CN109016343A - Manipulator, robot and insert equipment - Google Patents
Manipulator, robot and insert equipment Download PDFInfo
- Publication number
- CN109016343A CN109016343A CN201811140007.8A CN201811140007A CN109016343A CN 109016343 A CN109016343 A CN 109016343A CN 201811140007 A CN201811140007 A CN 201811140007A CN 109016343 A CN109016343 A CN 109016343A
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- China
- Prior art keywords
- clamping jaw
- mold insert
- grabbing
- manipulator
- molding machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000001746 injection moulding Methods 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000004807 localization Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/425—Single device for unloading moulded articles and loading inserts into the mould
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention mainly aims to provide a manipulator, a robot and insert equipment, wherein the manipulator is used for grabbing an insert and comprises: clamping jaw tooling; the first grabbing assembly is arranged on the clamping jaw tool and used for grabbing a first position of the insert to perform feeding; the second grabbing assembly is arranged on the clamping jaw tool and used for grabbing a second position of the insert to perform blanking or detection; the insert is placed into the injection molding machine by the aid of the first grabbing assembly to be in a state to be machined, and after the insert is machined, the insert is taken out of the injection molding machine by the aid of the second grabbing assembly. The manipulator solves the problem that the manipulator of the insert device in the prior art is too many.
Description
Technical field
The present invention relates to technical fields of mechanical processing, in particular to a kind of manipulator, robot and mold insert equipment.
Background technique
Mold insert in the prior art in process, needs multiple manipulators and robot to cooperate to carry out up and down
Material, meanwhile, different processing methods causes manipulator to need to grab different location when grabbing mold insert, in order to place.
It is directed to a certain function respectively using multiple manipulators or a certain device is corresponding carries out using that is, currently, universal
The corresponding movement of one manipulator and robot is grabbed, and although automation that this mode realizes mold insert equipment adds
Work, but multiple manipulators and robot not only occupied space, while cost is also added, it is unfavorable for modern production.
Summary of the invention
The main purpose of the present invention is to provide a kind of manipulator, robot and mold insert equipment, to solve in the prior art
Mold insert equipment the too many problem of manipulator.
To achieve the goals above, according to the first aspect of the invention, a kind of manipulator is provided, for grabbing edge
Part, manipulator include: clamping jaw tooling；First grabbing assembly, the first grabbing assembly are arranged in clamping jaw tooling, for grabbing edge
The first position of part carries out feeding；Second grabbing assembly, the second grabbing assembly are arranged in clamping jaw tooling, for grabbing mold insert
The second position carry out blanking or detection；Wherein, mold insert is put into injection molding machine so that mold insert is in using the first grabbing assembly
State to be processed, and after mold insert processes, mold insert is taken out out of injection molding machine using the second grabbing assembly.
Further, the first grabbing assembly includes multiple first handgrips, multiple to be grabbed simultaneously using multiple first handgrips
Mold insert is to carry out feeding.
Further, the first handgrip includes: the first mounting base；First clamping jaw, the first clamping jaw are movably disposed at first
In mounting base；Second clamping jaw, the second clamping jaw are movably disposed in the first mounting base；Wherein, the first clamping jaw and the second clamping jaw
It is oppositely arranged, to clamp mold insert, the first clamping jaw and the second clamping jaw are located remotely from each other for the first clamping jaw and the movement close to each other of the second clamping jaw
Movement is to discharge mold insert.
Further, the first handgrip further include: first driving device, first driving device and the first clamping jaw and the second clamping jaw
It is separately connected, to drive the first clamping jaw and the second clamping jaw close to each other or be located remotely from each other movement simultaneously.
Further, first driving device is two-container cylinder, and a piston rod of the first clamping jaw and two-container cylinder connects, the
The connection of another piston rod of two clamping jaws and two-container cylinder.
Further, the second grabbing assembly includes multiple second handgrips, multiple to be grabbed simultaneously using multiple second handgrips
Mold insert is to carry out blanking.
