CN205651055U - Five line plug IM robots - Google Patents

Abstract

The utility model discloses a five line plug IM robots, include the injection molding machine, still include plug array machine, the ROBOT conveyer, the detection is quick -witted, and front portion on the left of the injection molding machine is installed to plug array machine, and side front portion in the injection molding machine is installed to the ROBOT conveyer, and the detection machine is installed in injection molding machine right side front portion, and plug array machine is good at the plug absorption module of standing with the ROBOT conveyer through the plug ejection of compact and is cooperateed, and the plug absorption module of ROBOT conveyer and the passage for product module of detection machine cooperate. The utility model discloses a plug array is quick -witted, has realized the automatic array of plug, has solved artifical problem of putting the inefficiency, the ROBOT conveyer realized automatic put injection mold with the plug that the permutation is good in to finished product and the stub bar that finishes of will moulding plastics takes out the function, has reduced artificial intensity of labour, the long function that detects of off -the -shelf straightness of hanging down and plug foot has been realized to the detection machine, has solved the problem that artifical detection efficiency is low.

Description

Five line plug I/M automats

Technical field

This utility model belongs to automotive wire bundle assembly equipment technical field, be specifically related to a kind of for automotive wire bundle assembling Plug automatic arraying can be realized and put well the five line plug I/M automats carrying out I/M and detection function into injection machine.

Background technology

In today of electronic information technology fast development, the carrier of transmission signal is varied, but at any signal path In, adapter will be used, adapter is indispensable parts in electronic message unit.And five line plugs are a kind of automotive line Bundle adapter.The high speed development of science and technology, undoubtedly promotes the advance of gamboling of various technology, the most efficiently and rapidly will dissipate Part plug carries out I/M and is inevitably brought into schedule, and the loose mail plug of prior art all uses manually to be put into injection machine mould In tool, not only efficiency is low, labor intensity is bigger, and the existence of these problems makes to research and develop five line plug I/M automats to be become Extremely urgent engineering.

Utility model content

For above-mentioned deficiency described in the prior, the purpose of this utility model is to provide a kind of high efficiency and inserts essence Five accurate line plug I/M automats.

For realizing above-mentioned technical purpose, this utility model be the technical scheme is that

A kind of five line plug I/M automats, including injection machine, also include plug array machine, ROBOT carrying implement, testing machine, Plug array machine is arranged on the left of injection machine anterior, and ROBOT carrying implement is arranged on forequarter in injection machine, and testing machine is arranged on note Molding machine right front, plug array machine is matched with the plug absorption module of ROBOT carrying implement by plug discharging station, The plug of ROBOT carrying implement is drawn module and is matched with the passage for product module of testing machine.

Described plug array machine includes some pan feeding station, dispenser array station, plug discharging station, frame I, protection Cover I, frame I is arranged on ground anterior on the left of injection machine, and frame I is provided with protective cover I, protective cover I is provided with man-machine Interface I；Pan feeding station, dispenser array station and plug discharging station are arranged in frame I and are positioned at protective cover I.

Described pan feeding station includes vibrating disk, product defective products box, sub-material module and detection carrying module；Described sub-material mould Group includes that bearing II, runner base plate, runner prop up bracer, flow passage cover plate, runner block, sub-material Fibre Optical Sensor, sub-material block, divide Material slide block and sub-material cylinder, bearing II is fixed in frame I, and runner base plate is fixed on bearing II upper end, phase on runner base plate Propping up bracer and runner block to being provided with runner, runner props up and forms the runner movable for contact pin between bracer and runner block, stream Road docks mutually with the output channel of vibrating disk, is installed with sub-material block in the front end of runner base plate, close at runner base plate Being provided with gap I bottom the runner of sub-material block, sub-material slide block is corresponding with gap I, sub-material slide block and the piston rod of sub-material cylinder Connecting, sub-material cylinder is fixed on bearing II, is provided with sub-material Fibre Optical Sensor in the position that runner block is corresponding with gap I Device；Bearing II is positioned at the front end of sub-material cylinder and product defective products box is installed；

Described detection and carrying module, including lens fixing base I, camera lens I, industrial camera I, industrial camera fixed block I, inspection Survey base, vacuum generator combination I, slide unit air cylinder base, slide unit cylinder I, single axis robot I, transplant bearing I, suction nozzle, transplant Bearing I is fixed in frame I, is installed with detection base in the upper end transplanting bearing I near the side of sub-material module, detection Being provided with camera fixed block I and lens fixing base I on base, industrial camera I is arranged on industrial camera fixed block I, and camera lens is solid Being provided with camera lens I in reservation I, camera lens I is connected with industrial camera I；It is provided with single axis robot I, single shaft machine on bearing I transplanting Device people I is oppositely arranged in parallel with detection base, is vertically installed with slide unit air cylinder base on single axis robot I, and slide unit cylinder I is flat Row is arranged on slide unit air cylinder base and the piston rod of slide unit cylinder I is connected with suction nozzle, and suction nozzle is with vacuum generator combination I even Connecing, vacuum generator combination I is arranged on transplanting bearing I；The axis of camera lens I and the axis perpendicular of suction nozzle.

Described dispenser array station, including driving module and dispenser array module, described driving module includes base plate I, synchronous belt, synchronous pulley, bearing III, base plate I is fixedly mounted on the lower end of frame I by bearing III, servomotor and subtracting Speed machine is fixed on base plate I, and the protruding base plate of output shaft I be provided with synchronous pulley, and synchronous pulley passes through synchronous belt It is connected with the driven pulley on the Cam splitter power shaft of dispenser array module；

Described dispenser array module includes base plate II, rotation dish, light source I, light source fixed plate, fixed disk, carrier, location Pin, alignment pin bearing, Cam splitter, base plate II is fixed on the upper surface of frame I and is provided with on base plate II for synchronizing skin Band through passage, Cam splitter is fixedly mounted on base plate II, the output shaft of Cam splitter is separately installed with rotation Dish and fixed disk, the diameter of fixed disk is less than the diameter of rotation dish, and fixed disk is positioned at the top of rotation dish, on rotation dish all Even carrier being distributed, position corresponding with carrier on fixed disk is provided with light source fixed plate, and light source fixed plate is installed There is light source I；Being provided with alignment pin bearing on base plate II, alignment pin bearing upper end is provided with alignment pin, and alignment pin is spatially It is perpendicular to carrier.

