CN110561075A - Mold insert positioning device with automatic positioning function and assembling device - Google Patents
Mold insert positioning device with automatic positioning function and assembling device Download PDFInfo
- Publication number
- CN110561075A CN110561075A CN201910906875.0A CN201910906875A CN110561075A CN 110561075 A CN110561075 A CN 110561075A CN 201910906875 A CN201910906875 A CN 201910906875A CN 110561075 A CN110561075 A CN 110561075A
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- 230000007246 mechanism Effects 0.000 claims abstract description 122
- 238000000034 method Methods 0.000 claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 23
- 239000013307 optical fiber Substances 0.000 claims description 11
- 230000000903 blocking effect Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000001746 injection moulding Methods 0.000 description 3
- 230000007723 transport mechanism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
the invention provides an insert positioning device with an automatic positioning function and an assembling device, wherein the insert positioning device comprises: a vibration mechanism; a positioning mechanism; the insert is placed on the positioning mechanism and is adjusted to a set state under the vibration of the positioning mechanism. According to the insert positioning device and the assembling device with the automatic positioning function, provided by the invention, the vibration is generated by the vibration mechanism to drive the insert to vibrate on the positioning mechanism until the insert is vibrated to a set state so as to complete positioning, so that the problem of errors caused by manual placement in the prior art is solved, accurate positioning is realized, meanwhile, the purposes of automatic transportation, automatic positioning and automatic assembly of the insert are realized by using the manipulator and the transportation mechanism, the automation of the whole assembling process of the insert is realized, the labor intensity and the danger of workers are reduced, the production efficiency is improved, the insert can be guided to be directionally assembled by the vision camera, the secondary positioning of the insert is realized, and the accuracy of insert assembly is ensured.
Description
Technical Field
The invention relates to the technical field of auxiliary equipment of molds, in particular to an insert positioning device with an automatic positioning function and an assembling device.
Background
The mold insert is an important part in an injection mold, particularly an internal mold insert for an injection molding fan blade, the mold insert needs to be manually placed in a mold of an injection molding machine tool in a production process, then the machine tool is closed, injection molding is carried out, and the fan blade is blown out.
Disclosure of Invention
The invention provides an insert positioning device and an assembly device with an automatic positioning function, which can automatically adjust the position and the angle of an insert, and solves the problems of deviation, high strength and high danger coefficient caused by the need of manually placing the insert in the prior art.
An insert positioning device comprising: a vibration mechanism generating vibration in a horizontal direction and/or a vertical direction; the positioning mechanism is arranged on the vibration mechanism and can vibrate under the driving of the vibration mechanism; the positioning mechanism is configured to enable vibration adjustment of the insert to a set state when the insert is placed thereon.
The set state includes a position state and/or an angle state.
The positioning mechanism comprises a positioning block, the positioning block is arranged on the vibration mechanism, and the insert moves and rotates on the positioning block.
The middle part of mold insert is formed with through-hole and tip and is formed with and predetermines the structure, positioning mechanism still includes reference column and setting element, the reference column with the setting element all set up in on the locating piece, the diameter of reference column is less than the diameter of through-hole, the through-hole cover is located on the reference column, and when the mold insert was adjusted to the settlement state, predetermine the structure with the setting element corresponds the cooperation.
The preset structure is a groove or a hole, the positioning piece is a positioning needle, and when the insert is adjusted to a set state, the positioning needle extends into the groove or the hole.
The distance between the axis of the positioning pin and the axis of the positioning column is equal to the distance between the axis of the through hole and the axis of the groove.
The vibration mechanism includes a vibration disk.
An assembling device comprises the insert positioning device.
The assembling device further comprises a clamping mechanism, wherein the clamping mechanism is provided with a first working process for clamping and placing the insert on the insert positioning device and a second working process for clamping and moving the insert to a set position from the insert positioning device.
The clamping mechanism comprises a mechanical arm and a clamping jaw, wherein the clamping jaw is arranged on the mechanical arm and can move with full freedom under the driving of the mechanical arm.
The number of the clamping jaws is three, and the three clamping jaws are mutually matched to clamp and loosen the insert.
The assembly device further comprises a conveying mechanism, the insert is placed on the conveying mechanism and moves along with the conveying of the conveying mechanism, and in the first working process, the clamping mechanism clamps the insert on the conveying mechanism.
The conveying mechanism comprises a belt line, and the insert is placed on the belt line and moves along with the movement of the belt line.
