CN109483588A - Articulated robot is used in a kind of injection molding - Google Patents
Articulated robot is used in a kind of injection molding Download PDFInfo
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- CN109483588A CN109483588A CN201811651374.4A CN201811651374A CN109483588A CN 109483588 A CN109483588 A CN 109483588A CN 201811651374 A CN201811651374 A CN 201811651374A CN 109483588 A CN109483588 A CN 109483588A
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- Prior art keywords
- pedestal
- support arm
- linkage
- injection molding
- magnet
- Prior art date
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- 238000001746 injection moulding Methods 0.000 title claims abstract description 33
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 81
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 239000011324 bead Substances 0.000 claims description 15
- 230000014759 maintenance of location Effects 0.000 claims description 15
- 230000007704 transition Effects 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 27
- 238000000465 moulding Methods 0.000 description 9
- 230000003993 interaction Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
-
- 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
-
- 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
Abstract
The present invention provides a kind of injection molding articulated robots, belong to field of automation technology.It solves the problems, such as that existing articulated robot operation stability is poor.This injection molding articulated robot includes the pedestal being in the form of a column and one end is arranged flapping articulation on the base, flapping articulation one end is axially connected and circumferentially rotates with pedestal and connect, the support arm being axially connected with pedestal is additionally provided on pedestal, support arm is located at the lower section of flapping articulation and one end is arranged on the base and circumferentially rotates with pedestal and connect, active magnet is provided on flapping articulation, support arm is provided with driven magnet in corresponding position, active magnet and driven magnet homopolarity are oppositely arranged and interact between the two, the linkage mechanism that support arm can be driven to rotate around pedestal when flapping articulation is around pedestal rotation is additionally provided between flapping articulation and support arm.This injection molding articulated robot has the advantages that improve operation stability.
Description
Technical field
The invention belongs to fields of automation technology, are related to a kind of injection molding articulated robot.
Background technique
With the development of science and technology manufacturing industry is gradually developed by traditional handmade direction towards mechanical automation, wherein
Articulated robot is a kind of certain movements that can imitate manpower and arm, to by fixed routine crawl, carrying object or operative employee
The automatic pilot of tool.Injection molding machine is a kind of mould for plastics, when work, is melted solid feed by high temperature, then
It is molded into die for molding, moulding after molding need to be removed and be carried out from mold, but rigid molding moulding is with higher
Residual temperature if artificial crawl has the risk being burned, therefore carries moulding using articulated robot, to avoid people by
Injury and raising working efficiency.
Manipulator in the prior art, such as Chinese patent literature data disclose the plane articulation machine of adjustable length arm
Device people [the patent No.: 201621058541.0；Application publication number: CN206029877U], including power part, first level rotating arm
And second horizontal rotating arm, first level rotating arm one end are connected with power part, second horizontal rotating arm one end and the first water
The flat rotating arm other end is connected, the second horizontal rotating arm other end connection operation arm, first level rotating arm inside and second
Roller screw structure is equipped with inside horizontal rotating arm, meanwhile, roller screw is equipped with electronics band-type brake.
The plane articulation robot of the adjustable length arm can carry moulding.When the manipulator is run, two
Root rotating arm connects power part as support using wherein one end, and rest part, which is vacantly arranged, to be run, in the structure,
The setting of ball-screw and electronics band-type brake causes the weight of two rotating arms to increase, and length arms is caused to cause to press to power part
Compel, and the more long then oppressive force caused by power part of two rotating arm extension elongations is bigger, i.e., there are top-heavy for mechanical arm
Problem, when rotating arm rotation, rotating arm, which exists, to be shaken, and rotating arm extension elongation is longer, then shaking amplitude is bigger, i.e., mechanical
The stability of hand is poor.The mode being routinely readily apparent that is usually the material that still can equally meet intensity requirement using more lightweight
Make rotating arm, reducing influences caused by laying particular stress on, and also or shortens the length of rotating arm, also using pedestal is improved (dynamic
Power part) and rotating arm between cooperation precision, avoid this mode of the generation of fit clearance prevent shake or produce
Raw further deflection.But it is to be unfavorable for pushing away to requirement on machining accuracy height that these above-mentioned modes, which are not cost too higher positions,
Extensively.
