CN214111200U

CN214111200U - Floating manipulator tool and pin robot automation equipment

Info

Publication number: CN214111200U
Application number: CN202022228109.4U
Authority: CN
Inventors: 王海涛
Original assignee: Guangdong Topstar Technology Co Ltd
Current assignee: Guangdong Topstar Technology Co Ltd
Priority date: 2020-10-09
Filing date: 2020-10-09
Publication date: 2021-09-03
Anticipated expiration: 2030-10-09

Abstract

The utility model discloses a floating manipulator tool and pin needle robot automation equipment, floating manipulator tool include that base, arm body, carrier assembly, first clamp get the subassembly and the second is got the subassembly, the first end of arm body is articulated the base, one side of second end is equipped with carrier assembly, first clamp get the unit mount in carrier assembly is last, first clamp get the subassembly can carrier assembly is last to float along Y axle direction and X axle direction, first clamp is got the subassembly and is used for pressing from both sides to get pin needle and will the pin needle shifts in the mould, the opposite side of the second end of arm body is equipped with the subassembly is got to the second clamp, the second clamp is got the subassembly and is used for pressing from both sides to get and shifts injection moulding in injection molding in the mould. The utility model discloses can realize on single tool that the clamp of pin needle gets, shifts and the clamp of injection molding gets, shifts, and it effectively promotes pin needle insertion precision and yields with pin needle insertion die through the mode of floating.

Description

Floating manipulator tool and pin robot automation equipment

Technical Field

The utility model relates to a field is made in the charging plug production, especially relates to floating manipulator tool and pin needle robot automation equipment.

Background

In traditional charging plug's casing manufacturing process, need take out the back with the pin needle from the feed part through artificial mode, insert one by one again in the mould that corresponds for the process of moulding plastics to obtain the injection molding that corresponds, take out the injection molding from the mould at last, its operation process relates to a plurality of assembly line stations, and work efficiency is low, and working strength is big, wastes time and energy. In addition, since the volume of the pin body is small, when an operator or a robot inserts the pin into the mold, the insertion is likely to fail due to visual fatigue or insertion variation, which seriously affects the yield.

Therefore, a floating type robot tool and a pin robot automation device are needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a floating manipulator tool, it can realize on single tool that the clamp of pin needle gets, shifts and the clamp of injection molding gets, shifts, and it inserts the mould with pin needle through the mode of floating, effectively promotes pin needle and inserts precision and yields.

Another object of the utility model is to provide a pin needle robot automation equipment with above-mentioned floating manipulator tool, it realizes with full automated mode that the pin needle shifts to the mould from feed mechanism in, and with the transfer to supreme unloading elevating system in the injection molding from the mould, effectively promotes productivity ratio, and the precision that the pin needle shifted to in the mould from feed mechanism is high, effectively promotes the yields.

To achieve the purpose, on one hand, the utility model adopts the following technical scheme:

the utility model provides a floating manipulator tool, its includes that base, arm body, carrier assembly, first clamp get the subassembly and the second is got the subassembly, the first end of arm body is articulated the base, and one side of second end is equipped with carrier assembly, first clamp get the subassembly install in on the carrier assembly, first clamp get the subassembly can carrier assembly is last to float along Y axle direction and X axle direction, first clamp is got the subassembly and is used for getting pin needle and will the pin needle shifts to in the mould, the opposite side of the second end of arm body is equipped with the subassembly is got to the second, the subassembly is got to the second clamp and is used for getting and shift injection moulding in injection molding in the mould.

Preferably, the bearing assembly comprises a Y-axis floating mechanism, the Y-axis floating mechanism comprises a first mounting plate, two first limiting blocks and two first floating assemblies, the first mounting plate is slidably mounted on the arm body along the Y-axis direction, the two first limiting blocks are respectively mounted on the arm body along the Y-axis direction, the first mounting plate is limited to slide between the two first limiting blocks, the first floating assemblies are mounted between the first mounting plate and one of the first limiting blocks, and the first floating assemblies constantly provide an acting force for pushing the first mounting plate to the other first limiting block.

