CN109049500A - A kind of injection molding inserts automation embedment and product take out sorter - Google Patents

A kind of injection molding inserts automation embedment and product take out sorter Download PDF

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Publication number
CN109049500A
CN109049500A CN201810978466.7A CN201810978466A CN109049500A CN 109049500 A CN109049500 A CN 109049500A CN 201810978466 A CN201810978466 A CN 201810978466A CN 109049500 A CN109049500 A CN 109049500A
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CN
China
Prior art keywords
inserts
holding tank
spiral
disk body
outlet
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810978466.7A
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Chinese (zh)
Other versions
CN109049500B (en
Inventor
肖明亮
廖云诚
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Fuzhou Guohua Intelligent Technology Co Ltd
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Fuzhou Guohua Intelligent Technology Co Ltd
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Priority to CN201810978466.7A priority Critical patent/CN109049500B/en
Publication of CN109049500A publication Critical patent/CN109049500A/en
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Publication of CN109049500B publication Critical patent/CN109049500B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
    • B29C45/14008—Inserting articles into the mould
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
    • B29C2045/1486—Details, accessories and auxiliary operations
    • B29C2045/14868—Pretreatment of the insert, e.g. etching, cleaning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
    • Y02W30/00—Technologies for solid waste management
    • Y02W30/50—Reuse, recycling or recovery technologies
    • Y02W30/62—Plastics recycling; Rubber recycling

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Injection Moulding Of Plastics Or The Like (AREA)

Abstract

The present invention provides a kind of injection molding inserts automation embedment and product takes out sorter, by the first vibration arrangement module, the second vibration arrangement module, third vibration arrangement module respectively to the first inserts, the second inserts, third inserts carry out auto arrangement at；Then the first inserts and the second inserts are arranged so that the positional relationship of the two is consistent with the positional relationship of the two in actual product by the first assembled arrangement module；The first inserts, the second inserts and the third inserts that arrange are grabbed by the handling module of installation on a robotic arm again, each inserts is embedded in injection mold by the last manipulator, realize automation arrangement and embedment, substantially increase production efficiency, cost of labor is reduced simultaneously, has been greatly reduced security risk existing for manual operation.

Description

A kind of injection molding inserts automation embedment and product take out sorter
Technical field
The present invention relates to the injection molding technology field of relay part, especially a kind of injection molding inserts automation embedment and product Take out sorter.
Background technique
In the injection molding process of relay, various inserts need to be first embedded in injection mold, be then molded. Since inserts type and quantity are more, complex-shaped, the special injection molding tool hand more demanding, traditional to embedment precision and quality Demand cannot be achieved, for example, as shown in Figures 1 to 3, corresponding three kinds of inserts, therefore production scene is all by manually carrying out half Automated production, and to meet production requirement, allow injection molding machine to reach optimum rate of utilization as far as possible, then necessary every injection molding machine matches two Name worker, therefore not only high production cost, low efficiency and manual operation when have certain risk.
Summary of the invention
The technical problem to be solved in the present invention, is to provide a kind of injection molding inserts automation embedment and product takes out classification dress It sets, various inserts are embedded in injection mold by realization automatically, while automatically taking out product after the completion of being molded, and realize whole process Full-automation improves production efficiency, reduces cost of labor.
The present invention is implemented as follows: a kind of injection molding inserts automation embedment and product take out sorter, including machinery Hand, further include the first vibration arrangement module, second vibration arrangement module, third vibration arrangement module, the first assembled arrangement module, Second assembled arrangement module, handling module, control module and vision-based detection module；
The first vibration arrangement module includes the first vibrator, the first hopper, the first vibrating disk, the second vibrator, the Three vibrators and the first straight vibration conveying device；Described first straight vibration conveying device offers first level rectilinear orbit slot, institute The width of the width and the first inserts of stating first level rectilinear orbit slot matches；First vibrating disk includes the first discharging rail Road, the first fixed disk body and revolvable first spiral disk body；First discharging track has a gradient, and entry position is higher than Mouth position；The revolvable setting of first helical disk body is in the first fixed disk body and coaxial, first helical disk The first spiral auto arrangement correcting track is formed between body and the first fixed disk body, per the first spiral auto arrangement school The intracavity bottom of the first spiral disk body is arranged in the entrance of positive rail, and is connected to the inner cavity of the first spiral disk body； Outlet per the first spiral auto arrangement correcting track is connected to and equal with first discharging track；Per first spiral shell Rotation auto arrangement correcting track is inclined to set, and gradually becomes from the inlet to the outlet per the first spiral auto arrangement correcting track Corresponding first inserts can only be as low as accommodated, and the shape of outlet port and the first inserts match；First hopper It is fixedly connected on first vibrator, first vibrating disk is fixedly connected on second vibrator, and described The discharge port of one hopper is located at the surface of the inner cavity of the first spiral disk body；Described first straight vibration conveying device is fixedly connected In on the third vibrator, while the outlet of first discharging track is connected to entering for the first level rectilinear orbit slot Mouthful and be interconnected；
The second vibration arrangement module includes the 4th vibrator, the second hopper, the second vibrating disk, the 5th vibrator, the Six vibrators and the second straight vibration conveying device；Described second straight vibration conveying device offers the second horizontal linear track groove, institute The width of the width and the second inserts of stating the second horizontal linear track groove matches；Second vibrating disk includes the second discharging rail Road, the second fixed disk body and revolvable second spiral disk body；Second discharging track has a gradient, and entry position is higher than Mouth position；The revolvable setting of second helical disk body is in the second fixed disk body and coaxial, second helical disk The second spiral auto arrangement correcting track is formed between body and the second fixed disk body, per the second spiral auto arrangement school The bottom of the inner cavity of the second spiral disk body is arranged in the entrance of positive rail, and connects with the inner cavity of the second spiral disk body It is logical；Outlet per the second spiral auto arrangement correcting track is connected to and equal with second discharging track；Per described the Two spiral auto arrangement correcting tracks are inclined to set, per the second spiral auto arrangement correcting track from the inlet to the outlet by Gradual change can only as low as accommodate corresponding second inserts, and the shape of outlet port and the second inserts match；Described second Hopper is fixedly connected on the 4th vibrator, and second vibrating disk is fixedly connected on the 5th vibrator, and institute State the second hopper discharge port be located at the second spiral disk body inner cavity surface；Described second straight vibration conveying device is fixed It is connected on the 6th vibrator, while the outlet of second discharging track is connected to the second horizontal linear track groove Entrance and be interconnected；The first level rectilinear orbit slot and the second horizontal linear track groove are parallel；Described second is horizontal The height of rectilinear orbit slot is greater than the height of first level rectilinear orbit slot；
Third vibration arrangement module includes the 7th vibrator, third hopper, third vibrating disk, the 8th vibrator, the Nine vibrators and third are directly shaken conveying device；Third conveying device of directly shaking offers third horizontal linear track groove, institute The width of the width and third inserts of stating third horizontal linear track groove matches；The third vibrating disk includes third discharging rail The fixed disk body of road, third and revolvable third spiral disk body；Second discharging track has a gradient, and entry position is higher than Mouth position；The revolvable setting of third helical disk body is in the third fixed disk body and coaxial, the third helical disk Third spiral auto arrangement correcting track is formed between body and the fixed disk body of the third, per the third spiral auto arrangement school The bottom of the inner cavity of the third spiral disk body is arranged in the entrance of positive rail, and connects with the inner cavity of the third spiral disk body It is logical；Outlet per the third auto arrangement correcting track is connected to and equal with the third discharging track；Certainly per the third Dynamic spread correction track is inclined to set, and is gradually become smaller from the inlet to the outlet per the third auto arrangement correcting track to can only A corresponding third inserts is accommodated, and the shape of outlet port and third inserts match；The third hopper is fixedly connected In on the 7th vibrator, the third vibrating disk is fixedly connected on the 8th vibrator, and the third hopper Discharge port is located at the surface of the inner cavity of the third spiral disk body；Third conveying device of directly shaking is fixedly connected on described On nine vibrators, at the same the outlet of the third discharging track be connected to the third horizontal linear track groove entrance and mutually Connection；
The first assembled arrangement module includes the first detection device；Second detection device, the first transport block, the second transport Block, the first assembled arrangement block and the first delivery device；
The width of first transport block is equal to the width of the first inserts；First transport block offers a plurality of height The first equal inserts holding tank, and run through first transport block per the first inserts holding tank, first inserts holds Receive slot overall size be greater than the first inserts overall size；
