CN107972227A - A kind of injection molding machine sorting palletizing system and its method of work - Google Patents

A kind of injection molding machine sorting palletizing system and its method of work Download PDF

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Publication number
CN107972227A
CN107972227A CN201711323248.1A CN201711323248A CN107972227A CN 107972227 A CN107972227 A CN 107972227A CN 201711323248 A CN201711323248 A CN 201711323248A CN 107972227 A CN107972227 A CN 107972227A
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CN
China
Prior art keywords
workpiece
robot
stacking
cylinder
working plate
Prior art date
Application number
CN201711323248.1A
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Chinese (zh)
Inventor
李占
顾欢
邓烨峰
严顶
李岭
刘荣华
何家健
李阳
居广次
洪元
Original Assignee
中国船舶重工集团公司第七六研究所
中国船舶重工集团公司第七一六研究所
江苏杰瑞科技集团有限责任公司
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Application filed by 中国船舶重工集团公司第七六研究所, 中国船舶重工集团公司第七一六研究所, 江苏杰瑞科技集团有限责任公司 filed Critical 中国船舶重工集团公司第七六研究所
Priority to CN201711323248.1A priority Critical patent/CN107972227A/en
Publication of CN107972227A publication Critical patent/CN107972227A/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
    • B29C45/1769Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
    • 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
    • B29C45/0053Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor combined with a final operation, e.g. shaping
    • 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
    • B29C45/1769Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
    • B29C2045/177Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners stacking moulded articles

Abstract

The invention discloses a kind of injection molding machine to sort palletizing system, including supply unit, coding unit, robot, palletized unit, three-coordinate manipulator, injection molding machine, three-coordinate manipulator grabbing workpiece from injection molding machine is put to supply unit, workpiece is delivered to robot material taking mouth by supply unit, robot is sequentially completed workpiece grabbing according to order, spray Quick Response Code, stacking, artificial feed opening, which is delivered to, eventually through carrying roller pipeline completes blanking, the present invention can realize the sorting to a variety of Different Rule materials, stacking, the spray printing of two codes, the adaptability of system, sexual valence is higher.

Description

A kind of injection molding machine sorting palletizing system and its method of work

Technical field

The present invention relates to industrial automatic sorting technical field, more particularly to a kind of injection molding machine sorting palletizing system and its work Make method.

Background technology

With the continuous rise of labor cost, undergo technological transformation upgrading by using advanced automated production equipment, Enterprise's production labor total amount is further reduced, optimize technique techniqueflow, raises labour productivity, and is necessarily becoming for industrial development Gesture.

In the prior art, product is desultorily deposited in material frame, it is necessary to which worker picks workpiece one by one, and differentiation is not Same mould number, again stacking are cased, and since the daily yield of workpiece is very high, a worker needs to complete the sorting of thousands of workpiece Vanning task, not only labor intensity is big but also work easily error, and the workpiece that different moulds produce is placed in same chest, Once the product of one of mould production goes wrong, quality inspection is not found in time, can only finally be made secondary product rejection by the gross Into the great wasting of resources.

Existing mechanism is to draw workpiece from injection molding machine by three-coordinate manipulator carrying vacuum cup to be directly placed into mostly Material frame, shortcoming:1. due to workpiece place in a jumble, it is necessary to manually by workpiece again stacking case, great work intensity, efficiency low 2. by Big in yield, when vanning, has little time to distinguish mould number, can only load in mixture the workpiece that different moulds produce together, when some mould Go wrong and fail to find in time, workpiece defective can and together with qualified workpiece load in mixture, when progress product recall, can only Whole batch products are all scrapped into processing, is unfavorable for product and accurately recalls;Cause the great wasting of resources 3. as installation One component, it is necessary to which carrying out automatic barcode scanning to workpiece enters MES, since information is artificial on workpiece during Automated assembly Tu Yin, size identical property etc. can not ensure, cause workpiece information can not realize that automatic barcode scanning enters information system, hinder automatic Makeup realization information-based during matching somebody with somebody.

The content of the invention

Present invention aim to address the defects of existing sorting, stacking, code spraying system, there is provided the system of a set of completion and its Method of work solution, can realize sorting to a variety of Different Rule materials, stacking, the spray printing of two codes, system it is automatic Change degree, adaptability, sexual valence are higher.

The technical solution for realizing the object of the invention is:A kind of injection molding machine sorts palletizing system, including supply unit, spray Code unit, robot, palletized unit, three-coordinate manipulator, injection molding machine, the supply unit are located at the blanking of the injection molding machine Mouthful, the three-coordinate manipulator is single positioned at the conveying by the workpiece grabbing that injection molding machine produces to supply unit, the robot Between member and palletized unit, the coding unit is located at the side of the supply unit end, and the robot can be single by conveying Coding is carried out at workpiece grabbing to the coding unit that member transmission comes and then is sent again to palletized unit.

