CN107972227A - A kind of injection molding machine sorting palletizing system and its method of work - Google Patents
A kind of injection molding machine sorting palletizing system and its method of work Download PDFInfo
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- CN107972227A CN107972227A CN201711323248.1A CN201711323248A CN107972227A CN 107972227 A CN107972227 A CN 107972227A CN 201711323248 A CN201711323248 A CN 201711323248A CN 107972227 A CN107972227 A CN 107972227A
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- 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
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
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- 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
- B29C45/0053—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor combined with a final operation, e.g. shaping
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- 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
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
- B29C2045/177—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners stacking moulded articles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a kind of injection molding machine to sort palletizing system, including supply unit, coding unit, robot, palletized unit, three-coordinate manipulator, injection molding machine, three-coordinate manipulator grabbing workpiece from injection molding machine is put to supply unit, workpiece is delivered to robot material taking mouth by supply unit, robot is sequentially completed workpiece grabbing according to order, spray Quick Response Code, stacking, artificial feed opening, which is delivered to, eventually through carrying roller pipeline completes blanking, the present invention can realize the sorting to a variety of Different Rule materials, stacking, the spray printing of two codes, the adaptability of system, sexual valence is higher.
Description
Technical field
The present invention relates to industrial automatic sorting technical field, more particularly to a kind of injection molding machine sorting palletizing system and its work
Make method.
Background technology
With the continuous rise of labor cost, undergo technological transformation upgrading by using advanced automated production equipment,
Enterprise's production labor total amount is further reduced, optimize technique techniqueflow, raises labour productivity, and is necessarily becoming for industrial development
Gesture.
In the prior art, product is desultorily deposited in material frame, it is necessary to which worker picks workpiece one by one, and differentiation is not
Same mould number, again stacking are cased, and since the daily yield of workpiece is very high, a worker needs to complete the sorting of thousands of workpiece
Vanning task, not only labor intensity is big but also work easily error, and the workpiece that different moulds produce is placed in same chest,
Once the product of one of mould production goes wrong, quality inspection is not found in time, can only finally be made secondary product rejection by the gross
Into the great wasting of resources.
Existing mechanism is to draw workpiece from injection molding machine by three-coordinate manipulator carrying vacuum cup to be directly placed into mostly
Material frame, shortcoming：1. due to workpiece place in a jumble, it is necessary to manually by workpiece again stacking case, great work intensity, efficiency low 2. by
Big in yield, when vanning, has little time to distinguish mould number, can only load in mixture the workpiece that different moulds produce together, when some mould
Go wrong and fail to find in time, workpiece defective can and together with qualified workpiece load in mixture, when progress product recall, can only
Whole batch products are all scrapped into processing, is unfavorable for product and accurately recalls；Cause the great wasting of resources 3. as installation
One component, it is necessary to which carrying out automatic barcode scanning to workpiece enters MES, since information is artificial on workpiece during Automated assembly
Tu Yin, size identical property etc. can not ensure, cause workpiece information can not realize that automatic barcode scanning enters information system, hinder automatic
Makeup realization information-based during matching somebody with somebody.
The content of the invention
Present invention aim to address the defects of existing sorting, stacking, code spraying system, there is provided the system of a set of completion and its
Method of work solution, can realize sorting to a variety of Different Rule materials, stacking, the spray printing of two codes, system it is automatic
Change degree, adaptability, sexual valence are higher.
The technical solution for realizing the object of the invention is：A kind of injection molding machine sorts palletizing system, including supply unit, spray
Code unit, robot, palletized unit, three-coordinate manipulator, injection molding machine, the supply unit are located at the blanking of the injection molding machine
Mouthful, the three-coordinate manipulator is single positioned at the conveying by the workpiece grabbing that injection molding machine produces to supply unit, the robot
Between member and palletized unit, the coding unit is located at the side of the supply unit end, and the robot can be single by conveying
Coding is carried out at workpiece grabbing to the coding unit that member transmission comes and then is sent again to palletized unit.
Preferably, the supply unit includes the belt conveyor line A laterally set and belt conveyor line B, the belt are defeated
Line sending A and belt conveyor line B docking set and each can convey workpiece from belt outer end toward the centre position of docking, described
The centre position of docking is provided with the stop cylinder A and stop cylinder B being symmetrical set, and the stop cylinder A positioned at the left side is used
In receiving the next workpiece of belt conveyor line A transmission, the stop cylinder B positioned at the right is used to receive what belt conveyor line B transmission came
Workpiece, stop cylinder A, B include the L-shaped baffle on the outside of it, and one end of stop cylinder A is connected with long cylinder A, resistance
One end of gear cylinder B is connected with long cylinder B, and the immediately downstream in the centre position of the docking is provided with longitudinal Belt Conveying
Line C, robot material taking mouth A and robot material taking mouth B are provided with the end of the belt conveyor line C.
