CN109333498A - It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts - Google Patents
It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts Download PDFInfo
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- CN109333498A CN109333498A CN201811106696.0A CN201811106696A CN109333498A CN 109333498 A CN109333498 A CN 109333498A CN 201811106696 A CN201811106696 A CN 201811106696A CN 109333498 A CN109333498 A CN 109333498A
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- Prior art keywords
- optical sensor
- mechanical arm
- fluorescent optical
- wide area
- injection molding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention discloses a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, it include: support base, wide area displacement mechanism and operational terminal, wide area displacement mechanism is provided in the support base, wide area displacement mechanism one end is provided with operational terminal；The wide area displacement mechanism includes horizontal rotating table, vertical rotary beam, the first linear displacement mechanisms and the second linear displacement mechanisms；It uses shaft and translation shaft to cooperate to one side, increases the working range of arm beam, and on the other hand it actively finds object to be processed using sensor and contact pilotage, is not only able to avoid material leakage, also improves hunting speed, and practicability is high；The travelling performance of mechanical arm beam is increased simultaneously, can work for multiple devices, improve convenience and practicability, can be bonded the enterprise demand of small lot, multiple types production.
Description
Technical field
The invention belongs to robot device field, in particular to a kind of injection molding machine for producing household electrical appliances spare and accessory parts is mechanical
Arm beam.
Background technique
The continuous development of modern science and technology has greatly pushed the intersection and infiltration of different subjects, results in engineering neck
The technological revolution and transformation in domain.Engineering machinery arm is the new technology that modern age automation field occurs, and is but had become
The inexorable trend of industrial development.Engineering machinery arm does not have the flexibility of manpower also nowadays, but has uninterrupted repetition
The ability of labour, while not fearing danger, the artificial work for carrying out thermal cutting, forging and stamping etc. and being in hazardous environment, engineering can be replaced
The development of mechanical arm is irresistible.In Injection Industry, mechanical arm beam is also largely used, to improve production safety.
Although mechanical arm beam is in the process of high speed development, present mechanical arm beam still there are many not
Foot place, existing arm beam mostly use greatly XYZ three-axis moving, take up a large area, it has not been convenient to dispose to guarantee output power
And movement；Meanwhile present mechanical arm beam can only take movement to the object of fixed position, can not identify not in designated position
Object to be processed, the coordinate system of itself can not be included in automatically, action edge and the practicability is poor.Therefore, the application just with
Upper problem, studies mechanical arm beam and has been innovated.
Present mechanical arm beam, the main problems are as follows:
1, present mechanical arm beam takes up a large area mostly using XYZ three-axis moving structure, and space utilization rate is small, behaviour
It is small to make range, the practicability is poor.
2, present mechanical arm beam can only identify the coordinate points of typing in advance mostly, cannot identify not in designated position
Object to be processed, can not be included in the coordinate system of itself automatically, action edge and the practicability is poor.
3, present mechanical arm beam can not move mostly, can only be fixed at one and carry out a job, to small lot, more
For the enterprise of type production, mechanical arm beam can not be persistently used since batch is small, idle situation can be generated, without too high
Practicability.
Summary of the invention
Goal of the invention: in order to overcome the above deficiency, the object of the present invention is to provide a kind of for producing household electrical appliances spare and accessory parts
Mechanical arm for injection molding machine arm beam, it uses shaft and translation shaft to cooperate to a side, increases the working range of arm beam, on the other hand
It actively finds object to be processed using sensor and contact pilotage, is not only able to avoid material leakage, also improves hunting speed, practicability
It is high；The travelling performance of mechanical arm beam is increased simultaneously, can be worked for multiple devices, be improved convenience and practicability, make
Its enterprise demand that can be bonded small lot, multiple types production.
Technical solution: to achieve the goals above, the present invention provides a kind of for producing the injection molding machine of household electrical appliances spare and accessory parts
With mechanical arm beam, comprising: support base, wide area displacement mechanism and operational terminal are provided with wide area position in the support base
Telephone-moving structure, wide area displacement mechanism one end are provided with operational terminal；The wide area displacement mechanism includes horizontal rotating table, vertical
Rotating beam, the first linear displacement mechanisms and the second linear displacement mechanisms, the horizontal rotating table is set in support base, described
Horizontal rotating table one end is provided with vertical rotary beam, and the vertical rotary beam is provided centrally with the first linear displacement mechanisms, described
The second linear displacement mechanisms are provided on first linear displacement mechanisms, it is whole that second linear displacement mechanisms one end connects work
End.
