CN113134728A

CN113134728A - Automatic foil filling machine and filling method thereof

Info

Publication number: CN113134728A
Application number: CN202110613038.6A
Authority: CN
Inventors: 解植文; 李闯; 张晖; 刘伯愚; 栗楠; 陈宇航; 苏建洲
Original assignee: Changchun Hangtai Zhilian Technology Co ltd
Current assignee: Changchun Hangtai Zhilian Technology Co ltd
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2021-07-20
Anticipated expiration: 2041-06-02
Also published as: CN113134728B

Abstract

The invention provides an automatic foil filling machine and a filling method thereof, wherein the automatic foil filling machine comprises: oxygen-free cabin, connection transfer cabin and foil automatic filling machine, foil automatic filling machine includes: the device comprises a base plate platform, a temporary foil storage plate, a foil tray mechanism, a foil feeding weighing mechanism, a foil filling mechanism, a positive and negative clamping piece positioning tray mechanism, a cartridge case feeding positioning mechanism and a group of grabbing manipulators, wherein the temporary foil storage plate, the foil tray mechanism, the foil feeding weighing mechanism, the foil filling mechanism and the positive and negative clamping piece positioning tray mechanism are sequentially arranged on the base plate platform; the shell loading and positioning mechanism is positioned on one side of the foil loading mechanism, and the group of grabbing manipulators are positioned on the other side of the foil loading mechanism; the invention has the advantages that: the automatic foil transferring, feeding, weighing and loading of the clamping pieces are realized, and the clamping pieces are automatically loaded into the cartridge case. The operation personnel only are responsible for the last unloading work of raw materials for production, and the assembly work all uses automated equipment to accomplish, reduces operation personnel's intensity of labour, improves the quality uniformity of product, promotes production efficiency.

Description

Automatic foil filling machine and filling method thereof

Technical Field

The invention belongs to the technical field of mechanical production, and particularly relates to an automatic foil filling machine and a filling method thereof.

Background

At present, in the XX military interference bomb production process, a foil is mainly used as a raw material, but most foils on the market need to be picked up manually, a proper amount of foil is taken out according to experience, after the foils are weighed by using an electronic scale repeatedly, a tool is used manually to compress and load the foils into clamping pieces, and after two clamping pieces are installed, the clamping pieces need to be bound by rubber bands, so that the foils are prevented from flying out due to the fact that the clamping pieces are scattered. When the clamping piece with the foil is arranged in the cartridge case, the rubber band is also required to be taken down. And the whole production process of the product is carried out in an oxygen-free chamber, and the assembly is carried out by manually wearing thicker rubber gloves. The problems of high labor intensity, low production efficiency, poor quality consistency, inconvenience in operation and the like exist in the existing manual production process.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide an automatic foil filling machine and a filling method thereof for automatically filling foils so as to overcome the above-mentioned disadvantages of the prior art.

The invention provides an automatic foil filling machine, which comprises: the improvement of doing is that no oxygen cabin, install the connection transfer cabin in no oxygen cabin one side, connect the transfer cabin and be used for the production raw materials business turn over no oxygen cabin, be provided with foil automatic filling machine in the no oxygen cabin, foil automatic filling machine includes: the device comprises a base plate platform, a temporary foil storage plate, a foil tray mechanism, a foil loading weighing mechanism, a foil loading mechanism, a positive and negative clamping piece positioning tray mechanism, a cartridge case loading positioning mechanism and a group of grabbing manipulators, wherein the temporary foil storage plate, the foil tray mechanism, the foil loading weighing mechanism, the foil loading mechanism, the positive and negative clamping piece positioning tray mechanism, the cartridge case loading positioning mechanism and the group of grabbing manipulators are sequentially arranged on the base plate platform and are arranged in parallel with the foil loading weighing mechanism and the foil loading mechanism; the shell case material loading positioning mechanism is located one side of foil loading mechanism, and is a set of snatch the opposite side that the manipulator is located foil loading mechanism, and is a set of snatch the manipulator and include respectively: the device comprises a foil feeding mechanical arm, a foil grabbing mechanical arm and a clamping piece feeding mechanical arm;

the temporary foil storage plate is positioned on one side connected with the transfer cabin and is used for placing a foil transfer tank;

wherein, foil tray mechanism is used for placing in proper order by the artifical foil group of taking out in the foil transfer tank, foil tray mechanism includes: the foil tray clamping device comprises a foil tray mounting frame arranged on a base plate platform, a foil tray arranged on the foil tray mounting frame, foil tray clamping cylinders arranged on the base plate platform and positioned on two sides of the foil tray, and a foil tray clamping plate arranged on the foil tray clamping cylinders, wherein the foil tray clamping cylinders on the two sides of the foil tray clamp the foil tray through the foil tray clamping plates;

wherein, foil piece material loading weighing mechanism is used for dividing the material and weighing to the foil piece group, foil piece material loading weighing mechanism includes: the foil set installation groove is formed in the foil set groove frame, the compression head is arranged at one end of the foil set groove frame and slides in the foil set installation groove, the foil compression electric cylinder is installed on the base plate platform and drives the compression head to move, the guide plate is connected with the compression head and a slider of the foil compression electric cylinder, the material supporting frame is installed at the other end of the foil set groove frame, the material supporting guide rail and the material supporting air cylinder are installed on the material supporting frame and are arranged in parallel with the foil set installation groove, and the material supporting head is connected to the material supporting guide rail and the material supporting air cylinder in a sliding mode; foil tank bracket sets up the breach that communicates with foil group mounting groove on being close to the both sides lateral wall of holding up stub bar one end, and one side that is located the breach is provided with blank mechanism, and the opposite side that is located the breach is provided with weighing machine and constructs, blank mechanism includes: the foil pushing plate is consistent with the notch in shape, the foil pushing cylinder is connected with the foil pushing plate and drives the foil pushing plate to slide in the notch, the sliding groove is formed in the side face of the foil pushing plate and is perpendicular to the foil set mounting groove, the foil distributing piece is connected in the sliding groove in a sliding mode, the foil distributing cylinder is mounted on the inner side of the foil pushing plate and drives the foil distributing piece to reciprocate in the notch, the foil distributing piece is used for distributing foil sets and blocking the rest of the foil sets during loading, and the foil pushing cylinder is mounted on the base plate platform through the mounting frame; the weighing mechanism includes: the internal groove of the electronic balance is consistent with the shape of the notch, the electronic balance is arranged on the base plate platform and below the transfer trough, the transfer trough clamping pieces are arranged at two ends of the transfer trough and are in edge lap joint with two ends of the transfer trough, the clamping cylinder is connected with the transfer trough clamping pieces and is used for clamping the transfer trough, the weighing lifting cylinder is arranged on the base plate platform through the weighing lifting cylinder mounting frame, the weighing lifting plate is arranged on the weighing lifting cylinder and is used for installing the clamping cylinder, the limiting cylinder is arranged on the weighing lifting plate and is between the two clamping cylinders, and the limiting part is arranged on a piston rod of the limiting cylinder Moving over the electronic scale;