Preferably, the stop cylinder A includes the resistance being set up in parallel on the direction vertical with belt conveyor line A conveying directions
Cylinder A1 and stop cylinder A2, the stop cylinder B are kept off including being set side by side on the direction vertical with belt conveyor line B conveying directions
The stop cylinder B1 and stop cylinder B2 put.
Preferably, it is both provided with the photoelectricity for detecting workpiece in the both sides of the belt conveyor line A and belt conveyor line B
Sensor, photoelectric sensors A and photoelectric sensor are respectively arranged with the downstream of robot material taking mouth A and robot material taking mouth B
B, positioning cylinder is respectively arranged with the belt conveyor line C of the robot material taking mouth A and the lateral surface of robot material taking mouth B
A and positioning cylinder B.
Preferably, the coding unit includes coding platform, the ink jet numbering machine on coding platform and nozzle position adjusting
Device, nozzle is provided with the nozzle position regulating device.
Preferably, the robot includes robot base, the six-joint robot on the base and positioned at six
The built-in negative pressure generator and detection of negative pressure sensor on axis robot top, the six-joint robot are included for grabbing workpiece
Paw, the end of the paw are provided with sucker.
Preferably, the palletized unit includes the stacking area A and stacking area B that are symmetrical set, in the stacking area A and
Positioning cylinder A is respectively arranged with the side of stacking area B and positioning cylinder B, the stacking area A and stacking area B are used equally for putting
Put stacking working plate, carrying roller A and carrying roller B be respectively arranged with the downstream of the stacking area A and stacking area B, in the carrying roller A and
The downstream of carrying roller B sets artificial feed opening A and artificial feed opening B respectively, and material is respectively arranged with the downstream of artificial feed opening A, B
Frame A and material frame B, elevator is both provided with the both ends of two sides of palletized unit.
It is preferably located on two elevators in downstream and is both provided with audible-visual annunciator, manually feed opening A, B downstreams
Button box is respectively arranged with, the carrying roller A and carrying roller B are double-deck carrying roller.
Preferably, the stacking working plate includes A areas and B areas, and the bottom surface of stacking working plate is tool base plate, the A areas
Include four work-piece pile areas with B areas, each work-piece pile area, which can be laminated, places multiple workpiece, and each workpiece can pass through position
Carried out in the stationary positioned bar 1 and stationary positioned bar 2 of work-piece pile area side and the locating rod of shipping and reselling on another market and move of opposite side
Positioning, removable locating rod can carry out running fix by the manual lever being attached thereto, and the bottom in work-piece pile area is set
Fluted, the groove facilitates worker that hand can be reached to workpiece bottom, takes out of workpiece, and it is fixed to be provided with the side shipped and resell on another market
Position pin is used for limiting the angle that worker opens removable locating rod.
Preferably, the sucker is installed on robot end's ring flange, and hand grabs the negative pressure of sucker by vacuum generator
Produce, paw can realize the workpiece pick-and-place of a variety of surfacings, and the grasping mechanism that paw and sucker form has fault detect
Function.
Preferably, the three-coordinate manipulator is driven by servomotor, and the design of both hands pawl, can once capture two at the same time
Workpiece, each paw possess 180 ° of spinfunctions, and the three-coordinate manipulator speed is adjustable, position is adjustable, has failure inspection
Brake.