Further, mold insert is equipped with first positioning hole and third location hole, first positioning hole are connected to third location hole
Stepped hole is formed, the second handgrip includes: the second mounting base；First positioning component, the first positioning component are arranged in the second mounting base
On, by being connect with first positioning hole cooperation with mold insert；Third positioning component, third positioning component are arranged in the second mounting base
On, by being connect with the cooperation of third location hole with mold insert；Wherein, the first positioning component and third positioning component while and mold insert
Cooperated, to grab mold insert.
Further, third positioning component includes location guide, the first positioning component include: it is multiple push clamping jaw, it is multiple
It pushes clamping jaw to be positioned apart from around location guide, multiple clamping jaws that push can be relatively close or far from mobile；Wherein, multiple to push
Clamping jaw is located remotely from each other is abutted against with the inner wall with first positioning hole simultaneously, multiple to push clamping jaw while mutually leaning on to grab mold insert
Closely mutually to be separated with the inner wall of first positioning hole, to discharge mold insert.
According to the second aspect of the invention, a kind of robot is provided, including manipulator and moving arm, manipulator are used for
Mold insert is grabbed to be moved under the drive of moving arm, manipulator is above-mentioned manipulator.
According to the third aspect of the present invention, a kind of mold insert equipment, including robot and injection molding machine are provided, robot uses
Feeding or the crawl mold insert progress blanking out of injection molding machine into injection molding machine, the artificial above-mentioned robot of machine in crawl mold insert.
The manipulator to apply the technical scheme of the present invention, which can be used for grabbing mold insert and be put into injection molding machine, carries out feeding or from note
The mold insert processed is taken out in molding machine, then crawl mold insert carry out detection and localization etc., which includes a hollow out
Clamping jaw tooling, the first grabbing assembly and the second grabbing assembly, the first grabbing assembly and the second grabbing assembly are separately positioned on folder
The different location of pawl tooling, wherein due to mold insert when being put into injection molding machine and mold insert injection molding machine position after processing is completed not
Equally, therefore, it is necessary to two different grabbing assemblies to grab to mold insert, therefore, manipulator of the invention is grabbed using first
It takes component to be put into injection molding machine for grabbing mold insert to be positioned, is used to take mold insert out of injection molding machine using the second grabbing assembly
Out, so that realizing a manipulator can either realize that carrying out feeding to injection molding machine also can be realized to injection molding machine progress blanking,
It solves the problems, such as that multiple manipulators is needed to carry out loading and unloading to injection molding machine respectively in the prior art.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 shows the overall structure diagram of the embodiment of manipulator according to the present invention；
Fig. 2 shows partial enlarged views in the embodiment of manipulator in Fig. 1 of the invention；
Fig. 3 shows the first visual angle schematic diagram of the embodiment of manipulator of the invention；
Fig. 4 shows the second visual angle schematic diagram of the embodiment of manipulator of the invention；
Fig. 5 shows the third visual angle schematic diagram of the embodiment of manipulator of the invention.
Wherein, the above drawings include the following reference numerals:
50, manipulator；51, clamping jaw tooling；52, the first grabbing assembly；53, the second grabbing assembly；531, the second handgrip；
532, the second mounting base；533, the first positioning component；534, third positioning component；535, clamping jaw is pushed；
30, the first handgrip；31, the first mounting base；321, the first clamping jaw；322, the second clamping jaw.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The present invention provides a kind of manipulators to please refer to Fig. 1 to Fig. 5, manipulator includes: clamping jaw work for grabbing mold insert
Fill 51；First grabbing assembly 52, the first grabbing assembly 52 is arranged in clamping jaw tooling 51, with the first position for grabbing mold insert
Carry out feeding；Second grabbing assembly 53, the second grabbing assembly 53 is arranged in clamping jaw tooling 51, with second for grabbing mold insert
Position carries out blanking or detection；Wherein, mold insert is put into injection molding machine using the first grabbing assembly 52 so that mold insert is in be added
Work state, and after mold insert processes, mold insert is taken out out of injection molding machine using the second grabbing assembly 53.