Preferably, the first floating assembly includes at least one first buffer spring, the first buffer spring is disposed along the Y-axis direction, and two ends of the first buffer spring respectively abut against between the first mounting plate and one of the first limit blocks, and the first buffer spring constantly provides an elastic force that pushes the first mounting plate to the other first limit block.

Preferably, the Y-axis floating mechanism further includes a first guide rail, the first guide rail is mounted on the arm body along the Y-axis direction, and the first mounting plate is slidably connected to the arm body through the first guide rail.

Preferably, the bearing assembly comprises an X-axis floating mechanism, the X-axis floating mechanism comprises a second mounting plate, two second limiting blocks and two second floating assemblies, the second mounting plate is slidably mounted on the first mounting plate along the X-axis direction, the first clamping assembly is mounted on the first mounting plate, the two second limiting blocks are respectively mounted on the first mounting plate along the X-axis direction, the second mounting plate is limited between the two second limiting blocks in a sliding manner, the second floating assemblies are mounted between the second mounting plate and one of the second limiting blocks, and the second floating assemblies constantly provide acting force for pushing the second mounting plate to the other second limiting block.

Preferably, the second floating assembly includes at least one second buffer spring, the second buffer spring is disposed along the X-axis direction, and two ends of the second buffer spring respectively abut against between the second mounting plate and one of the second limit blocks, and the second buffer spring constantly provides an elastic force that pushes the second mounting plate to the other second limit block.

Preferably, the X-axis floating mechanism further includes a second guide rail, the second guide rail is mounted on the first mounting plate along the X-axis direction, and the second mounting plate is slidably connected to the first mounting plate through the second guide rail.

Preferably, the first clamping assembly comprises a first driving cylinder and a first clamping head, and the output end of the first driving cylinder is connected with the first clamping head so as to drive the first clamping head to open and close; the second clamping assembly comprises a second driving cylinder and a second clamping head, and the output end of the second driving cylinder is connected with the second clamping head so as to drive the second clamping head to be opened and closed.

Preferably, the floating manipulator tool further comprises a base, a rotating platform and an auxiliary arm, wherein the rotating platform is installed on the base, one end of the auxiliary arm is hinged to the rotating platform, the rotating platform drives the auxiliary arm to rotate along the vertical direction, and the other end of the auxiliary arm is hinged to the base.

The utility model discloses following beneficial effect has at least:

the utility model discloses a floating manipulator tool's arm body installs respectively and gets subassembly and second clamp and get the subassembly, and on the one hand, the subassembly is got to first clamp and is installed on the arm body through the carrier assembly, and the subassembly is got to first clamp can float along Y axle direction and X axle direction under the effect of carrier assembly for when first clamp is got the subassembly and is inserted the pin needle in the mould, can float along Y axle direction and X axle direction in the insertion process in order to revise the insertion accuracy of pin needle, avoids the pin needle to cause because of inserting the deviation and inserts the failure; on the other hand, the first clamping component and the second clamping component are respectively arranged on two sides of the arm body, the positions of the first clamping component and the second clamping component are adjusted through rotation of the arm body, clamping and transferring of the pin needle and clamping and transferring of the injection molding piece are achieved on a single jig, the number of jigs is effectively reduced, and production cost is reduced.

To achieve the purpose, on the other hand, the utility model adopts the following technical scheme:

the utility model provides a pin needle robot automation equipment, its includes feeding mechanism, injection molding machine, goes up unloading elevating system and as above floating manipulator tool, feeding mechanism is used for the vibration output pin needle, the injection molding machine is used for injection moulding in the mould the injection molding, the second is got the subassembly and will be pressed from both sides and get the injection molding shift to go up unloading elevating system, go up unloading elevating system be used for with the injection molding shifts to next station.

Drawings

Fig. 1 is a schematic structural view of the pin needle robot automation device of the present invention;

fig. 2 is a schematic structural view of the floating type manipulator tool of the present invention;

FIG. 3 is a schematic view of the base, the turntable, and the auxiliary arm of FIG. 2 with the base, the turntable, and the auxiliary arm removed;

FIG. 4 is a schematic structural view of the load bearing assembly of the present invention;

fig. 5 is an exploded schematic view of fig. 4.