Preferably, the supply unit includes the belt conveyor line A laterally set and belt conveyor line B, the belt are defeated Line sending A and belt conveyor line B docking set and each can convey workpiece from belt outer end toward the centre position of docking, described The centre position of docking is provided with the stop cylinder A and stop cylinder B being symmetrical set, and the stop cylinder A positioned at the left side is used In receiving the next workpiece of belt conveyor line A transmission, the stop cylinder B positioned at the right is used to receive what belt conveyor line B transmission came Workpiece, stop cylinder A, B include the L-shaped baffle on the outside of it, and one end of stop cylinder A is connected with long cylinder A, resistance One end of gear cylinder B is connected with long cylinder B, and the immediately downstream in the centre position of the docking is provided with longitudinal Belt Conveying Line C, robot material taking mouth A and robot material taking mouth B are provided with the end of the belt conveyor line C.

Preferably, the stop cylinder A includes the resistance being set up in parallel on the direction vertical with belt conveyor line A conveying directions Cylinder A1 and stop cylinder A2, the stop cylinder B are kept off including being set side by side on the direction vertical with belt conveyor line B conveying directions The stop cylinder B1 and stop cylinder B2 put.

Preferably, it is both provided with the photoelectricity for detecting workpiece in the both sides of the belt conveyor line A and belt conveyor line B Sensor, photoelectric sensors A and photoelectric sensor are respectively arranged with the downstream of robot material taking mouth A and robot material taking mouth B B, positioning cylinder is respectively arranged with the belt conveyor line C of the robot material taking mouth A and the lateral surface of robot material taking mouth B A and positioning cylinder B.

Preferably, the coding unit includes coding platform, the ink jet numbering machine on coding platform and nozzle position adjusting Device, nozzle is provided with the nozzle position regulating device.

Preferably, the robot includes robot base, the six-joint robot on the base and positioned at six The built-in negative pressure generator and detection of negative pressure sensor on axis robot top, the six-joint robot are included for grabbing workpiece Paw, the end of the paw are provided with sucker.

Preferably, the palletized unit includes the stacking area A and stacking area B that are symmetrical set, in the stacking area A and Positioning cylinder A is respectively arranged with the side of stacking area B and positioning cylinder B, the stacking area A and stacking area B are used equally for putting Put stacking working plate, carrying roller A and carrying roller B be respectively arranged with the downstream of the stacking area A and stacking area B, in the carrying roller A and The downstream of carrying roller B sets artificial feed opening A and artificial feed opening B respectively, and material is respectively arranged with the downstream of artificial feed opening A, B Frame A and material frame B, elevator is both provided with the both ends of two sides of palletized unit.

It is preferably located on two elevators in downstream and is both provided with audible-visual annunciator, manually feed opening A, B downstreams Button box is respectively arranged with, the carrying roller A and carrying roller B are double-deck carrying roller.

Preferably, the stacking working plate includes A areas and B areas, and the bottom surface of stacking working plate is tool base plate, the A areas Include four work-piece pile areas with B areas, each work-piece pile area, which can be laminated, places multiple workpiece, and each workpiece can pass through position Carried out in the stationary positioned bar 1 and stationary positioned bar 2 of work-piece pile area side and the locating rod of shipping and reselling on another market and move of opposite side Positioning, removable locating rod can carry out running fix by the manual lever being attached thereto, and the bottom in work-piece pile area is set Fluted, the groove facilitates worker that hand can be reached to workpiece bottom, takes out of workpiece, and it is fixed to be provided with the side shipped and resell on another market Position pin is used for limiting the angle that worker opens removable locating rod.

Preferably, the sucker is installed on robot end's ring flange, and hand grabs the negative pressure of sucker by vacuum generator Produce, paw can realize the workpiece pick-and-place of a variety of surfacings, and the grasping mechanism that paw and sucker form has fault detect Function.

Preferably, the three-coordinate manipulator is driven by servomotor, and the design of both hands pawl, can once capture two at the same time Workpiece, each paw possess 180 ° of spinfunctions, and the three-coordinate manipulator speed is adjustable, position is adjustable, has failure inspection Brake.