Heretofore described mechanical arm beam is setting, practical which increase the working range of arm beam.
Heretofore described is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, further includes actively fixed
Position mechanism, the positive location mechanism include locating piece, fluorescent marker, the first fluorescent optical sensor, the second fluorescent optical sensor, positioning
Contact pilotage, excitation line transmitter and PLC controller, the locating piece are set in support base, and the fluorescent marker is set to
Any position on work piece top, first fluorescent optical sensor are set on operational terminal, first fluorescent optical sensor
Side is provided with the second fluorescent optical sensor, and first fluorescent optical sensor receives signal to the second fluorescent optical sensor direction, described
Second fluorescent optical sensor receives signal to the first fluorescent optical sensor direction, and second fluorescent optical sensor side is provided with exciting light
Line transmitter, second fluorescent optical sensor side are provided with positioning contact pilotage, and the positioning contact pilotage is set on operational terminal；Institute
It states the first fluorescent optical sensor, the second fluorescent optical sensor and positioning contact pilotage to be connected in PLC controller, the PLC controller
Connect wide area displacement mechanism.
The setting of heretofore described positive location mechanism actively finds object to be processed using sensor and contact pilotage,
It is not only able to avoid material leakage, also improves hunting speed, practicability is high.
Heretofore described positioning contact pilotage uses Telescopic rod structure, be provided in the positioning contact pilotage pressure sensor with
Relief spring, the pressure sensor are set to relief spring one end, and the relief spring is fixed in positioning contact pilotage, the pressure
Force snesor is contacted with positioning contact pilotage stretching motion part, and the pressure sensor connects PLC controller.
The setting of heretofore described pressure sensor and relief spring can reduce the impact force of pressure sensor, mention
The service life of high sensor.
Heretofore described horizontal rotating table includes turntable, first rotating shaft and first motor, and the first motor is set
It is placed in support base, described first motor one end is provided with first rotating shaft, and described first rotating shaft one end is provided with turntable；Institute
Stating vertical rotary beam includes rotating beam, the second shaft and the second motor, and second motor is set in turntable, and described second
Motor one end is provided with the second shaft, and second shaft one end is provided with rotating beam；First linear displacement mechanisms include
First screw rod, the first auxiliary guide rail, third motor and the first sliding block, the third motor are set in rotating beam, the third
Motor one end is provided with the first screw rod, and the first sliding block is provided on first screw rod, and first screw rod passes through the first sliding block,
First screw rod side is provided with the first auxiliary guide rail, and first auxiliary guide rail is fixed on rotating beam, and described first is auxiliary
Assistant director of a film or play's rail passes through the first sliding block；Second linear displacement mechanisms include the 4th motor, driving rack and the second sliding block, and described the
Four motors are set in the first sliding block, and described 4th motor one end is connected with driving rack, and the driving rack is fixed on second
On sliding block, second sliding block passes through the first sliding block, is provided with operational terminal on second sliding block.
The setting of heretofore described wide area displacement mechanism uses shaft and translation shaft to cooperate, increases arm beam
Working range increases the working range more than 4 times compared to XYZ three-axis moving system, and occupied area is but reduced, real
It is strong with property.
The ball for reducing friction is provided in the first heretofore described sliding block, outside the ball and the second sliding block
Surface is engaged.
The setting of heretofore described ball can reduce the frictional force between the first sliding block and the second sliding block, reduce
Noise increases the service life of equipment.
Second heretofore described linear displacement mechanisms one end is provided with ball-type roller, described in the operational terminal cladding
Ball-type roller, the operational terminal are connect with the ball-type roller slip, and the operational terminal center line is vertical always.
The setting of heretofore described ball-type roller can guarantee that operational terminal remains vertical.
Heretofore described operational terminal includes basic blocks, electromagnet, clamping plate, reset spring and Work tool, described
Basic blocks are set to second linear displacement mechanisms one end, and electromagnet, the electromagnet side setting are provided in the basic blocks
There is clamping plate, the clamping plate is slidably connected with basic blocks, and reset spring is provided on the clamping plate, and described reset spring one end is fixed
In in basic blocks groove, described basic blocks one end is provided with Work tool, and the clamping plate is engaged with Work tool.
The setting of heretofore described operational terminal increases the versatility of operational terminal using the magnetic force of electromagnet,
It enables a device to equip a variety of Work tools, such as fixture, drilling tool, grinding tool, improves the practicability of equipment.
