CN110802799A - Five-degree-of-freedom injection molding machine discharging manipulator - Google Patents
Five-degree-of-freedom injection molding machine discharging manipulator Download PDFInfo
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- CN110802799A CN110802799A CN201911084907.XA CN201911084907A CN110802799A CN 110802799 A CN110802799 A CN 110802799A CN 201911084907 A CN201911084907 A CN 201911084907A CN 110802799 A CN110802799 A CN 110802799A
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- clamping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/1769—Handling of moulded articles or runners, e.g. sorting, stacking, grinding of runners
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Abstract
The invention discloses a feeding manipulator of a five-degree-of-freedom injection molding machine, wherein a manipulator assembly is arranged on a frame assembly, and one end of the manipulator assembly is provided with a tail end execution assembly; the manipulator assembly comprises a rotary table connecting piece, a linear driving part, a rotary driving part and a rotary connecting part; under the drive of the rotary driving part, the tail end executing component synchronously rotates; the end executing component moves along the length direction of the manipulator component under the driving of the linear driving component; under the drive of the rotary platform, the manipulator assembly integrally rotates by taking the axial direction of the turntable connecting piece as a reference; the lifting driving part drives the manipulator assembly to move along the length direction of the rack assembly; the tail end executing assembly consists of two clamping frames with adjustable clamping angles, and the clamping angles between the two clamping frames are adjusted according to clamping objects with different sizes under the driving of the clamping driving part. The invention has the main beneficial effects of simple structure, suitability for clamping objects with different sizes and capability of realizing the movement in 5 freedom directions.
Description
The technical field is as follows:
the invention relates to the field of industrial robot application, in particular to a feeding manipulator of a five-degree-of-freedom injection molding machine.
Background art:
the blanking manipulator of the injection molding machine is blanking equipment specially equipped for the automation of injection molding production. The method plays an extremely important role in relieving the physical labor of producers, improving the production efficiency and the production safety. However, the motion form of present manipulator of moulding plastics mainly uses linear motion and swing motion as the owner, and the degree of freedom is less, generally is 2 ~ 3, and the motion flexibility of snatching receives the restriction, can not satisfy the requirement of the industry unloading of moulding plastics.
The invention content is as follows:
the invention aims to provide a blanking manipulator of a five-degree-of-freedom injection molding machine, aiming at the defects of the prior art, and the blanking manipulator comprises the blanking manipulator of the five-degree-of-freedom injection molding machine and is characterized by comprising a rack component, a manipulator component and a tail end execution component, wherein the manipulator component is arranged on the rack component, and one end of the manipulator component is provided with the tail end execution component; the manipulator assembly comprises a rotary table connecting piece, a linear driving part, a rotary driving part and a rotary connecting part; the rotary driving component is connected with the tail end executing component through a rotary connecting component, and the tail end executing component synchronously rotates under the driving of the rotary driving component;
the linear driving part is connected with the rotary connecting part through a telescopic connecting piece, and the tail end executing assembly moves along the length direction of the manipulator assembly under the driving of the linear driving part;
the rotating platform is coaxially connected with the rotary table connecting piece, and the manipulator assembly integrally rotates by taking the axial direction of the rotary table connecting piece as a reference under the driving of the rotating platform;
the lifting driving part drives the manipulator assembly to move along the length direction of the rack assembly;
the tail end executing assembly consists of two clamping frames with adjustable clamping angles, and the clamping angles between the two clamping frames are adjusted according to clamping objects with different sizes under the driving of the clamping driving part.
In one embodiment, a suction cup is further provided on the clamping frame.
In one embodiment, the lifting driving part further comprises a lifting motor, a gear, a rack and a lifting connecting piece, the rack assembly is further provided with a linear guide rail in the length direction, the lifting connecting piece is connected with a sliding block arranged in the linear guide rail, and when the lifting motor drives the gear, the gear drives the manipulator assembly to move along the sliding direction of the linear guide rail through the meshed rack.
In one embodiment, the clamping driving part comprises a clamping cylinder with a guide rod, a clamping connecting rod and an intermediate connecting rod, wherein a first end of the clamping cylinder with the guide rod is connected with the clamping connecting rod, a rotating pair is formed between the clamping 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 middle connecting rod is driven to rotate, so that the change of the rotating angle between the two clamping frames is realized, the connecting frame is further installed between the two clamping frames, the connecting frame is hinged with the two clamping frames through the hinge part, and the clamping cylinder with the guide rod and the rotating connecting part are both installed 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 part is a telescopic electric cylinder with a guide rod, and the rotary driving part is a rotary air cylinder.
The invention mainly has the following advantages and main beneficial effects:
1. the clamping device is simple in structure, is suitable for clamping objects with different sizes, greatly saves the processing cost, and enhances the popularization and application of the clamping device.
2. The invention can realize the movement in the directions of 5 degrees of freedom, and is convenient to grab objects at different positions and different directions.
