CN108058322B - A robot for loading and unloading materials of a vertical injection molding machine and a method for loading and unloading materials - Google Patents
A robot for loading and unloading materials of a vertical injection molding machine and a method for loading and unloading materials Download PDFInfo
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- CN108058322B CN108058322B CN201810054164.0A CN201810054164A CN108058322B CN 108058322 B CN108058322 B CN 108058322B CN 201810054164 A CN201810054164 A CN 201810054164A CN 108058322 B CN108058322 B CN 108058322B
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- clamp
- clamp assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
- Manipulator (AREA)
Abstract
The invention provides a manipulator for loading and unloading of a vertical injection molding machine and a loading and unloading method thereof, and the manipulator comprises a frame, a feeding device, a bidirectional feeding mechanism, a floating clamp assembly, a fetching mechanism, a rotary receiving tray and a pushing mechanism, wherein the feeding device, the bidirectional feeding mechanism, the floating clamp assembly, the fetching mechanism, the rotary receiving tray and the pushing mechanism are arranged on the frame, one side of the bidirectional feeding mechanism is connected with the feeding device, the floating clamp assembly is arranged above the bidirectional feeding mechanism, the pushing mechanism is arranged behind the rotary receiving tray, the rotary receiving tray is connected with a trough, the top of the frame is provided with a linear bearing plate, and the floating clamp assembly is connected to the linear bearing plate and moves axially along the linear bearing plate.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and particularly relates to a manipulator for loading and unloading of a vertical injection molding machine and a loading and unloading method of the manipulator.
Background
The vertical AC/DC injection molding machine mainly aims at injection molding of connecting wires, various electronic and computer data wires, power plug wires and the like, and generally comprises a rotary workbench, wherein two lower die assemblies are symmetrically arranged on the rotary workbench and are used for alternately processing injection molding pieces, and the conventional vertical injection molding machine usually adopts manual feeding and discharging, however, the problem that a certain small error can occur after each rotation of the workbench, and the workbench is usually checked by naked eyes or adjusted by means of corresponding instruments during discharging, so that time and labor are wasted.
Disclosure of Invention
The invention provides a manipulator for loading and unloading of a vertical injection molding machine and a loading and unloading method thereof, which solve the defects that in the prior art, a certain small error occurs after a workbench rotates each time, and in general, the manipulator is usually checked by naked eyes or adjusted by means of corresponding instruments during loading, thereby wasting time and energy.
The technical scheme of the invention is realized as follows:
The utility model provides a manipulator for unloading on vertical injection molding machine, includes frame, material feeding unit, two-way pan feeding mechanism, floating clamp assembly, gets a mechanism, gyration and connects charging tray and pushing equipment, and material feeding unit, two-way pan feeding mechanism, floating clamp assembly, get a mechanism, gyration connect charging tray and pushing equipment install in the frame, connect on one side of two-way pan feeding mechanism material feeding unit, the top of two-way pan feeding mechanism is provided with floating clamp assembly, pushing equipment set up in the rear of gyration connects the charging tray, gyration connects the charging tray and connects the silo, the top of frame is provided with the straight line bearing board, floating clamp assembly connect in on the straight line bearing board and follow straight line bearing board axial displacement.
Preferably, the feeding device comprises a feeding base, a primary extending plate and a feeding plate, wherein the primary extending plate is connected with a first cylinder, the feeding plate is connected with a second cylinder, the second cylinder and the feeding plate are fixed on the primary extending plate, two feeding grooves are formed in the primary extending plate, and an output port of the feeding base is communicated with the feeding grooves.
Preferably, the bidirectional feeding mechanism comprises a first clamp, two groups of bidirectional clamping grooves are formed in the first clamp, the bottom of the first clamp is connected with a positioning plate, a positioning hole is formed in an end corner of the positioning plate, and a first rotary cylinder is connected to the bottom of the positioning plate.
The first extending plate is driven by the first air cylinder to push the insert into the clamping groove, the insert falls into the conveying groove from the feeding base, and the insert is pushed into the clamping groove through the feeding plate.
