CN112590139B - Manipulator for producing injection molding parts and operation method thereof - Google Patents
Manipulator for producing injection molding parts and operation method thereof Download PDFInfo
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- CN112590139B CN112590139B CN202011380462.2A CN202011380462A CN112590139B CN 112590139 B CN112590139 B CN 112590139B CN 202011380462 A CN202011380462 A CN 202011380462A CN 112590139 B CN112590139 B CN 112590139B
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- fixedly connected
- threaded
- bevel gear
- servo motor
- injection molding
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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
- B29C45/40—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
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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
Abstract
The invention discloses a manipulator for producing injection molding parts, which comprises a grabbing table, wherein the upper end of the grabbing table is fixedly connected with a support frame, the middle part of the support frame is fixedly connected with a protection frame, a first servo motor is arranged in the protection frame, an adjusting mechanism is arranged on the first servo motor, a second servo motor is arranged at the lower end of the adjusting mechanism, and a fixing frame is arranged at the lower end of the adjusting mechanism, so that the manipulator has the following beneficial effects that: the first bevel gear is driven to rotate through the second servo motor, the first bevel gear is driven to rotate by the first bevel gear, the two second bevel gears are driven by the two second bevel gears to rotate, the two third bevel gears are driven by the two third bevel gears to rotate, the two second threaded rods are driven by the two threaded plates to move, the two threaded plates drive the two clamping plates to move towards one side close to the injection molding piece, the two clamping plates are clamped by the injection molding piece, the clamping plates are clamped by the clamping plates to replace clamping jaws, damage to the injection molding piece can be reduced, and the injection molding piece can be conveniently grabbed.
Description
Technical Field
The invention relates to a manipulator and an operation method thereof, in particular to a manipulator for producing injection molding parts and an operation method thereof, and belongs to the technical field of injection molding part production.
Background
The injection molding part refers to various injection molding products produced by an injection molding machine, and is generally called as injection molding parts, including various packages, parts and the like. The mechanical arm is mainly made of polyethylene or polypropylene and the like, and a plurality of organic solvents are added into the materials, along with the development of science and technology, in the injection molding industry in the prior art, more and more mechanical arms participate in injection molding production and processing, and various mechanical arms are layered, so that the development of the injection molding industry is greatly facilitated.
At present, the injection molding is adding man-hour, generally can adopt the manipulator to snatch the injection molding, but when current manipulator got the injection molding to press from both sides, because the mode of gripping that the tongs adopted presss from both sides the injection molding, this kind of mode of pressing from both sides can lead to the injection molding to warp, thereby make the injection molding damage, and do not have auxiliary structure, snatch the back, the injection molding often can produce and rock, thereby lead to producing sliding friction between clamping jaw and the injection molding, lead to the injection molding surface impaired, simultaneously, general splint adopt fixed mode and carriage release lever to be connected, splint damage back, it is extremely inconvenient to the change of splint, and then influence the processing of injection molding.
Disclosure of Invention
The invention provides a manipulator for producing injection-molded parts, which effectively solves the problems in the prior art.
In order to solve the technical problems, the invention provides the following technical scheme:
the invention relates to a manipulator for producing injection molding parts, which comprises a grabbing table, wherein the upper end of the grabbing table is fixedly connected with a support frame, the middle part of the support frame is fixedly connected with a protection frame, a first servo motor is arranged in the protection frame, an adjusting mechanism is arranged on the first servo motor, a second servo motor is arranged at the lower end of the adjusting mechanism, a fixed frame is arranged at the lower end of the adjusting mechanism, a driving mechanism is arranged in the fixed frame, an auxiliary mechanism is arranged at the lower end of the driving mechanism, threaded plates are arranged on two sides of the lower end of the driving mechanism, the two threaded plates are clamped with clamping plates through clamping mechanisms, anti-skid grains are fixedly connected on one sides of the two clamping plates close to each other, square grooves are formed in the upper ends of the two clamping plates far away from each other, clamping blocks are fixedly connected in the middle parts of the two clamping plates far away from each other, clamping grooves are clamped at the lower ends of the two clamping blocks, and one side of the lower end of the fixed frame is fixedly connected with two limiting mechanisms.