wherein, foil filling mechanism is used for the filling of foil and positive and negative clamping piece, foil filling mechanism includes: the clamping piece mounting plate is internally provided with an evasion groove, a guide seat, a clamping piece loading area, a clamping piece assembling area, a clamping piece push plate, a group of flange plates, a group of clamping piece limiting plates, a clamping piece clamping cylinder and a blocking assembly are arranged on the top surface of the clamping piece mounting plate, a clamping piece limiting cylinder used for driving the clamping piece limiting plates to lift is arranged on the bottom surface of the clamping piece mounting plate, a clamping piece pushing cylinder driving mechanism used for driving the clamping piece push plate is arranged on one side of the clamping piece mounting plate, a transverse pushing mechanism arranged on the other side of the clamping piece mounting plate is arranged, the clamping piece loading area is arranged between the guide seat and the clamping piece push plate, the clamping piece loading area and the clamping piece assembling area are arranged in parallel and correspond in position, a group of parallel arrangement of the flange plates are respectively arranged at the two end edge positions of the clamping piece assembling area, the clamping piece clamping cylinder is arranged on one flange plate side, and a clamping piece clamping plate is arranged on a piston rod of the clamping piece clamping cylinder, the clamping piece clamping plate cooperates with the flange plate of opposite side and presss from both sides the clamping piece work piece in tight clamping piece equipment district, and is a set of a clamping piece limiting plate is installed and is kept away from a side edge position of sideslip mechanism in the clamping piece equipment district, the clamping piece limiting plate passes the dodging hole of clamping piece mounting panel and is connected with the piston rod of the spacing cylinder of clamping piece, it is located the clamping piece and loads the district directly over to block the subassembly, it includes to block the subassembly: install the cylinder that blocks in clamping piece mounting panel one side, install and block the lifter plate on blockking cylinder piston rod, install the clamping piece clamp plate on blockking terminal surface under the lifter plate through the connecting block through blockking the cylinder mounting panel, it is located the one side that is close to and pushes away clamping piece cylinder actuating mechanism to block the cylinder, it includes to push away clamping piece cylinder actuating mechanism: install the first clamping piece cylinder that pushes away on the backing plate platform, install the connecting plate on the first clamping piece cylinder that pushes away through the mounting bracket, the connecting plate passes the dodging groove of clamping piece mounting panel and is connected with the clamping piece push pedal, the first clamping piece cylinder that pushes away loads the direction parallel that loads of district with the clamping piece, the first clamping piece cylinder that pushes away promotes the clamping piece push pedal and pushes away the guide holder with the clamping piece work piece that the district was loaded to the clamping piece, the middle part position of clamping piece equipment position between two flange boards offers the groove of dodging that is used for dodging the sideslip mechanism, the sideslip mechanism includes: the clamping piece pressing head penetrates through the avoidance groove to push a clamping piece workpiece in the clamping piece assembling area into the clamping piece loading area, and the second clamping piece pushing cylinder and the third clamping piece pushing cylinder are arranged in parallel and are perpendicular to the first clamping piece pushing cylinder;

wherein, positive and negative clamping piece location tray mechanism includes: the clamping piece transposition mechanism comprises a clamping piece transposition mechanism mounting frame mounted on a base plate platform, a clamping piece transposition slide rail and a clamping piece transposition cylinder which are mounted on the clamping piece transposition mechanism mounting frame and arranged in parallel, and two groups of clamping piece mounting trays which are connected to the clamping piece transposition slide rail and a clamping piece transposition cylinder slide block in a sliding manner, wherein a positive clamping piece is mounted on one group of the clamping piece mounting trays, a reverse clamping piece is mounted on the other group of the clamping piece mounting trays, the slide block on the clamping piece transposition cylinder drives the clamping piece mounting trays to slide on the clamping piece transposition slide rail, and the clamping piece transposition slide rail is perpendicular to the shell case feeding positioning mechanism;

wherein, shell case material loading positioning mechanism includes: install shell case transposition mechanism mounting bracket on the backing plate platform, install shell case transposition slide rail and shell case transposition electric cylinder, sliding connection on shell case transposition slide rail and shell case transposition electric cylinder mounting bracket and parallel arrangement's shell case material loading locating plate, install shell case hold-down cylinder on shell case transposition mechanism mounting bracket, install the shell case pressure strip on shell case pressure strip hold-down cylinder piston rod after shell case pressure strip aligns with the guide holder center, shell case pressure strip pushes the guide holder in with the shell case on the shell case material loading locating plate in the shell case pressure strip, the slider drive shell case material loading locating plate of shell case transposition electric cylinder moves on shell case transposition slide rail.

As the preferable structure of the invention, the foil tray is composed of a plurality of foil mounting groove seats for mounting the foil group, the plurality of foil mounting groove seats are arranged in parallel, and a piston rod of the foil tray clamping cylinder is fixedly connected with a foil tray clamping plate.

As a preferred structure of the invention, the foil slot frame consists of a concave frame and a plurality of groups of supporting legs arranged at the bottom of the concave frame, a foil group installation groove in the concave frame is used for installing a foil group, the supporting frame consists of a supporting mechanism installation frame vertically arranged on the base plate platform and a supporting mechanism installation plate transversely arranged at the top of the supporting mechanism installation frame, the supporting guide rail is arranged on the supporting mechanism installation plate, the foil push plate is in a U-shaped plate shape, the chute is arranged at the outer side of the U-shaped plate-shaped foil push plate, and the foil distributing piece is arranged in the chute and limited by a pressing plate and used for preventing the foil distributing piece from falling off from the chute; the foil distributing cylinder is arranged on the inner side of the U-shaped plate-shaped foil push plate and is used for preventing the interference with the foil; the piston rod of centre gripping cylinder is connected with the transfer groove clamping piece, the lifter plate of weighing is located the electronic scale top, the transfer tank frame is connected through the transfer groove clamping piece on the centre gripping cylinder with the lifter plate of weighing, the lifter cylinder of weighing passes through the vertical setting of mounting bracket on the backing plate platform, foil compression electricity jar with push away the foil cylinder and transversely set up on the backing plate platform through the mounting bracket and the direction of motion between the two is perpendicular, two the transfer groove die clamping cylinder sets up relatively, it is rodless cylinder to hold up the material cylinder.

