CN107972227B - Sorting and stacking system of injection molding machine and working method thereof - Google Patents

Sorting and stacking system of injection molding machine and working method thereof Download PDF

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Publication number
CN107972227B
CN107972227B CN201711323248.1A CN201711323248A CN107972227B CN 107972227 B CN107972227 B CN 107972227B CN 201711323248 A CN201711323248 A CN 201711323248A CN 107972227 B CN107972227 B CN 107972227B
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China
Prior art keywords
workpiece
stacking
robot
area
negative pressure
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CN107972227A (en
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
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716th Research Institute of CSIC
Jiangsu Jari Technology Group Co Ltd
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716th Research Institute of CSIC
Jiangsu Jari Technology Group Co Ltd
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    • 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
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses an injection molding machine sorting and stacking system which comprises a conveying unit, a code spraying unit, a robot, a stacking unit, a three-coordinate manipulator and an injection molding machine, wherein the three-coordinate manipulator grabs a workpiece from the injection molding machine and places the workpiece on the conveying unit, the conveying unit conveys the workpiece to a robot material taking port, the robot sequentially finishes workpiece grabbing, two-dimensional code spraying and stacking according to a command, and finally conveys the workpiece to a manual material discharging port through a carrier roller conveying line to finish material discharging.

Description

Sorting and stacking system of injection molding machine and working method thereof
Technical Field
The invention relates to the technical field of industrial automatic sorting, in particular to a sorting and stacking system of an injection molding machine and a working method thereof.
Background
Along with the continuous rise of labor cost, the total amount of production labor of enterprises is further reduced by utilizing advanced automatic production equipment to carry out technical transformation and upgrading, the technological process is optimized, the labor productivity is improved, and the method is a necessary trend of industrial development.
In the prior art, products are randomly stacked in a material frame, workers are required to pick up workpieces one by one, different mould numbers are distinguished, stacking and boxing are carried out again, and as the yield of the workpieces is very high every day, one worker is required to finish sorting and boxing tasks of thousands of workpieces, the labor intensity is high, the work is easy to make mistakes, the workpieces produced by different moulds are placed in the same box, once the products produced by one mould are out of question, quality inspection is not found in time, and finally, the products can only be scrapped in whole batches to cause great resource waste.
Most of the existing mechanisms are characterized in that a three-coordinate manipulator carries a vacuum chuck to absorb a workpiece from an injection molding machine and directly put the workpiece into a material frame, and the defects are that: 1. because work pieces are placed in disorder, the work pieces need to be stacked and boxed again manually, the work intensity is high, the efficiency is low 2. Because the yield is high, the time of boxing is not enough to distinguish the mould numbers, the work pieces produced by different moulds can only be mixed together, when a problem of a certain mould is not found in time, the work pieces with flaws can be mixed with qualified work pieces, and when the product is recalled, the whole batch of products can only be scrapped, so that the accurate recall of the product is not facilitated; the method has the advantages that the method is characterized in that the method is used for automatically scanning the workpiece into the MES in the automatic assembly process, and the workpiece information cannot be scanned into an information system because the workpiece information is manually painted and cannot be ensured in size consistency and the like, so that the automatic scanning of the workpiece information into the information system is prevented.
Disclosure of Invention
The invention aims to overcome the defects of the existing sorting, stacking and code spraying system, provides a finished system and a working method solution thereof, can realize sorting, stacking and two-position code spraying of various different regular materials, and has higher automation degree, adaptability and cost performance.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides an injection molding machine letter sorting pile up neatly system, includes conveying unit, spouts a yard unit, robot, pile up neatly unit, three-dimensional manipulator, injection molding machine, conveying unit is located the feed opening of injection molding machine, three-dimensional manipulator snatchs the work piece of injection molding machine production to conveying unit, the robot is located between conveying unit and the pile up neatly unit, spout a yard unit and be located conveying unit terminal side, the robot can snatch the work piece that conveying unit was transmitted and spout a yard unit department and then send to pile up neatly unit again.
Preferably, the conveying unit comprises a belt conveying line A and a belt conveying line B which are transversely arranged, the belt conveying line A and the belt conveying line B are in butt joint, workpieces can be conveyed from the outer ends of the belts to the butt joint middle positions of the butt joint are provided with a blocking cylinder A and a blocking cylinder B which are arranged in a bilateral symmetry mode, the blocking cylinder A positioned on the left side is used for receiving the workpieces conveyed by the belt conveying line A, the blocking cylinder B positioned on the right side is used for receiving the workpieces conveyed by the belt conveying line B, each blocking cylinder A, B comprises an L-shaped baffle plate positioned on the outer side, one end of each blocking cylinder A is connected with a long cylinder A, one end of each blocking cylinder B is connected with a long cylinder B, a longitudinal belt conveying line C is arranged at the immediately downstream of the butt joint middle positions, and a robot material taking opening A and a robot material taking opening B are formed in the tail end of each belt conveying line C.