Summary of the invention
The purpose of the present invention is there is the above problem in view of the prior art, a kind of injection molding articulated robot is proposed,
The technical issues of solution is the stability for how improving the operation of injection molding articulated robot.
Object of the invention can be realized by the following technical scheme: a kind of injection molding articulated robot, including is in the form of a column
Pedestal and one end be arranged flapping articulation on the base, described flapping articulation one end and pedestal is axially connected and the company of circumferentially rotating
It connects, which is characterized in that the support arm being axially connected with pedestal is additionally provided on the pedestal, the support arm is located at flapping articulation
Lower section and one end be arranged on the base and circumferentially rotated with pedestal and is connect, active magnet, institute are provided on the flapping articulation
It states support arm and corresponding position is provided with driven magnet, the active magnet and driven magnet homopolarity are oppositely arranged and between the two
Interaction, be additionally provided between the flapping articulation and support arm when flapping articulation around pedestal rotation when can drive support arm around
The linkage mechanism of pedestal rotation.
The present invention is provided with a support arm below flapping articulation, and support arm does not need directly to offset with flapping articulation
It leans on and relies on and apply an active force on flapping articulation against power, but by being provided with a driven magnet on support arm,
An active magnet is provided on flapping articulation, active magnet is oppositely arranged with driven magnet therefore can give one phase of other side each other
The power of reprimand, interaction herein namely have a repulsion between each other.And driven magnet itself is also to be arranged on support arm
, support arm is axially fixedly connected with pedestal, that is to say, that driven magnet can give flapping articulation one upward power, and horizontal pass
One end of section is axially connected with pedestal, therefore the other end of flapping articulation will receive a upward power and generate upward fortune
Dynamic trend.Therefore, the other end for avoiding flapping articulation is tilted down under self gravitation effect and is led due to being vacantly arranged
It causes to grab unstable or inaccurate problem, the other end for also avoiding flapping articulation tilts down that there are heads in snatch weight
Weight foot is light and leads to the problem of and shakes unstable, and stability in use is effectively guaranteed.
In addition, linkage mechanism is provided in the present invention also between flapping articulation and support arm, that is to say, that when level is closed
During section is rotated under actuator driving and transfers crawl moulding, support arm can follow flapping articulation is synchronous to turn
Dynamic, being effectively guaranteed driven magnet is to give flapping articulation one upward active force against active magnet and always always,
It is always ensured that the stability of injection molding articulated robot running.
In above-mentioned injection molding articulated robot, the linkage mechanism includes being arranged in flapping articulation lower surface and and water
The upper surface of the linkage set that flat joint is fixedly connected with, the support arm is provided with linkage block in corresponding position, and the linkage is arranged
In linkage block.Linkage mechanism can be the part that two are located on flapping articulation and support arm and be set between the two
Relationship is connect, by the setting of linkage set and linkage block, the contact surface of the two can be effectively guaranteed and connective stability is high,
It can effectively ensure that the stability of operation.And it is socketed the interaction relation that relationship has just been able to achieve the two, do not need volume
The outer fixed relationship etc. for increasing the two, dismounts all more convenient.
In above-mentioned injection molding articulated robot, the linkage is set on the one end of support arm far from pedestal, described
Linkage set is cylindrical in shape and opening down setting, is formed with accommodating cavity between the linkage set inner surface and linkage block upper surface, institute
It states active magnet and driven magnet is arranged in accommodating cavity.By active magnet and driven magnet setting in linkage set and linkage block
It is formed by cavity, it is outer and will not be during use by external force can to guarantee that active magnet and driven magnet are not exposed to
It interferes and leads to location deflection and influence interaction between the two, be always ensured that stability in use.And it links and is set on branch
The one end of brace far from pedestal, that is, two blocks of magnet are all disposed within the one end of support arm far from pedestal, the arm of force more far away
It is more long also more to be easy to produce skew, therefore support effect of the driven magnet on support arm to flapping articulation far from pedestal one end
Also better, so that the more stable not run-off the straight of flapping articulation or deflection.