A kind of method of work of injection molding machine sorting palletizing system described above, including the steps:

Step 1:Injection molding machine once produces two workpiece A and workpiece B respectively in belt conveyor line A and belt conveyor line B sides, Two three-coordinate manipulators, which capture out workpiece from injection molding machine, to be put on belt conveyor line A and belt conveyor line B, belt conveyor line A, B is run with workpiece respectively, and when photoelectric sensor detects that workpiece comes, notice stop cylinder A1, B1 postpones 2 second time Clearance workpiece A, stop cylinder A2, B2, which is failure to actuate, stops workpiece B by the way that stop cylinder A1, B1 cylinder stretches out when by 2 seconds, lift Rise L-shaped baffle put workpiece A into stop cylinder A1, B1 L-type cabin in, this duration cylinder A and long cylinder are connected to PLC signals, stretch Go out cylinder, two workpiece A are pushed to belt conveyor line C;

Step 2:When photoelectric sensor detects workpiece A, positioning cylinder stretches out, workpiece pressing, comes feeding allowing robot Before, PLC first determines whether stacking working plate allows stacking, judges whether to be in by stacking working plate of the condition of stacking Positioning states, i.e. positioning cylinder A and positioning cylinder B are in stretching state, and the photoelectric sensor inspection under stacking working plate A areas Measuring above carrying roller has stacking working plate, notifies robot to come pickup if allowing, otherwise robot not feeding, machine Device people paw forms a faces to draw workpiece using three suckers, reliable and stable, the suction of sucker by negative pressure generator come Realize, open negative pressure generator when crawl, establish subnormal ambient, workpiece is tightly held by atmospheric pressure, judge Whether workpiece is inhaled firm, is by the signal of detection of negative pressure sensor feedback, when negative pressure meets, is fed back to 1 signal, if Do not meet for a long time, then alarm, when needing to put down workpiece, turn off negative pressure generator, negative pressure disappears, and workpiece departs from from sucker, Complete workpiece to place, robot runs to robot material taking mouth A grabbing workpiece A, when B/P EGR Back Pressure Transducer EGR feedback signal is 1, informs Robot, workpiece have been held, and robot notice PLC system positioning cylinder A can retract at this time, PLC control positioning cylinder A contractings Return;

Step 3:Robot grabbing workpiece A, leaves robot material taking mouth A and runs to coding unit, when close to code spraying machine shower nozzle Reduce speed now, when reaching the speed of coding setting, robot starts at the uniform velocity to travel, and notifies coding unit to start coding, spray After the completion of code, robot proceeds to stacking area A, is instructed according to PLC and starts stacking, robot is according to Program path by workpiece A codes are in the stacking working plate A areas of stacking area A;

Step 4:After the completion of unit one A stackings, robot is according to the step identical with unit one A by second work Part A codes are in the stacking working plate A areas of stacking area B;

Step 5:After robot leaves second workpiece A crawl in step 4, stop cylinder A2, B2 rises, and puts two works Part B by, according to the step of stacking the first two workpiece A successively by the stacking working plate B of unit one B codes to stacking area A Area, the stacking working plate B areas by second workpiece B code to stacking area B;

Step 6:Above step 1-5 is repeated, until the stacking working plate code of stacking area A, B are expired, after code is full, robot notice PLC stackings working plate is full, can carry out artificial blanking, and after PLC receives instruction, upper strata carrying roller A and carrying roller B is by stacking frock Plate is delivered to artificial feed opening A, B, and audible-visual annunciator notifies that worker comes blanking with the frequency of 5HZ, and 1HZ is system failure alarm Frequency, while the stop cylinder before the idle bit pile working plate holding fix is retracted, carrying roller A, B by idle bit pile working plate run to On elevator, idle bit pile working plate is sent to stacking area A, B by elevator, passes through positioning cylinder A and positioning cylinder B alignment codes Pile working plate, after completing to position, informs robot, it is allowed to which blowing, after blanking is accomplished manually, clicks on the blowing on button box Signal is completed, empty stacking working plate drops to lower floor's carrying roller by elevator, and runs to idle bit pile working plate holding fix Wait removable disk.

The invention has the advantages that:The present invention can realize sorting to a variety of Different Rule materials, stacking, two The spray printing of code, the degree of automation of system, adaptability, sexual valence are higher.

In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages. Below with reference to figure, the present invention is described in further detail.

Brief description of the drawings

Fig. 1 is the overall structure diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 2 is the axis side refinement structure diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 3 is the overlooking the structure diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 4 is the robot and its paw, sucker schematic diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 5 is the robot overall schematic that injection molding machine of the present invention sorts palletizing system.

Fig. 6 is the coding cellular construction schematic diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 7 is the stacking working plate overall structure diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 8 is the stacking working plate overlooking the structure diagram that injection molding machine of the present invention sorts palletizing system.

