CN117584365B - Automatic feeding insert injection molding and detecting equipment for robot and working method thereof - Google Patents

Automatic feeding insert injection molding and detecting equipment for robot and working method thereof Download PDF

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Publication number
CN117584365B
CN117584365B CN202311856424.3A CN202311856424A CN117584365B CN 117584365 B CN117584365 B CN 117584365B CN 202311856424 A CN202311856424 A CN 202311856424A CN 117584365 B CN117584365 B CN 117584365B
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CN
China
Prior art keywords
cylinder
feeding
clamping jaw
jacking
driving
Prior art date
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Active
Application number
CN202311856424.3A
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Chinese (zh)
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CN117584365A (en
Inventor
杨树忠
张欧
燕俊威
薛飞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Oechsler Plastic Products Taicang Co Ltd
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Oechsler Plastic Products Taicang Co Ltd
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Application filed by Oechsler Plastic Products Taicang Co Ltd filed Critical Oechsler Plastic Products Taicang Co Ltd
Priority to CN202311856424.3A priority Critical patent/CN117584365B/en
Publication of CN117584365A publication Critical patent/CN117584365A/en
Application granted granted Critical
Publication of CN117584365B publication Critical patent/CN117584365B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
    • B29C45/14008—Inserting articles into the mould
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/72—Heating or cooling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17—Component parts, details or accessories; Auxiliary operations
    • B29C45/76—Measuring, controlling or regulating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/7629—Moulded articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
    • B29C2945/76—Measuring, controlling or regulating
    • B29C2945/76177—Location of measurement
    • B29C2945/76294—Inserts

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

Abstract

The invention discloses a robot automatic feeding insert injection molding and detecting device, which comprises: the cylinder feeding device can realize simultaneous batch feeding of products of different types, effectively improve the feeding efficiency, meanwhile, the cylinder inner diameter detection mechanism is used for carrying out primary detection on the inner diameter of the round tube, firstly, unqualified products are removed, then the cylinder preheating platform is used for preheating qualified round tubes, the preheated round tubes are placed into the injection molding machine die for processing, the robot grabbing mechanism is used for batch feeding in the process, meanwhile, batch material taking is carried out, the processed products are detected through the leakage detection mechanism, the good products are conveyed to the designated position through the assembly line, the defective products are removed, automation is realized in the whole process, the processing and detection efficiency of the round tubes are effectively improved, the workload of workers is reduced, a large number of manpower resources can be saved, and the productivity is improved.

Description

Automatic feeding insert injection molding and detecting equipment for robot and working method thereof
Technical Field
The invention belongs to the field of production and manufacturing, and particularly relates to automatic feeding insert injection molding and detecting equipment for a robot and a working method.
Background
The cylinder is required to be detected and defective products are removed after injection molding, and in the processing process, the parts assembled manually in the past are always required to be assembled automatically at present, for example, a workpiece is composed of three or more parts, three different parts are required to be grabbed by corresponding three jigs, so that the size of the jigs is enlarged, equipment such as a robot matched with the jigs is enlarged, and the manufacturing cost of the equipment is increased;
Even if the same part is used, if only one part can be grabbed at a time, the grabbing and feeding efficiency is low, and the processing efficiency of the rear section is affected, so that the existing grabbing jig is still to be improved;
The processed product also needs to be detected, most of traditional detection is performed manually, the working efficiency is low, each person is detected by experience, certain difference exists in detection standards, the detection quality is not uniform, and a large amount of labor is wasted;
part of enterprises adopt detection equipment to detect, however, a mechanical arm can only grasp one product to a detection station at a time, grasp one product at a time and finish one product detection, the detection efficiency is low, meanwhile, the enterprises can process products of multiple models at a time, and if each model adopts different detection equipment, the equipment cost investment of the enterprises is increased;
In addition, the size and the weight of the robot jig can influence the size of a corresponding robot, the more complicated and more troublesome debugging of the jig in the later stage can also influence other functions of the robot, and the existing many robots adopt air cylinders for clamping when taking the workpieces, and a certain installation space is required to be reserved because air circuits and the like are required to be arranged for clamping the air cylinders;
And most adopt different snatchs the tool when snatching different parts, and different snatchs the tool and need carry on different arms, not only occupation of land space is big, has still increased equipment cost input simultaneously, if adopt same arm, then need not stop better snatch the tool, need waste a great deal of time, therefore current drum processing, detection technology still need to improve.
Disclosure of Invention
The invention aims to: in order to overcome the defects, the invention aims to provide the automatic feeding insert injection molding and detecting equipment for the robot, the grabbing mechanism of the robot performs batch feeding, meanwhile, batch material taking is performed, processed products are detected through the leakage detecting mechanism, good products are conveyed to a designated position through a production line, defective products are removed, automation is realized in the whole process, and processing and detecting efficiency of round tubes is effectively improved.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a robot automatic feeding insert injection molding and detecting device, comprising:
The cylinder feeding device comprises at least one group of cylinder feeding mechanism, a feeding grabbing mechanism, a cylinder inner diameter detection mechanism and a cylinder preheating platform, wherein the feeding grabbing mechanism is arranged at a discharge hole of the cylinder feeding mechanism, the cylinder inner diameter detection mechanism is arranged at one side of the feeding grabbing mechanism, and the cylinder preheating platform is arranged at one side of the cylinder inner diameter detection mechanism;
the robot grabbing mechanism is arranged behind the cylinder feeding mechanism;
the leakage detection mechanism is arranged on one side of the injection molding machine and is matched with the robot grabbing mechanism;
The assembly line is arranged at one side of a discharge hole of the leakage detection mechanism;
the defective product box is arranged on one side of the assembly line;
the automatic feeding device is characterized by further comprising an injection molding machine, wherein the injection molding machine is arranged on one side of the cylinder feeding device, one side of the robot grabbing mechanism and one side of the defective product box.