The width of second transport block is equal to the width of the second inserts；Second transport block offers a plurality of height The second equal inserts holding tank, and run through second transport block per the second inserts holding tank, second inserts holds Receive slot overall size be greater than the second inserts overall size；
The first assembled arrangement block offers the first inserts identical with first inserts receiving slot number and accurately accommodates Slot and second inserts accommodate the identical accurate holding tank of second inserts of slot number, the accurate holding tank of the first inserts and The quantity of the accurate holding tank of second inserts is identical, and the accurate holding tank of first inserts and the first inserts match, and described second The accurate holding tank of inserts and the second inserts match；The height of the accurate holding tank of second inserts is greater than the first inserts essence The height of true holding tank, and the positional relationship phase one between the positional relationship of the two and the first inserts and the second inserts in the product It causes；
The slidable outlet for being set up in the first level rectilinear orbit slot of first transport block, and glide direction is hung down Directly in the first level rectilinear orbit slot, height and first level rectilinear orbit groove height per the first inserts holding tank It is equal, and the outlet of the first level rectilinear orbit slot and every first inserts holding tank alignment are interconnected；Described One transport block can horizontal sliding the outlet for being set up in the first level rectilinear orbit slot, and glide direction is perpendicular to described the One horizontal linear track groove, the height and first level rectilinear orbit groove height per the first inserts holding tank are equal, and institute It states the outlet of first level rectilinear orbit slot and alignment is interconnected per the first inserts holding tank；The second transport block energy The outlet for being set up in the second horizontal linear track groove of level sliding, and glide direction is perpendicular to second horizontal linear Track groove, the height and the second horizontal linear track groove height per the second inserts holding tank are equal, and described second is horizontal The outlet of rectilinear orbit slot and every second inserts holding tank are aligned and are interconnected；
First delivery device includes the first drive module and the first push by first drive module driving Group, the quantity of the first push group are identical with the quantity of the accurate holding tank of the first inserts；Per the first push group packet Include the first push block and the second push block being arranged above and below, the first push group, first level rectilinear orbit slot and the second water Flat line track groove is erected at the inlet side of the first inserts holding tank and the second inserts holding tank；The first combination row Column block frame is located at the outlet side of the first inserts holding tank and the second inserts holding tank；It is first push block, first embedding Part holding tank, the accurate holding tank of the first inserts are located at sustained height and correspond successively on the same line；Described second pushes away Block, the second inserts holding tank, the accurate holding tank of the second inserts is sent to be located at sustained height and on successively same straight line；
First detection device is for detecting whether the first inserts is packed into the first inserts holding tank；
The second detection device is for detecting whether the second inserts is packed into the second inserts holding tank；
The second assembled arrangement module includes third detection device, third transport block, the second delivery device and second Assembled arrangement block；
The width of the third transport block is equal to the width of third inserts；The third transport block offers a plurality of height Equal third inserts holding tank, and run through the third transport block per the third inserts holding tank, the third inserts holds Receive slot overall size be greater than third inserts overall size；What the third transport block horizontal can be slided is erected at the third The outlet port of horizontal linear track groove, and glide direction is perpendicular to the third horizontal linear track groove；
The second assembled arrangement block offers third inserts identical with third inserts receiving slot number and accurately accommodates Slot, the accurate holding tank of the first inserts is identical with the quantity of the accurate holding tank of third inserts, and the third inserts accurately accommodates Slot and third inserts match；
Second delivery device includes the second drive module and the second push by second drive module driving Group, the quantity of the second push group are identical with the quantity of the accurate holding tank of third inserts；Per the second push group packet Two third push blocks of horizontal interval arrangement are included, the second push group and third horizontal linear track groove are erected at the third The inlet side of inserts holding tank, the second assembled arrangement block frame are located at the outlet side of the third inserts holding tank；Institute Third push block, third holding tank, the accurate holding tank of third inserts is stated to be located at sustained height and correspond successively with always On line；
The third detection device is for detecting whether third inserts is packed into the third inserts holding tank；
The handling module includes the first crawl block and the second crawl block；It is described first crawl block offer respectively with it is described The first inserts conveying trough that first inserts, the second inserts, third inserts match, the second inserts conveying trough, the transport of third inserts Slot, and quantity between the first inserts conveying trough and the second inserts conveying trough and positional relationship are accurately accommodated with the first inserts Quantity between slot and the accurate holding tank of the second inserts is identical with positional relationship；The quantity of the third inserts conveying trough and position Relationship is consistent with the quantity of the accurate holding tank of third inserts and positional relationship；The first crawl block is also provided with first Bleed-off passage, first bleed-off passage are connected to per the first inserts conveying trough and the second inserts conveying trough；Described second grabs Block is taken to be also provided with the second bleed-off passage, second bleed-off passage is connected to per the third inserts conveying trough；
The handling module is fixedly connected on the manipulator, and the manipulator is set up in the injection molding machine of product, described Between one assembled arrangement module, the second assembled arrangement module；The vision-based detection module is erected on the injection molding machine of product, is used in combination Whether it is in place in each inserts of detection；The manipulator, vision-based detection module, first, second, third and fourth, five, six, seven, eight, Nine vibrators, the first and second drive module, the first, second and third detection device are communicatively coupled to the control module respectively.
Further, the first crawl block is also convexly equipped with the first positioning pin, and the first assembled arrangement block is also provided with The first positioning hole to match with first positioning pin；
The second crawl block is also convexly equipped with the second positioning pin, and the second assembled arrangement block is also provided with and described second The second location hole that positioning pin matches.
Further, further include a plurality of receiving frames, be removably erected at per the receiving frame beside the manipulator； The handling module is additionally provided with a plurality of mechanical grips.
Further, the first assembled arrangement module further includes the first hold-down mechanism and the second hold-down mechanism；
First hold-down mechanism includes the first bearing plate and the first cylinder；First bearing plate is erected at described first Between the outlet of horizontal linear track groove and first transport block, and first bearing plate, the first level straight line rail Road slot, the height of the first inserts holding tank are equal；The width of first bearing plate is equal to the width of the first inserts；Described first Cylinder is erected at the surface of first bearing plate, and the piston rod of first cylinder is downwards；
Second hold-down mechanism includes the second bearing plate and the second cylinder；Second bearing plate is erected at described second Between the outlet of horizontal linear track groove and second transport block, and second bearing plate, the second horizontal linear rail Road slot, the height of the second inserts holding tank are equal；The width of second bearing plate is equal to the width of the second inserts；Described second Cylinder is erected at the surface of second bearing plate, and the piston rod of second cylinder is downwards；
First cylinder, the second cylinder are communicatively coupled to the control module respectively.
It further, further include first driving device, the second driving device and third driving device；
The first driving device includes the first driving motor, the first screw rod and the first sliding block；The first driving electricity The output shaft of machine is fixedly connected with first screw rod, and the first sliding block sliding is set on first screw rod；It is described First transport block is fixedly connected on first sliding block；
Second driving device includes the second driving motor, the second screw rod and the second sliding block；The second driving electricity The output shaft of machine is fixedly connected with second screw rod, and the second sliding block sliding is set on second screw rod；It is described Second transport block is fixedly connected on second sliding block；
The third driving device includes third driving motor, third screw rod and third sliding block；The third driving electricity The output shaft of machine is fixedly connected with the third screw rod, and the third sliding block sliding is set on the third screw rod；It is described Third transport block is fixedly connected on the third sliding block；
First driving motor, the second driving motor and third driving motor are communicatively coupled to the control mould respectively Block.
Further, the first drive module includes third cylinder；The third is fixedly connected on per the first push group The piston rod of cylinder；The third cylinder is communicatively coupled to the control module；
Second drive module includes the 4th cylinder；The piston of the 4th cylinder is fixedly connected on per the second push group Bar；4th cylinder is communicatively coupled to the control module.
Further, the second vibration arrangement module further includes photoelectric sensor, tracheae and solenoid valve；The tracheae Gas outlet is erected at the outlet of the second spiral auto arrangement correcting track, and the tracheae is connected to the solenoid valve；It is described Whether the direction for the second inserts that photoelectric sensor is used to detect the second spiral auto arrangement correcting track exit is correct；It is described Solenoid valve and photoelectric sensor are communicatively coupled to the control module respectively.
