An OBD upper cover forming device

Abstract

The utility model discloses an OBD upper cover forming equipment, it includes insert feeding station, loading table, injection molding equipment, finished product placing table, marking station and finished product output station, insert feeding station, loading table, injection molding equipment, finished product placing table, marking station and finished product output station realize automatic insert tray, transfer, injection molding, marking and code scanning after forming OBD upper cover, thereby improve production efficiency, reduce production error rate and artificial labor intensity.

Description

Technical Field

[0001] This utility model belongs to the technical field of automotive parts molding equipment, specifically relating to an OBD cover molding equipment. Background Technology

[0002] OBD cover is a component used in automobiles, mainly for the OBD module. Currently, the OBD cover is formed by manually placing the inserts on a tray, then an industrial robot picks up the inserts from the tray and feeds them into the injection molding equipment. The inserts are then encapsulated and injection molded to form the OBD cover with the inserts. After the OBD cover cools and solidifies in the injection molding equipment, the industrial robot picks up the finished product and places it on a conveyor for output. Then, the finished product is manually loaded and transferred to the next process for further processing. However, this forming method relies heavily on manual labor, resulting in low production efficiency. In mass production, the manual labor intensity is high, and manual tray placement is prone to omissions. Utility Model Content

[0003] The purpose of this utility model is to provide an OBD cover molding device.

[0004] To achieve the above objectives, the present invention employs an OBD cover molding device, which includes:

[0005] An insert loading station is provided, which includes a loading mechanism and a first pick-and-feed robot, wherein the first pick-and-feed robot is equipped with an insert gripping mechanism.

[0006] The loading platform includes an insert positioning plate and a second picking and feeding robot. The insert positioning plate is provided with a first contour positioning groove for insert positioning. The second picking and feeding robot is equipped with a gripping device. The gripping device includes a frame and an insert picking and feeding mechanism and a finished product taking out mechanism respectively installed on opposite sides of the frame. The first picking and feeding robot is located between the loading mechanism and the insert positioning plate.

[0007] Injection molding equipment, wherein a movable mold is installed on the movable part of the injection molding equipment, and a fixed mold is installed on its fixed part;

[0008] A finished product placement table, comprising a finished product positioning plate and a second contour positioning groove disposed on the finished product positioning plate and used for finished product positioning, wherein a second feeding robot is located between the insert positioning plate, the finished product positioning plate and the injection molding equipment;

[0009] The marking station includes a mobile platform, a marking area, a third material handling robot, and a barcode scanning device. The marking area, the finished product positioning plate, and the third material handling robot are arranged around the mobile platform. Laser marking machines are installed on the side and top of the marking area, and a material handling device is installed on the third material handling robot.

[0010] The finished product output station includes a belt conveyor located next to the third material handling robot and the barcode scanning device.

[0011] According to the OBD cover molding equipment described above, the feeding mechanism includes a first feeding group, which includes a first feeding vibratory plate, a first feeding guide rail, a first feeding vibrator, a first support frame, a first displacement cylinder, a first linear guide rail, and a first sliding material rail. The first linear guide rail and the first displacement cylinder are both mounted on the first support frame. The first feeding guide rail is mounted on the first feeding vibrator and is connected to the outlet of the first feeding vibratory plate. The first sliding material rail is located at the outlet of the first feeding guide rail and is connected to... The first feeding guide rails are arranged perpendicularly to each other. The first sliding rail is installed on the slider of the first linear guide rail. The piston rod of the first displacement cylinder is connected to the first sliding rail. The first linear guide rail, the first sliding rail, and the first displacement cylinder are arranged parallel to each other. The first sliding rail is provided with a baffle bar and a straight groove on the same axis. The inner wall of the straight groove is recessed to form a first insert contour groove. The baffle bar is located in front of the opening of the straight groove and is fixedly installed on the first support frame. The bottom surface of the first insert contour groove is flush with the bottom surface of the material groove of the first feeding guide rail.

[0012] According to the OBD cover forming equipment described above, the feeding mechanism further includes a second feeding group, which includes a second feeding vibratory plate, a second feeding guide rail, a second feeding vibrator, a second support frame, a second displacement cylinder, a third displacement cylinder, and a first sliding material rail. The second feeding guide rail is connected to the outlet of the second feeding vibratory plate. The second displacement cylinder is mounted on the second support frame. The third displacement cylinder is mounted on the displacement component of the second displacement cylinder. The second sliding material rail is mounted on the displacement component of the third displacement cylinder. The second sliding material rail is located at the outlet of the second feeding guide rail and is perpendicular to the second feeding guide rail. The first sliding material rail is provided with a baffle and a second insert contouring groove on the same axis. A baffle is provided at the front opening of the second insert contouring groove and the baffle is fixed to the second support frame.

[0013] According to the OBD cover forming equipment described above, the insert gripping mechanism includes a base body, at least one first cylinder gripper, and at least one second cylinder gripper. The first cylinder gripper and the second cylinder gripper are located on opposite sides of the base body. A first lifting cylinder is provided above each first cylinder gripper, and a second lifting cylinder is provided above each second cylinder gripper. Each first lifting cylinder and each second lifting cylinder are fixed on the base body. The piston rod of each first lifting cylinder is connected to the upper end of each first cylinder gripper, and the piston rod of each second lifting cylinder is connected to the upper end of each second cylinder gripper. The upper end of each first cylinder gripper is slidably mounted on one side of the base body via a first vertical guide rail, and the upper end of each second cylinder gripper is slidably mounted on the other side of the base body via a second vertical guide rail. The base body is mounted on the rotation control end of a first feeding robot.

[0014] According to the OBD cover molding equipment described above, the loading platform further includes an alternating drive mechanism. The alternating drive mechanism includes a base, two upper linear guides, two lower linear guides, and a synchronous belt drive mechanism. The two lower linear guides are arranged parallel to each other and installed on the lower plane of the base. The two upper linear guides are arranged parallel to each other and respectively installed on two raised platforms on the base. The two upper linear guides are located between the two raised platforms on the base, and the upper linear guides are located above the lower linear guides. The upper linear guides, lower linear guides, and synchronous belt drive mechanism are arranged parallel to each other, and... Insert positioning discs are installed on both the slider of the upper linear guide and the lower linear guide. The width of the insert positioning disc on the lower linear guide is smaller than the distance between the two raised platforms on the base. The synchronous belt drive mechanism is installed on the base, and the insert positioning disc on the upper linear guide is fixedly connected to one end of the upper belt of the synchronous belt drive mechanism through a first connector. The insert positioning disc on the lower linear guide is fixedly connected to the other end of the lower belt of the synchronous belt drive mechanism away from the first connector through a second connector, so that when the synchronous belt of the synchronous belt drive mechanism moves, it drives the insert positioning discs at both locations to move alternately.