The automatic feeding insert injection molding and detecting device for the robot is reasonable in structural design, can realize simultaneous batch feeding of products of different types through the cylinder feeding device, effectively improves the feeding efficiency of the automatic feeding insert injection molding and detecting device, meanwhile, the cylinder inner diameter detecting mechanism is used for carrying out primary detection on the inner diameter of a round pipe, firstly, unqualified products are removed, then the cylinder preheating platform is used for preheating qualified round pipes, the preheated round pipes are placed into an injection molding machine die for processing, the robot grabbing mechanism is used for batch feeding in the process, meanwhile, batch material taking is carried out, the processed products are detected through the leakage detecting mechanism, the good products are conveyed to the designated position through the assembly line, the defective products are removed, automation is realized in the whole process, the processing and detecting efficiency of the round pipes is effectively improved, the workload of workers is reduced, a large amount of manpower resources can be saved, and the productivity is improved.
The feeding grabbing mechanism comprises a feeding grabbing mechanical arm and a feeding grabbing jig, wherein the feeding grabbing mechanical arm is arranged on the feeding workbench, and the feeding grabbing jig is connected with the feeding grabbing mechanical arm through a lifting straight arm.
The feeding grabbing jig comprises a material taking claw cylinder and at least one group of cylinder clamping jaw assemblies, and the cylinder clamping jaw assemblies are connected with the output end of the material taking claw cylinder.
The cylinder clamping jaw assembly comprises a group of cylinder clamping jaws, and the two cylinder clamping jaws are oppositely arranged and are connected with the output end of the material taking claw cylinder through the switching frame; at least one cylinder clamping jaw groove is formed in the inner side of the cylinder clamping jaw.
The inner side of the cylinder clamping jaw is provided with a first cylinder clamping jaw groove, a second cylinder clamping jaw groove and a third cylinder clamping jaw groove, and the first cylinder clamping jaw groove, the second cylinder clamping jaw groove and the third cylinder clamping jaw groove in the two cylinder clamping jaws are oppositely arranged.
The barrel inner diameter detection mechanism comprises an inner diameter detection supporting seat, a front and back driving cylinder, a front and back driving frame, a clamping jaw driving cylinder, a clamping jaw assembly, an upper driving cylinder, a lower driving cylinder and a go-gauge guide column, wherein the front and back driving cylinder is fixed on the inner diameter detection supporting seat, the front and back driving frame is arranged at the output end of the front and back driving cylinder, the clamping jaw driving cylinder is arranged on the front and back driving frame, the clamping jaw assembly is connected with the clamping jaw driving cylinder, the upper driving cylinder and the lower driving cylinder are arranged on the front and back driving frame, and the output end of the upper driving cylinder is connected with the go-gauge guide column through a connecting frame.
The cylinder preheating platform comprises a heating platform, at least one model of placing hole is formed in the heating platform, and a heating assembly is arranged on the heating platform.
The robot grabbing mechanism comprises a grabbing mechanical arm and a magnetic absorption shaft robot jig, and the magnetic absorption shaft robot jig is arranged on the grabbing mechanical arm;
the magnetic suction shaft robot jig comprises a jig main frame, wherein a first driving module and a second driving module are arranged on the jig main frame;
The shaft taking mechanism is connected with the first driving module;
The product grabbing mechanism is connected with the second driving module.
Get axle mechanism and get a subassembly including getting axle transport drive plate, getting axle mounting panel, a set of first subassembly, second and getting a subassembly and third, get the output of axle transport drive plate and first drive module and be connected, it is connected with getting the axle transport drive plate through a set of spliced pole to get the axle mounting panel, first get a subassembly, second get a subassembly and third get a subassembly all install on getting the axle mounting panel.
The first piece subassembly of getting includes first cylinder fixed plate, mount pad, first pushing cylinder, a set of first push rod, first magnet and first guide post, first pushing cylinder is fixed in on the first cylinder fixed plate, the mount pad is located and is got one side of axle mounting panel to be connected with first cylinder fixed plate through a set of spliced pole, the output of first pushing cylinder is connected with the mount pad through first push rod, first magnet is located on the mount pad, first guide post is located on the first magnet, just be equipped with the metal inductor on the first magnet.
The second is got a subassembly and is included second cylinder fixed plate, at least one second pushes away material cylinder, at least one second drive seat, at least one set of second push rod, at least one set of second magnet and a set of second guide post, the second cylinder fixed plate passes through a set of spliced pole and gets the axle mounting panel and be connected, the second pushes away the material cylinder and is fixed in on the second cylinder fixed plate, the second drive seat is located the opposite side of second cylinder fixed plate for the second and pushes away the material cylinder, and it is connected with the output of second pushing away the material cylinder, second push rod one end is connected with the second drive seat, and the other end is connected with the second magnet, the second guide post is installed on the second magnet, just be equipped with metal inductor on the second magnet.
The third piece subassembly of getting includes third cylinder fixed plate, at least one third pushes away material cylinder, at least one third drive seat, at least one set of third push rod, at least one set of third magnet and a set of third guide post, the third cylinder fixed plate is connected with getting the axle mounting panel through a set of spliced pole, the third pushes away the material cylinder and is fixed in on the third cylinder fixed plate, the opposite side of third cylinder fixed plate is located for the third material cylinder that pushes away to the third drive seat, the one end and the third drive seat of third push rod are connected, and the other end is connected with third magnet, the third guide post is located on the third magnet, just be equipped with the metal inductor on the third magnet.