Further, the vision-based detection module includes fixed bracket and two cameras；Two cameras can rotate respectively Be connected to the fixed bracket, two cameras are communicatively coupled to the control module.
Further, the vision-based detection module further includes lighting device；The lighting device is revolvable to be connected to institute State fixed bracket；Injection mold of the lighting device towards product.
Further, the control module is PLC controller, first detection device, second detection device, third inspection Surveying device is respectively photoelectric sensor.
The present invention has the advantage that the present invention provides a kind of injection molding inserts automation embedment and product takes out classification dress It sets, by the first vibration arrangement module, the second vibration arrangement module, third vibration arrangement module respectively to the first inserts, second Inserts, third inserts carry out auto arrangement at；Then the first inserts and the second inserts are carried out by the first assembled arrangement module Arrangement is so that the positional relationship of the two is consistent with the positional relationship of the two in actual product；Again by installing on a robotic arm Handling module grabs the first inserts, the second inserts and the third inserts arranged, and each inserts is embedded to by the last manipulator In injection mold, realizes automation arrangement and embedment, substantially increase production efficiency, while reducing cost of labor, also significantly Reduce security risk existing for manual operation.
Detailed description of the invention
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 is the position pass that the first vibration of the present invention arranges module, the second vibration arrangement module, third vibration arrangement module Owner's view.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the top view of Fig. 1.
Fig. 4 is the perspective view of Fig. 1.
Fig. 5 is the main view of the second assembled arrangement module of the invention.
Fig. 6 is the side view of Fig. 5.
Fig. 7 is the top view of Fig. 5.
Fig. 8 is the perspective view of Fig. 5.
Fig. 9 is the exploded view of Fig. 8.
Figure 10 is the main view of the first assembled arrangement module of the invention.
Figure 11 is the top view of the first assembled arrangement module of the invention.
Figure 12 is the side view of the first assembled arrangement module of the invention.
Figure 13 is the perspective view of the first assembled arrangement module of the invention.
Figure 14 is the perspective view of manipulator of the present invention.
Figure 15 is the main view of handling module of the present invention.
Figure 16 is the side view of handling module of the present invention.
Figure 17 is the top view of handling module of the present invention.
Figure 18 is the perspective view of handling module of the present invention.
Figure 19 is the schematic diagram of internal structure of A in Figure 18.
Figure 20 is the structural schematic diagram of vision-based detection module of the present invention.
Figure 21 is the structural schematic diagram of product of the present invention injection molding machine and injection mold.
Figure 22 is the structural schematic diagram of the first inserts of the invention.
Figure 23 is the structural schematic diagram of the second inserts of the invention.
Figure 24 is the structural schematic diagram of third inserts of the invention.
Figure 25 is the perspective view that a kind of injection molding inserts automation embedment of the present invention and product take out sorter.
Figure 26 is first level rectilinear orbit slot of the present invention, the second horizontal linear track groove, the first discharging track, second goes out Expect the positional diagram of track.
Figure 27 is the structural schematic diagram of the first vibrating disk and the first hopper of the invention.
Figure 28 is the decomposition diagram of Figure 13.
Figure 29 is the structural schematic diagram that the present invention second vibrates disk body.
Figure 30 is the structural schematic diagram that third of the present invention vibrates disk body.
In figure: 100, manipulator, the 200, first vibration arrangement module, the 201, first vibrator, the 202, first hopper, 203, First vibrating disk, the 204, second vibrator, 205, third vibrator, the 206, first straight vibration conveying device, 207, first level it is straight Trajectory slot, the 208, first discharging track, the 209, first fixed disk body, the 210, first spiral disk body, the 211, first spiral are automatic Spread correction track, the 300, second vibration arrangement module, the 301, the 4th vibrator, the 302, second hopper, the 303, second vibrating disk, 304, the 5th vibrator, the 305, the 6th vibrator, the 306, second straight vibration conveying device, the 307, second horizontal linear track groove, 308, the second discharging track, the 309, second fixed disk body, the 310, second spiral disk body, the 311, second spiral auto arrangement correct rail Road, 400, third vibration arrangement module, the 401, the 7th vibrator, 402, third hopper, 403, third vibrating disk, the 404, the 8th vibration Dynamic device, the 405, the 9th vibrator, 406, third directly shake conveying device, 407, third horizontal linear track groove, 408, third discharging Track, 409, the fixed disk body of third, 410, third spiral disk body, 411, third spiral auto arrangement correcting track, 500, first Assembled arrangement module, the 501, first detection device, 502, second detection device, the 503, first transport block, the 504, second transport block, 505, the first assembled arrangement block, the 506, first delivery device, the 507, first inserts holding tank, the 508, second inserts holding tank, 509, the accurate holding tank of the first inserts, the 510, second accurate holding tank of inserts, the 511, first drive module, the 512, first push Group, the 513, first push block, the 514, second push block, 515, first positioning hole, the 516, first hold-down mechanism, 517, second compresses Mechanism, the 518, first bearing plate, the 519, first cylinder, the 520, second bearing plate, the 521, second cylinder, 522, third cylinder, 600, the second assembled arrangement module, 601, third transport block, the 602, second delivery device, the 603, second assembled arrangement block, 604, Third detection device, 605, third inserts holding tank, 606, the accurate holding tank of third inserts, the 607, second drive module, 608, Second push group, 609, third push block, 610, second location hole, the 611, the 4th cylinder, 700, handling module, 701, first grabs Take block, the 702, second crawl block, the 703, first inserts conveying trough, the 704, second inserts conveying trough, 705, third inserts conveying trough, 706, the first bleed-off passage, the 707, second bleed-off passage, the 708, first positioning pin, the 709, second positioning pin, 710, mechanical grip, 800, vision-based detection module, 801, fixed bracket, 802, camera, 803, lighting device, 900, receiving frame, the 10, first inserts, 20, the second inserts, 30, third inserts；40, first driving device, the 41, first driving motor, the 42, first sliding block, 50, second drives Dynamic device, the 51, second driving motor, the 52, second sliding block, 60, third driving device, 61, third driving motor, 62, third cunning Block.