In the figure:

100. a floating manipulator tool; 10. a base; 20. an arm body; 30. a load bearing assembly; 31. a Y-axis floating mechanism; 311. a first mounting plate; 312. a first stopper; 313. a first floating assembly; 314. a first guide rail; 32. an X-axis floating mechanism; 321. a second mounting plate; 322. a second limiting block; 323. a second floating assembly; 324. a second guide rail; 40. a first grasping assembly; 41. a first driving cylinder; 42. a first gripping head; 50. a second grasping assembly; 51. a second driving cylinder; 52. a second gripping head; 60. a base; 70. a rotating table; 80. an auxiliary arm; 200. a feeding mechanism; 300. an injection molding machine; 400. a feeding and discharging lifting mechanism; 1000. a pin robot automation device; 1. and (5) molding.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Referring to fig. 1, the pin needle robot automation equipment 1000 of this embodiment includes feeding mechanism 200, injection molding machine 300, go up unloading elevating system 400 and floating manipulator tool 100, wherein, feeding mechanism 200 vibrates the pin needle that output has specific gesture in proper order through devices such as vibration dish, floating manipulator tool 100 presss from both sides the pin needle of getting from feeding mechanism 200 output and inserts to the pinhole that mould 1 corresponds, injection molding machine 300 moulds plastics in order to inject the injection molding in mould 1 to mould 1, floating manipulator tool 100 presss from both sides and gets this injection molding and shifts the injection molding to going up unloading elevating system 400, go up unloading elevating system 400 and shift the injection molding to next station, for example, equipment station etc..

The specific structure of the floating type robot jig 100 of the present embodiment will be described in detail below.

Referring to fig. 1 to 5, the floating type robot jig 100 of the present embodiment includes a base 10, an arm body 20, a carrying assembly 30, a first clamping assembly 40, and a second clamping assembly 50, wherein a first end of the arm body 20 is hinged to the base 10, and the arm body 20 can be freely turned over in an up-and-down direction around a hinged point thereof. One side of the second end of arm body 20 is equipped with carrier assembly 30, first clamp is got subassembly 40 and is installed on carrier assembly 30, first clamp is got subassembly 40 and can float and obtain the position fine setting along Y axle direction and X axle direction on carrier assembly 30, first clamp is got subassembly 40 and is used for pressing from both sides the clamp pin needle and shifts the pin needle to mould 1 in, the pin needle is inserting mould 1 in-process, the first clamp that grasps the pin needle is got subassembly 40 under carrier assembly 30 floating action, can float the fine setting along Y axle direction and X axle direction, with the angle of inserting of pin needle and pinhole in the mould 1 of revising, avoid appearing the deviation because of pin needle insertion angle and leading to inserting the failure. The other side of the second end of the arm body 20 is provided with a second clamping assembly 50, that is, the second clamping assembly 50 and the first clamping assembly 40 are arranged on the opposite side of the arm body 20, and the second clamping assembly 50 is used for clamping and transferring an injection molding piece which is injection molded in the mold 1, and transferring the injection molding piece to the feeding and discharging lifting mechanism 400.

Since the first and second grasping

assemblies

40 and 50 are separately provided at opposite sides of the arm body 20, the orientations of the first and second grasping

assemblies

40 and 50 are simultaneously changed by turning the arm body 20 upside down. Specifically, the first grasping element 40 faces upward and the second grasping element 50 faces downward in the initial state, and by turning over, the first grasping element 40 faces downward and the second grasping element 50 faces upward. Of course, since the arm body 20 can be freely turned to any angle in the up-down direction around its hinge point, the first and second grasping

assemblies

40 and 50 can have different orientations to meet different production requirements.