The product grabbing mechanism comprises a product taking driving plate, a product taking mounting plate, at least one group of first taking head sucking disc components, at least one group of second taking head sucking disc components, at least one group of product taking clamping jaw components and a product supporting column component, wherein the product taking driving plate is connected with the output end of the second driving module, the product taking mounting plate is connected with the product taking driving plate through a group of connecting columns, and the first taking head sucking disc components, the second taking head sucking disc components, the product taking clamping jaw components and the product supporting column components are all installed on the product taking mounting plate through a transfer frame.
The leakage detection mechanism comprises a detection workbench, a group of product positioning columns, a group of rotary pressing-down cylinders, a pressing-down positioning assembly, a pressing-down positioning mechanism and a group of jacking cylinders, wherein an opening is formed in the detection workbench, the jacking cylinders are fixed at the opening through cylinder fixing seats and are oppositely arranged, the jacking cylinders are provided with the jacking assembly, the product positioning columns are arranged on the outer sides of the jacking cylinders, the rotary pressing-down cylinders are arranged on one sides of the product positioning columns, the pressing-down positioning assembly is connected with the rotary pressing-down cylinders, and the pressing-down positioning mechanism is arranged on the detection workbench;
the detection device further comprises a sample table, a group of product positioning columns are arranged on the sample table, and a reflecting plate and a photoelectric sensor are arranged on the detection workbench and the sample table.
The jacking assembly comprises a jacking plate, a jacking seat and a group of small jacking cylinders, wherein the jacking plate is connected with a sliding table of the jacking cylinder, the jacking seat is arranged above the jacking plate, the small jacking cylinders are fixed below the jacking plate, and the output ends of the small jacking cylinders are connected with the jacking seat.
The pushing-down positioning mechanism comprises a horizontal driving cylinder, a pushing-down driving cylinder and a positioning column, wherein the horizontal driving cylinder is arranged on the supporting frame, the pushing-down driving cylinder is connected with the output end of the horizontal driving cylinder, and the positioning column is connected with the output end of the pushing-down driving cylinder.
The technical scheme can be seen that the invention has the following beneficial effects:
1. The automatic feeding insert injection molding and detecting device for the robot is reasonable in structural design, can realize simultaneous batch feeding of products of different types through the cylinder feeding device, effectively improves the feeding efficiency of the automatic feeding insert injection molding and detecting device, meanwhile, the cylinder inner diameter detecting mechanism is used for carrying out primary detection on the inner diameter of a round pipe, firstly, unqualified products are removed, then the cylinder preheating platform is used for preheating qualified round pipes, the preheated round pipes are placed into an injection molding machine die for processing, the robot grabbing mechanism is used for batch feeding in the process, meanwhile, batch material taking is carried out, the processed products are detected through the leakage detecting mechanism, the good products are conveyed to the designated position through the assembly line, the defective products are removed, automation is realized in the whole process, the processing and detecting efficiency of the round pipes is effectively improved, the workload of workers is reduced, a large amount of manpower resources can be saved, and the productivity is improved.
2. According to the invention, through optimizing the structure of the feeding grabbing mechanism, a plurality of products can be grabbed simultaneously, the grabbing and assembling efficiencies of the products are effectively improved, meanwhile, the use of grabbing jigs can be reduced, the jig space is saved, the switching and debugging time is reduced, the production efficiency is effectively improved, and the equipment investment cost is reduced.
3. According to the invention, the first cylindrical clamping jaw groove, the second cylindrical clamping jaw groove and the third cylindrical clamping jaw groove can simultaneously grasp 3 commodities, and the grasping efficiency is effectively improved.
4. The first cylindrical clamping jaw groove, the second cylindrical clamping jaw groove and the third cylindrical clamping jaw groove can be identical in size or can be inconsistent in size. If the sizes of the three clamping jaw grooves are always, a plurality of identical products can be simultaneously grabbed, and if the sizes of the three clamping jaw grooves are inconsistent, three different products can be simultaneously grabbed, so that the three different products can be selected according to actual requirements of production.
5. According to the invention, through optimizing the structure of the magnetic absorption shaft robot jig, the shaft taking mechanism and the product grabbing mechanism are arranged on the magnetic absorption shaft robot jig, and the two mechanisms are arranged on the main frame of the jig, and share one mechanical arm, so that the structural design is more reasonable, the occupied space is reduced, the switching time of the jig is saved, and the production requirement is better met.
6. The first piece subassembly of getting in getting the axle mechanism, the second is got a subassembly and the setting of a subassembly is got to the third, and the structure of getting the axle mechanism is further optimized, can improve its axle efficiency of getting, simultaneously, reduces the input cost of tool.
7. According to the invention, the air cylinder is replaced by the magnet to clamp, so that a more rapid and convenient precise positioning magnetic attraction mode is realized, the occupied space of the jig is smaller, the air consumption of the air circuit is reduced, and other mechanisms of the jig using the air cylinder are more stable.
