CN104526962A - Injection moulding machine manipulator with single chip controller - Google Patents
Injection moulding machine manipulator with single chip controller Download PDFInfo
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- CN104526962A CN104526962A CN201410811431.6A CN201410811431A CN104526962A CN 104526962 A CN104526962 A CN 104526962A CN 201410811431 A CN201410811431 A CN 201410811431A CN 104526962 A CN104526962 A CN 104526962A
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- Prior art keywords
- belt pulley
- support
- arm
- manipulator
- injection machine
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Classifications
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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
- B29C45/1753—Cleaning or purging, e.g. of the injection unit
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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
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C45/4225—Take-off members or carriers for the moulded articles, e.g. grippers
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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
- B29C45/76—Measuring, controlling or regulating
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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
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4241—Auxiliary means for removing moulded articles from the robot
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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
- B29C2945/00—Indexing scheme relating to injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould
- B29C2945/76—Measuring, controlling or regulating
- B29C2945/76655—Location of control
- B29C2945/76792—Auxiliary devices
- B29C2945/76795—Auxiliary devices robots, grippers
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention provides an injection moulding machine manipulator with a single chip controller, belongs to the technical field of injection moulding machines, and solves the technical problems that the existing material-taking manipulator is incapable of cleaning a cavity, and the like. The injection moulding machine manipulator with the single chip controller comprises a support, wherein a support plate is arranged on the support; two support columns are arranged on the support plate in parallel; a belt wheel I and a belt wheel II are arranged at the inner ends of the two support columns respectively; a tooth-shaped belt is connected between the belt wheel I and the belt wheel II; a material-quantifying mechanism capable of taking out workpieces in a cavity and a cleaning mechanism capable of cleaning the cavity are arranged on the two side surfaces of the tooth-shaped belt respectively; a lifting mechanism capable of driving the cleaning mechanism and the material-quantifying mechanism to move up and down is arranged between the support and the tooth-shaped belt; a swinging mechanism capable of driving the support to swing in a horizontal plane is arranged between the support and a rack. The injection moulding machine manipulator with the single chip controller, provided by the invention, has the advantages of being capable of cleaning the cavity, and the like.
Description
Technical field
The invention belongs to field of mechanical technique, relate to a kind of manipulator of injection machine with singlechip controller.
Background technology
Injection machine has another name called injection (mo(u)lding) machine or injector.It utilizes mould for plastics to make the main former of the plastic products of various shape thermoplastic or thermosetting material.Injection machine, according to the arrangement mode of injection device and clamping apparatus, can be divided into vertical, horizontal and vertical sleeping combined type.Injection machine is made up of injecting systems, Clamping System, Hydraulic Power Transmission System, electric control system, lubricating system, heating and cooling system, safety monitoring system and reclaimer robot etc. usually.
Injection machine is the processing equipment that in Plastics Processing Industry, use amount is maximum, not only has a large amount of products directly can produce with injection machine, but also is the key equipment of composition injection stretch blow moulding.China has become the first big country that world's molding machine platform part is produced, promotes that the reason that Chinese injection machine equipment manufacture industry develops is: one is carry out joint and technological cooperation with internationally famous enterprise; Two is that the international Bian that Chinese Enterprise has adapted to component of machine gradually purchases mode, has grasped Bian and has purchased channel.Meanwhile, the production of China's injection machine also presents very strong regional characteristics, the ground such as the Ningbo in Zhejiang and the Dongguan in Guangdong, has become China and even global important injection machine production base.
Because injection molding mechanical arm can significantly boost productivity and reduce production cost, the quality of injecting products can be stabilized and increased, avoid the loss caused because of artificial operate miss.Therefore, the effect of injection molding mechanical arm in injection moulding is produced becomes more and more important.Manipulator of injection machine type domestic is at present fairly simple, and mostly for pickup, and other function can not be realized.
The moulding higher for some surface accuracies, size is less, feeding bothers very much, easily scalded by the mould of high temperature during traditional artificial feeding, and traditional manipulator generally adopts is jaw, during feeding, because workpiece is less, easily clamping is forbidden to cause workpiece to drop, and causes injection machine fault.