[0015] According to the OBD cover molding equipment described above, the insert picking and feeding mechanism includes two first picking and feeding components installed at two diagonally opposite positions on one side of the frame. The first picking and feeding components include a third lifting cylinder, a lifting plate, a lifting sleeve, and a guide post. The third lifting cylinder is fixed to one side of the frame. The lifting plate is installed on the piston rod of the third lifting cylinder. The guide post is fixed to the frame, and its upper section passes through the lifting plate. The lifting sleeve is sleeved on the upper section of the guide post. The lifting plate and the lifting sleeve are fixedly arranged to each other. The length of the lifting sleeve is less than that of the upper section of the guide post. A cross groove is formed at the end of the upper section of the guide post. An elastic element is installed in the cross groove. A protrusion is formed on the outer side of the elastic element. The protrusion protrudes from the outer peripheral wall of the upper section of the guide post.

[0016] According to the OBD cover molding equipment described above, the insert picking and feeding mechanism further includes two second picking and feeding components installed at two diagonally opposite positions on one side of the frame. The second picking and feeding components include a base plate, a push-pull cylinder, two movable rods, and two fixed sleeves. The base plate is fixed to one side of the frame and a portion of it extends out of the frame. The push-pull cylinder is fixed to the bottom surface of the portion of the base plate that extends out of the frame and is located in the middle of the base plate. A movable plate is fixed on the piston rod of the push-pull cylinder. The two movable rods are symmetrically distributed on the left and right sides of the push-pull cylinder with the central axis of the piston rod as the axis of symmetry. The movable plate is fixedly connected to the two movable rods. The two movable rods penetrate the base plate. The two fixed sleeves are respectively fitted onto the upper section of each movable rod and fixed to the base plate.

[0017] According to the OBD cover forming equipment described above, the finished product removal mechanism includes four first pneumatic grippers. The four first pneumatic grippers are installed on the other side of the frame, and the gripper portions of the four first pneumatic grippers are arranged parallel to the other side of the frame. A first top post is provided on the other side of the frame. Two first pneumatic grippers are located on the first side of the gripping area on the other side of the frame, one first pneumatic gripper is located on the second side of the gripping area on the other side of the frame, and the last first pneumatic gripper is located on the third side of the gripping area on the other side of the frame.

[0018] According to the OBD cover forming equipment described above, the material handling device includes a material handling plate and four second pneumatic grippers arranged in a matrix. The four second pneumatic grippers are mounted on the material handling plate, and the gripper portions of the four second pneumatic grippers are arranged parallel to the material handling plate. A second top column is mounted on the material handling plate.

[0019] According to the OBD cover forming equipment described above, the moving platform includes a loading tray and a servo slide. The loading tray is mounted on the slider of the servo slide. A third contour positioning groove is provided on the loading tray, and top pressure cylinders are respectively installed on the opposite sides of the third contour positioning groove. The scanning device includes a scanning camera.

[0020] The OBD cover molding equipment of this utility model has the following beneficial effects:

[0021] A vibratory feeder is used to sequentially feed multiple inserts in batches to predetermined positions. Then, a first pick-and-feed robot picks up the inserts at the designated positions and transfers them to the first contouring positioning slot of the insert positioning plate. A second pick-and-feed robot picks up the inserts from the first contouring positioning slot and transfers them to an injection molding machine for overmolding. After injection molding is complete and the finished product is formed, a second pick-and-feed robot picks up the finished product and transfers it to the second contouring positioning slot. A third pick-and-feed robot picks up the finished product from the second contouring positioning slot and transfers it to the third contouring positioning slot of a moving platform. Then, the platform is moved... The moving platform transfers the finished product in the third contour positioning slot to the marking area. At this time, the marking machine marks the finished product. After the marking is completed, the moving platform moves the finished product back to its original position. The third picking and feeding robot grabs the finished product in the third contour positioning slot and transfers it to the barcode scanning device for scanning. After the barcode scanning is completed, the third picking and feeding robot places the grabbed finished product on the belt conveyor for output. It can be seen that the tray placement, transfer, marking and barcode scanning of the OBD cover forming are all automatically realized, thereby improving production efficiency and reducing the production error rate and manual labor intensity. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall equipment structure (I);

[0023] Figure 2 This is a schematic diagram of the overall equipment structure (II);

[0024] Figure 3 yes Figure 1 Enlarged view of point A;

[0025] Figure 4 This is a schematic diagram of the structure combining the loading station and the loading platform (I);

[0026] Figure 5 yes Figure 4 Enlarged view of point B;

[0027] Figure 6 yes Figure 4 Enlarged view of point C;

[0028] Figure 7 This is a schematic diagram (II) of the structure combining the loading station and the loading platform;

[0029] Figure 8 This is a schematic diagram of the insert located within the first contour positioning groove;

[0030] Figure 9 This is a schematic diagram showing the connection between the two positioning discs and the synchronous belt drive mechanism;

[0031] Figure 10 This is a schematic diagram of the gripping device for grabbing finished products (I);

[0032] Figure 11 This is a cross-sectional view of the first pick-and-place component on the gripping device;

[0033] Figure 12 This is a cross-sectional view of the second pick-and-place component on the gripping device;

[0034] Figure 13 This is a schematic diagram of the gripping device for grabbing finished products (II);

[0035] Figure 14 This is a schematic diagram of the device structure;

[0036] Figure 15 This is a schematic diagram of the explosion structure of the first pneumatic gripper (I);

[0037] Figure 16 This is a schematic diagram of the explosion structure of the first pneumatic gripper (II);

[0038] Figure 17 This is a cross-sectional view of the first pneumatic gripper;

[0039] Figure 18 This is a schematic diagram of the structure combining the finished product display stand and the marking station (I);

[0040] Figure 19 yes Figure 18 Enlarged view of point D in the image;

[0041] Figure 20 This is a schematic diagram (II) of the structure combining the finished product display stand and the marking station;

[0042] Figure 21 This is a schematic diagram of the explosion structure of the second pneumatic gripper (I);

[0043] Figure 22 This is a schematic diagram of the explosion structure of the second pneumatic gripper (II);

[0044] Figure 23 This is a cross-sectional view of the second pneumatic gripper.