A kind of method of work of injection molding machine sorting palletizing system described above, including the steps：
Step 1：Injection molding machine once produces two workpiece A and workpiece B respectively in belt conveyor line A and belt conveyor line B sides,
Two three-coordinate manipulators, which capture out workpiece from injection molding machine, to be put on belt conveyor line A and belt conveyor line B, belt conveyor line
A, B is run with workpiece respectively, and when photoelectric sensor detects that workpiece comes, notice stop cylinder A1, B1 postpones 2 second time
Clearance workpiece A, stop cylinder A2, B2, which is failure to actuate, stops workpiece B by the way that stop cylinder A1, B1 cylinder stretches out when by 2 seconds, lift
Rise L-shaped baffle put workpiece A into stop cylinder A1, B1 L-type cabin in, this duration cylinder A and long cylinder are connected to PLC signals, stretch
Go out cylinder, two workpiece A are pushed to belt conveyor line C；
Step 2：When photoelectric sensor detects workpiece A, positioning cylinder stretches out, workpiece pressing, comes feeding allowing robot
Before, PLC first determines whether stacking working plate allows stacking, judges whether to be in by stacking working plate of the condition of stacking
Positioning states, i.e. positioning cylinder A and positioning cylinder B are in stretching state, and the photoelectric sensor inspection under stacking working plate A areas
Measuring above carrying roller has stacking working plate, notifies robot to come pickup if allowing, otherwise robot not feeding, machine
Device people paw forms a faces to draw workpiece using three suckers, reliable and stable, the suction of sucker by negative pressure generator come
Realize, open negative pressure generator when crawl, establish subnormal ambient, workpiece is tightly held by atmospheric pressure, judge
Whether workpiece is inhaled firm, is by the signal of detection of negative pressure sensor feedback, when negative pressure meets, is fed back to 1 signal, if
Do not meet for a long time, then alarm, when needing to put down workpiece, turn off negative pressure generator, negative pressure disappears, and workpiece departs from from sucker,
Complete workpiece to place, robot runs to robot material taking mouth A grabbing workpiece A, when B/P EGR Back Pressure Transducer EGR feedback signal is 1, informs
Robot, workpiece have been held, and robot notice PLC system positioning cylinder A can retract at this time, PLC control positioning cylinder A contractings
Return；
Step 3：Robot grabbing workpiece A, leaves robot material taking mouth A and runs to coding unit, when close to code spraying machine shower nozzle
Reduce speed now, when reaching the speed of coding setting, robot starts at the uniform velocity to travel, and notifies coding unit to start coding, spray
After the completion of code, robot proceeds to stacking area A, is instructed according to PLC and starts stacking, robot is according to Program path by workpiece
A codes are in the stacking working plate A areas of stacking area A；
Step 4：After the completion of unit one A stackings, robot is according to the step identical with unit one A by second work
Part A codes are in the stacking working plate A areas of stacking area B；
Step 5：After robot leaves second workpiece A crawl in step 4, stop cylinder A2, B2 rises, and puts two works
Part B by, according to the step of stacking the first two workpiece A successively by the stacking working plate B of unit one B codes to stacking area A
Area, the stacking working plate B areas by second workpiece B code to stacking area B；
Step 6：Above step 1-5 is repeated, until the stacking working plate code of stacking area A, B are expired, after code is full, robot notice
PLC stackings working plate is full, can carry out artificial blanking, and after PLC receives instruction, upper strata carrying roller A and carrying roller B is by stacking frock
Plate is delivered to artificial feed opening A, B, and audible-visual annunciator notifies that worker comes blanking with the frequency of 5HZ, and 1HZ is system failure alarm
Frequency, while the stop cylinder before the idle bit pile working plate holding fix is retracted, carrying roller A, B by idle bit pile working plate run to
On elevator, idle bit pile working plate is sent to stacking area A, B by elevator, passes through positioning cylinder A and positioning cylinder B alignment codes
Pile working plate, after completing to position, informs robot, it is allowed to which blowing, after blanking is accomplished manually, clicks on the blowing on button box
Signal is completed, empty stacking working plate drops to lower floor's carrying roller by elevator, and runs to idle bit pile working plate holding fix
Wait removable disk.
The invention has the advantages that：The present invention can realize sorting to a variety of Different Rule materials, stacking, two
The spray printing of code, the degree of automation of system, adaptability, sexual valence are higher.
In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages.
Below with reference to figure, the present invention is described in further detail.
Brief description of the drawings
Fig. 1 is the overall structure diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 2 is the axis side refinement structure diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 3 is the overlooking the structure diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 4 is the robot and its paw, sucker schematic diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 5 is the robot overall schematic that injection molding machine of the present invention sorts palletizing system.
Fig. 6 is the coding cellular construction schematic diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 7 is the stacking working plate overall structure diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 8 is the stacking working plate overlooking the structure diagram that injection molding machine of the present invention sorts palletizing system.
Fig. 9 is the double-deck idler structure schematic diagram that injection molding machine of the present invention sorts palletizing system.
Figure 10 is the stop cylinder structure diagram that injection molding machine of the present invention sorts palletizing system.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims and cover
The multitude of different ways of lid is implemented.
With reference to Fig. 1-3, a kind of injection molding machine sorts palletizing system, including supply unit 1, coding unit 2, robot 3, stacking
Unit 4, three-coordinate manipulator 5, injection molding machine 6, the supply unit 1 are located at the feed opening of the injection molding machine 6, the three coordinate machine
Tool hand 5, which captures the workpiece 1-12 that injection molding machine 6 produces to supply unit 1, the robot 3, is located at the supply unit 1 and code
Between pile unit 4, the coding unit 2 is located at the side of the supply unit end, and the robot can pass supply unit 1
The workpiece 1-12 sent is captured to progress coding at coding unit 2 and then sent again to palletized unit 4.
