CN106863722A - Injection machine oblique-arm type manipulator - Google Patents
Injection machine oblique-arm type manipulator Download PDFInfo
- Publication number
- CN106863722A CN106863722A CN201710234929.4A CN201710234929A CN106863722A CN 106863722 A CN106863722 A CN 106863722A CN 201710234929 A CN201710234929 A CN 201710234929A CN 106863722 A CN106863722 A CN 106863722A
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- Prior art keywords
- auxiliary
- principal arm
- hand
- injection machine
- hand folder
- Prior art date
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- 238000002347 injection Methods 0.000 title claims abstract description 32
- 239000007924 injection Substances 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 210000000707 wrist Anatomy 0.000 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims description 26
- 230000009471 action Effects 0.000 claims description 7
- 239000000872 buffer Substances 0.000 claims description 4
- 230000005693 optoelectronics Effects 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- 229910052742 iron Inorganic materials 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 16
- 238000001746 injection moulding Methods 0.000 abstract description 3
- 230000007306 turnover Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000003296 saliva Anatomy 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004781 supercooling Methods 0.000 description 1
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
- B29C45/40—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of injection machine oblique-arm type manipulator, including the body for supporting, described body top is provided with the principal arm that can be overturn with respect to the organism level, described principal arm be provided with can on the principal arm horizontal reciprocating movement auxiliary, described auxiliary bottom is dismountable to be provided with and open and close movement is pumped and can carried out along the auxiliary is pressed from both sides with the hand of grabbing workpiece, described hand folder with wrist that the two is connected and the hand folder can be driven to horizontally rotate is provided between auxiliary；Described manipulator also includes the control system being connected with the principal arm, auxiliary, hand folder and wrist respectively.Simple structure of the present invention, it is made up of the part of wrist five of the body, turnover principal arm, the auxiliary that can be moved along a straight line, retractable hand folder and the driving hand folder rotation that fixedly mount, can be according to actual motion, complete the carrying to injection molding machine product, realize that Automated condtrol is produced, labour intensity is reduced, production efficiency is improve, so as to reduce production cost.
Description
Technical field
The present invention relates to automatic injection manufacturing technology field, more specifically, it relates to injection machine oblique-arm type manipulator.
Background technology
Manipulator is a kind of machine that workpiece is carried to another place from place, at present, in developed country,
Manipulator is widely used in industry-by-industry.However, in Injection Industry, due to the characteristic such as injecting products are soft, temperature is high, commonly
Manipulator cannot largely popularize on automatic injection production line, therefore, some injection production lines on, injection machine production product
Product are usually that could collect or be carried to subsequent processing to be processed through supercooling after demoulding, and this process considerably increases work
Power, reduces production efficiency, so as to have impact on the productivity effect of enterprise.
The content of the invention
The technical problem to be solved in the present invention is directed to the above-mentioned deficiency of prior art, there is provided a kind of simple structure, makes
It is convenient, effectively improve production efficiency can Automated condtrol capture the injection machine oblique-arm type manipulator of moulding.
The technical scheme is that such：Injection machine oblique-arm type manipulator, including the body for supporting, it is described
Body top is provided with the principal arm that can be overturn with respect to the organism level, and described principal arm is provided with can be transported horizontal reciprocating on the principal arm
Dynamic auxiliary, dismountable being provided with described auxiliary bottom pumped along the auxiliary and can carry out open and close movement to capture
The hand folder of workpiece, described hand folder with wrist that the two is connected and the hand folder can be driven to horizontally rotate is provided between auxiliary；
Described manipulator also includes the control system being connected with the principal arm, auxiliary, hand folder and wrist respectively.
Used as further improving, described body side is provided with the endplay device that can drive the principal arm motion, described
Principal arm one end be provided with the first drive mechanism that can drive auxiliary motion, described auxiliary is provided with can drive the hand to press from both sides
The second drive mechanism for moving up and down, is provided with that the hand folder can be driven to carry out open and close movement between described hand folder and wrist
Three drive mechanisms.
Further, described endplay device include being movably articulated in swingable telescopic cylinder on the body and
Rocker and be fixedly linked with the rocker and consolidated with one end of the principal arm through the body that the telescopic cylinder is movably connected
Fixed connected trip shaft, the top for being arranged in the body that described trip shaft can be rotated against.