As a preferred structure of the invention, the clamping piece mounting plate is mounted on the backing plate platform along the horizontal direction through a mounting frame, an avoidance groove for connecting a plate to slide is formed in the clamping piece mounting plate, the connecting plate passes through the avoidance groove to be connected with the clamping piece push plate, the guide seat is composed of a rectangular box body with openings at two sides, the guide seat is mounted on the clamping piece mounting plate through the guide seat connecting plates at two sides, the group of side plates is composed of a longer side plate and a shorter side plate, the clamping piece clamping cylinder is positioned at the shorter side plate, and the clamping piece clamping plate on the clamping piece clamping cylinder and the shorter side plate are combined to be consistent with the longer side plate in length; the clamping piece limiting plates are vertically arranged in the avoidance holes, and the clamping piece limiting cylinders drive the clamping piece limiting plates to be located between the clamping piece loading area and the clamping piece assembling area after being lifted; dodge the trench and put and transversely run through whole clamping piece equipment district in the central point in clamping piece equipment district, dodge the groove and set up with the clamping piece limiting plate is perpendicular, the second pushes away the piston rod motion direction of clamping piece cylinder and pushes away the clamping piece cylinder with the third opposite, the clamping piece pressure head is the type of standing upside down.

As a preferable structure of the invention, the foil feeding manipulator, the foil grabbing manipulator and the clip feeding manipulator are all arranged on the manipulator mounting plate.

Another object of the present invention is to provide an automatic foil filling method, which comprises the following steps:

step S1: manually transporting the cartridge case, the clamping pieces and the foil transfer tank to a filling position of an automatic foil filling machine in an oxygen-free cabin;

step S11: manually transferring the cartridge case, the clamping pieces and the foil transferring tank into an oxygen-free chamber through a connecting transfer chamber, sequentially placing the clamping pieces on a positive clamping piece mounting tray and a reverse clamping piece positioning tray, temporarily storing the cartridge case on a temporary cartridge case storage lining plate, taking out the cartridge case to be used, and placing the cartridge case into a cartridge case feeding positioning plate for use; the foil transfer tank is opened at the temporary foil storage area, and the foils are manually taken out and sequentially placed in the foil tray;

step S12: a foil tray clamping cylinder is used for driving a foil tray clamping plate to clamp and position the foil tray on the base plate platform;

step S2: respectively weighing the foil sets by using a foil feeding weighing mechanism;

step S21: a foil loading manipulator is used for taking out a group of foils from a foil tray and transporting the foils to a foil tank frame, before the foil loading manipulator is opened, a foil distributing piece is driven to be in an in-situ state through a distributing cylinder to play a primary supporting role, after a material supporting cylinder drives a material supporting plate to extend out in place, the foil loading manipulator is opened and returns to the in-situ state, and the distributing cylinder drives the foil distributing piece to extend out to enable the foils to be located between a compression head and the material supporting plate; the limiting piece is driven by the limiting cylinder to extend out for auxiliary guiding at the opening of the inner groove of the foil slot frame, so that the foil is prevented from flying out when being compressed; the foil compression electric cylinder is used for driving the compression head to extend out to compress and transfer the foil to the end head of the foil group installation groove, when the foil compression electric cylinder acts, the material supporting air cylinder and the follow-up auxiliary support are used for the parallel transfer of the foil, the foil is prevented from toppling, constant output force is ensured when the foil compression electric cylinder extends out, and the foil group with fixed length is pushed out to meet the weight requirement after the foil compression is in place; after the foil is in place, the foil distributing cylinder drives the foil distributing piece to retract, the shifting piece group distributes the material according to the requirement, and the foil between the foil distributing piece and the material supporting plate is ensured to be the foil meeting the product weight requirement;

step S22: the limiting piece is driven to retract by the limiting cylinder, an opening at the upper end of an inner groove of the foil slot frame is opened, and the foil is waited to be pushed out for feeding; the foil pushing cylinder is used for driving the foil pushing plate to extend out, the cut foils are pushed out to the transfer trough frame, the foil compression electric cylinder is always in a compression state when the foil pushing cylinder acts, and the material distributing cylinder and the foil distributing plate are arranged on the foil pushing plate and follow the foil pushing plate, so that the situation that the rest of the foils are always in a stable compression state between the foil distributing plate and the compression head is ensured, and the foils are prevented from falling and flying out; the weighing lifting cylinder is used for driving the weighing lifting plate to descend, the transfer chute frame is arranged on the weighing lifting plate through the transfer chute clamping piece, so that the transfer chute frame descends to the electronic scale, and the electronic scale only weighs the foil group of the transfer chute frame after the transfer chute frame falls on the electronic scale due to the lap joint state between the transfer chute frame and the transfer chute clamping piece; after weighing is finished, the transfer slot clamping cylinder drives the transfer slot clamping piece to clamp and position the transfer slot frame, and the weighing lifting cylinder ascends to return the transfer slot frame to the original position; a foil grabbing manipulator descends to clamp and take out the foil in the transfer tank bracket and transfer the foil to a clamping piece; at the moment, the limiting cylinder drives the limiting part and the material supporting cylinder drives the material supporting plate to extend again, the material distributing cylinder drives the foil distributing piece to extend, the foil compression electric cylinder drives the compression head to extend to compress and transfer the foil to the rear side of the foil distributing piece, the material distributing cylinder drives the foil distributing piece to retract, and the rest of the foil is clamped between the foil distributing piece and the material supporting plate to wait for the next group of foils to be fed in place;

step S3: assembling the weighed foil and the clamping piece by using a foil filling mechanism;

step S31: a clamping piece loading manipulator is used for taking a clamping piece which is installed in the forward direction from the forward clamping piece installing tray, transferring the clamping piece to the clamping piece installing plate, placing the clamping piece between the two groups of flange plates and the flanges, using a clamping piece limiting plate for stopping and limiting, loosening the clamping piece loading manipulator, and moving the clamping piece loading manipulator to the reverse clamping piece positioning tray to grab a reverse clamping piece for standby; the clamping piece clamping cylinder is utilized to drive the clamping piece clamping plate to extend out, and the clamping piece is clamped and positioned between the flange plate and the clamping piece clamping plate; the foil grabbing manipulator and the clip feeding manipulator act simultaneously to initially load the foil and the reverse clip in place, so that the foil is loaded into a partition frame of the positive clip and the reverse clip, the foil grabbing manipulator is opened, the foil grabbing manipulator is provided with a secondary lifting mechanism and ascends once and clamps the clip again to give way for a clip partition, the foil grabbing manipulator and the clip feeding manipulator continue to act to continuously assemble the foil and the reverse clip in place, a third clip pushing cylinder drives a clip pressing head to act to press the reverse clip in place, and the foil grabbing manipulator and the clip feeding manipulator return to the original position to wait;

step S32: the clamping piece limiting plate is driven to descend by the clamping piece limiting cylinder, the third clamping piece pushing cylinder is driven by the second clamping piece pushing cylinder and drives the clamping piece pressing head to move so as to push the assembled clamping piece to the position below the blocking lifting plate, the blocking lifting plate is driven by the blocking cylinder to descend, the assembled clamping piece in the clamping piece assembling area is subjected to floating compaction, and the clamping piece is prevented from scattering; repeating the above actions, pushing a group of assembled clamping pieces to the lower part of the blocking lifting plate and tightly arranging the clamping pieces with the upper group of clamping pieces;

step S4: assembling the assembled clamping piece and the cartridge case by using a cartridge case feeding positioning mechanism;

step S41: the shell transposition electric cylinder is used for driving the shell feeding positioning plate to move a shell to the position of the guide seat and align with the center of the guide seat, the shell pressing cylinder is used for driving the shell pressing plate to press the opening part of the shell into the guide seat, and the clip pushing cylinder is used for driving the clip pushing plate to load two groups of assembled clip groups into the shell through the guide seat; the guide seat is provided with a guide groove for assisting the clamping piece to be smoothly assembled into the cartridge case; after the assembly is completed, the assembled product is manually taken down for temporary storage and transportation.