Drawings
FIG. 1 is a schematic diagram of a robotic automatic feeding insert injection molding and detection apparatus according to the present invention;
FIG. 2 is a schematic structural view of a cylinder loading device according to the present invention;
FIG. 3 is a partial schematic view of a cylinder take-off mechanism according to the present invention;
FIG. 4 is a schematic structural view of a feeding grabbing mechanism in the invention;
Fig. 5 is a schematic structural diagram of the feeding and grabbing jig in the present invention;
FIG. 6 is a schematic diagram of the bottom structure of the feeding grabbing jig in the present invention;
FIG. 7 is a schematic view of a cartridge inside diameter sensing mechanism according to the present invention;
FIG. 8 is a schematic view of a cylinder preheating platform according to the present invention;
FIG. 9 is a schematic view of the internal structure of a cylindrical preheating platform according to the present invention;
FIG. 10 is a schematic diagram of a magnetic pick-up axis robotic jig according to the present invention;
FIG. 11 is a top view of a magnetic pick-up axis robotic jig of the present invention;
FIG. 12 is a schematic view of a first picking assembly according to the present invention;
FIG. 13 is a schematic view of a second pick-up assembly according to the present invention;
FIG. 14 is a schematic view of a third picking assembly according to the present invention;
FIG. 15 is a schematic view of a product gripping mechanism according to the present invention;
FIG. 16 is a schematic view of a leak detection mechanism according to the present invention; ;
FIG. 17 is a partial schematic view of a leak detection mechanism according to the present invention;
fig. 18 is a schematic view of a pipeline in the present invention.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
Examples
A robotic automatic feeding insert injection molding and detection apparatus as shown in fig. 1-18, comprising: the cylinder feeding device 1 comprises at least one group of cylinder feeding mechanism 11, a feeding grabbing mechanism 12, a cylinder inner diameter detection mechanism 13 and a cylinder preheating platform 14, wherein the feeding grabbing mechanism 12 is arranged at a discharge hole of the cylinder feeding mechanism 11, the cylinder inner diameter detection mechanism 13 is arranged at one side of the feeding grabbing mechanism 12, the cylinder preheating platform 14 is arranged at one side of the cylinder inner diameter detection mechanism 13, and the cylinder feeding device further comprises a cylinder placing platform 16, wherein the cylinder placing platform 16 is arranged on a feeding workbench and is matched with the feeding grabbing mechanism 12;
the robot grabbing mechanism 2 is arranged at the rear of the cylinder feeding mechanism 1; the leakage detection mechanism 3 is arranged on one side of the robot grabbing mechanism 2 and is matched with the robot grabbing mechanism 2; the assembly line 4 is arranged at one side of a discharge hole of the leakage detection mechanism 3; the defective product box 5 is arranged on one side of the assembly line 4;
the automatic feeding device further comprises an injection molding machine 6, wherein the injection molding machine 6 is arranged on one side of the cylinder feeding device 1 and the defective product box 5 of the robot grabbing mechanism 2.
The cylinder feeding mechanism 11 as shown in fig. 2 to 3 comprises a cylinder bin 111, a cylinder vibration disc 112 and a direct vibration 113, wherein the cylinder bin 111 is fixed through a supporting seat, the cylinder vibration disc 112 is arranged below one side of the cylinder bin 111, a discharge hole of the cylinder bin 111 is arranged above the cylinder vibration disc 112, the direct vibration 113 is connected with the discharge hole of the cylinder vibration disc 112, a groove type photoelectric sensor 114 is arranged on the direct vibration 113, a cylinder to-be-taken mechanism 115 is arranged at the tail end of the discharge hole of the direct vibration 113, and a cylinder dislocation cylinder 1151 and the groove type photoelectric sensor 114 are arranged at the position of the cylinder to-be-taken mechanism 115.
The feeding grabbing mechanism 12 shown in fig. 4 to 6 comprises a feeding grabbing mechanical arm 121 and a feeding grabbing jig 122, wherein the feeding grabbing mechanical arm 121 is arranged on a feeding workbench, and the feeding grabbing jig 122 is connected with the feeding grabbing mechanical arm 121 through a lifting straight arm 123.
The feeding grabbing jig 122 includes a material taking claw cylinder 1221 and at least one set of cylinder clamping jaw assemblies 1222, and the cylinder clamping jaw assemblies 1222 are connected with the output end of the material taking claw cylinder 1221.
The cylinder jaw assembly 1222 comprises a set of cylinder jaws 12221, wherein the two cylinder jaws 12221 are disposed opposite to each other and connected to the output end of the material taking jaw cylinder 1221 through an adaptor frame 1223; at least one cylinder jaw recess is provided on the inside of the cylinder jaw 12221.
The barrel inside diameter detecting mechanism 13 shown in fig. 7 comprises an inside diameter detecting support base 131, a front and rear driving cylinder 132, a front and rear driving frame 133, a clamping jaw driving cylinder 134, a clamping jaw assembly 135, an up and down driving cylinder 136 and a go gauge guide post 137, wherein the front and rear driving cylinder 132 is fixed on the inside diameter detecting support base 131, the front and rear driving frame 133 is arranged at the output end of the front and rear driving cylinder 132, the clamping jaw driving cylinder 134 is arranged on the front and rear driving frame 133, the clamping jaw assembly 135 is connected with the clamping jaw driving cylinder 134, the up and down driving cylinder 136 is arranged on the front and rear driving frame 133, and the output end of the up and down driving cylinder 136 is connected with the go gauge guide post 137 through a connecting frame 138.
The cylindrical preheating platform 14 as shown in fig. 8 and 9 comprises a heating platform 141, wherein at least one model of placing holes 142 are formed in the heating platform 141, and a heating component 143 is arranged on the heating platform 141.
The robot gripping mechanism 2 shown in fig. 10 to 15 includes a gripping robot arm and a magnetic suction shaft robot jig provided on the gripping robot arm;
The magnetic suction shaft robot jig comprises a jig main frame 21, wherein a first driving module 22 and a second driving module 23 are arranged on the jig main frame 21;
The shaft taking mechanism 24 is connected with the first driving module 22;
The product snatchs the mechanism 25, product snatchs the mechanism 25 and is connected with second drive module 23.
The axle taking mechanism 24 includes an axle taking and carrying driving plate 241, an axle taking and mounting plate 242, a set of first component taking and carrying assembly 243, a second component taking and carrying assembly 244 and a third component taking and carrying assembly 245, the axle taking and carrying driving plate 241 is connected with the output end of the first driving module 22, the axle taking and mounting plate 242 is connected with the axle taking and carrying driving plate 241 through a set of connecting columns, and the first component taking and carrying assembly 243, the second component taking and the third component taking and carrying assembly 245 are all installed on the axle taking and carrying mounting plate 242.
