CN105415613A - Manipulator arm of injection molding machine - Google Patents

Manipulator arm of injection molding machine Download PDF

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Publication number
CN105415613A
CN105415613A CN201510939001.7A CN201510939001A CN105415613A CN 105415613 A CN105415613 A CN 105415613A CN 201510939001 A CN201510939001 A CN 201510939001A CN 105415613 A CN105415613 A CN 105415613A
Authority
CN
China
Prior art keywords
nut
screw rod
manipulator
bearing
substrate
Prior art date
Application number
CN201510939001.7A
Other languages
Chinese (zh)
Other versions
CN105415613B (en
Inventor
韩斌
陈大键
胡天恩
黄佳南
周家旺
洪凯达
陈波
Original Assignee
宁波海迈克自动化科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 宁波海迈克自动化科技有限公司 filed Critical 宁波海迈克自动化科技有限公司
Priority to CN201510939001.7A priority Critical patent/CN105415613B/en
Publication of CN105415613A publication Critical patent/CN105415613A/en
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Publication of CN105415613B publication Critical patent/CN105415613B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/40Removing or ejecting moulded articles
    • B29C45/42Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C45/4225Take-off members or carriers for the moulded articles, e.g. grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/40Removing or ejecting moulded articles
    • B29C45/42Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
    • B29C2045/4241Auxiliary means for removing moulded articles from the robot

Abstract

The invention discloses a manipulator arm of an injection molding machine. The manipulator arm of the injection molding machine comprises a base, an active beam and a buffer, wherein the top of the active beam is connected with a mounting plate; the buffer is mounted on the mounting plate; a position adjusting device which is used for adjusting the up-down position of the manipulator arm is mounted on the base and comprises a substrate, a motor, a nut, a screw and a synchronous transmission mechanism; the substrate is mounted on the base; the motor is mounted on the substrate; a nut through hole is formed in the substrate; the nut axially penetrates through the nut through hole and is mounted on the substrate; the screw penetrates through a screw hole of the nut, is in screwed connection with the nut, and is positioned just below the buffer; the synchronous transmission mechanism is arranged between an outputting shaft of the motor and the nut; the motor outputs power and drives the nut to rotate through the synchronous transmission mechanism; the nut rotates to enable the screw to ascend or descend; and when the manipulator arm descends and the top of the screw is in contact with the buffer, the position of the top of the screw is a descending position of the manipulator arm. The manipulator arm of the injection molding machine has the advantage that the position adjusting device is speedy and convenient to use and is economic and practical.