Described plug discharging station includes that X-axis motion module and Y-axis motion module, described X-axis motion module include that X-axis is propped up Seat, X-axis servomotor, X-axis shaft coupling, X-axis single axis robot, lift cylinder, X-axis motion base plate, lifting line slideway, rotation Air cylinder fixed plate, vacuum generator combination II, rotary cylinder, vacuum cup I and defective products box I；X-axis bearing is fixed on frame I On, X-axis bearing is provided with X-axis single axis robot, one end of X-axis single axis robot is by X-axis shaft coupling and X-axis servo electricity Machine connects, and X-axis motion base plate is arranged on X-axis single axis robot by connector I and can be under the effect of X-axis single axis robot Moving on slideway I, vertically-mounted on X-axis motion base plate have lift cylinder and lifting line slideway, rotary cylinder fixed plate Being arranged on lifting line slideway and be connected with the piston rod of lift cylinder, rotary cylinder and vacuum generator combination II are arranged on In rotary cylinder fixed plate, the piston rod of rotary cylinder being provided with vacuum cup I, vacuum cup I combines with vacuum generator II connects；Vacuum cup I is corresponding with the Y-axis carrier of the carrier of dispenser array module and Y-axis motion module；Defective products box I It is arranged in frame I and between rotation dish and Y-axis motion module；

Described Y-axis motion module, including Y-axis shaft coupling, Y-axis servomotor, Y-axis motion base plate, Y-axis carrier, Y-axis single shaft Robot, Y-axis bearing, Y-axis bearing is fixed in frame I, and the upper end of Y-axis bearing is provided with Y-axis single axis robot, Y-axis single shaft One end of robot is connected with Y-axis servomotor by Y-axis shaft coupling, and Y-axis motion base plate is arranged on Y-axis list by connector II In axle robot and can move horizontally on slideway II under the effect of Y-axis single axis robot, if being provided with on Y-axis motion base plate Dry group Y-axis carrier；The moving direction of Y-axis motion base plate is vertical with the moving direction of X-axis motion base plate.

Described ROBOT carrying implement includes ROBOT, frame II, carrying station, and frame II is arranged on forequarter in injection machine On ground, ROBOT is arranged in frame II, and carrying station is arranged on ROBOT by carrying base plate；Described carrying station includes Carrying base plate, plug draw module and finished product clamping module, and module drawn by plug and finished product clamping module is arranged on carrying base plate On, described plug is drawn module and is included vacuum cup II, sucker base plate, guide pillar and metal proximity sensor, carries the upper of base plate End face is arranged on ROBOT, and sucker base plate is arranged on the lower surface of carrying base plate by guide pillar, is provided with spring on guide pillar, Vacuum cup II is arranged on sucker base plate and corresponding with Y-axis carrier；It is close that metal proximity sensor is arranged on carrying base plate One end of module drawn by the plug of ROBOT carrying implement；

Described finished product clamping module includes finished product clamping base plate, finished product gripper cylinder, finished product clamping jaw, finished product elasticity pressure Block, stub bar gripper cylinder, stub bar jaw, pilot pin, finished product clamping base plate is fixed on the lower surface of carrying base plate, clamps at finished product Being provided with two composition product gripper cylinders and a stub bar gripper cylinder on base plate, two composition product gripper cylinders are oppositely arranged, stub bar Gripper cylinder is vertically set between two composition product gripper cylinders, is provided with finished product clamping jaw on finished product gripper cylinder, Hold the position between jaw at finished product clamp on finished product clamping base plate and pilot pin is installed, pilot pin is provided with briquetting spring； Stub bar gripper cylinder is provided with stub bar jaw.

Described testing machine includes that frame III, protective cover II, detection station, display rack, transplanting station, finished product are discharged Station, frame III is arranged on ground and is positioned at the right front of injection machine, and protective cover II is arranged in frame III, and man machine interface II is pacified It is contained in the upper end of protective cover II, detection station is installed in the frame III in protective cover II, transplants station, display rack Station is discharged with finished product；Detection station is corresponding with the passage for product of the passage for product module transplanting station, and finished product discharges station Corresponding with the runner of the finished product classification die set transplanting station；Display rack is arranged on detection station and transplants the upper of station Side.

Described detection station includes that measuring for verticality module, plug pin length detect module, described measuring for verticality module bag Include bearing I, base I, lens fixing base II, camera lens II, industrial camera II, industrial camera fixes seat II, light source fixes seat I and light Source II, the upper end of bearing I is arranged on the transplanting bearing II of the finished product transplanting module transplanting station, installs in the bottom of bearing I Having base I, base I is provided with lens fixing base II and industrial camera fixes seat II, industrial camera II is fixed on industrial camera On fixing seat II, and being connected with camera lens II, camera lens II is arranged on lens fixing base II, and light source is fixed seat I and is fixed on frame III On, light source II is fixed on light source and fixes on seat I, and is positioned at the top of camera lens II, and light source II and camera lens II are respectively positioned on passage for product The lower section of the passage for product of module and light source II and the dead in line of camera lens II are the most vertical with passage for product；

Described plug pin length detection module include bearing II, base II, lens fixing base III, camera lens III, industrial camera III, Industrial camera fixes seat III, light source fixes seat II, light source III, and bearing II is fixed in frame III, bearing II is provided with base II, base is provided with lens fixing base III and industrial camera fixes seat III, industrial camera III is fixed on industrial camera and fixes seat On III, and being connected with camera lens III, camera lens III is arranged on lens fixing base III, and light source is fixed seat II and is fixed in frame III, light Source III is fixed on light source and fixes on seat II, and is positioned at the front of camera lens III, and light source III and camera lens III are respectively positioned on passage for product module The side of passage for product and light source III and the dead in line of camera lens III vertical with passage for product；Camera lens III and measuring for verticality The axis of the camera lens II of module is vertical.