The conveying mechanism further comprises a guide strip, the guide strip is arranged above the belt line, an included angle is formed between the guide strip and the moving direction of the insert, and the insert moves on the belt line under the guiding action of the guide strip.
The conveying mechanism further comprises a push rod, wherein the push rod is arranged above the belt line and has a first state that the guide strip is close to and a second state that the guide strip is far away from.
An included angle is formed between the push rod and the guide strip, an opening used for sliding out the insert is formed at the vertex of the included angle, and when the push rod is switched between the first state and the second state, the angle of the included angle is switched between a first set value and a second set value.
The conveying mechanism further comprises a single conveying channel, the central line of the single conveying channel is parallel to the moving direction of the belt line, and the inlet of the single conveying channel is communicated with the opening.
The width of the single conveying channel is D, the dimension of the insert in the width direction of the single conveying channel is D, and D is more than D and less than 2D.
the transport mechanism further comprises a blocking rod, and the blocking rod is arranged at the outlet of the single transport channel.
The conveying mechanism further comprises a driving piece, the push rod is arranged on the driving piece and is driven by the driving piece to be switched between the first state and the second state.
The assembling device further comprises a control system, and the control system is electrically connected with the insert positioning device, the clamping mechanism and the conveying mechanism.
The control system comprises an optical fiber sensor, the optical fiber sensor is arranged above the conveying mechanism, and when the optical fiber sensor senses the insert, the clamping mechanism starts the first working process.
The control system further comprises a vision camera which is arranged on the clamping mechanism and used for adjusting the deviation of the clamping mechanism in the second working process.
According to the insert positioning device and the assembling device with the automatic positioning function, provided by the invention, the vibration is generated by the vibration mechanism to drive the insert to vibrate on the positioning mechanism until the insert is vibrated to a set state so as to complete positioning, so that the problem of errors caused by manual placement in the prior art is solved, accurate positioning is realized, meanwhile, the purposes of automatic transportation, automatic positioning and automatic assembly of the insert are realized by using the manipulator and the transportation mechanism, the automation of the whole assembling process of the insert is realized, the labor intensity and the danger of workers are reduced, the production efficiency is improved, the insert can be guided to be directionally assembled by the vision camera, the secondary positioning of the insert is realized, and the accuracy of insert assembly is ensured.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an insert positioning apparatus having an automatic positioning function and an insert positioning apparatus of an assembling apparatus according to the present invention.
Fig. 2 is a partial schematic view of a portion a of fig. 1.
Fig. 3 is a schematic structural diagram of an insert of the insert positioning device and the assembling device with an automatic positioning function according to the present invention.
Fig. 4 is a schematic view of the installation positions of the vision camera and the clamping mechanism of the insert positioning device and the assembling device with the automatic positioning function provided by the invention.
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
1. A vibration mechanism; 21. positioning blocks; 22. a positioning column; 23. a positioning pin; 3. a clamping mechanism; 4. a transport mechanism; 41. a belt line; 42. a guide strip; 43. a push rod; 44. a single transport channel; 45. a blocking lever; 5. a vision camera; 10. and (4) embedding the mold insert.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1 to 3, the insert positioning apparatus of the present invention includes: a vibration mechanism 1 that generates vibration in a horizontal direction and/or a vertical direction; the positioning mechanism is arranged on the vibration mechanism 1 and can vibrate under the driving of the vibration mechanism 1; the positioning mechanism is configured to be capable of adjusting the insert 10 to a set state by vibration when the insert 10 is placed on the positioning mechanism, the vibration generated by the vibration mechanism 1 is used for driving the insert 10 to vibrate on the positioning mechanism, and the insert 10 can generate relative change with the positioning mechanism in the vibration process, such as the insert 10 rotates on the positioning mechanism and/or generates displacement on the positioning mechanism, and finally the insert 10 reaches the set state required in the assembling process, so that the positioning is completed, the insert 10 can be directly taken and placed in the installing process, the problem that the insert 10 needs to be manually aligned is avoided, and the positioning accuracy of the insert 10 is improved.
The setting state comprises a position state and/or an angle state, and is specifically selected according to actual needs.
The positioning mechanism comprises a positioning block 21, the positioning block 21 is arranged on the vibration mechanism 1, the insert 10 moves and rotates on the positioning block 21, the positioning block 21 transmits vibration generated by the vibration mechanism 1 to the insert 10, and damage to the vibration mechanism 1 caused by the insert 10 directly on the vibration mechanism 1 is avoided.