Preferably, the blocking cylinder a includes a blocking cylinder A1 and a blocking cylinder A2 disposed in parallel in a direction perpendicular to a conveying direction of the belt conveying line a, and the blocking cylinder B includes a blocking cylinder B1 and a blocking cylinder B2 disposed in parallel in a direction perpendicular to a conveying direction of the belt conveying line B.
Preferably, photoelectric sensors for detecting workpieces are arranged on two sides of the belt conveying line A and the belt conveying line B, the photoelectric sensors A and the photoelectric sensors B are respectively arranged on the downstream of the robot material taking opening A and the downstream of the robot material taking opening B, and a positioning cylinder A and a positioning cylinder B are respectively arranged on the belt conveying line C on the outer sides of the robot material taking opening A and the robot material taking opening B.
Preferably, the code spraying unit comprises a code spraying platform, a code spraying machine and a spray head position adjusting device, wherein the code spraying machine is positioned on the code spraying platform, and the spray head is arranged on the spray head position adjusting device.
Preferably, the robot comprises a robot base, a six-axis robot arranged on the base, and a built-in negative pressure generator and a negative pressure detection sensor which are arranged at the top end of the six-axis robot, wherein the six-axis robot comprises a paw for grabbing a workpiece, and a sucker is arranged at the tail end of the paw.
Preferably, the stacking unit comprises a stacking area A and a stacking area B which are symmetrically arranged left and right, a positioning cylinder C and a positioning cylinder D are respectively arranged on the side edges of the stacking area A and the stacking area B, the stacking area A and the stacking area B can be used for placing stacking tooling plates, a carrier roller A and a carrier roller B are respectively arranged at the downstream of the stacking area A and the downstream of the stacking area B, an artificial feed opening A and an artificial feed opening B are respectively arranged at the downstream of the carrier roller A and the carrier roller B, a material frame A and a material frame B are respectively arranged at the downstream of the artificial feed opening A, B, and lifters are respectively arranged at the two ends of the two side edges of the stacking unit.
Preferably, the two lifters positioned at the downstream are both provided with audible and visual alarms, button boxes are respectively arranged at the downstream of the manual feed opening A, B, and the carrier roller A and the carrier roller B are double-layer carrier rollers.
Preferably, the stacking tool plate comprises an area A and an area B, the bottom surface of the stacking tool plate is a tool bottom plate, the area A and the area B comprise four workpiece stacking areas, each workpiece stacking area can be used for stacking a plurality of workpieces, each workpiece can be positioned through a first fixed positioning rod 7 and a second fixed positioning rod 8 which are positioned on one side of the workpiece stacking area, and a rotating pin and a movable positioning rod on the other side of the workpiece stacking area, the movable positioning rod can be used for moving and positioning through a manual operation rod connected with the movable positioning rod, a groove is formed in the bottom of the workpiece stacking area, a worker can conveniently stretch hands to the bottom of the workpiece to carry out the workpieces, and a positioning pin is arranged on the side surface of the rotating pin and used for limiting the angle of the movable positioning rod for limiting the opening of the worker.
Preferably, the sucking disc is arranged on a flange plate at the tail end of the robot, the negative pressure of the hand-grabbing sucking disc is generated by a vacuum generator, the hand-grabbing claw can grab and put various workpieces with smooth surfaces, and the grabbing mechanism formed by the hand-grabbing claw and the sucking disc has a fault detection function.
Preferably, the three-dimensional manipulator is driven by a servo motor, two workpieces can be simultaneously grabbed by two gripper fingers at one time, each gripper finger has a 180-degree rotation function, and the three-dimensional manipulator is adjustable in speed, adjustable in position and has a fault detection function.