As a preferred technical scheme of the invention, the adjusting mechanism comprises a worm, the worm is fixedly connected with a first servo motor, the lower end of the worm is meshed with a worm wheel, one side of the worm wheel is fixedly connected with a first threaded rod, one side of the first threaded rod, which is far away from the worm wheel, is fixedly connected with the inner wall of the protective frame through a bearing, the first threaded rod is in threaded connection with a connecting block, the middle part of the lower end of the connecting block is fixedly connected with a second servo motor, and two sides of the lower end of the connecting block are fixedly connected with the fixed frame through a connecting rod.
As a preferred technical scheme of the invention, the driving mechanism comprises a first bevel gear, the first bevel gear is fixedly connected with a second servo motor, two sides of the first bevel gear are both meshed with second bevel gears, one sides of the two second bevel gears far away from each other are both fixedly connected with third bevel gears through rotating rods, the two third bevel gears are both meshed with fourth bevel gears, the lower ends of the two fourth bevel gears are both fixedly connected with fifth bevel gears through rotating rods, one sides of the two fifth bevel gears close to each other are both meshed with sixth bevel gears, one sides of the two sixth bevel gears close to each other are both fixedly connected with second threaded rods through rotating rods, and one sides of the two second threaded rods close to each other are both in threaded connection with the threaded plates on the same side.
As a preferable technical scheme of the invention, the auxiliary mechanism comprises a fixed rod, the fixed rod is fixedly connected with a first bevel gear of the driving mechanism, the lower end of the fixed rod is fixedly connected with a seventh bevel gear through a bearing, the front part and the rear part of the seventh bevel gear are respectively meshed with eighth bevel gears, the sides of the two eighth bevel gears far away from each other are respectively fixedly connected with a third threaded rod, the sides of the two third threaded rods far away from each other are respectively connected with a threaded pipe penetrating through the inner wall of the fixed frame through a bearing, the sides of the two threaded pipes far away from each other are respectively fixedly connected with a connecting arm, the sides of the lower ends of the two connecting arms near to each other are respectively fixedly connected with an auxiliary plate, the sides of the two connecting arms near to each other are respectively fixedly connected with a supporting plate through a rotating shaft, and the middle parts of the supporting plates are fixedly connected with the fixed rod through a bearing.
As a preferred technical scheme, the two clamping mechanisms respectively comprise a rotating handle, the upper ends of the two rotating handles are fixedly connected with screw rods, the two screw rods are respectively in threaded connection with threaded plates on the same side, the upper ends of the two screw rods are respectively fixedly connected with fixing blocks, grooves are respectively formed in one sides, close to each other, of the two fixing blocks, springs are respectively and fixedly connected in the two grooves, and arc-shaped blocks are respectively and fixedly connected to one sides, far away from the grooves on the same side, of the two springs.
As a preferred technical scheme of the invention, the two limiting mechanisms comprise sleeves, the two sleeves are fixedly connected with the fixing frame, one sides of the two sleeves, which are close to each other, are slidably connected with the limiting blocks, one sides of the two limiting blocks, which are close to each other, are fixedly connected with the sleeve rods, one sides of the two sleeve rods, which are close to each other, are fixedly connected with the square blocks, and the two square blocks are clamped with the clamping plates on the same side.
As a preferable technical scheme of the invention, the middle part of the upper end of the support frame is fixedly connected with a sliding frame, the sliding frame is communicated with the protection frame, the sliding frame is connected with a sliding block in a sliding manner, the lower end of the sliding block is fixedly connected with a sliding plate, and the sliding plate is fixedly connected with a connecting block of an adjusting mechanism.