Preferably, with reference to Fig. 2-3, the supply unit 1 includes the belt conveyor line A1-4 and Belt Conveying laterally set
Line B1-5, belt conveyor line A1-4 and belt conveyor line the B1-5 docking set and each can be by workpiece 1-12 from belt outer end
Toward the centre position conveying of docking, the stop cylinder A1-6 being symmetrical set and resistance are provided with the centre position of the docking
Cylinder B1-7 is kept off, the stop cylinder A1-6 positioned at the left side is used to receive the workpiece that belt conveyor line A1-4 transmission comes, positioned at the right
Stop cylinder B1-7 be used for receive belt conveyor line B1-5 transmission come workpiece, stop cylinder A, B include be located at it
The L-shaped baffle 21 in outside, one end of stop cylinder A is connected with long cylinder A1-8, one end of stop cylinder B is connected with long cylinder
B1-9, longitudinal belt conveyor line C1-3 is provided with the immediately downstream in the centre position of the docking, in the Belt Conveying
The end of line C1-3 is provided with robot material taking mouth A1-1 and robot material taking mouth B1-2.
As shown in Figure 10, stop cylinder includes cylinder 22 and L-shaped baffle 21.
Preferably, the stop cylinder A1-6 includes setting side by side on the direction vertical with belt conveyor line A1-4 conveying directions
The stop cylinder A1 and stop cylinder A2, the stop cylinder B1-7 put includes vertical with belt conveyor line B1-5 conveying directions
The stop cylinder B1 and stop cylinder B2 being set up in parallel on direction.
Preferably, it is both provided with the both sides of the belt conveyor line A1-4 and belt conveyor line B1-5 for detecting workpiece
The photoelectric sensor 1-10 of 1-12, photoelectricity is respectively arranged with the downstream of robot material taking mouth A1-1 and robot material taking mouth B1-2
Sensors A 1-14 and photoelectric sensor B1-14, in the robot material taking mouth A1-1 and the lateral surface of robot material taking mouth B1-2
Belt conveyor line C1-3 on be respectively arranged with positioning cylinder A1-13 and positioning cylinder B1-13.
Preferably, coding platform 2-4, the ink jet numbering machine on coding platform 2-4 are included with reference to Fig. 6, the coding unit 2
2-1 and nozzle position regulating device 2-3, nozzle 2-2 is provided with the nozzle position regulating device 2-3.
Preferably, robot base 3-4, the six axis machines on the base are included with reference to Fig. 4-5 robots 3
People 3-5 and built-in negative pressure generator and detection of negative pressure sensor 3-3 positioned at six-joint robot 3-5 tops, the six axis machine
Device people 3-5 includes the paw 3-1 for grabbing workpiece, and the end of the paw 3-1 is provided with sucker 3-2.
Preferably, with reference to Fig. 7-8, the palletized unit 4 includes the stacking area A4-4 and stacking area B4- being symmetrical set
5, it is respectively arranged with positioning cylinder A4-6 and positioning cylinder B4-7, institute on the side of the stacking area A4-4 and stacking area B4-5
State stacking area A4-4 and stacking area B4-5 to be used equally for placing stacking working plate, the stacking area A4-4's and stacking area B4-5
Downstream is respectively arranged with carrying roller A4-8 and carrying roller B4-9, under being set respectively in the downstream of the carrying roller A4-8 and carrying roller B4-9 manually
Material mouth A4-10 and artificial feed opening B4-10, material frame A4-3 and material frame are respectively arranged with the downstream of artificial feed opening A, B4-10
B4-3, elevator 4-1 is both provided with the both ends of two sides of palletized unit 4.
It is preferably located on two elevator 4-1 in downstream and is both provided with audible-visual annunciator 4-2, the artificial feed opening
A, it is double-deck carrying roller that B4-10 downstreams, which are respectively arranged with button box 4-11, the carrying roller A4-8 and carrying roller B4-9, including upper strata support
Roller 17 and lower floor's carrying roller 18, as shown in Figure 9.