Preferably, the floating clamp assembly comprises a lifting upper plate and a lifting plate, wherein the lifting upper plate and the lifting plate are connected through a first servo motor, the floating clamp assembly further comprises a second clamp, a first floating head middle plate and a second floating head middle plate, a first sliding block and a first sliding rail are arranged between the first floating head middle plate and the second floating head middle plate in the X-axis direction, the first sliding block is fixedly connected with the first floating head middle plate, the first sliding rail is connected with the second floating head middle plate, a second sliding block and a second sliding rail are arranged at the bottom of the second floating head middle plate in the Y-axis direction, the second sliding block is connected with the second floating head middle plate, the second sliding rail is fixed on the lifting plate, a round hole is formed in the middle of the first floating head middle plate and the second floating head middle plate, a bearing is connected in the round hole, a fourth cylinder is connected with the second clamp, the floating clamp assembly further comprises a flange connected with the first floating head middle plate, a floating head guide column is arranged on the opposite angle of the flange, the second clamp assembly corresponds to the first clamp, two groups of air cylinders are respectively arranged on the second clamp assembly, and two-way clamps are respectively connected with two-way clamps.
Fine adjustment of the second clamp in the X-axis direction is realized through the first sliding block and the first sliding rail, fine adjustment of the second clamp in the Y-axis direction is realized through the second sliding block and the second sliding rail, fine adjustment of the second clamp in the beta-angle direction is realized through the bearing,
The angle beta is an included angle between the second clamp and the first clamp in the circumferential direction when the second clamp contacts the first clamp.
Preferably, a plurality of optical axes are arranged on the end angle between the lifting upper plate and the lifting plate.
Preferably, a screw is axially arranged on the linear bearing plate, a movable seat is connected to the floating clamp assembly, a nut is arranged on the movable seat, the nut is connected with the screw, and the screw is connected with the second servo motor.
Preferably, the picking mechanism comprises a picking seat and a picking clamp, the picking clamp is connected with the picking seat, and the picking seat is connected to the lifting plate.
Preferably, two discharge tanks are arranged on the rotary feeding tray, the pushing mechanism comprises a pushing plate and a fifth cylinder, the pushing plate is connected with a piston rod of the fifth cylinder, and the pushing plate is positioned right behind one of the discharge tanks.
The feeding and discharging method of the manipulator for feeding and discharging of the vertical injection molding machine comprises the following steps:
S1, feeding inserts into a bidirectional feeding mechanism one by adopting a feeding device;
S2, clamping the inserts in the two-way feeding mechanism by the floating clamp assembly positioned above the two-way feeding mechanism, and adjusting the positions of the floating clamp assembly in the X-axis, Y-axis and beta-angle directions to match the inserts in the two-way feeding mechanism while clamping, so that the clamping grooves in the floating clamp assembly are completely matched with the inserts in the two-way feeding mechanism;
S3, the floating clamp assembly is wholly displaced, the insert is placed into a lower die of the injection molding machine, and the positions in the X axis, the Y axis and the beta angle direction are adjusted at the same time, so that the insert is completely matched with the lower die of the injection molding machine;
S4, taking out the injection molded inserts through the insert taking mechanism, putting the injection molded inserts into two discharge grooves of a rotary receiving tray, and putting the inserts in the same direction into the same discharge groove;
s5, pushing the insert in one discharge chute into the chute through the pushing mechanism, and after the rotary receiving tray rotates 180 degrees, pushing the insert in the other discharge chute into the chute through the pushing mechanism, so that the directions of the inserts are kept consistent.
In summary, the invention has the advantages that:
According to the manipulator for loading and unloading the vertical injection molding machine and the loading and unloading method thereof, the positions of the floating clamp assembly on the XY axis and the beta angle are adjusted when the floating clamp assembly clamps the inserts, so that the manipulator is completely matched with the inserts, errors are reduced, and waste products are reduced.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a schematic diagram of a manipulator for loading and unloading a vertical injection molding machine and a loading and unloading method thereof;
FIG. 2 is an enlarged schematic view of the structure of FIG. 1A;
FIG. 3 is a schematic view of the feeding device of FIG. 1;
Fig. 4 is a schematic view of a portion of the floating clamp assembly of fig. 1.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-4, a manipulator for loading and unloading of a vertical injection molding machine comprises a frame 1, a feeding device 2, a bidirectional feeding mechanism 3, a floating clamp assembly 4, a fetching mechanism 5, a rotary receiving tray 6 and a pushing mechanism 7, wherein the feeding device 2, the bidirectional feeding mechanism 3, the floating clamp assembly 4, the fetching mechanism 5, the rotary receiving tray 6 and the pushing mechanism 7 are arranged on the frame, one side of the bidirectional feeding mechanism 3 is connected with the feeding device 2, the floating clamp assembly 4 is arranged above the bidirectional feeding mechanism 3, the pushing mechanism 7 is arranged behind the rotary receiving tray 6, the rotary receiving tray 6 is connected with a trough, and the top of the frame is provided with a linear bearing 27 plate 8, and the floating clamp assembly is connected to the linear bearing 27 plate and moves axially along the linear bearing 27 plate.