Buffer spring and cushion are provided on heretofore described clamping plate, clamping plate is fixed in described buffer spring one end
On, the buffer spring other end is provided with cushion, and the cushion is engaged with Work tool.
The setting of heretofore described buffer spring and cushion reduces clamping plate to the pressure of Work tool, increases
The practicability and service life of equipment.
Heretofore described support base bottom is provided with away wheel and fixed support column, it is described walk wheel be set to branch support group
Seat bottom, described to walk to take turns side and be provided with fixed support column, the fixed support column includes support cylinder, appendix and air pressure
Pump, the support cylinder are set to support base bottom, and support base bottom, the support are fixed in described support cylinder one end
Appendix is provided on cylinder, described appendix one end connects pulsometer, and the pulsometer is fixed in support base.
It is heretofore described walk wheel and fixed support column setting, pass through and walk the mobility that wheel increases equipment, while benefit
Guarantee stability when equipment stationary state with fixed support column, to increase equipment under the premise of not reducing equipment performance
Convenience, improve the practicability of equipment, enable small lot, multiple types production enterprise flexibly using equipment, do not stay
Lower free time.
It is heretofore described a kind of for producing the mechanical arm for injection molding machine arm beam localization method of household electrical appliances spare and accessory parts, including
Coarse positioning and precise positioning, specifically includes the following steps:
Step 1: coarse positioning, the excitation line transmitter transmitting ultraviolet lights excitation fluorescent marker shines, while passing through wide area position
Telephone-moving structure mobile working terminal, first fluorescent optical sensor and the second fluorescent optical sensor stop moving when receiving fluorescence signal
It is dynamic；
Step 2: precise positioning, the positioning contact pilotage confirm the shape of product to be processed by the movement of wide area displacement mechanism, and right
Coordinate system is formed according to the position of locating piece, confirms product to be processed accurate location.
Heretofore described localization method can position search range by coarse positioning rapid drop, improve equipment
Working efficiency.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects:
1, heretofore described a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, using sensor and
Contact pilotage actively finds object to be processed, is not only able to avoid material leakage, also improves hunting speed, and practicability is high.
2, heretofore described a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, use shaft
Cooperate with translation shaft, increases the working range of arm beam, compared to XYZ three-axis moving system, increase the work more than 4 times
Range, occupied area are but reduced, practical.
3, heretofore described a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, pass through and walks wheel
Increase the mobility of equipment, while using the stability fixed when support column guarantees equipment stationary state, to set not reducing
The convenience that equipment is increased under the premise of standby performance, improves the practicability of equipment, so that the enterprise of small lot, multiple types production
Industry can flexibly use equipment, not leave free time.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of positive location mechanism of the present invention；
Fig. 3 is the structural schematic diagram of present invention positioning contact pilotage；
Fig. 4 is the structural schematic diagram of wide area displacement mechanism of the present invention；
Fig. 5 is the structural schematic diagram of operational terminal of the present invention；
Fig. 6 is the structural schematic diagram of mobile mechanism of the present invention；
In figure: support base 1, operational terminal 2, basic blocks 21, electromagnet 22, clamping plate 23, reset spring 24, Work tool 25,
Buffer spring 26, cushion 27, horizontal rotating table 3, turntable 31, first rotating shaft 32, first motor 33, vertical rotary beam 4, rotation
Turn beam 41, the second shaft 42, the second motor 43, the first linear displacement mechanisms 5, the first screw rod 51, the first auxiliary guide rail 52, third
Motor 53, the first sliding block 54, the second linear displacement mechanisms 6, the 4th motor 61, driving rack 62, the second sliding block 63, positive location
Mechanism 7, locating piece 71, fluorescent marker 72, the first fluorescent optical sensor 73, the second fluorescent optical sensor 74, positioning contact pilotage 75, exciting light
Line transmitter 76, PLC controller 77, pressure sensor 78, relief spring 79, walk wheel 8, fixed support column 9, support cylinder 91,
Appendix 92, pulsometer 93.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated.