The invention has the advantages and positive effects that:

1. the invention realizes the work of automatic transferring, feeding, automatic weighing, automatic loading of the clamping pieces into the cartridge case and the like. The operation personnel only are responsible for the last unloading work of raw materials for production, and the assembly work all uses automated equipment to accomplish, reduces operation personnel's intensity of labour, improves the quality uniformity of product, promotes production efficiency.

2. The blanking mechanism and the weighing mechanism in the foil feeding and weighing mechanism can not only realize respective blanking or weighing functions, but also can be matched with the foil groove frame to ensure that no phenomenon of toppling and bouncing during pushing and transferring of the foil is caused, thereby effectively ensuring the collection and reutilization of residual materials.

3. The constant-force foil compression system is formed by the compression head driven by the foil compression electric cylinder, the material holding head driven by the material holding air cylinder and the material cutting mechanism, so that constant output force of the foil is kept during compression, the phenomenon of over-tightness or over-tightness of compression is effectively guaranteed, and the product weight under a certain length and size is indirectly guaranteed.

4. According to the foil loading and weighing device, the weighing mechanism is additionally arranged in the foil loading and weighing mechanism to weigh the foil cut by the cutting mechanism each time, so that the foil used in the whole process is ensured to meet the requirements.

Drawings

Other objects and results of the present invention will become more apparent and more readily appreciated as the same becomes better understood by reference to the following description taken in conjunction with the accompanying drawings. In the drawings:

fig. 1 is a schematic view of an installation structure for connecting a transit cabin and an oxygen-free cabin according to an embodiment of the present invention.

FIG. 2 is a schematic view of an automatic foil filling machine and a foil transfer pot according to an embodiment of the present invention.

FIG. 3 is a schematic view of an automatic foil loader according to an embodiment of the invention.

Fig. 4 is a schematic structural diagram of a foil loading weighing mechanism according to an embodiment of the invention.

FIG. 5 is a schematic diagram of a foil loading mechanism according to an embodiment of the invention.

FIG. 6 is a second schematic diagram of a foil loading mechanism according to an embodiment of the invention.

Wherein the reference numerals include: a middle transfer cabin 1, an oxygen-free cabin 2, a foil transfer tank 3, a cartridge case 4, a cartridge case temporary storage lining plate 5, a manipulator mounting plate 6, a positive clamping piece mounting tray 7, a reverse clamping piece positioning tray 8, a clamping piece 9, a clamping piece transposition slide rail 10, a clamping piece transposition cylinder 11, a clamping piece transposition mechanism mounting rack 12, a cartridge case transposition mechanism mounting rack 13, a cartridge case transposition electric cylinder 14, a cartridge case transposition slide rail 15, a cartridge case compression air cylinder 16, a cartridge case compression plate 17, a cartridge case feeding positioning plate 18, a foil tray clamping air cylinder 19, a foil tray clamping plate 20, a foil tray mounting rack 21, a foil tray 22, a cartridge case groove seat 22-1, a temporary storage foil area 23, a foil pushing air cylinder 24, a material holding mechanism mounting plate 25, a material holding air cylinder 26, a material holding slide rail 27, a material holding head 28, a material holding mechanism mounting rack 29, a clamping piece groove 30, a clamping air cylinder 31, a limiting piece 32, a limiting air cylinder 33, a clamping mechanism mounting rack 33, a clamping piece mounting rack 16, a clamping mechanism mounting rack, A transfer groove frame 34, a weighing lifting plate 35, a weighing lifting cylinder 36, a weighing lifting cylinder mounting frame 37, an electronic scale 38, a backing plate platform 39, a guide plate 40, a foil compression electric cylinder 41, a compression head 42, a foil groove frame 43, a first mounting frame 44, a pressing plate 45, a foil distribution sheet 46, a foil distribution cylinder 47, a foil push plate 48, a second mounting frame 49, a first clip pushing cylinder 50, a connecting plate 51, a clip push plate 52, a clip mounting plate 53, a blocking lifting plate 54, a blocking cylinder 55, a clip pressing plate 56, a connecting block 57, a guide seat 58, a clip filling area 59, a clip assembling area 60, a blocking cylinder mounting plate 61, a connecting plate 62, a third mounting frame 63, a second clip pushing cylinder 64, a clip limiting cylinder 65, a clip avoiding groove 66, a clip limiting plate 67, a clip clamping plate 68, a clip clamping cylinder 69, a side blocking plate 70, a clip pressure head 71, a third clip pushing cylinder 72, a clip pressure head 71, a clip pressing plate pressing cylinder 72, a clip pressing plate, A foil feeding manipulator 73, a foil grabbing manipulator 74, a clip feeding manipulator 75, a feeding weighing mechanism A, a cutting mechanism B, a weighing mechanism C and a foil loading mechanism D.

Detailed Description

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. It may be evident, however, that such embodiment(s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more embodiments.

Example 1

Referring to fig. 1 to 6, the present invention provides an automatic foil filling machine, since the automatic foil filling machine requires filling and assembling under an oxygen-free and water-free environment, all parts of the automatic foil filling machine are installed in an oxygen-free chamber 2, and a transfer chamber 1 is connected to the side of the oxygen-free chamber 2 for the production of raw materials to enter and exit the oxygen-free chamber. After entering the oxygen-free chamber 2, the foil transfer tank 3 is placed in the temporary foil storage area 23. The foil buffer 23 is mounted on a pallet platform 39. The foil tray 22 of the foil tray mechanism is placed on the foil tray mounting frame 21, the foil tray mounting frame 21 is mounted on the mounting base plate 39, the foil tray clamping plate 20 is mounted on the foil tray clamping cylinder 19, the foil tray clamping cylinder 19 is mounted on the base plate platform 39 through corresponding connectors, and the foil tray clamping cylinders 19 on both sides of the foil tray 22 clamp the foil tray 22 through the foil tray clamping plate 20. And a foil feeding weighing mechanism A is arranged at the rear side of the foil tray mechanism.

The foil chase 43 of the foil loading weighing mechanism a in this embodiment is mounted on the pallet platform 39 by being connected to the foil chase mounting bracket. The compression head 42 is mounted on the foil compression electric cylinder 41 through the guide plate 40, and the foil compression electric cylinder 41 drives the compression head 42 to translate in the foil set mounting groove of the foil slot frame 43. The foil compression cylinder 41 is mounted on the shim plate platform 39 by corresponding connectors. And a blanking mechanism B is arranged on the left side of the notch of the foil slot frame 43.