Preferably, the feeding device comprises a feeding base 8, a primary extending plate 9 and a feeding plate 10, wherein the primary extending plate 9 is connected with the feeding plate 10, the feeding plate 10 is connected with a second air cylinder 12, the second air cylinder 12 and the feeding plate 10 are fixed on the primary extending plate 9, two material conveying grooves are formed in the primary extending plate 9, and an output port of the feeding base 8 is communicated with the material conveying grooves.
Preferably, the bidirectional feeding mechanism comprises a first clamp 11, two groups of bidirectional clamping grooves 13 are formed in the first clamp 11, the bottom of the first clamp 11 is connected with a positioning plate 14, a positioning hole 15 is formed in an end corner of the positioning plate 14, and a first rotary cylinder 16 is connected to the bottom of the positioning plate.
The primary extending plate 9 is driven by the feeding plate 10 to push to the clamping groove, the inserts fall into the feeding groove from the feeding base 8, and the inserts are pushed into the clamping groove by the feeding plate 10.
Preferably, the floating clamp assembly comprises a lifting upper plate 17 and a lifting plate 18, the lifting upper plate 17 and the lifting plate 18 are connected through a first servo motor 19, the floating clamp assembly further comprises a second clamp, a first floating head middle plate 20 and a second floating head middle plate 21, a first sliding block 22 and a first sliding rail 23 are arranged between the first floating head middle plate 20 and the second floating head middle plate 21 in the X-axis direction, the first sliding block 22 is fixedly connected with the first floating head middle plate 20, the first sliding rail 23 is connected with the second floating head middle plate 21, the bottom of the second floating head middle plate 21 is provided with a second sliding block 24 and a second sliding rail 25 in the Y-axis direction, the second sliding block 24 is connected with the second floating head middle plate 21, the second sliding rail 25 is fixed on the lifting plate 18, a round hole 26 is formed in the middle of the first floating head middle plate 20 and the second floating head middle plate 21, a bearing 27 is connected with an inner side of the bearing 27, the fourth cylinder 28 is connected with the second clamp, the second sliding block is further provided with a second sliding block 24 and a second clamping arm, the second clamping arm is correspondingly connected with a second clamping arm and a first flange and a second clamping arm and a second flange 13 are respectively arranged on the second clamping arm and a pair, and a first clamping flange and a second clamping arm and a second clamping flange 13 are respectively arranged on the two-way.
Fine adjustment of the second clamp in the X-axis direction is realized through the first slide block 22 and the first slide rail 23, fine adjustment of the second clamp in the Y-axis direction is realized through the second slide block 24 and the second slide rail 25, fine adjustment of the second clamp in the beta-angle direction is realized through the bearing 27,
The angle β is an angle between the second jig and the first jig 11 in the circumferential direction when the second jig is in contact with the first jig.
Preferably, a plurality of optical axes are arranged on the end angles between the lifting upper plate 17 and the lifting plate 18.
Preferably, the linear bearing 27 is provided with a screw 30 axially on the plate, and the floating clamp assembly is connected with a moving seat (not shown), and the moving seat is provided with a nut, the nut is connected with the screw 30, and the screw 30 is connected with a second servo motor 31.
Preferably, the picking mechanism includes a picking seat and a picking clamp, the picking clamp is connected with the picking seat, and the picking seat is connected to the lifting plate 18.
Preferably, two discharge grooves 32 are formed in the rotary feeding tray, the pushing mechanism comprises a pushing plate and a fifth cylinder, the pushing plate is connected with a piston rod of the fifth cylinder, and the pushing plate is located right behind one discharge groove 32.