Described transplanting station includes that finished product transplants module, passage for product module；Finished product transplants module and passage for product module Parallel installation, described finished product is transplanted module and is included that transplanting bearing II, single axis robot II, transplanting base, positioning cylinder, straight line are led Rail, jaw base, location jaw, shaft coupling, servomotor, transplant bearing II and be arranged in frame III, is transplanting on bearing II Being provided with single axis robot II, one end of single axis robot II is connected with servomotor by shaft coupling, transplants base by even Fitting III is connected with single axis robot II and can move horizontally on slideway III under the effect of single axis robot II, is transplanting the end Being provided with line slideway and positioning cylinder on Zuo, jaw floor installation is on line slideway and with the piston rod of positioning cylinder even Connecing, be provided with location jaw at jaw base near one end of passage for product module, location jaw becomes with passage for product module Product runner is corresponding；

Described passage for product module includes runner bearing, product stream guidance tape, passage for product, Fibre Optical Sensor, runner bearing It is arranged in frame III and parallel with transplanting base, runner bearing is provided with product stream guidance tape, product stream guidance tape is provided with Gap II, described gap II is passage for product, pacifies in the passage for product of the one end discharging station at product stream guidance tape away from finished product Equipped with Fibre Optical Sensor.

Described finished product is discharged station and is included finished product classification die set, non-defective unit box II and defective products box II；Described finished product classification mould Group includes that bearing III, slide unit cylinder II, runner fix seat, non-defective unit runner, defective products runner, and bearing III is arranged in frame III, Being provided with slide unit cylinder II on bearing III, runner is fixed seat and is connected with slide unit cylinder II, runner fix be provided with on seat good Product runner and defective products runner, non-defective unit runner and the front end of defective products runner are corresponding with the passage for product of passage for product module； The rear end of non-defective unit runner and defective products runner is corresponding with non-defective unit box II and defective products box II respectively.

This utility model pass through plug array machine, it is achieved that the automatic arraying of plug, solve manually put inefficient Problem；ROBOT carrying implement achieves to be put the plug that permutation is good in injection mold automatically, and by finished product complete for injection Take out function with stub bar, reduce artificial labor intensity；Testing machine achieves perpendicularity and the plug pin length detection merit of finished product Can, solve the problem that manual detection efficiency is low.

Accompanying drawing explanation

Fig. 1 is the perspective view of this utility model five line plug I/M automat.

Fig. 2 is this utility model plug array machine structural representation.

Fig. 3 is this utility model ROBOT carrying implement structural representation.

Fig. 4 is this utility model testing machine structural representation.

Fig. 5 is the perspective view of this utility model pan feeding station.

Fig. 6 is the structural representation omitting vibrating disk of this utility model pan feeding station.

Fig. 7 is this utility model dispenser array station structural representation.

Fig. 8 is this utility model plug discharging station structural representation.

Fig. 9 is this utility model porter's station structure schematic diagram.

Figure 10 is that this utility model transplants station structural representation.

Figure 11 is that this utility model detects station structural representation.

Figure 12 is that this utility model finished product discharges station structural representation.

Figure 13 is this utility model sub-material modular structure schematic diagram.

Figure 14 is this utility model detection and transplants modular structure schematic diagram.

Figure 15 is that this utility model drives modular structure schematic diagram.

Figure 16 is this utility model dispenser array modular structure schematic diagram.

Figure 17 is this utility model X-axis motion modular structure schematic diagram.

Figure 18 is this utility model Y-axis motion modular structure schematic diagram.

Figure 19 is that modular structure schematic diagram drawn by this utility model plug.

Figure 20 is that this utility model finished product clamps modular structure schematic diagram.

Figure 21 is this utility model measuring for verticality modular structure schematic diagram.

Figure 22 is that this utility model plug pin length detects modular structure schematic diagram.

Figure 23 is that this utility model finished product transplants modular structure schematic diagram.

Figure 24 is this utility model passage for product modular structure schematic diagram.

Figure 25 is this utility model finished product classification die set structural representation.

Detailed description of the invention

As shown in Fig. 1-2 5, a kind of five line plug I/M automats, including injection machine 2, also include plug array machine 1, ROBOT carrying implement 3, testing machine 4, plug array machine 1 is arranged on the left of injection machine 2 anterior, and ROBOT carrying implement 3 is arranged on injection Forequarter in machine 2, testing machine 4 is arranged on injection machine 2 right front, and plug array machine 1 is by plug discharging station 10 and ROBOT The plug of carrying implement 3 is drawn module 37 and is matched, and the passage for product of module 37 and testing machine 4 drawn by the plug of ROBOT carrying implement 3 Module 40 matches.

Described plug array machine 1 includes some pan feeding station 5, dispenser array station 9, plug discharging station 10, frame I 11, protective cover I 6, frame I 11 is arranged on ground anterior on the left of injection machine 2, and frame I 11 is provided with protective cover I 6, protective cover Man machine interface I is installed on I 6；Pan feeding station 5, dispenser array station 9 and plug discharging station 10 are arranged in frame I 11 And it is positioned at protective cover I 6.

Described pan feeding station 5 includes vibrating disk 21, product defective products box 24, sub-material module 23 and detection carrying module 22； Described sub-material module 23 includes that bearing II 44, runner base plate 45, runner prop up bracer 46, flow passage cover plate 47, runner block 48, sub-material Fibre Optical Sensor 49, sub-material block 50, sub-material slide block 51 and sub-material cylinder 52, bearing II 44 is fixed in frame I 11, at the bottom of runner Plate 45 is fixed on bearing II 44 upper end, is relatively set with runner and props up bracer 46 and runner block 48, runner on runner base plate 45 Propping up and form the runner movable for contact pin between bracer 46 and runner block 48, runner docks mutually with the output channel of vibrating disk 21, It is installed with sub-material block 50 in the front end of runner base plate 45, sets bottom the runner of sub-material block 50 at runner base plate 45 Being equipped with gap I, sub-material slide block 51 is corresponding with gap I, and sub-material slide block 51 is connected with the piston rod of sub-material cylinder 52, sub-material cylinder 52 It is fixed on bearing II 44, in the position that runner block 48 is corresponding with gap I, sub-material Fibre Optical Sensor 49 is installed；At bearing It is positioned on II 44 at the front end of sub-material cylinder 52 and product defective products box 24 is installed；