Specific embodiment
It please refers to Fig.1 to Fig.3 shown in 0, the present invention provides a kind of injection molding inserts automation embedment and product takes out classification dress It sets, including manipulator 100, further includes the first vibration arrangement vibration arrangement of module 200, second module 300, third vibration arrangement mould Block 400, the first assembled arrangement module 500, the second assembled arrangement module 600, handling module 700, control module (not shown), with And vision-based detection module 800；
The first vibration arrangement module 200 includes the first vibrator 201, the first hopper 202, the first vibrating disk 203, the The straight vibration conveying device 206 of two vibrator 204, third vibrator 205 and first；Described first straight vibration conveying device 206 opens up There are first level rectilinear orbit slot 207, the width of the first level rectilinear orbit slot 207 and the width phase of the first inserts 10 Match；First vibrating disk 203 includes the fixed disk body 209 of the first discharging track 208, first and revolvable first spiral disk body 210；First discharging track 208 has a gradient, and entry position is higher than outlet port；The first spiral disk body 210 can revolve The setting turned is in the described first fixed disk body 209 and coaxial, the first spiral disk body 210 and the first fixed disk body The first spiral auto arrangement correcting track 211 is formed between 209, entering per the first spiral auto arrangement correcting track 211 The intracavity bottom of the first spiral disk body 210 is arranged in mouth, and is connected to the inner cavity of the first spiral disk body 210；Every institute The outlet for stating the first spiral auto arrangement correcting track 211 is connected to and equal with first discharging track 208；Per described first Spiral auto arrangement correcting track 211 is inclined to set, so that the first inserts 10 could when only meeting unique placement position Export and be discharged from the first spiral auto arrangement correcting track 211, and it is ungratified be affected by gravity fall to automatically it is described The inner cavity of first spiral disk body 210 re-starts arrangement, for example, tilt angle is between 70 degree to 80 °, when being unsatisfactory for putting position Set when requiring, the disequilibrium of the first inserts 10, and fall automatically, per the first spiral auto arrangement correcting track 211 from Entrance gradually becomes smaller to outlet to can only accommodate corresponding first inserts 10, and the shape of outlet port and the first inserts 10 Matching, the shape of outlet port can be set in design, so that the first inserts 10 can only be allowed once by one, The first inserts 10 will be stacked to separate, while making the first inserts 10 that can only be that could pass through meeting the placement position of setting, it can Be corrected with the direction to the first inserts 10, when be unsatisfactory for putting require when, due to the first spiral auto arrangement correcting track 211 are obliquely installed, so that ungratified first inserts 10 in placement position is fallen to from track automatically under gravity In the inner cavity of the first spiral disk body 210 so that the first inserts 10 by production requirement carry out auto arrangement, described first Hopper 202 is fixedly connected on first vibrator 201, and first vibrating disk 203 is fixedly connected on second vibration On device 204, and the discharge port of first hopper 202 is located at the surface of the inner cavity of the first spiral disk body 210；Described Vibration conveying device 206 is fixedly connected on the third vibrator 205 always, while the outlet of first discharging track 208 It is connected to the entrance of the first level rectilinear orbit slot 207 and is interconnected；
The second vibration arrangement module 300 includes the 4th vibrator 301, the second hopper 302, the second vibrating disk 303, the Five vibrators 304, the 6th vibrator 305 and the second straight vibration conveying device 306；Described second straight vibration conveying device 306 opens up There are the second horizontal linear track groove 307, the width of the second horizontal linear track groove 307 and the width phase of the second inserts 20 Match；Second vibrating disk 303 includes the fixed disk body 309 of the second discharging track 308, second and revolvable second spiral disk body 310；Second discharging track 308 has a gradient, and entry position is higher than outlet port；The second spiral disk body 310 can revolve The setting turned is in the described second fixed disk body 309 and coaxial, the second spiral disk body 310 and the second fixed disk body The second spiral auto arrangement correcting track 311 is formed between 309, entering per the second spiral auto arrangement correcting track 311 The bottom of the inner cavity of the second spiral disk body 310 is arranged in mouth, and is connected to the inner cavity of the second spiral disk body 310；Often The outlet of the second spiral auto arrangement correcting track 311 is connected to and equal with second discharging track 308；Per described the Two spiral auto arrangement correcting tracks 311 are inclined to set, so that ability when the second inserts 20 only meets unique placement position It can export and be discharged from the second spiral auto arrangement correcting track 311, and ungratified be affected by gravity falls to institute automatically The inner cavity for stating the second spiral disk body 310 re-starts arrangement, for example, tilt angle is between 70 degree to 80 °, when being unsatisfactory for putting When status requirement, the disequilibrium of the second inserts 20, and fall automatically, per the second spiral auto arrangement correcting track 311 It is gradually become smaller from the inlet to the outlet to corresponding second inserts 20, and the shape of outlet port and the second inserts can only be accommodated 20 match；The shape of outlet port can be set in design, so that the second inserts 20 can only be allowed once by one It is a, the second inserts 20 will be stacked and separated, remaining falls in the inner cavity into the second spiral disk body 310, is rearranged, simultaneously So that the second inserts 20 can only be that could pass through meeting the placement position of setting, school can be carried out to the direction of the second inserts 20 Just, when be unsatisfactory for putting require when, since the second spiral auto arrangement track 311 is obliquely installed, so that placement position is not The second inserts 20 met under gravity automatically from the inner cavity that track falls to the second spiral disk body 310, from And the second inserts 20 is made to carry out auto arrangement by production requirement, second hopper 302 is fixedly connected on the 4th vibration On device 301, second vibrating disk 303 is fixedly connected on the 5th vibrator 304, and second hopper 302 go out Material mouth is located at the surface of the inner cavity of the second spiral disk body 310；Described second straight vibration conveying device 306 is fixedly connected on institute It states on the 6th vibrator 305, while the outlet of second discharging track 308 is connected to the second horizontal linear track groove 307 Entrance and be interconnected；The first level rectilinear orbit slot 207 and the second horizontal linear track groove 307 are parallel；It is described The height of second horizontal linear track groove 307 is greater than the height 207 of first level rectilinear orbit slot；
Third vibration arrangement module 400 includes the 7th vibrator 401, third hopper 402, third vibrating disk 403, the Eight vibrators 404, the 9th vibrator 405 and third are directly shaken conveying device 406；Third conveying device 406 of directly shaking opens up There are third horizontal linear track groove 407, the width of the third horizontal linear track groove 407 and the width phase of third inserts 30 Match；The third vibrating disk 403 includes third discharging track 408, the fixed disk body 409 of third and revolvable third spiral disk body 410；Second discharging track 408 has a gradient, and entry position is higher than outlet port；The third spiral disk body 410 can revolve The setting turned is in the fixed disk body 409 of the third and coaxial, the third spiral disk body 410 and the fixed disk body of the third Third spiral auto arrangement correcting track 411 is formed between 409, entering per the third spiral auto arrangement correcting track 411 The bottom of the inner cavity of the third spiral disk body 410 is arranged in mouth, and is connected to the inner cavity of the third spiral disk body 410；Often The outlet of the third auto arrangement correcting track 411 is connected to and equal with the third discharging track 408；Certainly per the third Dynamic spread correction track 411 is inclined to set, so that third inserts 30 could be from described when only meeting unique placement position The outlet of third spiral auto arrangement correcting track 411 discharge, and ungratified be affected by gravity falls to the third spiral shell automatically The inner cavity of capstan body 410 re-starts arrangement, for example, tilt angle is to require between 70 degree to 80 ° when being unsatisfactory for placement position When, the disequilibrium of third inserts 30, and fall automatically, from the inlet to the outlet per the third auto arrangement correcting track 411 It gradually becomes smaller to a corresponding third inserts 30 can only be accommodated, and the shape of outlet port and third inserts 30 match；Out The shape of mouthful position can be set in design, so that can only allow third inserts 30 once by one, will stack the The separation of three inserts 30, while making third inserts 30 that can only be that could pass through meeting the placement position of setting, it can be to third The direction of inserts 30 is corrected, when be unsatisfactory for putting require when, since third spiral auto arrangement track 411 is to be obliquely installed , so that the ungratified third inserts 30 in placement position falls to the third helical disk from track automatically under gravity In the inner cavity of body 410, so that third inserts 30 carries out auto arrangement by production requirement, the third hopper 402 is fixed to be connected It is connected on the 7th vibrator 401, the third vibrating disk 403 is fixedly connected on the 8th vibrator 404, and described The discharge port of third hopper 402 is located at the surface of the inner cavity of the third spiral disk body 410；The third is directly shaken conveying device 406 are fixedly connected on the 9th vibrator 405, while the outlet of the third discharging track 408 is connected to the third The entrance of horizontal linear track groove 407 and be interconnected；
Such as: the first spiral disk body 210, the second spiral disk body 310, the third spiral in specific implementation Disk body 410 is rotated with servo motor control (not shown) respectively, and respective servo motor (not shown) is connected to control mould Block (not shown) is carried out automatically controlling by the control module (not shown).First vibrating disk 203, the second vibrating disk 303, Third vibrating disk 403 uses similar structure, only needs the shape and each inserts phase of respective spiral auto arrangement correcting track Matching.
The first assembled arrangement module 500 includes the first detection device 501；Second detection device 502, the first transport block 503, the second transport block 504, the first assembled arrangement block 505 and the first delivery device 506；
The width of first transport block 503 is equal to the width of the first inserts 10, so that loading more accurate；First fortune It offers the first equal inserts holding tank 507 of a plurality of height for defeated piece 503, and runs through per the first inserts holding tank 507 First transport block 503, the overall size of the first inserts holding tank 507 are greater than the overall size of the first inserts 10, by In first level rectilinear orbit slot 207 be to have existing for vibration, therefore, by the first inserts holding tank 507 in actual production Overall size be greater than the first inserts 10 overall size, shape is identical with the shape of the first inserts 10, can make from first The first inserts 10 that horizontal linear track groove 207 comes out is easier to enter in the first inserts holding tank 507, improves efficiency, simultaneously It can prevent from blocking the first inserts 10；
The width of second transport block 504 is equal to the width of the second inserts 20, so that loading more accurate；Second fortune It offers the second equal inserts holding tank 508 of a plurality of height for defeated piece 504, and runs through per the second inserts holding tank 508 Second transport block 504, the overall size of the second inserts holding tank 508 are greater than the overall size of the second inserts 20；By In the second horizontal linear track groove 307 be to have existing for vibration, therefore, by the second inserts holding tank 508 in actual production Overall size be greater than the second inserts 20 overall size, shape is identical with the shape of the second inserts 20, can make from second The second inserts 20 that horizontal linear track groove 307 comes out is easier to enter in the second inserts holding tank 508, improves efficiency, simultaneously It can prevent from blocking the second inserts 20；
The first assembled arrangement block 505 offers the first inserts essence identical with the first inserts 507 quantity of holding tank The true holding tank 509 accurate holding tank 510 of the second inserts identical with the second inserts 508 quantity of holding tank, described first is embedding The accurate holding tank 509 of part is identical with the quantity of the accurate holding tank 510 of the second inserts, accurate 509 He of holding tank of the first inserts First inserts 10 matches, and the accurate holding tank 510 of second inserts and the second inserts 20 match；Second inserts is accurate The height of holding tank 510 is greater than the height of the accurate holding tank 509 of first inserts, and the positional relationship of the two and the first inserts Positional relationship between 10 and the second inserts 20 in the product is consistent；Pass through the accurate holding tank 509 of first inserts and The accurate holding tank 510 of two inserts precisely corrects the position of the first inserts 10 and the second inserts 20, so that subsequent embedment is infused Position in mould is more accurate, and speed is faster.