Fig. 9 is the double-deck idler structure schematic diagram that injection molding machine of the present invention sorts palletizing system.

Figure 10 is the stop cylinder structure diagram that injection molding machine of the present invention sorts palletizing system.

Embodiment

The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be defined by the claims and cover The multitude of different ways of lid is implemented.

With reference to Fig. 1-3, a kind of injection molding machine sorts palletizing system, including supply unit 1, coding unit 2, robot 3, stacking Unit 4, three-coordinate manipulator 5, injection molding machine 6, the supply unit 1 are located at the feed opening of the injection molding machine 6, the three coordinate machine Tool hand 5, which captures the workpiece 1-12 that injection molding machine 6 produces to supply unit 1, the robot 3, is located at the supply unit 1 and code Between pile unit 4, the coding unit 2 is located at the side of the supply unit end, and the robot can pass supply unit 1 The workpiece 1-12 sent is captured to progress coding at coding unit 2 and then sent again to palletized unit 4.

Preferably, with reference to Fig. 2-3, the supply unit 1 includes the belt conveyor line A1-4 and Belt Conveying laterally set Line B1-5, belt conveyor line A1-4 and belt conveyor line the B1-5 docking set and each can be by workpiece 1-12 from belt outer end Toward the centre position conveying of docking, the stop cylinder A1-6 being symmetrical set and resistance are provided with the centre position of the docking Cylinder B1-7 is kept off, the stop cylinder A1-6 positioned at the left side is used to receive the workpiece that belt conveyor line A1-4 transmission comes, positioned at the right Stop cylinder B1-7 be used for receive belt conveyor line B1-5 transmission come workpiece, stop cylinder A, B include be located at it The L-shaped baffle 21 in outside, one end of stop cylinder A is connected with long cylinder A1-8, one end of stop cylinder B is connected with long cylinder B1-9, longitudinal belt conveyor line C1-3 is provided with the immediately downstream in the centre position of the docking, in the Belt Conveying The end of line C1-3 is provided with robot material taking mouth A1-1 and robot material taking mouth B1-2.

As shown in Figure 10, stop cylinder includes cylinder 22 and L-shaped baffle 21.

Preferably, the stop cylinder A1-6 includes setting side by side on the direction vertical with belt conveyor line A1-4 conveying directions The stop cylinder A1 and stop cylinder A2, the stop cylinder B1-7 put includes vertical with belt conveyor line B1-5 conveying directions The stop cylinder B1 and stop cylinder B2 being set up in parallel on direction.

Preferably, it is both provided with the both sides of the belt conveyor line A1-4 and belt conveyor line B1-5 for detecting workpiece The photoelectric sensor 1-10 of 1-12, photoelectricity is respectively arranged with the downstream of robot material taking mouth A1-1 and robot material taking mouth B1-2 Sensors A 1-14 and photoelectric sensor B1-14, in the robot material taking mouth A1-1 and the lateral surface of robot material taking mouth B1-2 Belt conveyor line C1-3 on be respectively arranged with positioning cylinder A1-13 and positioning cylinder B1-13.

Preferably, coding platform 2-4, the ink jet numbering machine on coding platform 2-4 are included with reference to Fig. 6, the coding unit 2 2-1 and nozzle position regulating device 2-3, nozzle 2-2 is provided with the nozzle position regulating device 2-3.

Preferably, robot base 3-4, the six axis machines on the base are included with reference to Fig. 4-5 robots 3 People 3-5 and built-in negative pressure generator and detection of negative pressure sensor 3-3 positioned at six-joint robot 3-5 tops, the six axis machine Device people 3-5 includes the paw 3-1 for grabbing workpiece, and the end of the paw 3-1 is provided with sucker 3-2.

Preferably, with reference to Fig. 7-8, the palletized unit 4 includes the stacking area A4-4 and stacking area B4- being symmetrical set 5, it is respectively arranged with positioning cylinder A4-6 and positioning cylinder B4-7, institute on the side of the stacking area A4-4 and stacking area B4-5 State stacking area A4-4 and stacking area B4-5 to be used equally for placing stacking working plate, the stacking area A4-4's and stacking area B4-5 Downstream is respectively arranged with carrying roller A4-8 and carrying roller B4-9, under being set respectively in the downstream of the carrying roller A4-8 and carrying roller B4-9 manually Material mouth A4-10 and artificial feed opening B4-10, material frame A4-3 and material frame are respectively arranged with the downstream of artificial feed opening A, B4-10 B4-3, elevator 4-1 is both provided with the both ends of two sides of palletized unit 4.