Preferably, the stacking working plate includes A areas 14 and B areas 15, and the bottom surface of stacking working plate is tool base plate 16, institute
Stating A areas 14 and B areas 15 includes four work-piece pile areas, and each work-piece pile area, which can be laminated, places multiple workpiece 1-12, often
A workpiece can pass through 12 Hes of shipping and reselling on another market of the stationary positioned bar 1 positioned at work-piece pile area side and stationary positioned bar 2 and opposite side
Removable locating rod 9 is positioned, and removable locating rod 9 can carry out running fix by the manual lever 10 being attached thereto,
The bottom in work-piece pile area sets fluted 11, and the groove 11 facilitates worker that hand can be reached to workpiece bottom, takes out of workpiece,
12 side of shipping and reselling on another market is provided with the angle that positioning pin 13 is used for limiting worker and opens removable locating rod 9.
Preferably, the sucker is installed on robot end's ring flange, and hand grabs the negative pressure of sucker by vacuum generator
Produce, paw can realize the workpiece pick-and-place of a variety of surfacings, and the grasping mechanism that paw and sucker form has fault detect
Function.
Preferably, the three-coordinate manipulator is driven by servomotor, and the design of both hands pawl, can once capture two at the same time
Workpiece, each paw possess 180 ° of spinfunctions, and the three-coordinate manipulator speed is adjustable, position is adjustable, has failure inspection
Brake.
A kind of method of work of injection molding machine sorting palletizing system described above, including the steps：
Step 1：Injection molding machine 6 once produces two workpieces respectively in belt conveyor line A1-4 and belt conveyor line B1-5 sides
A1-12 and workpiece B1-12, two three-coordinate manipulators 5, which capture out workpiece from injection molding machine 6, is put into belt conveyor line A1-4 and skin
On band pipeline B1-5, belt conveyor line A, B are run with workpiece respectively, when photoelectric sensor 1-10 detects that workpiece comes
When, notice stop cylinder A1, B1 postpones 2 second time clearance workpiece A1-12, and stop cylinder A2, B2, which is failure to actuate, stops workpiece B1-12
Pass through（Reason：Delay 2S is that posture is probably oblique, it is necessary to will because when three-coordinate manipulator is put into workpiece in belt line
Workpiece posture is corrected, and passes through the L-type baffle of stop cylinder at this time, you can realize the adjustment of posture, stop cylinder A2 is failure to actuate
The reason is that：In order to distinguish the mould number of product, realize product sequentially through, robot according to grabbing by way of timesharing clearance
The sequencing taken realizes the differentiation of the mould number of workpiece）, stop cylinder A1, B1 cylinder stretches out when by 2 seconds, lifts L-shaped gear
Plate 21 is put workpiece A1-12 and is entered in the L-type cabin of stop cylinder A1, B1, this duration cylinder A1-8 and long cylinder 1-9 are connected to PLC letters
Number, two workpiece A1-12 are pushed to belt conveyor line C1-3 by stretches out cylinder（Due to belt conveyor line A, B and belt conveyor line
C is in plumbness, therefore workpiece can not be sent directly into belt conveyor line C, it is necessary to which other executing agencies complete, and long cylinder is just
It is to play the role of this）；
Step 2：When photoelectric sensor 1-14 detects workpiece A1-12, positioning cylinder 1-13 stretches out, workpiece pressing, is allowing machine
Device people comes before feeding, and PLC first determines whether stacking working plate allows stacking, and judging whether can be using the condition of stacking as code
Pile working plate is in positioning states, i.e. positioning cylinder A4-6 and positioning cylinder B4-7 are in stretching state, and stacking working plate A
Photoelectric sensor under area 14, which is detected above carrying roller, stacking working plate, notifies robot to come to take if allowing
Part, otherwise feeding, robot hand do not form a face to draw workpiece using three suckers for robot, reliable and stable, sucker
Suction realized by negative pressure generator, crawl when open negative pressure generator, establish subnormal ambient, pass through atmospheric pressure
Workpiece is tightly held by force, judges whether workpiece is inhaled firm, is by the signal of detection of negative pressure sensor feedback, when negative pressure expires
When sufficient, 1 signal is fed back to, if do not met for a long time, alarms, when needing to put down workpiece, turns off negative pressure generator, negative pressure
Disappearing, workpiece departs from from sucker, completes workpiece and places, and robot runs to robot material taking mouth A1-1 grabbing workpiece A1-12, when