A kind of mechanical arm for injection molding machine is disclosed in patent (CN 102350774A), comprise connecting plate and be arranged on the rotation motor of connecting plate end, also comprise the semi-finished product be arranged on connecting plate one plate face to capture plate and be arranged on the finished product crawl plate at another plate face place of connecting plate, finished product is captured plate and is connected with rotation motor by a finished product machine mechanical arm, semi-finished product capture plate and are fixed on another plate face of connecting plate by installing plate, installing plate is provided with the first cylinder capturing plate with semi-finished product and be connected, mechanical arm is also provided with the second cylinder, finished product machine mechanical arm captures plate by the second cylinder with finished product and is connected, improve production efficiency and processing safety, but it is less for size, the moulding that required precision is higher, this device can accurately not capture workpiece, and the employing of this manipulator is air cylinder driven, its precision is lower, for the moulding that surface of the work required precision is higher, the cleannes of mould upper impression require very high, because the edge easily at die cavity during injection moulding produces the foreign material such as burr, impact the precision of the out workpiece of injection moulding in next injection moulding stroke.
In addition, jaw is adopted to carry out the easy defective work piece of gripping workpiece itself.
Summary of the invention
The object of the invention is the problems referred to above existed for existing technology, a kind of manipulator of injection machine with singlechip controller is provided, technical problem to be solved by this invention arranges a wiper mechanism on a robotic arm, can clean die cavity after feeding completes, reduce the damage of workpiece simultaneously.
Object of the present invention realizes by following technical proposal: a kind of manipulator of injection machine with singlechip controller, injection machine comprises frame and die cavity, it is characterized in that, this mechanical hand comprises a support, described support has a gripper shoe, described gripper shoe is arranged with two support columns in parallel, the inner of described two support columns is respectively arranged with belt pulley one and belt pulley two, an odontoid belt is connected with between described belt pulley one and belt pulley two, two sides of described odontoid belt are respectively arranged with the Ding Liao mechanism that the workpiece in die cavity can be taken out and the wiper mechanism that can clean die cavity, an elevating mechanism that described wiper mechanism and Ding Liao mechanism can be driven to move up and down is provided with between described support and odontoid belt, a swing mechanism that support can be driven to swing in horizontal plane is provided with between described support and frame, described Ding Liao mechanism comprises an arm for taking material be fixed on the left of odontoid belt, described arm for taking material upper end is connected with an air pump, the lower end of described arm for taking material is provided with a sucker, described sucker is communicated by the air intake passage be opened in arm for taking material with between air pump.
Operation principle of the present invention is: when injection moulding machine mould open, the Ding Liao mechanism being fixed on odontoid belt side carries out feeding, driven by odontoid belt after Ding Liao mechanism is fixing by workpiece and move, because wiper mechanism is fixed on the opposite side of odontoid belt, when Ding Liao mechanism moves, wiper mechanism moves down, when wiper mechanism is displaced downwardly to desired location, wiper mechanism cleans in die cavity, after the cleaning that is fixing and die cavity of workpiece all completes, elevating mechanism is by workpiece movable to frame, workpiece is rotated move angle by swing mechanism, workpiece is made to be positioned at directly over Workpiece storage container, workpiece unclamps in Ding Liao mechanism, workpiece is fallen in storing containers.Owing to being provided with wiper mechanism, all can clean die cavity when the die sinking each time of injection machine, thus ensure the clean of die cavity, workpiece accuracy and aesthetics during raising injection mo(u)lding; Wiper mechanism and Ding Liao mechanism are positioned at the both sides of odontoid belt, and Ding Liao mechanism and wiper mechanism can complete the action entering die cavity He leave die cavity rapidly, and agile, operating efficiency is high.Air pump produces certain vacuum at sucker place, workpiece is enable to be attracted on sucker, this is compared with the structure of traditional jaw gripping workpiece, better can protect workpiece not by the damage of manipulator, to adapt to the feeding that appearance requires the workpiece high, size is less; Sucker is that quality of rubber materials is made.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described wiper mechanism comprises a cleaning arm be fixedly installed on the right side of odontoid belt, the upper end of described cleaning arm is connected with described air pump, the lower end of described cleaning arm is provided with several nozzles, and described nozzle is communicated by the jet channel be opened in cleaning arm with between air pump.After completing an injection cycle, some plastics burr, impurity etc. may be there are in the die in die cavity and punch, injection moulding next time be had an impact, particularly affects the outward appearance of workpiece; Air pump carries out jet to nozzle, enables to extend into the nozzle in die cavity and cleans the inwall (die and punch) of die cavity; Cleaning arm is fixed on the right side of odontoid belt, and arm for taking material is fixed on the left side of odontoid belt, and (left side mentioned here and right side refer to that operator stands in the right side of frame, just to orientation during this manipulator), when arm for taking material moves down, cleaning arm moves, when moving on after cleaning arm is fixing by workpiece, move up into die cavity under cleaning arm and die cavity is cleaned; Nozzle has four, and is evenly distributed on the lower end of cleaning arm, and nozzle is towards the direction vertical with cleaning arm.