Described detection and carrying module 22, solid including lens fixing base I 53, camera lens I 54, industrial camera I 55, industrial camera Determine block I 56, detection base 57, vacuum generator combination I 58, slide unit air cylinder base 59, slide unit cylinder I 60, single axis robot I 61, transplant bearing I 62, suction nozzle 63, transplant bearing I 62 and be fixed in frame I 11, transplant the upper end of bearing I 62 near sub-material The side of module 23 is installed with detection base 57, and detection base 57 is provided with camera fixed block I 56 and lens fixing base I 53, industrial camera I 55 is arranged on industrial camera fixed block I 56, and lens fixing base I 53 is provided with camera lens I 54, camera lens I 54 It is connected with industrial camera I 55；Single axis robot I 61 it is provided with on bearing I 62, single axis robot I 61 and detection base transplanting 57 are oppositely arranged in parallel, and are vertically installed with slide unit air cylinder base 59, the parallel installation of slide unit cylinder I 60 on single axis robot I 61 On slide unit air cylinder base 59 and the piston rod of slide unit cylinder I 60 is connected with suction nozzle 63, suction nozzle 63 combines I 58 with vacuum generator Connecting, vacuum generator combination I 58 is arranged on transplanting bearing I 62；The axis of camera lens I 54 and the axis perpendicular of suction nozzle 63.

Described dispenser array station 9, including driving module 33 and dispenser array module 34, described driving module 33 wraps Including base plate I 103, synchronous belt 105, synchronous pulley 106, bearing III 107, base plate I 103 is fixedly mounted on by bearing III 107 The lower end of frame I 11, servomotor and reductor 108 are fixed on base plate I 103, and the protruding base plate of output shaft I 103 is also Being provided with synchronous pulley 106, synchronous pulley 106 is by the Cam splitter 116 of synchronous belt 105 with dispenser array module 34 Driven pulley on power shaft connects；

Described dispenser array module 34 includes base plate II 104, rotation dish 109, light source I 110, light source fixed plate 111, consolidates Price fixing 112, carrier 113, alignment pin 114, alignment pin bearing 115, Cam splitter 116, base plate II 104 is fixed on frame I 11 Upper surface and on base plate II 104, be provided with the passage passed for synchronous belt 105, Cam splitter 116 is fixedly mounted on On base plate II 104, the output shaft of Cam splitter 116 is separately installed with rotation dish 109 and fixed disk 112, fixed disk 112 Diameter is less than the diameter of rotation dish 109, and fixed disk 112 is positioned at the top of rotation dish 109, is uniformly distributed on rotation dish 109 Having carrier 113, position corresponding with carrier 113 on fixed disk 112 is provided with light source fixed plate 111, light source fixed plate Light source I 110 is installed on 111；Being provided with alignment pin bearing 115 on base plate II 104, alignment pin bearing 115 upper end is provided with Alignment pin 114, alignment pin 114 is spatially perpendicular to carrier 113.

Described plug discharging station 10 includes X-axis motion module 35 and Y-axis motion module 36, described X-axis motion module 35 Including X-axis bearing 117, X-axis servomotor 118, X-axis shaft coupling 119, X-axis single axis robot 120, lift cylinder 121, X-axis fortune Dynamic base plate 122, lifting line slideway 123, rotary cylinder fixed plate 124, vacuum generator combination II 125, rotary cylinder 126, Vacuum cup I 127 and defective products box I 128；X-axis bearing 117 is fixed in frame I 11, is provided with X-axis on X-axis bearing 117 Single axis robot 120, and one end of X-axis single axis robot 120 is connected with X-axis servomotor 118 by X-axis shaft coupling 119, X-axis Motion base plate 122 is arranged on X-axis single axis robot 120 by connector I and can be under the effect of X-axis single axis robot 120 Moving on slideway I, vertically-mounted on X-axis motion base plate 122 have lift cylinder 121 and lifting line slideway 123, rotary pneumatic Cylinder fixed plate 124 is arranged on lifting line slideway 123 and is connected with the piston rod of lift cylinder 121, and rotary cylinder 126 is with true Empty generator combination II 125 is arranged in rotary cylinder fixed plate 124, the piston rod of rotary cylinder 126 is provided with vacuum and inhales Dish I 127, vacuum cup I 127 is connected with vacuum generator combination II 125；Vacuum cup I 127 and dispenser array module 34 The Y-axis carrier 132 of carrier 113 and Y-axis motion module 36 is corresponding；Defective products box I 128 is arranged in frame I 11 and is positioned at and turns Between Moving plate 109 and Y-axis motion module 36；

Described Y-axis motion module 36, including Y-axis shaft coupling 129, Y-axis servomotor 130, Y-axis motion base plate 131, Y-axis Carrier 132, Y-axis single axis robot 133, Y-axis bearing 134, Y-axis bearing 134 is fixed in frame I 11, Y-axis bearing 134 upper End is provided with Y-axis single axis robot 133, and one end of Y-axis single axis robot 133 is by Y-axis shaft coupling 129 and Y-axis servomotor 130 connect, and Y-axis motion base plate 131 is arranged on Y-axis single axis robot 133 by connector II and can be Y-axis single axis robot Move horizontally on slideway II under the effect of 133, Y-axis motion base plate 131 is provided with some groups of Y-axis carriers 132；Y-axis is moved The moving direction of base plate 131 is vertical with the moving direction of X-axis motion base plate 122.

Described ROBOT carrying implement 3 includes ROBOT12, frame II 13, carrying station 14, and frame II 13 is arranged on injection machine 2 On the ground of middle forequarter, ROBOT12 is arranged in frame II 13, and carrying station 14 is arranged on by carrying base plate 135 On ROBOT12；Described carrying station 14 includes carrying base plate 135, module 37 drawn by plug and finished product clamping module 38, and plug is inhaled Delivery group 37 and finished product clamping module 38 are arranged on carrying base plate 135, and described plug is drawn module 37 and included vacuum cup II 136, sucker base plate 137, guide pillar 138 and metal proximity sensor 139, the upper surface of carrying base plate 135 is arranged on ROBOT12 On, sucker base plate 137 is arranged on the lower surface of carrying base plate 135 by guide pillar 138, is provided with spring, vacuum on guide pillar 138 Sucker II 136 is arranged on sucker base plate 137 and corresponding with Y-axis carrier 132；Metal proximity sensor 139 is arranged on carrying Base plate 135 is near one end of the plug absorption module 37 of ROBOT carrying implement 3；