In above-mentioned injection molding articulated robot, the linkage block includes base portion that is disc-shaped and being fixedly connected with support arm
And protrude from base upper surface and the retention bead that socket-connects of linkage set, the linkage set include interconnecting piece in the form of annular discs and
Protrude from connection lower surface and limiting section annular in shape, the limiting section is set in outside retention bead, under the limiting section
There is gap between surface and the upper surface of base portion.Gap is preferably provided between the lower surface of limiting section and the upper surface of base portion simultaneously
It does not contact, the medial surface of limiting section also slightly has a little gap preferably between retention bead.Because flapping articulation
One end is axial restraint and the other end is vacantly to be arranged, and is not entire flapping articulation after being generated deflection by gravity
Entirety sinks or falls down, but flapping articulation, using the one end being connected with pedestal as hinge joint, the other end is past around the hinge joint
Sink, then entirely linking set during sinking or inclination or magnetic force repel each other and move up and restore balance also can run-off the straight.
If reclining completely between the lower surface of limiting section and the upper surface of base portion at this time or the medial surface of retention bead and limiting section
Completely be fitted close, then restore move up or sink it is inclined during be easy to occur stuck phenomenon, lead to the support
System failure, and the setting of the present embodiment can guarantee that providing one when linkage covers and generates inclination allows bit space, makes
Part on support arm can play a supporting role always, guarantee stability of strutting system.
In above-mentioned injection molding articulated robot, be arranged on the upper surface of the retention bead it is fluted, it is described driven
Magnet is embedded in groove and mutually reclines with recess sidewall.By the way that driven magnet to be embedded in groove, can be not necessarily to additionally
Positioning device can make driven magnet, and firmly positioning prevents from being detached from during use.Specifically, with driven magnet phase
The groove of fitting can be realized the positioning of driven magnet radially, and active magnet gives driven magnetic always during use
One downward active force of iron, therefore driven magnet can be firmly pressed in groove without departing from guaranteeing the stabilization used
Property.The structure setting facilitates the installation of magnet and can guarantee that magnet positioning is reliable in use.In addition, linkage is put on
It can be by the way that groove be arranged by active magnetic definitely position.
In above-mentioned injection molding articulated robot, internal screw thread, the driven magnet are provided on the groove inner sidewall
Bolt between external screw thread and driven magnet and retention bead is provided on lateral wall, between the active magnet and groove slot bottom
Distance be greater than driven magnet thickness.It is fixed it is of course also possible to be connected through a screw thread and realize driven magnet.And due to
The distance between active magnet and groove slot bottom are greater than the thickness of driven magnet, that is to say, that driven magnet revolves under normal circumstances
Gap can be had between active magnet by going to when being in contact with groove bottom wall.That is, being needed in different occasions
It wants or when inclined degree, can be by the way that the helical position of driven magnet could be adjusted to realize optimal selection, it can
It is selectively adjusted according to the actual situation with realizing, guarantees the accuracy of magnet active force, so that robot operation is more steady
It is fixed.Certainly, active magnet can also cover bolt with linkage in a manner of being equally connected through a screw thread and realize adjusting.
In above-mentioned injection molding articulated robot, the active magnet and driven magnet are electromagnet, the linkage
The threading hole worn for the electromagnetic wire of electromagnet is offered on set and linkage block, the driven magnet, which has, runs through driven magnet
Centre bore, open up on the lower surface of the driven magnet there are two centrosymmetric well, offered on the support arm
Elongated hole that is perforative and being connected with threading hole, the central symmetry are connected with elongated hole by threading hole.Two blocks of magnet
Both preferably electromagnet is powered when needing work and repels each other, and power-off enables to not have between the two when unwanted
There is interaction force and active magnet and driven magnet can facilitate taking-up.And centrosymmetric well can facilitate correspondence
Tool protrude into well and rotation carried out to driven magnet and change its position that is spirally connected, facilitate adjustment to improve using stablizing
Property.
In above-mentioned injection molding articulated robot, the linkage set and linkage block are made of rubber material.Because of water
The one end in flat joint is axial restraint and the other end is vacantly to be arranged, and is not entire level after being generated deflection by gravity
Joint is integrally sunk, but flapping articulation be connected with pedestal one section for hinge joint, the other end sinks around the hinge joint,
So sink or tilt or magnetic force repel each other move up reply balance during entirely linkage set also can run-off the straight.If at this time
Recline the medial surface of immovable or retention bead and limiting section completely between the lower surface of limiting section and the upper surface of base portion
Also be fitted close completely it is immovable, then restore move up or sink it is inclined during be easy to occur stuck phenomenon,
Lead to support system failure, and entire linkage set is made with linkage block of rubber material the present embodiment, has the two
Certain elasticity can guarantee that certain displacement space can be given in the case where the two is bonded completely, will not occur
Stuck or interference phenomenon guarantees stability of strutting system so that the part on support arm can play a supporting role always.