Embodiment 1
As shown in Figure 1 is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, comprising: support base 1, wide area
Displacement mechanism and operational terminal 2 are provided with wide area displacement mechanism in the support base 1, and wide area displacement mechanism one end is set
It is equipped with operational terminal 2；The wide area displacement mechanism includes horizontal rotating table 3, vertical rotary beam 4,5 and of the first linear displacement mechanisms
Second linear displacement mechanisms 6, the horizontal rotating table 3 are set in support base 1, and described 3 one end of horizontal rotating table is provided with
Vertical rotary beam 4, the vertical rotary beam 4 are provided centrally with the first linear displacement mechanisms 5, first linear displacement mechanisms 5
On be provided with the second linear displacement mechanisms 6, described second linear displacement mechanisms, 6 one end connects operational terminal 2.
It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts described in the present embodiment, it further include actively
Positioning mechanism 7, the positive location mechanism 7 include locating piece 71, fluorescent marker 72, the first fluorescent optical sensor 73, the second fluorescence
Sensor 74, positioning contact pilotage 75, excitation line transmitter 76 and PLC controller 77, the locating piece 71 are set to support base 1
On, the fluorescent marker 72 is set to any position on work piece top, and first fluorescent optical sensor 73 is set to work
In terminal 2,73 side of the first fluorescent optical sensor is provided with the second fluorescent optical sensor 74, first fluorescent optical sensor 73 to
Second fluorescent optical sensor, 74 direction receives signal, and second fluorescent optical sensor 74 is received to 73 direction of the first fluorescent optical sensor to be believed
Number, 74 side of the second fluorescent optical sensor is provided with excitation line transmitter 76, and 74 side of the second fluorescent optical sensor is set
It is equipped with positioning contact pilotage 75, the positioning contact pilotage 75 is set on operational terminal 2；First fluorescent optical sensor 73, the second fluorescence
Sensor 74 and positioning contact pilotage 75 are connected in PLC controller 77, and the PLC controller 77 connects wide area displacement mechanism.
Positioning contact pilotage 74 described in the present embodiment uses Telescopic rod structure, and pressure biography is provided in the positioning contact pilotage 75
Sensor 78 and relief spring 79, the pressure sensor 78 are set to 79 one end of relief spring, and the relief spring 79 is fixed on
It positions in contact pilotage 75, the pressure sensor 78 is contacted with positioning 75 stretching motion part of contact pilotage, and the pressure sensor 78 connects
Connect PLC controller 77.
Horizontal rotating table 3 described in the present embodiment includes turntable 31, first rotating shaft 32 and first motor 33, and described the
One motor 33 is set in support base 1, and described 33 one end of first motor is provided with first rotating shaft 32, the first rotating shaft 32 1
End is provided with turntable 31；The vertical rotary beam 4 include rotating beam 41, the second shaft 42 and the second motor 43, described second
Motor 43 is set in turntable 31, and described second motor, 43 one end is provided with the second shaft 42, described second shaft, 42 one end
It is provided with rotating beam 41；First linear displacement mechanisms 5 include the first screw rod 51, the first auxiliary guide rail 52, third motor 53
With the first sliding block 54, the third motor 53 is set in rotating beam 41, and described 53 one end of third motor is provided with the first screw rod
51, the first sliding block 54 is provided on first screw rod 51, first screw rod 51 passes through the first sliding block 54, first screw rod
51 sides are provided with the first auxiliary guide rail 52, and first auxiliary guide rail 52 is fixed on rotating beam 41, and first auxiliary is led
Rail 52 passes through the first sliding block 54；Second linear displacement mechanisms 6 include the 4th motor 61, driving rack 62 and the second sliding block
63, the 4th motor 61 is set in the first sliding block 54, and described 4th motor, 61 one end is connected with driving rack 62, the biography
Carry-over bar 62 is fixed on the second sliding block 63, and second sliding block 63 passes through the first sliding block 54, is arranged on second sliding block 63
There is operational terminal 2.
The ball 55 for reducing friction, the ball 55 and the are provided in first sliding block 54 described in the present embodiment
Two sliding blocks, 63 outer surface is engaged.
Second linear displacement mechanisms, 6 one end described in the present embodiment are provided with ball-type roller, and the operational terminal 2 coats
The ball-type roller, the operational terminal 2 are connect with the ball-type roller slip, and 2 center line of operational terminal is vertical always.
Operational terminal 2 described in the present embodiment includes basic blocks 21, electromagnet 22, clamping plate 23, reset spring 24 and work
Make tool 25, the basic blocks 21 are set to 6 one end of the second linear displacement mechanisms, are provided with electromagnet in the basic blocks 21
22,22 side of electromagnet is provided with clamping plate 23, and the clamping plate 23 is slidably connected with basic blocks 21, is arranged on the clamping plate 23
There is reset spring 24, described 24 one end of reset spring is fixed in 21 groove of basic blocks, and described 21 one end of basic blocks is provided with work
Make tool 25, the clamping plate 23 is engaged with Work tool 25.