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described odontoid belt also engages with a belt pulley three, and described belt pulley three is connected with the output shaft of a motor one; Belt pulley one is identical with the diameter of belt pulley two, and the diameter of described belt pulley three is greater than described belt pulley one and belt pulley two.Belt pulley one and belt pulley two pairs of odontoid belts support and tensioning, belt pulley three carries out transmission by motor a pair odontoid belt, can engage closely with odontoid belt to make belt pulley three, the diameter of belt pulley three is a bit larger tham the diameter of belt pulley one and belt pulley two, make the odontoid belt being sandwiched in belt pulley three both sides have a clamping force to belt pulley three, stable the engaging of belt pulley three and odontoid belt can be ensured.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described elevating mechanism comprises one piece of lifter plate, described motor one is fixedly installed on lifter plate, described lifter plate is fixedly installed a nut, described support is fixedly installed motor two, the output shaft of described motor two is installed with one with the screw rod of described nut screw connection.By the cooperation of screw rod and nut, the rotary motion of motor is converted to moving up and down of lifter plate, after Ding Liao mechanism completes and completes the cleaning to die cavity to fixing, the wiper mechanism of workpiece, whole support is risen to certain altitude by elevating mechanism, thus exits the conjunction diaphragm area of injection machine.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described support is also fixedly installed a guide rod, described lifter plate offers a pilot hole, described guide rod is plugged in described pilot hole.Guide rod together with screw rod on support, can make lifter plate can not and screw rod between there is opposing oscillatory, thus belt pulley three can be stable engages with odontoid belt.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described swing mechanism comprises a motor three be fixed in frame, the output shaft of described motor three is provided with gear one, described support is fixedly installed a swinging axle, described swinging axle is provided with the gear two coordinated with gear one.The rotation of motor three can make the support be fixedly connected with swinging axle swing along swinging axle, after completing the fixing of workpiece and cleaning, swing mechanism makes whole support rotate to an angle, make workpiece directly over support, move to the side of frame, enable workpiece fall in Workpiece storage container smoothly; The case weld of motor three is in frame, and the upper end of swinging axle is provided with adpting flange, is bolted between adpting flange and support; Fixed by bearing between swinging axle and frame.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described gripper shoe offers gathering sill, described belt pulley three is connected with the inner of an elevating lever, the outer end of the outer end of described elevating lever and two support columns is provided with roller, and described roller is connected in described gathering sill and also can rolls in described gathering sill.When lifter plate moves up and down, support column and elevating lever also synchronizing moving thereupon, gathering sill is used for guiding when moving support column and elevating lever, and roller is fixed on the outer end of support column and elevating lever, reduces friction, makes elevating mechanism work more smooth and easy.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described gripper shoe is also provided with one piece of connecting plate, described connecting plate offers three locating holes, two described support columns and elevating lever are located in three described locating holes respectively.The distance between axles of two support columns and elevating lever three is fixed, under making odontoid belt be in tensioning state all the time by three locating holes on connecting plate.
Above-mentioned a kind of with in the manipulator of injection machine of singlechip controller, described arm for taking material and being all connected by flexible pipe between cleaning arm with air pump, described air pump is provided with a controller.Arm for taking material is equipped with the upper end of cleaning arm the joint pin be connected with flexible pipe, controller has following functions: produce high pressure draught by air pump to the shower nozzle place in wiper mechanism, certain vacuum is produced at the sucker place of Ding Liao mechanism, the control etc. of the opening and closing of wiper mechanism and Ding Liao mechanism, motor one, motor two, motor three and controller are all connected with the ECU on injection machine, ECU is according to die sinking and close the film time, the duty of injection machine, the information such as abnormal is comprehensive, make motor one, motor two, motor three and controller can carry out action to all parts of this manipulator accurately, thus complete feeding and the cleaning of injection machine.