[0045] Among them, 1. Loading station; 11. First feeding robot; 12. First loading group; 13. Second loading group; 14. Insert gripping mechanism; 121. First loading vibratory plate; 123. First loading guide rail; 122. First loading vibratory machine; 124. First support frame; 125. First displacement cylinder; 126. First sliding material rail; 127. Linear groove; 1271. First insert contouring groove; 128. Material stop bar; 129. First linear guide rail; 130. Material trough; 131. Second feeding vibratory plate; 133. Second feeding guide rail; 132. Second feeding vibratory machine; 134. Second support frame; 135. Second displacement cylinder; 136. Third displacement cylinder; 137. Second sliding material rail; 1371. Second insert contour groove; 138. Baffle; 141. First cylinder gripper; 142. Second cylinder gripper; 143. First lifting cylinder; 144. First vertical guide rail; 145. Second lifting cylinder; 146. Second vertical guide rail;

[0046] 2. Loading platform; 20. Base; 21. Insert positioning plate; 22. First contour positioning groove; 23. Synchronous belt drive mechanism; 24. Upper linear guide rail; 25. Lower linear guide rail; 26. Second pick-and-place robot; 231. Frame; 232. First pick-and-place component; 233. Second pick-and-place component; 234. Finished product removal mechanism; 2321. Guide column; 2322. Third lifting cylinder; 2323. Lifting plate; 2324. Lifting sleeve; 2325. Upper column; 2326. Elastic element; 2327. Cross groove; 2328. Protrusion; 2 331. Base plate; 2332. Push-pull cylinder; 2333. Movable rod; 2334. Movable plate; 2335. Fixed sleeve; 2336. Clamping cylinder; 2341. First pneumatic gripper; 2342. First push rod; 2343. First telescopic cylinder; 2344. First fixed gripper; 2345. First mounting base; 2346. First mounting cavity; 2347. First flipping block; 2348. First movable gripper; 241. Servo motor; 242. Synchronous pulley; 243. Synchronous belt; 244. First connector; 245. Second connector;

[0047] 3. Injection molding equipment; 31. Moving mold; 32. Fixed mold;

[0048] 4. Finished product display stand; 40. Finished product positioning plate; 41. Second contour positioning groove; 42. Material stop block;

[0049] 5. Marking station; 51. Moving platform; 52. Marking area; 53. Laser marking machine; 54. Third feeding robot; 55. Material handling device; 56. Barcode scanning device; 511. Servo slide; 512. Carrying tray; 513. Blocking block; 514. Third contour positioning groove; 515. Top pressure cylinder; 551. Material handling plate; 552. Second pneumatic gripper; 553. Second push rod; 5521. Second telescopic cylinder; 5522. Second fixed gripper; 5523. Second mounting base; 5524. Second movable gripper; 5525. Second flipping block; 5526. Second mounting cavity;

[0050] 6. Finished product output station; 61. Belt conveyor;

[0051] 100. Rack; 200. Insert; Detailed Implementation

[0052] To enable those skilled in the art to better understand this utility model and to more clearly define the scope of protection claimed by this utility model, the present utility model is described in detail below with reference to certain specific embodiments. It should be noted that the following are only some specific embodiments of the present utility model, and the specific and direct descriptions of related structures are merely for the convenience of understanding the present utility model; the specific features do not necessarily or directly limit the scope of implementation of the present utility model. Conventional choices and substitutions made by those skilled in the art under the guidance of the present utility model should all be considered within the scope of protection claimed by this utility model.

[0053] Example:

[0054] This embodiment describes an OBD cover molding equipment, including an insert loading station 1, a loading platform 2, an injection molding machine 3, a finished product placement platform 4, a marking station 5, and a finished product output station 6. The injection molding machine 3 has a movable mold 31 mounted on its movable part and a fixed mold 32 mounted on its fixed part. A molding cavity is formed on the movable mold 31, allowing the movable mold 31 and the fixed mold 32 to combine and form an OBD cover molding mold. The OBD cover molding mold is a conventional, existing ordinary injection molding mold structure, so it will not be described in detail here. It can automatically realize insert 200 placement, insert 200 and finished product transfer, finished product marking, and finished product barcode scanning, thereby improving work efficiency and reducing production error rate and manual labor intensity.

[0055] In this embodiment, the insert loading station 1 includes a loading mechanism and a first feeding robot 11. The first feeding robot 11 is equipped with an insert gripping mechanism 14. The loading mechanism includes a first loading group 12 and a second loading group 13. The first loading group 12 can load four inserts 200, and the second loading group 13 can load two inserts 200. The insert gripping mechanism 14 includes a base, four spaced-apart first cylinder grippers 141, and two spaced-apart second cylinder grippers 142. The first cylinder grippers 141 and the second cylinder grippers 142 are respectively positioned... On opposite sides of the base, a first lifting cylinder 143 is provided above each first cylinder gripper 141, and a second lifting cylinder 145 is provided above each second cylinder gripper. Each first lifting cylinder 143 and each second lifting cylinder 145 is fixed to the base. The piston rod of each first lifting cylinder 143 is connected to the upper end of each first cylinder gripper 141, and the piston rod of each second lifting cylinder 145 is connected to the upper end of each second cylinder gripper 142. The upper end of each first cylinder gripper 141 slides along a first vertical guide rail 144. The first picking and feeding robot 11 is mounted on one side of the base. The upper end of each second cylinder gripper 142 is slidably mounted on the other side of the base via a second vertical guide rail 146. The base is mounted on the rotation control end of the first picking and feeding robot 11. The first picking and feeding robot 11 adopts a known industrial robot. The first picking and feeding robot 11 drives four first cylinder grippers 141 to simultaneously grasp the four inserts 200 fed by the first feeding group 12. Each first cylinder gripper 141 grasps each insert 200 of the first feeding group 12. Alternatively, the first picking and feeding robot 11... The two second cylinder grippers 142 are driven to simultaneously grasp the two inserts 200 fed by the second feeding group 13. Each second cylinder gripper 142 grasps each insert 200 of the second feeding group 13. The first feeding robot 11 transfers the gripped inserts 200 and places them one by one into the positioning slot. The first cylinder gripper 141 and the second cylinder gripper 142 only grip the upper end of the insert 200 and the lower end is exposed. When placed into the positioning slot, the lower end of the insert 200 enters the positioning slot first, and then the first cylinder gripper 141 or the second cylinder gripper 142 releases.