The insert 10 has a structure including a through hole formed in the middle and a preset structure formed at the end, the positioning mechanism further includes a positioning column 22 and a positioning piece, the positioning column 22 and the positioning piece are both arranged on the positioning block 21, the diameter of the positioning column 22 is smaller than that of the through hole, the through hole is sleeved on the positioning column 22, and when the insert 10 is adjusted to a set state, the preset structure is correspondingly matched with the positioning piece, when the insert 10 is placed, the through hole of the insert 10 is sleeved on the positioning column 22, so that the insert 10 falls down along the positioning column 22 until the end part of the insert 10 abuts against the positioning part, at the moment, the vibration mechanism 1 vibrates the insert 10, so that the insert 10 rotates along the positioning column 22 until the preset structure is matched with the positioning part, this indicates that the insert 10 has now been positioned, wherein the specific location of the positioning member is set according to the setting of the insert 10.
The preset structure is a groove or a hole, the positioning piece is a positioning needle 23, and when the insert 10 is adjusted to a set state, the positioning needle 23 extends into the groove or the hole.
The distance between the axis of the positioning pin 23 and the axis of the positioning column 22 is equal to the distance between the axis of the through hole and the axis of the groove, so that when the insert 10 is placed on a positioning position, no matter how the insert 10 vibrates, the final result is that the positioning pin 23 only extends into the groove, and the positioning speed of the insert 10 is accelerated.
The vibration mechanism 1 comprises a vibration disk, and the vibration amplitude and the vibration frequency of the vibration disk are adjusted according to actual needs and are not described in detail herein.
An assembling device comprises the insert positioning device.
The assembling device further comprises a clamping mechanism 3, the clamping mechanism 3 is provided with a first working process of clamping and placing the insert 10 on the insert positioning device and a second working process of clamping and moving the insert 10 to a set position from the insert positioning device, in order to realize automation, the clamping mechanism 3 is used for moving the insert 10 to the insert positioning device according to the first working process, and after the insert 10 is positioned, the clamping mechanism 3 is used for moving the positioned insert 10 to a required position according to the second working process for assembling.
The clamping mechanism 3 comprises a mechanical arm and a clamping jaw, the clamping jaw is arranged on the mechanical arm and can move with full freedom under the driving of the mechanical arm, the clamping jaw clamps and loosens the insert 10, the mechanical arm is a six-axis robot and can rotate with six dimensions, and therefore the purpose of moving with full freedom is achieved.
The clamping jaws are three in number, the three clamping jaws are matched with each other to clamp and loosen the insert 10, the three clamping jaws are arranged in a triangular mode, and each special clamping jaw is matched with one air cylinder, so that the clamping and loosening purposes are achieved when the air cylinder is opened or closed.
The assembling device further comprises a conveying mechanism 4, the insert 10 is placed on the conveying mechanism 4 and moves along with the conveying of the conveying mechanism 4, in the first working process, the clamping mechanism 3 clamps the insert 10 on the conveying mechanism 4, a worker only needs to place the insert 10 on the conveying mechanism 4, and therefore the conveying mechanism 4 is used for driving the insert 10 to a clamping area of the clamping mechanism 3, the clamping mechanism 3 is guaranteed to normally perform the first working process, and the purpose of automatically installing and positioning the insert 10 is achieved.
The conveying mechanism 4 comprises a belt line 41, the insert 10 is placed on the belt line 41 and moves along with the movement of the belt line 41, and preferably, the belt line 41 is a wide green grass belt to prevent the insert 10 from sliding relatively on the belt line 41.
The conveying mechanism 4 further comprises a guide strip 42, the guide strip 42 is arranged above the belt line 41, an included angle is formed between the guide strip 42 and the moving direction of the insert 10, and the insert 10 moves on the belt line 41 under the guiding action of the guide strip 42, so that the inserts 10 at different positions on the belt line 41 can move in the width direction of the belt line 41 under the guiding action of the guide strip 42, the clamping mechanism 3 can conveniently clamp the inserts 10 at the same position, and the efficiency of the clamping mechanism 3 is improved.
The conveying mechanism 4 further comprises a push rod 43, the push rod 43 is arranged above the belt line 41, and has a first state of approaching the guide strip 42 and a second state of being far away from the guide strip 42, and the insert 10 is pushed away towards the guide strip 42 by the push rod 43, so that all the inserts 10 can enter the clamping range of the clamping mechanism 3.
An included angle is formed between the push rod 43 and the guide strip 42, an opening for sliding out the insert 10 is formed at the vertex of the included angle, and when the push rod 43 is switched between the first state and the second state, the angle of the included angle is switched between a first set value and a second set value, the included angle is used for guiding the insert 10, so that the insert 10 moves towards the vertex direction of the included angle, and finally slides out of the included angle through the opening.