It is preferably located on two elevator 4-1 in downstream and is both provided with audible-visual annunciator 4-2, the artificial feed opening A, it is double-deck carrying roller that B4-10 downstreams, which are respectively arranged with button box 4-11, the carrying roller A4-8 and carrying roller B4-9, including upper strata support Roller 17 and lower floor's carrying roller 18, as shown in Figure 9.

Preferably, the stacking working plate includes A areas 14 and B areas 15, and the bottom surface of stacking working plate is tool base plate 16, institute Stating A areas 14 and B areas 15 includes four work-piece pile areas, and each work-piece pile area, which can be laminated, places multiple workpiece 1-12, often A workpiece can pass through 12 Hes of shipping and reselling on another market of the stationary positioned bar 1 positioned at work-piece pile area side and stationary positioned bar 2 and opposite side Removable locating rod 9 is positioned, and removable locating rod 9 can carry out running fix by the manual lever 10 being attached thereto, The bottom in work-piece pile area sets fluted 11, and the groove 11 facilitates worker that hand can be reached to workpiece bottom, takes out of workpiece, 12 side of shipping and reselling on another market is provided with the angle that positioning pin 13 is used for limiting worker and opens removable locating rod 9.

Preferably, the sucker is installed on robot end's ring flange, and hand grabs the negative pressure of sucker by vacuum generator Produce, paw can realize the workpiece pick-and-place of a variety of surfacings, and the grasping mechanism that paw and sucker form has fault detect Function.

Preferably, the three-coordinate manipulator is driven by servomotor, and the design of both hands pawl, can once capture two at the same time Workpiece, each paw possess 180 ° of spinfunctions, and the three-coordinate manipulator speed is adjustable, position is adjustable, has failure inspection Brake.

A kind of method of work of injection molding machine sorting palletizing system described above, including the steps:

Step 1:Injection molding machine 6 once produces two workpieces respectively in belt conveyor line A1-4 and belt conveyor line B1-5 sides A1-12 and workpiece B1-12, two three-coordinate manipulators 5, which capture out workpiece from injection molding machine 6, is put into belt conveyor line A1-4 and skin On band pipeline B1-5, belt conveyor line A, B are run with workpiece respectively, when photoelectric sensor 1-10 detects that workpiece comes When, notice stop cylinder A1, B1 postpones 2 second time clearance workpiece A1-12, and stop cylinder A2, B2, which is failure to actuate, stops workpiece B1-12 Pass through(Reason:Delay 2S is that posture is probably oblique, it is necessary to will because when three-coordinate manipulator is put into workpiece in belt line Workpiece posture is corrected, and passes through the L-type baffle of stop cylinder at this time, you can realize the adjustment of posture, stop cylinder A2 is failure to actuate The reason is that:In order to distinguish the mould number of product, realize product sequentially through, robot according to grabbing by way of timesharing clearance The sequencing taken realizes the differentiation of the mould number of workpiece), stop cylinder A1, B1 cylinder stretches out when by 2 seconds, lifts L-shaped gear Plate 21 is put workpiece A1-12 and is entered in the L-type cabin of stop cylinder A1, B1, this duration cylinder A1-8 and long cylinder 1-9 are connected to PLC letters Number, two workpiece A1-12 are pushed to belt conveyor line C1-3 by stretches out cylinder(Due to belt conveyor line A, B and belt conveyor line C is in plumbness, therefore workpiece can not be sent directly into belt conveyor line C, it is necessary to which other executing agencies complete, and long cylinder is just It is to play the role of this);

Step 2:When photoelectric sensor 1-14 detects workpiece A1-12, positioning cylinder 1-13 stretches out, workpiece pressing, is allowing machine Device people comes before feeding, and PLC first determines whether stacking working plate allows stacking, and judging whether can be using the condition of stacking as code Pile working plate is in positioning states, i.e. positioning cylinder A4-6 and positioning cylinder B4-7 are in stretching state, and stacking working plate A Photoelectric sensor under area 14, which is detected above carrying roller, stacking working plate, notifies robot to come to take if allowing Part, otherwise feeding, robot hand do not form a face to draw workpiece using three suckers for robot, reliable and stable, sucker Suction realized by negative pressure generator, crawl when open negative pressure generator, establish subnormal ambient, pass through atmospheric pressure Workpiece is tightly held by force, judges whether workpiece is inhaled firm, is by the signal of detection of negative pressure sensor feedback, when negative pressure expires When sufficient, 1 signal is fed back to, if do not met for a long time, alarms, when needing to put down workpiece, turns off negative pressure generator, negative pressure Disappearing, workpiece departs from from sucker, completes workpiece and places, and robot runs to robot material taking mouth A1-1 grabbing workpiece A1-12, when B/P EGR Back Pressure Transducer EGR feedback signal is 1, informs robot, and workpiece has been held, at this time robot notice PLC system positioning cylinder A1- 13 can retract, and PLC control positioning cylinders A1-13 retracts;