A method of robotic manipulation for the production of injection molded parts comprising the steps of:
the injection molding machine comprises a first step of starting a second servo motor, so that the second servo motor drives a driving mechanism to drive two second threaded rods of the driving mechanism to drive two threaded plates to move, and the two threaded plates drive two clamping plates to clamp an injection molding piece;
secondly, driving connecting arms of the auxiliary mechanism to move through a first bevel gear of the driving mechanism, so that the two connecting arms drive the two auxiliary plates to move in an arc-shaped track, and the two auxiliary plates clamp the front part and the rear part of the injection molding part;
and thirdly, starting the first servo motor to drive the adjusting mechanism to drive the connecting block of the adjusting mechanism to drive the fixing frame to move, so that the clamping plate and the auxiliary plate drive the injection molding piece to move.
The invention has the following beneficial effects:
1. the first bevel gear is driven to rotate through the second servo motor, the first bevel gear is driven to rotate by the first bevel gear, the two second bevel gears are driven by the two second bevel gears to rotate, the two third bevel gears are driven by the two third bevel gears to rotate, the two second threaded rods are driven by the two threaded plates to move, the two threaded plates drive the two clamping plates to move towards one side close to the injection molding piece, the two clamping plates are clamped by the injection molding piece, the clamping plates are clamped by the clamping plates to replace clamping jaws, damage to the injection molding piece can be reduced, and the injection molding piece can be conveniently grabbed.
2. The fixed rod is driven to rotate by the arranged first bevel gear, the fixed rod drives the seventh bevel gear to rotate, the seventh bevel gear drives the two eighth bevel gears to rotate, so that the two third threaded rods drive the two threaded pipes to move towards the third threaded rods on the same side, the two connecting arms drive the two auxiliary plates to move in arc tracks, the two auxiliary plates clamp the front part and the rear part of the injection molding part, the injection molding part can be prevented from sliding when being grabbed and moved, scratches on the surface of the injection molding part are avoided, and the quality of the injection molding part is ensured.
3. The lead to the commentaries on classics of putting drives the lead screw and rotates, makes the lead screw drive the fixed block and rotates to make the fixed block drive the arc piece and rotate, and make the arc piece get into in the recess, make the lead screw drive the fixed block and break away from the draw-in groove, and then be convenient for press from both sides and get board and thread plate separation, make to press from both sides and get the board and can follow the thread plate and dismantle, the mode of joint can be convenient for change press from both sides and get the board, make the use of pressing from both sides and getting the board nimble more convenient.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a cross-sectional view of the structure of the present invention;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a schematic view of the structure of the assist mechanism of the present invention;
FIG. 4 is an enlarged view of the structure A of FIG. 1 according to the present invention;
FIG. 5 is an enlarged view of the structure B of FIG. 1 according to the present invention;
FIG. 6 is a schematic structural view of a spacing mechanism of the present invention;
fig. 7 is a schematic structural view of the entrapment plate of the present invention.
In the figure: 1. a grabbing table; 2. a support frame; 3. a protective frame; 4. an adjustment mechanism; 41. a worm; 42. a worm gear; 43. a first threaded rod; 44. connecting blocks; 5. a drive mechanism; 51. a first bevel gear; 52. a third bevel gear; 53. a fourth bevel gear; 54. a fifth bevel gear; 55. a sixth bevel gear; 56. a second threaded rod; 57. a second bevel gear; 6. an auxiliary mechanism; 61. fixing the rod; 62. a support plate; 63. a seventh bevel gear; 64. an eighth bevel gear; 65. a third threaded rod; 66. a threaded pipe; 67. a connecting arm; 68. an auxiliary plate; 7. a clamping mechanism; 71. turning a handle; 72. a screw rod; 73. a fixed block; 74. a groove; 75. a spring; 76. an arc-shaped block; 8. a limiting mechanism; 81. a sleeve; 82. a limiting block; 83. a loop bar; 84. a square block; 9. a first servo motor; 10. a sliding frame; 11. a slide plate; 12. a slider; 13. a fixing frame; 14. a second servo motor; 15. a thread plate; 16. clamping the plate; 17. a square groove; 18. a clamping block; 19. a card slot; 20. and (4) anti-skid lines.