The feeding and discharging method of the manipulator for feeding and discharging of the vertical injection molding machine comprises the following steps:
S1, feeding inserts into a bidirectional feeding mechanism one by adopting a feeding device;
S2, clamping the inserts in the two-way feeding mechanism by the floating clamp assembly positioned above the two-way feeding mechanism, and adjusting the positions of the floating clamp assembly in the X-axis, Y-axis and beta-angle directions to match the inserts in the two-way feeding mechanism while clamping, so that the clamping grooves in the floating clamp assembly are completely matched with the inserts in the two-way feeding mechanism;
S3, the floating clamp assembly is wholly displaced, the insert is placed into a lower die of the injection molding machine, and the positions in the X axis, the Y axis and the beta angle direction are adjusted at the same time, so that the insert is completely matched with the lower die of the injection molding machine;
S4, taking out the injection molded inserts through the insert taking mechanism, putting the injection molded inserts into two discharge grooves 32 of the rotary receiving tray, and putting the inserts in the same direction into the same discharge groove 32;
S5, pushing the insert in one discharge chute 32 into the chute through the pushing mechanism, and pushing the insert in the other discharge chute 32 into the chute through the pushing mechanism after the rotary receiving tray rotates 180 degrees so that the directions of the inserts are kept consistent.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (1)
1. A method for feeding and discharging on a mechanical arm for feeding and discharging of a vertical injection molding machine,
The method is realized based on a manipulator for loading and unloading of a vertical injection molding machine, the manipulator for loading and unloading of the vertical injection molding machine comprises a frame, a feeding device, a bidirectional feeding mechanism, a floating clamp assembly, a picking mechanism, a rotary receiving tray and a pushing mechanism, wherein the feeding device, the bidirectional feeding mechanism, the floating clamp assembly, the picking mechanism, the rotary receiving tray and the pushing mechanism are arranged on the frame, one side of the bidirectional feeding mechanism is connected with the feeding device, the floating clamp assembly is arranged above the bidirectional feeding mechanism, the pushing mechanism is arranged behind the rotary receiving tray, the rotary receiving tray is connected with a trough, the top of the frame is provided with a linear bearing plate, the floating clamp assembly is connected to the linear bearing plate and axially moves along the linear bearing plate,
The feeding device comprises a feeding base, a primary extending plate and a feeding plate, wherein the primary extending plate is connected with a first cylinder, the feeding plate is connected with a second cylinder, the second cylinder and the feeding plate are fixed on the primary extending plate, a feeding groove is arranged on the primary extending plate, an output port of the feeding base is communicated with the feeding groove,
The bidirectional feeding mechanism comprises a first clamp, two groups of bidirectional clamping grooves are arranged on the first clamp, the bottom of the first clamp is connected with a positioning plate, a positioning hole is arranged on an end corner of the positioning plate, the bottom of the positioning plate is connected with a first rotary cylinder,
The floating clamp assembly comprises a lifting upper plate, a lifting plate, a second clamp, a first floating head middle plate, a second floating head middle plate, a first sliding block and a first sliding rail, wherein the lifting upper plate and the lifting plate are connected through a first servo motor, the first sliding block and the first sliding rail are arranged between the first floating head middle plate and the second floating head middle plate in the X-axis direction, the first sliding block is fixedly connected with the first floating head middle plate, the first sliding rail is connected with the second floating head middle plate, the bottom of the second floating head middle plate is provided with the second sliding block and the second sliding rail in the Y-axis direction, the second sliding block is connected with the second floating head middle plate, the second sliding rail is fixed on the lifting plate, a round hole is formed in the middle of the first floating head middle plate and the second floating head middle plate, a bearing is connected in the round hole, a fourth cylinder is connected with the inner side of the bearing, the fourth cylinder is connected with the second clamp, the flange is fixedly connected with the first floating head middle plate, the first sliding rail is provided with a floating head guide column on the opposite angle of the flange, the second floating head middle plate is correspondingly provided with the first clamp, the second clamp is provided with a first clamping arm, the second clamping arm is respectively provided with a two-way clamping groove, the first clamping arm is respectively, the second clamping arm is respectively provided with a two-way clamping groove, and the first clamping arm is respectively,