Described finished product clamping module 38 includes finished product clamping base plate 140, finished product gripper cylinder 141, finished product clamping jaw 142, finished product elastic press 143, stub bar gripper cylinder 144, stub bar jaw 145, pilot pin 146, finished product clamping base plate 140 is fixed In the lower surface of carrying base plate 135, finished product clamping base plate 140 is provided with two composition product gripper cylinders 141 and a stub bar Gripper cylinder 144, two composition product gripper cylinders 141 are oppositely arranged, and stub bar gripper cylinder 144 is vertically set on two groups of finished product clamps Hold between cylinder 141, finished product gripper cylinder 141 is provided with finished product clamping jaw 142, upper at finished product clamping base plate 140 Position between finished product clamping jaw 142 is provided with pilot pin 146, and pilot pin 146 is provided with briquetting spring；Press from both sides at stub bar Hold and on cylinder 144, be provided with stub bar jaw 145.

Described testing machine 4 includes frame III 16, protective cover II 15, detection station 17, display rack 19, transplanting station 18, finished product discharges station 20, and frame III 16 is arranged on ground and is positioned at the right front of injection machine 2, and protective cover II 15 is arranged on machine On frame III 16, man machine interface II is arranged on the upper end of protective cover II 15, is provided with inspection in the frame III 16 in protective cover II 15 Survey station 17, transplant station 18, display rack 19 and finished product discharge station 20；Detection station 17 and becoming of transplanting station 18 The passage for product 173 of product runner module 40 is corresponding, and finished product discharges station 20 and the finished product classification die set 43 transplanting station 18 Runner is corresponding；Display rack 19 is arranged on detection station 17 and transplants the top of station 18.

Described detection station 17 includes that measuring for verticality module 41, plug pin length detect module 42, described measuring for verticality Module 41 includes bearing I 147, base I 148, lens fixing base II 149, camera lens II 150, industrial camera II 151, industrial camera Fixing seat II 152, light source fix seat I 153 and light source II 154, and the upper end of bearing I 147 is arranged on the finished product shifting transplanting station 18 Plant on the transplanting bearing II 163 of module 39, base I 148 is installed in the bottom of bearing I 147, base I 148 is provided with camera lens Fixing seat II 149 and industrial camera fix seat II 152, and industrial camera II 151 is fixed on industrial camera and fixes on seat II 152, and Being connected with camera lens II 150, camera lens II 150 is arranged on lens fixing base II 149, and light source is fixed seat I 153 and is fixed on frame III 16 On, light source II 154 is fixed on light source and fixes on seat I 153, and is positioned at the top of camera lens II 150, light source II 154 and camera lens II 150 Be respectively positioned on the lower section of the passage for product 173 of passage for product module 40 and light source II 154 and camera lens II 150 dead in line and with become Product runner 173 is vertical；

Described plug pin length detection module 42 includes bearing II 155, base II 156, lens fixing base III 157, camera lens III 158, industrial camera III 159, industrial camera fixes seat III 160, light source fixes seat II 161, light source III 162, bearing II 155 is fixed In frame III 16, bearing II 155 is provided with base II 156, base is provided with lens fixing base III 157 and industrial camera Fixing seat III 160, industrial camera III 159 is fixed on industrial camera and fixes on seat III 160, and is connected with camera lens III 158, camera lens III 158 are arranged on lens fixing base III 157, and light source is fixed seat II 161 and is fixed in frame III 16, and light source III 162 is fixed on light Source is fixed on seat II 161, and is positioned at the front of camera lens III 158, and light source III 162 and camera lens III 158 are respectively positioned on passage for product module The side of the passage for product 173 of 40 and light source III 162 and the dead in line of camera lens III 158 are the most vertical with passage for product 173；Camera lens III 158 is vertical with the axis of the camera lens II 150 of measuring for verticality module 41.

Described transplanting station 18 includes that finished product transplants module 39, passage for product module 40；Finished product transplants module 39 and finished product The parallel installation of runner module 40, described finished product is transplanted module 39 and is included transplanting bearing II 163, single axis robot II 164, transplanting the end Seat 165, positioning cylinder 166, line slideway 167, jaw base 168, location jaw 169, shaft coupling 170, servomotor 171, Transplant bearing II 163 to be arranged in frame III 16, on bearing II 163, single axis robot II 164, single axis machines are installed transplanting One end of people II 164 is connected with servomotor 171 by shaft coupling 170, transplants base 165 by connector III and single axis machines People II 164 connects and can move horizontally on slideway III under the effect of single axis robot II 164, sets on base 165 transplanting Be equipped with line slideway 167 and positioning cylinder 166, jaw base 168 be arranged on line slideway 167 and with positioning cylinder 166 Piston rod connects, and is provided with location jaw 169 at jaw base 168 near one end of passage for product module 40, positions jaw 169 Corresponding with the passage for product 173 of passage for product module 40；

Described passage for product module 40 includes runner bearing 172, product stream guidance tape, passage for product 173, Fibre Optical Sensor 174, runner bearing 172 is arranged in frame III 16 and parallel with transplanting base 165, and runner bearing 172 is provided with product stream Guidance tape, product stream guidance tape is provided with gap II, and described gap II is passage for product 173, arranges away from finished product at product stream guidance tape In the passage for product 173 of the one end going out station 20, Fibre Optical Sensor 174 is installed.

Described finished product is discharged station 20 and is included finished product classification die set 43, non-defective unit box II 180 and defective products box II 181；Described Finished product classification die set 43 includes that bearing III 175, slide unit cylinder II 176, runner fix seat 177, non-defective unit runner 178, defective products stream Road 179, bearing III 175 is arranged in frame III 16, is provided with slide unit cylinder II 176 on bearing III 175, and runner fixes seat 177 are connected with slide unit cylinder II 176, fix being provided with non-defective unit runner 178 and defective products runner 179, non-defective unit on seat 177 at runner The front end of runner 178 and defective products runner 179 is corresponding with the passage for product 173 of passage for product module 40；Non-defective unit runner 178 He The rear end of defective products runner 179 is corresponding with non-defective unit box II 180 and defective products box II 181 respectively.