In above-mentioned injection molding articulated robot, the support arm includes two pieces of vertical gussets being oppositely arranged, described
Vertical gusset has the transition far from pedestal, and the vertical cross-section size of the transition is from one end close to pedestal to far from base
One end of seat is gradually reduced, and lateral gusset is provided between the vertical gusset, and the linkage mechanism is arranged on lateral gusset,
The quantity of the transverse direction gusset is at least two pieces and interval setting.Vertically arranged gusset support strength with higher and by
Bending Deformation is less likely to occur after to the down force in upper horizontal joint, stability of strutting system can be effectively improved.And this hair
The bright middle transition by vertical gusset is arranged to the structure with change in size trend, and one end close to pedestal is had
Biggish sectional dimension can guarantee stability of strutting system, and one end far from pedestal has smaller size and quality, prevents
Further inclination guarantees steady.Lateral gusset can give the larger more stable bearing area of linkage mechanism and can reinforce
Bonding strength between two pieces of vertical gussets, and section gap setting can make the more lightweight of entire support arm, reduce deflection and ask
The generation of topic.
In above-mentioned injection molding articulated robot, the support arm further includes being fixedly connected with two pieces of vertical gussets and being in
Cylindric connecting cylinder, the connecting cylinder are set in outside pedestal and are provided with several deep groove ball bearings between pedestal.Zanjon
Ball bearing can be effectively reduced support arm coefficient of friction during rotation and effectively improve the stability of support arm, prevent from producing
Raw shaking or stuck.Certainly, deep groove ball bearing can also be also equipped between flapping articulation and pedestal.
Compared with prior art, the present invention has the advantage that
1, by being provided with driven magnet on support arm, be provided with active magnet on flapping articulation, active magnet with
Driven magnet gives one power repelled each other of other side each other, i.e. the other end of flapping articulation will receive a upward support force.It keeps away
The other end for having exempted from flapping articulation tilted down under self gravitation effect due to being vacantly arranged cause to grab it is unstable or not
Accurate problem, the other end for also avoiding flapping articulation tilt down that there are top-heavy and generate shaking in snatch weight
Stability in use is effectively guaranteed in unstable problem.
2, linkage mechanism is provided between flapping articulation and support arm, that is to say, that when flapping articulation drives in actuator
Under rotated and transferred during, support arm can follow flapping articulation to rotate synchronously, and being effectively guaranteed driven magnet is
Always it gives flapping articulation one upward active force against active magnet and always, is always ensured that injection molding is transported with articulated robot
The stability of work.
Detailed description of the invention
Fig. 1 is the schematic perspective view of articulated robot.
Fig. 2 is the stereochemical structure cross-sectional view of Fig. 1.
Fig. 3 is the portion the A enlarged drawing of Fig. 2.
Fig. 4 is the schematic perspective view of driven magnet.