The working method of the sorting and stacking system of the injection molding machine comprises the following steps:
step 1: the method comprises the steps that two workpiece workpieces A and B are produced on the sides of a belt conveying line A and a belt conveying line B at one time by an injection molding machine, the workpieces are grabbed out of the injection molding machine and put on the belt conveying line A and the belt conveying line B by two three-dimensional manipulators, the belt conveying line A, B respectively carries the workpieces to run, when a photoelectric sensor detects that the workpieces come, blocking cylinders A1 and B1 delay for 2 seconds to release the workpieces A, blocking cylinders A2 and B2 do not act to block the passage of the workpieces B, blocking cylinders A1 and B1 stretch out when the time reaches 2 seconds, an L-shaped baffle plate is lifted to put the workpieces A into L-shaped cabins of the blocking cylinders A1 and B1, at the moment, a long cylinder A and the long cylinder are connected with PLC signals to stretch out of the cylinders, and the two workpieces A are pushed to a belt conveying line C;
step 2: when the photoelectric sensor detects a workpiece A, the positioning air cylinder A stretches out to compress the workpiece, before the robot gets the material, the PLC firstly judges whether the palletizing tooling plate allows palletizing, judges whether the palletizing tooling plate can be palletized or not is in a positioning state, namely, the positioning air cylinder C and the positioning air cylinder D are in an stretching state, the photoelectric sensor below the palletizing tooling plate A detects that the palletizing tooling plate is arranged on a carrier roller, if the palletizing tooling plate is allowed, the robot is informed to get the workpiece, otherwise, the robot does not get the material, the robot gripper adopts three suckers to form a surface to absorb the workpiece, the suction force of the sucker is realized through the negative pressure generator, the negative pressure generator is opened during the grabbing, a negative pressure environment is established, the workpiece is tightly sucked through the atmospheric pressure, whether the workpiece is firmly sucked or not is judged, the signal fed back through the negative pressure detection sensor, when the negative pressure is met, the feedback is 1 signal, if the negative pressure is not met, the negative pressure generator is not met for a long time, the negative pressure generator is turned off, the negative pressure is turned off, the workpiece is separated from the sucker, the workpiece is placed, the workpiece is completed, the robot is moved to the robot is required to get the workpiece A, the workpiece is grabbed, the negative pressure sensor is stopped, the workpiece is retracted, the workpiece is controlled by the robot gripper, the robot gripper is controlled by the positioning air cylinder, the PLC is controlled, and the positioning air cylinder is retracted, the workpiece is retracted, and the workpiece is in the position is a position;
step 3: the robot grabs the workpiece A, leaves the material taking opening A of the robot and runs to the code spraying unit, starts decelerating when approaching to a spray head of the code spraying machine, starts running at a constant speed when reaching a speed set by code spraying, informs the code spraying unit to start code spraying, and continues to run to the stacking area A after the code spraying is finished, starts stacking according to a PLC instruction, and codes the workpiece A in a stacking tooling plate A area of the stacking area A according to a program path;
step 4: after the first workpiece A is piled up, the robot piles up a second workpiece A in a piling tooling plate A area of a piling area B according to the same steps as the first workpiece A;
step 5: after the robot grabs and leaves the second workpiece A in the step 4, the blocking air cylinders A2 and B2 are lifted, two workpieces B are put through, the first workpiece B is stacked to a stacking tooling plate B area of the stacking area A and the second workpiece B is stacked to a stacking tooling plate B area of the stacking area B according to the sequence of the steps of stacking the first two workpieces A;
step 6: the steps 1-5 are repeated until the stacking tool plate in the stacking area A, B is fully stacked, after the stacking is fully stacked, the robot informs the PLC that the stacking tool plate is fully stacked, manual blanking can be performed, after the PLC receives an instruction, the upper carrier roller A and the carrier roller B convey the stacking tool plate to the manual blanking port A, B, the audible and visual alarm informs workers to perform blanking by using the frequency of 5HZ, 1HZ is the system fault alarm frequency, meanwhile, the blocking cylinder in front of the waiting position of the empty stacking tool plate is retracted, the carrier roller A, B moves the empty stacking tool plate onto the lifter, the empty stacking tool plate is conveyed to the stacking area A, B through the lifter, the stacking tool plate is positioned through the positioning cylinder C and the positioning cylinder D, after positioning is completed, the robot is informed, the blanking is allowed, after the blanking is completed manually, the blanking completion signal on the button box is clicked, the empty stacking tool plate is lowered to the lower carrier roller through the lifter, and moves to the waiting position of the empty stacking tool plate to wait for disc replacement.
The invention has the following beneficial effects: the invention can realize sorting, stacking and two-position code spray printing of various different regular materials, and has higher automation degree, adaptability and cost performance of the system.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
Fig. 1 is a schematic diagram of the whole structure of the sorting and stacking system of the injection molding machine.
Fig. 2 is a schematic diagram of an axial side thinning structure of the sorting and stacking system of the injection molding machine.
Fig. 3 is a schematic top view of the sorting and stacking system of the injection molding machine.
Fig. 4 is a schematic view of a robot, a gripper and a sucker of the sorting and stacking system of the injection molding machine.
Fig. 5 is a schematic diagram of a robot of the sorting and palletizing system of the injection molding machine.
Fig. 6 is a schematic diagram of a code spraying unit structure of the sorting and stacking system of the injection molding machine.
Fig. 7 is a schematic diagram of the overall structure of a palletizing tool plate of the sorting palletizing system of the injection molding machine.
Fig. 8 is a schematic top view structure of a palletizing tooling plate of the sorting palletizing system of the injection molding machine.
Fig. 9 is a schematic diagram of a double-layer carrier roller structure of the sorting and stacking system of the injection molding machine.