Compared with prior art, the present invention has the following advantages:
1, this Special manipulator for injection molding machine is provided with a wiper mechanism, after completing an injection cycle, the die in die cavity and punch may exists some plastics burr, impurity etc., injection moulding is next time had an impact, particularly affects the outward appearance of workpiece; Air pump carries out jet to nozzle, enables to extend into the nozzle in die cavity and cleans the inwall (die and punch) of die cavity.
What the Ding Liao mechanism 2, on this Special manipulator for injection molding machine adopted is sucker structure; air pump produces certain vacuum at sucker place; workpiece is enable to be attracted on sucker; this is compared with the structure of traditional jaw gripping workpiece; better can protect workpiece not by the damage of manipulator, to adapt to the feeding that appearance requires the workpiece high, size is less.
Accompanying drawing explanation
Fig. 1 is the assembly structure schematic diagram between this reclaimer robot and injection machine.
Fig. 2 is the overall structure schematic diagram of this reclaimer robot.
Fig. 3 is this reclaimer robot arm for taking material and cleaning arm position view on odontoid belt when determining material.
Fig. 4 is this reclaimer robot arm for taking material and cleaning arm position view on odontoid belt when cleaning.
Fig. 5 is the half sectional view of cleaning arm in this reclaimer robot.
Fig. 6 is the half sectional view of arm for taking material in this reclaimer robot.
Fig. 7 is the annexation schematic diagram of air pump in this reclaimer robot, arm for taking material and cleaning arm three.
Fig. 8 is this reclaimer robot odontoid belt and position relationship schematic diagram between arm for taking material and cleaning arm in lifting process.
Fig. 9 is the installation diagram between this reclaimer robot medium-height trestle and connecting plate.
Figure 10 is the explosive view of Fig. 9.
Figure 11 is the sectional view in Fig. 9 on A-A direction.
Figure 12 is the structural representation of connecting plate in this reclaimer robot.
In figure, 1a, motor one; 1b, motor two; 1c, motor three; 11, frame; 12, die cavity; 2, air pump; 21, controller; 3, support; 31, guide rod; 32, pilot hole; 4, gripper shoe; 41, gathering sill; 42, roller; 43, connecting plate; 44, locating hole; 45, support column; 51, odontoid belt; 52, belt pulley one; 53, belt pulley two; 54, belt pulley three; 6, Ding Liao mechanism; 61, arm for taking material; 62, sucker; 63, air intake passage; 7, wiper mechanism; 71, cleaning arm; 72, nozzle; 73, jet channel; 8, elevating mechanism; 81, lifter plate; 82, nut; 83, screw rod; 84, elevating lever; 9, swing mechanism; 91, gear one; 92, gear two; 93, swinging axle.
Detailed description of the invention
Be below specific embodiments of the invention and by reference to the accompanying drawings, technical scheme of the present invention is further described, but the present invention be not limited to these embodiments.
As depicted in figs. 1 and 2, a kind of manipulator of injection machine with singlechip controller, injection machine comprises frame 11 and die cavity 12, this mechanical hand comprises a support 3, support 3 has a gripper shoe 4, gripper shoe 4 is arranged with two support columns 45 in parallel, the inner of two support columns 45 is respectively arranged with belt pulley 1 and belt pulley 2 53, an odontoid belt 51 is connected with between belt pulley 1 and belt pulley 2 53, two sides of odontoid belt 51 are respectively arranged with the Ding Liao mechanism 6 that the workpiece in die cavity 12 can be taken out and the wiper mechanism 7 that can clean die cavity 12, an elevating mechanism 8 that wiper mechanism 7 and Ding Liao mechanism 6 can be driven to move up and down is provided with between support 3 and odontoid belt 51, a swing mechanism 9 that support 3 can be driven to swing in horizontal plane is provided with between support 3 and frame 11.