In figure, 1, pedestal；11, pedestal；12, driving motor；2, flapping articulation；21, horizontal arm one；22, horizontal arm two；
23, lightening hole；3, support arm；31, elongated hole；32, vertical gusset；321, transition；33, lateral gusset；34, connecting cylinder；4,
Active magnet；5, driven magnet；51, centre bore；52, well；6, linkage mechanism；61, linkage set；611, interconnecting piece；612,
Limiting section；62, linkage block；621, base portion；622, retention bead；6221, groove；63, accommodating cavity；64, threading hole；7, deep-groove ball
Bearing.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
Object of the invention can be realized by the following technical scheme:
As shown in Figure 1 and Figure 2, the injection molding articulated robot in this case, is set in including the pedestal 1 being in the form of a column and one end
Flapping articulation 2 on pedestal 1, flapping articulation 2 are axially connected and circumferentially rotate with pedestal 1 and connect.Specifically, pedestal 1 includes
It can be used for the pedestal 11 of entire articulated robot installation positioning and 11 top of pedestal is set for driving the driving of flapping articulation 2
Motor 12.Flapping articulation 2 includes one end horizontal arm 1 being connected with pedestal 1 and the level being connected with one 21 other end of horizontal arm
Arm 2 22, horizontal arm 1 and the equal inner hollow of horizontal arm 2 22 are arranged and upper and lower surface is provided with multiple lightening holes 23.Base
Be additionally provided on seat 1 and pedestal 1 is axial is connected and support arm 3 in long strip, support arm 3 be located at the lower section of flapping articulation 2 and
One end is set on pedestal 1 and circumferentially rotates with pedestal 1 and connect.Specifically support arm 3 includes equal with two pieces of vertical gussets 32
It is fixedly connected with and cylindrical connecting cylinder 34, connecting cylinder 34 is set in outside pedestal 1 and is provided with several zanjons between pedestal 1
Ball bearing 7.Deep groove ball bearing 7 can be effectively reduced the coefficient of friction during rotation of support arm 3 and effectively improve support arm 3
Stability, prevent shake or it is stuck.Certainly, deep-groove ball axis can also be also equipped between flapping articulation 2 and pedestal 1
Hold 7.
This patent is provided with active magnet 4 on flapping articulation 2, and support arm 3 is provided with driven magnet 5 in corresponding position,
Active magnet 4 and 5 homopolarity of driven magnet are oppositely arranged therefore can give one power repelled each other of other side each other.And driven magnet 5 itself
And be arranged on support arm 3, support arm 3 is axially fixedly connected with pedestal 1, that is to say, that driven magnet 5 can give horizontal pass
2 one upward power are saved, and one end of flapping articulation 2 is axial connected with pedestal 1, therefore the other end meeting of flapping articulation 2
The power upward by one and generate the trend moved upwards.Therefore, the other end of flapping articulation 2 is avoided in snatch weight
Tilt down there is a problem of it is top-heavy and generate shake it is unstable, stability in use is effectively guaranteed.
Specifically, support arm 3 includes two pieces of vertical gussets 32 being oppositely arranged, and vertically arranged gusset is with higher
Support strength and Bending Deformation is less likely to occur by after the down force in upper horizontal joint 2, branch can be effectively improved
Support stability.Vertical gusset 32 has the transition 321 far from pedestal 1, and the vertical cross-section size of transition 321 is from close to pedestal
1 one end to one end far from pedestal 1 is gradually reduced, which enables one end close to pedestal 1 to have biggish section
Size can guarantee stability of strutting system, and one end far from pedestal 1 has smaller size and quality, prevents further
Inclination, guarantee steady.Lateral gusset 33 is provided between vertical gusset 32, linkage mechanism 6 is arranged on lateral gusset 33, horizontal
The larger more stable bearing area of linkage mechanism 6 can be given to gusset 33 and can reinforce the connection between two pieces of vertical gussets 32
Intensity.The quantity of lateral gusset 33 is two pieces and interval setting in the present embodiment.
In addition, linkage mechanism 6 is also provided in the present invention between flapping articulation 2 and support arm 3, that is to say, that work as level
During joint 2 is rotated under actuator driving and transfers crawl moulding, support arm 3 can follow flapping articulation 2 same
Step rotation, being effectively guaranteed driven magnet 5 is to give flapping articulation 2 one against active magnet 4 and always always upwards
Active force is always ensured that the stability of injection molding articulated robot running.
Specifically, as shown in figure 3, linkage mechanism 6 include setting 2 lower surface of flapping articulation and with 2 phase of flapping articulation
The upper surface of connected linkage set 61, support arm 3 is provided with linkage block 62 in corresponding position, and linkage set 61 is set in linkage block 62
On.Linkage set 61 is cylindrical in shape and opening down setting, is formed with accommodating between linkage 61 inner surfaces of set and 62 upper surface of linkage block
Chamber 63, active magnet 4 and driven magnet 5 are arranged in accommodating cavity 63, can guarantee that active magnet 4 and driven magnet 5 be not sudden and violent
It exposes outside and location deflection will not be led to by External force interference during use and influence interaction between the two, always
Guarantee stability in use.And the one end of support arm 3 far from pedestal 1 is arranged in the set 61 that links, the driven magnet 5 on support arm 3 is right
Support force of the flapping articulation 2 far from 1 one end of pedestal is also better, so that the more stable not run-off the straight of flapping articulation 2 or deflection.