Buffer spring 26 and cushion 27, described 26 one end of buffer spring are provided on clamping plate 23 described in the present embodiment
It is fixed on clamping plate 23,26 other end of buffer spring is provided with cushion 27, and the cushion 27 connects with Work tool 25
Touching cooperation.
1 bottom of support base described in the present embodiment is provided with away wheel 8 and fixed support column 9, it is described walk wheel 8 be set to
1 bottom of support base, it is described walk 8 sides of wheel be provided with fixed support column 9, the fixed support column 9 includes support cylinder 91, defeated
Tracheae 92 and pulsometer 93, the support cylinder 91 are set to 1 bottom of support base, and branch is fixed in described 91 one end of support cylinder
1 bottom of support group seat is provided with appendix 92 on the support cylinder 91, and described 92 one end of appendix connects pulsometer 93, described
Pulsometer 93 is fixed in support base 1.
It is a kind of for producing the mechanical arm for injection molding machine arm beam localization method of household electrical appliances spare and accessory parts described in the present embodiment, it wraps
Coarse positioning and precise positioning are included, specifically includes the following steps:
Step 1: coarse positioning, the excitation line transmitter 76 emit ultraviolet lights excitation fluorescent marker 72 and shine, while by wide
Domain displacement mechanism mobile working terminal 2, first fluorescent optical sensor 73 and the second fluorescent optical sensor 74 receive fluorescence letter
Number when stop movement；
Step 2: precise positioning, the positioning contact pilotage 75 confirm the shape of product to be processed by the movement of wide area displacement mechanism, and
The position for compareing locating piece 71 forms coordinate system, confirms product to be processed accurate location.
Embodiment 2
As shown in Figures 2 and 3 is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, comprising: support base 1,
Wide area displacement mechanism and operational terminal 2 are provided with wide area displacement mechanism, the wide area displacement mechanism one in the support base 1
End is provided with operational terminal 2；The wide area displacement mechanism includes horizontal rotating table 3, vertical rotary beam 4, the first linear displacement machine
Structure 5 and the second linear displacement mechanisms 6, the horizontal rotating table 3 are set in support base 1, and described 3 one end of horizontal rotating table is set
It is equipped with vertical rotary beam 4, the vertical rotary beam 4 is provided centrally with the first linear displacement mechanisms 5, the first linear displacement machine
The second linear displacement mechanisms 6 are provided on structure 5, described second linear displacement mechanisms, 6 one end connects operational terminal 2.
It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts described in the present embodiment, it further include actively
Positioning mechanism 7, the positive location mechanism 7 include locating piece 71, fluorescent marker 72, the first fluorescent optical sensor 73, the second fluorescence
Sensor 74, positioning contact pilotage 75, excitation line transmitter 76 and PLC controller 77, the locating piece 71 are set to support base 1
On, the fluorescent marker 72 is set to any position on work piece top, and first fluorescent optical sensor 73 is set to work
In terminal 2,73 side of the first fluorescent optical sensor is provided with the second fluorescent optical sensor 74, first fluorescent optical sensor 73 to
Second fluorescent optical sensor, 74 direction receives signal, and second fluorescent optical sensor 74 is received to 73 direction of the first fluorescent optical sensor to be believed
Number, 74 side of the second fluorescent optical sensor is provided with excitation line transmitter 76, and 74 side of the second fluorescent optical sensor is set
It is equipped with positioning contact pilotage 75, the positioning contact pilotage 75 is set on operational terminal 2；First fluorescent optical sensor 73, the second fluorescence
Sensor 74 and positioning contact pilotage 75 are connected in PLC controller 77, and the PLC controller 77 connects wide area displacement mechanism.
Positioning contact pilotage 74 described in the present embodiment uses Telescopic rod structure, and pressure biography is provided in the positioning contact pilotage 74
Sensor 78 and relief spring 79, the pressure sensor 78 are set to 79 one end of relief spring, and the relief spring 79 is fixed on
It positions in contact pilotage 75, the pressure sensor 78 is contacted with positioning 75 stretching motion part of contact pilotage, and the pressure sensor 78 connects
Connect PLC controller 77.