The first component taking assembly 243 shown in fig. 12 comprises a first cylinder fixing plate 2431, a mounting seat 2432, a first pushing cylinder 2433, a set of first push rods 2434, a first magnet 2435 and a first guide post 2436, wherein the first pushing cylinder 2433 is fixed on the first cylinder fixing plate 2431, the mounting seat 2432 is arranged on one side of the shaft taking mounting plate 242 and is connected with the first cylinder fixing plate 2431 through a set of connecting posts, the output end of the first pushing cylinder 2433 is connected with the mounting seat 2432 through the first push rods 2434, the first magnet 2435 is arranged on the mounting seat 2432, the first guide post 2436 is arranged on the first magnet 2435, and a metal sensor 2437 is arranged on the first magnet 2435.
The second component taking assembly 244 as shown in fig. 13 includes a second cylinder fixing plate 2441, at least one second pushing cylinder 2442, at least one second driving seat 2443, at least one set of second pushing rods 2444, at least one set of second magnets 2445 and a set of second guide posts 2446, the second cylinder fixing plate 2441 is connected with the shaft taking mounting plate 242 through a set of connecting posts, the second pushing cylinder 2442 is fixed on the second cylinder fixing plate 2441, the second driving seat 2443 is arranged on the other side of the second cylinder fixing plate 2441 relative to the second pushing cylinder 2442, and is connected with the output end of the second pushing cylinder 2442, one end of the second pushing rod 2444 is connected with the second driving seat 2443, the other end is connected with the second magnets 2445, the second guide posts 2446 are mounted on the second magnets 2445, and a metal sensor 2437 is arranged on the second magnets 2445.
The third workpiece taking assembly 245 as shown in fig. 14 comprises a third cylinder fixing plate 2451, at least one third pushing cylinder 2452, at least one third driving seat 2453, at least one group of third pushing rods 2454, at least one group of third magnets 2455 and a group of third guide posts 2456, wherein the third cylinder fixing plate 2451 is connected with the shaft taking mounting plate 242 through a group of connecting posts, the third pushing cylinder 2452 is fixed on the third cylinder fixing plate 2451, the third driving seat 2453 is arranged on the other side of the third cylinder fixing plate 2451 relative to the third pushing cylinder 2452, one end of the third pushing rod 2454 is connected with the third driving seat 2453, the other end of the third pushing rod 2454 is connected with the third magnets 2455, the third guide posts 2456 are arranged on the third magnets 2455, and a metal sensor 2437 is arranged on the third magnets 2455.
The product grabbing mechanism 25 as shown in fig. 15 includes a product material taking driving plate 251, a product material taking mounting plate 252, at least one set of first material taking head suction cup assemblies 253, at least one set of second material taking head suction cup assemblies 254, at least one set of product taking clamping jaw assemblies 255 and a product supporting column assembly 256, the product material taking driving plate 251 is connected with the output end of the second driving module 23, the product material taking mounting plate 252 is connected with the product material taking driving plate 251 through a set of connecting columns, and the first material taking head suction cup assemblies 253, the second material taking head suction cup assemblies 254, the product taking clamping jaw assemblies 255 and the product supporting column assemblies 256 are all installed on the product material taking mounting plate 252 through a transfer frame.
The product taking jaw assembly 255 shown in fig. 10 includes a jaw drive cylinder 2551 and a set of jaws 2552, the jaws 2552 being connected to the output of the jaw drive cylinder 2551 by a drive block.
The device further comprises a first driving chain 26 and a second driving chain 27, one ends of the first driving chain 26 and the second driving chain 27 are fixed on the main frame 21 of the jig, the other end of the first driving chain 26 is connected with a first sliding plate on the first driving module 22, the other end of the second driving chain 27 is connected with a second sliding plate on the second driving module 23, the first sliding plate is connected with the taking shaft carrying driving plate 241, and the second sliding plate is connected with the product taking driving plate 251.
The device further comprises a group of signal fast-inserting modules 28, and the first driving module 22 and the second driving module 23 are respectively provided with the signal fast-inserting modules 28.
The leak detection mechanism 3 as shown in fig. 16 and 17 comprises a detection workbench 31, a group of product positioning columns 32, a group of rotary pressing-down cylinders 33, a pressing-down positioning assembly 34, a pressing-down positioning mechanism 35 and a group of jacking cylinders 36, wherein an opening is formed in the detection workbench 31, the jacking cylinders 36 are fixed at the opening through cylinder fixing seats, the two jacking cylinders 36 are oppositely arranged, the jacking cylinders 36 are provided with jacking assemblies 37, the product positioning columns 32 are arranged on the outer sides of the jacking cylinders 36, the rotary pressing-down cylinders 33 are arranged on one sides of the product positioning columns 32, the pressing-down positioning assembly 34 is connected with the rotary pressing-down cylinders 33, and the pressing-down positioning mechanism 35 is arranged on the detection workbench 31;
The device further comprises a sample table 38, wherein a group of product positioning columns 32 are arranged on the sample table 38, and a reflecting plate 381 and a photoelectric sensor 382 are arranged on the detection workbench 31 and the sample table 38.
The jacking assembly 37 comprises a jacking plate 371, a jacking seat 372 and a group of small jacking cylinders 373, wherein the jacking plate 371 is connected with a sliding table of the jacking cylinder 36, the jacking seat 372 is arranged above the jacking plate 371, the small jacking cylinders 373 are fixed below the jacking plate 371, and the output ends of the small jacking cylinders 373 are connected with the jacking seat 372.
