CN104924524A - Multi-joint manipulator - Google Patents
Multi-joint manipulator Download PDFInfo
- Publication number
- CN104924524A CN104924524A CN201510241691.9A CN201510241691A CN104924524A CN 104924524 A CN104924524 A CN 104924524A CN 201510241691 A CN201510241691 A CN 201510241691A CN 104924524 A CN104924524 A CN 104924524A
- Authority
- CN
- China
- Prior art keywords
- temperature sensor
- plate
- guide rod
- load cell
- installing plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
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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
- B29C45/7686—Measuring, controlling or regulating the ejected articles, e.g. weight control
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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
- B29C45/78—Measuring, controlling or regulating of temperature
-
- 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
- B29C2945/76003—Measured parameter
- B29C2945/7604—Temperature
-
- 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
- B29C2945/76003—Measured parameter
- B29C2945/7613—Weight
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-joint manipulator which is characterized in that a mechanical conveying device is provided with a support and a mounting plate on the support; load sensors are mounted on the mounting plate; a suction cup bracket is connected with the load sensors; fixing plates are mounted at the two ends of the suction cup bracket; suction cups are mounted on the fixing plates; a temperature sensor is mounted on a temperature sensor transfer device; the temperature sensor transfer device is provided with strip-shaped grooves in the fixing plates; one end of a cross rod is fixed on the fixing plate by the strip-shaped groove, blots and nuts arranged on the fixing plate; the upside of the cross rod is connected with one end of a guide rod by a linear bearing; a fixture is arranged on the guide rod, and consists of a locating plate and a U-shaped clamp; the locating plate is provided with a connecting handle; a strip-shaped clamp hole is formed in the locating plate; a slotted hole connected with the guide rod is formed in the connecting handle; and a temperature sensor is mounted in the fixture. With the adoption of the scheme, the functions of the multi-joint manipulator are improved; the productivity is increased greatly; defective products can be detected; the required equipment cost and space occupation are reduced.
Description
Technical field
The present invention relates to a kind of injection moulding manipulator, specifically a kind of multi-joint manipulator being equipped with weighing device and aspirator.
Background technology
As everyone knows, of many uses in automation equipment of multi-joint manipulator, such as, whether the weight that multi-joint manipulator can measure injection article in robot device is defective, when Injection Industry measures the weight of injection article and product weight selects bad, carry out measuring if use manpower control machine or be put into by injecting products on electronic scale, this method can not be carried out at small space, causes huge investment.Therefore, the device developing manipulator measurement weight is very necessary, but, after injection article moves to horizontal level, directly measure injection article load on a moving belt on a moving belt, the difference detected between load and standard weights checks bad, and its deficiency moves to horizontal level at injection article and check that weight is a checkout procedure consuming time on a moving belt, is the reason causing speed of production to worsen.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, proposing a kind of energy sense weight and the multi-joint manipulator with adsorption function.
The present invention can be reached by following measure:
A kind of multi-joint manipulator, comprise mechanical arm (1) and temperature sensor (2), mechanical transmission device is installed in the front end of mechanical arm, it is characterized in that mechanical transmission device is provided with framework (41), installing plate (40) on framework (41), installing plate (40) is provided with the load cell (50) that at least two carry out gravimetry, Sucking disc stand (42) is connected with load cell (50), the fixed head (14) that Sucking disc stand (42) two ends are installed, fixed head (14) is provided with the sucker (11) possessing adsorbing separation effect, temperature sensor (2) is arranged on temperature sensor transfer device, temperature sensor transfer device is provided with strip slot on fixed head (14), one end of cross bar (30) is through being located at bar-shaped trough on fixed head, screw bolt and nut to be fixed on fixed head on (14), cross bar (30) is connected through linear bearing one end with guide rod (18), guide rod (18) is provided with jig, jig is made up of the location-plate (15) with connection handle and U-shaped card (22), location-plate (15) is provided with strip hole clipping (33), connection handle is provided with the slotted eye (31) be connected with guide rod (18), temperature sensor (2) is installed in jig, rotating guide (18) can change the relative angle of temperature sensor (2), the distance of temperature sensor (2) apart from sucker (11) front end can be changed at the upper mobile link handle of guide rod (18), the spacing of temperature sensor (2) apart from sucker (11) can be changed in strip slot slip by bolt, realize the focus of focus temperature sensor (2).