Step 3:Robot grabbing workpiece A1-12, leaves robot material taking mouth A1-1 and runs to coding unit 2, when close to coding Reduce speed now during machine nozzle 2-2, when reaching the speed of coding setting, robot starts at the uniform velocity to travel, and notifies coding unit 2 Start coding, after the completion of coding, robot proceeds to stacking area A4-4, according to PLC instruct start stacking, robot according to Program path is by workpiece A1-12 codes in the stacking working plate A areas 14 of stacking area A4-4;

Step 4:After the completion of unit one A1-12 stackings, robot will according to the step identical with unit one A1-12 Second workpiece A1-12 code is in the stacking working plate A areas 14 of stacking area B4-5;

Step 5:After robot leaves second workpiece A1-12 crawl in step 4, stop cylinder A2, B2 rises, and puts two A workpiece B1-12 by, according to the step of stacking the first two workpiece A1-12 successively by unit one B1-12 codes to stacking The stacking working plate B areas 15 of area A4-4, the stacking working plate B areas 15 by second workpiece B1-12 code to stacking area B4-5;

Step 6:Above step 1-5 is repeated, until the stacking working plate code of stacking area A, B are expired, after code is full, robot notice PLC stackings working plate is full, can carry out artificial blanking, and after PLC receives instruction, upper strata carrying roller A4-8 and carrying roller B4-9 is by code Pile working plate is delivered to artificial feed opening A, B4-10, and audible-visual annunciator 4-2 notifies that worker comes blanking with the frequency of 5HZ, 1HZ For system failure alert frequency, while the stop cylinder 19 before idle bit pile working plate holding fix 20 is retracted, and carrying roller A, B will Idle bit pile working plate is run to elevator 4-1, is sent idle bit pile working plate to stacking area A, B by elevator 4-1, by fixed Position cylinder A4-6 and positioning cylinder B4-7 positioning stacking working plates, after completing to position, inform robot, it is allowed to which blowing, works as people After work completes blanking, the blowing clicked on button box 4-11 completes signal, under empty stacking working plate is dropped to by elevator Layer carrying roller, and run to idle bit pile working plate holding fix 20 and wait removable disk.