Plug enters runner in vibrating disk 21 and props up the runner that between bracer 46 and runner block 48, formation confession contact pin is movable In, when sub-material Fibre Optical Sensor 49 has detected plug, sub-material cylinder 52 drives sub-material block 50 by plug jack-up, slide unit gas Cylinder I 60 drives suction nozzle 63 to move down, until with by the Plug contact of jack-up, vacuum generator combination I 58 generation vacuum, making suction Plug is picked up by 63, in the range of slide unit cylinder I 60 drives suction nozzle 63 to be moved upwards up to the measurement of industrial camera I 55, and industry phase The perpendicularity of the plug of machine I 55 detection suction nozzle 63 absorption, when perpendicularity is bad, single axis robot I 61 drives slide unit cylinder I 60 move at product defective products box 24, and vacuum generator combination I 58 quits work, and plug drops at product defective products box 24 In；When perpendicularity is good, single axis robot I 61 drives slide unit cylinder I 60 to move, until the carrier 113 being positioned on rotation dish 109 Top, then slide unit cylinder I 60 drives suction nozzle 63 to move down until plug contacts with carrier 113, vacuum generator combination I 58 Quitting work, plug is placed in carrier 113；Module is driven to drive turn disc to make the plug all quilts in each pan feeding station It is placed on carrier 113, and makes the carrier 113 placing plug be positioned at the X-axis motion module 35 times of plug discharging station 10, rise Sending down the abnormal ascending QI cylinder 121 is rotated air cylinder fixed plate 124 and moves down until vacuum cup I 127 and the Plug contact on carrier 113, Vacuum generator combination II 125 work makes vacuum cup I 127 be adsorbed by the plug on carrier 113, and X-axis single axis robot 120 carries Dynamic X-axis motion base plate 122 moves and makes the plug on vacuum cup I 127 be placed on Y-axis carrier 132, and X-axis motion base plate 122 exists During reply, rotary cylinder 126 rotates, and is again adsorbed by the plug on carrier 113 and delivers to, on Y-axis carrier 132, work as Y-axis After carrier 132 plug sticks with, Y-axis single axis robot 133 drives Y-axis motion base plate 131 to move to station, inserting of carrying station 14 Head is drawn module 37 and is adsorbed by the plug on Y-axis carrier 132 and deliver on injection machine 2, after being molded, and the one-tenth of carrying station 14 Plug after injection is picked up and delivers in the passage for product 173 of passage for product module 40 by product clamping module 38, Fibre Optical Sensor 174 when having detected plug, makes positioning cylinder 166 drive location jaw 139 to move and is positioned by plug, and single axis robot II Plug is stirred by 164, make plug accept measuring for verticality module 41 and plug pin length detection module 42 detection, detect qualified after Being flowed in non-defective unit box II 180 from non-defective unit runner 178, when detecting defective, slide unit cylinder II 176 drives runner to fix seat 177 move and make defective products runner 179 dock with passage for product 173, and defective products plug is flowed into defective products stream from passage for product 173 In road 179 and then in runner non-defective unit box II 180.

Claims (10)

1. a five line plug I/M automat, including injection machine (2), it is characterised in that: also include plug array machine (1), ROBOT carrying implement (3), testing machine (4), it is anterior that plug array machine (1) is arranged on injection machine (2) left side, ROBOT carrying implement (3) Being arranged on forequarter in injection machine (2), testing machine (4) is arranged on injection machine (2) right front, and plug array machine (1) is by inserting Head discharging station (10) is drawn module (37) with the plug of ROBOT carrying implement (3) and is matched, and the plug of ROBOT carrying implement (3) is inhaled Delivery group (37) matches with the passage for product module (40) of testing machine (4).

Five line plug I/M automats the most according to claim 1, it is characterised in that: described plug array machine (1) is if including Dry pan feeding station (5), dispenser array station (9), plug discharging station (10), frame I (11), protective cover I (6), frame I (11) being arranged on the ground that injection machine (2) left side is anterior, frame I (11) is provided with protective cover I (6), the upper peace of protective cover I (6) Equipped with man machine interface I；Pan feeding station (5), dispenser array station (9) and plug discharging station (10) are arranged on frame I (11) Go up and be positioned at protective cover I (6).

Five line plug I/M automats the most according to claim 2, it is characterised in that: described pan feeding station (5) includes vibration Dish (21), product defective products box (24), sub-material module (23) and detection carrying module (22)；Described sub-material module (23) includes propping up Seat II (44), runner base plate (45), runner prop up bracer (46), flow passage cover plate (47), runner block (48), sub-material Fibre Optical Sensor (49), sub-material block (50), sub-material slide block (51) and sub-material cylinder (52), bearing II (44) is fixed in frame I (11), runner Base plate (45) is fixed on bearing II (44) upper end, is relatively set with runner and props up bracer (46) and runner gear on runner base plate (45) Block (48), runner props up and forms the runner movable for contact pin between bracer (46) and runner block (48), runner and vibrating disk (21) Output channel dock mutually, be installed with sub-material block (50) in the front end of runner base plate (45), lean at runner base plate (45) Being provided with gap I bottom the runner of nearly sub-material block (50), sub-material slide block (51) is corresponding with gap I, sub-material slide block (51) and dividing The piston rod of material cylinder (52) connects, and sub-material cylinder (52) is fixed on bearing II (44), in runner block (48) and gap I phase Corresponding position is provided with sub-material Fibre Optical Sensor (49)；Bearing II (44) is positioned at the front end of sub-material cylinder (52) and installs There is product defective products box (24)；

Described detection and carrying module (22), including lens fixing base I (53), camera lens I (54), industrial camera I (55), industry phase Machine fixed block I (56), detection base (57), vacuum generator combination I (58), slide unit air cylinder base (59), slide unit cylinder I (60), single axis robot I (61), transplant bearing I (62), suction nozzle (63), transplant bearing I (62) be fixed in frame I (11), The upper end transplanting bearing I (62) is installed with detection base (57), detection base (57) near the side of sub-material module (23) On be provided with camera fixed block I (56) and lens fixing base I (53), industrial camera I (55) is arranged on industrial camera fixed block I (56) on, lens fixing base I (53) being provided with camera lens I (54), camera lens I (54) is connected with industrial camera I (55)；Prop up transplanting Being provided with single axis robot I (61) on seat I (62), single axis robot I (61) is oppositely arranged in parallel, at list with detection base (57) Being vertically installed with slide unit air cylinder base (59) in axle robot I (61), slide unit cylinder I (60) is installed in parallel in slide unit air cylinder base (59) upper and slide unit cylinder I (60) piston rod is connected with suction nozzle (63), and suction nozzle (63) is with vacuum generator combination I (58) even Connecing, vacuum generator combination I (58) is arranged on transplanting bearing I (62)；The axis phase of the axis of camera lens I (54) and suction nozzle (63) Vertically.