The pressing positioning mechanism 35 comprises a horizontal driving cylinder 351, a pressing driving cylinder 352 and a positioning column 353, wherein the horizontal driving cylinder 351 is arranged on the supporting frame, the pressing driving cylinder 352 is connected with the output end of the horizontal driving cylinder 351, and the positioning column 353 is connected with the output end of the pressing driving cylinder 352.
The assembly line 4 as shown in fig. 18 comprises a conveying mechanism 41, wherein a top cover is arranged on the conveying mechanism 41, a heat dissipation mechanism 42 is arranged on the top cover, and induction gratings 43 are arranged on two sides of the conveying mechanism 41.
The defective product box 5 is provided with at least one defective product collecting box.
Example 2
The structure of the automatic feeding insert injection molding and detecting device for robots in this embodiment is the same as that of embodiment 1, and the difference is that in this embodiment, the cylinder feeding mechanism is provided with 3 groups, and the cylinder sizes supplied by the groups are different as follows:
the cylinder feeding mechanism 11 comprises a first cylinder feeding mechanism, a second cylinder feeding mechanism and a third cylinder feeding mechanism, the first cylinder feeding mechanism, the second cylinder feeding mechanism and the third cylinder feeding mechanism all comprise a cylinder bin 111, a cylinder vibration disc 112 and a direct vibration 113, the cylinder bin 111 is fixed through a supporting seat, the cylinder vibration disc 112 is arranged below one side of the cylinder bin 111, a discharge hole of the cylinder bin 111 is arranged above the cylinder vibration disc 112, the direct vibration 113 is connected with a discharge hole of the cylinder vibration disc 112, a groove type photoelectric sensor 114 is arranged on the direct vibration 113, a cylinder to-be-taken mechanism 115 is arranged at the tail end of the discharge hole of the direct vibration 113, and a cylinder dislocation cylinder 1151 and the groove type photoelectric sensor 114 are arranged at the position of the cylinder to-be-taken mechanism 115. It should be noted that the materials supplied by the first cylinder feeding mechanism, the second cylinder feeding mechanism and the third cylinder feeding mechanism may be three products of different types or may be three products of different sizes, which may be adjusted according to actual needs of the products, and it is conceivable that the data of the cylinder feeding mechanism may be adjusted according to actual needs.
The inside of the cylinder jaw 12221 shown in fig. 5 is provided with a first cylinder jaw groove 12222, a second cylinder jaw groove 12223, and a third cylinder jaw groove 12224, and the first cylinder jaw groove 12222, the second cylinder jaw groove 12223, and the third cylinder jaw groove 12224 in the two cylinder jaws 12221 are disposed opposite to each other.
The first cylindrical jaw recess 12222, the second cylindrical jaw recess 12223, and the third cylindrical jaw recess 12224 may be uniform in size or may be non-uniform in size.
In this embodiment, the defective product box 5 is provided with a stub bar collecting box, a startup defective collecting box, an injection molding process defective collecting box and a leak detection defective collecting box. In the detection process, defective products in different detection procedures are placed in corresponding collection boxes.
Example 3
The working method of the automatic feeding insert injection molding and detecting device of the robot in the embodiment is as follows:
1): firstly, putting the cylinders in corresponding cylinder bins 111 respectively, conveying the cylinders into corresponding cylinder vibrating discs 112 by the cylinder bins 111, conveying the cylinders in a trough of a direct vibration 113 through the vibration of the cylinder vibrating discs 112, and detecting whether the cylinders exist in the trough by a trough type photoelectric sensor 114 in the process;
2): if the groove type photoelectric sensor 114 does not detect the cylinder, the direct vibration 113 is started to send the cylinder to the direct vibration outlet;
3): if the groove type photoelectric sensor 114 at the cylinder waiting mechanism 115 detects a cylinder, the cylinder is moved out of the direct vibration 113 through a cylinder dislocation cylinder 1151;
4): a front-back driving cylinder 132 in the cylinder inner diameter detection mechanism 13 drives a front-back driving frame 133 to advance, a clamping jaw driving cylinder 134 drives a clamping jaw assembly 135 to clamp a cylinder, an upper-lower driving cylinder 136 drives a go gauge guide post 137 to be inserted into the cylinder inner diameter, the upper-lower driving cylinder 136 is started by a bottom cylinder signal, the cylinder inner diameter is qualified, the upper-lower driving cylinder 136 drives the go gauge guide post 137 to ascend, the clamping jaw driving cylinder 134 drives the clamping jaw assembly 135 to be opened, and the front-back driving cylinder 132 is retreated to an initial position;
5): the feeding grabbing mechanical arm 121 in the feeding grabbing mechanism 12 drives the feeding grabbing jig 122 to move to the cylinder, the material taking claw cylinder 1221 drives the group of cylinder clamping jaw assemblies 1222 to clamp the cylinder, and the cylinder is placed on the positioning guide column 144 on the cylinder preheating platform 14;
6): the cylinder preheating platform 14 will heat the cylinder;
7): the feeding grabbing mechanism 12 grabs and transports the cylinder which is heated by the cylinder preheating platform 14 to a corresponding position on the cylinder placing platform 16;
8): if the upper and lower driving cylinders 136 in the step 4) are operated and the bottom cylinder signal is not started, the inner diameter of the cylinder is eliminated, the feeding grabbing mechanical arm 121 in the feeding grabbing mechanism 12 drives the feeding grabbing jig 122 to move to the cylinder, and the material taking claw cylinder 1221 drives a group of cylinder clamping jaw assemblies 1222 to clamp the cylinder and transport the cylinder to the defective product box;
9): if three cylinders of different types are detected simultaneously, repeating steps 1 to 8) to feed the cylinders of the other 2 types respectively until the corresponding cylinders are placed on the corresponding positions on the cylinder placing platform 16;
10): after the cylinders are placed, a first workpiece taking assembly 243, a second workpiece taking assembly 244 and a third workpiece taking assembly 245 in a shaft taking mechanism 24 in the robot grabbing mechanism 2 guide the corresponding cylinders into the first workpiece taking assembly 243, the second workpiece taking assembly 244 and the third workpiece taking assembly 245, each cylinder is sucked by a first magnet 2435, a second magnet 2445 and a third magnet 2455 respectively, and a corresponding metal sensor 2437 detects whether the workpiece taking assembly has the cylinder or not;