Description

A kind of manipulator of injection machine arm
Technical field
The present invention relates to a kind of manipulator, especially relate to a kind of manipulator of injection machine arm.
Background technology
Along with the development of manipulator industry, convenience, the economy that manipulator uses is had higher requirement.Wherein, the convenience that manipulator uses is mainly reflected in the convenience of manipulator arm upper-lower position adjustment, and therefore manipulator arm need utilize rackwork to carry out the adjustment of upper-lower position.Fig. 1 gives the structure of the rackwork of existing manipulator of injection machine arm, it comprises locating piece 100 and fixed block 200, locating piece 100 is fixedly connected with fixed block 200 by screw, fixed block 200 is clamped on the guide rail 300 of manipulator arm, and locating piece 100 is positioned at directly over the buffer 400 that is arranged on the pedestal 500 of manipulator arm; When manipulator of injection machine arm is descending, when buffer 400 pushed down by locating piece 100, the position of locating piece 100 is the descending position of manipulator arm, the position like this by regulating the upper-lower position of locating piece 100 on guide rail 300 that manipulator arm just can be regulated descending.Although this rackwork structure is simple, because manipulator is mounted on injection machine, regulate during locating piece and need to pedal high operation, therefore use this rackwork very not convenient.
Summary of the invention
It is convenient to use that technical problem to be solved by this invention is to provide a kind of rackwork, and the manipulator of injection machine arm that rackwork is economical and practical.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of manipulator of injection machine arm, comprise pedestal, active beam and buffer, it is characterized in that the top of described active beam is connected with one piece of installing plate, described buffer is installed on described installing plate, described pedestal is provided with the rackwork for regulating manipulator arm upper-lower position, described rackwork comprises substrate, motor, nut, screw rod and synchronous drive mechanism, described substrate is installed on described pedestal, described motor is installed on described substrate, described substrate is provided with nut through hole, described nut is axially across described nut through hole and be installed on described substrate, described screw rod is spirally connected through the screw of described nut and described nut, described screw rod is positioned at immediately below described buffer, between the output shaft that described synchronous drive mechanism is arranged at described motor and described nut, nut described in described motor output power is driven by described synchronous drive mechanism rotates, described nut rotates and makes described screw rod increase or decline, the position at the top of the screw rod described in when the top of the screw rod described in when manipulator arm is descending contacts with described buffer is the descending position of manipulator arm.
Described synchronous drive mechanism is made up of the first synchronous pulley, the second synchronous pulley and Timing Belt, the output shaft of described motor is connected with the wheel shaft of the first described synchronous pulley, the wheel shaft of the second described synchronous pulley is fixedly connected with by holding screw with the bottom of described nut, described Timing Belt is located on the first described synchronous pulley and the second described synchronous pulley, by described toothed belt transmission between the first described synchronous pulley and the second described synchronous pulley.At this, synchronous drive mechanism adopts toothed belt transmission structure, easy for installation, noise is low, repetitive positioning accuracy is high, later maintenance is simple, efficiency is high, the life-span is long, cost is low, operate steadily.
Described rackwork also comprises upper bearing (metal), lower bearing, there is the bearing block of a stepped hole, there is the cover plate of a through hole, there is the fixture block of a screw vent suitable with described screw rod, there is the spacer ring of a through hole, described nut through hole is stepped hole, described upper bearing (metal) passes described nut and makes to be pushed down by described bearing block in the stepped hole of the described bearing block described in upper bearing (metal) embedding, pushed down by described cover plate in nut through hole described in described lower bearing embeds through described nut, described bearing block is fixedly connected with the top of described substrate, described cover plate is fixedly connected with the bottom of described substrate, described fixture block is installed on described bearing block through described screw rod, screw rod described in described fixture block limits