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The embodiment is as follows: as shown in fig. 1-7, the manipulator for producing injection molding pieces of the present invention comprises a gripping table 1, wherein the upper end of the gripping table 1 is fixedly connected with a support frame 2, the middle part of the support frame 2 is fixedly connected with a protection frame 3, a first servo motor 9 is installed in the protection frame 3, a first servo motor 9 drives an adjusting mechanism 4 to move, so that the adjusting mechanism 4 drives a gripping plate 16 to move, the gripping plate 16 is convenient for transferring injection molding pieces, the first servo motor 9 is installed with the adjusting mechanism 4, the lower end of the adjusting mechanism 4 is installed with a second servo motor 14, the lower end of the adjusting mechanism 4 is installed with a fixed frame 13, a driving mechanism 5 is installed in the fixed frame 13, the driving mechanism 5 is capable of driving the gripping plate 16 to move, so that the gripping plate 16 can grip injection molding pieces, the lower end of the driving mechanism 5 is installed with an auxiliary mechanism 6, the effect of supplementary centre gripping can be played to the complementary unit 6 of setting, is convenient for to the protection of injection molding, threaded plate 15, two are all installed to 5 lower extreme both sides of actuating mechanism 15 all through 7 joint clamping of latch mechanism get board 16, two the clamping is got board 16 and is close to the equal fixed connection anti-skidding line in one side 20, two each other one side upper end is kept away from each other to the clamping board 16 and all has seted up square groove 17, is convenient for be connected with stop gear 8, two the clamping board 16 keeps away from the equal fixed connection fixture block 18 in one side middle part each other, two the equal card of fixture block 18 lower extreme is equipped with draw-in groove 19, two stop gear 8 of fixed frame 13 lower extreme one side fixed connection, the stop gear 8 of setting can be convenient for carry out the limiting plate to the clamping board 16, avoids the rotation of clamping board 16.
Wherein, the adjusting mechanism 4 comprises a worm 41, the worm 41 is fixedly connected with the first servo motor 9, the lower end of the worm 41 is engaged with a worm wheel 42, one side of the worm wheel 42 is fixedly connected with a first threaded rod 43, one side of the first threaded rod 43, which is far away from the worm wheel 42, is fixedly connected with the inner wall of the protective frame 3 through a bearing, the first threaded rod 43 is connected with a connecting block 44 in a threaded manner, the middle part of the lower end of the connecting block 44 is fixedly connected with the second servo motor 14, two sides of the lower end of the connecting block 44 are fixedly connected with the fixing frame 13 through connecting rods, the worm 41 is driven to rotate by the first servo motor 9, the worm 41 drives the worm wheel 42 to rotate, the worm wheel 42 drives the first threaded rod 43 to rotate, the first threaded rod 43 drives the connecting block 44 to move, the connecting block 44 drives the lower end driving mechanism 5 and the auxiliary mechanism 6 to move, and therefore the clamping plate 16 is driven to move, and the injection molding piece is convenient to move.
The driving mechanism 5 comprises a first bevel gear 51, the first bevel gear 51 is fixedly connected with a second servo motor 14, two sides of the first bevel gear 51 are respectively engaged with a second bevel gear 57, one sides, far away from each other, of the two second bevel gears 57 are respectively fixedly connected with a third bevel gear 52 through a rotating rod, the two third bevel gears 52 are respectively engaged with a fourth bevel gear 53, the lower ends of the two fourth bevel gears 53 are respectively fixedly connected with a fifth bevel gear 54 through a rotating rod, one sides, close to each other, of the two fifth bevel gears 54 are respectively engaged with a sixth bevel gear 55, one sides, close to each other, of the two sixth bevel gears 55 are respectively fixedly connected with a second threaded rod 56 through a rotating rod, one sides, close to each other, of the two second threaded rods 56 are respectively in threaded connection with a threaded plate 15 on the same side, the second servo motor 14 drives the first bevel gear 51 to rotate, and the first bevel gear 51 drives the two second bevel gears 57 to rotate, the two second bevel gears 57 drive the two third bevel gears 52 to rotate, the two third bevel gears 52 drive the two fourth bevel gears 53 to rotate, the two sixth bevel gears 55 drive the two second threaded rods 56 to rotate, the two second threaded rods 56 drive the two threaded plates 15 to move, the two threaded plates 15 drive the two clamping plates 16 to move towards one side close to the injection molding part, and drive the two sleeve rods 83 to slide in the sleeve 81, so that the two clamping plates 16 clamp the injection molding part, and the mode of clamping the clamping plates 16 can avoid damage to the injection molding part, and the injection molding part can be clamped conveniently.