Further, described rocker is that can carry out 0 °~90 ° triangles for waving around the horizontal axial line of the body
Thin plate, an arcuate guide hole is provided with below the triangular sheets and is connected with the telescopic cylinder.
Further, described principal arm is including the link connected with the endplay device, positioned at the link relative
The support frame for supporting first drive mechanism at end, it is connected with support frame both sides and by the two positioned at the link
A pair of main boards, a pair of guide posts between two main boards and can be slided in two guide posts for installing the auxiliary
Sliding block.
Further, being additionally provided between two main boards of support frame as described above one end are close to can prevent overload from moving and damaging
The middle frame of the principal arm, being respectively equipped with described middle frame and sliding block can slow down the buffer of impact dynamics.
Further, it is connected together to ball by ball between described auxiliary and sliding block to move along a straight line, described second
Drive mechanism includes the installing plate and the straight line cylinder between the installing plate and sliding block positioned at the auxiliary bottom.
Further, described hand folder is hand clamping type paw, including a pair of expansibles and closure nipper and by two nippers
The baffle plate of compression, described nipper is movably articulated in the inner side of the baffle plate so that the nipper is in natural shape by pin respectively
The action opened is completed under state, the one end on the inside of baffle plate is located on described nipper and is additionally provided with the rolling that can be rotated relative to the nipper
Wheel；The 3rd described drive mechanism is pressed from both sides in the pair roller of end one so that the circular cone of the clamp plate closure including pluggable in the hand
The pusher cylinder of the taper bolt motion is sold and promoted, the company that the two is connected is provided between described pusher cylinder and hand folder
Fitting.
Further, described body is the fixed body installed in injection machine side, including for installing fixed installation
Seat and the cylinder of the hollow structure for installing the principal arm and by the mounting seat be connected with cylinder for installing
The connecting portion of the control system.
Further, described control system is the PLC module of procedure auto-control, including multiple travel switches, photoelectricity
Switch, operation button, working mode selection switch, electromagnet and indicator lamp, have been distinguished by the programmed instruction for being input into different
Into the action of the principal arm, auxiliary, hand folder and wrist.
Beneficial effect
The present invention compared with prior art, have the advantage that for：Simple structure of the present invention, it is easy to make, by fixedly mounting
Body, turnover principal arm, the auxiliary that can be moved along a straight line, retractable hand folder and drive the part of wrist five of hand folder rotation
Constitute, the frictional resistance between all parts is smaller, the waste of pollution environment will not be produced, can be completed according to actual motion
Carrying to injection molding machine product；Can be controlled by PLC, realize that Automated condtrol is produced, greatly reduce labour intensity, improved
Production efficiency, so as to reducing production cost；Also, the hand folder of the manipulator can be changed, for gripping various not similar shapes
The workpiece of shape so that the purposes of manipulator is more diversified.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structure enlarged diagram of principal arm in the present invention；
Fig. 3 is the partial structurtes enlarged diagram that principal arm is connected with auxiliary in the present invention；
Fig. 4 is the partial structurtes enlarged diagram that wrist is connected with auxiliary in the present invention；
Fig. 5 is the structure enlarged diagram of endplay device in the present invention；
Fig. 6 is the cross-section structure enlarged diagram of hand folder in the present invention；
Fig. 7 is the motion schematic diagram of manipulator in the present invention；
Fig. 8 is the connection circuit figure of control system in the present invention；
Fig. 9 is the action sequence diagram of electromagnet in the present invention.
Wherein：1- bodies, 2- principal arms, 3- auxiliarys, 4- hands folder, 5- wrists, 6- control systems, 7- endplay devices, 8- first
Drive mechanism, the drive mechanisms of 9- second, the drive mechanisms of 10- the 3rd, 1a- mounting seats, 1b- cylinders, 1c- connecting portions, 2a- connections
Frame, 2b- support frames, 2c- main boards, 2d- guide posts, 2e- sliding blocks, 2f- middle frames, 2g- buffers, 4a- nippers, 4b- baffle plates,
4c- pins, 4d- rollers, 7a- telescopic cylinders, 7b- rockers, 7c- trip shafts, 9a- installing plates, 9b- straight line cylinders, 10a- circular cones
Pin, 10b- pusher cylinders, 10c- connectors.
