CN105415613B - A kind of manipulator of injection machine arm - Google Patents
A kind of manipulator of injection machine arm Download PDFInfo
- Publication number
- CN105415613B CN105415613B CN201510939001.7A CN201510939001A CN105415613B CN 105415613 B CN105415613 B CN 105415613B CN 201510939001 A CN201510939001 A CN 201510939001A CN 105415613 B CN105415613 B CN 105415613B
- Authority
- CN
- China
- Prior art keywords
- nut
- screw rod
- manipulator
- synchronous pulley
- substrate
- 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.)
- Expired - Fee Related
Links
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
- 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
-
- 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
Abstract
The invention discloses a kind of manipulator of injection machine arm, it includes pedestal, active beam and buffer, one piece of installing plate is connected with the top of active beam, buffer is installed on installing plate, rackwork for adjusting manipulator arm upper-lower position is installed on pedestal, rackwork includes substrate, motor, nut, screw rod and synchronous drive mechanism, substrate is installed on pedestal, motor is installed on substrate, nut through hole is provided with substrate, nut is axially across nut through hole and is installed on substrate, the screw of screw rod through nut is spirally connected with nut, screw rod is located at the underface of buffer, synchronous drive mechanism is arranged between the output shaft of motor and nut, motor output power drives nut to rotate by synchronous drive mechanism, nut rotation rises or falls screw rod, the position at the top of screw rod is the descending position of manipulator arm when the top of screw rod is contacted with buffer when manipulator arm is descending；Advantage is that rackwork is convenient to use and economical and practical.
Description
Technical field
The present invention relates to a kind of manipulator, more particularly, to a kind of manipulator of injection machine arm.
Background technology
With continuing to develop for manipulator industry, the convenience used manipulator, economy propose higher requirement.
Wherein, the convenience that manipulator is used is mainly reflected in the convenience of manipulator arm upper-lower position regulation, therefore manipulator
Arm need to carry out the regulation of upper-lower position using rackwork.Fig. 1 gives the positioning dress of existing manipulator of injection machine arm
The structure put, it includes locating piece 100 and fixed block 200, and locating piece 100 is fixedly connected by screw with fixed block 200, fixed
Block 200 is clamped on the guide rail 300 of manipulator arm, and locating piece 100, which is located at, is arranged at delaying on the pedestal 500 of manipulator arm
Rush the surface of device 400；When manipulator of injection machine arm is descending, the locating piece 100 when locating piece 100 pushes down buffer 400
Position is the descending position of manipulator arm, so can just be adjusted by adjusting upper-lower position of the locating piece 100 on guide rail 300
Save the descending position of manipulator arm.This rackwork is although simple in construction, but is due to that manipulator is mounted in injection machine
On, need to pedal high operation during regulation locating piece, thus it is very not convenient using this rackwork.
The content of the invention
It is convenient to use that the technical problems to be solved by the invention are to provide a kind of rackwork, and rackwork economy
Practical manipulator of injection machine arm.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：A kind of manipulator of injection machine arm, including base
Seat, active beam and buffer, it is characterised in that one piece of installing plate, described buffer peace are connected with the top of described active beam
Loaded on described installing plate, being provided with the rackwork for adjusting manipulator arm upper-lower position, institute on described pedestal
The rackwork stated includes substrate, motor, nut, screw rod and synchronous drive mechanism, and described substrate is installed on described pedestal
On, described motor is installed on described substrate, is provided with nut through hole on described substrate, described nut axially across
Described nut through hole is simultaneously installed on described substrate, the screw and described nut of described screw rod through described nut
It is spirally connected, described screw rod is located at the underface of described buffer, described synchronous drive mechanism is arranged at described motor
Between output shaft and described nut, described motor output power drives described nut by described synchronous drive mechanism
Rotation, described nut rotation rises or falls described screw rod, the top of the screw rod described in when manipulator arm is descending with
The position at the top of the screw rod described in when described buffer is contacted 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, described motor
Output shaft be connected with the wheel shaft of the first described synchronous pulley, the wheel shaft of described the second synchronous pulley and described nut
Bottom is fixedly connected by holding screw, and described timing belt is located at the first described synchronous pulley and the second described synchronization
On belt wheel, by described toothed belt transmission between described the first synchronous pulley and the second described synchronous pulley.Here, synchronous
Transmission mechanism uses toothed belt transmission structure, and easy for installation, noise is low, repetitive positioning accuracy is high, later maintenance is simple, efficiency
Height, long lifespan, cost are low, operate steadily.