[0056] Specifically, the first feeding assembly 12 includes a first feeding vibratory plate 121, a first feeding guide rail 123, a first feeding vibrator 122, a first support frame 124, a first displacement cylinder 125, a first linear guide rail 129, and a first sliding material rail 126. The first linear guide rail 129 and the first displacement cylinder 125 are both mounted on the first support frame 124. The first feeding guide rail 123 is mounted on the first feeding vibrator 122 and is connected to the outlet of the first feeding vibratory plate 121. The first sliding material rail 126 is located at the outlet of the first feeding guide rail 123, and the first sliding material rail 126 is perpendicular to the first feeding guide rail 123. The material transfer rail 126 is installed on the slider of the first linear guide rail 129. The piston rod of the first displacement cylinder 125 is connected to the first sliding material rail 126. The first linear guide rail 129, the first sliding material rail 126 and the first displacement cylinder 125 are arranged in parallel to each other. The first sliding material rail 126 is provided with a baffle strip 128 and a straight groove 127 on the same axis. The rear inner wall of the straight groove 127 is recessed to form four first insert contour grooves 1271. The baffle strip 128 is located in front of the opening of the straight groove 127 and is fixedly installed on the first support frame 124. The bottom surface of the first insert contour groove 1271 is flush with the bottom surface of the material groove 130 of the first feeding guide rail 123.During the feeding process using the first feeding group of 12 pieces, the first feeding vibratory plate 121 operates to feed multiple inserts 200 in batches into the two material slots 130 of the first feeding guide rail 123 through vibration. Simultaneously, the first feeding vibratory machine 122 operates to convey and move the inserts 200 in the two material slots 130 one by one through vibration. At this time, the first sliding rail 126 is driven to move by the first displacement cylinder 125, so that the two first insert contouring slots 1271 correspond to the outlet positions of the two material slots 130 of the first feeding guide rail 123. Then, during vibration, the first feeding guide rail 123 outputs the inserts 200 from the two material slots 130, and after passing the front edge of the opening of the straight groove 127, enters the two first insert contouring slots 1271. Immediately afterwards, the first sliding rail 126 is driven to move again by the first displacement cylinder 125, so that the other two first inserts... The part-shaped grooves 1271 correspond to the outlet positions of the two material slots 130 of the first feeding guide rail 123. Simultaneously, the inserts 200 already in the two first insert-shaped grooves 1271 are blocked by the stop bar 128. Then, during vibration, the first feeding guide rail 123 outputs the inserts 200 from the two material slots 130, which then pass over the front edge of the opening of the straight groove 127 and enter the other two first insert-shaped grooves 1271. At this time, the first sliding rail 126 is driven to move again by the first displacement cylinder 125, causing the other two first insert-shaped grooves 1271 to leave the first feeding guide rail 123. This allows the inserts 200 in the other two first insert-shaped grooves 1271 to move to the rear position of the stop bar 128 and be blocked by it, thus waiting for the first picking and feeding robot 11 to drive the four first pneumatic grippers 2341 to simultaneously grasp the four inserts 200 fed by the first feeding group 12.

[0057] The second feeding assembly 13 includes a second feeding vibratory plate 131, a second feeding guide rail 133, a second feeding vibrator 132, a second support frame 134, a second displacement cylinder 135, a third displacement cylinder 136, and a first sliding material rail 126. The second feeding guide rail 133 is connected to the outlet of the second feeding vibratory plate 131. The second displacement cylinder 135 is mounted on the second support frame 134. The third displacement cylinder 136 is mounted on the displacement component of the second displacement cylinder 135. A second sliding material rail 137 is mounted on the displacement component of the third displacement cylinder 136. The second sliding material rail 137 is located at the outlet of the second feeding guide rail 133, and the second sliding material rail 126... The material rail 137 and the second feeding guide rail 133 are arranged perpendicularly to each other. A baffle 138 and a second insert contouring groove 1371 are provided on the first sliding material rail 126, both on the same axis. A baffle 138 is provided at the front opening of the second insert contouring groove 1371, and the baffle 138 is fixed to the second support frame 134. When feeding using the second feeding group 13, the second feeding vibratory feeder 131 operates, feeding multiple inserts 200 in batches into a trough 130 of the second feeding guide rail 133 via vibration. Simultaneously, the second feeding vibratory feeder 132 operates, conveying and moving the inserts 200 in one trough 130 one by one via vibration. At this time, the second sliding material rail... The second sliding rail 137 is driven to move by the operation of the second displacement cylinder 135 and the third displacement cylinder 136, so that a second insert contouring groove 1371 away from the second feeding guide rail 133 corresponds to the outlet position of a material trough 130 of the second feeding guide rail 133. Then, during vibration, the second feeding guide rail 133 outputs the insert 200 from one of its material troughs 130 and enters a second insert contouring groove 1371. Immediately afterwards, the second displacement cylinder 135 drives the second sliding rail 137 to move backward, so that another empty second insert contouring groove 1371 corresponds to the outlet position of a material trough 130 of the second feeding guide rail 133, while the first insert contouring groove has already moved backward. The insert 200 in slot 1271 is blocked by baffle 138. Then, during the vibration process, the second feeding guide rail 133 outputs the insert 200 in one of its slots 130 and distributes it into another second insert contouring slot 1371. At this time, the second sliding rail 137 is driven to move backward again by the third displacement cylinder 136, so that the other second insert contouring slot 1371 leaves the first feeding guide rail 123, so that the insert 200 in the other second insert contouring slot 1371 moves to the rear side of baffle 138 and is blocked by it, thus waiting for the second picking and feeding robot to drive the two second pneumatic grippers 552 to simultaneously grab the two inserts 200 fed by the second feeding group 13.

[0058] Based on the above, when the first feeding group 12 is working, the second feeding group 13 is not working, and the second sliding material rail 137 on the second feeding group 13 is moved away to avoid the displacement of the first sliding material rail 126; or when the second feeding group 13 is working, the first feeding group 12 is not working, and the first sliding material rail 126 on the first feeding group 12 is moved away to avoid the displacement of the first sliding material rail 126.