The transport mechanism 4 further comprises a single transport channel 44, the center line of the single transport channel 44 is parallel to the moving direction of the belt line 41, and the inlet of the single transport channel 44 is communicated with the opening, that is, the insert 10 sliding out of the included angle at the opening can move in the single transport channel 44 and slide to a set position along the single transport channel 44.
The width of the single conveying channel 44 is D, the dimension of the insert 10 in the width direction of the single conveying channel 44 is D, and D is more than D and less than 2D, so that the insert 10 in the single conveying channel 44 is ensured to move singly, and the problem that the clamping mechanism 3 cannot clamp due to the fact that the inserts 10 are arranged in parallel is avoided.
The conveying mechanism 4 further comprises a blocking rod 45, the blocking rod 45 is arranged at an outlet of the single conveying channel 44, the problem that the insert 10 moves out of a clamping range due to clamping interval time of the clamping mechanism 3 is avoided, and effective positioning and assembling of each insert 10 are guaranteed.
The conveying mechanism 4 further includes a driving member, the push rod 43 is disposed on the driving member, and is driven by the driving member to switch between the first state and the second state, preferably, the driving member is a driving cylinder, the insert 10 is extruded by the movement of the push rod 43, and especially when the insert 10 is stacked at the opening and is stuck, the insert 10 can be extruded by the extrusion force of the push rod 43, so that the insert 10 can smoothly pass through the opening.
The assembling device further comprises a control system, the control system is electrically connected with the insert positioning device, the clamping mechanism 3 and the conveying mechanism 4, and the control system is used for positioning the insert positioning device, moving the clamping mechanism 3 and conveying the insert 10 by the conveying mechanism 4.
The control system comprises an optical fiber sensor, the optical fiber sensor is arranged above the conveying mechanism 4, and because the insert 10 is limited in the single conveying channel 44, when the optical fiber sensor senses the insert 10, the optical fiber sensor indicates that the insert 10 reaches the clamping position set by the clamping mechanism 3, so that the clamping mechanism 3 starts the first working process, particularly, the optical fiber sensor is arranged on the blocking rod 45, when the insert moves to the position of the blocking rod 45 along the single conveying channel 44, the insert 10 cannot move, and at the moment, the clamping mechanism 3 can clamp the static insert 10, so that the clamping efficiency is improved.
The control system further comprises a vision camera 5, wherein the vision camera 5 is arranged on the clamping mechanism 3 and used for adjusting the deviation of the clamping mechanism 3 in the second working process, the vision camera 5 shoots a machine tool die, and then the assembly of the manipulator is guided through the position deviation of the internal vision contrast die, so that the assembly accuracy is guaranteed.
As shown in fig. 4, the vision camera 5 is fixed at the end of the manipulator through the camera fixing plate, the clamping mechanism 3 is also arranged on the camera fixing plate, the shooting direction of the vision camera 5 is parallel to the axis direction of the clamping mechanism, and the vision camera 5 and the clamping mechanism 3 can be driven to move together when the manipulator drives the camera fixing plate to move, and the vision camera 5 can be guaranteed to shoot the clamping area of the clamping mechanism 3 all the time, so that the reliability of the clamping mechanism 3 is guaranteed.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides an insert positioner which characterized in that: the method comprises the following steps:
A vibration mechanism (1) that generates vibration in a horizontal direction and/or a vertical direction;
The positioning mechanism is arranged on the vibration mechanism (1) and can vibrate under the driving of the vibration mechanism (1);
The positioning mechanism is configured to enable vibration adjustment of the insert (10) to a set state when the insert (10) is placed thereon;
The set state includes a position state and/or an angle state.
2. The insert positioning apparatus according to claim 1, wherein: the positioning mechanism comprises a positioning block (21), the positioning block (21) is arranged on the vibration mechanism (1), and the insert (10) moves and rotates on the positioning block (21).
3. the insert positioning apparatus according to claim 2, wherein: the middle part of mold insert (10) is formed with through-hole and tip and is formed with and predetermines the structure, positioning mechanism still includes reference column (22) and setting element, reference column (22) with the setting element all set up in on locating piece (21), the diameter of reference column (22) is less than the diameter of through-hole, the through-hole cover is located on reference column (22), and when mold insert (10) was adjusted to the settlement state, predetermine the structure with the setting element corresponds the cooperation.