Fig. 10 is a schematic diagram of a blocking cylinder structure of the sorting and stacking system of the injection molding machine.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.
Referring to fig. 1-3, an injection molding machine sorting and stacking system comprises a conveying unit 1, a code spraying unit 2, a robot 3, a stacking unit 4, a three-coordinate manipulator 5 and an injection molding machine 6, wherein the conveying unit 1 is positioned at a feed opening of the injection molding machine 6, workpieces 1-12 produced by the injection molding machine 6 are grabbed to the conveying unit 1 by the three-coordinate manipulator 5, the robot 3 is positioned between the conveying unit 1 and the stacking unit 4, the code spraying unit 2 is positioned at the side edge of the tail end of the conveying unit, and the robot can grab workpieces 1-12 conveyed by the conveying unit 1 to the position of the code spraying unit 2 for code spraying and then convey the workpieces to the stacking unit 4.
Preferably, in combination with fig. 2-3, the conveying unit 1 includes a belt conveying line A1-4 and a belt conveying line B1-5 which are transversely arranged, the belt conveying line A1-4 and the belt conveying line B1-5 are in butt joint, and each can convey the workpiece 1-12 from the outer end of the belt to the butt joint middle position, a blocking cylinder A1-6 and a blocking cylinder B1-7 which are symmetrically arranged from left to right are arranged at the butt joint middle position, the blocking cylinder A1-6 positioned at the left is used for receiving the workpiece conveyed by the belt conveying line A1-4, the blocking cylinder B1-7 positioned at the right is used for receiving the workpiece conveyed by the belt conveying line B1-5, the blocking cylinder A, B includes an L-shaped baffle 21 positioned at the outer side thereof, one end of the blocking cylinder a is connected with a long cylinder A1-8, one end of the blocking cylinder B1-9 is connected with the long cylinder B1-3, a longitudinal belt conveying line C1-3 is arranged at the immediately downstream of the butt joint middle position, and a robot pick-up port A1-2 is arranged at the end of the belt conveying line C1-3.
As shown in fig. 10, the blocking cylinder includes a cylinder 22 and an L-shaped baffle 21.
Preferably, the blocking cylinder A1-6 includes a blocking cylinder A1 and a blocking cylinder A2 arranged in parallel in a direction perpendicular to a conveying direction of the belt conveying line A1-4, and the blocking cylinder B1-7 includes a blocking cylinder B1 and a blocking cylinder B2 arranged in parallel in a direction perpendicular to a conveying direction of the belt conveying line B1-5.
Preferably, photoelectric sensors 1-10 for detecting workpieces 1-12 are arranged on two sides of the belt conveying line A1-4 and the belt conveying line B1-5, photoelectric sensors A1-14 and photoelectric sensors B1-14 are respectively arranged on the downstream of the robot reclaiming opening A1-1 and the downstream of the robot reclaiming opening B1-2, and positioning cylinders A1-13-1 and B1-13-2 are respectively arranged on the belt conveying line C1-3 on the outer sides of the robot reclaiming opening A1-1 and the robot reclaiming opening B1-2.
Preferably, referring to fig. 6, the code spraying unit 2 includes a code spraying platform 2-4, a code spraying machine 2-1 located on the code spraying platform 2-4, and a nozzle position adjusting device 2-3, where the nozzle 2-2 is disposed on the nozzle position adjusting device 2-3.
Preferably, the robot 3 described in connection with fig. 4-5 comprises a robot base 3-4, a six-axis robot 3-5 positioned on the base, and a built-in negative pressure generator and a negative pressure detection sensor 3-3 positioned at the top end of the six-axis robot 3-5, wherein the six-axis robot 3-5 comprises a gripper 3-1 for gripping a workpiece, and the tail end of the gripper 3-1 is provided with a suction cup 3-2.
Preferably, referring to fig. 7-8, the stacking unit 4 includes a stacking area A4-4 and a stacking area B4-5 which are symmetrically arranged left and right, a positioning cylinder C4-6 and a positioning cylinder D4-7 are respectively arranged on the sides of the stacking area A4-4 and the stacking area B4-5, both the stacking area A4-4 and the stacking area B4-5 can be used for placing stacking tooling plates, a carrier roller A4-8 and a carrier roller B4-9 are respectively arranged at the downstream of the stacking area A4-4 and the stacking area B4-5, a manual feed opening A4-10 and a manual feed opening B4-10 are respectively arranged at the downstream of the carrier roller A4-8 and the carrier roller B4-9, a material frame A4-3 and a material frame B4-3 are respectively arranged at the downstream of the manual feed opening A, B-10, and a lifter 4-1 is arranged at both ends of both sides of the stacking unit 4.