11): the grabbing mechanical arm drives the axle taking mechanism 24 to take the cylinder into an injection mold of the injection molding machine 6;
12): the product grabbing mechanism 25 reaches the edge of the product, the second driving module 23 drives the product grabbing mechanism 25 to advance, the injection mold ejects the product, the product is supported by a support column in the product support column assembly 256, meanwhile, a clamping jaw driving cylinder 2551 in the product clamping jaw assembly 255 drives a clamping jaw 2552 to be closed to clamp the product, and after the first material taking head sucker assembly 253 and a sucker on the second material taking head sucker assembly 254 suck the ejected material head, the second driving module 23 drives the product grabbing mechanism 25 to retreat;
13): the grabbing mechanical arm drives the shaft taking mechanism 24 to the side of the injection mold, the first driving module 22 drives the shaft taking mechanism 24 to advance, the cylinder is installed in a guide post of the injection mold, the first pushing cylinder 2433 pushes the cylinder into the injection mold by pushing the first push rod 2434, the first push rod 2434 retreats, the grabbing mechanical arm drives the product grabbing mechanism 25 to leave the mold with products, and the material head is thrown into a material head collecting box of the defective product box 5;
14): the grabbing mechanical arm drives the product grabbing mechanism 25 to move above the leakage detection mechanism 3 with the product, the product is placed on the product positioning column 32, the grabbing mechanical arm drives the product grabbing mechanism 25 to retreat to a safe position, and the photoelectric sensor 382 detects whether the product exists or not;
15): if a product exists, a group of rotary pressing cylinders 33 rotates by 90 degrees at the same time, a pressing positioning assembly 34 presses down the product, a pressing driving cylinder 352 is driven to advance in a pressing positioning mechanism 35, after the product advances, a horizontal driving cylinder 3512 of the pressing driving cylinder 35 presses down a driving positioning column 353, two groups of jacking cylinders 36 ascend at the same time, namely, the jacking cylinders 36 drive a jacking assembly 37 to ascend, and the equipment performs leakage test;
16): after the test is completed, the push-down driving cylinder 352 is raised, the horizontal driving cylinder 351 is retracted, and the group of rotary push-down cylinders 33 is simultaneously raised and rotated by 90 °;
17): the grabbing mechanical arm drives the product grabbing mechanism 25 to take the product in place again, the product is qualified to be placed on a conveying mechanism 41 of a 4-assembly line, the product is detected by a sensing grating 43, the product is cooled by a cooling mechanism 42, the product reaches the bottom end for an operator to take, and the product with poor testing is thrown into a leakage detection poor collection box by a robot.
The foregoing is merely a preferred embodiment of the invention, and it should be noted that modifications could be made by those skilled in the art without departing from the principles of the invention, which modifications would also be considered to be within the scope of the invention.

Claims (6)

1. Automatic feeding mold insert of robot moulds plastics and check out test set, its characterized in that: comprising the following steps:
The cylinder feeding device comprises at least one group of cylinder feeding mechanism, a feeding grabbing mechanism, a cylinder inner diameter detection mechanism and a cylinder preheating platform, wherein the feeding grabbing mechanism is arranged at a discharge hole of the cylinder feeding mechanism, the cylinder inner diameter detection mechanism is arranged at one side of the feeding grabbing mechanism, and the cylinder preheating platform is arranged at one side of the cylinder inner diameter detection mechanism;
the robot grabbing mechanism is arranged behind the cylinder feeding mechanism;
the leakage detection mechanism is arranged on one side of the injection molding machine and is matched with the robot grabbing mechanism;
The assembly line is arranged at one side of a discharge hole of the leakage detection mechanism;
the defective product box is arranged on one side of the assembly line;
The device comprises a cylinder feeding device, a robot grabbing mechanism, a defective product box and an injection molding machine, wherein the injection molding machine is arranged on one side of the cylinder feeding device, one side of the robot grabbing mechanism and one side of the defective product box; the feeding grabbing mechanism comprises a feeding grabbing mechanical arm and a feeding grabbing jig, the feeding grabbing mechanical arm is arranged on the feeding workbench, and the feeding grabbing jig is connected with the feeding grabbing mechanical arm through a lifting straight arm; the feeding grabbing jig comprises a material taking claw cylinder and at least one group of cylinder clamping jaw assemblies, and the cylinder clamping jaw assemblies are connected with the output end of the material taking claw cylinder; the cylinder clamping jaw assembly comprises a group of cylinder clamping jaws, and the two cylinder clamping jaws are oppositely arranged and are connected with the output end of the material taking claw cylinder through the switching frame; at least one cylinder clamping jaw groove is formed in the inner side of the cylinder clamping jaw; the inner sides of the cylindrical clamping jaws are provided with a first cylindrical clamping jaw groove, a second cylindrical clamping jaw groove and a third cylindrical clamping jaw groove, and the first cylindrical clamping jaw groove, the second cylindrical clamping jaw groove and the third cylindrical clamping jaw groove in the two cylindrical clamping jaws are oppositely arranged;
The first cylindrical clamping jaw groove, the second cylindrical clamping jaw groove and the third cylindrical clamping jaw groove are consistent or inconsistent in size; the robot grabbing mechanism comprises a grabbing mechanical arm and a magnetic absorption shaft robot jig, and the magnetic absorption shaft robot jig is arranged on the grabbing mechanical arm;
the magnetic suction shaft robot jig comprises a jig main frame, wherein a first driving module and a second driving module are arranged on the jig main frame;
The shaft taking mechanism is connected with the first driving module;
the product grabbing mechanism is connected with the second driving module;
Get axle mechanism and get a subassembly including getting axle transport drive plate, getting axle mounting panel, a set of first subassembly, second and getting a subassembly and third, get the output of axle transport drive plate and first drive module and be connected, it is connected with getting the axle transport drive plate through a set of spliced pole to get the axle mounting panel, first get a subassembly, second get a subassembly and third get a subassembly all install on getting the axle mounting panel.