[0059] In this embodiment, the loading platform 2 includes an insert positioning disk 21 and a second picking and feeding robot. The insert positioning disk 21 is provided with a first contour positioning groove 22 for positioning the insert 200. The second picking and feeding robot is equipped with a gripping device, which includes a frame 231 and an insert picking and feeding mechanism and a finished product removal mechanism 234 respectively mounted on opposite sides of the frame 231. The first picking and feeding robot 11 is located between the loading mechanism and the insert positioning disk 21. After the insert 200 is placed on the insert positioning disk 21, the second picking and feeding robot drives the insert picking and feeding mechanism of the gripping device to move to the insert positioning disk 21 so that the insert picking and feeding mechanism can grip the insert 200 on the insert positioning disk 21. After completion, the second feeding robot moves the gripping device into the injection molding equipment 3. Then, it first uses the finished product removal mechanism 234 to grip and remove the finished OBD cover from the injection molding equipment 3. Then, it uses the insert picking and feeding mechanism to transfer the gripped insert 200 to the molding cavity in the injection molding equipment 3. Then, the second feeding robot drives the gripping device to exit from the injection molding equipment 3 and transfers the gripped finished product to the finished product placement table 4. At the same time, the injection molding equipment 3 closes the moving mold 31 and the fixed mold 32 to perform overmolding injection molding of the insert 200 into the finished OBD cover. After the OBD cover is injection molded, the injection molding equipment 3 opens the moving mold 31 and the fixed mold 32 to wait for the finished product removal mechanism 234 on the second feeding robot to grip it.

[0060] The insert delivery mechanism includes a first delivery component 232 installed at two diagonal corners on one side of the frame 231 and a second delivery component 233 installed at two other diagonal corners on one side of the frame 231. The first delivery component 232 delivers only one insert 200, while the second delivery component 233 can deliver two inserts 200 simultaneously. Therefore, when delivering inserts 200, the first delivery component 232 or the second delivery component 233 is used to deliver inserts 200 depending on the number of inserts 200 required by the OBD cover.

[0061] The first loading and unloading component 232 includes a lifting cylinder, a lifting plate 2323, a lifting sleeve 2324, and a guide post 2321. The lifting cylinder is fixed to one side of the frame 231. The lifting plate 2323 is mounted on the piston rod of the lifting cylinder. The guide post 2321 is fixed to the frame 231, with its upper section 2325 passing through the lifting plate 2323. The lifting sleeve 2324 is fitted onto the upper section 2325 of the guide post 2321. The lifting plate 2323 and the lifting sleeve 2324 are fixedly arranged together. The length of the lifting sleeve 2324 is less than the length of the upper section 2325 of the guide post 2321. A cross groove 2327 is formed at the end of the upper section 2325 of the guide post 2321. An elastic element 2326 is installed in the cross groove 2327, with the lower end of the elastic element 2326 fixed in the cross groove 2327. A protrusion 2328 is formed on the outer side of the upper end of 2326. The protrusion 2328 protrudes from the outer peripheral wall of the upper section of the guide post 2321. When the first pick-and-place assembly 232 is used to pick up and place the insert 200, the insert 200 is a cylindrical structure, and the guide post 2321 is also cylindrical. One end of the guide post 2321 with the elastic element 2326 protrudes to the outside and is inserted into the inner hole of the insert 200. At this time, the protrusion of each elastic element 2326... Part 2328 abuts against the inner wall of insert 200, thereby tensioning and fixing insert 200 on guide post 2321. When the first pick-and-place assembly 232 moves into the molding cavity of moving mold 31, the piston rod of lifting cylinder extends and drives lifting plate 2323 to rise, thereby causing lifting slide 2324 to also rise, so as to push insert 200 on guide post 2321 upward and push it out, so that the pushed-out insert 200 is fitted onto the protrusion in the molding cavity.

[0062] The second loading / unloading component 233 includes a base plate 2331, a push-pull cylinder 2332, two movable rods 2333, and two fixed sleeves 2335. The base plate 2331 is fixed to one side of the frame 231, with a portion extending beyond the frame 231. The push-pull cylinder 2332 is fixed to the bottom surface of the portion of the base plate 2331 extending beyond the frame 231, and is located in the middle of the base plate 2331. A movable plate 2334 is fixed to the piston rod of the push-pull cylinder 2332. The two movable rods 2333 are symmetrically distributed on the left and right sides of the push-pull cylinder 2332 with the central axis of the piston rod as the axis of symmetry. The movable plate 2334 is fixedly connected to the two movable rods 2333. The two movable rods 2333 penetrate the base plate 2331, and the two fixed sleeves 2335 are respectively fitted onto each movable rod 2333. The upper section of the rod 233 is fixed to the substrate 2331. When the second pick-and-place assembly 233 is used to pick up and place the insert 200, the insert 200 is a circular sleeve structure, and the movable rod 2333 is also a circular rod. The piston rod of the push-pull cylinder 2332 is in the retracted state, and the movable rod 2333 is also in the upward pushing state, so that the end of the movable rod 2333 is in the extended state and inserted into the inner hole of the insert 200. At this time, the insert 200 and the end of the movable rod 2333 are tightly fitted. When the second pick-and-place assembly 233 moves into the molding cavity of the moving mold 31, the piston rod of the push-pull cylinder 2332 extends and drives the movable rod 2333 to move down. At the same time, the second pick-and-place robot drives the second pick-and-place assembly 233 to move gradually into the molding cavity, so that the movable rod 2333 exits from the insert 200 and the insert 200 is fitted onto the protrusion in the molding cavity. Two clamping cylinders 2336 are fixed on the base plate 2331, and the grippers of the two clamping cylinders 2336 are respectively clamped in the clamping grooves on opposite sides of each fixed sleeve 2335.

[0063] The guide post 2321 of the first pick-up and delivery component 232 and the movable rod 2333 of the second pick-up and delivery component 233 are configured with different diameters so that inserts 200 with different inner diameters can be selected for pick-up and delivery.