B/P EGR Back Pressure Transducer EGR feedback signal is 1, informs robot, and workpiece has been held, at this time robot notice PLC system positioning cylinder A1-
13 can retract, and PLC control positioning cylinders A1-13 retracts；
Step 3：Robot grabbing workpiece A1-12, leaves robot material taking mouth A1-1 and runs to coding unit 2, when close to coding
Reduce speed now during machine nozzle 2-2, when reaching the speed of coding setting, robot starts at the uniform velocity to travel, and notifies coding unit 2
Start coding, after the completion of coding, robot proceeds to stacking area A4-4, according to PLC instruct start stacking, robot according to
Program path is by workpiece A1-12 codes in the stacking working plate A areas 14 of stacking area A4-4；
Step 4：After the completion of unit one A1-12 stackings, robot will according to the step identical with unit one A1-12
Second workpiece A1-12 code is in the stacking working plate A areas 14 of stacking area B4-5；
Step 5：After robot leaves second workpiece A1-12 crawl in step 4, stop cylinder A2, B2 rises, and puts two
A workpiece B1-12 by, according to the step of stacking the first two workpiece A1-12 successively by unit one B1-12 codes to stacking
The stacking working plate B areas 15 of area A4-4, the stacking working plate B areas 15 by second workpiece B1-12 code to stacking area B4-5；
Step 6：Above step 1-5 is repeated, until the stacking working plate code of stacking area A, B are expired, after code is full, robot notice
PLC stackings working plate is full, can carry out artificial blanking, and after PLC receives instruction, upper strata carrying roller A4-8 and carrying roller B4-9 is by code
Pile working plate is delivered to artificial feed opening A, B4-10, and audible-visual annunciator 4-2 notifies that worker comes blanking with the frequency of 5HZ, 1HZ
For system failure alert frequency, while the stop cylinder 19 before idle bit pile working plate holding fix 20 is retracted, and carrying roller A, B will
Idle bit pile working plate is run to elevator 4-1, is sent idle bit pile working plate to stacking area A, B by elevator 4-1, by fixed
Position cylinder A4-6 and positioning cylinder B4-7 positioning stacking working plates, after completing to position, inform robot, it is allowed to which blowing, works as people
After work completes blanking, the blowing clicked on button box 4-11 completes signal, under empty stacking working plate is dropped to by elevator
Layer carrying roller, and run to idle bit pile working plate holding fix 20 and wait removable disk.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of injection molding machine sorts palletizing system, it is characterised in that including supply unit（1）, coding unit（2）, robot
（3）, palletized unit（4）, three-coordinate manipulator（5）, injection molding machine（6）, the supply unit（1）Positioned at the injection molding machine（6）'s
Feed opening, the three-coordinate manipulator（5）By injection molding machine（6）The workpiece of production（1-12）Capture to supply unit（1）, the machine
Device people（3）Positioned at the supply unit（1）And palletized unit（4）Between, the coding unit（2）Positioned at supply unit end
The side at end, the robot can be by supply units（1）The workpiece that transmission comes（1-12）Capture to coding unit（2）Sprayed at place
Then code is sent to palletized unit again（4）.
2. system according to claim 1, it is characterised in that：The supply unit（1）Belt including laterally setting is defeated
Line sending A（1-4）With belt conveyor line B（1-5）, the belt conveyor line A（1-4）With belt conveyor line B（1-5）Docking set and
Each can be by workpiece（1-12）From belt outer end toward the conveying of the centre position of docking, the centre position of the docking is provided with a left side
Right symmetrically arranged stop cylinder A（1-6）With stop cylinder B（1-7）, the stop cylinder A positioned at the left side（1-6）For receiving skin
Band pipeline A（1-4）The workpiece that transmission comes, the stop cylinder B positioned at the right（1-7）For receiving belt conveyor line B（1-5）Pass
The workpiece sent, stop cylinder A, B include the L-shaped baffle on the outside of it（21）, one end of stop cylinder A is connected with
Long cylinder A（1-8）, stop cylinder B one end be connected with long cylinder B（1-9）, in the immediately downstream in the centre position of the docking
It is provided with longitudinal belt conveyor line C（1-3）, in the belt conveyor line C（1-3）End be provided with robot material taking mouth A
（1-1）With robot material taking mouth B（1-2）.
3. system according to claim 2, it is characterised in that：The stop cylinder A（1-6）Including with belt conveyor line A
（1-4）The stop cylinder A1 and stop cylinder A2, the stop cylinder B being set up in parallel on the vertical direction of conveying direction（1-7）
Including with belt conveyor line B（1-5）The stop cylinder B1 and stop cylinder B2 being set up in parallel on the vertical direction of conveying direction.