Referring to fig. 3 to 5, the bearing assembly 30 includes a Y-axis floating mechanism 31, the Y-axis floating mechanism 31 includes a first mounting plate 311, two first stoppers 312 and two first floating assemblies 313, the first mounting plate 311 is slidably mounted on the arm body 20 along the Y-axis direction, the two first stoppers 312 are mounted on the arm body 20 at intervals along the Y-axis direction, the first mounting plate 311 is located between the two first stoppers 312 and is limited to slide between the two first stoppers 312, the first floating assembly 313 is mounted between the first mounting plate 311 and one of the first stoppers 312, and constantly provides an acting force for pushing the first mounting plate 311 to the other first stopper 312 along the Y-axis direction.

Preferably, the first floating assembly 313 includes three first buffer springs, the three first buffer springs are arranged in parallel along the Y-axis direction, and two ends of the first buffer springs respectively abut between the first mounting plate 311 and one of the first limit blocks 312, the first buffer springs constantly provide an elastic force for pushing the first mounting plate 311 to the other first limit block 312 along the Y-axis direction. The first floating assembly 313 in this embodiment includes three first buffer springs, but the number of the first buffer springs may be selected according to practical situations, and is not limited herein. Further, the Y-axis floating mechanism 31 further includes a first guide rail 314, the first guide rail 314 is mounted on the arm body 20 along the Y-axis direction, and the first mounting plate 311 is slidably connected to the arm body 20 via the first guide rail 314. By providing the first guide rail 314, the first mounting plate 311 can be slid stably in the Y-axis direction. It should be noted that the first floating assembly 313 may also be a component having elastic restoring force, such as elastic plastic, and is not limited herein.

Referring to fig. 3 to 5, correspondingly, the bearing assembly 30 further includes an X-axis floating mechanism 32, the X-axis floating mechanism 32 includes a second mounting plate 321, two second limiting blocks 322 and two second floating assemblies 323, the second mounting plate 321 is slidably mounted on the first mounting plate 311 along the X-axis direction, the first clamping assembly 40 is mounted on the first mounting plate 311, the two second limiting blocks 322 are mounted on the first mounting plate 311 at intervals along the X-axis direction, the second mounting plate 321 is located between the two second limiting blocks 322 and is limited to slide between the two second limiting blocks 322, the second floating assembly 323 is mounted between the second mounting plate 321 and one of the second limiting blocks 322 and constantly provides a force for pushing the second mounting plate 321 to the other second limiting block 322 along the X-axis direction.

Preferably, the second floating assembly 323 includes three second buffer springs, the three second buffer springs are arranged in parallel along the X-axis direction, and two ends of the second buffer springs are respectively abutted between the second mounting plate 321 and one of the second limit blocks 322, the second buffer springs constantly provide an elastic force for pushing the second mounting plate 321 to the other second limit block 322 along the Y-axis direction. The second floating assembly 323 in this embodiment includes three second buffer springs, and the number of the second buffer springs may be selected according to practical situations, and is not limited herein. Further, the X-axis floating mechanism 32 further includes a second guide rail 324, the second guide rail 324 is mounted on the first mounting plate 311 along the X-axis direction, and the second mounting plate 321 is slidably connected to the first mounting plate 311 through the second guide rail 324. By providing the second guide rail 324, the second mounting plate 321 can slide stably in the X-axis direction. It should be noted that the second floating assembly 323 can also be a component having elastic restoring force, such as elastic plastic, and is not limited herein.

It is to be noted that the first grasping assembly 40 of the present embodiment is mounted on the X-axis floating mechanism 32, and the X-axis floating mechanism 32 is mounted on the arm body 20 via the Y-axis floating mechanism 31, so that the first grasping assembly 40 has a function of floating in the Y-axis direction and the X-axis direction. Of course, in other embodiments, the first clamping assembly 40 may be mounted on the Y-axis floating mechanism 31, and the Y-axis floating mechanism 31 is mounted on the arm body 20 through the X-axis floating mechanism 32, which also enables the first clamping assembly 40 to have the floating function along the Y-axis direction and the X-axis direction, therefore, the relative positions of the X-axis floating mechanism 32 and the Y-axis floating mechanism 31 are not limited in this embodiment.