can only rise or decline and can not rotate with described nut and rotate, described spacer ring is through described nut, and the top end face of described spacer ring withstands the inner ring of described lower bearing, the bottom face of described spacer ring withstands the upper surface of the second described synchronous pulley.At this, upper bearing (metal), lower bearing, bearing block and cover plate is utilized to be installed on substrate by nut, owing to employing two bearings and upper bearing (metal) and lower bearing, more stable when screw rod therefore can be made to increase or decline; Fixture block be arranged so that screw rod can not rotate along with the rotation of nut; Under nut and upper bearing (metal) and lower bearing are not friction tight situations, due to a gap can be there is between lower bearing and the second synchronous pulley, this gap can cause nut axially-movable, therefore between the inner ring and the upper surface of the second synchronous pulley of lower bearing, arranges the spacer ring that is filled up this gap.
Described screw vent has a spacing plane, described screw rod is provided with a spacing plane of circumference vertically, described fixture block passes described screw rod and described spacing plane and the spacing plane close contact of described circumference, and now screw rod cannot rotate under external force under the restriction of fixture block.
The top of described screw rod is provided with one for avoiding running out of during described screw rod decline the overhead gage of described nut, and the bottom of described screw rod is provided with one for avoiding running out of during described screw rod rising the lower baffle plate of described nut.
Described rackwork also comprises circlip for shaft, and described circlip for shaft is sheathed on outside described nut, and described circlip for shaft is positioned at the below of the lower surface of the second described synchronous pulley.
Compared with prior art, the invention has the advantages that:
1) by the installation site of adjustment buffer, be installed on the active beam of manipulator arm by buffer, and on the pedestal of manipulator arm, a rackwork is installed, by rising or the position regulating manipulator arm descending that declines of the screw rod in rackwork, namely determine by the top of the screw rod in rackwork and the contact of buffer the position that manipulator arm is descending, because rackwork is by motor drive operational wherein, without the need to pedaling high operation during the position therefore regulating manipulator arm descending, rackwork is convenient to use.
2) rackwork is primarily of substrate, motor, nut, screw rod and synchronous drive mechanism composition, economical and practical.
Accompanying drawing explanation
Fig. 1 is the structural representation of the rackwork of existing manipulator of injection machine arm;
Fig. 2 a is the front view (screw rod and the discontiguous situation of buffer under) of the manipulator of injection machine arm of embodiment one;
Fig. 2 b is the left view (screw rod and the discontiguous situation of buffer under) of the manipulator of injection machine arm of embodiment one;
Fig. 2 c is the front view (when screw rod contacts with buffer) of the manipulator of injection machine arm of embodiment one;
Fig. 2 d is the left view (when screw rod contacts with buffer) of the manipulator of injection machine arm of embodiment one;
Fig. 3 is the perspective view of the rackwork in the manipulator of injection machine arm of embodiment one;
Fig. 4 is the decomposition texture schematic diagram of the rackwork in the manipulator of injection machine arm of embodiment one;
Fig. 5 is the structural representation of the fixture block in the rackwork in the manipulator of injection machine arm of embodiment one;
Fig. 6 is the cross section structure schematic diagram of the screw rod in the rackwork in the manipulator of injection machine arm of embodiment one;
Fig. 7 is the perspective view of the rackwork in the manipulator of injection machine arm of embodiment two.
Detailed description of the invention
Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.
Embodiment one:
A kind of manipulator of injection machine arm that the present embodiment proposes, as shown in Fig. 2 a to Fig. 4, it comprises pedestal 500, active beam 600 and buffer 400, the top of active beam 600 is connected with one piece of installing plate 700, buffer 400 is installed on installing plate 700, pedestal 500 is provided with the rackwork P for regulating manipulator arm upper-lower position, rackwork P comprises substrate 1, motor 2, nut 3, screw rod 4 and synchronous drive mechanism 5, substrate 1 is installed on pedestal 500, on the top that motor 2 is installed on substrate 1 and the output shaft of motor 2 is positioned at the below of substrate 1 through substrate 1, substrate 1 is provided with nut through hole 11, nut 3 is axially across nut through hole 11 and be installed on substrate 1, screw rod 4 is spirally connected through the screw of nut 3 and nut 3, screw rod 4 is positioned at immediately below buffer 400, synchronous drive mechanism 5 is arranged between the output shaft of motor 2 and nut 3, motor 2 outputting power drives nut 3 to rotate by synchronous drive mechanism 5, nut 3 rotates and makes screw rod 4 rise or decline, when when manipulator arm is descending, the top of screw rod 4 contacts with buffer 400, the position at the top of screw rod 4 is the descending position of manipulator arm.