The slidable outlet for being set up in the first level rectilinear orbit slot 207 of first transport block 503, and slide Perpendicular to the first level rectilinear orbit slot 207, the height and first level per the first inserts holding tank 507 are straight in direction 207 height of trajectory slot is equal, and the outlet of the first level rectilinear orbit slot 207 and every first inserts holding tank 507 alignment are interconnected；What first transport block 503 horizontal can be slided is set up in the first level rectilinear orbit slot 207 Outlet, and height of the glide direction perpendicular to the first level rectilinear orbit slot 207, per the first inserts holding tank 507 Degree and the height of first level rectilinear orbit slot 207 are equal, and the outlet of the first level rectilinear orbit slot 207 and per described the The alignment of one inserts holding tank 507 is interconnected；It is horizontal straight that second transport block 504 horizontal can be slided is set up in described second The outlet of trajectory slot 307, and glide direction is held perpendicular to the second horizontal linear track groove 307 per second inserts Receive slot 508 height and the height of the second horizontal linear track groove 307 it is equal, and the second horizontal linear track groove 307 goes out Mouth and every second inserts holding tank 508 are aligned and are interconnected；
First delivery device 506 includes the first drive module 511 and drives 511 by first drive module The first push group 512, the quantity of the first push group 512 is identical with the quantity of the accurate holding tank 509 of first inserts； It include the first push block 513 and the second push block 514 being arranged above and below, the first push group per the first push group 512 512, first level rectilinear orbit slot 207 and the second horizontal linear track groove 307 are erected at 507 and of the first inserts holding tank The inlet side of second inserts holding tank 508；The first assembled arrangement block 505 is erected at the first inserts holding tank 507 With the outlet side of the second inserts holding tank 508；First push block 513, the first inserts holding tank 507, the first inserts essence True holding tank 509 is located at sustained height and corresponds successively on the same line；Second push block 514, the second inserts The accurate holding tank 510 of holding tank 508, the second inserts is located at sustained height and on successively same straight line；It is transported by described first Defeated piece 503 first inserts 10 is transported to 506 front of the first delivery device, it is embedding by second by second transport block 504 Part 20 is transported to 602 front of the second delivery device, then corresponding by first push block 513 and the second push block 514 First inserts 10 and the second inserts 20 are pushed into the accurate holding tank 509 of corresponding first inserts simultaneously, the second inserts accurately accommodates Position is carried out in slot 510 accurately to correct；
First detection device 501 is for detecting whether the first inserts 10 is packed into the first inserts holding tank 507；When When one the first inserts 10 is packed into the first inserts holding tank 507,501 feedback signal of the first detection device is given The control module (not shown), control module control first transport block 503 (not shown) is mobile, by next sky The first inserts holding tank 507 be moved to the outlet of the first level rectilinear orbit slot 207, carry out next first inserts 10 Filling；
The second detection device 502 is for detecting whether the second inserts 20 is packed into the second inserts holding tank 508；When When one the second inserts 20 is packed into the second inserts holding tank 508,502 feedback signal of second detection device is given The control module (not shown), control module control second transport block 504 (not shown) is mobile, by next sky The second inserts holding tank 508 be moved to the outlet of the second horizontal linear track groove 307, carry out next second inserts 20 Filling；
The second assembled arrangement module 600 includes third detection device 604, third transport block 601, the second delivery device 602 and the second assembled arrangement block 603；
The width of the third transport block 601 is equal to the width of third inserts 30, so that loading more accurate；The third fortune It offers the equal third inserts holding tank 605 of a plurality of height for defeated piece 601, and runs through per the third inserts holding tank 605 The third transport block 601, the overall size of the third inserts holding tank 605 are greater than the overall size of third inserts 30；Institute State the outlet port for being erected at the third horizontal linear track groove 407 of the horizontal sliding of 601 energy of third transport block, and sliding side To perpendicular to the third horizontal linear track groove 407；
The second assembled arrangement block 603 offers third inserts essence identical with 605 quantity of third inserts holding tank True holding tank 606, the accurate holding tank 509 of the first inserts is identical with the quantity of the accurate holding tank 606 of third inserts, and described the The accurate holding tank 606 of three inserts and third inserts 30 match；
Second delivery device 602 includes the second drive module 607 and is driven by second drive module 607 The second push group 608, the quantity of the second push group 608 is identical with the quantity of the accurate holding tank 606 of the third inserts； It include two third push blocks 609 of horizontal interval arrangement, the second push group 608 and third per the second push group 608 Horizontal linear track groove 407 is erected at the inlet side of the third inserts holding tank 605, the second assembled arrangement block 603 It is erected at the outlet side of the third inserts holding tank 605；The third push block 609, third inserts holding tank 605, The accurate holding tank 606 of three inserts is located at sustained height and corresponds successively on the same line；
The third detection device 604 is for detecting whether third inserts 30 is packed into the third inserts holding tank 605；
The handling module 700 includes the first crawl block 701 and the second crawl block 702；The first crawl block 701 opens up There is the first inserts conveying trough 703, second to match respectively with first inserts 10, the second inserts 20, third inserts 30 embedding Part conveying trough 704, third inserts conveying trough 705, and between the first inserts conveying trough 703 and the second inserts conveying trough 704 Quantity and positional relationship and the accurate holding tank 509 of the first inserts and the accurate holding tank 510 of the second inserts between quantity and position It is identical to set relationship；The quantity and positional relationship of the third inserts conveying trough 705 and the accurate holding tank 606 of the third inserts Quantity and positional relationship are consistent；The first crawl block 701 is also provided with the first bleed-off passage 706, and first pumping is logical Road 706 is connected to per the first inserts conveying trough 703 and the second inserts conveying trough 704；The second crawl block 702 is also provided with Second bleed-off passage 707, second bleed-off passage 707 are connected to per the third inserts conveying trough 705；In specific implementation, 707 air-tightness of first bleed-off passage 706 and the second bleed-off passage is connected to suction unit, is evacuated by described first Channel 706 and second bleed-off passage 707 form suction, so that the first inserts 10, the second inserts 20, third inserts 30 be inhaled Firmly, prevent inserts in 100 moving process of manipulator from falling.
The handling module 700 is fixedly connected on the manipulator 100, and the manipulator 100 is set up in the injection molding of product Machine, the first assembled arrangement module 500, between the second assembled arrangement module 600；The vision-based detection module 800 is erected at On the injection molding machine of product, and for detecting whether each inserts is in place；The manipulator 100, vision-based detection module 800, The first, second, third and fourth, five, six, seven, eight, nine vibrators, the first and second drive module, the first, second and third detection device communicate respectively It is connected to the control module (not shown).
In a particular embodiment, a preferable embodiment: the first crawl block 701 is also convexly equipped with the first positioning pin 708, The first assembled arrangement block 505 is also provided with the first positioning hole 515 to match with first positioning pin 708；Described Two crawl blocks 702 are also convexly equipped with the second positioning pin 709, and the second assembled arrangement block 603 is also provided with and second positioning The second location hole 610 that pin 709 matches.To be mounted on machinery by first positioning pin 708, the second positioning pin 709 Handling module 700 on hand 100 is positioned when grabbing the first inserts 10, the second inserts 20, third inserts 30 to be more convenient, more smart Standard improves working efficiency.