In the embodiment, the foil pushing plate 48 of the blanking mechanism B is in accordance with the shape of the notch, the foil pushing plate 48 is installed on the foil pushing cylinder 24, and the foil pushing cylinder 24 is installed on the backing plate platform 39 through the first installation frame 44. The foil pushing cylinder 24 drives the foil pushing plate 48 to slide in the notch, a sliding groove is formed in one side of the foil pushing plate 48 and provided with a foil distributing piece 46, the sliding groove is perpendicular to the foil set mounting groove, the foil distributing piece 46 is connected in the sliding groove in a sliding mode, the foil distributing piece 46 is mounted on the foil distributing cylinder 47, and the foil distributing cylinder 47 is mounted on the inner side of the foil pushing plate 48 and prevents interference with foil. The pressing plate 45 is mounted on the outer side of the foil pushing plate 48 for limiting the foil distribution sheet 46 from falling out of the chute. Foil piece distributing cylinder 47 drives foil piece distributing sheet 46 to reciprocate in the chute and to stretch and contract in the notch foil set mounting groove, foil piece distributing sheet 46 is used for distributing foil sets and blocking the rest foil sets when feeding, the supporting frame is composed of supporting mechanism mounting plates 25 and supporting mechanism mounting frames 29, and the supporting mechanism mounting plates 25 which are transversely arranged are mounted on the base plate platform 39 through the supporting mechanism mounting frames 29 which are vertically arranged. The supporting slide rail 27 is installed on the supporting mechanism installation plate 25, the supporting cylinder 26 is installed below the supporting slide rail 27, the supporting cylinder 26 and foil set installation grooves in the foil set groove 43 are arranged in parallel, the supporting head 28 is connected to the supporting guide rail 27 and the supporting cylinder 26 in a sliding mode, the sliding block of the supporting cylinder 26 drives the supporting head 28 to slide in the foil set installation groove in the foil set groove 43, the compression head 42 and the supporting head 28 are located at two ends of the foil set installation groove respectively and move in opposite directions, notches communicated with the foil set installation grooves are formed in the side walls of two sides, close to one end of the supporting head 28, of the foil set groove 43, and the weighing mechanism C is arranged on the right side of each notch.

In this embodiment, the transfer slot bracket 34 of the weighing mechanism C is located on the other side of the gap of the foil slot bracket 43, the inner groove of the transfer slot bracket 34 is in accordance with the shape of the gap, an electronic scale 38 is arranged below the transfer slot bracket 34, and the electronic scale 38 is directly mounted on the backing plate platform 39. The middle transfer slot clamping pieces 30 are lapped on two sides of a middle transfer slot frame 34, and the middle transfer slot frame 34 is

In the shape, two middle rotating groove clamping pieces 30 are respectively lapped on the edge position of a middle rotating groove frame 34, the middle rotating groove clamping pieces 30 are installed on respective clamping cylinders 31, the clamping cylinders 31 are installed on a weighing lifting plate 35, a limiting cylinder 33 is installed above the weighing lifting plate 35, a limiting piece 32 is installed at the front end of the limiting cylinder 33, and the limiting piece 32 is located above the middle rotating groove frame 34. The weighing lifting plate 35 is connected with a weighing lifting cylinder 36, and the weighing lifting cylinder 36 is connected with a base plate platform 39 through a weighing lifting cylinder mounting rack 37. The electronic scale 38 is used for weighing the foil in the groove of the transfer trough bracket 34, the two clamping cylinders 31 clamp the transfer trough bracket 34 through the transfer trough clamping part 30, and the weighing lifting cylinder 36 drives the clamping cylinders 31 and the transfer trough bracket 34 clamped by the clamping cylinders to move right above the electronic scale 38 through the weighing lifting plate 35.

Foil filling mechanism D is adjacent with material loading weighing machine A in this embodiment, and foil filling mechanism D includes: inside has the clamping piece mounting panel 53 that dodges the groove, installs guide holder 58, the clamping piece on clamping piece mounting panel 53 top surface and loads district 59, clamping piece equipment district 60, clamping piece push pedal 52, a set of flange plate 70, a set of clamping piece limiting plate 67, clamping piece die clamping cylinder 69 and blocks the subassembly, installs the spacing cylinder 65 of clamping piece that is used for driving clamping piece limiting plate 67 to go up and down on clamping piece mounting panel 53 bottom surface, installs the clamping piece cylinder actuating mechanism that pushes away that is used for driving clamping piece push pedal 52 in clamping piece mounting panel 53 board one side, installs the sideslip mechanism at clamping piece mounting panel 53 opposite side, clamping piece loads district 59 and is located between guide holder 58 and clamping piece push pedal 52, clamping piece loading district 59 and clamping piece equipment district 60 parallel arrangement and position correspond, a set of parallel arrangement flange plate 70 is located the both ends border position of clamping piece equipment district 60 respectively, clamping cylinder 69 is located one of them flange plate 70 side, install the clamping piece grip block 68 on the piston rod of clamping piece die clamping cylinder 69, the clamping piece work piece of clamping piece assembly district 60 is pressed from both sides in the cooperation of clamping piece grip block 68 and the flange plate 70 of opposite side, and is a set of clamping piece limiting plate 67 is installed and is kept away from a side edge position of sideslip mechanism in clamping piece assembly district 60, clamping piece limiting plate 67 passes the piston rod of dodging hole and the spacing cylinder 65 of clamping piece mounting panel 53 and is connected, it is located clamping piece filling district 59 directly over to block the subassembly, it includes to block the subassembly: install the cylinder 55 that blocks in clamping piece mounting panel 53 one side, install and block lifter plate 54 on blockking the cylinder 55 piston rod, install through connecting block 57 and block clamping piece clamp plate 56 on blockking lifter plate 54 terminal surface down through blockking cylinder mounting panel 61, block that cylinder 55 is located and be close to the one side of pushing away clamping piece cylinder actuating mechanism, it includes to push away clamping piece cylinder actuating mechanism: install first push away the clamping piece cylinder 50 on backing plate platform 39, install the connecting plate 51 on first push away the clamping piece cylinder 50 through second mounting bracket 49, connecting plate 51 passes the dodging groove and the clamping piece push pedal 52 of clamping piece mounting panel 53 and is connected, it divide into horizontal clamping piece push pedal with dodging groove and connecting plate with dodging the groove to dodge the groove, first push away clamping piece cylinder 50 and clamping piece and load the direction parallel that loads district 59, first push away clamping piece cylinder 50 and promote clamping piece push pedal 53 and load the clamping piece work piece that district 59 was loaded to the clamping piece and push into guide holder 58, clamping piece equipment district 60 is located the middle part position between two flange plates 70 and offers the groove 66 of dodging that is used for dodging the sideslip mechanism, the sideslip mechanism includes: install the second on backing plate platform 39 through third mounting bracket 63 and push away the piece cylinder 64, through connecting plate 62 install the third on the piston rod of second push away the piece cylinder 64 push away the piece cylinder 72, install the piece pressure head 71 on the third pushes away the piece cylinder 72 piston rod, piece pressure head 71 passes and dodges groove 66 and pushes away the piece loading area 59 with the clip work piece in clip assembly area 60, the second pushes away piece cylinder 64 and pushes away piece cylinder 72 parallel arrangement and with the first perpendicular setting that pushes away piece cylinder 55.