In the present embodiment, synchronous drive mechanism 5 is made up of the first synchronous pulley 51, second synchronous pulley 52 and Timing Belt 53, the output shaft of motor 2 is connected with the wheel shaft of the first synchronous pulley 51, the wheel shaft of the second synchronous pulley 52 is fixedly connected with by existing holding screw with the bottom of nut 3, Timing Belt 53 is located on the first synchronous pulley 51 and the second synchronous pulley 52, by Timing Belt 53 transmission between the first synchronous pulley 51 and the second synchronous pulley 52.At this, synchronous drive mechanism adopts toothed belt transmission structure, easy for installation, noise is low, repetitive positioning accuracy is high, later maintenance is simple, efficiency is high, the life-span is long, cost is low, operate steadily.
In the present embodiment, rackwork P also comprises upper bearing (metal) 31, lower bearing 32, there is the bearing block 33 of a stepped hole, there is the cover plate 34 of a through hole, there is the fixture block 35 of a screw vent 351 suitable with screw rod 4, there is the spacer ring 38 of a through hole, nut through hole 11 is stepped hole, upper bearing (metal) 31 passes nut 3 and makes to be pushed down by bearing block 33 in the stepped hole of upper bearing (metal) 31 embedded axle bearing 33, namely the outer ring of upper bearing (metal) 31 is pushed down by bearing block 33, lower bearing 32 is through being pushed down by cover plate 34 in nut 3 inserted num through hole 11, namely the outer ring of lower bearing 32 is pushed down by cover plate 34, bearing block 33 is fixedly connected with the top of substrate 1, cover plate 34 is fixedly connected with the bottom of substrate 1, fixture block 35 is installed on bearing block 33 through screw rod 4, fixture block 35 limits screw rod 4 and can only rise or decline and can not rotate with nut 3 and rotate, spacer ring 38 is through nut 3, and the top end face of spacer ring 38 withstands the inner ring of lower bearing 32, the bottom face of spacer ring 38 withstands the upper surface of the second synchronous pulley 52.At this, upper bearing (metal) 31, lower bearing 32, bearing block 33 and cover plate 34 is utilized to be installed on substrate 1 by nut 3, owing to employing two bearings and upper bearing (metal) 31 and lower bearing 32, more stable when screw rod 4 therefore can be made to rise or decline; Fixture block 35 be arranged so that screw rod 4 can not rotate along with the rotation of nut 3; Under nut 3 and upper bearing (metal) 31 and lower bearing 32 are not friction tight situations, due to a gap can be there is between lower bearing 32 and the second synchronous pulley 52, this gap can cause nut 3 axially-movable, therefore between the inner ring and the upper surface of the second synchronous pulley 52 of lower bearing 32, arranges the spacer ring 38 that is filled up this gap.
In the present embodiment, limit for reaching fixture block 35 object that screw rod 4 can only rise or decline and can not rotate with nut 3 and rotate, fixture block 35 and the respective structure of screw rod 4 are limited.Fig. 5 gives the main TV structure of fixture block, and the screw vent 351 of fixture block 35 has a spacing plane 352; Fig. 6 gives the radial section structure of screw rod, screw rod 4 has a spacing plane 44 of circumference vertically, the spacing plane 44 of circumference and spacing plane 352 close contact when assembling screw rod 4 and fixture block 35, now screw rod 4 cannot rotate under external force under the restriction of fixture block 35.In actual design process, other modes or structure also can be adopted can only to rise or decline and can not rotate with nut 3 to limit screw rod 4 and rotate.
Embodiment two:
A kind of manipulator of injection machine arm that the present embodiment proposes has made further improvement to the screw rod in the rackwork in the manipulator of injection machine arm of embodiment one proposition, as shown in Figure 7, namely be provided with at the top of screw rod 4 one for avoiding screw rod 4 to decline time run out of the overhead gage 41 of nut 3, be provided with in the bottom of screw rod 4 one for avoiding screw rod 4 to rise time run out of the lower baffle plate 42 of nut 3.
In each embodiment above-mentioned, can also set up a circlip for shaft 39, circlip for shaft 39 is sheathed on outside nut 3, and circlip for shaft 39 is positioned at the below of the lower surface of the second synchronous pulley 52.