Further include a plurality of receiving frames 900,100 side of manipulator is removably erected at per the receiving frame 900； The handling module 700 is additionally provided with a plurality of mechanical grips 710.Pass through a plurality of mechanical grips after the completion of product injection molding 710 clamp product with mouth decomposition is poured, and are then individually positioned in corresponding receiving frame 900, are dispensed, when receiving frame 900 fill after facilitate worker to take away, carry out subsequent processing.The mechanical grip 710 uses existing mechanical grip 710.
The first assembled arrangement module 500 further includes the first hold-down mechanism 516 and the second hold-down mechanism 517；
First hold-down mechanism 516 includes the first bearing plate 518 and the first cylinder 519；First bearing plate, 518 frame It is located between the outlet and first transport block 503 of the first level rectilinear orbit slot 207, and first bearing plate 518, the first level rectilinear orbit slot 207, the height of the first inserts holding tank 507 are equal；First bearing plate 518 Width is equal to the width of the first inserts 10；First cylinder 519 is erected at the surface of first bearing plate 518, and institute State the piston rod of the first cylinder 519 downwards；Since structure is complicated for the first inserts 10, pass through first hold-down mechanism 516 Can prevent fastener, when corresponding first inserts 10 is encased in corresponding first inserts holding tank 507 described in The piston rod of first cylinder 519 moves downward the first inserts pushed down on first bearing plate 518, waits first transport block When the first inserts holding tank 507 of next sky is moved to outlet by a 503 mobile positions, first cylinder 519 Lifting continues the filling of next first inserts 10, to prevent fastener phenomenon.Pass through first detection device 501 It carries out judging whether to load, then feed back to the control module (not shown), the control module control institute (not shown) The first cylinder 519 is stated to be moved.
Second hold-down mechanism 517 includes the second bearing plate 520 and the second cylinder 521；Second bearing plate, 520 frame It is located between the outlet and second transport block 504 of the second horizontal linear track groove 307, and second bearing plate 520, the second horizontal linear track groove 307, the height of the second inserts holding tank 508 are equal；Second bearing plate 520 Width is equal to the width of the second inserts 20；Second cylinder 521 is erected at the surface of second bearing plate 520, and institute State the piston rod of the second cylinder 521 downwards；Since structure is complicated for the second inserts 20, pass through second hold-down mechanism 517 Can prevent fastener, when corresponding second inserts 20 is encased in corresponding second inserts holding tank 508 described in The piston rod of second cylinder 521 moves downward the second inserts 20 pushed down on second bearing plate 520, waits second transport When the second inserts holding tank 508 of next sky is moved to outlet by the mobile position of block 504, second cylinder 521 liftings, continue the filling of next second inserts 20, to prevent fastener phenomenon.Pass through the second detection device 502 carry out judging whether to load, and then feed back to the control module (not shown), the control module control (not shown) Second cylinder 521 is moved.
First cylinder 519, the second cylinder 521 are communicatively coupled to the control module (not shown) respectively.
It further include first driving device 40, the second driving device 50 and third driving device 60；
The first driving device 40 includes the first driving motor 41, the first screw rod (not shown) and the first sliding block 42； The output shaft of first driving motor 41 is fixedly connected with first screw rod (not shown), what first sliding block 42 slided It is set on first screw rod (not shown)；First transport block 503 is fixedly connected on first sliding block 42；
Second driving device 50 includes the second driving motor 51, the second screw rod (not shown) and the second sliding block 52； The output shaft of second driving motor 51 is fixedly connected with second screw rod (not shown), what second sliding block 52 slided It is set on second screw rod (not shown)；Second transport block 504 is fixedly connected on second sliding block 52；
The third driving device 60 includes third driving motor 61, third screw rod (not shown) and third sliding block 62； The output shaft of the third driving motor 61 is fixedly connected with the third screw rod (not shown), what the third sliding block 62 slided It is set on the third screw rod (not shown)；The third transport block 601 is fixedly connected on the third sliding block 62；
First driving motor 41, the second driving motor 51 and third driving motor 61 are communicatively coupled to described respectively Control module (not shown).In specific implementation, first driving motor 41, the second driving motor 51, third driving motor 61 can use servo motor respectively, and control precision is high.
First drive module 511 includes third cylinder 522；The third is fixedly connected on per the first push group 512 The piston rod of cylinder 522；The third cylinder 522 is communicatively coupled to the control module (not shown)；
Second drive module 607 includes the 4th cylinder 611；The described 4th is fixedly connected on per the second push group 608 The piston rod of cylinder 611；4th cylinder 611 is communicatively coupled to the control module (not shown).
The second vibration arrangement module 300 further includes photoelectric sensor (not shown), tracheae (not shown) and solenoid valve (not shown)；The gas outlet of the tracheae (not shown) is erected at the outlet of the second spiral auto arrangement correcting track 311, The tracheae (not shown) is connected to the solenoid valve (not shown)；The photoelectric sensor is (not shown) for detecting the second spiral shell Whether the direction for revolving second inserts 20 in 311 exit of auto arrangement correcting track is correct；The solenoid valve (not shown) and light Electric transducer (not shown) is communicatively coupled to the control module (not shown) respectively.In specific implementation, solenoid valve (is not schemed Show) gas source (such as air compressor machine) is connected, by the logical of solenoid valve control tracheae (not shown) (not shown) and close；Due to second The shape of the four direction of inserts 20 is not much different, only a notch more than the side, therefore is only arranged automatically by the second spiral Column correcting track 311 compares difficult differentiation placing direction, therefore be can detecte out and exported by the photoelectric sensor (not shown) Whether the placement position and direction of second inserts 20 at place are satisfactory, and improve precision, the control if not meeting Module control solenoid valve conducting (not shown) (not shown), then gas, will be incongruent from tracheae blowout (not shown) Second inserts 20 is blown off, is rearranged.
The vision-based detection module 800 includes fixed bracket 801 and two cameras 802；Two cameras 802 can revolve respectively What is turned is connected to the fixed bracket 801, adjusts the angle of camera 802 as needed, and two cameras 802 are communicatively coupled to institute State control module (not shown).It is taken pictures, is fed back to control module (not shown) by two cameras 802, the control mould Block (not shown) compares the photo of image and the embedment being previously stored in place, judges whether embedment in place, judges simultaneously Whether each inserts has been embedded in injection mold.In specific implementation, such as one of camera 802 is located at injection mold Surface, vertically take pictures, another camera 802 is located at side, takes pictures from side, is sentenced obliquely from multiple angles It is disconnected, so that precision is higher.
The vision-based detection module 800 further includes lighting device 803；The lighting device 803 is revolvable to be connected to institute State fixed bracket 801；Injection mold of the lighting device 803 towards product.In specific implementation, by the lighting device 803 are connected to power supply, are illuminated by the lighting device 803, provide enough brightness, and two cameras 802 is facilitated to clap According to.
The control module (not shown) is PLC controller (not shown), and first detection device 501, second detects Device 502, third detection device 604 are respectively photoelectric sensor.
Controller: VMC-003A；
Each vibrator can using it is existing for example: MB-460T or 390T half-wave type vibrator；
Control module (not shown) can using it is existing for example: PLC controller.
Manipulator 100 is using existing six axis robot 100 on the market.
Concrete operating principle: being previously set the motion path of manipulator 100,
Each inserts pours into corresponding hopper respectively, then falls to corresponding first, second and third spiral vibrating disk from outlet Inner cavity in, automatically corrected and arranged by each corresponding first, second and third spiral auto arrangement correcting track, be not inconsistent It closes and rearranges and correct in the desired inner cavity for falling back corresponding first, second and third spiral vibrating disk automatically, described first and second, When the rotation of three spiral vibrating disks, so that the entrance of the first, second and third spiral auto arrangement correcting track travels forward, so that can Rotating corresponding inserts into spiral auto arrangement correcting track, and when the vibration of the vibrated device of the inserts arranged and after The promotion of one inserts is run forward one by one into the corresponding first, second and third horizontal linear track groove, is carried out straight Line arrangement, continues to move in corresponding transport block, when filling up a corresponding first, second and third inserts holding tank, described the One, two, three detection device feedback signals give the control module, and the control module (not shown) controls described first respectively and drives Dynamic motor 41, the second driving motor 51, third driving motor 61 are rotated, and the first, second and third inserts to next sky accommodates Slot carries out the filling of next inserts, and so on, after the holding tank of each transport block is filled, transport block is moved to pusher Immediately ahead of structure, manipulator 100 first positions the first assembled arrangement block at this time, and then the first delivery device 506 is by the first inserts 10 and second inserts 20 be pushed into the accurate holding tank 509 of corresponding first inserts, in the accurate holding tank 510 of the second inserts, and continue Be pushed into corresponding first inserts conveying trough 703, in the second inserts conveying trough 704, after the Overstroke of the third cylinder 522 from Dynamic retraction, the manipulator 100 are moved to the second assembled arrangement block and are positioned, and then second delivery device 514 is by the Three inserts 30 are pushed into the corresponding accurate holding tank 606 of third inserts, and are pushed further into corresponding third inserts conveying trough 705 In, then third inserts 30 is first embedded in injection mold by manipulator 100, then the first inserts 10 and the embedment of the second inserts 20 are infused In mould, injection machine mould can be slided, and when needing to be embedded to each inserts, injection machine mould skids off vision-based detection Immediately below module 800, when having loaded each inserts, then reset is slided, then injection molding machine is molded, and final product injection molding is completed Afterwards, injection machine mould skids off immediately below vision-based detection module 800, and manipulator 100 is moved on injection mold, by product and pours It builds mouth to press from both sides out, be dispensed into corresponding receiving frame 900.