Embodiment 3
As shown in Figure 4 is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, comprising: support base 1, wide area
Displacement mechanism and operational terminal 2 are provided with wide area displacement mechanism in the support base 1, and wide area displacement mechanism one end is set
It is equipped with operational terminal 2；The wide area displacement mechanism includes horizontal rotating table 3, vertical rotary beam 4,5 and of the first linear displacement mechanisms
Second linear displacement mechanisms 6, the horizontal rotating table 3 are set in support base 1, and described 3 one end of horizontal rotating table is provided with
Vertical rotary beam 4, the vertical rotary beam 4 are provided centrally with the first linear displacement mechanisms 5, first linear displacement mechanisms 5
On be provided with the second linear displacement mechanisms 6, described second linear displacement mechanisms, 6 one end connects operational terminal 2.
Horizontal rotating table 3 described in the present embodiment includes turntable 31, first rotating shaft 32 and first motor 33, and described the
One motor 33 is set in support base 1, and described 33 one end of first motor is provided with first rotating shaft 32, the first rotating shaft 32 1
End is provided with turntable 31；The vertical rotary beam 4 include rotating beam 41, the second shaft 42 and the second motor 43, described second
Motor 43 is set in turntable 31, and described second motor, 43 one end is provided with the second shaft 42, described second shaft, 42 one end
It is provided with rotating beam 41；First linear displacement mechanisms 5 include the first screw rod 51, the first auxiliary guide rail 52, third motor 53
With the first sliding block 54, the third motor 53 is set in rotating beam 41, and described 53 one end of third motor is provided with the first screw rod
51, the first sliding block 54 is provided on first screw rod 51, first screw rod 51 passes through the first sliding block 54, first screw rod
51 sides are provided with the first auxiliary guide rail 52, and first auxiliary guide rail 52 is fixed on rotating beam 41, and first auxiliary is led
Rail 52 passes through the first sliding block 54；Second linear displacement mechanisms 6 include the 4th motor 61, driving rack 62 and the second sliding block
63, the 4th motor 61 is set in the first sliding block 54, and described 4th motor, 61 one end is connected with driving rack 62, the biography
Carry-over bar 62 is fixed on the second sliding block 63, and second sliding block 63 passes through the first sliding block 54, is arranged on second sliding block 63
There is operational terminal 2.
The ball 55 for reducing friction, the ball 55 and the are provided in first sliding block 54 described in the present embodiment
Two sliding blocks, 63 outer surface is engaged.
Second linear displacement mechanisms, 6 one end described in the present embodiment are provided with ball-type roller, and the operational terminal 2 coats
The ball-type roller, the operational terminal 2 are connect with the ball-type roller slip, and 2 center line of operational terminal is vertical always.
Embodiment 4
As shown in Figure 5 is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, comprising: support base 1, wide area
Displacement mechanism and operational terminal 2 are provided with wide area displacement mechanism in the support base 1, and wide area displacement mechanism one end is set
It is equipped with operational terminal 2；The wide area displacement mechanism includes horizontal rotating table 3, vertical rotary beam 4,5 and of the first linear displacement mechanisms
Second linear displacement mechanisms 6, the horizontal rotating table 3 are set in support base 1, and described 3 one end of horizontal rotating table is provided with
Vertical rotary beam 4, the vertical rotary beam 4 are provided centrally with the first linear displacement mechanisms 5, first linear displacement mechanisms 5
On be provided with the second linear displacement mechanisms 6, described second linear displacement mechanisms, 6 one end connects operational terminal 2.
Operational terminal 2 described in the present embodiment includes basic blocks 21, electromagnet 22, clamping plate 23, reset spring 24 and work
Make tool 25, the basic blocks 21 are set to 6 one end of the second linear displacement mechanisms, are provided with electromagnet in the basic blocks 21
22,22 side of electromagnet is provided with clamping plate 23, and the clamping plate 23 is slidably connected with basic blocks 21, is arranged on the clamping plate 23
There is reset spring 24, described 24 one end of reset spring is fixed in 21 groove of basic blocks, and described 21 one end of basic blocks is provided with work
Make tool 25, the clamping plate 23 is engaged with Work tool 25.
Buffer spring 26 and cushion 27, described 26 one end of buffer spring are provided on clamping plate 23 described in the present embodiment
It is fixed on clamping plate 23,26 other end of buffer spring is provided with cushion 27, and the cushion 27 connects with Work tool 25
Touching cooperation.