3. The invention realizes the full automation of the device, reduces the labor intensity of workers and saves time.
Description of the drawings:
FIG. 1 is a schematic diagram illustrating an overall structure of a feeding manipulator of a five-degree-of-freedom injection molding machine in one embodiment;
fig. 2 discloses a schematic structural diagram of a rack assembly in the feeding manipulator of the five-degree-of-freedom injection molding machine in the embodiment of fig. 1.
Fig. 3 discloses a schematic structural diagram of the whole manipulator assembly in the blanking manipulator of the five-degree-of-freedom injection molding machine in the embodiment of fig. 1.
Fig. 4 discloses a schematic structural diagram of an end effector component in the feeding manipulator of the five-degree-of-freedom injection molding machine in the embodiment of fig. 1.
The specific implementation mode is as follows:
the above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
referring to fig. 1 in combination with fig. 2, 3 and 4, in the embodiment of fig. 1, a five-degree-of-freedom injection molding machine blanking manipulator comprises a frame assembly 1, a manipulator assembly 2 and an end effector assembly 3, wherein the manipulator assembly 2 is mounted on the frame assembly 1, and the end effector assembly 3 is mounted at one end of the manipulator assembly 1; the manipulator assembly 1 comprises a rotary table connecting piece 6, a linear driving part 10, a rotary driving part 12 and a rotary connecting part 13; the rotary driving component 12 is connected with the end actuating component 3 through a rotary connecting component 13, and the end actuating component 3 synchronously rotates under the driving of the rotary driving component 12;
the linear driving part 10 is connected with the rotary connecting part 13 through the telescopic connecting piece 4, the telescopic connecting piece 11 and the telescopic connecting piece 14, and the tail end executing assembly 3 moves along the length direction of the manipulator assembly 2 under the driving of the linear driving part 10;
the rotary platform 5 is coaxially connected with the rotary table connecting piece 6, and the manipulator assembly 2 integrally rotates by taking the axial direction of the rotary table connecting piece 6 as a reference under the driving of the rotary platform 5;
the lifting driving part 8 drives the manipulator assembly to move along the length direction of the rack assembly 1;
the end executing component 3 is composed of two clamping frames 20 with adjustable clamping angles, and the clamping angle between the two clamping frames 20 is adjusted according to clamping objects with different sizes under the driving of the clamping driving component 16.
Preferably, a suction cup 19 is further provided on the clamping frame 20.
Preferably, the lifting driving part 8 further comprises a lifting motor 81, a gear 9, a rack 25 and a lifting connecting piece 7, the rack assembly 1 is further provided with a linear guide rail 24 in the length direction, the lifting connecting piece 7 is connected with a slider (not labeled in the figure) installed in the linear guide rail 24, and when the lifting motor drives the gear 9, the gear 9 drives the manipulator assembly 2 to move along the sliding direction of the linear guide rail 24 through the meshed rack 25.
Preferably, the clamping driving part 16 comprises a clamping cylinder 161 with a guide rod, a clamping connecting rod 22 and an intermediate connecting rod 18, a first end of the clamping cylinder 161 with the guide rod is connected with the clamping connecting rod 22, a rotating pair is formed between the clamping connecting rod 22 and one end of the intermediate connecting rod 18, and the other end of the intermediate connecting rod 18 is connected with the clamping frame 20; when the clamping cylinder 161 with the guide rod is driven, the intermediate connecting rod 18 is driven to rotate, so that the change of the rotating angle between the two clamping frames 20 is realized, the connecting frame 23 is also arranged between the two clamping frames 20, the connecting frame 23 is hinged with the two clamping frames 20 through the hinge part 15, and the clamping cylinder 161 with the guide rod and the rotating connecting part 13 are both arranged on the connecting frame 23.
It will be appreciated that the intermediate link 18 may also be connected to the clamping frame 20 by the link mount 17.
Preferably, a mounting bar 21 is further provided to mount the suction cup 19, the mounting bar 21 being mounted on the clamping frame 20.
Preferably, the linear driving member 10 is a telescopic cylinder with a guide rod, and the rotary driving member 12 is a rotary cylinder.
The feeding manipulator of the five-freedom injection molding machine can realize the movement in the directions of 5 degrees of freedom in the working process.