Described rackwork also include upper bearing (metal), lower bearing, the bearing block with a stepped hole, with a through hole
Cover plate, the fixture block with a screw vent being adapted with described screw rod, the spacer ring with a through hole, it is described
Nut through hole is stepped hole, and described upper bearing (metal) passes through described nut and described upper bearing (metal) is embedded in described bearing block
Is pushed down by described bearing block in stepped hole, described lower bearing through in the described nut through hole of described nut insertion and by
Described cover plate is pushed down, and described bearing block at the top of described substrate with being fixedly connected, described cover plate and described substrate
Bottom be fixedly connected, described fixture block is installed on through described screw rod on described bearing block, and described fixture block limits institute
The screw rod stated can only rise or fall and can not rotate and rotate with described nut, and described spacer ring passes through described spiral shell
Mother, 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 described
The second synchronous pulley upper surface.Here, nut is installed on substrate using upper bearing (metal), lower bearing, bearing block and cover plate,
Due to having used two bearings i.e. upper bearing (metal) and lower bearing, therefore it may be such that more stable when screw rod rises or falls；Fixture block is set
Put so that screw rod will not rotate with the rotation of nut；In the case where nut and upper bearing (metal) and lower bearing are not tight fit,
Due to that can have a gap between lower bearing and the second synchronous pulley, this gap can cause nut to be axially moved, therefore
One spacer ring for filling up this gap is set between the upper surface of the inner ring of lower bearing and the second synchronous pulley.
Described screw vent has a spacing plane, and described screw rod is axially disposed to have a circumference spacing flat
Face, described fixture block is in close contact through described screw rod and described spacing plane and the spacing plane of described circumference, now
Screw rod can not rotate under external force under the limitation of fixture block.
One is provided with the top of described screw rod is used to run out of described nut when avoiding described screw rod from declining
Baffle plate, the bottom of described screw rod is provided with a lower block for being used to run out of described nut when avoiding described screw rod from rising
Plate.
Described rackwork also includes circlip for shaft, and described circlip for shaft is sheathed on described nut
Outside, and described circlip for shaft is located at the lower section of the lower surface of the second described synchronous pulley.
Compared with prior art, the advantage of the invention is that：
1）By adjusting the installation site of buffer, i.e., buffer is installed on the active beam of manipulator arm, and
One rackwork is installed on the pedestal of manipulator arm, regulation manipulator is risen or fallen by the screw rod in rackwork
The descending position of arm, the i.e. contact by the top of the screw rod in rackwork with buffer determine the descending position of manipulator arm
Put, high work need not be pedaled because rackwork is by motor drive operational therein, therefore during the descending position of regulation manipulator arm
Industry, rackwork is convenient to use.
2）Rackwork is mainly made up of substrate, motor, nut, screw rod and synchronous drive mechanism, economical and practical.
Brief description of the drawings
Fig. 1 is the structural representation of the rackwork of existing manipulator of injection machine arm；
Fig. 2 a are the front view of the manipulator of injection machine arm of embodiment one（In the case of screw rod and buffer are discontiguous）；
Fig. 2 b are the left view of the manipulator of injection machine arm of embodiment one（In the case of screw rod and buffer are discontiguous）；
Fig. 2 c are the front view of the manipulator of injection machine arm of embodiment one（In the case that screw rod is contacted with buffer）；
Fig. 2 d are the left view of the manipulator of injection machine arm of embodiment one（In the case that screw rod is contacted with buffer）；
Fig. 3 for embodiment one manipulator of injection machine arm in rackwork dimensional structure diagram；
Fig. 4 for embodiment one manipulator of injection machine arm in rackwork decomposition texture schematic diagram；
Fig. 5 for embodiment one manipulator of injection machine arm in rackwork in fixture block structural representation；
Fig. 6 for embodiment one manipulator of injection machine arm in rackwork in screw rod cross section structure schematic diagram；
Fig. 7 for embodiment two manipulator of injection machine arm in rackwork dimensional structure diagram.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
Embodiment one：
A kind of manipulator of injection machine arm that the present embodiment is proposed, as shown in Fig. 2 a to Fig. 4, it includes pedestal 500, active
Beam 600 and buffer 400, the top of active beam 600 are connected with one piece of installing plate 700, and buffer 400 is installed on installing plate 700
On, the rackwork P for adjusting manipulator arm upper-lower position is installed, rackwork P includes substrate 1, electricity on pedestal 500
Machine 2, nut 3, screw rod 4 and synchronous drive mechanism 5, substrate 1 are installed on pedestal 500, and motor 2 is installed on the top of substrate 1
And the output shaft of motor 2 is located at the lower section of substrate 1 through substrate 1, be provided with nut through hole 11 on substrate 1, nut 3 axially across
Nut through hole 11 is simultaneously installed on substrate 1, and the screw of screw rod 4 through nut 3 is spirally connected with nut 3, and screw rod 4 is located at buffer 400
Underface, synchronous drive mechanism 5 is arranged between the output shaft of motor 2 and nut 3, and the output power of motor 2 passes through synchronous pass
Motivation structure 5 drive nut 3 rotate, nut 3 rotation rise or fall screw rod 4, when manipulator arm is descending the top of screw rod 4 with
The position at the top of screw rod 4 is the descending position of manipulator arm when buffer 400 is contacted.