Specific embodiment
The present invention is described further for specific embodiment in below in conjunction with the accompanying drawings.
Refering to Fig. 1-9, injection machine oblique-arm type manipulator of the invention, the manipulator is arranged on by injection machine or injection machine
Side, for the real-time gripping of injecting products being carried to corresponding position, including the body 1 for supporting, in the upper of body 1
Side be provided with can with respect to the principal arm 2 of the flip horizontal of body 1, be provided with principal arm 2 can on the principal arm 2 horizontal reciprocating movement pair
Arm 3, in the bottom of the auxiliary 3, dismountable being provided with pumped along the auxiliary 3 and can carry out open and close movement to capture work
The hand folder 4 of part, is provided between hand folder 4 and auxiliary 3 and the two is connected and hand can be driven to press from both sides the wrist 5 of 4 horizontal rotations, wherein,
Body 1 bears the weight of whole manipulator and workpiece, and because the manipulator is applied to injection machine, the object of crawl is lighter weight
Working of plastics, therefore, body 1 using aluminium profile can meet use requirement, greatly reduce weight and the making of body 1
Cost, principal arm 2 is one of executing agency of manipulator, carries the weight that auxiliary 3, wrist 5, hand press from both sides 4 and workpiece etc., is responsible for
Order about hand and press from both sides 4 upset in the horizontal direction so that hand folder 4 sails out of injection machine, it is ensured that the workpiece of crawl moves to the position specified
Put, because the manipulator is exclusively used in injection machine production, therefore, principal arm 2 is made to meet using aluminium alloy and required, is substantially reduced
The quality and cost of manufacture of principal arm 2, is easy to processing and fabricating, and auxiliary 3 is responsible for ordering about hand and presss from both sides 4 in the vertical directions and move up and down,
In order to ensure the steady and precision of operation, auxiliary 3 is driven in the form of line slideway, and wrist 5 is a revolution for single blade
Cylinder, is responsible for driving hand folder 4 around vertical direction reciprocating rotary, and to change the crawl direction of hand folder 4, manipulator of the invention is special
For injection machine, crawl profile is small, light weight working of plastics, meets by saliva folder of the hand folder 4 using hand clamping type and requires；This hair
Bright manipulator also includes the control system 6 being connected with principal arm 2, auxiliary 3, hand folder 4 and wrist 5 respectively, for controlling principal arm 2
Upset, auxiliary 3 move up and down, wrist 5 rotates and hand presss from both sides 4 foldings, realize Automated condtrol, easy to operate.The present invention
Simple structure, it is easy to make, by the body 1, turnover principal arm 2, the auxiliary 3 that can be moved along a straight line, retractable for fixedly mounting
The parts of wrist 5 five of hand folder 4 and the rotation of driving hand folder 4 are constituted, and the frictional resistance between all parts is smaller, will not produce dirt
The waste of environment is contaminated, the carrying to injection molding machine product can be completed according to actual motion；Can be controlled by PLC, realized automatic
Change control production, greatly reduce labour intensity, production efficiency is improve, so as to reduce production cost；Also, the manipulator
Hand folder 4 can change, for gripping various workpiece of different shapes so that the purposes of manipulator is more diversified.
In the present embodiment, the endplay device 7 that principal arm 2 can be driven to move is additionally provided with the side of body 1, the one of principal arm 2
End is additionally provided with the first drive mechanism 8 that auxiliary 3 can be driven to move, and second that hand can be driven to press from both sides 4 up and down motions is provided with auxiliary 3
Drive mechanism 9, is provided with the 3rd drive mechanism 10 that hand folder 4 can be driven to carry out open and close movement between hand folder 4 and wrist 5, above-mentioned
Endplay device 7, the first drive mechanism 8, the drive device of the second drive mechanism 9 and the 3rd drive mechanism 10 respectively by leading
Line is connected with control system 6, forms a circuit loop.