Manipulator of the invention can be used for grabbing mold insert and be put into progress feeding in injection molding machine or will process out of injection molding machine
Mold insert take out, then crawl mold insert carry out detection and localization etc., which includes the clamping jaw tooling 51 an of hollow out, the
One grabbing assembly 52 and the second grabbing assembly 53, the first grabbing assembly 52 and the second grabbing assembly 53 are separately positioned on clamping jaw tooling
51 different location, wherein due to mold insert when being put into injection molding machine and mold insert is different in the position of injection molding machine after processing is completed,
Therefore, it is necessary to two different grabbing assemblies to grab to mold insert, therefore, manipulator of the invention uses the first grabbing assembly
52 are put into injection molding machine for grabbing mold insert and are positioned, and are used to take mold insert out of injection molding machine using the second grabbing assembly 53
Out, so that realizing a manipulator can either realize that carrying out feeding to injection molding machine also can be realized to injection molding machine progress blanking,
It solves the problems, such as that multiple manipulators is needed to carry out loading and unloading to injection molding machine respectively in the prior art.
The shape of mold insert be it is cylindric, bottom centre is equipped with hole, and the first position in the present embodiment is outside the cylinder of mold insert
The cylindrical outer side of table, i.e. the first grabbing assembly 52 crawl mold insert is moved, and the second position in the present embodiment is mold insert bottom
The circular hole at center, the second grabbing assembly 53 are moved by the circular hole to grab mold insert.
First grabbing assembly 52 includes multiple first handgrips 30, to grab multiple mold inserts simultaneously using multiple first handgrips 30
To carry out feeding.First handgrip 30 includes: the first mounting base 31；First clamping jaw 321, the first clamping jaw 321 are movably disposed at
In first mounting base 31；Second clamping jaw 322, the second clamping jaw 322 are movably disposed in the first mounting base 31；Wherein, first
Clamping jaw 321 and the second clamping jaw 322 are oppositely arranged, the first clamping jaw 321 and the movement close to each other of the second clamping jaw 322 to clamp mold insert,
First clamping jaw 321 and the second clamping jaw 322 are located remotely from each other mobile to discharge mold insert.
As shown in Figure 1, the first grabbing assembly 52 in the present embodiment includes two the first handgrips 30, it is separately positioned on clamping jaw
The both ends of 51 side of tooling can clamp two mold inserts simultaneously and carry out feeding, which includes first mounting base
31, the first clamping jaw 321 and the second clamping jaw 322, the first clamping jaw 321 and the second clamping jaw 322 can be relative to being moved, when the first clamping jaw
321 and second clamping jaw 322 it is relatively close when clamp mold insert, then discharge mold insert when two clamping jaws are located remotely from each other.
First handgrip 30 further include: first driving device, first driving device and the first clamping jaw 321 and the second clamping jaw 322
It is separately connected, to drive the first clamping jaw 321 and the second clamping jaw 322 close to each other or be located remotely from each other movement simultaneously.First driving dress
It is set to two-container cylinder, the first clamping jaw 321 is connect with a piston rod of two-container cylinder, and the second clamping jaw 322 is another with two-container cylinder
One piston rod connection.
The first handgrip 30 in the present embodiment further includes first driving device, and first driving device preferably uses a twin-tub
Cylinder, the piston rod of two-container cylinder two sides are attached with the first clamping jaw 321 and the second clamping jaw 322 respectively, to drive the simultaneously
One clamping jaw 321 and the second clamping jaw 322 are moved.
Second grabbing assembly 53 includes multiple second handgrips 531, to grab multiple edges simultaneously using multiple second handgrips 531
Part is to carry out blanking.Mold insert is equipped with first positioning hole and third location hole, and first positioning hole is connected to be formed with third location hole
Stepped hole, the second handgrip 531 include: the second mounting base 532；First positioning component 533, the setting of the first positioning component 533 is the
In two mounting bases 532, by being connect with first positioning hole cooperation with mold insert；Third positioning component 534, third positioning component
534 are arranged in the second mounting base 532, by connecting with the cooperation of third location hole with mold insert；Wherein, the first positioning component
533 and third positioning component 534 simultaneously cooperated with mold insert, to grab mold insert.