Five line plug I/M automats the most according to claim 2, it is characterised in that: described dispenser array station (9), Including driving module (33) and dispenser array module (34), described driving module (33) includes base plate I (103), synchronous belt (105), synchronous pulley (106), bearing III (107), base plate I (103) is fixedly mounted on frame I (11) by bearing III (107) Lower end, servomotor and reductor (108) be fixed on base plate I (103), and the protruding base plate of output shaft I (103) pacifying Equipped with synchronous pulley (106), synchronous pulley (106) is divided by the cam of synchronous belt (105) with dispenser array module (34) Driven pulley on cutter (116) power shaft connects；

Described dispenser array module (34) includes base plate II (104), rotation dish (109), light source I (110), light source fixed plate (111), fixed disk (112), carrier (113), alignment pin (114), alignment pin bearing (115), Cam splitter (116), base plate II (104) upper surface being fixed on frame I (11) and be provided with on base plate II (104) for synchronous belt (105) pass logical Road, Cam splitter (116) is fixedly mounted on base plate II (104), the output shaft of Cam splitter (116) is separately installed with Rotation dish (109) and fixed disk (112), the diameter of fixed disk (112) is less than the diameter of rotation dish (109), and fixed disk (112) It is positioned at the top of rotation dish (109), rotation dish (109) is evenly distributed with carrier (113), the upper and load at fixed disk (112) The position having (113) corresponding is provided with light source fixed plate (111), and light source fixed plate (111) is provided with light source I (110)； Being provided with alignment pin bearing (115) on base plate II (104), alignment pin bearing (115) upper end is provided with alignment pin (114), fixed Position pin (114) is spatially perpendicular to carrier (113).

5. according to five line plug I/M automats described in claim 2 or 4, it is characterised in that: described plug discharging station (10) Including X-axis motion module (35) and Y-axis motion module (36), described X-axis motion module (35) includes X-axis bearing (117), X-axis Servomotor (118), X-axis shaft coupling (119), X-axis single axis robot (120), lift cylinder (121), X-axis motion base plate (122), lifting line slideway (123), rotary cylinder fixed plate (124), vacuum generator combination II (125), rotary cylinder (126), vacuum cup I (127) and defective products box I (128)；X-axis bearing (117) is fixed in frame I (11), at X-axis bearing (117) being provided with X-axis single axis robot (120) on, X-axis shaft coupling (119) and X are passed through in one end of X-axis single axis robot (120) Axle servomotor (118) connects, and X-axis motion base plate (122) is arranged on X-axis single axis robot (120) by connector I and can Moving on slideway I under the effect of X-axis single axis robot (120), the most vertically-mounted in X-axis motion base plate (122) have lifting Cylinder (121) and lifting line slideway (123), rotary cylinder fixed plate (124) be arranged on lifting line slideway (123) upper and with The piston rod of lift cylinder (121) connects, and rotary cylinder (126) and vacuum generator combination II (125) are arranged on rotary cylinder In fixed plate (124), the piston rod of rotary cylinder (126) being provided with vacuum cup I (127), vacuum cup I (127) is with true Empty generator combination II (125) connection；Vacuum cup I (127) and the carrier (113) of dispenser array module (34) and Y-axis are transported The Y-axis carrier (132) of dynamic model group (36) is corresponding；Defective products box I (128) is arranged on frame I (11) and above and is positioned at rotation dish (109) and between Y-axis motion module (36)；

Described Y-axis motion module (36), including Y-axis shaft coupling (129), Y-axis servomotor (130), Y-axis motion base plate (131), Y-axis carrier (132), Y-axis single axis robot (133), Y-axis bearing (134), Y-axis bearing (134) is fixed in frame I (11), Y The upper end of shaft stool (134) is provided with Y-axis single axis robot (133), and Y-axis shaft coupling is passed through in one end of Y-axis single axis robot (133) Device (129) is connected with Y-axis servomotor (130), and Y-axis motion base plate (131) is arranged on Y-axis single axis robot by connector II (133) go up and can move horizontally on slideway II under the effect of Y-axis single axis robot (133), in Y-axis motion base plate (131) Some groups of Y-axis carriers (132) are installed；The moving direction of Y-axis motion base plate (131) and the mobile side of X-axis motion base plate (122) To vertically.

Five line plug I/M automats the most according to claim 2, it is characterised in that: described ROBOT carrying implement (3) includes ROBOT(12), frame II (13), carrying station (14), frame II (13) is arranged in injection machine (2) on the ground of forequarter, ROBOT(12) being arranged in frame II (13), carrying station (14) is arranged on ROBOT(12 by carrying base plate (135)) on；Institute Stating carrying station (14) to include carrying base plate (135), plug absorption module (37) and finished product clamping module (38), mould drawn by plug Group (37) and finished product clamping module (38) are arranged in carrying base plate (135), and described plug is drawn module (37) and included that vacuum is inhaled Dish II (136), sucker base plate (137), guide pillar (138) and metal proximity sensor (139), the upper surface of carrying base plate (135) It is arranged on ROBOT(12) on, sucker base plate (137) is arranged on the lower surface of carrying base plate (135) by guide pillar (138), is leading Being provided with spring on post (138), it is upper and relative with Y-axis carrier (132) that vacuum cup II (136) is arranged on sucker base plate (137) Should；Metal proximity sensor (139) is arranged on carrying base plate (135) and draws module (37) near the plug of ROBOT carrying implement (3) One end；

Described finished product clamping module (38) includes finished product clamping base plate (140), finished product gripper cylinder (141), finished product clamping jaw (142), finished product elastic press (143), stub bar gripper cylinder (144), stub bar jaw (145), pilot pin (146), finished product clamp Base plate (140) is fixed on the lower surface of carrying base plate (135), is provided with two composition product clampings on finished product clamping base plate (140) Cylinder (141) and a stub bar gripper cylinder (144), two compositions product gripper cylinder (141) are oppositely arranged, stub bar gripper cylinder (144) it is vertically set between two compositions product gripper cylinder (141), finished product gripper cylinder (141) is provided with finished product clamping Jaw (142), is positioned at the position that finished product clamp holds between jaw (142) on finished product clamping base plate (140) and is provided with pilot pin (146), pilot pin (146) is provided with briquetting spring；Stub bar gripper cylinder (144) is provided with stub bar jaw (145).