Wherein, endplay device 7 includes swingable telescopic cylinder 7a and the telescopic cylinder for being movably articulated on body 1
Rocker 7b that 7a is movably connected and it is fixedly linked with rocker 7b and through body 1 and turning over that one end of principal arm 2 is fixedly linked
Rotating shaft 7c, what trip shaft 7c can be rotated against is arranged in the top of body 1, and trip shaft 7c needs to bear larger pressure and receives
To larger torsional moment and curved force square, therefore trip shaft 7c is the axial workpiece made using 45 steel, and rocker 7b is can
0 °~90 ° triangular sheets waved are carried out around the horizontal axial line of body 1, an arc is provided with below the triangular sheets
Pilot hole is connected with the push rod of telescopic cylinder 7a, and the push rod of telescopic cylinder 7a elongates or shortens the lower section of drive rocker 7b around rocker
7b tops swing, due to being fixedly linked above trip shaft 7c and rocker 7b, therefore, trip shaft 7c swings with rocker 7b, so that
Principal arm 2 has been driven to swing.
Principal arm 2 includes the link 2a being connected with endplay device 7, positioned at link 2a opposite sides for support the
The support frame 2b of one drive mechanism 8, a pair of main board 2c, positions being connected with support frame 2b both sides and by the two positioned at link 2a
A pair of guide post 2d between the two main board 2c and sliding block 2e for installing auxiliary 3 that can be slided in two guide post 2d,
I.e. principal arm 2 is the frame-type cantilever being made up of link 2a, support frame 2b, main board 2c, guide post 2d and sliding block 2e, is improved
While the kinetic stability of auxiliary 3 and precision, the quality of principal arm 2 being also reduced, being effectively saved production cost, first drives
Mechanism 8 is a pneumatic cylinder being arranged on support frame 2b, and the push rod of the cylinder is connected with the sliding block 2e of principal arm 2, by this
Flexible, the promotion sliding block 2e straight-line displacements, so as to drive the reciprocating motion in the horizontal direction of auxiliary 3 of cylinder.Near support frame
Being additionally provided between the two main board 2c of 2b one end can prevent overload from moving and damage the middle frame 2f of principal arm 2, in middle frame 2f and
Being respectively equipped with sliding block 2e can slow down the oil buffer 2g of impact dynamics, effectively protect principal arm 2 and auxiliary 3 injury-free,
Improve the positional precision of hand folder 4.
Auxiliary 3 is a slide bar being adapted with the top shoe 2e of principal arm 2, and passes through ball between auxiliary 3 and sliding block 2e
Be connected together to ball linear motion, it is ensured that auxiliary 3 slide up and down it is steady, effectively increase hand folder 4 positional precision, prevent
Only hand folder 4 is shaken when being captured；Second drive mechanism 9 includes the installing plate 9a positioned at the bottom of auxiliary 3 and installation
The push rod of straight line cylinder 9b, straight line cylinder 9b between installing plate 9a and sliding block 2e is fixedly linked with installing plate 9a, straight line
The cylinder body of cylinder 9b is fixedly linked with the sliding block 2e on principal arm 2, the reciprocal telescopic of straight line cylinder 9b, realizes promoting hand folder about 4
Shift reciprocately.
Hand presss from both sides 4 for hand clamping type paw, including a pair of expansibles and the nipper 4a for closing and the baffle plate for compressing two nipper 4a
4b, also, nipper 4a is movably articulated in the inner side of baffle plate 4b so that nipper 4a is completed in its natural state by pin 4c respectively
The action opened, i.e. pin 4c are the setting for deviateing nipper 4a centers of gravity, and the one end being located on the inside of baffle plate 4b on nipper 4a also sets
Having can have gap relative to the roller 4d of nipper 4a rotations between second wheel 4d；3rd drive mechanism 10 include it is pluggable in
So that the taper bolt 10a of nipper 4a closures and pushing away for promotion taper bolt 10a motions in the gap of the hand folder pair roller 4d of 4 end one
Take offence cylinder 10b, promotes taper bolt 10a to move back and forth by the push rod of pusher cylinder 10b, drive the nipper 4a of hand folder 4 open and
Closure, realizes crawl and puts down workpiece, and the connector 10c that the two is connected is additionally provided between pusher cylinder 10b and hand folder 4,
Realize that pusher cylinder 10b is connected with the steady of hand folder 4.