As shown in Figures 2 to 5, the second grabbing assembly 53 in the present embodiment includes that there are three the second handgrips 531, wherein two
A side that clamping jaw tooling 51 is arranged in, the other side of clamping jaw tooling 51 is arranged in another, and two second of one are arranged in
Handgrip 531 is used to grab mold insert out of injection molding machine and carries out blanking, and the second handgrip 531 crawl mold insert of other side is for inlaying
The detection of part positions, specifically, above-mentioned second handgrip 531 includes that the second mounting base 532, the first positioning component 533 and third are fixed
Hyte part 534 is attached, so that mold insert be driven to be moved with mold insert by two positions.
Third positioning component 534 includes location guide, the first positioning component 533 include: it is multiple push clamping jaw 535, it is multiple
It pushes clamping jaw 535 to be positioned apart from around location guide, multiple clamping jaws 535 that push can be relatively close or far from mobile；Wherein, more
It is a push clamping jaw 535 while being located remotely from each other abutted against with the inner wall with first positioning hole, it is multiple to push clamping jaw to grab mold insert
535 is close to each other mutually to separate with the inner wall of first positioning hole simultaneously, to discharge mold insert.
As shown in Fig. 2, the third positioning component 534 in the present embodiment includes location guide, location guide is arranged second
The center done is installed, the first positioning component 533 includes three and pushes clamping jaw 535, and compartment of terrain, which is looped around around location guide, to be arranged,
Three push clamping jaw 535 and can lead under the drive of motor or cylinder simultaneously towards close to the movement of the direction of location guide or simultaneously
The direction for being directed away from location guide is mobile, when grabbing mold insert, firstly, the second handgrip of mechanical hand-motion 531 is mobile and is inserted into
In the hole of mold insert bottom, then, three push clamping jaw 535 and are located remotely from each other and abut respectively with the inner wall in hole, at this time then consolidate mold insert
It is scheduled on the second handgrip 531.
The present invention also provides a kind of robot, including manipulator 50 and moving arm, manipulator 50 for grab mold insert with
It is moved under the drive of moving arm, manipulator 50 is above-mentioned manipulator 50.
Robot provided by the invention includes manipulator 50 and mechanical arm, and mechanical arm drives manipulator to be moved to operating position
Or detection position, and mechanical arm can control the rotation of manipulator so that corresponding first handgrip or the second handgrip go to realize difference
Function.
The present invention also provides a kind of mold insert equipment, including robot and injection molding machine, robot is for grabbing mold insert to note
Feeding or the crawl mold insert progress blanking out of injection molding machine in molding machine, the artificial above-mentioned robot of machine.
It can be seen from the above description that the above embodiments of the present invention realized the following chievements:
Manipulator of the invention can be used for grabbing mold insert and be put into progress feeding in injection molding machine or will process out of injection molding machine
Mold insert take out, then crawl mold insert carry out detection and localization etc., which includes the clamping jaw tooling 51 an of hollow out, the
One grabbing assembly 52 and the second grabbing assembly 53, the first grabbing assembly 52 and the second grabbing assembly 53 are separately positioned on clamping jaw tooling
51 different location, wherein due to mold insert when being put into injection molding machine and mold insert is different in the position of injection molding machine after processing is completed,
Therefore, it is necessary to two different grabbing assemblies to grab to mold insert, therefore, manipulator of the invention uses the first grabbing assembly
52 are put into injection molding machine for grabbing mold insert and are positioned, and are used to take mold insert out of injection molding machine using the second grabbing assembly 53
Out, so that realizing a manipulator can either realize that carrying out feeding to injection molding machine also can be realized to injection molding machine progress blanking,
It solves the problems, such as that multiple manipulators is needed to carry out loading and unloading to injection molding machine respectively in the prior art.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.Simultaneously, it should be appreciated that for ease of description, each portion shown in attached drawing
The size divided not is to draw according to actual proportionate relationship.For technology, side known to person of ordinary skill in the relevant
Method and equipment may be not discussed in detail, but in the appropriate case, and the technology, method and apparatus should be considered as authorizing explanation
A part of book.In shown here and discussion all examples, any occurrence should be construed as merely illustratively, and
Not by way of limitation.Therefore, the other examples of exemplary embodiment can have different values.It should also be noted that similar label
Similar terms are indicated in following attached drawing with letter, therefore, once it is defined in a certain Xiang Yi attached drawing, then subsequent attached
It does not need that it is further discussed in figure.