As Fig. 2, Fig. 3, shown in Fig. 4 and Fig. 6, Ding Liao mechanism 6 comprises an arm for taking material 61 be fixed on the left of odontoid belt 51, arm for taking material 61 upper end is connected with an air pump 2, the lower end of arm for taking material 61 is provided with a sucker 62, communicated by the air intake passage 63 be opened in arm for taking material 61 between sucker 62 with air pump 2, air pump 2 produces certain vacuum at sucker 62 place, workpiece is enable to be attracted on sucker 62, this is compared with the structure of traditional jaw gripping workpiece, better can protect workpiece not by the damage of manipulator, require high to adapt to appearance, the feeding of the workpiece that size is less, sucker 62 is made for quality of rubber materials.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, wiper mechanism 7 comprises a cleaning arm 71 be fixedly installed on the right side of odontoid belt 51, the upper end of cleaning arm 71 is connected with air pump 2, the lower end of cleaning arm 71 is provided with several nozzles 72, communicated by the jet channel 73 be opened in cleaning arm 71 between nozzle 72 with air pump 2, after completing an injection cycle, some plastics burr, impurity etc. may be there are in the die in die cavity 12 and punch, injection moulding is next time had an impact, particularly affects the outward appearance of workpiece; Air pump 2 pairs of nozzles 72 carry out jet, and the nozzle 72 extend in die cavity 12 can be cleaned the inwall of die cavity 12 (die and punch); Cleaning arm 71 is fixed on the right side of odontoid belt 51, and arm for taking material 61 is fixed on the left side of odontoid belt 51, and (left side mentioned here and right side refer to that operator stands in the right side of frame 11, just to orientation during this manipulator), when arm for taking material 61 moves down, cleaning arm 71 moves, when moving on after cleaning arm 71 is fixing by workpiece, cleaning arm moves up into die cavity 12 pairs of die cavities 12 for 71 times and cleans; Nozzle 72 has four, and is evenly distributed on the lower end of cleaning arm 71, and nozzle 72 is towards the direction vertical with cleaning arm 71.
As illustrated in figures 1 and 8, odontoid belt 51 also engages with a belt pulley 3 54, and belt pulley 3 54 is connected with the output shaft of motor one 1a, belt pulley 1 is identical with the diameter of belt pulley 2 53, the diameter of belt pulley 3 54 is greater than belt pulley 1 and belt pulley 2 53, belt pulley 1 and belt pulley 2 53 pairs of odontoid belts 51 support and tensioning, belt pulley 3 54 carries out transmission by motor one 1a to odontoid belt 51, can engage closely with odontoid belt 51 to make belt pulley 3 54, the diameter of belt pulley 3 54 is a bit larger tham the diameter of belt pulley 1 and belt pulley 2 53, the odontoid belt 51 pairs of belt pulleys 3 54 being sandwiched in belt pulley 3 54 both sides are made to have a clamping force, belt pulley 3 54 and stable the engaging of odontoid belt 51 can be ensured.
As depicted in figs. 1 and 2, elevating mechanism 8 comprises one piece of lifter plate 81, motor one 1a is fixedly installed on lifter plate 81, lifter plate 81 is fixedly installed a nut 82, support 3 is fixedly installed motor two 1b, the output shaft of motor two 1b is installed with a screw rod 83 coordinated with nut 82, by the cooperation of screw rod 83 and nut 82, the rotary motion of motor is converted to moving up and down of lifter plate 81, fixing workpiece is completed in Ding Liao mechanism 6, after wiper mechanism 7 completes the cleaning to die cavity 12, whole support 3 is risen to certain altitude by elevating mechanism 8, thus exit the conjunction diaphragm area of injection machine, support 3 is also fixedly installed a guide rod 31, lifter plate 81 offers a pilot hole 32, guide rod 31 is plugged in pilot hole 32, guide rod 31 is together with screw rod 83 on support 3, can make lifter plate 81 can not and screw rod 83 between there is opposing oscillatory, thus belt pulley 3 54 can be stable engage with odontoid belt 51.
As depicted in figs. 1 and 2, swing mechanism 9 comprises motor three 1c be fixed in frame 11, the output shaft of motor three 1c is provided with gear 1, support 3 is fixedly installed a swinging axle 93, swinging axle 93 is provided with the gear 2 92 coordinated with gear 1, the rotation of motor three 1c can make the support 3 be fixedly connected with swinging axle 93 swing along swinging axle 93, after completing the fixing of workpiece and cleaning, swing mechanism 9 makes whole support 3 rotate to an angle, make workpiece directly over support 3, move to the side of frame 11, workpiece is enable to fall in Workpiece storage container smoothly, the case weld of motor three 1c is in frame 11, and the upper end of swinging axle 93 is provided with adpting flange, is bolted between adpting flange and support 3, fixed by bearing between swinging axle 93 and frame 11.