[0064] The finished product removal mechanism 234 includes four first pneumatic grippers 2341. The four first pneumatic grippers 2341 are installed on the other side of the frame 231. A first top post 2342 is provided on the other side of the frame 231. Two first pneumatic grippers 2341 are located on the first side of the gripping area on the other side of the frame 231, one first pneumatic gripper 2341 is located on the second side of the gripping area on the other side of the frame 231, and the last first pneumatic gripper 2341 is located on the third side of the gripping area on the other side of the frame 231. There is a height difference between the end face of the first top post 2342 and the gripping part of the first pneumatic gripper 2341. The OBD top cover has a square structure; each of the four first pneumatic grippers 2341 includes a first telescopic cylinder 2343, a first flipping block 2347, a first movable gripper 2348, and a first fixed gripper 2344. The first telescopic cylinder 2343 is perpendicular to the other side of the frame 231. The first fixed gripper 2344 is fixed to the middle of the first telescopic cylinder 2343. One end of the first telescopic cylinder 2343 with a piston rod is fixed to a first mounting base 2345. The rear ends of the first flipping block 2347 and the first movable gripper 2348 are both pivotally hinged in the first mounting cavity 2346 of the first mounting base 2345. The first fixed gripper 2344 is connected to the... The other side of the frame 231 is arranged in parallel. The piston rod of the first telescopic cylinder 2343 is hinged to the first end pin of the first flipping block 2347. The rear end of the first movable claw 2348 is hinged to the second end pin of the first flipping block 2347. When the piston rod of the first telescopic cylinder 2343 extends, the first flipping block 2347 flips to flip the first movable claw 2348 to be parallel to the first fixed claw 2344. When the piston rod of the first telescopic cylinder 2343 retracts, the first flipping block 2347 flips to flip the first movable claw 2348 to be coaxial with the first telescopic cylinder 2343. After the finished product is clamped, the first push rod 2342 pushes against the top surface of the finished product.

[0065] In this embodiment, the finished product placement platform 4 includes a finished product positioning plate 40 and a second contour positioning groove 41 disposed on the finished product positioning plate 40 for finished product positioning. The second contour positioning groove 41 is adapted to the shape of the OBD top cover. The second picking and feeding robot is located between the insert positioning plate 21, the finished product positioning plate 40 and the injection molding equipment 3, and the second picking and feeding robot is installed on the injection molding equipment 3 at the position with the moving mold 31 and the fixed mold 32. Among them, two OBD top cover molding molds, two second contour positioning grooves 41 and two finished product removal mechanisms 234 can be provided. The two finished product removal mechanisms 234 are distributed at intervals along the length direction of the frame 231. The two second contour positioning grooves 41 are also distributed at intervals along the length direction of the finished product positioning plate 40. The two OBD top cover molding molds are distributed at intervals along the height direction of the injection molding equipment 3. A baffle block 42 is fixed on the periphery of the two finished product positioning areas of the finished product positioning plate 40 to form two second contour positioning grooves 41.

[0066] In this embodiment, the marking station 5 includes a mobile platform 51, a marking area 52, a third material handling robot 54, and a barcode scanning device 56. The marking area 52, the finished product positioning plate 40, and the third material handling robot 54 are arranged around the mobile platform 51. Laser marking machines are provided on the side and top of the marking area 52. A material handling device 55 is installed on the third material handling robot 54. The laser marking machines are fixed on the frame 100 below the mobile platform 51.

[0067] The material handling device 55 includes a material handling plate 551 and four second pneumatic grippers 552 arranged in a matrix. The four second pneumatic grippers 552 are mounted on the material handling plate 551, and a second top post 553 is mounted on the material handling plate 551. Each of the four second pneumatic grippers 552 includes a second telescopic cylinder 5521, a second tilting block 5525, a second movable gripper 5524, and a second fixed gripper 5522. The second telescopic cylinder 5521 is perpendicular to the other side of the frame 231. The second fixed gripper 5522 is fixed to the middle of the second telescopic cylinder 5521. A second mounting base 5523 is fixed to one end of the second telescopic cylinder 5521 with a piston rod. The rear ends of the second tilting block 5525 and the second movable gripper 5524 are both pivotally hinged to the second mounting cavity 55 of the second mounting base 5523. Inside 26, the second fixed claw 5522 is arranged parallel to the other side of the frame 231. The piston rod of the second telescopic cylinder 5521 is hinged to the second end pin of the second flipping block 5525. The rear end of the second movable claw 5524 is hinged to the second end pin of the second flipping block 5525. When the piston rod of the second telescopic cylinder 5521 extends, the second flipping block 5525 flips to flip the second movable claw 5524 to a parallel state with the second fixed claw 5522. When the piston rod of the second telescopic cylinder 5521 retracts, the second flipping block 5525 flips to flip the second movable claw 5524 to a coaxial arrangement with the second telescopic cylinder 5521. After clamping the finished product, the second push rod 553 presses against the top surface of the finished product. Each group of four second pneumatic grippers 552 forms a picking group, and there can be two picking groups.

[0068] The mobile platform 51 includes a loading tray 512 and a servo slide 511. The loading tray 512 is mounted on the slider of the servo slide 511. A third contour positioning groove 514 is provided on the loading tray 512. A top pressure cylinder 515 is installed on each of the opposite sides of the third contour positioning groove 514. The top pressure cylinder 515 is fixed on the loading tray 512. The barcode scanning device 56 includes a barcode scanning camera. The barcode scanning camera, the servo slide 511 and the guide linear guide are all fixed on the frame 100. The third contour positioning groove 514 is formed by multiple blocks fixed on the loading tray 512.

[0069] In this process, the picking device 55 on the third picking and feeding robot 54 picks up the finished OBD cover from the second contour positioning groove 41 on the finished product positioning plate 40 and transfers it to the third contour positioning groove 514 on the carrying plate 512. A blocking block 513 is fixed around the finished product positioning area on the carrying plate 512 to form the third contour positioning groove 514. The piston rod of the pressing cylinder 515 extends to press the finished OBD cover in the third contour positioning groove 514 to fix the finished OBD cover. The servo slide 511 positions the finished product... The tray 512 of the OBD cover finished product is moved to the marking area 52. At this time, the laser marking machine marks the corresponding position of the OBD cover finished product. After the marking is completed, the servo slide 511 moves the tray 512 with the OBD cover finished product in position back to its original position. The picking device 55 on the third picking and feeding robot 54 picks up the OBD cover finished product in the third contour positioning groove 514 on the transfer tray and transfers it to the barcode scanning device 56 for barcode scanning. After the barcode scanning is completed, the OBD cover finished product is transferred to the belt conveyor 61 for unloading.

[0070] In this embodiment, the finished product output station 6 includes a belt conveyor 61, which is located next to the third material handling robot 54 and the barcode scanning device 56.