Preferably, the two lifters 4-1 positioned at the downstream are provided with audible and visual alarms 4-2, button boxes 4-11 are respectively arranged at the downstream of the manual feed opening A, B4-10, and the carrier rollers A4-8 and the carrier rollers B4-9 are double-layer carrier rollers, and comprise an upper carrier roller 17 and a lower carrier roller 18, as shown in fig. 9.
Preferably, the stacking tool plate comprises an area A14 and an area B15, the bottom surface of the stacking tool plate is a tool bottom plate 16, the area A14 and the area B15 comprise four workpiece stacking areas, each workpiece stacking area can be used for stacking a plurality of workpieces 1-12, each workpiece can be positioned through a first fixed positioning rod 7 and a second fixed positioning rod 8 which are positioned on one side of the workpiece stacking area, and a rotating pin 12 and a movable positioning rod 9 which are positioned on the other side, the movable positioning rod 9 can be movably positioned through a manual operation rod 10 connected with the movable positioning rod 9, a groove 11 is formed in the bottom of the workpiece stacking area, the groove 11 is convenient for a worker to stretch hands to the bottom of the workpiece to carry out the workpiece, and a positioning pin 13 is arranged on the side surface of the rotating pin 12 and used for limiting the angle of the movable positioning rod 9 when the worker opens.
Preferably, the sucking disc is arranged on a flange plate at the tail end of the robot, the negative pressure of the hand-grabbing sucking disc is generated by a vacuum generator, the hand-grabbing claw can grab and put various workpieces with smooth surfaces, and the grabbing mechanism formed by the hand-grabbing claw and the sucking disc has a fault detection function.
Preferably, the three-dimensional manipulator is driven by a servo motor, two workpieces can be simultaneously grabbed by two gripper fingers at one time, each gripper finger has a 180-degree rotation function, and the three-dimensional manipulator is adjustable in speed, adjustable in position and has a fault detection function.
The working method of the sorting and stacking system of the injection molding machine comprises the following steps:
step 1: the injection molding machine 6 produces two workpiece pieces A1-12 and B1-12 on the sides of the belt conveying line A1-4 and the belt conveying line B1-5 at a time, the two three-coordinate mechanical arms 5 grasp the workpiece from the injection molding machine 6 and put the workpiece pieces on the belt conveying line A1-4 and the belt conveying line B1-5, the belt conveying line A, B carries the workpiece pieces to run respectively, when the photoelectric sensor 1-10 detects that the workpiece pieces come, the blocking cylinders A1 and B1 are informed to delay for 2 seconds to release the workpiece pieces A1-12, and the blocking cylinders A2 and B2 do not act to block the workpiece pieces B1-12 to pass through (reasons: the delay 2S is because when a three-coordinate mechanical arm puts a workpiece on a belt line, the posture is possibly inclined and the workpiece posture is required to be corrected, at the moment, the posture adjustment can be realized through an L-shaped baffle plate of a blocking cylinder, and the blocking cylinder A2 does not act because in order to distinguish the die numbers of products, the products can pass through in sequence through a time-sharing release mode, a robot realizes the distinction of the die numbers of the workpiece according to the grabbing sequence), when 2 seconds are reached, the blocking cylinders A1 and B1 extend out, the L-shaped baffle plate 21 is lifted to put the workpieces A1-12 into an L-shaped cabin of the blocking cylinders A1 and B1, at the moment, the long cylinders A1-8 and the long cylinders 1-9 are connected with PLC signals to extend out of the cylinders, and the two workpieces A1-12 are pushed to the belt conveyor line C1-3 (because the belt conveyor line A, B is in a vertical state with the belt conveyor line C, the workpieces cannot be directly conveyed to the belt conveyor line C, other execution mechanisms are required to complete, and the long cylinders play the role);
step 2: when the photoelectric sensor 1-14 detects that the workpiece A1-12 is stretched out to press the workpiece, the PLC firstly judges whether the palletizing tooling plate is allowed to palletize before the robot gets the workpiece, judges whether the palletizing tooling plate can palletize or not, namely, the positioning cylinder C4-6 and the positioning cylinder D4-7 are in a positioning state, the photoelectric sensor under the palletizing tooling plate A area 14 detects that the palletizing tooling plate is stretched out, if the palletizing tooling plate is allowed to be stretched out, the robot is notified to get the workpiece, otherwise, the robot does not get the workpiece, the robot claw adopts a surface formed by three suckers to suck the workpiece, the stability and reliability are realized, the suction force of the suckers is realized through a negative pressure generator, the