Body 1 is on injection machine or the fixed body of injection machine side, including for installing fixed mounting seat
1a is controlled with the cylinder 1b of the hollow structure for installing principal arm 2 and by what mounting seat 1a was connected with cylinder 1b for installation
The connecting portion 1c of system processed 6, mounting seat 1a bottom are provided with multiple bolts hole and reinforcement for installing, during connecting portion 1c is
Empty structure, in the integrally disposed inner chamber with connecting portion 1c of various wire harness of control system 6, the trip shaft 7c of endplay device 7 is inserted
It is connected to the inner chamber of cylinder 1b.
Control system 6 for procedure auto-control PLC module, including multiple travel switches, optoelectronic switch, operation button,
Working mode selection switch, electromagnet and indicator lamp, it is preferred that travel switch is 6, optoelectronic switch 1, operation button 9
Individual, working mode selection switchs 2, and output points are 12, wherein electromagnet 8, indicator lamp 4, also, in the PLC module
With 22 input points, 12 output points are respectively completed principal arm 2, auxiliary 3, hand folder 4 by being input into different programmed instruction
And the action of wrist 5.
Automatic Control Theory of the invention is：Before motion starts, all of part is all in initial position；When receiving
During the order of beginning, the electromagnet 4YA of control auxiliary 3 level reach begins to turn on, and auxiliary 3 starts to translate forward, when auxiliary 3 is moved
Move specify it is local when, electromagnet 4YA disconnect, auxiliary 3 will stop movement；And then hand is controlled to press from both sides 4 to moving down after power-off
Dynamic electromagnet 2YA is connected, and the electromagnet 8YA of the control rotation of wrist 5 is also also turned on, hand folder 4 by the guide rails on auxiliary 3 to
Wrist 5 rotates 180 ° while lower mobile, and when hand folder 4 is moved down into the position specified, electromagnet 2YA disconnects, and hand folder 4 stops
Only move down；The electromagnet 3YA of control nipper 4a closures is connected, and nipper 4a closures complete workpiece holding；When nipper 4a folders are steady
After workpiece, the electromagnet 1YA that control hand folder 4 is moved up is connected, and hand folder 4 is moved up along the guide rail of auxiliary 3, when hand presss from both sides 4
After rising to specified altitude assignment, 1YA disconnects, and hand folder 4 stops moving up；The electromagnet 1YA moved after the control level of auxiliary 3 is connected,
When auxiliary 3 moves to specified location, 6YA disconnects, and auxiliary 3 stops movement；The electromagnet 7YA of the control rotation of principal arm 2 is connected, principal arm
After 2 45 ° of rotations, 7YA disconnects, and principal arm 2 stops the rotation；The electromagnet 2YA that move down of control hand folder 4 are connected, and hand folder 4 is to moving down
Move at stockpiling area platform 10mm, electromagnet 2YA disconnects, hand folder 4 stops movement；The electromagnet 4YA that control nipper 4a unclamps
Connect, nipper 4a unclamps workpiece and drops in stockpiling area, complete workpiece and unclamp；Everything is finished, and all of mechanism is returned to
Initial position.
Above-described is only the preferred embodiment of the present invention, it should be pointed out that for a person skilled in the art,
On the premise of structure of the present invention is not departed from, some deformations and improvement can also be made, these are implemented all without the influence present invention
Effect and practical applicability.
Claims (10)
1. injection machine oblique-arm type manipulator, it is characterised in that including the body (1) for supporting, described body (1) top sets
Have can with respect to the principal arm (2) of body (1) flip horizontal, described principal arm (2) be provided with can on the principal arm (2) horizontal reciprocating
The auxiliary (3) of motion, described auxiliary (3) bottom is removably provided with and pumps and can be opened along the auxiliary (3)
Resultant motion presss from both sides (4) with the hand of grabbing workpiece, is provided between described hand folder (4) and auxiliary (3) and the two is connected and institute can be driven
State the wrist (5) of hand folder (4) horizontal rotation；Described manipulator also includes being pressed from both sides with the principal arm (2), auxiliary (3), hand respectively
And the connected control system (6) of wrist (5) (4).