Referring to fig. 2 and 3, the first gripper assembly 40 includes a first driving cylinder 41 and a first gripping head 42, an output end of the first driving cylinder 41 is connected to the first gripping head 42, and the first gripping head 42 is driven by the first driving cylinder 41 to open and close to grip and release the pin. The second clamping assembly 50 comprises a second driving air cylinder 51 and a second clamping head 52, the output end of the second driving air cylinder 51 is connected with the second clamping head 52, and the second clamping head 52 is driven by the second driving air cylinder 51 to be opened and closed so as to clamp and release the injection molding part.

It should be noted that the present embodiment has four first gripping assemblies 40, and the four first gripping assemblies 40 perform synchronous actions to achieve synchronous gripping and transferring of four groups of pins. Of course, the number of the first clamping assemblies 40 may also be one, two, three or five, and the number of the first clamping assemblies 40 is selected according to actual requirements, and is not limited herein.

Accordingly, the present embodiment has four second gripper assemblies 50, and the four second gripper assemblies 50 act synchronously to achieve synchronous gripping and transfer of the four injection-molded parts. Of course, the number of the second grasping assemblies 50 may also be one, two, three or five, and the number of the second grasping assemblies 50 is selected according to actual requirements, and is not limited herein.

Referring to fig. 1 and 2, the floating type manipulator jig 100 further includes a base 60, a rotating table 70 and an auxiliary arm 80, the rotating table 70 is mounted on the base 60, one end of the auxiliary arm 80 is hinged to the rotating table 70, the rotating table 70 drives the auxiliary arm 80 to rotate in a vertical direction, and the other end of the auxiliary arm 80 is hinged to the base 10. Through the arrangement, the first clamping head 42 and the second clamping head 52 of the present embodiment can be turned over along the vertical direction and can also be rotated along the vertical direction, and the height of the first clamping head 42 and the second clamping head 52 can be adjusted through the auxiliary arm 80, so that the first clamping head 42 and the second clamping head 52 can adapt to different working environments.

With reference to fig. 1-5, the arm body 20 of the floating manipulator jig 100 of the present invention is respectively installed with the first clamping component 40 and the second clamping component 50, on one hand, the first clamping component 40 is installed on the arm body 20 through the bearing component 30, the first clamping component 40 can float along the Y axis direction and the X axis direction under the action of the bearing component 30, so that when the first clamping component 40 inserts the pin needle into the mold 1, the first clamping component can float along the Y axis direction and the X axis direction in the insertion process to correct the insertion accuracy of the pin needle, thereby avoiding the insertion failure of the pin needle due to the insertion deviation; on the other hand, the first clamping component 40 and the second clamping component 50 are respectively arranged on two sides of the arm body 20, the positions of the first clamping component 40 and the second clamping component 50 are adjusted through rotation of the arm body 20, clamping and transferring of the pin needles and clamping and transferring of injection-molded parts are achieved on a single jig, the number of jigs is effectively reduced, and production cost is reduced.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a floating manipulator tool which characterized in that: the clamping device comprises a base (10), an arm body (20), a bearing component (30), a first clamping component (40) and a second clamping component (50), wherein the first end of the arm body (20) is hinged to the base (10), the bearing component (30) is arranged on one side of the second end, the first clamping component (40) is installed on the bearing component (30), the first clamping component (40) can float on the bearing component (30) along the Y-axis direction and the X-axis direction, the first clamping component (40) is used for clamping a pin needle and transferring the pin needle into a mold (1), the second clamping component (50) is arranged on the other side of the second end of the arm body (20), and the second clamping component (50) is used for clamping and transferring an injection molding piece formed in the mold (1).