As 1, Fig. 7, Fig. 9, shown in Figure 10 Figure 11 and Figure 12, gripper shoe 4 offers gathering sill 41, belt pulley 3 54 is connected with the inner of an elevating lever 84, the outer end of the outer end of elevating lever 84 and two support columns 45 is provided with roller 42, roller 42 is connected in gathering sill 41 and also can rolls in gathering sill 41, when lifter plate 81 moves up and down, support column 45 and elevating lever 84 also synchronizing moving thereupon, guiding when gathering sill 41 is for moving support column 45 and elevating lever 84, roller 42 is fixed on the outer end of support column 45 and elevating lever 84, reduce friction, elevating mechanism 8 is worked more smooth and easy, gripper shoe 4 is also provided with one piece of connecting plate 43, connecting plate 43 offers three locating holes 44, two support columns 45 and elevating lever 84 are located in three locating holes 44 respectively, the distance between axles of two support columns 45 and elevating lever 84 three is fixed by three locating holes 44 on connecting plate 43, under making odontoid belt 51 be in tensioning state all the time, arm for taking material 61 and being all connected by flexible pipe between cleaning arm 71 with air pump 2, air pump 2 is provided with a controller 21, arm for taking material 61 is equipped with the upper end of cleaning arm 71 joint pin be connected with flexible pipe.
Controller 21 has following functions: produce high pressure draught by the shower nozzle place in air pump 2 pairs of wiper mechanisms 7, certain vacuum is produced at sucker 62 place of Ding Liao mechanism 6, the control etc. of the opening and closing of wiper mechanism 7 and Ding Liao mechanism 6, motor one 1a, motor two 1b, motor three 1c is all connected with the ECU on injection machine with controller 21, ECU is according to die sinking and close the film time, the duty of injection machine, the information such as abnormal is comprehensive, make motor one 1a, motor two 1b, motor three 1c and controller 21 can carry out action to all parts of this manipulator accurately, thus complete feeding and the cleaning of injection machine.Controller 21 is the existing controller that market can have been bought, such as PLC, singlechip controller etc.
Operation principle of the present invention is: when injection moulding machine mould open, the Ding Liao mechanism 6 being fixed on odontoid belt 51 side carries out feeding, driven by odontoid belt 51 after Ding Liao mechanism 6 is fixing by workpiece and move, because wiper mechanism 7 is fixed on the opposite side of odontoid belt 51, when Ding Liao mechanism 6 moves, wiper mechanism 7 moves down, when wiper mechanism 7 is displaced downwardly to desired location, clean in wiper mechanism 7 pairs of die cavities 12, after the cleaning that is fixing and die cavity 12 of workpiece all completes, elevating mechanism 8 is by workpiece movable to frame 11, workpiece is rotated move angle by swing mechanism 9, workpiece is made to be positioned at directly over Workpiece storage container, workpiece unclamps in Ding Liao mechanism 6, workpiece is fallen in storing containers.Owing to being provided with wiper mechanism 7, all can clean die cavity 12 when the die sinking each time of injection machine, thus ensure the clean of die cavity 12, workpiece accuracy and aesthetics during raising injection mo(u)lding; Wiper mechanism 7 and Ding Liao mechanism 6 are positioned at the both sides of odontoid belt 51, and Ding Liao mechanism 6 and wiper mechanism 7 can complete the action entering die cavity 12 and leave die cavity 12 rapidly, and agile, operating efficiency is high.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Claims (7)
1. the manipulator of injection machine with singlechip controller, injection machine comprises frame (11) and die cavity (12), it is characterized in that, this mechanical hand comprises a support (3), described support (3) has a gripper shoe (4), described gripper shoe (4) is arranged with two support columns (45) in parallel, the inner of described two support columns (45) is respectively arranged with belt pulley one (52) and belt pulley two (53), an odontoid belt (51) is connected with between described belt pulley one (52) and belt pulley two (53), two sides of described odontoid belt (51) are respectively arranged with the Ding Liao mechanism (6) that the workpiece in die cavity (12) can be taken out and the wiper mechanism (7) that can clean die cavity (12), an elevating mechanism (8) that described wiper mechanism (7) and Ding Liao mechanism (6) can be driven to move up and down is provided with between described support (3) and odontoid belt (51), a swing mechanism (9) that support (3) can be driven to swing in horizontal plane is provided with between described