negative pressure generator is opened during grabbing, a negative pressure environment is established, the workpiece is tightly sucked through atmospheric pressure, whether the workpiece is firmly sucked or not is judged, a signal fed back by a negative pressure detection sensor, when the negative pressure is satisfied, the negative pressure is fed back to be 1 signal, if the negative pressure is not satisfied for a long time, an alarm is given, when the workpiece is required to be put down, the negative pressure generator is turned off, the workpiece is placed off, the workpiece is separated from the sucker, the robot is completely placed, the robot is notified to be retracted to the robot 1-1, the robot is controlled to take the workpiece 1-1, the robot is controlled to be retracted, the robot is notified to be 1-1, the robot is controlled to withdraw the negative pressure sensor 1, and the robot is notified to be retracted, and the position 1-1, and the robot 1 is notified to be retracted, and the negative pressure sensor is 13;
step 3: the robot grabs the workpieces A1-12, moves away from the robot material taking opening A1-1 to the code spraying unit 2, starts to decelerate when approaching the code spraying machine nozzle 2-2, starts to travel at a constant speed when reaching the code spraying set speed, informs the code spraying unit 2 to start code spraying, continues to move to the stacking area A4-4 after the code spraying is finished, starts stacking according to a PLC instruction, and codes the workpieces A1-12 in the stacking tooling plate A area 14 of the stacking area A4-4 according to a program path;
step 4: after the first workpieces A1-12 are piled, the robot piles up the second workpieces A1-12 in a piling tooling plate A area 14 of a piling area B4-5 according to the same steps as the first workpieces A1-12;
step 5: after the robot grabs the second workpiece A1-12 and leaves the second workpiece A1-12 in the step 4, the blocking air cylinders A2 and B2 are lifted, the two workpieces B1-12 are put through, the first workpiece B1-12 is stacked to a stacking tooling plate B area 15 of the stacking area A4-4 in sequence with the step of stacking the first two workpieces A1-12, and the second workpiece B1-12 is stacked to a stacking tooling plate B area 15 of the stacking area B4-5;
step 6: the steps 1-5 are repeated until the stacking tool plate in the stacking area A, B is fully stacked, after the stacking is fully stacked, the robot informs the PLC that the stacking tool plate is fully stacked, manual blanking can be carried out, after the PLC receives an instruction, the upper carrier roller A4-8 and the carrier roller B4-9 convey the stacking tool plate to the manual blanking port A, B-10, the audible and visual alarm 4-2 informs workers to perform blanking by using the frequency of 5HZ, 1HZ is the system fault alarm frequency, meanwhile, the blocking cylinder 19 in front of the empty stacking tool plate waiting position 20 is retracted, the carrier roller A, B moves the empty stacking tool plate onto the lifter 4-1, the empty stacking tool plate is conveyed to the stacking area A, B through the lifter 4-1, the stacking tool plate is positioned through the positioning cylinder C4-6 and the positioning cylinder D4-7, after the positioning is completed, the robot is informed, the blanking is allowed, after the manual blanking is completed, the blanking completion signal on the button box 4-11 is clicked, the empty stacking tool plate is lowered to the lower layer through the lifter, and the empty carrier roller is moved to the empty stacking tool plate waiting position 20.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides an injection molding machine letter sorting pile up neatly system, its characterized in that includes conveying unit (1), spouts a yard unit (2), robot (3), pile up neatly unit (4), three-dimensional manipulator (5), injection molding machine (6), conveying unit (1) are located the feed opening of injection molding machine (6), three-dimensional manipulator (5) snatch work piece (1-12) of injection molding machine (6) production to conveying unit (1), robot (3) are located between conveying unit (1) and pile up neatly unit (4), spout a yard unit (2) are located the terminal side of conveying unit, the robot can snatch work piece (1-12) that conveying unit (1) sent and spout a yard unit (2) department and spout a yard and then send to pile up neatly unit (4);
the conveying unit (1) comprises a belt conveying line A (1-4) and a belt conveying line B (1-5) which are transversely arranged, wherein the belt conveying line A (1-4) and the belt conveying line B (1-5) are in butt joint, workpieces (1-12) can be conveyed from the outer end of a belt to the butt joint middle position, a blocking cylinder A (1-6) and a blocking cylinder B (1-7) which are symmetrically arranged left and right are arranged in the butt joint middle position, the blocking cylinder A (1-6) positioned on the left is used for receiving the workpieces conveyed by the belt conveying line A (1-4), the blocking cylinder B (1-7) positioned on the right is used for receiving the workpieces conveyed by the belt conveying line B (1-5), each blocking cylinder A, B comprises an L-shaped baffle (21) positioned on the outer side of the blocking cylinder, one end of each blocking cylinder A is connected with a long cylinder A (1-8), one end of each blocking cylinder B (1-9) is connected with a long cylinder B (1-3), the right side of each blocking cylinder B is arranged on the right and the right side of each blocking cylinder B is provided with a longitudinal belt conveying line C (1-3), and the robot mouth (1-2) is arranged on the tail end of the belt C (1-3) is provided with a pick-up machine mouth (1-up mouth);