2. injection machine oblique-arm type manipulator according to claim 1, it is characterised in that described body (1) side is provided with
The endplay device (7) that the principal arm (2) can be driven to move, described principal arm (2) one end is provided with can drive the auxiliary (3) to move
The first drive mechanism (8), described auxiliary (3) is provided with the second drive mechanism that hand folder (4) can be driven to move up and down
(9) the 3rd drive mechanism that hand folder (4) can be driven to carry out open and close movement is provided between, described hand folder (4) and wrist (5)
(10)。
3. injection machine oblique-arm type manipulator according to claim 2, it is characterised in that described endplay device (7) includes
The rocker that the swingable telescopic cylinder (7a) and the telescopic cylinder (7a) being movably articulated on the body (1) are movably connected
(7b) and it is fixedly linked with the rocker (7b) and through the body (1) and turning over that one end of the principal arm (2) is fixedly linked
Rotating shaft (7c), the top for being arranged in the body (1) that described trip shaft (7c) can be rotated against.
4. injection machine oblique-arm type manipulator according to claim 3, it is characterised in that described rocker (7b) is for can be around institute
Stating the horizontal axial line of body (1) carries out 0 °~90 ° triangular sheets waved, and an arc is provided with below the triangular sheets
Shape pilot hole is connected with the telescopic cylinder (7a).
5. injection machine oblique-arm type manipulator according to claim 2, it is characterised in that described principal arm (2) including with institute
State the connected link (2a) of endplay device (7), positioned at link (2a) opposite side for supporting described first to drive
The support frame (2b) of mechanism (8), a pair of main forces being connected with support frame (2b) both sides and by the two positioned at the link (2a)
Plate (2c), a pair of the guide posts (2d) between two main boards (2c) and can two guide posts (2d) slide for installing
The sliding block (2e) of the auxiliary (3).
6. injection machine oblique-arm type manipulator according to claim 5, it is characterised in that near support frame as described above (2b)
The middle frame (2f) that can be prevented overload from moving and damage the principal arm (2) is additionally provided between two main boards (2c) at end, it is described
Being respectively equipped with middle frame (2f) and sliding block (2e) can slow down the buffer (2g) of impact dynamics.
7. injection machine oblique-arm type manipulator according to claim 5, it is characterised in that described auxiliary (3) and sliding block
Ball is connected together between (2e) by ball to move along a straight line, second drive mechanism (9) is including positioned at the auxiliary (3)
The installing plate (9a) of bottom and the straight line cylinder (9b) between the installing plate (9a) and sliding block (2e).
8. injection machine oblique-arm type manipulator according to claim 2, it is characterised in that described hand folder (4) is hand clamping type
Paw, including a pair of expansibles and the nipper (4a) for closing and the baffle plate (4b) for compressing two nippers (4a), described nipper
(4a) respectively by pin (4c) be movably articulated in the baffle plate (4b) inner side so that the nipper (4a) in its natural state
The action that completion is opened, is located at the one end on the inside of baffle plate (4b) and is additionally provided with and can be revolved with respect to the nipper (4a) on described nipper (4a)
The roller (4d) for turning；The 3rd described drive mechanism (10) is including pluggable in the hand folder pair roller (4d) of (4) end one
So that the taper bolt (10a) of nipper (4a) closure and the pusher cylinder (10b) for promoting the taper bolt (10a) to move,
The connector (10c) that the two is connected is provided between described pusher cylinder (10b) and hand folder (4).
9. the injection machine oblique-arm type manipulator according to any one in claim 1-8, it is characterised in that described body
(1) it is fixed body installed in injection machine side, including for installing fixed mounting seat (1a) and for installing the principal arm
(2) cylinder (1b) of hollow structure and by the mounting seat (1a) be connected with cylinder (1b) for installing the control
The connecting portion (1c) of system (6) processed.