In this embodiment, the cartridge case feeding positioning plate 18 is installed on the cartridge case transposition slide rail 15 and the cartridge case transposition electric cylinder 14, the cartridge case transposition slide rail 15 and the cartridge case transposition electric cylinder 14 are installed on the base plate platform 39 through the cartridge case transposition mechanism installation frame 13, the cartridge case pressing air cylinder 16 is installed on the cartridge case transposition mechanism installation frame 13 through a corresponding connecting piece and aligned with the center of the guide seat 58, and the cartridge case pressing air cylinder 16 is installed with the cartridge case pressing plate 17. The clamping piece 9 is placed on the positive clamping piece mounting tray 7 and the reverse clamping piece positioning tray 8, the positive clamping piece mounting tray 7 and the reverse clamping piece positioning tray 8 are simultaneously mounted on the clamping piece transposition air cylinder 11 and the clamping piece transposition slide rail 10, and the clamping piece transposition air cylinder 11 and the clamping piece transposition slide rail 10 are mounted on the base plate platform 39 through the clamping piece transposition mechanism mounting frame 12. The foil feeding manipulator 73, the foil grabbing manipulator 74 and the clip feeding manipulator 75 are mounted on the manipulator mounting plate 6, and the manipulator mounting plate 6 is mounted on the backing plate platform 39 through corresponding connectors. The temporary storage lining plate 5 for the cartridge case is installed on the manipulator installation plate 6, and the cartridge case 4 is placed on the temporary storage lining plate 5 for the cartridge case to be temporarily stored.

The foil tray 22 in this embodiment is composed of a plurality of foil mounting groove seats 22-1 for mounting the foil groups, the plurality of foil mounting groove seats 22-1 are arranged in parallel, and a piston rod of the foil tray clamping cylinder 19 is fixedly connected with the foil tray clamping plate 20.

The foil slot frame 43 in this embodiment is composed of a concave frame and a plurality of sets of support legs installed at the bottom of the concave frame, the foil set installation groove in the concave frame is used for installing a foil set, the supporting frame is composed of a supporting mechanism installation frame 29 vertically installed on the base plate platform 39 and a supporting mechanism installation plate 25 transversely installed at the top of the supporting mechanism installation frame 29, the supporting guide rail 27 is installed on the supporting mechanism installation plate 25, the foil push plate 48 is in a U-shaped plate shape, the sliding slot is formed in the outer side of the U-shaped plate-shaped foil push plate 48, the foil distributing piece 46 is installed in the sliding slot and limited by the pressing plate 45, and is used for preventing the foil distributing piece 46 from falling off from the sliding slot; the foil distributing cylinder 47 is arranged on the inner side of a U-shaped plate-shaped foil push plate 48 and used for preventing the interference with the foil; the piston rod of centre gripping cylinder 31 is connected with transfer groove clamping piece 30, the lifter plate 35 of weighing is located electronic scale 38 top, transfer groove frame 34 is connected through transfer groove clamping piece 30 on the centre gripping cylinder 31 with the lifter plate 35 of weighing, the lifter cylinder 36 of weighing is through the vertical setting on backing plate platform 39 of the lifter cylinder mounting bracket 37 of weighing, foil compression electricity jar 41 with push away foil cylinder 24 and transversely set up on backing plate platform 39 and the direction of motion between the two is perpendicular through the mounting bracket transfer groove clamping cylinder 31 sets up relatively, it is the rodless cylinder to hold up material cylinder 26.

The clamping piece mounting plate 53 in this embodiment is installed on the base plate platform 39 along the horizontal direction through a mounting frame, an avoiding groove for the connecting plate 51 to slide is formed in the clamping piece mounting plate 53, the connecting plate passes through the avoiding groove to be connected with the clamping piece pushing plate 52, the guide seat 58 is composed of a rectangular box body with openings at two sides, the guide seat 58 is installed on the clamping piece mounting plate 53 through the guide seat connecting plates at two sides, the group of side blocking plates 70 is composed of a longer side blocking plate and a shorter side blocking plate, the clamping piece clamping cylinder 69 is positioned at the shorter side blocking plate, and the clamping piece clamping plate 68 on the clamping piece clamping cylinder 69 is combined with the shorter side blocking plate and then is consistent with the longer side blocking plate in length; the clip limiting plates 67 are vertically arranged in the avoiding holes, and the clip limiting cylinders 65 drive the clip limiting plates 67 to be located between the clip loading area 59 and the clip assembling area 60 after being lifted; the avoiding groove 66 is located at the center of the clip assembling area 60 and transversely penetrates through the whole clip assembling area 60, the avoiding groove 66 is perpendicular to the clip limiting plate 70, the second clip pushing cylinder 64 and the third clip pushing cylinder 72 are opposite in piston rod movement direction, and the clip pressing head 71 is in an inverted convex shape.

In this embodiment, the foil compression electric cylinder 41 may be replaced by an air cylinder plus pressure sensor assembly or a servo motor plus module assembly, the foil feeding manipulator 73, the foil grabbing manipulator 74 and the clip feeding manipulator 75 may be replaced by a linear module assembly, an electric actuator assembly, a 6-axis manipulator, a 4-axis manipulator and the like, and the secondary propulsion mechanism may be replaced by an electric cylinder, a linear module and the like. The material holding cylinder 26 can be completed by an electric cylinder or a module.

Example 2

The embodiment provides an automatic foil filling method, which specifically comprises the following steps:

step S1: manually transporting the cartridge case 4, the clamping pieces 9 and the foil transfer tank 3 to a filling position of an automatic foil filling machine in the oxygen-free cabin 2;

step S11: manually transferring the cartridge case 4, the clamping pieces 9 and the foil transfer tank 3 into the oxygen-free chamber 2 through the connecting transfer chamber 1, sequentially placing the clamping pieces 9 on the positive clamping piece mounting tray 7 and the reverse clamping piece positioning tray 8, temporarily storing the cartridge case 4 on the cartridge case temporary storage lining plate 5, taking out the cartridge case 4 for standby, and placing the cartridge case 4 in the cartridge case feeding positioning plate 18 for standby; the foil transfer pot 3 is opened at the foil buffer 23, the foils are manually taken out and placed in the foil tray 22 in sequence;

step S12: a foil tray clamping cylinder 19 is used for driving a foil tray clamping plate 20 to clamp and position 22 the foil tray on a base plate platform 39;