Embodiment 5
It is as shown in FIG. 6 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, comprising: support base 1, wide area
Displacement mechanism and operational terminal 2 are provided with wide area displacement mechanism in the support base 1, and wide area displacement mechanism one end is set
It is equipped with operational terminal 2；The wide area displacement mechanism includes horizontal rotating table 3, vertical rotary beam 4,5 and of the first linear displacement mechanisms
Second linear displacement mechanisms 6, the horizontal rotating table 3 are set in support base 1, and described 3 one end of horizontal rotating table is provided with
Vertical rotary beam 4, the vertical rotary beam 4 are provided centrally with the first linear displacement mechanisms 5, first linear displacement mechanisms 5
On be provided with the second linear displacement mechanisms 6, described second linear displacement mechanisms, 6 one end connects operational terminal 2.
1 bottom of support base described in the present embodiment is provided with away wheel 8 and fixed support column 9, it is described walk wheel 8 be set to
1 bottom of support base, it is described walk 8 sides of wheel be provided with fixed support column 9, the fixed support column 9 includes support cylinder 91, defeated
Tracheae 92 and pulsometer 93, the support cylinder 91 are set to 1 bottom of support base, and branch is fixed in described 91 one end of support cylinder
1 bottom of support group seat is provided with appendix 92 on the support cylinder 91, and described 92 one end of appendix connects pulsometer 93, described
Pulsometer 93 is fixed in support base 1.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention
Protection scope.
Claims (10)
1. a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, it is characterised in that: include: support base (1),
Wide area displacement mechanism and operational terminal (2) are provided with wide area displacement mechanism, the wide area displacement machine on the support base (1)
Structure one end is provided with operational terminal (2)；The wide area displacement mechanism includes horizontal rotating table (3), vertical rotary beam (4), first
Linear displacement mechanisms (5) and the second linear displacement mechanisms (6), the horizontal rotating table (3) are set on support base (1), institute
It states horizontal rotating table (3) one end to be provided with vertical rotary beam (4), the vertical rotary beam (4) is provided centrally with the first linear position
Telephone-moving structure (5) is provided with the second linear displacement mechanisms (6) on first linear displacement mechanisms (5), second linear displacement
Mechanism (6) one end connects operational terminal (2).
2. according to claim 1 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
In: it further include positive location mechanism (7), the positive location mechanism (7) includes locating piece (71), fluorescent marker (72), first
Fluorescent optical sensor (73), the second fluorescent optical sensor (74), positioning contact pilotage (75), excitation line transmitter (76) and PLC controller
(77), the locating piece (71) is set on support base (1), and the fluorescent marker (72) is set to appointing for work piece top
Meaning position, first fluorescent optical sensor (73) are set on operational terminal (2), and the first fluorescent optical sensor (73) side is set
It is equipped with the second fluorescent optical sensor (74), first fluorescent optical sensor (73) receives to the second fluorescent optical sensor (74) direction believes
Number, second fluorescent optical sensor (74) receives signal, second fluorescent optical sensor to the first fluorescent optical sensor (73) direction
(74) side is provided with excitation line transmitter (76), and the second fluorescent optical sensor (74) side is provided with positioning contact pilotage
(75), the positioning contact pilotage (75) is set on operational terminal (2)；First fluorescent optical sensor (73), the second fluorescence sense
Device (74) and positioning contact pilotage (75) are connected on PLC controller (77), and the PLC controller (77) connects wide area displacement machine
Structure.
3. according to claim 2 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
Use Telescopic rod structure in: the positioning contact pilotage (75), the positioning contact pilotage (75) is interior be provided with pressure sensor (77) and
Relief spring (78), the pressure sensor (77) are set to relief spring (78) one end, and the relief spring (78) is fixed on
It positions in contact pilotage (74), the pressure sensor (77) contacts with positioning contact pilotage (75) stretching motion part, the pressure sensing
Device (78) connects PLC controller (77).