10. injection machine oblique-arm type manipulator according to claim 9, it is characterised in that described control system (6) is journey
The PLC module that sequence is automatically controlled, including multiple travel switches, optoelectronic switch, operation button, working mode selection switch, electromagnetism
Iron and indicator lamp, the principal arm (2), auxiliary (3), hand folder (4) and hand are respectively completed by being input into different programmed instruction
The action of wrist (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234929.4A CN106863722A (en) | 2017-04-12 | 2017-04-12 | Injection machine oblique-arm type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710234929.4A CN106863722A (en) | 2017-04-12 | 2017-04-12 | Injection machine oblique-arm type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106863722A true CN106863722A (en) | 2017-06-20 |
Family
ID=59162861
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| CN106945021A (en) * | 2017-05-22 | 2017-07-14 | 泰州职业技术学院 | A kind of fuselage for being used to support mechanical arm |
| CN106965164A (en) * | 2017-05-22 | 2017-07-21 | 泰州职业技术学院 | A kind of mechanical arm for being used to be molded pickup |
| CN107030995A (en) * | 2017-05-22 | 2017-08-11 | 泰州职业技术学院 | A kind of plastic catching robot with five degree of freedom |
| CN109304848A (en) * | 2017-07-28 | 2019-02-05 | 盐城三鼎电子科技有限公司 | A kind of more injection molding horn hands |
| CN111251558A (en) * | 2020-01-15 | 2020-06-09 | 浙江强伟五金有限公司 | Clamping device |
| CN111633631A (en) * | 2020-05-07 | 2020-09-08 | 朱法宪 | Be used for mechanical hand of moulding plastics |
| CN112809725A (en) * | 2020-12-30 | 2021-05-18 | 创维集团智能装备有限公司 | Injection molding assembly line positioning and grabbing equipment |
| CN114347010A (en) * | 2022-02-15 | 2022-04-15 | 广州大学 | Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece |
| CN115072622A (en) * | 2022-06-15 | 2022-09-20 | 中国工程物理研究院激光聚变研究中心 | Supporting device of heavy-load clamp and multi-degree-of-freedom heavy-load installation vehicle thereof |
| CN117086849A (en) * | 2023-10-17 | 2023-11-21 | 深圳市畅盛精密模具有限公司 | Manipulator for carrying mold |
| CN117182506A (en) * | 2023-11-07 | 2023-12-08 | 长春惠泰消防安全科技有限公司 | Connector sealing gasket assembly equipment for fire hose |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106965164A (en) * | 2017-05-22 | 2017-07-21 | 泰州职业技术学院 | A kind of mechanical arm for being used to be molded pickup |
| CN107030995A (en) * | 2017-05-22 | 2017-08-11 | 泰州职业技术学院 | A kind of plastic catching robot with five degree of freedom |
| CN106945021A (en) * | 2017-05-22 | 2017-07-14 | 泰州职业技术学院 | A kind of fuselage for being used to support mechanical arm |
| CN109304848A (en) * | 2017-07-28 | 2019-02-05 | 盐城三鼎电子科技有限公司 | A kind of more injection molding horn hands |
| CN111251558A (en) * | 2020-01-15 | 2020-06-09 | 浙江强伟五金有限公司 | Clamping device |
| CN111633631B (en) * | 2020-05-07 | 2021-08-06 | 邵东县环兴打火机制造有限公司 | A manipulator for moulding plastics |
| CN111633631A (en) * | 2020-05-07 | 2020-09-08 | 朱法宪 | Be used for mechanical hand of moulding plastics |
| CN112809725A (en) * | 2020-12-30 | 2021-05-18 | 创维集团智能装备有限公司 | Injection molding assembly line positioning and grabbing equipment |
| CN114347010A (en) * | 2022-02-15 | 2022-04-15 | 广州大学 | Pneumatic clamping mechanical arm device for reinforced modified grinding workpiece |
| CN115072622A (en) * | 2022-06-15 | 2022-09-20 | 中国工程物理研究院激光聚变研究中心 | Supporting device of heavy-load clamp and multi-degree-of-freedom heavy-load installation vehicle thereof |
| CN115072622B (en) * | 2022-06-15 | 2023-08-22 | 中国工程物理研究院激光聚变研究中心 | Supporting device of heavy-duty clamp and multi-degree-of-freedom heavy-duty mounting vehicle thereof |
| CN117086849A (en) * | 2023-10-17 | 2023-11-21 | 深圳市畅盛精密模具有限公司 | Manipulator for carrying mold |
| CN117086849B (en) * | 2023-10-17 | 2024-01-19 | 深圳市畅盛精密模具有限公司 | Manipulator for carrying mold |
| CN117182506A (en) * | 2023-11-07 | 2023-12-08 | 长春惠泰消防安全科技有限公司 | Connector sealing gasket assembly equipment for fire hose |
| CN117182506B (en) * | 2023-11-07 | 2024-01-02 | 长春惠泰消防安全科技有限公司 | Connector sealing gasket assembly equipment for fire hose |
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Application publication date: 20170620 |