In the description of the present invention, it is to be understood that, the noun of locality such as " front, rear, top, and bottom, left and right ", " it is laterally, vertical,
Vertically, orientation or positional relationship indicated by level " and " top, bottom " etc. is normally based on orientation or position shown in the drawings and closes
System, is merely for convenience of description of the present invention and simplification of the description, in the absence of explanation to the contrary, these nouns of locality do not indicate that
It must have a particular orientation or be constructed and operated in a specific orientation with the device or element for implying signified, therefore cannot manage
Solution is limiting the scope of the invention；The noun of locality " inside and outside " refers to inside and outside the profile relative to each component itself.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
In addition, it should be noted that, limiting components using the words such as " first ", " second ", it is only for be convenient for
Corresponding components are distinguished, do not have Stated otherwise such as, there is no particular meanings for above-mentioned word, therefore should not be understood as to this
The limitation of invention protection scope.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of manipulator, for grabbing mold insert, which is characterized in that the manipulator includes:
Clamping jaw tooling (51)；
First grabbing assembly (52), first grabbing assembly (52) are arranged on the clamping jaw tooling (51), for grabbing
The first position of the mold insert carries out feeding；
Second grabbing assembly (53), second grabbing assembly (53) are arranged on the clamping jaw tooling (51), for grabbing
The second position of the mold insert carries out blanking or detection；
Wherein, the mold insert is put into injection molding machine using first grabbing assembly (52) so that the mold insert is in be processed
State, and after the mold insert processes, the mold insert is taken out out of described injection molding machine using second grabbing assembly (53).
2. manipulator according to claim 1, which is characterized in that first grabbing assembly (52) includes multiple first grabbing
Hand (30), to grab multiple mold inserts simultaneously using multiple first handgrips (30) to carry out feeding.
3. manipulator according to claim 2, which is characterized in that first handgrip (30) includes:
First mounting base (31)；
First clamping jaw (321), first clamping jaw (321) are movably disposed on first mounting base (31)；
Second clamping jaw (322), second clamping jaw (322) are movably disposed on first mounting base (31)；
Wherein, first clamping jaw (321) and second clamping jaw (322) are oppositely arranged, first clamping jaw (321) and described
Second clamping jaw (322) movement close to each other is to clamp the mold insert, first clamping jaw (321) and second clamping jaw (322)
It is located remotely from each other mobile to discharge the mold insert.
4. manipulator according to claim 3, which is characterized in that first handgrip (30) further include:
First driving device, the first driving device connect respectively with first clamping jaw (321) and second clamping jaw (322)
It connects, to drive first clamping jaw (321) and second clamping jaw (322) close to each other or be located remotely from each other movement simultaneously.
5. manipulator according to claim 4, which is characterized in that the first driving device is two-container cylinder, described the
One clamping jaw (321) is connect with a piston rod of the two-container cylinder, and second clamping jaw (322) is another with the two-container cylinder
One piston rod connection.
6. manipulator according to claim 1, which is characterized in that second grabbing assembly (53) includes multiple second grabbing
Hand (531), to grab multiple mold inserts simultaneously using multiple second handgrips (531) to carry out blanking.