In the present embodiment, synchronous drive mechanism 5 is by 53 groups of the first synchronous pulley 51, the second synchronous pulley 52 and timing belt
Into 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 and the bottom of nut 3
It is fixedly connected by existing holding screw, timing belt 53 is located on the first synchronous pulley 51 and the second synchronous pulley 52, the
It is driven between one synchronous pulley 51 and the second synchronous pulley 52 by timing belt 53.Here, synchronous drive mechanism is passed using timing belt
Dynamic structure, easy for installation, noise is low, repetitive positioning accuracy is high, later maintenance is simple, efficiency high, long lifespan, cost is low, run
Steadily.
In the present embodiment, rackwork P also includes upper bearing (metal) 31, lower bearing 32, the bearing block with a stepped hole
33rd, the cover plate 34 with a through hole, fixture block 35 with a screw vent 351 being adapted with screw rod 4, logical with one
The spacer ring 38 in hole, nut through hole 11 is stepped hole, and upper bearing (metal) 31 is through nut 3 and makes the platform of the insertion bearing block 33 of upper bearing (metal) 31
Pushed down in rank hole by bearing block 33, i.e., the outer ring of upper bearing (metal) 31 is pushed down by bearing block 33, lower bearing 32 passes through the inserted num of nut 3
Pushed down in through hole 11 and by cover plate 34, i.e., the outer ring of lower bearing 32 is pushed down by cover plate 34, the top of bearing block 33 and substrate 1 is fixed
Connection, cover plate 34 is fixedly connected with the bottom of substrate 1, and fixture block 35 is installed on bearing block 33 through screw rod 4, and fixture block 35 limits spiral shell
Bar 4 can only rise or fall and can not rotate and rotate with nut 3, and spacer ring 38 passes through nut 3, and the top end face of spacer ring 38
The inner ring of lower bearing 32 is withstood, the bottom face of spacer ring 38 withstands the upper surface of the second synchronous pulley 52.Here, utilizing upper bearing (metal)
31st, nut 3 is installed on substrate 1 by lower bearing 32, bearing block 33 and cover plate 34, due to having used two bearings i.e. upper bearing (metal) 31
With lower bearing 32, therefore it may be such that more stable when screw rod 4 rises or falls；The setting of fixture block 35 causes screw rod 4 will not be with spiral shell
Mother 3 rotation and rotate；In the case where nut 3 and upper bearing (metal) 31 and lower bearing 32 are not tight fit, due to lower bearing 32 with
There can be a gap between second synchronous pulley 52, this gap can cause nut 3 to be axially moved, therefore in lower bearing 32
One spacer ring 38 for filling up this gap is set between the upper surface of inner ring and the second synchronous pulley 52.
In the present embodiment, it can only rise or fall for reaching that fixture block 35 limits screw rod 4 and can not rotate and revolve with nut 3
The purpose turned, is defined to fixture block 35 and the respective structure of screw rod 4.Fig. 5 gives the front view structure of fixture block, fixture block 35
Screw vent 351 has a spacing plane 352；Fig. 6 gives the radial section structure of screw rod, and screw rod 4 has one vertically
The individual spacing plane 44 of circumference, circumferentially spacing plane 44 is in close contact with spacing plane 352 when assembling screw rod 4 and fixture block 35, now
Screw rod 4 can not rotate under external force under the limitation of fixture block 35.In actual design process, it would however also be possible to employ other modes
Or structure can only rise or fall limiting screw rod 4 and can not rotate and rotate with nut 3.
Embodiment two：
A kind of manipulator of injection machine arm that the present embodiment is proposed is the manipulator of injection machine arm proposed to embodiment one
In rackwork in screw rod made further improvement, as shown in fig. 7, i.e. a use is provided with the top of screw rod 4
The overhead gage 41 of nut 3 is run out of when avoiding screw rod 4 from declining, one is provided with the bottom of screw rod 4 is used to avoid screw rod 4 from rising
When run out of the lower baffle plate 42 of nut 3.