Five line plug I/M automats the most according to claim 2, it is characterised in that: described testing machine (4) includes frame III (16), protective cover II (15), detection station (17), display rack (19), transplant station (18), finished product discharge station (20), frame III (16) is arranged on ground and is positioned at the right front of injection machine (2), and protective cover II (15) is arranged on frame III (16) On, man machine interface II is arranged on the upper end of protective cover II (15), is provided with inspection in the frame III (16) in protective cover II (15) Survey station (17), transplant station (18), display rack (19) and finished product discharge station (20)；Detection station (17) and transplanting The passage for product (173) of the passage for product module (40) of station (18) is corresponding, and finished product is discharged station (20) and transplants station (18) runner of finished product classification die set (43) is corresponding；Display rack (19) is arranged on detection station (17) and transplants work Stand the top of (18).

Five line plug I/M automats the most according to claim 7, it is characterised in that: described detection station (17) includes hanging down Straight degree detection module (41), plug pin length detection module (42), described measuring for verticality module (41) includes bearing I (147), the end Seat I (148), lens fixing base II (149), camera lens II (150), industrial camera II (151), industrial camera fix seat II (152), Light source fixes seat I (153) and light source II (154), and the upper end of bearing I (147) is arranged on the finished product transplanting mould transplanting station (18) On the transplanting bearing II (163) of group (39), being provided with base I (148) in the bottom of bearing I (147), base I (148) is upper to be installed Having lens fixing base II (149) and industrial camera to fix seat II (152), industrial camera II (151) is fixed on industrial camera and fixes On seat II (152), and being connected with camera lens II (150), camera lens II (150) is arranged on lens fixing base II (149), and light source is fixed Seat I (153) is fixed in frame III (16), and light source II (154) is fixed on light source and fixes on seat I (153), and is positioned at camera lens II (150) top, light source II (154) and camera lens II (150) are respectively positioned under the passage for product (173) of passage for product module (40) Side and light source II (154) and the dead in line of camera lens II (150) are the most vertical with passage for product (173)；

Described plug pin length detection module (42) includes bearing II (155), base II (156), lens fixing base III (157), mirror III (158), industrial camera III (159), industrial camera fixes seat III (160), light source fixes seat II (161), light source III (162), bearing II (155) is fixed in frame III (16), and bearing II (155) is provided with base II (156), and base is installed Having lens fixing base III (157) and industrial camera to fix seat III (160), industrial camera III (159) is fixed on industrial camera and fixes On seat III (160), and being connected with camera lens III (158), camera lens III (158) is arranged on lens fixing base III (157), and light source is fixed Seat II (161) is fixed in frame III (16), and light source III (162) is fixed on light source and fixes on seat II (161), and is positioned at camera lens III (158) front, light source III (162) and camera lens III (158) are respectively positioned on the one of the passage for product (173) of passage for product module (40) Side and light source III (162) and the dead in line of camera lens III (158) are the most vertical with passage for product (173)；Camera lens III (158) is with vertical The axis of the camera lens II (150) of degree detection module (41) is vertical.

Five line plug I/M automats the most according to claim 7, it is characterised in that: described transplanting station (18) includes into Product transplant module (39) and passage for product module (40)；Finished product transplants module (39) and passage for product module (40) parallel installation, Described finished product is transplanted module (39) and is included transplanting bearing II (163), single axis robot II (164), transplanting base (165), location Cylinder (166), line slideway (167), jaw base (168), location jaw (169), shaft coupling (170), servomotor (171), transplant bearing II (163) and be arranged in frame III (16), on bearing II (163), single axis robot II is installed transplanting (164), one end of single axis robot II (164) is connected with servomotor (171) by shaft coupling (170), transplants base (165) It is connected with single axis robot II (164) by connector III and can be under the effect of single axis robot II (164) on slideway III Moving horizontally, be provided with line slideway (167) and positioning cylinder (166) transplanting on base (165), jaw base (168) is pacified It is contained in line slideway (167) above and to be connected with the piston rod of positioning cylinder (166), at jaw base (168) near passage for product One end of module (40) is provided with location jaw (169), location jaw (169) and the passage for product of passage for product module (40) (173) corresponding；

Described passage for product module (40) includes runner bearing (172), product stream guidance tape, passage for product (173), Fibre Optical Sensor (174), it is upper and parallel with transplanting base (165) that runner bearing (172) is arranged on frame III (16), the upper peace of runner bearing (172) Equipped with product stream guidance tape, product stream guidance tape being provided with gap II, described gap II is passage for product (173), at passage for product In the passage for product (173) of one end that station (20) discharged by plate away from finished product, Fibre Optical Sensor (174) is installed.

Five line plug I/M automats the most according to claim 7, it is characterised in that: described finished product discharges station (20) bag Include finished product classification die set (43), non-defective unit box II (180) and defective products box II (181)；Described finished product classification die set (43) includes propping up Seat III (175), slide unit cylinder II (176), runner fix seat (177), non-defective unit runner (178), defective products runner (179), bearing III (175) is arranged in frame III (16), is provided with slide unit cylinder II (176) on bearing III (175), and runner fixes seat (177) it is connected with slide unit cylinder II (176), fixes that at runner non-defective unit runner 178 and defective products runner being installed on seat (177) (179), passage for product (173) phase of the front end of non-defective unit runner (178) and defective products runner (179) and passage for product module (40) Corresponding；The rear end of non-defective unit runner (178) and defective products runner (179) respectively with non-defective unit box II (180) and defective products box II (181) Corresponding.