CN110802799A - A five-degree-of-freedom injection molding machine blanking manipulator - Google Patents

Abstract

The invention discloses a five-degree-of-freedom injection molding machine blanking manipulator. The manipulator assembly is mounted on a frame assembly, and one end of the manipulator assembly is mounted with an end execution assembly; Driven by the rotary drive part, the end effector rotates synchronously; Driven by the linear drive part, the end effector moves along the length of the manipulator assembly; Driven by the rotating platform, the manipulator assembly takes the axis of the turntable connector as the reference as a whole Rotation; the lifting drive part drives the manipulator assembly to move along the length direction of the frame assembly; the end effector is composed of two clamping frames with adjustable clamping angles. The gripping angle is adjusted for different sizes of gripping objects. The invention has main beneficial effects, simple structure, suitable for clamping objects of different sizes, and can realize the movement in the direction of 5 degrees of freedom.

Description

A five-degree-of-freedom injection molding machine blanking manipulator

Technical field:

The invention relates to the application field of an industrial robot, in particular to a blanking manipulator of a five-degree-of-freedom injection molding machine.

Background technique:

The injection molding machine blanking manipulator is a blanking equipment specially equipped for the automation of injection molding production. It plays an extremely important role in reducing the physical labor of producers, improving production efficiency and production safety. However, at present, the motion forms of the existing injection molding manipulators are mainly linear motion and rocking motion, with few degrees of freedom, generally 2 to 3, and the flexibility of grasping motion is limited, which cannot meet the requirements of injection molding industry blanking.

Invention content:

The object of the present invention is to aim at the deficiencies in the prior art, and provides a five-degree-of-freedom injection molding machine blanking manipulator, including a five-degree-of-freedom injection molding machine blanking manipulator, characterized in that: comprising a rack assembly, a manipulator assembly and a terminal The actuator assembly, the manipulator assembly is installed on the frame assembly, and the end effector assembly is installed at one end of the manipulator assembly; wherein, the manipulator assembly includes a turntable connection part, a linear drive part, a rotation drive part and a rotation connection part; The end effector is connected, and driven by the rotary drive component, the end effector rotates synchronously;

The linear drive part is connected with the rotary connection part through the telescopic connection part, and driven by the linear drive part, the end effector is moved along the length direction of the manipulator assembly;

The rotating platform is coaxially connected with the connecting piece of the turntable, and driven by the rotating platform, the manipulator assembly rotates as a whole based on the axial direction of the connecting piece of the turntable;

The lift driving part drives the manipulator assembly to move along the length direction of the rack assembly;

The end effector is composed of two clamping frames with adjustable clamping angles. Driven by the clamping driving part, the clamping angle between the two clamping frames is adjusted according to different sizes of clamping objects.

In one embodiment, a suction cup is further provided on the clamping frame.

In one embodiment, the lift driving component further includes a lift motor, a gear, a rack, and a lift connector, and a linear guide rail is further provided along the length direction of the frame assembly. When the lift motor drives the gear, the gear drives the manipulator assembly to move along the sliding direction of the linear guide rail through the meshing rack.

In one embodiment, the clamping driving component includes a clamping cylinder with a guide rod, a clamping link and an intermediate link, the first end of the clamping cylinder with a guide rod is connected with the clamping link, and the clamping A rotating pair is formed between the connecting rod and one end of the intermediate connecting rod, and the other end of the intermediate connecting rod is connected with the clamping frame; when the clamping cylinder with the guide rod is driven, the intermediate connecting rod is driven to rotate, so as to realize the two clamping The change of the rotation angle between the holding frames, a connecting frame is also installed between the two holding frames, the connecting frame and the two holding frames are hinged through hinge parts, and the holding cylinder with guide rods The connecting parts are all mounted on the connecting frame.

In one embodiment, a mounting rod for mounting the suction cup is further provided, and the mounting rod is mounted on the clamping frame.

In one embodiment, the linear driving component is a telescopic electric cylinder with a guide rod, and the rotary driving component is a rotary cylinder.

The present invention mainly has the following advantages and main beneficial effects:

1. The present invention has a simple structure and is suitable for clamping objects of different sizes, which not only greatly saves processing costs, but also enhances its popularization and applicability.