Load cell of the present invention (50) can be arranged on to the greatest extent the pars intermedia of installing plate (40), installing plate (40) is at least provided with two load cells.
Installing plate (40) on framework of the present invention (41) is provided with outstanding with installing plate (40) load cell in vertical configuration (50) forward, the bad measuring mechanism of load cell (50), Sucking disc stand (42), fixed head (14) and sucker (11) formation mold weight.
Jig of the present invention is made up of the handle plate (15) with connection handle (22) and U-shaped clamp (20), and handle plate (15) is provided with strip hole clipping, and U-shaped card is connected with handle plate through strip hole clipping, and connection handle (22) is provided with the slotted eye be connected with guide rod (18).
The present invention can utilize load cell measure in advance injection article absorption time weight, and further increase the function of multi-joint manipulator, greatly boost productivity, in addition, the mechanical arm of multi-joint manipulator installs temperature measuring equipment, improves the function of joint Manipulator further, detect bad, boost productivity, the equipment cost needed for minimizing and taking up room.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is the schematic diagram that the weight of the present invention to injection article is measured.
Fig. 3 is the scheme of installation of load cell in the present invention.
Fig. 4 is the schematic diagram of the adjustment of temperature sensor in the present invention.
Fig. 5 is the installation exemplary graph that the present invention uses contact-type temperature sensor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described:
As shown in the figure: a kind of multi-joint manipulator, comprise mechanical arm (1) and temperature sensor (2), mechanical transmission device is installed in the front end of mechanical arm, the structure of mechanical arm (1) and temperature sensor (2) and the interconnected relationship between them same as the prior art, this does not repeat, the invention is characterized in that mechanical transmission device is provided with framework (41), framework (41) is provided with installing plate (40), installing plate (40) is provided with the load cell (50) that at least two carry out gravimetry, Sucking disc stand (42) is connected with load cell (50), the fixed head (14) that Sucking disc stand (42) two ends are installed, fixed head (14) is provided with the sucker (11) possessing adsorbing separation effect, temperature sensor (2) is arranged on temperature sensor transfer device, described temperature sensor transfer device is provided with strip slot (33) on fixed head (14), one end of cross bar (30) is through being located at bar-shaped trough on fixed head (33), slotted eye (31), screw bolt and nut to be fixed on fixed head on (14), cross bar (30) is connected through linear bearing one end with guide rod (18), guide rod (18) is provided with jig, jig is made up of the handle plate (15) with connection handle (22) and U-shaped card, handle plate (15) is provided with hole clipping, connection handle (22) is provided with the slotted eye be connected with guide rod (18), temperature sensor (2) is installed in jig, rotating guide (18) can change the relative angle of temperature sensor (2), the distance of temperature sensor (2) apart from sucker (11) front end can be changed at the upper mobile link handle of guide rod (18), the spacing of temperature sensor (2) apart from sucker (11) can be changed in strip slot slip by bolt, realize the focus of focus temperature sensor (2), described load cell (50) can be arranged on to the greatest extent the centre of installing plate (40), installing plate (40) is at least provided with two load cells, installing plate (40) on described framework (41) is provided with outstanding with installing plate (40) load cell in vertical configuration (50) forward, load cell (50), Sucking disc stand (42), fixed head (14) and sucker (11) form the bad measuring mechanism of mold weight.
Embodiment 1:
As shown in the figure, be the mensuration of carrying out weight according to the upper article shaped adsorbent equipment sucker (11) connected of mechanical arm in apparatus of the present invention (1) under article shaped adsorbed state.The connecting frame (41) of mechanical arm (1) is provided with installing plate (40), installing plate (40) is upper installs absorption bracket (42), absorption bracket (42) two ends mounting plate (14), sucker (11) is installed in fixed head (14) top and bottom, thus make sucker (11) adsorption forming injection article, also have at installing plate (40) and the upper load cell (not shown) installing gravimetry of absorption bracket (42).Load cell is arranged on two or more place.Such as, being installed on the position of a and b in figure.Namely install between absorption cross bar (42) and installing plate (40), pressure sensor is arranged on installing plate (40), and load cell measures the load in absorption bracket (42).