Claims (6)

1. a manipulator of injection machine arm, comprise pedestal, active beam and buffer, it is characterized in that the top of described active beam is connected with one piece of installing plate, described buffer is installed on described installing plate, described pedestal is provided with the rackwork for regulating manipulator arm upper-lower position, described rackwork comprises substrate, motor, nut, screw rod and synchronous drive mechanism, described substrate is installed on described pedestal, described motor is installed on described substrate, described substrate is provided with nut through hole, described nut is axially across described nut through hole and be installed on described substrate, described screw rod is spirally connected through the screw of described nut and described nut, described screw rod is positioned at immediately below described buffer, between the output shaft that described synchronous drive mechanism is arranged at described motor and described nut, nut described in described motor output power is driven by described synchronous drive mechanism rotates, described nut rotates and makes described screw rod increase or decline, the position at the top of the screw rod described in when the top of the screw rod described in when manipulator arm is descending contacts with described buffer is the descending position of manipulator arm.
2. a kind of manipulator of injection machine arm according to claim 1, it is characterized in that described synchronous drive mechanism is made up of the first synchronous pulley, the second synchronous pulley and Timing Belt, the output shaft of described motor is connected with the wheel shaft of the first described synchronous pulley, the wheel shaft of the second described synchronous pulley is fixedly connected with by holding screw with the bottom of described nut, described Timing Belt is located on the first described synchronous pulley and the second described synchronous pulley, by described toothed belt transmission between the first described synchronous pulley and the second described synchronous pulley.
3. a kind of manipulator of injection machine arm according to claim 2, it is characterized in that described rackwork also comprises upper bearing (metal), lower bearing, there is the bearing block of a stepped hole, there is the cover plate of a through hole, there is the fixture block of a screw vent suitable with described screw rod, there is the spacer ring of a through hole, described nut through hole is stepped hole, described upper bearing (metal) passes described nut and makes to be pushed down by described bearing block in the stepped hole of the described bearing block described in upper bearing (metal) embedding, pushed down by described cover plate in nut through hole described in described lower bearing embeds through described nut, described bearing block is fixedly connected with the top of described substrate, described cover plate is fixedly connected with the bottom of described substrate, described fixture block is installed on described bearing block through described screw rod, screw rod described in described fixture block limits can only rise or decline and can not rotate with described nut and rotate, described spacer ring is through described nut, and the top end face of described spacer ring withstands the inner ring of described lower bearing, the bottom face of described spacer ring withstands the upper surface of the second described synchronous pulley.
4. a kind of manipulator of injection machine arm according to claim 3, it is characterized in that described screw vent has a spacing plane, described screw rod is provided with a spacing plane of circumference vertically, and described fixture block passes described screw rod and described spacing plane and the spacing plane close contact of described circumference.
5. a kind of manipulator of injection machine arm according to any one of claim 1 to 4, it is characterized in that the top of described screw rod is provided with one for avoiding running out of during described screw rod decline the overhead gage of described nut, the bottom of described screw rod is provided with one for avoiding running out of during described screw rod rising the lower baffle plate of described nut.
6. a kind of manipulator of injection machine arm according to claim 3 or 4, it is characterized in that described rackwork also comprises circlip for shaft, described circlip for shaft is sheathed on outside described nut, and described circlip for shaft is positioned at the below of the lower surface of the second described synchronous pulley.
CN201510939001.7A 2015-12-15 2015-12-15 A kind of manipulator of injection machine arm CN105415613B (en)

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CN201510939001.7A CN105415613B (en) 2015-12-15 2015-12-15 A kind of manipulator of injection machine arm

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CN105415613B CN105415613B (en) 2017-09-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107225770A (en) * 2017-07-06 2017-10-03 广东长盈精密技术有限公司 Manipulator

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2123238A3 (en) * 1971-05-17 1972-09-08 Cusant Jeanine Universal manipulator - esp suited to automatically loading or unloading moulds or presses
JP2004306213A (en) * 2003-04-09 2004-11-04 Shinsei Koki Kk Device for casting and removing workpiece
JP2005138438A (en) * 2003-11-06 2005-06-02 Yamanashi Fuso:Kk Formed product ejector device in forming machine and another processing machine
CN202934752U (en) * 2012-11-05 2013-05-15 深圳市杨森精密机械有限公司 Automatic mechanical hand for shoe heel injection molding of high-heeled shoes
CN104890224A (en) * 2015-04-02 2015-09-09 福耀玻璃工业集团股份有限公司 Conical roller assembly for shaping by film drawing machine
CN205310724U (en) * 2015-12-15 2016-06-15 宁波海迈克自动化科技有限公司 Injection molding machine mechanical arm

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2123238A3 (en) * 1971-05-17 1972-09-08 Cusant Jeanine Universal manipulator - esp suited to automatically loading or unloading moulds or presses
JP2004306213A (en) * 2003-04-09 2004-11-04 Shinsei Koki Kk Device for casting and removing workpiece
JP2005138438A (en) * 2003-11-06 2005-06-02 Yamanashi Fuso:Kk Formed product ejector device in forming machine and another processing machine
CN202934752U (en) * 2012-11-05 2013-05-15 深圳市杨森精密机械有限公司 Automatic mechanical hand for shoe heel injection molding of high-heeled shoes
CN104890224A (en) * 2015-04-02 2015-09-09 福耀玻璃工业集团股份有限公司 Conical roller assembly for shaping by film drawing machine
CN205310724U (en) * 2015-12-15 2016-06-15 宁波海迈克自动化科技有限公司 Injection molding machine mechanical arm

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107225770A (en) * 2017-07-06 2017-10-03 广东长盈精密技术有限公司 Manipulator

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