2. The present invention can realize the movement in 5 degrees of freedom directions, which is convenient for grasping objects in different positions and different orientations.

3. The present invention realizes the full automation of the device, reduces the labor intensity of workers, and saves time.

Description of drawings:

1 discloses a schematic diagram of the overall structure of a five-degree-of-freedom injection molding machine blanking manipulator in one embodiment;

FIG. 2 shows a schematic diagram of the overall structure of the frame assembly in the blanking manipulator of the five-degree-of-freedom injection molding machine according to the embodiment of FIG. 1 .

FIG. 3 discloses a schematic diagram of the overall structure of the manipulator assembly in the blanking manipulator of the five-degree-of-freedom injection molding machine of the embodiment of FIG. 1 .

FIG. 4 discloses a schematic structural diagram of the end effector assembly in the blanking manipulator of the five-degree-of-freedom injection molding machine according to the embodiment of FIG. 1 .

Detailed ways:

The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, in which like reference numerals refer to like features throughout, wherein:

Referring to Fig. 1 and in conjunction with Fig. 2, Fig. 3 and Fig. 4, in the embodiment of Fig. 1, a five-degree-of-freedom injection molding machine blanking manipulator includes a frame assembly 1, a manipulator assembly 2, and an end effector assembly 3. The manipulator assembly 2 is installed on the frame assembly 1, and one end of the manipulator assembly 1 is installed with an end effector assembly 3; wherein, the manipulator assembly 1 includes a turntable connection part 6, a linear drive part 10, a rotation drive part 12 and a rotation connection part 13; the rotation drive part 12 The end effector 3 is connected to the end effector 3 through the rotary connection part 13, and driven by the rotary drive part 12, the end effector 3 rotates synchronously;

The linear drive part 10 is connected to the rotary connection part 13 through the telescopic connection part 4, the telescopic connection part 11 and the telescopic connection part 14, and driven by the linear drive part 10, the end effector assembly 3 is moved along the length direction of the manipulator assembly 2;

The rotary platform 5 is coaxially connected with the turntable connector 6, and driven by the rotary platform 5, the manipulator assembly 2 rotates as a whole based on the axial direction of the turntable connector 6;

The lift driving part 8 drives the manipulator assembly to move along the length direction of the rack assembly 1;

The end effector 3 is composed of two clamping frames 20 with adjustable clamping angles. Driven by the clamping driving component 16 , the clamping angles between the two clamping frames 20 are adjusted according to clamping objects of different sizes.

Preferably, a suction cup 19 is also provided on the clamping frame 20 .

Preferably, the lift driving component 8 further includes a lift motor 81, a gear 9, a rack 25 and a lift connector 7, and the frame assembly 1 is further provided with a linear guide 24 in the length direction. The slider (not marked in the figure) in the linear guide 24 is connected. When the lift motor drives the gear 9 , the gear 9 drives the manipulator assembly 2 to move along the sliding direction of the linear guide 24 through the meshing rack 25 .

Preferably, the clamping driving component 16 includes a clamping cylinder 161 with a guide rod, a clamping link 22 and an intermediate link 18 , and the first end of the clamping cylinder 161 with a guide rod is connected with the clamping link 22 , a rotating pair is formed between the clamping link 22 and one end of the intermediate link 18, and the other end of the intermediate link 18 is connected with the clamping frame 20; when the clamping cylinder 161 with the guide rod is driven, the intermediate link 18 is driven Rotation, so as to realize the change of the rotation angle between the two clamping frames 20, a connecting frame 23 is also installed between the two clamping frames 20, and the connecting frame 23 and the two clamping frames 20 are hinged through the hinge part 15, Both the clamping cylinder 161 with the guide rod and the rotating connecting member 13 are mounted on the connecting frame 23 .

It can be understood that the intermediate link 18 can also be connected to the clamping frame 20 through the link mounting seat 17 .

Preferably, a mounting rod 21 for mounting the suction cup 19 is also provided, and the mounting rod 21 is mounted on the clamping frame 20 .