The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of injection molding machine sorts palletizing system, it is characterised in that including supply unit(1), coding unit(2), robot (3), palletized unit(4), three-coordinate manipulator(5), injection molding machine(6), the supply unit(1)Positioned at the injection molding machine(6)'s Feed opening, the three-coordinate manipulator(5)By injection molding machine(6)The workpiece of production(1-12)Capture to supply unit(1), the machine Device people(3)Positioned at the supply unit(1)And palletized unit(4)Between, the coding unit(2)Positioned at supply unit end The side at end, the robot can be by supply units(1)The workpiece that transmission comes(1-12)Capture to coding unit(2)Sprayed at place Then code is sent to palletized unit again(4).
2. system according to claim 1, it is characterised in that:The supply unit(1)Belt including laterally setting is defeated Line sending A(1-4)With belt conveyor line B(1-5), the belt conveyor line A(1-4)With belt conveyor line B(1-5)Docking set and Each can be by workpiece(1-12)From belt outer end toward the conveying of the centre position of docking, the centre position of the docking is provided with a left side Right symmetrically arranged stop cylinder A(1-6)With stop cylinder B(1-7), the stop cylinder A positioned at the left side(1-6)For receiving skin Band pipeline A(1-4)The workpiece that transmission comes, the stop cylinder B positioned at the right(1-7)For receiving belt conveyor line B(1-5)Pass The workpiece sent, stop cylinder A, B include the L-shaped baffle on the outside of it(21), one end of stop cylinder A is connected with Long cylinder A(1-8), stop cylinder B one end be connected with long cylinder B(1-9), in the immediately downstream in the centre position of the docking It is provided with longitudinal belt conveyor line C(1-3), in the belt conveyor line C(1-3)End be provided with robot material taking mouth A (1-1)With robot material taking mouth B(1-2).
3. system according to claim 2, it is characterised in that:The stop cylinder A(1-6)Including with belt conveyor line A (1-4)The stop cylinder A1 and stop cylinder A2, the stop cylinder B being set up in parallel on the vertical direction of conveying direction(1-7) Including with belt conveyor line B(1-5)The stop cylinder B1 and stop cylinder B2 being set up in parallel on the vertical direction of conveying direction.
4. system according to claim 3, it is characterised in that:In the belt conveyor line A(1-4)With belt conveyor line B (1-5)Both sides be both provided with for detecting workpiece(1-12)Photoelectric sensor(1-10), in robot material taking mouth A(1-1) With robot material taking mouth B(1-2)Downstream be respectively arranged with photoelectric sensors A(1-14)With photoelectric sensor B(1-14), institute State robot material taking mouth A(1-1)With robot material taking mouth B(1-2)Lateral surface belt conveyor line C(1-3)It is upper to set respectively There is positioning cylinder A(1-13)With positioning cylinder B(1-13).
5. system according to claim 4, it is characterised in that:The coding unit(2)Including coding platform(2-4), position In coding platform(2-4)On ink jet numbering machine(2-1)With nozzle position regulating device(2-3), in the nozzle position regulating device (2-3)On be provided with nozzle(2-2).
6. system according to claim 5, it is characterised in that:The robot(3)Including robot base(3-4), position Six-joint robot on the base(3-5)And positioned at six-joint robot(3-5)The built-in negative pressure generator on top and negative Press detection sensor(3-3), the six-joint robot(3-5)Including the paw for grabbing workpiece(3-1), the paw(3- 1)End be provided with sucker(3-2).
7. system according to claim 6, it is characterised in that:The palletized unit(4)Including the code being symmetrical set Pile area A(4-4)With stacking area B(4-5), in the stacking area A(4-4)With stacking area B(4-5)Side on be respectively arranged with it is fixed Position cylinder A(4-6)With positioning cylinder B(4-7), the stacking area A(4-4)With stacking area B(4-5)It is used equally for placing stacking work Loading board, in the stacking area A(4-4)With stacking area B(4-5)Downstream be respectively arranged with carrying roller A(4-8)With carrying roller B(4-9), In the carrying roller A(4-8)With carrying roller B(4-9)Downstream artificial feed opening A is set respectively(4-10)With artificial feed opening B(4- 10), in artificial feed opening A, B(4-10)Downstream be respectively arranged with material frame A(4-3)With material frame B(4-3), in palletized unit(4) The both ends of two sides be both provided with elevator(4-1).
8. system according to claim 7, it is characterised in that:Two elevators positioned at downstream(4-1)On be both provided with Audible-visual annunciator(4-2), described manually feed opening A, B(4-10)Downstream is respectively arranged with button box(4-11), the carrying roller A (4-8)With carrying roller B(4-9)It is double-deck carrying roller.
9. system according to claim 8, it is characterised in that:The stacking working plate includes A areas(14)With B areas(15), The bottom surface of stacking working plate is tool base plate(16), the A areas(14)With B areas(15)Include four work-piece pile areas, each Work-piece pile area, which can be laminated, places multiple workpiece(1-12), each workpiece can be determined by the fixation positioned at work-piece pile area side Position bar 1(7)With stationary positioned bar 2(8)And opposite side is shipped and resell on another market(12)With removable locating rod(9)Positioned, moved Locating rod(9)Can be by the manual lever that is attached thereto(10)Running fix is carried out, the bottom in work-piece pile area is provided with recessed Groove(11), the groove(11)Facilitate worker that hand can be reached to workpiece bottom, take out of workpiece, ship and resell on another market described(12)Side It is provided with positioning pin(13)Removable locating rod is opened for limiting worker(9)Angle.