Further, linkage block 62 includes base portion 621 that is disc-shaped and being fixedly connected with support arm 3 and protrudes from base portion
The retention bead 622 that 621 upper surfaces and linkage set 61 socket-connect, linkage set 61 include interconnecting piece 611 and protrusion in the form of annular discs
In interconnecting piece (611) lower surface and limiting section (612) annular in shape, the limiting section (612) is set in retention bead (622)
Outside.Gap is preferably provided in the present embodiment between the lower surface of limiting section 612 and the upper surface of base portion 621 not in contact with this sets
Setting can guarantee that providing one when linkage set 61 generates inclination allows bit space, play the part on support arm 3 can always
To supporting role, guarantee stability of strutting system.
As shown in figure 3, the present embodiment is also arranged fluted 6221 on the upper surface of retention bead 622, by driven magnet 5
It is embedded in groove 6221 and mutually reclines with 6221 side wall of groove, can make driven magnet without additional positioning device
5 during use firmly positioning prevent from being detached from.The structure setting facilitates the installation of magnet and can protect in use
It is reliable to demonstrate,prove magnet positioning.Internal screw thread is provided on 6221 inner sidewall of groove, be provided on 5 lateral wall of driven magnet external screw thread and from
Bolt between moving magnet 5 and retention bead 622, the distance between active magnet 4 and 6221 slot bottom of groove are greater than driven magnet 5
Thickness.That is rotate to can be with master when being in contact with 6221 bottom wall of groove for driven magnet 5 under normal circumstances
There is gap between moving magnet 4.It, can be by will be from that is, being needed in different occasion or when inclined degree
The helical position of moving magnet 5 could be adjusted to realize optimal selection, may be implemented selectively to adjust according to the actual situation,
Guarantee the accuracy of magnet active force, so that robot operation is more stable.
As shown in Figure 3, Figure 4, the active magnet 4 in the present embodiment and driven magnet 5 are electromagnet, are needing work
When be powered repel each other, power off and enabled between the two without interaction force and 4 He of active magnet when unwanted
Driven magnet 5 can facilitate taking-up.The threading worn for the electromagnetic wire of electromagnet is offered in linkage set 61 and linkage block 62
Hole 64, driven magnet 5 have the centre bore 51 through driven magnet 5, open up that there are two centers pair on the lower surface of driven magnet 5
The well 52 of title, offers elongated hole 31 that is perforative and being connected with threading hole 64 on support arm 3, central symmetry and extends
Hole 31 is connected by threading hole 64, and well 52 can facilitate corresponding tool to protrude into well 52 and to driven magnet 5
It carries out rotation and changes its position that is spirally connected, facilitate adjustment to improve stability in use.In addition, linkage set 61 and linkage block 62 are by rubber
Glue material is made.So that the two is had certain elasticity, can guarantee that one can be given in the case where the two is bonded completely
Stuck or interference phenomenon will not occur for fixed displacement space.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although pedestal 1, pedestal 11, driving motor 12, flapping articulation 2, horizontal arm 1, level is used more herein
The terms such as arm 2 22, lightening hole 23, support arm 3, but it does not exclude the possibility of using other terms.Only using these terms
It is to be more convenient to describe and explain essence of the invention；Being construed as any additional limitation is all and this hair
What bright spirit was disagreed.
Claims (10)
1. a kind of injection molding articulated robot, is set in the flapping articulation on pedestal (1) including the pedestal (1) being in the form of a column and one end
(2), described flapping articulation (2) one end is axially connected and circumferentially rotates with pedestal (1) and connect, which is characterized in that the pedestal (1)
On be additionally provided with that axially connected support arm (3), the support arm (3) are located at the lower section and one of flapping articulation (2) with pedestal (1)
End cap is located on pedestal (1) and circumferentially rotates with pedestal (1) and connect, and is provided with active magnet (4) on the flapping articulation (2),
The support arm (3) is provided with driven magnet (5) in corresponding position, and the active magnet (4) and driven magnet (5) homopolarity are opposite
Setting and interact between the two, be additionally provided between the flapping articulation (2) and support arm (3) when flapping articulation (2) around
The linkage mechanism (6) that pedestal (1) can drive support arm (3) to rotate around pedestal (1) when rotating.