7. manipulator according to claim 6, which is characterized in that the mold insert is equipped with first positioning hole and third positions
Hole, the first positioning hole are connected to form stepped hole with the third location hole, and second handgrip (531) includes:
Second mounting base (532)；
First positioning component (533), first positioning component (533) is arranged on second mounting base (532), to pass through
Cooperate with the first positioning hole and is connect with the mold insert；
Third positioning component (534), the third positioning component (534) is arranged on second mounting base (532), to pass through
Cooperate with the third location hole and is connect with the mold insert；
Wherein, first positioning component (533) and the third positioning component (534) are cooperated with the mold insert simultaneously,
To grab the mold insert.
8. manipulator according to claim 7, which is characterized in that the third positioning component (534) includes location guide,
First positioning component (533) includes:
Multiple to push clamping jaw (535), multiple described push clamping jaw (535) are positioned apart from around the location guide, Duo Gesuo
State push clamping jaw (535) can be relatively close or far from mobile；
Wherein, it is multiple it is described push clamping jaw (535) while being located remotely from each other abutted against with the inner wall with the first positioning hole, to grab
The mold insert is taken, multiple clamping jaws (535) that push are close to each other mutually to separate with the inner wall of the first positioning hole simultaneously, with
Discharge the mold insert.
9. a kind of robot, including manipulator (50) and moving arm, the manipulator (50) is for grabbing the mold insert in institute
It states and is moved under the drive of moving arm, which is characterized in that the manipulator (50) is described in any one of claims 1 to 8
Manipulator (50).
10. a kind of mold insert equipment, including robot and injection molding machine, the robot is for grabbing the mold insert to the injection molding machine
Interior feeding grabs the mold insert progress blanking out of described injection molding machine, which is characterized in that in the artificial claim 9 of machine
The robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811140007.8A CN109016343A (en) | 2018-09-28 | 2018-09-28 | Manipulator, robot and insert equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811140007.8A CN109016343A (en) | 2018-09-28 | 2018-09-28 | Manipulator, robot and insert equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109016343A true CN109016343A (en) | 2018-12-18 |
Family
ID=64615367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811140007.8A Withdrawn CN109016343A (en) | 2018-09-28 | 2018-09-28 | Manipulator, robot and insert equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109016343A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561075A (en) * | 2019-09-24 | 2019-12-13 | 格力电器（武汉）有限公司 | Mold insert positioning device with automatic positioning function and assembling device |
| CN111170005A (en) * | 2020-01-21 | 2020-05-19 | 成都邦普切削刀具股份有限公司 | Loading and unloading device |
| CN113291905A (en) * | 2020-05-14 | 2021-08-24 | 阿里巴巴集团控股有限公司 | Grabbing equipment and grabbing method |
| CN113477898A (en) * | 2021-07-22 | 2021-10-08 | 深圳领威科技有限公司 | Automatic pick-and-place device |
| CN114799801A (en) * | 2022-05-19 | 2022-07-29 | 珠海格力电器股份有限公司 | Air conditioner outer unit assembly production line and axial flow fan blade grabbing device thereof |
-
2018
- 2018-09-28 CN CN201811140007.8A patent/CN109016343A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561075A (en) * | 2019-09-24 | 2019-12-13 | 格力电器（武汉）有限公司 | Mold insert positioning device with automatic positioning function and assembling device |
| CN111170005A (en) * | 2020-01-21 | 2020-05-19 | 成都邦普切削刀具股份有限公司 | Loading and unloading device |
| CN113291905A (en) * | 2020-05-14 | 2021-08-24 | 阿里巴巴集团控股有限公司 | Grabbing equipment and grabbing method |
| CN113291905B (en) * | 2020-05-14 | 2023-08-29 | 阿里巴巴集团控股有限公司 | Gripping device, processing device, gripping method, use method and control device |
| CN113477898A (en) * | 2021-07-22 | 2021-10-08 | 深圳领威科技有限公司 | Automatic pick-and-place device |
| CN114799801A (en) * | 2022-05-19 | 2022-07-29 | 珠海格力电器股份有限公司 | Air conditioner outer unit assembly production line and axial flow fan blade grabbing device thereof |
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Application publication date: 20181218 |