10. a kind of method of work of injection molding machine sorting palletizing system as claimed in claim 9, it is characterised in that including as follows The step of:
Step 1:Injection molding machine(6)Once in belt conveyor line A(1-4)With belt conveyor line B(1-5)Side produces two workpiece respectively Workpiece A(1-12)With workpiece B(1-12), two three-coordinate manipulators(5)By workpiece from injection molding machine(6)Capture out that to be put into belt defeated Line sending A(1-4)With belt conveyor line B(1-5)On, belt conveyor line A, B are run with workpiece respectively, work as photoelectric sensor(1- 10)When detecting that workpiece comes, notice stop cylinder A1, B1 postpones 2 second time clearance workpiece A(1-12), stop cylinder A2, B2 It is failure to actuate and stops workpiece B(1-12)By the way that stop cylinder A1, B1 cylinder stretches out when by 2 seconds, lifts L-shaped baffle(21)Put work Part A(1-12)Into in the L-type cabin of stop cylinder A1, B1, this duration cylinder A(1-8)With long cylinder(1-9)PLC signals are connected to, Stretches out cylinder, by two workpiece A(1-12)It is pushed to belt conveyor line C(1-3);
Step 2:Work as photoelectric sensor(1-14)Detect workpiece A(1-12)When, positioning cylinder(1-13)Stretch out, workpiece pressing, Robot is being allowed to come before feeding, PLC first determines whether stacking working plate allows stacking, and judging whether can be with the bar of stacking Part is in positioning states, i.e. positioning cylinder A for stacking working plate(4-6)With positioning cylinder B(4-7)In the state of stretching, and Stacking working plate A areas(14)Under photoelectric sensor detect above carrying roller there is stacking working plate, machine is notified if allowing People can come pickup, and otherwise feeding, robot hand do not form a faces to draw workpiece, surely using three suckers for robot Fixed reliable, the suction of sucker is realized by negative pressure generator, is opened negative pressure generator when crawl, is established negative pressure ring Border, tightly holds workpiece by atmospheric pressure, judges whether workpiece is inhaled firm, be by detection of negative pressure sensor feedback Signal, when negative pressure meets, is fed back to 1 signal, if do not met for a long time, alarms, when needing to put down workpiece, turns off negative Generator is pressed, negative pressure disappears, and workpiece departs from from sucker, completes workpiece and places, robot runs to robot material taking mouth A(1-1) Grabbing workpiece A(1-12), when B/P EGR Back Pressure Transducer EGR feedback signal be 1, inform robot, workpiece has been held, at this time robot notify PLC system positioning cylinder A(1-13)It can retract, PLC control positioning cylinders A(1-13)Retract;
Step 3:Robot grabbing workpiece A(1-12), leave robot material taking mouth A(1-1)Run to coding unit(2), when connecing Nearly code spraying machine shower nozzle(2-2)When reduce speed now, when reach coding setting speed when, robot starts at the uniform velocity to travel, and notifies Coding unit(2)Start coding, after the completion of coding, robot proceeds to stacking area A(4-4), opening code is instructed according to PLC Pile, robot is according to Program path by workpiece A(1-12)Code is in stacking area A(4-4)Stacking working plate A areas(14);
Step 4:In unit one A(1-12)After the completion of stacking, robot according to unit one A(1-12)Identical step Suddenly by second workpiece A(1-12)Code is in stacking area B(4-5)Stacking working plate A areas(14);
Step 5:When robot in step 4 is by second workpiece A(1-12)After crawl is left, stop cylinder A2, B2 rises, and puts Two workpiece B(1-12)By, according to stacking the first two workpiece A(1-12)The step of successively by unit one B(1-12) Code is to stacking area A(4-4)Stacking working plate B areas(15), by second workpiece B(1-12)Code is to stacking area B(4-5)Stacking Working plate B areas(15);
Step 6:Above step 1-5 is repeated, until the stacking working plate code of stacking area A, B are expired, after code is full, robot notice PLC stackings working plate is full, can carry out artificial blanking, after PLC receives instruction, upper strata carrying roller A(4-8)With carrying roller B(4-9) Stacking working plate is delivered to artificial feed opening A, B(4-10), audible-visual annunciator(4-2)Worker is notified to come with the frequency of 5HZ Blanking, 1HZ are system failure alert frequency, while are in idle bit pile working plate holding fix(20)Preceding stop cylinder(19)Contracting Return, carrying roller A, B run idle bit pile working plate to elevator(4-1)On, pass through elevator(4-1)By idle bit pile working plate send to Stacking area A, B, pass through positioning cylinder A(4-6)With positioning cylinder B(4-7)Stacking working plate is positioned, after completing to position, is informed Robot, it is allowed to which blowing, after blanking is accomplished manually, clicks on button box(4-11)On blowing complete signal, empty stacking work Loading board drops to lower floor's carrying roller by elevator, and runs to idle bit pile working plate holding fix(20)Wait removable disk.
CN201711323248.1A 2017-12-13 2017-12-13 A kind of injection molding machine sorting palletizing system and its method of work CN107972227A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108637083A (en) * 2018-05-09 2018-10-12 金华辉煌三联工具实业有限公司 A kind of spot welding guide plate outside plate automatic press production equipment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108637083A (en) * 2018-05-09 2018-10-12 金华辉煌三联工具实业有限公司 A kind of spot welding guide plate outside plate automatic press production equipment
CN108637083B (en) * 2018-05-09 2019-07-23 金华辉煌三联工具实业有限公司 A kind of spot welding guide plate outside plate automatic press production equipment

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