step S21: a group of foils are taken out from the foil tray 22 by using the foil feeding manipulator 73 and transferred into the foil slot frame 43, before the foil feeding manipulator 73 is opened, the foil distributing piece 46 is driven by the foil distributing cylinder 47 to be in a home position state to play a primary supporting role, after the material holding cylinder 26 drives the material holding plate 28 to extend out in place, the foil feeding manipulator 73 is opened and returns to the home position, the foil distributing piece 46 is driven by the foil distributing cylinder 47 to extend out, so that the foils are positioned between the compression head 42 and the material holding plate 28, the extending distance of the material holding plate 28 is strictly calculated, and after the foil feeding manipulator 73 is opened, the foils cannot fly out and topple after being opened due to self elastic shape; the limiting piece 32 is driven to extend out by the limiting cylinder 33 and used for auxiliary guiding at the opening of the inner groove of the foil slot frame 43, so that the foil is prevented from flying out when being compressed; the foil compression electric cylinder 41 is utilized to drive the compression head 42 to extend out to compress and transfer the foil to the end head of the foil group installation groove, when the foil compression electric cylinder 41 acts, the material supporting cylinder 26 is used for auxiliary support during parallel transfer of the foil along with the movement of the material supporting cylinder to prevent the foil from toppling, and when the foil compression electric cylinder 41 extends out, constant output force is ensured, and after compression is in place, the foil group with a fixed length is pushed out to meet the weight requirement; after the foils are in place, the distributing cylinder 47 drives the foil distributing piece 46 to retract, the shifting piece group is distributed according to requirements, and the foils between the foil distributing piece 46 and the material supporting plate 28 are guaranteed to be foils meeting the weight requirements of products;

step S22: the limiting piece 32 is driven to retract by the limiting cylinder 33, an opening at the upper end of an inner groove of the foil slot frame 43 is opened, and the foil is waited to be pushed out for feeding; the foil pushing cylinder 24 is utilized to drive the foil pushing plate 48 to extend out, the cut foils are pushed out to the transfer trough frame 34, the foil compression electric cylinder 41 is always in a compression state when the foil pushing cylinder 24 acts, and the material distributing cylinder 47 and the foil distributing plate 46 are arranged on the foil pushing plate 48 and follow the foil pushing plate 48, so that the condition that the residual foils are always positioned between the foil distributing plate 46 and the compression head 42 and are in a stable compression state is ensured, and the foils are prevented from falling and flying out; the weighing lifting cylinder 36 is used for driving the weighing lifting plate 35 to descend, the transfer trough frame 34 is installed on the weighing lifting plate 35 through the transfer trough clamping piece 30, so that the transfer trough frame 34 descends onto the electronic scale 38, and the electronic scale 38 only weighs the foil group in the transfer trough frame 34 after the transfer trough frame 34 falls on the electronic scale 38 due to the lap joint state between the transfer trough frame 34 and the transfer trough clamping piece 30; after weighing is finished, the transfer slot clamping cylinder 31 is used for driving the transfer slot clamping piece 30 to clamp and position the transfer slot frame 34, the weighing lifting cylinder 36 is lifted, and the transfer slot frame 34 is returned to the original position; the foil grabbing manipulator 74 descends to clamp and take out the foil in the transfer trough frame 34 and transfers the foil to a clamping piece mounting position; at the moment, the limiting cylinder 33 drives the limiting piece 32 and the material supporting cylinder 26 drives the material supporting plate 28 to extend again, the material distributing cylinder 47 drives the foil distributing piece 46 to extend, the foil compression electric cylinder 41 drives the compression head 42 to extend to compress and transfer the foil to the rear of the foil distributing piece 46, the material distributing cylinder 47 drives the foil distributing piece 46 to retract, and the rest of the foil is clamped between the foil distributing piece 46 and the material supporting plate 28 to wait for the next group of foils to be fed in place;

step S31: a clamping piece 9 which is installed in the forward direction is taken from the forward clamping piece installation tray 7 by using a clamping piece feeding mechanical arm 75 and is transferred to the clamping piece installation plate 53 and is placed between the two groups of flanges 70, the clamping piece limiting plate 67 is used for stopping and limiting, the clamping piece feeding mechanical arm 75 is loosened and moves to the reverse clamping piece positioning tray 8 to grab a reverse clamping piece 9 for standby; the clamping piece clamping cylinder 69 is utilized to drive the clamping piece clamping plate 68 to extend out, and the clamping piece is clamped and positioned between the flange plate and the clamping piece clamping plate 68; the foil grabbing manipulator 74 is used for driving the foil to transfer the foil to the front of the positive clamping piece, the clamping piece feeding manipulator 75 is used for driving the reverse clamping piece to transfer the foil to the front of the foil, the foil grabbing manipulator 74 and the clamping piece feeding manipulator 75 act simultaneously to preliminarily load the foil and the reverse clamping piece in place, the foil is guaranteed to be loaded into the partition frames of the positive clamping piece and the reverse clamping piece, the foil grabbing manipulator 74 is opened, and because the foil grabbing mechanical arm 74 is provided with the two-stage lifting mechanism, the foil grabbing mechanical arm 74 ascends once and clamps again, for abdicating the partition board of the clamping piece 9, the foil grabbing mechanical arm 74 and the clamping piece feeding mechanical arm 75 continue to act to assemble the foil and the reverse clamping piece in place, the third clip pushing cylinder 72 drives the clip pressing head 71 to act, the reverse clips are pressed in place, and the foil grabbing manipulator 74 and the clip feeding manipulator 75 return to the original positions to wait;

step S32: the clamping piece limiting plate 67 is driven to descend by the clamping piece limiting cylinder 65, the third clamping piece pushing cylinder 72 is driven by the second clamping piece pushing cylinder 64, the third clamping piece pushing cylinder 72 drives the clamping piece pressing head 71 to move to push the assembled clamping pieces to the position below the blocking lifting plate 54, the blocking lifting plate 54 is driven to descend by the blocking cylinder 55, the assembled clamping pieces in the clamping piece assembling area are subjected to floating compaction, and the clamping pieces are prevented from being scattered; repeating the above actions, and then pushing the set of assembled clips to the lower part of the blocking lifting plate 54 and closely arranging the clips with the upper set of clips;

step S4: assembling the assembled clamping piece and the cartridge case 4 by using a cartridge case feeding positioning mechanism;