4. system according to claim 3, it is characterised in that：In the belt conveyor line A（1-4）With belt conveyor line B
（1-5）Both sides be both provided with for detecting workpiece（1-12）Photoelectric sensor（1-10）, in robot material taking mouth A（1-1）
With robot material taking mouth B（1-2）Downstream be respectively arranged with photoelectric sensors A（1-14）With photoelectric sensor B（1-14）, institute
State robot material taking mouth A（1-1）With robot material taking mouth B（1-2）Lateral surface belt conveyor line C（1-3）It is upper to set respectively
There is positioning cylinder A（1-13）With positioning cylinder B（1-13）.
5. system according to claim 4, it is characterised in that：The coding unit（2）Including coding platform（2-4）, position
In coding platform（2-4）On ink jet numbering machine（2-1）With nozzle position regulating device（2-3）, in the nozzle position regulating device
（2-3）On be provided with nozzle（2-2）.
6. system according to claim 5, it is characterised in that：The robot（3）Including robot base（3-4）, position
Six-joint robot on the base（3-5）And positioned at six-joint robot（3-5）The built-in negative pressure generator on top and negative
Press detection sensor（3-3）, the six-joint robot（3-5）Including the paw for grabbing workpiece（3-1）, the paw（3-
1）End be provided with sucker（3-2）.
7. system according to claim 6, it is characterised in that：The palletized unit（4）Including the code being symmetrical set
Pile area A（4-4）With stacking area B（4-5）, in the stacking area A（4-4）With stacking area B（4-5）Side on be respectively arranged with it is fixed
Position cylinder A（4-6）With positioning cylinder B（4-7）, the stacking area A（4-4）With stacking area B（4-5）It is used equally for placing stacking work
Loading board, in the stacking area A（4-4）With stacking area B（4-5）Downstream be respectively arranged with carrying roller A（4-8）With carrying roller B（4-9）,
In the carrying roller A（4-8）With carrying roller B（4-9）Downstream artificial feed opening A is set respectively（4-10）With artificial feed opening B（4-
10）, in artificial feed opening A, B（4-10）Downstream be respectively arranged with material frame A（4-3）With material frame B（4-3）, in palletized unit（4）
The both ends of two sides be both provided with elevator（4-1）.
8. system according to claim 7, it is characterised in that：Two elevators positioned at downstream（4-1）On be both provided with
Audible-visual annunciator（4-2）, described manually feed opening A, B（4-10）Downstream is respectively arranged with button box（4-11）, the carrying roller A
（4-8）With carrying roller B（4-9）It is double-deck carrying roller.
9. system according to claim 8, it is characterised in that：The stacking working plate includes A areas（14）With B areas（15）,
The bottom surface of stacking working plate is tool base plate（16）, the A areas（14）With B areas（15）Include four work-piece pile areas, each
Work-piece pile area, which can be laminated, places multiple workpiece（1-12）, each workpiece can be determined by the fixation positioned at work-piece pile area side
Position bar 1（7）With stationary positioned bar 2（8）And opposite side is shipped and resell on another market（12）With removable locating rod（9）Positioned, moved
Locating rod（9）Can be by the manual lever that is attached thereto（10）Running fix is carried out, the bottom in work-piece pile area is provided with recessed
Groove（11）, the groove（11）Facilitate worker that hand can be reached to workpiece bottom, take out of workpiece, ship and resell on another market described（12）Side
It is provided with positioning pin（13）Removable locating rod is opened for limiting worker（9）Angle.