[0071] In this embodiment, the loading platform 2 further includes an alternating drive mechanism. The alternating drive mechanism includes a base 20 fixed to the frame 100, two upper linear guides 24, two lower linear guides 25, and a synchronous belt drive mechanism 23. The two lower linear guides 25 are arranged parallel to each other and installed on the lower plane of the base 20. The two upper linear guides 24 are arranged parallel to each other and respectively installed on two raised platforms on the base 20. The two upper linear guides 24 are located between the two raised platforms on the base 20, and the upper linear guides 24 are located above the lower linear guides 25. The upper linear guides 24, lower linear guides 25, and synchronous belt drive mechanism 23 are arranged parallel to each other, and the upper linear guides 24... Insert positioning disks 21 are installed on both the slider and the lower linear guide 25. The width of the insert positioning disk 21 on the lower linear guide 25 is smaller than the distance between the two raised platforms on the base 20. The synchronous belt drive mechanism 23 is installed on the bottom surface of the base 20. The insert positioning disk 21 on the upper linear guide 24 is fixedly connected to one end of the upper belt of the synchronous belt drive mechanism 23 through the first connector 244. The insert positioning disk 21 on the lower linear guide 25 is fixedly connected to the other end of the lower belt of the synchronous belt drive mechanism 23 away from the first connector 244 through the second connector 245, so that when the synchronous belt 243 of the synchronous belt drive mechanism 23 moves, it drives the insert positioning disks 21 at both locations to make alternating displacements. It utilizes a synchronous belt drive mechanism 23 mounted on a frame 100 below two insert positioning discs 21. The belt movement of the synchronous belt drive mechanism 23 causes the two insert positioning discs 21 to move alternately. After one insert positioning disc 200 is gripped, the other insert positioning disc 21 is moved to the gripping area. The gripped insert positioning disc 21 is then moved to the loading area. During the movement, the first connecting member 244 of the upper belt moves from one end of the upper belt to the other end, and the second connecting member 245 of the lower belt moves from the other end of the lower belt to the opposite end. The synchronous belt drive mechanism 23 consists of a servo motor 241, a synchronous belt 243, and two synchronous pulleys 242. Its prior art is not described in detail here.

[0072] Finally, the above-mentioned fixing can be done by bolt fixing or welding fixing, etc. Each pick-and-place robot is an industrial robot, and each pick-and-place robot, synchronous belt drive mechanism, laser marking machine, servo slide, barcode scanning camera, vibratory plate, vibratory machine, injection molding equipment, and belt conveyor is adjacent to and controlled by the PLC controller. Furthermore, each of the above-mentioned pneumatic devices and cylinders is adjacent to and controlled by the PLC controller through air pump and solenoid valve.

Claims

1. An OBD cover molding device, characterized in that, include Insert loading station (1), the insert loading station (1) includes a loading mechanism and a first picking and feeding robot (11), the first picking and feeding robot (11) is equipped with an insert gripping mechanism (14); The loading platform (2) includes an insert positioning plate (21) and a second feeding robot (26). The insert positioning plate (21) is provided with a first contour positioning groove (22) for positioning the insert (200). The second feeding robot (26) is equipped with a gripping device. The gripping device includes a frame (231) and an insert feeding mechanism and a finished product taking out mechanism (234) respectively installed on opposite sides of the frame (231). The first feeding robot (11) is located between the loading mechanism and the insert positioning plate (21). Injection molding equipment (3), the movable part of the injection molding equipment (3) is equipped with a moving mold (31), and the fixed part is equipped with a fixed mold (32); finished product placement platform (4), the finished product placement platform (4) includes a finished product positioning plate (40) and a second contour positioning groove (41) set on the finished product positioning plate (40) and used for finished product positioning; a second feeding robot (26) is located between the insert positioning plate (21), the finished product positioning plate (40) and the injection molding equipment (3); The marking station (5) includes a mobile platform (51), a marking area (52), a third material handling robot (54), and a barcode scanning device (56). The marking area (52), the finished product positioning plate (40), and the third material handling robot (54) are arranged around the mobile platform (51). Laser marking machines (53) are provided on the side and top of the marking area (52). A material handling device (55) is installed on the third material handling robot (54). The finished product output station (6) includes a belt conveyor (61) located next to the third material handling robot (54) and the barcode scanning device (56).

2. The OBD cover forming equipment according to claim 1, characterized in that, The feeding mechanism includes a first feeding group (12), which includes a first feeding vibratory plate (121), a first feeding guide rail (123), a first feeding vibrator (122), a first support frame (124), a first displacement cylinder (125), a first linear guide rail (129), and a first sliding material rail (126). The first linear guide rail (129) and the first displacement cylinder (125) are both mounted on the first support frame (124). The first feeding guide rail (123) is mounted on the first feeding vibrator (122), and the first feeding guide rail (123) is connected to the outlet of the first feeding vibratory plate (121). The first sliding material rail (126) is located at the outlet of the first feeding guide rail (123), and the first sliding material rail (126) and the first feeding guide rail (123) are perpendicular to each other. The first sliding rail (126) is mounted on the slider of the first linear guide (129). The piston rod of the first displacement cylinder (125) is connected to the first sliding rail (126). The first linear guide (129), the first sliding rail (126) and the first displacement cylinder (125) are arranged parallel to each other. The first sliding rail (126) is provided with a baffle strip (128) and a straight groove (127) on the same axis. The inner wall of the straight groove (127) is recessed to form a first insert contour groove (1271). The baffle strip (128) is located in front of the opening of the straight groove (127) and is fixedly installed on the first support frame (124). The bottom surface of the first insert contour groove (1271) is flush with the bottom surface of the material groove (130) of the first feeding guide (123).

3. The OBD cover forming equipment according to claim 2, characterized in that, The feeding mechanism further includes a second feeding group (13), which includes a second feeding vibratory plate (131), a second feeding guide rail (133), a second feeding vibratory machine (132), a second support frame (134), a second displacement cylinder (135), a third displacement cylinder (136), and a first sliding material rail (126). The second feeding guide rail (133) is connected to the outlet of the second feeding vibratory plate (131). The second displacement cylinder (135) is mounted on the second support frame (134), and the third displacement cylinder (136) is mounted on the second displacement cylinder (126). On the displacement component of the third displacement cylinder (136), a second sliding material rail (137) is installed. The second sliding material rail (137) is located at the outlet of the second feeding guide rail (133), and the second sliding material rail (137) and the second feeding guide rail (133) are arranged perpendicular to each other. A baffle (138) and a second insert contour groove (1371) on the same axis are provided on the first sliding material rail (126). A baffle (138) is provided at the front opening of the second insert contour groove (1371), and the baffle (138) is fixed on the second support frame (134).