step S41: the cartridge case transposition electric cylinder 14 is used for driving the cartridge case feeding positioning plate 18 to move a cartridge case 4 to the position of the guide seat 58 and align with the center, the cartridge case pressing cylinder 16 is used for driving the cartridge case pressing plate 17 to press the opening part of the cartridge case 4 into the guide seat 58, and the clip pushing cylinder 50 is used for driving the clip pushing plate 52 to load two groups of assembled clip groups into the cartridge case 4 through the guide seat 58; the guide seat 58 is provided with a guide groove for assisting the clip to be smoothly assembled into the cartridge case 4; after the assembly is completed, the assembled product is manually taken down for temporary storage and transportation.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automatic foil loader comprising: oxygen-free cabin, install the connection transfer cabin in oxygen-free cabin one side, it is used for the oxygen-free cabin of raw materials for production business turn over to connect the transfer cabin, its characterized in that, be provided with foil automatic filling machine in the oxygen-free cabin, foil automatic filling machine includes: the device comprises a base plate platform, a temporary foil storage plate, a foil tray mechanism, a foil loading weighing mechanism, a foil loading mechanism, a positive and negative clamping piece positioning tray mechanism, a cartridge case loading positioning mechanism and a group of grabbing manipulators, wherein the temporary foil storage plate, the foil tray mechanism, the foil loading weighing mechanism, the foil loading mechanism, the positive and negative clamping piece positioning tray mechanism, the cartridge case loading positioning mechanism and the group of grabbing manipulators are sequentially arranged on the base plate platform and are arranged in parallel with the foil loading weighing mechanism and the foil loading mechanism; the shell case material loading positioning mechanism is located one side of foil loading mechanism, and is a set of snatch the opposite side that the manipulator is located foil loading mechanism, and is a set of snatch the manipulator and include respectively: the device comprises a foil feeding mechanical arm, a foil grabbing mechanical arm and a clamping piece feeding mechanical arm;

wherein, shell case material loading positioning mechanism includes: install shell case transposition mechanism mounting bracket on the backing plate platform, install shell case transposition slide rail and shell case transposition electric cylinder, sliding connection on shell case transposition slide rail and shell case transposition electric cylinder mounting bracket and parallel arrangement's shell case material loading locating plate, install shell case pressure cylinder on shell case transposition mechanism mounting bracket, install the shell case pressure strip on shell case pressure cylinder piston rod shell case pressure strip align with the guide holder center, shell case pressure cylinder pushes the shell case on the shell case material loading locating plate in the guide holder through the shell case pressure strip, the slider drive shell case material loading locating plate of shell case transposition electric cylinder moves on shell case transposition slide rail.

2. The automatic foil loader of claim 1, wherein the foil tray comprises a plurality of sets of foil mounting groove receptacles for mounting the sets of foils, the plurality of sets of foil mounting groove receptacles being arranged in parallel, and a piston rod of the foil tray clamping cylinder being fixedly connected to the foil tray clamping plate.

3. The automatic foil filling machine of claim 1, wherein the foil slot frame is composed of a concave frame and a plurality of sets of supporting legs mounted at the bottom of the concave frame, the foil set mounting groove in the concave frame is used for mounting a foil set, the supporting frame is composed of a supporting mechanism mounting frame vertically mounted on the backing plate platform and a supporting mechanism mounting plate transversely mounted at the top of the supporting mechanism mounting frame, the supporting guide rail is mounted on the supporting mechanism mounting plate, the foil push plate is in a U-shaped plate shape, the sliding groove is formed in the outer side of the U-shaped plate-shaped foil push plate, and the foil distributing piece is mounted in the sliding groove and limited by the pressing plate and used for preventing the foil distributing piece from falling off from the sliding groove; the foil distributing cylinder is arranged on the inner side of the U-shaped plate-shaped foil push plate and is used for preventing the interference with the foil; the piston rod of centre gripping cylinder is connected with the transfer groove clamping piece, the lifter plate of weighing is located the electronic scale top, the transfer tank frame is connected through the transfer groove clamping piece on the centre gripping cylinder with the lifter plate of weighing, the lifter cylinder of weighing passes through the vertical setting of mounting bracket on the backing plate platform, foil compression electricity jar with push away the foil cylinder and transversely set up on the backing plate platform through the mounting bracket and the direction of motion between the two is perpendicular, two the transfer groove die clamping cylinder sets up relatively, it is rodless cylinder to hold up the material cylinder.

4. The automatic foil loader of claim 1, wherein the clamping plate mounting plate is horizontally mounted on the backing plate platform by a mounting frame, an avoiding groove for the connection plate to slide is formed in the clamping plate mounting plate, the connection plate passes through the avoiding groove and is connected with the clamping plate pushing plate, the guide seat is composed of a rectangular box body with openings at two sides, the guide seat is mounted on the clamping plate mounting plate by the guide seat connecting plates at two sides, the set of side plates is composed of a longer side plate and a shorter side plate, the clamping plate clamping cylinder is positioned at the shorter side plate, and the clamping plate clamping cylinder is combined with the shorter side plate to have the same length as the longer side plate; the clamping piece limiting plates are vertically arranged in the avoidance holes, and the clamping piece limiting cylinders drive the clamping piece limiting plates to be located between the clamping piece loading area and the clamping piece assembling area after being lifted; dodge the trench and put and transversely run through whole clamping piece equipment district in the central point in clamping piece equipment district, dodge the groove and set up with the clamping piece limiting plate is perpendicular, the second pushes away the piston rod motion direction of clamping piece cylinder and pushes away the clamping piece cylinder with the third opposite, the clamping piece pressure head is the type of standing upside down.

5. The automatic foil loader of claim 1, wherein the foil loading robot, the foil grasping robot, and the clip loading robot are mounted on a robot mounting plate.

6. A method of automatically filling a foil as claimed in claim 1, comprising the steps of:

step S22: the limiting piece is driven to retract by the limiting cylinder, an opening at the upper end of an inner groove of the foil slot frame is opened, and the foil is waited to be pushed out for feeding; the foil pushing cylinder is used for driving the foil pushing plate to extend out, the cut foils are pushed out to the transfer trough frame, the foil compression electric cylinder is always in a compression state when the foil pushing cylinder acts, and the material distributing cylinder and the foil distributing plate are arranged on the foil pushing plate and follow the foil pushing plate, so that the situation that the rest of the foils are always in a stable compression state between the foil distributing plate and the compression head is ensured, and the foils are prevented from falling and flying out; the weighing lifting cylinder is used for driving the weighing lifting plate to descend, the transfer trough frame is arranged on the weighing lifting plate through the transfer trough clamping piece, so that the transfer trough frame descends to the electronic scale, and the electronic scale only weighs the foil set of the transfer trough frame after the transfer trough frame falls on the electronic scale due to the lap joint state between the transfer trough frame and the transfer trough clamping piece; after weighing is finished, the transfer slot clamping cylinder drives the transfer slot clamping piece to clamp and position the transfer slot frame, and the weighing lifting cylinder ascends to return the transfer slot frame to the original position; a foil grabbing manipulator descends to clamp and take out the foil in the transfer tank bracket and transfer the foil to a clamping piece; at the moment, the limiting cylinder drives the limiting part and the material supporting cylinder drives the material supporting plate to extend again, the material distributing cylinder drives the foil distributing piece to extend, the foil compression electric cylinder drives the compression head to extend to compress and transfer the foil to the rear side of the foil distributing piece, the material distributing cylinder drives the foil distributing piece to retract, and the rest of the foil is clamped between the foil distributing piece and the material supporting plate to wait for the next group of foils to be fed in place;