10. a kind of method of work of injection molding machine sorting palletizing system as claimed in claim 9, it is characterised in that including as follows
The step of：
Step 1：Injection molding machine（6）Once in belt conveyor line A（1-4）With belt conveyor line B（1-5）Side produces two workpiece respectively
Workpiece A（1-12）With workpiece B（1-12）, two three-coordinate manipulators（5）By workpiece from injection molding machine（6）Capture out that to be put into belt defeated
Line sending A（1-4）With belt conveyor line B（1-5）On, belt conveyor line A, B are run with workpiece respectively, work as photoelectric sensor（1-
10）When detecting that workpiece comes, notice stop cylinder A1, B1 postpones 2 second time clearance workpiece A（1-12）, stop cylinder A2, B2
It is failure to actuate and stops workpiece B（1-12）By the way that stop cylinder A1, B1 cylinder stretches out when by 2 seconds, lifts L-shaped baffle（21）Put work
Part A（1-12）Into in the L-type cabin of stop cylinder A1, B1, this duration cylinder A（1-8）With long cylinder（1-9）PLC signals are connected to,
Stretches out cylinder, by two workpiece A（1-12）It is pushed to belt conveyor line C（1-3）；
Step 2：Work as photoelectric sensor（1-14）Detect workpiece A（1-12）When, positioning cylinder（1-13）Stretch out, workpiece pressing,
Robot is being allowed to come before feeding, PLC first determines whether stacking working plate allows stacking, and judging whether can be with the bar of stacking
Part is in positioning states, i.e. positioning cylinder A for stacking working plate（4-6）With positioning cylinder B（4-7）In the state of stretching, and
Stacking working plate A areas（14）Under photoelectric sensor detect above carrying roller there is stacking working plate, machine is notified if allowing
People can come pickup, and otherwise feeding, robot hand do not form a faces to draw workpiece, surely using three suckers for robot
Fixed reliable, the suction of sucker is realized by negative pressure generator, is opened negative pressure generator when crawl, is established negative pressure ring
Border, tightly holds workpiece by atmospheric pressure, judges whether workpiece is inhaled firm, be by detection of negative pressure sensor feedback
Signal, when negative pressure meets, is fed back to 1 signal, if do not met for a long time, alarms, when needing to put down workpiece, turns off negative
Generator is pressed, negative pressure disappears, and workpiece departs from from sucker, completes workpiece and places, robot runs to robot material taking mouth A（1-1）
Grabbing workpiece A（1-12）, when B/P EGR Back Pressure Transducer EGR feedback signal be 1, inform robot, workpiece has been held, at this time robot notify
PLC system positioning cylinder A（1-13）It can retract, PLC control positioning cylinders A（1-13）Retract；
Step 3：Robot grabbing workpiece A（1-12）, leave robot material taking mouth A（1-1）Run to coding unit（2）, when connecing
Nearly code spraying machine shower nozzle（2-2）When reduce speed now, when reach coding setting speed when, robot starts at the uniform velocity to travel, and notifies
Coding unit（2）Start coding, after the completion of coding, robot proceeds to stacking area A（4-4）, opening code is instructed according to PLC
Pile, robot is according to Program path by workpiece A（1-12）Code is in stacking area A（4-4）Stacking working plate A areas（14）；
Step 4：In unit one A（1-12）After the completion of stacking, robot according to unit one A（1-12）Identical step
Suddenly by second workpiece A（1-12）Code is in stacking area B（4-5）Stacking working plate A areas（14）；
Step 5：When robot in step 4 is by second workpiece A（1-12）After crawl is left, stop cylinder A2, B2 rises, and puts
Two workpiece B（1-12）By, according to stacking the first two workpiece A（1-12）The step of successively by unit one B（1-12）
Code is to stacking area A（4-4）Stacking working plate B areas（15）, by second workpiece B（1-12）Code is to stacking area B（4-5）Stacking
Working plate B areas（15）；
Step 6：Above step 1-5 is repeated, until the stacking working plate code of stacking area A, B are expired, after code is full, robot notice
PLC stackings working plate is full, can carry out artificial blanking, after PLC receives instruction, upper strata carrying roller A（4-8）With carrying roller B（4-9）
Stacking working plate is delivered to artificial feed opening A, B（4-10）, audible-visual annunciator（4-2）Worker is notified to come with the frequency of 5HZ
Blanking, 1HZ are system failure alert frequency, while are in idle bit pile working plate holding fix（20）Preceding stop cylinder（19）Contracting
Return, carrying roller A, B run idle bit pile working plate to elevator（4-1）On, pass through elevator（4-1）By idle bit pile working plate send to
Stacking area A, B, pass through positioning cylinder A（4-6）With positioning cylinder B（4-7）Stacking working plate is positioned, after completing to position, is informed
Robot, it is allowed to which blowing, after blanking is accomplished manually, clicks on button box（4-11）On blowing complete signal, empty stacking work
Loading board drops to lower floor's carrying roller by elevator, and runs to idle bit pile working plate holding fix（20）Wait removable disk.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108637083A (en) * | 2018-05-09 | 2018-10-12 | 金华辉煌三联工具实业有限公司 | A kind of spot welding guide plate outside plate automatic press production equipment |
| CN110919994A (en) * | 2019-12-06 | 2020-03-27 | 深圳市山龙智控有限公司 | Injection molding machine manipulator and control method thereof |
| CN113878795A (en) * | 2021-09-28 | 2022-01-04 | 深圳市库卡自动化设备有限公司 | Oil sprayer coil insert embedded injection molding system |
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| CN108637083A (en) * | 2018-05-09 | 2018-10-12 | 金华辉煌三联工具实业有限公司 | A kind of spot welding guide plate outside plate automatic press production equipment |
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| CN113878795A (en) * | 2021-09-28 | 2022-01-04 | 深圳市库卡自动化设备有限公司 | Oil sprayer coil insert embedded injection molding system |
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