1) The lifting speed regulating motor drives the gear to move on the rack, so that the manipulator realizes lifting movement;
2) the rotation of the rotary platform drives the manipulator execution part to rotate in a large range;
3) the telescopic electric cylinder with the guide rod enables the tail end execution component to perform telescopic motion;
4) the rotary cylinder enables the executing component to perform rotary motion in a small range;
5) the clamping cylinder 15 with the guide rod enables the clamping mechanism to adjust the opening according to the size of the clamped object so as to be suitable for the clamped objects with different sizes.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (6)
1. The blanking manipulator of the five-degree-of-freedom injection molding machine is characterized by comprising a rack component (1), a manipulator component (2) and a tail end execution component (3), wherein the manipulator component (2) is arranged on the rack component (1), and one end of the manipulator component (1) is provided with the tail end execution component (3); the manipulator assembly (1) comprises a rotary table connecting piece (6), a linear driving part (10), a rotary driving part (12) and a rotary connecting part (13); the rotary driving part (12) is connected with the end executing component (3) through a rotary connecting part (13), and the end executing component (3) synchronously rotates under the driving of the rotary driving part (12);
the linear driving part (10) is connected with the rotary connecting part (13) through telescopic connecting pieces (4, 11, 14), and the end executing assembly (3) moves along the length direction of the manipulator assembly (2) under the driving of the linear driving part (10);
the rotary platform (5) is coaxially connected with the rotary table connecting piece (6), and the manipulator assembly (1) integrally rotates by taking the axial direction of the rotary table connecting piece (6) as a reference under the driving of the rotary platform (5);
the lifting driving part (8) drives the manipulator assembly to move along the length direction of the rack assembly (1);
the tail end executing assembly (3) is composed of two clamping frames (20) with adjustable clamping angles, and the clamping angles between the two clamping frames (20) are adjusted according to clamping objects with different sizes under the driving of the clamping driving part (16).
2. The five-degree-of-freedom injection molding machine blanking manipulator of claim 1, wherein: and a sucking disc (19) is also arranged on the clamping frame (20).
3. The five-degree-of-freedom injection molding machine blanking manipulator of claim 1, wherein: the lifting driving component (8) further comprises a lifting motor, a gear (9), a rack (25) and a lifting connecting piece (7), the length direction of the rack assembly (2) is further provided with a linear guide rail (24), the lifting connecting piece (7) is connected with a sliding block installed in the linear guide rail (24), when the lifting motor drives the gear (9), the gear (9) is driven through the meshed rack (25) and the manipulator assembly moves along the sliding direction of the linear guide rail (2).
4. The five-degree-of-freedom injection molding machine blanking manipulator of claim 1, wherein: the clamping driving part (16) comprises a clamping cylinder with a guide rod, a clamping connecting rod (22) and a middle connecting rod (18), the first end of the clamping cylinder with the guide rod is connected with the clamping connecting rod (22), a rotating pair is formed between the clamping connecting rod (22) and one end of the middle connecting rod (18), and the other end of the middle connecting rod (18) is connected with the clamping frame (20); when the clamping cylinder with the guide rod is driven, the middle connecting rod (18) is driven to rotate, so that the change of the rotating angle between the two clamping frames (20) is realized, a connecting frame is further arranged between the two clamping frames, the connecting frame (23) is hinged with the two clamping frames through a hinge component (15), and the clamping cylinder with the guide rod and the rotating connecting component (13) are both arranged on the connecting frame (23).
5. The five-degree-of-freedom injection molding machine blanking manipulator of claim 2, wherein: the clamping device is also provided with an installation rod (21) for installing the sucker (19), and the installation rod (21) is installed on the clamping frame (20).
6. The five-degree-of-freedom injection molding machine blanking manipulator of claim 1, wherein: the linear driving part (10) is a telescopic electric cylinder with a guide rod, and the rotary driving part (12) is a rotary air cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911084907.XA CN110802799A (en) | 2019-11-08 | 2019-11-08 | Five-degree-of-freedom injection molding machine discharging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911084907.XA CN110802799A (en) | 2019-11-08 | 2019-11-08 | Five-degree-of-freedom injection molding machine discharging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110802799A true CN110802799A (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911084907.XA Pending CN110802799A (en) | 2019-11-08 | 2019-11-08 | Five-degree-of-freedom injection molding machine discharging manipulator |
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| CN (1) | CN110802799A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205630618U (en) * | 2016-03-30 | 2016-10-12 | 安徽信盟机电装备制造有限公司 | Unloading sucking disc manipulator |
| CN208616873U (en) * | 2018-06-25 | 2019-03-19 | 北京拓威能效技术有限公司 | A kind of five axis robots |
| CN209579559U (en) * | 2019-01-27 | 2019-11-05 | 万康勤 | A kind of five axis snatch rotating mechanical arms |
-
2019
- 2019-11-08 CN CN201911084907.XA patent/CN110802799A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205630618U (en) * | 2016-03-30 | 2016-10-12 | 安徽信盟机电装备制造有限公司 | Unloading sucking disc manipulator |
| CN208616873U (en) * | 2018-06-25 | 2019-03-19 | 北京拓威能效技术有限公司 | A kind of five axis robots |
| CN209579559U (en) * | 2019-01-27 | 2019-11-05 | 万康勤 | A kind of five axis snatch rotating mechanical arms |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200218 |
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| RJ01 | Rejection of invention patent application after publication |