the blocking cylinder A (1-6) comprises a blocking cylinder A1 and a blocking cylinder A2 which are arranged in parallel in the direction perpendicular to the conveying direction of the belt conveying line A (1-4), and the blocking cylinder B (1-7) comprises a blocking cylinder B1 and a blocking cylinder B2 which are arranged in parallel in the direction perpendicular to the conveying direction of the belt conveying line B (1-5);
photoelectric sensors (1-10) for detecting workpieces (1-12) are arranged on two sides of the belt conveying line A (1-4) and the belt conveying line B (1-5), the photoelectric sensors A (1-14) and the photoelectric sensors B (1-14) are respectively arranged at the downstream of the robot material taking opening A (1-1) and the downstream of the robot material taking opening B (1-2), and a positioning cylinder A (1-13-1) and a positioning cylinder B (1-13-2) are respectively arranged on a belt conveying line C (1-3) on the outer side surfaces of the robot material taking opening A (1-1) and the robot material taking opening B (1-2);
the robot (3) comprises a robot base (3-4), a six-axis robot (3-5) positioned on the base, and a built-in negative pressure generator and a negative pressure detection sensor (3-3) positioned at the top end of the six-axis robot (3-5), wherein the six-axis robot (3-5) comprises a paw (3-1) for grabbing a workpiece, and a sucker (3-2) is arranged at the tail end of the paw (3-1);
the three-coordinate mechanical arm (5) is driven by a servo motor, two workpieces can be simultaneously grabbed by two gripper designs at one time, and each gripper of the three-coordinate mechanical arm (5) has a 180-degree rotation function.
2. The system according to claim 1, wherein: the code spraying unit (2) comprises a code spraying platform (2-4), a code spraying machine (2-1) positioned on the code spraying platform (2-4) and a spray head position adjusting device (2-3), wherein a spray head (2-2) is arranged on the spray head position adjusting device (2-3).
3. The system according to claim 2, wherein: the stacking unit (4) comprises a stacking area A (4-4) and a stacking area B (4-5) which are symmetrically arranged left and right, a positioning cylinder C (4-6) and a positioning cylinder D (4-7) are respectively arranged on the side edges of the stacking area A (4-4) and the stacking area B (4-5), the stacking area A (4-4) and the stacking area B (4-5) can be used for placing stacking tool plates, a carrier roller A (4-8) and a carrier roller B (4-9) are respectively arranged at the downstream of the stacking area A (4-4) and the downstream of the stacking area B (4-5), an artificial feed opening A (4-10) and an artificial feed opening B (4-10) are respectively arranged at the downstream of the carrier roller A (4-8) and the carrier roller B (4-9), a material frame A (4-3) and a material frame B (4-3) are respectively arranged at the downstream of the artificial feed opening A, B (4-10), and two lifters (4-1) are respectively arranged at the two ends of the stacking unit (4).
4. A system according to claim 3, characterized in that: the two lifters (4-1) positioned at the downstream are provided with audible and visual alarms (4-2), button boxes (4-11) are respectively arranged at the downstream of the manual blanking opening A, B (4-10), and the carrier roller A (4-8) and the carrier roller B (4-9) are double-layer carrier rollers.
5. The system according to claim 4, wherein: the stacking tool plate comprises an area A (14) and an area B (15), the bottom surface of the stacking tool plate is a tool bottom plate (16), the area A (14) and the area B (15) comprise four workpiece stacking areas, each workpiece stacking area can be used for stacking a plurality of workpieces (1-12), each workpiece can be positioned through a fixed positioning rod (1) (7), a fixed positioning rod (2) (8) and a rotating pin (12) and a movable positioning rod (9) which are positioned at one side of the workpiece stacking area, the movable positioning rod (9) can be moved and positioned through a manual operation rod (10) connected with the movable positioning rod, a groove (11) is formed in the bottom of the workpiece stacking area, a worker can conveniently stretch the hand to the bottom of the workpiece, the workpiece is moved out, and a positioning pin (13) is arranged on the side surface of the rotating pin (12) and used for limiting the angle of the movable positioning rod (9) for opening the worker.