2. injection molding articulated robot according to claim 1, which is characterized in that the linkage mechanism (6) includes setting
In flapping articulation (2) lower surface and the linkage set (61) that is fixedly connected with flapping articulation (2), the upper surface of the support arm (3) exists
Corresponding position is provided with linkage block (62), and the linkage set (61) is set on linkage block (62).
3. injection molding articulated robot according to claim 2, which is characterized in that linkage set (61) setting is supporting
The one end of arm (3) far from pedestal (1), the linkage set (61) is cylindrical in shape and opening down setting, and the linkage covers (61) interior table
It is formed with accommodating cavity (63) between face and linkage block (62) upper surface, the active magnet (4) and driven magnet (5) are arranged at
In accommodating cavity (63).
4. injection molding articulated robot according to claim 3, which is characterized in that the linkage block (62) includes disc-shaped
And the base portion (621) that is fixedly connected with support arm (3) and protrude from base portion (621) upper surface and limit that linkage set (61) socket-connects
Position is raised (622), and the linkage covers (61) and includes interconnecting piece in the form of annular discs (611) and protrude from interconnecting piece (611) lower surface
And limiting section (612) annular in shape, the limiting section (612) are set in retention bead (622) outside, the limiting section (612)
There is gap between lower surface and the upper surface of base portion (621).
5. injection molding articulated robot according to claim 4, which is characterized in that the upper table of the retention bead (622)
It is arranged on face fluted (6221), the driven magnet (5) is embedded in groove (6221) and is affixed with groove (6221) side wall
It leans on.
6. injection molding articulated robot according to claim 5, which is characterized in that set on groove (6221) inner sidewall
Be equipped with internal screw thread, be provided on driven magnet (5) lateral wall external screw thread and driven magnet (5) and retention bead (622) it
Between bolt, the distance between the active magnet (4) and groove (6221) slot bottom be greater than driven magnet (5) thickness.
7. injection molding articulated robot according to claim 6, which is characterized in that the active magnet (4) and driven magnetic
Iron (5) is electromagnet, offers on the linkage set (61) and linkage block (62) and wears for what the electromagnetic wire of electromagnet was worn
String holes (64), the driven magnet (5) have the centre bore (51) through driven magnet (5), the following table of the driven magnet (5)
Opened up on face there are two centrosymmetric well (52), offered on the support arm (3) it is perforative and with threading hole (64)
The elongated hole (31) being connected, the well (52) are connected with elongated hole (31) by threading hole (64).
8. the injection molding articulated robot according to claim 2 to 7 any one, which is characterized in that the linkage set
(61) it is made with linkage block (62) of rubber material.
9. the injection molding articulated robot according to claim 2 to 7 any one, which is characterized in that the support arm (3)
The vertical gusset (32) being oppositely arranged including two pieces, the vertical gusset (32) have the transition (321) far from pedestal (1),
The vertical cross-section size of the transition (321) is gradually reduced from one end close to pedestal (1) to one end far from pedestal (1),
It is provided with lateral gusset (33) between the vertical gusset (32), the linkage mechanism (6) is arranged on lateral gusset (33), institute
The quantity for stating lateral gusset (33) is at least two pieces and interval setting.
10. injection molding articulated robot according to claim 9, which is characterized in that the support arm (3) further includes with two
The vertical gusset of block (32) is fixedly connected with and cylindrical connecting cylinder (34), the connecting cylinder (34) be set in pedestal (1) outside and
Several deep groove ball bearings (7) are provided between pedestal (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651374.4A CN109483588A (en) | 2018-12-31 | 2018-12-31 | Articulated robot is used in a kind of injection molding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651374.4A CN109483588A (en) | 2018-12-31 | 2018-12-31 | Articulated robot is used in a kind of injection molding |
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| Publication Number | Publication Date |
|---|---|
| CN109483588A true CN109483588A (en) | 2019-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811651374.4A Pending CN109483588A (en) | 2018-12-31 | 2018-12-31 | Articulated robot is used in a kind of injection molding |
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| CN (1) | CN109483588A (en) |
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| CN112248027A (en) * | 2020-08-28 | 2021-01-22 | 北京信息科技大学 | Joint structure for robot |
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