A plurality of optical axes are arranged on the end angle between the lifting upper plate and the lifting plate,
A screw rod is axially arranged on the linear bearing plate, a movable seat is connected on the floating clamp assembly, a nut is arranged on the movable seat, the nut is connected with the screw rod, the screw rod is connected with a second servo motor,
The picking mechanism comprises a picking seat and a picking clamp, the picking clamp is connected with the picking seat, the picking seat is connected with the lifting plate,
Two discharge tanks are arranged on the rotary material tray, the material pushing mechanism comprises a push plate and a fifth cylinder, the push plate is connected with a piston rod of the fifth cylinder, the push plate is positioned right behind one of the discharge tanks,
The method is characterized by comprising the following steps:
S1, feeding inserts into a bidirectional feeding mechanism one by adopting a feeding device;
S2, clamping the inserts in the two-way feeding mechanism by the floating clamp assembly positioned above the two-way feeding mechanism, and adjusting the positions of the floating clamp assembly in the X-axis, Y-axis and beta-angle directions to match the inserts in the two-way feeding mechanism while clamping, so that the clamping grooves in the floating clamp assembly are completely matched with the inserts in the two-way feeding mechanism;
S3, the floating clamp assembly is wholly displaced, the insert is placed into a lower die of the injection molding machine, and the positions in the X axis, the Y axis and the beta angle direction are adjusted at the same time, so that the insert is completely matched with the lower die of the injection molding machine;
S4, taking out the injection molded inserts through the insert taking mechanism, putting the injection molded inserts into two discharge grooves of a rotary receiving tray, and putting the inserts in the same direction into the same discharge groove;
s5, pushing the insert in one discharge chute into the chute through the pushing mechanism, and after the rotary receiving tray rotates 180 degrees, pushing the insert in the other discharge chute into the chute through the pushing mechanism, so that the directions of the inserts are kept consistent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810054164.0A CN108058322B (en) | 2018-01-19 | 2018-01-19 | A robot for loading and unloading materials of a vertical injection molding machine and a method for loading and unloading materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810054164.0A CN108058322B (en) | 2018-01-19 | 2018-01-19 | A robot for loading and unloading materials of a vertical injection molding machine and a method for loading and unloading materials |
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| Publication Number | Publication Date |
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| CN108058322A CN108058322A (en) | 2018-05-22 |
| CN108058322B true CN108058322B (en) | 2025-02-25 |
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| CN112172021A (en) * | 2020-10-09 | 2021-01-05 | 广东拓斯达科技股份有限公司 | Floating manipulator tool and pin robot automation equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207954469U (en) * | 2018-01-19 | 2018-10-12 | 宗明 | A kind of manipulator for vertical injection molding machine loading and unloading |
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| US5213739A (en) * | 1991-06-26 | 1993-05-25 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Process for bonding elastomers to metals |
| KR200350154Y1 (en) * | 2004-02-25 | 2004-05-12 | 피엔알테크놀러지(주) | Apparatus for insert injection molding |
| CN100546893C (en) * | 2007-12-21 | 2009-10-07 | 江苏金方圆数控机床有限公司 | A horizontal double-clamp feeding mechanism |
| CN202684781U (en) * | 2012-05-16 | 2013-01-23 | 鈦能科技股份有限公司 | floating mechanism |
| JP6339766B2 (en) * | 2013-03-26 | 2018-06-06 | Nok株式会社 | Molding equipment |
| CN103878905B (en) * | 2014-04-09 | 2016-04-27 | 威猛工业自动化系统（昆山）有限公司 | Inlay iron plate automatic charging device and control method thereof |
| CN104070635B (en) * | 2014-07-08 | 2016-07-06 | 广州瑞松科技有限公司 | The autocontrol method of strips injection moulding and robot transportation system |
| CN205219582U (en) * | 2015-12-07 | 2016-05-11 | 上海润品工贸有限公司 | Mould positioning system is gone into automatically to inserts |
| CN106584762B (en) * | 2016-12-09 | 2019-06-25 | 东莞中兴瑞电子科技有限公司 | A kind of vertical injection molding machine dress plug-in component equipment |
| CN106944567B (en) * | 2017-03-24 | 2018-09-14 | 合肥工业大学 | A kind of telescopic loading and unloading manipulator for stamping |
| CN107415138A (en) * | 2017-06-16 | 2017-12-01 | 苏州米河自动化科技有限公司 | A kind of iron core automatic injection machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN207954469U (en) * | 2018-01-19 | 2018-10-12 | 宗明 | A kind of manipulator for vertical injection molding machine loading and unloading |
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