120) includes a drive part (121) and a rotating part (122). The drive part (121) has a U-shaped structure. The closed upper end of the drive part (121) is connected to the robotic arm (110). The rotating part (122) is rotatably connected to the open lower end of the drive part (121). The drive part (121) drives the rotating part (122) to swing. The upper end of the load-bearing frame (130) is rotatably connected to the rotating part (122). The rotating part (122) drives the load-bearing frame (130) to rotate.

5. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 1, characterized in that, The feeding assembly (400) includes a vibratory feeder (410) and an embedded part feeder (420). The embedded part feeder (420) feeds the embedded parts into the vibratory feeder (410), and the vibratory feeder (410) disperses the embedded parts located in the feeder by vibration.

6. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 5, characterized in that, The feeding assembly (400) consists of multiple sets, and the embedded parts output by the multiple sets of feeding assemblies (400) are of different models.

7. The fully automatic feeding station for multiple embedded parts in a single operation according to any one of claims 1-6, characterized in that, It also includes a second camera (500), which is mounted on the robotic arm (100). The second camera (500) is used to obtain whether there is an embedded part in the embedded part mounting hole of the mold.

8. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 7, characterized in that, It also includes a material handling fixture (600), which is connected to one side of the load-bearing frame (130) of the robot (100). The material handling fixture (600) is provided with a suction cup (620) for removing the injection-molded product from the mold.

9. The fully automatic feeding station for multiple embedded parts in a single operation according to claim 8, characterized in that, It also includes an injection molding machine (700) for injection molding of products, and the robotic arm (100) is located on the injection molding machine (700).

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