Fig. 3 is the diagram of the cross section of the part that load cell (50) is installed.Be arranged on installing plate (40) with the same load cell of diagram (50), load cell (50) measures the load in absorption bracket (42).
If load cell only a local installation, is difficult to the center of gravity of Measurement accuracy mould.Therefore, it is better for installing in place, right left both sides or more.What load cell was measured is adsorb the heavy burden on bracket (42), and the load of absorption bracket (42) comprises the weight of the article shaped that sucker (11) adsorbs.Therefore, the mensuration in advance of article shaped, avoids bad deviation.
The weight difference of article shaped may be because there is resin injection to cause, and can find out bad article shaped by checking.
Above-mentioned load cell is only citing.The installation site of above-mentioned load cell (50) can be made up of two positions.Such as can be arranged on installing plate (40) and framework (41), or between framework (41) and mechanical arm (1).
Be described together with reference to the manipulator mobile device installed in Fig. 1 middle infrared (Mid-IR) temperature sensor.As shown in the figure, adsorbable 4 injection articles of the sucker (11) on manipulator mobile device.Also has the focus of the infrared laser of the temperature sensor conveyer about infrared temperature sensor (2) the adjustable installation of absorption injection article.Focus is left rotation and right rotation on temperature sensor (2), in the focus regulating laser in course of conveying that moves forward and backward.
Infrared temperature sensor (2) right anticlockwise can be controlled by the location-plate (15) be arranged on connection handle.Location-plate (15) is provided with arc-shaped slot hole clipping.Temperature sensor is fixed on U-shaped card, i.e. temperature sensor (2) left and right scope of activities intrinsic displacement.Location-plate (15) can be connected with connection handle with being integrated, and connection handle is connected with guide rod (18).Mobile by guide rod (18), the focus of connection handle adjustment laser.Cross bar (30) is installed guide rod (18), and cross bar (30) can move a left side, right and upper-lower position adjustment.Following explanation is done moving up and down of cross bar (30) about guide rod (18).The left and right of cross bar (30) moves up and down by the translot (31) that cross bar (30) is formed and upper vertical channel (33) realization formed of fixed head (14).At vertical channel (33) cross bar moving up and down (30) of fixed head (14), screw bolt and nut connects cross bar (30) by vertical channel (33) and translot (31), and the degree of tightness state cross bar (30) of screw bolt and nut is removable or fixing.According to the state of injection article (3), temperature sensor (2) can vertically longitudinal direction, horizontal cross and oblique inclination.Give an example, if the temperature sensor (2) tilted, by the upper connection handle of guide rod (18), the temperature sensor (2) on connecting plate (22) can tilt.
Description above uses infrared ray as the non-contact temperature sensor (2) of an example, but also possible temperature survey is undertaken by other temperature sensors.Such as, Fig. 5 is another example embodiment, and temperature sensor (2) does not utilize infrared temperature sensor types of contacts formula temperature sensor.Do not need each making all to utilize temperature sensor to carry out temperature measuring according to this device, manufacturing cost and production time can be reduced.
Simultaneously no matter temperature sensor (2) is left and right or up and down or angled motion, freely He easily can carry out temperature survey to any mold injection thing.From temperature measurement result deviation, remove the temperature of measurement, can distinguish bad in manipulator transfer device.
Embodiment 2:
In the present embodiment, load cell (50) is installed left, right two places, and as shown in the figure, injection article (3) or described mould, can carry out load measure in the left and right sides hereafter can being called as injection article (3).
In figure, injection article (3) is described to the gravimetry of upper/lower positions.