4. The insert positioning apparatus according to claim 3, wherein: the preset structure is a groove or a hole, the positioning piece is a positioning needle (23), when the insert (10) is adjusted to a set state, the positioning needle (23) extends into the groove or the hole, and the distance between the axis of the positioning needle (23) and the axis of the positioning column (22) is equal to the distance between the axis of the through hole and the axis of the groove.
5. an assembly device, characterized by: comprising the insert positioning device according to any one of claims 1 to 4.
6. The fitting device according to claim 5, wherein: the assembling device further comprises a clamping mechanism (3), wherein the clamping mechanism (3) has a first working process of clamping and placing the insert (10) on the insert positioning device and a second working process of clamping and moving the insert (10) to a set position from the insert positioning device.
7. The fitting device according to claim 6, wherein: the clamping mechanism (3) comprises a mechanical arm and three clamping jaws, the three clamping jaws are arranged on the mechanical arm and matched with each other to clamp and loosen the insert (10), and the full-freedom-degree movement can be carried out under the driving of the mechanical arm.
8. The fitting device according to claim 7, wherein: the assembling device further comprises a conveying mechanism (4), the insert (10) is placed on the conveying mechanism (4) and moves along with the conveying of the conveying mechanism (4), and in the first working process, the clamping mechanism (3) clamps the insert (10) on the conveying mechanism (4).
9. The fitting device according to claim 8, wherein: the conveying mechanism (4) comprises a belt line (41), a guide strip (42), a push rod (43), a single conveying channel (44), a blocking rod (45) and a driving piece, the insert (10) is placed on the belt line (41) and moves along with the movement of the belt line (41), the guide strip (42) is arranged above the belt line (41), an included angle is formed between the guide strip (42) and the moving direction of the insert (10), the insert (10) moves on the belt line (41) under the guiding action of the guide strip (42), the push rod (43) is arranged above the belt line (41) and has a first state close to the guide strip (42) and a second state far away from the guide strip (42), an included angle is formed between the push rod (43) and the guide strip (42), and an opening for sliding out the insert (10) is formed at the vertex of the included angle, and when the push rod (43) is switched between the first state and the second state, the angle of the included angle is switched between a first set value and a second set value, the central line of the single transportation channel (44) is parallel to the movement direction of the belt line (41), the inlet of the single transportation channel (44) is communicated with the opening, the blocking rod (45) is arranged at the outlet of the single transportation channel (44), the push rod (43) is arranged on the driving piece, and the driving piece is driven to be switched between the first state and the second state.
10. The fitting device according to claim 8, wherein: the assembling device further comprises a control system, an optical fiber sensor and a vision camera (5), wherein the control system is electrically connected with the insert positioning device, the clamping mechanism (3) and the conveying mechanism (4), the optical fiber sensor is arranged above the conveying mechanism (4), when the optical fiber sensor senses the insert (10), the clamping mechanism (3) starts the first working process, and the vision camera (5) is arranged on the clamping mechanism (3) and adjusts the deviation of the clamping mechanism (3) in the second working process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910906875.0A CN110561075B (en) | 2019-09-24 | 2019-09-24 | Insert positioning device with automatic positioning function and assembly device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910906875.0A CN110561075B (en) | 2019-09-24 | 2019-09-24 | Insert positioning device with automatic positioning function and assembly device |
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| CN110561075A true CN110561075A (en) | 2019-12-13 |
| CN110561075B CN110561075B (en) | 2024-06-25 |
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| CN109016343A (en) * | 2018-09-28 | 2018-12-18 | 珠海格力智能装备有限公司 | Manipulator, robot and mold insert equipment |
| CN109177038A (en) * | 2018-09-28 | 2019-01-11 | 珠海格力智能装备有限公司 | Mold insert equipment and production line with it |
| CN208906571U (en) * | 2018-09-28 | 2019-05-28 | 珠海格力智能装备有限公司 | Positioning mechanism, mold insert equipment and mold insert production line |
| CN209257351U (en) * | 2018-09-28 | 2019-08-16 | 珠海格力智能装备有限公司 | Auxiliary locator, mold insert equipment and mold insert production line |
| CN209411228U (en) * | 2018-12-12 | 2019-09-20 | 珠海格力智能装备有限公司 | Feeder apparatus and mold insert system of processing with it |
| CN210649342U (en) * | 2019-09-24 | 2020-06-02 | 格力电器（武汉）有限公司 | Mold insert positioning device with automatic positioning function and assembling device |
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| CN110561075B (en) | 2024-06-25 |
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