In each above-mentioned embodiment, a circlip for shaft 39 can also be set up, circlip for shaft 39 is sheathed on
Outside nut 3, and circlip for shaft 39 is located at the lower section of the lower surface of the second synchronous pulley 52.
Claims (4)
1. a kind of manipulator of injection machine arm, including pedestal, active beam and buffer, it is characterised in that the top of described active beam
Portion is connected with one piece of installing plate, and described buffer is installed on described installing plate, is provided with described pedestal for adjusting
The rackwork of manipulator arm upper-lower position is saved, described rackwork includes substrate, motor, nut, screw rod and synchronous biography
Motivation structure, described substrate is installed on described pedestal, and described motor is installed on described substrate, on described substrate
It is provided with nut through hole, described nut is axially across described nut through hole and is installed on described substrate, described spiral shell
The screw of bar through described nut is spirally connected with described nut, and described screw rod is located at the underface of described buffer, institute
The synchronous drive mechanism stated is arranged between the output shaft of described motor and described nut, and described motor output power leads to
Cross described synchronous drive mechanism and drive described nut rotation, described nut rotation rises or falls described screw rod,
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 is contacted 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, described motor it is defeated
Shaft is connected with the wheel shaft of the first described synchronous pulley, the bottom of the wheel shaft of described the second synchronous pulley and described nut
It is fixedly connected by holding screw, described timing belt is located at described the first synchronous pulley and the second described synchronous pulley
On, by described toothed belt transmission between described the first synchronous pulley and the second described synchronous pulley；
Described rackwork also includes upper bearing (metal), lower bearing, the bearing block with a stepped hole, the lid with a through hole
Plate, the fixture block with a screw vent being adapted with described screw rod, the spacer ring with a through hole, described nut
Through hole is stepped hole, the step that described upper bearing (metal) passes through described nut and makes described upper bearing (metal) be embedded in described bearing block
Pushed down in hole by described bearing block, in the nut through hole described in described lower bearing through described nut insertion and by described
Cover plate push down, described bearing block at the top of described substrate with being fixedly connected, the bottom of described cover plate and described substrate
Portion is fixedly connected, and described fixture block is installed on through described screw rod on described bearing block, and described fixture block limits described
Screw rod can only rise or fall and can not rotate and rotate with described nut, and described spacer ring passes through described nut, and
The top end face of described spacer ring withstands the inner ring of described lower bearing, and the bottom face of described spacer ring withstands described second
The upper surface of synchronous pulley.
2. a kind of manipulator of injection machine arm according to claim 1, it is characterised in that described screw vent has one
Individual spacing plane, described screw rod is axially disposed a spacing plane of circumference, described fixture block through described screw rod and
Described spacing plane is in close contact with the spacing plane of described circumference.
3. a kind of manipulator of injection machine arm according to claim 1 or 2, it is characterised in that set at the top of described screw rod
An overhead gage for being used to run out of described nut when avoiding described screw rod from declining is equipped with, the bottom of described screw rod is provided with
One lower baffle plate for avoiding running out of described nut during described screw rod rising.
4. a kind of manipulator of injection machine arm according to claim 1 or 2, it is characterised in that described rackwork is also wrapped
Circlip for shaft is included, described circlip for shaft is sheathed on outside described nut, and described circlip for shaft is located at
The lower section of the lower surface of the second described synchronous pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510939001.7A CN105415613B (en) | 2015-12-15 | 2015-12-15 | A kind of manipulator of injection machine arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510939001.7A CN105415613B (en) | 2015-12-15 | 2015-12-15 | A kind of manipulator of injection machine arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105415613A CN105415613A (en) | 2016-03-23 |
| CN105415613B true CN105415613B (en) | 2017-09-15 |
Family
ID=55494366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510939001.7A Expired - Fee Related CN105415613B (en) | 2015-12-15 | 2015-12-15 | A kind of manipulator of injection machine arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105415613B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107225770B (en) * | 2017-07-06 | 2020-05-05 | 广东长盈精密技术有限公司 | Mechanical arm |
Family Cites Families (6)
| 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 |
| CN104890224B (en) * | 2015-04-02 | 2017-01-18 | 福耀集团(福建)机械制造有限公司 | 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 |
-
2015
- 2015-12-15 CN CN201510939001.7A patent/CN105415613B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105415613A (en) | 2016-03-23 |
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