2. The floating manipulator jig of claim 1, characterized in that: the bearing component (30) comprises a Y-axis floating mechanism (31), the Y-axis floating mechanism (31) comprises a first mounting plate (311), two first limit blocks (312) and two first floating components (313), the first mounting plate (311) is slidably mounted on the arm body (20) along the Y-axis direction, the two first limit blocks (312) are respectively mounted on the arm body (20) along the Y-axis direction, the first mounting plate (311) is limited between the two first limit blocks (312) in a sliding mode, the first floating components (313) are mounted between the first mounting plate (311) and one of the first limit blocks (312), and the first floating components (313) constantly provide acting force for pushing the first mounting plate (311) to the other first limit block (312).

3. The floating manipulator jig of claim 2, characterized in that: the first floating assembly (313) comprises at least one first buffer spring, the first buffer spring is arranged along the Y-axis direction, two ends of the first buffer spring are respectively abutted between the first mounting plate (311) and one of the first limit blocks (312), and the first buffer spring constantly provides elastic force for pushing the first mounting plate (311) to the other first limit block (312).

4. The floating manipulator jig of claim 2, characterized in that: the Y-axis floating mechanism (31) further comprises a first guide rail (314), the first guide rail (314) is mounted on the arm body (20) along the Y-axis direction, and the first mounting plate (311) is connected with the arm body (20) in a sliding mode through the first guide rail (314).

5. The floating manipulator jig of claim 2, characterized in that: the bearing component (30) comprises an X-axis floating mechanism (32), the X-axis floating mechanism (32) comprises a second mounting plate (321), two second limiting blocks (322) and two second floating components (323), the second mounting plate (321) is mounted on the first mounting plate (311) in a sliding manner along the X-axis direction, the first clamping assembly (40) is arranged on the first mounting plate (311), the two second limiting blocks (322) are respectively arranged on the first mounting plate (311) along the X-axis direction, the second mounting plate (321) is limited between the two second limit blocks (322) to slide, the second floating assembly (323) is arranged between the second mounting plate (321) and one of the second limit blocks (322), the second floating assembly (323) constantly provides a force pushing the second mounting plate (321) toward the other second stopper (322).

6. The floating type manipulator jig according to claim 5, characterized in that: the second floating assembly (323) comprises at least one second buffer spring, the second buffer spring is arranged along the X-axis direction, two ends of the second buffer spring are respectively abutted between the second mounting plate (321) and one of the second limit blocks (322), and the second buffer spring constantly provides elastic force for pushing the second mounting plate (321) to the other second limit block (322).

7. The floating type manipulator jig according to claim 5, characterized in that: the X-axis floating mechanism (32) further comprises a second guide rail (324), the second guide rail (324) is installed on the first installation plate (311) along the X-axis direction, and the second installation plate (321) is connected with the first installation plate (311) in a sliding mode through the second guide rail (324).

8. The floating manipulator jig of claim 1, characterized in that: the first clamping assembly (40) comprises a first driving air cylinder (41) and a first clamping head (42), and the output end of the first driving air cylinder (41) is connected with the first clamping head (42) so as to drive the first clamping head (42) to open and close; the second clamping assembly (50) comprises a second driving air cylinder (51) and a second clamping head (52), and the output end of the second driving air cylinder (51) is connected with the second clamping head (52) so as to drive the second clamping head (52) to be opened and closed.

9. The floating manipulator jig of claim 1, characterized in that: still include base (60), revolving stage (70) and auxiliary arm (80), revolving stage (70) install in on base (60), the one end of auxiliary arm (80) is articulated revolving stage (70), revolving stage (70) drive auxiliary arm (80) are followed vertical direction and are rotated, the other end of auxiliary arm (80) is articulated base (10).

10. The automatic pin needle robot equipment is characterized by comprising a feeding mechanism (200), an injection molding machine (300), a feeding and discharging lifting mechanism (400) and the floating type manipulator jig (100) as claimed in any one of claims 1 to 9, wherein the feeding mechanism (200) is used for vibrating and outputting the pin needles, the injection molding machine (300) is used for injection molding of the injection molding piece in the mold (1), the second clamping component (50) is used for transferring the injection molding piece which is clamped and taken to the feeding and discharging lifting mechanism (400), and the feeding and discharging lifting mechanism (400) is used for transferring the injection molding piece to the next station.