Although specific embodiments of the present invention have been described above, those familiar with the art should be managed Solution, we are merely exemplary described specific embodiment, rather than for the restriction to the scope of the present invention, it is familiar with this The technical staff in field should be covered of the invention according to modification and variation equivalent made by spirit of the invention In scope of the claimed protection.

Claims (10)

1. a kind of injection molding inserts automation embedment and product take out sorter, including manipulator, it is characterised in that: further include the One vibration arrangement module, the second vibration arrangement module, third vibration arrangement module, the first assembled arrangement module, the second combination row Column module, handling module, control module and vision-based detection module；
The first vibration arrangement module includes the first vibrator, the first hopper, the first vibrating disk, the second vibrator, third vibration Dynamic device and the first straight vibration conveying device；Described first straight vibration conveying device offers first level rectilinear orbit slot, and described the The width of one horizontal linear track groove and the width of the first inserts match；First vibrating disk include the first discharging track, First fixed disk body and revolvable first spiral disk body；First discharging track has a gradient, and entry position is higher than outlet Position；The revolvable setting of first helical disk body is in the first fixed disk body and coaxial, the first spiral disk body The first spiral auto arrangement correcting track is formed between the first fixation disk body, is corrected per the first spiral auto arrangement The intracavity bottom of the first spiral disk body is arranged in the entrance of track, and is connected to the inner cavity of the first spiral disk body；Often The outlet of the first spiral auto arrangement correcting track is connected to and equal with first discharging track；Per first spiral Auto arrangement correcting track is inclined to set, and gradually becomes smaller from the inlet to the outlet per the first spiral auto arrangement correcting track Corresponding first inserts can only be extremely accommodated, and the shape of outlet port and the first inserts match；First hopper is solid Surely it is connected on first vibrator, first vibrating disk is fixedly connected on second vibrator, and described first The discharge port of hopper is located at the surface of the inner cavity of the first spiral disk body；Described first straight vibration conveying device is fixedly connected on On the third vibrator, while the outlet of first discharging track is connected to the entrance of the first level rectilinear orbit slot And it is interconnected；
The second vibration arrangement module includes the 4th vibrator, the second hopper, the second vibrating disk, the 5th vibrator, the 6th vibration Dynamic device and the second straight vibration conveying device；Described second straight vibration conveying device offers the second horizontal linear track groove, and described the The width of two horizontal linear track grooves and the width of the second inserts match；Second vibrating disk include the second discharging track, Second fixed disk body and revolvable second spiral disk body；Second discharging track has a gradient, and entry position is higher than outlet Position；The revolvable setting of second helical disk body is in the second fixed disk body and coaxial, the second spiral disk body The second spiral auto arrangement correcting track is formed between the second fixation disk body, is corrected per the second spiral auto arrangement The bottom of the inner cavity of the second spiral disk body is arranged in the entrance of track, and is connected to the inner cavity of the second spiral disk body； Outlet per the second spiral auto arrangement correcting track is connected to and equal with second discharging track；Per second spiral shell Rotation auto arrangement correcting track is inclined to set, and gradually becomes from the inlet to the outlet per the second spiral auto arrangement correcting track Corresponding second inserts can only be as low as accommodated, and the shape of outlet port and the second inserts match；Second hopper It is fixedly connected on the 4th vibrator, second vibrating disk is fixedly connected on the 5th vibrator, and described The discharge port of two hoppers is located at the surface of the inner cavity of the second spiral disk body；Described second straight vibration conveying device is fixedly connected In on the 6th vibrator, while the outlet of second discharging track is connected to the entrance of the second horizontal linear track groove And it is interconnected；The first level rectilinear orbit slot and the second horizontal linear track groove are parallel；Second horizontal linear The height of track groove is greater than the height of first level rectilinear orbit slot；
The third vibration arrangement module includes the 7th vibrator, third hopper, third vibrating disk, the 8th vibrator, the 9th vibration Dynamic device and third are directly shaken conveying device；Third conveying device of directly shaking offers third horizontal linear track groove, and described The width of three horizontal linear track grooves and the width of third inserts match；The third vibrating disk include third discharging track, The fixed disk body of third and revolvable third spiral disk body；Second discharging track has a gradient, and entry position is higher than outlet Position；The revolvable setting of third helical disk body is in the third fixed disk body and coaxial, the third spiral disk body Third spiral auto arrangement correcting track is formed between the fixed disk body of the third, is corrected per the third spiral auto arrangement The bottom of the inner cavity of the third spiral disk body is arranged in the entrance of track, and is connected to the inner cavity of the third spiral disk body； Outlet per the third auto arrangement correcting track is connected to and equal with the third discharging track；It is arranged automatically per the third Column correcting track is inclined to set, and is gradually become smaller from the inlet to the outlet per the third auto arrangement correcting track to can only accommodate One corresponding third inserts, and the shape of outlet port and third inserts match；The third hopper is fixedly connected on institute It states on the 7th vibrator, the third vibrating disk is fixedly connected on the 8th vibrator, and the discharging of the third hopper Mouth is located at the surface of the inner cavity of the third spiral disk body；The third directly shake conveying device be fixedly connected on it is described 9th vibration On dynamic device, while the outlet of the third discharging track is connected to the entrance of the third horizontal linear track groove and mutually interconnects It is logical；
The first assembled arrangement module includes the first detection device；Second detection device, the first transport block, the second transport block, First assembled arrangement block and the first delivery device；
The width of first transport block is equal to the width of the first inserts；It is equal that first transport block offers a plurality of height The first inserts holding tank, and per the first inserts holding tank run through first transport block, the first inserts holding tank Overall size be greater than the first inserts overall size；
The width of second transport block is equal to the width of the second inserts；It is equal that second transport block offers a plurality of height The second inserts holding tank, and per the second inserts holding tank run through second transport block, the second inserts holding tank Overall size be greater than the second inserts overall size；
The first assembled arrangement block offer with first inserts accommodate the accurate holding tank of identical first inserts of slot number and Second inserts accommodates the identical accurate holding tank of second inserts of slot number, the accurate holding tank of first inserts and second embedding The quantity of the accurate holding tank of part is identical, and the accurate holding tank of first inserts and the first inserts match, the second inserts essence True holding tank and the second inserts match；The height of the accurate holding tank of second inserts is greater than first inserts and accurately accommodates The height of slot, and the positional relationship between the positional relationship of the two and the first inserts and the second inserts in the product is consistent；
The slidable outlet for being set up in the first level rectilinear orbit slot of first transport block, and glide direction perpendicular to The first level rectilinear orbit slot, height and first level rectilinear orbit groove height phase per the first inserts holding tank Deng, and the outlet of the first level rectilinear orbit slot and every first inserts holding tank alignment are interconnected；Described first The outlet for being set up in the first level rectilinear orbit slot of the horizontal sliding of transport block energy, and glide direction is perpendicular to described first Horizontal linear track groove, the height and first level rectilinear orbit groove height per the first inserts holding tank are equal and described The outlet of first level rectilinear orbit slot and every first inserts holding tank alignment are interconnected；The second transport block energy water The smoothly dynamic outlet for being set up in the second horizontal linear track groove, and glide direction is perpendicular to the second horizontal linear rail Road slot, the height and the second horizontal linear track groove height per the second inserts holding tank are equal, and described second is horizontal straight The outlet of trajectory slot and every second inserts holding tank are aligned and are interconnected；
First delivery device include the first drive module and by first drive module drive the first push group, The quantity of the first push group is identical with the quantity of the accurate holding tank of the first inserts；It include upper per the first push group The first push block and the second push block of lower arrangement, the first push group, first level rectilinear orbit slot and second are horizontal straight Trajectory truss is located at the inlet side of the first inserts holding tank and the second inserts holding tank；The first assembled arrangement block It is erected at the outlet side of the first inserts holding tank and the second inserts holding tank；First push block, the first inserts hold Receiving slot, the accurate holding tank of the first inserts is located at sustained height and corresponds successively on the same line；Second push block, Second inserts holding tank, the accurate holding tank of the second inserts are located at sustained height and on successively same straight lines；