2. The robotic automatic feeding insert injection molding and detection apparatus of claim 1, wherein: the barrel inner diameter detection mechanism comprises an inner diameter detection supporting seat, a front and back driving cylinder, a front and back driving frame, a clamping jaw driving cylinder, a clamping jaw assembly, an upper driving cylinder, a lower driving cylinder and a go-gauge guide column, wherein the front and back driving cylinder is fixed on the inner diameter detection supporting seat, the front and back driving frame is arranged at the output end of the front and back driving cylinder, the clamping jaw driving cylinder is arranged on the front and back driving frame, the clamping jaw assembly is connected with the clamping jaw driving cylinder, the upper driving cylinder and the lower driving cylinder are arranged on the front and back driving frame, and the output end of the upper driving cylinder is connected with the go-gauge guide column through a connecting frame.
3. The robotic automatic feeding insert injection molding and detection apparatus of claim 2, wherein: the cylinder preheating platform comprises a heating platform, at least one model of placing hole is formed in the heating platform, a supporting column is arranged in the placing hole, and a heating assembly is arranged on the heating platform.
4. The robotic automatic feeding insert injection molding and detection apparatus of claim 2, wherein: the leakage detection mechanism comprises a detection workbench, a group of product positioning columns, a group of rotary pressing-down cylinders, a pressing-down positioning assembly, a pressing-down positioning mechanism and a group of jacking cylinders, wherein an opening is formed in the detection workbench, the jacking cylinders are fixed at the opening through cylinder fixing seats and are oppositely arranged, the jacking cylinders are provided with the jacking assembly, the product positioning columns are arranged on the outer sides of the jacking cylinders, the rotary pressing-down cylinders are arranged on one sides of the product positioning columns, the pressing-down positioning assembly is connected with the rotary pressing-down cylinders, and the pressing-down positioning mechanism is arranged on the detection workbench;
the detection device further comprises a sample table, a group of product positioning columns are arranged on the sample table, and a reflecting plate and a photoelectric sensor are arranged on the detection workbench and the sample table.
5. The robotic automatic feeding insert injection molding and detection apparatus of claim 4, wherein: the jacking assembly comprises a jacking plate, a jacking seat and a group of small jacking cylinders, wherein the jacking plate is connected with a sliding table of the jacking cylinder, the jacking seat is arranged above the jacking plate, the small jacking cylinders are fixed below the jacking plate, and the output ends of the small jacking cylinders are connected with the jacking seat.
6. The robotic automatic feeding insert injection molding and detection apparatus of claim 4, wherein: the pushing-down positioning mechanism comprises a horizontal driving cylinder, a pushing-down driving cylinder and a positioning column, wherein the horizontal driving cylinder is arranged on the supporting frame, the pushing-down driving cylinder is connected with the output end of the horizontal driving cylinder, and the positioning column is connected with the output end of the pushing-down driving cylinder.
CN202311856424.3A 2023-12-29 2023-12-29 Automatic feeding insert injection molding and detecting equipment for robot and working method thereof Active CN117584365B (en)

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Publication number Priority date Publication date Assignee Title
CN117799106B (en) * 2024-02-29 2024-06-11 裕克施乐塑料制品（太仓）有限公司 Full-automatic insert injection molding, feeding and discharging detection packaging production line and working method thereof

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Publication number Priority date Publication date Assignee Title
JP2000202852A (en) * 1999-01-08 2000-07-25 Seiko Epson Corp Method and apparatus for injection molding
KR101151452B1 (en) * 2011-09-16 2012-06-01 (주)엠지엠월드 Equipment for manufacturing chip
CN208006119U (en) * 2017-12-22 2018-10-26 佛山科学技术学院 A kind of grabbing device of vertical injection molding machine automatical feeding system
CN212860194U (en) * 2020-07-23 2021-04-02 赫比（厦门）精密塑胶制品有限公司 Injection molding feeding machine
CN216068377U (en) * 2021-08-09 2022-03-18 江苏艾锐博精密金属科技有限公司 Automatic grabbing and clamping jig for transverse manipulator
CN217318954U (en) * 2022-04-15 2022-08-30 昆山永自达自动化设备有限公司 Insert installation detection equipment of injection molding box body

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000202852A (en) * 1999-01-08 2000-07-25 Seiko Epson Corp Method and apparatus for injection molding
KR101151452B1 (en) * 2011-09-16 2012-06-01 (주)엠지엠월드 Equipment for manufacturing chip
CN208006119U (en) * 2017-12-22 2018-10-26 佛山科学技术学院 A kind of grabbing device of vertical injection molding machine automatical feeding system
CN212860194U (en) * 2020-07-23 2021-04-02 赫比（厦门）精密塑胶制品有限公司 Injection molding feeding machine
CN216068377U (en) * 2021-08-09 2022-03-18 江苏艾锐博精密金属科技有限公司 Automatic grabbing and clamping jig for transverse manipulator
CN217318954U (en) * 2022-04-15 2022-08-30 昆山永自达自动化设备有限公司 Insert installation detection equipment of injection molding box body

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