After sucker (11) adsorbs mould or injection article (sign) under the state of Fig. 1, the erecting device that mechanical arm (1) lower end is installed carries out the rotation of Fig. 4, makes injection article (3) at lower position.Under this state, load cell can carry out load measure.In this case, some is different for the fixed structure and Fig. 1 of load cell (50).If measure load at below drawing die (3), should at the upper installation load sensor of installing plate (40).
Can weight measurement be carried out in the embodiment of Fig. 1 under the state of sucker (11) absorption injection article, after rotating injection article, can weight measurement be carried out.Identical no matter which type of mode can have nothing to do fast with it, is separated the inning that the moment of adsorbing injection article (3) measures weight just, even if Fig. 2 injection article (3) does not have revolution space like this, raises the efficiency by displacement at sucker (11).
According to above-mentioned, obtain the weight difference between weight that injection article defects detection directly measures owing to the post processing of sucker (11), contribute to boosting productivity, and carry out weight measurement in narrow space and be also fine, do not need the Weight-measuring device that independent, save cost.
Claims (4)
1. a multi-joint manipulator, comprise mechanical arm and temperature sensor, mechanical transmission device is installed in the front end of mechanical arm, it is characterized in that mechanical transmission device is provided with support, installing plate on support, installing plate is provided with the load cell that at least two carry out gravimetry, Sucking disc stand is connected with load cell, the fixed head that Sucking disc stand two ends are installed, fixed head is provided with the sucker possessing adsorbing separation effect, temperature sensor is arranged on temperature sensor transfer device, temperature sensor transfer device is provided with strip slot on fixed head, one end of cross bar is through being located at bar-shaped trough on fixed head, screw bolt and nut is fixed on on fixed head, cross bar is connected with one end of guide rod through linear bearing, guide rod is provided with jig, jig is made up of the location-plate with connection handle and U-shaped card, location-plate is provided with strip hole clipping, connection handle is provided with the slotted eye be connected with guide rod, in jig, temperature sensor is installed, rotating guide can change the relative angle of temperature sensor, on guide rod, mobile link handle can change the distance of temperature sensor apart from sucker front end, the spacing of temperature sensor apart from sucker can be changed in strip slot slip by bolt, realize the focus of focus temperature sensor.
2. a kind of multi-joint manipulator according to claim 1, is characterized in that load cell can be arranged on to the greatest extent the pars intermedia of installing plate, installing plate is at least provided with two load cells.
3. a kind of multi-joint manipulator according to claim 1, it be the load cell of vertical configuration with installing plate that the installing plate that it is characterized in that on framework is provided with outstanding forward, the bad measuring mechanism of load cell, Sucking disc stand, fixed head and sucker formation mold weight.
4. a kind of multi-joint manipulator according to claim 1, it is characterized in that jig is made up of the handle plate with connection handle and U-shaped clamp, handle plate is provided with strip hole clipping, and U-shaped card is connected with handle plate through strip hole clipping, and connection handle is provided with the slotted eye be connected with guide rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510241691.9A CN104924524A (en) | 2015-05-13 | 2015-05-13 | Multi-joint manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510241691.9A CN104924524A (en) | 2015-05-13 | 2015-05-13 | Multi-joint manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104924524A true CN104924524A (en) | 2015-09-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510241691.9A Pending CN104924524A (en) | 2015-05-13 | 2015-05-13 | Multi-joint manipulator |
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| Country | Link |
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| CN (1) | CN104924524A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204622456U (en) * | 2015-05-13 | 2015-09-09 | 威海柳道机械有限公司 | Multi-joint manipulator |
| CN105628541A (en) * | 2014-11-25 | 2016-06-01 | 柳道斯塔自动化株式会社 | Apparatus for detecting defect of molded product in mold-takeout robot |
-
2015
- 2015-05-13 CN CN201510241691.9A patent/CN104924524A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105628541A (en) * | 2014-11-25 | 2016-06-01 | 柳道斯塔自动化株式会社 | Apparatus for detecting defect of molded product in mold-takeout robot |
| CN204622456U (en) * | 2015-05-13 | 2015-09-09 | 威海柳道机械有限公司 | Multi-joint manipulator |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150923 |