4. The OBD cover forming equipment according to claim 1, characterized in that, The insert gripping mechanism (14) includes a base, at least one first cylinder gripper (141) and at least one second cylinder gripper (142). The first cylinder gripper (141) and the second cylinder gripper (142) are located on opposite sides of the base. A first lifting cylinder (143) is provided above each first cylinder gripper (141), and a second lifting cylinder (145) is provided above each second cylinder gripper. Each first lifting cylinder (143) and each second lifting cylinder (145) are fixed to the base. The piston rod of the first lifting cylinder (143) is connected to the upper end of each first cylinder gripper (141), and the piston rod of each second lifting cylinder (145) is connected to the upper end of each second cylinder gripper (142). The upper end of each first cylinder gripper (141) is slidably mounted on one side of the base body via the first vertical guide rail (144), and the upper end of each second cylinder gripper (142) is slidably mounted on the other side of the base body via the second vertical guide rail (146). The base body is mounted on the rotation control end of the first feeding robot (11).

5. The OBD cover molding equipment according to claim 1, characterized in that, The loading platform (2) also includes an alternating drive mechanism, which includes a base (20), two upper linear guides (24), two lower linear guides (25), and a synchronous belt (243) drive mechanism (23). The two lower linear guides (25) are arranged parallel to each other and installed on the lower plane of the base (20). The two upper linear guides (24) are arranged parallel to each other and installed on two raised platforms on the base (20). The two upper linear guides (24) are located between the two raised platforms on the base (20). The upper linear guides (24) are located above the lower linear guides (25). The upper linear guides (24), lower linear guides (25), and synchronous belt (243) drive mechanism (23) are arranged parallel to each other. The sliders of the upper linear guides (24) and the lower linear guides (25) are all... Install the insert positioning plate (21). The width of the insert positioning plate (21) at the lower linear guide rail (25) is smaller than the distance between the two raised platforms on the base (20). The synchronous belt (243) drive mechanism (23) is installed on the base (20). The insert positioning plate (21) at the upper linear guide rail (24) is fixedly connected to one end of the upper belt body of the synchronous belt (243) drive mechanism (23) through the first connector (244). The insert positioning plate (21) at the lower linear guide rail (25) is fixedly connected to the other end of the lower belt body of the synchronous belt (243) drive mechanism (23) away from the first connector (244) through the second connector (245), so that when the synchronous belt (243) of the synchronous belt (243) drive mechanism (23) moves, it drives the insert positioning plates (21) at the two locations to make alternating displacements.

6. The OBD cover forming equipment according to claim 1, characterized in that, The insert picking and delivering mechanism includes two first picking and delivering components (232) installed at two diagonally opposite positions on one side of the frame (231). The first picking and delivering components (232) include a third lifting cylinder (2322), a lifting plate (2323), a lifting sleeve (2324), and a guide post (2321). The third lifting cylinder (2322) is fixed to one side of the frame (231). The lifting plate (2323) is installed on the piston rod of the third lifting cylinder (2322). The guide post (2321) is fixed to the frame (231), and its upper section (2325) passes through the lifting plate (2323) and moves up and down. A sliding sleeve (2324) is fitted onto the upper section of the guide post (2321) (2325). The lifting plate (2323) and the lifting sliding sleeve (2324) are fixedly arranged together. The length of the lifting sliding sleeve (2324) is less than that of the upper section of the guide post (2321) (2325). A cross groove (2327) is formed at the end of the upper section of the guide post (2321) (2325). An elastic element (2326) is installed in the cross groove (2327). A protrusion (2328) is formed on the outer side of the elastic element (2326). The protrusion (2328) forms a protrusion on the outer peripheral wall of the upper section of the guide post (2321) (2325).

7. An OBD cover forming device according to claim 1 or 6, characterized in that, The insert picking and feeding mechanism further includes two second picking and feeding components (233) installed at two diagonally opposite locations on one side of the frame (231). Each second picking and feeding component (233) includes a base plate (2331), a push-pull cylinder (2332), two movable rods (2333), and two fixed sleeves (2335). The base plate (2331) is fixed to one side of the frame (231) and a portion extends beyond the frame (231). The push-pull cylinder (2332) is fixed to the bottom surface of the portion of the base plate (2331) extending beyond the frame (231). Located in the middle of the base plate (2331), a movable plate (2334) is fixed on the piston rod of the push-pull cylinder (2332). Two movable rods (2333) are symmetrically distributed on the left and right sides of the push-pull cylinder (2332) with the central axis of the piston rod of the push-pull cylinder (2332) as the axis of symmetry. The movable plate (2334) is fixedly connected to the two movable rods (2333). The two movable rods (2333) penetrate the base plate (2331). Two fixed sleeves (2335) are respectively sleeved on the upper section of each movable rod (2333) and fixed to the base plate (2331).

8. An OBD cover forming device according to claim 7, characterized in that, The finished product removal mechanism (234) includes four first pneumatic grippers (2341). The four first pneumatic grippers (2341) are installed on the other side of the frame (231), and the gripper portions of the four first pneumatic grippers (2341) are arranged parallel to the other side of the frame (231). A first top post (2342) is provided on the other side of the frame (231). Two first pneumatic grippers (2341) are located on the first side of the gripping area on the other side of the frame (231), one first pneumatic gripper (2341) is located on the second side of the gripping area on the other side of the frame (231), and the last first pneumatic gripper (2341) is located on the third side of the gripping area on the other side of the frame (231).

9. An OBD cover forming device according to claim 1, characterized in that, The material handling device (55) includes a material handling plate (551) and four second pneumatic grippers (552) arranged in a matrix. The four second pneumatic grippers (552) are mounted on the material handling plate (551), and the gripper portions of the four second pneumatic grippers (552) are arranged parallel to the material handling plate (551). A second top column (553) is mounted on the material handling plate (551).

10. An OBD cover forming device according to claim 1, characterized in that, The mobile platform (51) includes a loading tray (512) and a servo slide (511). The loading tray (512) is mounted on the slider of the servo slide (511). A third contour positioning groove (514) is provided on the loading tray (512). Top pressure cylinders (515) are respectively installed on the opposite sides of the third contour positioning groove (514). The barcode scanning device (56) includes a barcode scanning camera.

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