6. A method of operating an injection molding machine palletizing system as in claim 5, comprising the steps of:
step 1: the method comprises the steps that an injection molding machine (6) respectively produces two workpieces A (1-12) and B (1-12) on sides of a belt conveying line A (1-4) and a belt conveying line B (1-5) at one time, two three-coordinate manipulators (5) grab the workpieces out of the injection molding machine (6) and put the workpieces into the belt conveying line A (1-4) and the belt conveying line B (1-5), the belt conveying line A, B respectively carries the workpieces to run, when a photoelectric sensor (1-10) detects that the workpieces come, the blocking cylinders A1 and B1 are informed to delay for 2 seconds to release the workpieces A (1-12), the blocking cylinders A2 and B2 do not act to block the workpieces B (1-12) to pass, when the blocking cylinders A1 and B1 extend out, the L-shaped baffle plates (21) are lifted to put the workpieces A (1-12) into L-shaped cabins of the blocking cylinders A1 and B1, at the moment, the long cylinders A (1-8) and the long cylinders (1-9) receive PLC signals, the blocking cylinders extend out, and the two workpieces A (1-12) are pushed to a belt conveying line C (1-3);
step 2: when the photoelectric sensor (1-14) detects the workpiece A (1-12), the positioning air cylinder A (1-13-1) stretches out to compress the workpiece, before the robot gets the material, the PLC firstly judges whether the palletizing tooling plate allows palletizing, judges whether the palletizing tooling plate can be positioned, namely the positioning air cylinder C (4-6) and the positioning air cylinder D (4-7) are positioned in the stretching state, the photoelectric sensor below the palletizing tooling plate A area (14) detects the palletizing tooling plate on a carrier roller, if the photoelectric sensor is allowed to allow the robot to get the workpiece, otherwise, the robot does not get the material, the robot gripper adopts three suckers to form a surface to absorb the workpiece, the suction force of the suckers is realized through the negative pressure generator, the negative pressure generator is opened during the grabbing, the negative pressure environment is established, the workpiece is tightly sucked through the atmospheric pressure, the firmness of the workpiece is judged, the signal fed back by the negative pressure detection sensor is the signal fed back by the negative pressure detection sensor, when the negative pressure is satisfied, the feedback is 1 signal, if the negative pressure is not satisfied for a long time, the alarm is given, when the workpiece needs to be put down, the negative pressure generator is turned off, the negative pressure generator is broken, the workpiece is taken back from the robot 1, the robot gripper is retracted from the negative pressure sensor 1, the workpiece is completely to the workpiece 1, the robot 1 is completely grabbed, the negative pressure sensor is completely, the workpiece is completely corresponds to the negative pressure sensor 1, the workpiece is completely, the negative pressure sensor 1 is completely, and the workpiece is completely taken by the robot 1, and the negative pressure sensor is completely 1, and the workpiece is completely taken by the negative pressure 1, and the robot 1 is completely and the negative pressure 1 when the negative pressure sensor is completely 1 is completely and the negative pressure 1, the PLC controls the positioning cylinder A (1-13-1) to retract;
step 3: the robot grabs the workpiece A (1-12), moves away from the robot material taking opening A (1-1) to the code spraying unit (2), starts to decelerate when approaching to the code spraying machine nozzle (2-2), starts to travel at a constant speed when reaching the code spraying set speed, informs the code spraying unit (2) to start code spraying, and after the code spraying is finished, the robot continues to move to the stacking area A (4-4), starts to stack according to a PLC instruction, and codes the workpiece A (1-12) in the stacking tooling plate A area (14) of the stacking area A (4-4) according to a program path;
step 4: after the first workpiece A (1-12) is piled, the robot piles up the second workpiece A (1-12) in a piling tooling plate A area (14) of a piling area B (4-5) according to the same steps as the first workpiece A (1-12);
step 5: after the robot grabs the second workpiece A (1-12) and leaves the second workpiece A in the step 4, the blocking cylinders A2 and B2 are lifted, the two workpieces B (1-12) are put through, the first workpiece B (1-12) is stacked to a stacking tooling plate B area (15) of the stacking area A (4-4) in sequence with the step of stacking the first two workpieces A (1-12), and the second workpiece B (1-12) is stacked to a stacking tooling plate B area (15) of the stacking area B (4-5);
step 6: the steps 1-5 are repeated until the stacking tool plate in the stacking area A, B is fully stacked, after the stacking is fully stacked, the robot informs the PLC that the stacking tool plate is fully stacked, manual blanking can be performed, after the PLC receives an instruction, the carrier roller A (4-8) and the carrier roller B (4-9) convey the stacking tool plate to the manual blanking port A, B (4-10), the audible and visual alarm (4-2) informs workers to perform blanking by using the frequency of 5HZ, 1HZ is the system fault alarm frequency, meanwhile, the blocking cylinder (19) in front of the waiting position (20) of the empty stacking tool plate is retracted, the carrier roller A, B moves the empty stacking tool plate to the lifter (4-1), the empty stacking tool plate is conveyed to the stacking area A, B through the lifter (4-1), the carrier roller C (4-6) and the positioning cylinder D (4-7) position the stacking tool plate, after the positioning is completed, the robot is informed, after the blanking is completed, a blanking button is clicked, a blanking completion signal on the palletizing box (4-11) is informed, and the empty stacking tool plate is moved to the empty stacking tool plate through the lifter to the waiting position (20).
CN201711323248.1A 2017-12-13 2017-12-13 Sorting and stacking system of injection molding machine and working method thereof Active CN107972227B (en)

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