support (3) and frame (11), described Ding Liao mechanism (6) comprises the arm for taking material (61) that is fixed on odontoid belt (51) left side, described arm for taking material (61) upper end is connected with an air pump (2), the lower end of described arm for taking material (61) is provided with a sucker (62), and described sucker (62) is communicated by the air intake passage (63) be opened in arm for taking material (61) with between air pump (2), described wiper mechanism (7) comprises the cleaning arm (71) that is fixedly installed on odontoid belt (51) right side, the upper end of described cleaning arm (71) is connected with described air pump (2), the lower end of described cleaning arm (71) is provided with several nozzles (72), and described nozzle (72) is communicated by the jet channel (73) be opened in cleaning arm (71) with between air pump (2), described arm for taking material (61) and being all connected by flexible pipe between cleaning arm (71) with air pump (2), described air pump (2) is provided with a controller (21), described controller (21) is singlechip controller.
2. a kind of manipulator of injection machine with singlechip controller according to claim 1, it is characterized in that, described odontoid belt (51) also engages with a belt pulley three (54), and described belt pulley three (54) is connected with the output shaft of a motor one (1a); Belt pulley one (52) is identical with the diameter of belt pulley two (53), and the diameter of described belt pulley three (54) is greater than described belt pulley one (52) and belt pulley two (53).
3. a kind of manipulator of injection machine with singlechip controller according to claim 2, it is characterized in that, described elevating mechanism (8) comprises one piece of lifter plate (81), described motor one (1a) is fixedly installed on lifter plate (81), described lifter plate (81) is fixedly installed a nut (82), described support (3) is fixedly installed motor two (1b), the output shaft of described motor two (1b) is installed with a screw rod (83) coordinated with described nut (82).
4. a kind of manipulator of injection machine with singlechip controller according to claim 3, it is characterized in that, described support (3) is also fixedly installed a guide rod (31), described lifter plate (81) offers a pilot hole (32), described guide rod (31) is plugged in described pilot hole (32).
5. a kind of manipulator of injection machine with singlechip controller according to claim 1, it is characterized in that, described swing mechanism (9) comprises a motor three (1c) be fixed in frame (11), the output shaft of described motor three (1c) is provided with gear one (91), described support (3) is fixedly installed a swinging axle (93), described swinging axle (93) is provided with the gear two (92) coordinated with gear one (91).
6. a kind of manipulator of injection machine with singlechip controller according to claim 2, it is characterized in that, described gripper shoe (4) offers gathering sill (41), described belt pulley three (54) is connected with the inner of an elevating lever (84), the outer end of described elevating lever (84) and the outer end of two support columns (45) are provided with roller (42), and described roller (42) is connected in described gathering sill (41) and also can rolls in described gathering sill (41).
7. a kind of manipulator of injection machine with singlechip controller according to claim 6, it is characterized in that, described gripper shoe (4) is also provided with one piece of connecting plate (43), described connecting plate (43) offers three locating holes (44), two described support columns (45) and elevating lever (84) are located in three described locating holes (44) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410811431.6A CN104526962A (en) | 2013-05-02 | 2013-05-02 | Injection moulding machine manipulator with single chip controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410811431.6A CN104526962A (en) | 2013-05-02 | 2013-05-02 | Injection moulding machine manipulator with single chip controller |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310160684.7A Division CN103231493B (en) | 2013-05-02 | 2013-05-02 | Improved-structure injection molding machine reclaiming manipulator |
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| CN104526962A true CN104526962A (en) | 2015-04-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552831A (en) * | 2013-05-02 | 2015-04-29 | 海宁市怡球塑业有限公司 | Injection molding machine manipulator with swing mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552831A (en) * | 2013-05-02 | 2015-04-29 | 海宁市怡球塑业有限公司 | Injection molding machine manipulator with swing mechanism |
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Application publication date: 20150422 |