First detection device is for detecting whether the first inserts is packed into the first inserts holding tank；
The second detection device is for detecting whether the second inserts is packed into the second inserts holding tank；
The second assembled arrangement module includes third detection device, third transport block, the second delivery device and the second combination Arranged blocks；
The width of the third transport block is equal to the width of third inserts；It is equal that the third transport block offers a plurality of height Third inserts holding tank, and per the third inserts holding tank run through the third transport block, the third inserts holding tank Overall size be greater than third inserts overall size；It is horizontal that the third transport block horizontal can be slided is erected at the third The outlet port of rectilinear orbit slot, and glide direction is perpendicular to the third horizontal linear track groove；
The second assembled arrangement block offers the accurate holding tank of third inserts identical with third inserts receiving slot number, institute It is identical with the quantity of the accurate holding tank of third inserts to state the accurate holding tank of the first inserts, the accurate holding tank of the third inserts and Three inserts match；
Second delivery device include the second drive module and by second drive module drive the second push group, The quantity of the second push group is identical with the quantity of the accurate holding tank of third inserts；It include water per the second push group Spaced two thirds push block is equalled, the second push group and third horizontal linear track groove are erected at the third inserts The inlet side of holding tank, the second assembled arrangement block frame are located at the outlet side of the third inserts holding tank；Described Three push blocks, third holding tank, the accurate holding tank of third inserts are located at sustained height and correspond successively on the same line；
The third detection device is for detecting whether third inserts is packed into the third inserts holding tank；
The handling module includes the first crawl block and the second crawl block；The first crawl block offers respectively with described first The first inserts conveying trough that inserts, the second inserts, third inserts match, the second inserts conveying trough, third inserts conveying trough, and Quantity and positional relationship between the first inserts conveying trough and the second inserts conveying trough and the accurate holding tank of the first inserts and Quantity between the accurate holding tank of second inserts is identical with positional relationship；The quantity and positional relationship of the third inserts conveying trough It is consistent with the quantity of the accurate holding tank of third inserts and positional relationship；The first crawl block is also provided with the first pumping Channel, first bleed-off passage are connected to per the first inserts conveying trough and the second inserts conveying trough；The second crawl block It is also provided with the second bleed-off passage, second bleed-off passage is connected to per the third inserts conveying trough；
The handling module is fixedly connected on the manipulator, and the manipulator is set up in the injection molding machine, first group described of product It closes between arrangement module, the second assembled arrangement module；The vision-based detection module is erected on the injection molding machine of product, and for examining Survey whether each inserts is in place；The manipulator, vision-based detection module, first, second, third and fourth, five, six, seven, eight, nine vibrations Dynamic device, the first and second drive module, the first, second and third detection device are communicatively coupled to the control module respectively.
2. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: The first crawl block is also convexly equipped with the first positioning pin, and the first assembled arrangement block is also provided with and the first positioning pin phase Matched first positioning hole；
The second crawl block is also convexly equipped with the second positioning pin, and the second assembled arrangement block is also provided with and second positioning Sell the second location hole to match.
3. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: Further include a plurality of receiving frames, is removably erected at per the receiving frame beside the manipulator；The handling module is also set It is equipped with a plurality of mechanical grips.
4. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: The first assembled arrangement module further includes the first hold-down mechanism and the second hold-down mechanism；
First hold-down mechanism includes the first bearing plate and the first cylinder；First bearing plate is erected at the first level Between the outlet of rectilinear orbit slot and first transport block, and first bearing plate, the first level rectilinear orbit slot, The height of first inserts holding tank is equal；The width of first bearing plate is equal to the width of the first inserts；First cylinder It is erected at the surface of first bearing plate, and the piston rod of first cylinder is downwards；
Second hold-down mechanism includes the second bearing plate and the second cylinder；It is horizontal that second bearing plate is erected at described second Between the outlet of rectilinear orbit slot and second transport block, and second bearing plate, the second horizontal linear track groove, The height of second inserts holding tank is equal；The width of second bearing plate is equal to the width of the second inserts；Second cylinder It is erected at the surface of second bearing plate, and the piston rod of second cylinder is downwards；
First cylinder, the second cylinder are communicatively coupled to the control module respectively.
5. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: It further include first driving device, the second driving device and third driving device；
The first driving device includes the first driving motor, the first screw rod and the first sliding block；First driving motor Output shaft is fixedly connected with first screw rod, and the first sliding block sliding is set on first screw rod；Described first Transport block is fixedly connected on first sliding block；
Second driving device includes the second driving motor, the second screw rod and the second sliding block；Second driving motor Output shaft is fixedly connected with second screw rod, and the second sliding block sliding is set on second screw rod；Described second Transport block is fixedly connected on second sliding block；
The third driving device includes third driving motor, third screw rod and third sliding block；The third driving motor Output shaft is fixedly connected with the third screw rod, and the third sliding block sliding is set on the third screw rod；The third Transport block is fixedly connected on the third sliding block；
First driving motor, the second driving motor and third driving motor are communicatively coupled to the control module respectively.
6. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: First drive module includes third cylinder；The piston rod of the third cylinder is fixedly connected on per the first push group；It is described Third cylinder is communicatively coupled to the control module；
Second drive module includes the 4th cylinder；The piston rod of the 4th cylinder is fixedly connected on per the second push group； 4th cylinder is communicatively coupled to the control module.
7. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: The second vibration arrangement module further includes photoelectric sensor, tracheae and solenoid valve；The gas outlet of the tracheae is erected at described The outlet of second spiral auto arrangement correcting track, the tracheae are connected to the solenoid valve；The photoelectric sensor is for examining Whether the direction for surveying second inserts in the second spiral auto arrangement correcting track exit is correct；The solenoid valve and photoelectric sensing Device is communicatively coupled to the control module respectively.
8. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, it is characterised in that: The vision-based detection module includes fixed bracket and two cameras；Two cameras are revolvable respectively to be connected to the fixed branch Frame, two cameras are communicatively coupled to the control module.
9. a kind of injection molding inserts automation embedment according to claim 8 and product take out sorter, it is characterised in that: The vision-based detection module further includes lighting device；The lighting device is revolvable to be connected to the fixed bracket；The photograph Injection mold of the bright device towards product.
10. a kind of injection molding inserts automation embedment according to claim 1 and product take out sorter, feature exists In: the control module is PLC controller, and first detection device, second detection device, third detection device are respectively light Electric transducer.
CN201810978466.7A 2018-08-27 2018-08-27 Automatic embedded and product taking-out and classifying device for injection molding inserts Active CN109049500B (en)

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CN109605666A (en) * 2018-12-27 2019-04-12 日进教学器材(昆山)有限公司 Melamine tooth inserts flush type automatic forming equipment and moulding process
CN110091460A (en) * 2019-05-08 2019-08-06 浙江湾区机器人技术有限公司 A kind of built-in fitting multi-angle place apparatus
CN114055454A (en) * 2021-12-15 2022-02-18 重庆远创光电科技有限公司 Engine end cover and line box robot vision guide positioner

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CN209409122U (en) * 2018-08-27 2019-09-20 福州国化智能技术有限公司 A kind of injection molding inserts automation embedment and product take out sorter
CN113910535A (en) * 2021-09-23 2022-01-11 江苏德模注塑装饰科技有限公司 A full-automatic inserts material loading transfer device for automobile parts processing

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CN204263448U (en) * 2014-11-27 2015-04-15 广州国英自动化设备有限公司 Injection moulding inserts imbeds system automatically
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CN114055454A (en) * 2021-12-15 2022-02-18 重庆远创光电科技有限公司 Engine end cover and line box robot vision guide positioner

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