Preferably, the linear driving component 10 is a telescopic electric cylinder with a guide rod, and the rotary driving component 12 is a rotary cylinder.

The five-degree-of-freedom injection molding machine blanking manipulator can move in five degrees of freedom during the working process.

1) The lifting speed regulating motor drives the gear to move on the rack, so that the manipulator can realize the lifting movement;

2) The rotation of the rotating platform drives the manipulator to perform a wide range of rotation;

3) Telescopic electric cylinder with guide rod makes the end effector perform telescopic movement;

4) Rotating the cylinder makes the execution part rotate in a small range;

5) The clamping cylinder 15 with guide rod enables the clamping mechanism to adjust the opening according to the size of the clamping object, so as to be suitable for clamping objects of different sizes.

The present invention and its embodiments have been described above schematically, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those of ordinary skill in the art are inspired by it, without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, and all should belong to the protection scope of the invention.

Claims (6)

1. a five-degree-of-freedom injection molding machine blanking manipulator, is characterized in that: comprise frame assembly (1), manipulator assembly (2) and end effector assembly (3), manipulator assembly (2) is installed on frame assembly (1) ), an end effector (3) is mounted on one end of the manipulator assembly (1); wherein, the manipulator assembly (1) includes a turntable connector (6), a linear drive part (10), a rotary drive part (12) and a rotary connection part (13); the rotary drive part (12) is connected with the end effector (3) through the rotary connection part (13), and driven by the rotary drive part (12), the end effector (3) rotates synchronously; The linear drive part (10) is connected with the rotary connection part (13) through the telescopic connection parts (4, 11, 14), and driven by the linear drive part (10), the end effector (3) is made to follow the direction of the manipulator assembly (2). moving in the length direction; The rotating platform (5) is coaxially connected with the turntable connecting piece (6), and driven by the rotating platform (5), the manipulator assembly (1) rotates as a whole based on the axial direction of the turntable connecting piece (6); The lift driving part (8) drives the manipulator assembly to move along the length direction of the frame assembly (1); The end effector (3) is composed of two clamping frames (20) with adjustable clamping angles, and driven by the clamping driving part (16), the clamping angle between the two clamping frames (20) varies according to different The size of the holder can be adjusted. 2. The five-degree-of-freedom injection molding machine blanking manipulator according to claim 1, wherein a suction cup (19) is further provided on the clamping frame (20). 3. The five-degree-of-freedom injection molding machine blanking manipulator according to claim 1, characterized in that: the lift drive component (8) further comprises a lift motor and a gear (9), a rack (25) and a lift connector ( 7), the frame assembly (2) is also provided with a linear guide rail (24) in the length direction, and the lifting connector (7) is connected with the slider installed in the linear guide rail (24), when the lifting motor drives the gear (9) ), the gear (9) drives the manipulator assembly to move along the sliding direction of the linear guide rail (2) through the meshing rack (25). 4. The five-degree-of-freedom injection molding machine blanking manipulator according to claim 1, wherein the clamping driving component (16) comprises a clamping cylinder with a guide rod, a clamping connecting rod (22) and an intermediate connecting rod Rod (18), the first end of the clamping cylinder with the guide rod is connected with the clamping connecting rod (22), and a rotating pair is formed between the clamping connecting rod (22) and one end of the intermediate connecting rod (18), and the intermediate connecting rod is connected with the clamping rod (22). The other end of the rod (18) is connected with the clamping frame (20); when the clamping cylinder with the guide rod is driven, the intermediate link (18) is driven to rotate, so as to realize the connection between the two clamping frames (20). When the rotation angle changes, a connecting frame is also installed between the two clamping frames. The rotating connecting parts (13) are all mounted on the connecting frame (23). 5. The five-degree-of-freedom injection molding machine blanking manipulator according to claim 2, characterized in that: a mounting rod (21) for mounting the suction cup (19) is also provided, and the mounting rod (21) is mounted on the clamping frame (20) on. 6. The five-degree-of-freedom injection molding machine blanking manipulator according to claim 1, characterized in that: the linear drive part (10) is a telescopic electric cylinder with a guide rod, and the rotary drive part (12) is a rotary cylinder.

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