4. according to claim 1 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
In: the horizontal rotating table (3) includes turntable (31), first rotating shaft (32) and first motor (33), the first motor
(33) it is set in support base (1), described first motor (33) one end is provided with first rotating shaft (32), the first rotating shaft
(32) one end is provided with turntable (31)；The vertical rotary beam (4) includes rotating beam (41), the second shaft (42) and the second electricity
Machine (43), second motor (43) are set in turntable (31), and described second motor (43) one end is provided with the second shaft
(42), described second shaft (42) one end is provided with rotating beam (41)；First linear displacement mechanisms (5) include the first screw rod
(51), the first auxiliary guide rail (52), third motor (53) and the first sliding block (54), the third motor (53) are set to rotating beam
(41) in, described third motor (53) one end is provided with the first screw rod (51), and it is sliding that first is provided on first screw rod (51)
Block (54), first screw rod (51) pass through the first sliding block (54), and the first screw rod (51) side is provided with the first auxiliary and leads
Rail (52), first auxiliary guide rail (52) are fixed on rotating beam (41), and it is sliding that first auxiliary guide rail (52) passes through first
Block (54)；Second linear displacement mechanisms (6) include the 4th motor (61), driving rack (62) and the second sliding block (63), institute
It states the 4th motor (61) to be set in the first sliding block (54), described 4th motor (61) one end is connected with driving rack (62), institute
Driving rack (62) to be stated to be fixed on the second sliding block (63), second sliding block (63) passes through the first sliding block (54), and described second
Operational terminal (2) are provided on sliding block (63).
5. according to claim 4 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
In: the ball (55) for reducing friction, the ball (55) and the second sliding block are provided in first sliding block (54)
(63) outer surface is engaged.
6. according to claim 1 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
In: described the second linear displacement mechanisms (6) one end is provided with ball-type roller, and the operational terminal (2) coats the ball-type rolling
Son, the operational terminal (2) connect with the ball-type roller slip, and operational terminal (2) center line is vertical always.
7. according to claim 1 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
In: the operational terminal (2) includes basic blocks (21), electromagnet (22), clamping plate (23), reset spring (24) and Work tool
(25), the basic blocks (21) are set to the second linear displacement mechanisms (6) one end, are provided with electromagnet on the basic blocks (21)
(22), electromagnet (22) side is provided with clamping plate (23), and the clamping plate (23) is slidably connected with basic blocks (21), the folder
It is provided on plate (23) reset spring (24), described reset spring (24) one end is fixed in basic blocks (21) groove, the base
Plinth block (21) one end is provided with Work tool (25), and the clamping plate (23) is engaged with Work tool (25).
8. according to claim 7 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
In: buffer spring (26) and cushion (27) are provided on the clamping plate (23), described buffer spring (26) one end is fixed on
On clamping plate (23), buffer spring (26) other end is provided with cushion (27), the cushion (27) and Work tool
(25) it is engaged.
9. according to claim 1 a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts, feature exists
: described support base (1) bottom is provided with away wheel (8) and fixed support column (9), it is described walk wheel (8) be set to branch support group
Seat (1) bottom, it is described walk wheel (8) side be provided with fixed support column (9), the fixed support column (9) include support cylinder
(91), appendix (92) and pulsometer (93), the support cylinder (91) are set to support base (1) bottom, the support gas
Support base (1) bottom is fixed in cylinder (91) one end, is provided with appendix (92), the appendix on the support cylinder (91)
(92) one end connection pulsometer (93), the pulsometer (93) are fixed on support base (1).
10. it is according to claim 2 a kind of for producing the mechanical arm for injection molding machine arm beam localization method of household electrical appliances spare and accessory parts,
Including coarse positioning and precise positioning, it is characterised in that: specifically includes the following steps:
Step 1: coarse positioning, excitation line transmitter (76) transmitting ultraviolet lights excitation fluorescent marker (72) shine, lead to simultaneously
Wide area displacement mechanism mobile working terminal (2) is crossed, first fluorescent optical sensor (73) connects with the second fluorescent optical sensor (74)
Stop movement when receiving fluorescence signal；
Step 2: precise positioning, positioning contact pilotage (75) confirm the shape of product to be processed by the movement of wide area displacement mechanism,
And the position for compareing locating piece (71) forms coordinate system, confirms product to be processed accurate location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106696.0A CN109333498A (en) | 2018-09-21 | 2018-09-21 | It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811106696.0A CN109333498A (en) | 2018-09-21 | 2018-09-21 | It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333498A true CN109333498A (en) | 2019-02-15 |
Family
ID=65306161
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811106696.0A Pending CN109333498A (en) | 2018-09-21 | 2018-09-21 | It is a kind of for producing the mechanical arm for injection molding machine arm beam of household electrical appliances spare and accessory parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333498A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020238680A1 (en) * | 2019-05-29 | 2020-12-03 | 蓝贝湾(广东)科技有限公司 | Building component forming robot |
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Application publication date: 20190215 |