Wherein, two of the clamping mechanisms 7 each include a rotating handle 71, the upper ends of the two rotating handles 71 are fixedly connected with a screw rod 72, the two screw rods 72 are both in threaded connection with the threaded plate 15 on the same side, the upper ends of the two screw rods 72 are fixedly connected with fixed blocks 73, one side of the two fixed blocks 73 close to each other is provided with a groove 74, two grooves 74 are fixedly connected with springs 75, one side of each spring 75 far away from the groove 74 on the same side is fixedly connected with an arc block 76, the rotating handle 71 is rotated to drive the screw rod 72 to rotate, the screw rod 72 drives the fixed block 73 to rotate, the fixed block 73 drives the arc block 76 to rotate, the arc block 76 is separated from the clamping groove 19 and enters the groove 74 until the screw rod 72 drives the fixed block 73 to separate from the clamping groove 19, then the clamping plate 16 is pulled to move towards the side far away from the threaded plate 15, so that the clamping plate 16 is separated from the threaded plate 15, thereby facilitating the replacement of the clamping plate 16 and making the use of the clamping plate 16 more convenient.
Wherein, the auxiliary mechanism 6 comprises a fixed rod 61, the fixed rod 61 is fixedly connected with a first bevel gear 51 of the driving mechanism 5, the lower end of the fixed rod 61 is fixedly connected with a seventh bevel gear 63 through a bearing, the front and rear parts of the seventh bevel gear 63 are respectively engaged with eighth bevel gears 64, the sides of the two eighth bevel gears 64 far away from each other are respectively fixedly connected with a third threaded rod 65, the sides of the two third threaded rods 65 far away from each other are respectively penetrated through a threaded connection threaded pipe 66 on the inner wall of the fixed frame 13 through a bearing, the sides of the two threaded pipes 66 far away from each other are respectively fixedly connected with a connecting arm 67, the sides of the lower ends of the two connecting arms 67 close to each other are respectively fixedly connected with an auxiliary plate 68, the sides of the upper ends of the two connecting arms 67 close to each other are respectively fixedly connected with a supporting plate 62 through a rotating shaft, the middle part of the supporting plate 62 is fixedly connected with the fixed rod 61 through a bearing, and the first bevel gear 51 drives the fixed rod 61 to rotate, the fixing rod 61 drives the seventh bevel gear 63 to rotate, the seventh bevel gear 63 drives the two eighth bevel gears 64 to rotate, the two eighth bevel gears 64 drive the two third threaded rods 65 to rotate, the two third threaded rods 65 drive the two threaded pipes 66 to move towards one side close to the third threaded rod 65 on the same side, the two threaded pipes 66 drive the connecting arm 67 to move, the two connecting arms 67 drive the two auxiliary plates 68 to move in an arc-shaped track, the two auxiliary plates 68 clamp the front and rear parts of the injection molding part, and therefore the auxiliary plates 68 can protect the injection molding part, the injection molding part is prevented from sliding after being clamped, and scratches are caused on the surface of the injection molding part.
Wherein, 2 upper end middle part fixed connection sliding frame 10 of support frame, sliding frame 10 and fender frame 3 are linked together, sliding connection slider 12 in sliding frame 10, slider 12 lower extreme fixed connection slide 11, slide 11 and adjustment mechanism 4's connecting block 44 fixed connection, the slider 12 and the sliding frame 10 of setting can be convenient for connecting block 44 and remove in fender frame 3, make connecting block 44's removal more steady.
Wherein, two stop gear 8 all includes sleeve pipe 81, two the equal and fixed frame 13 fixed connection in sleeve pipe 81, two sleeve pipe 81 is close to the equal sliding connection stopper 82 in one side each other, two stopper 82 is close to the equal fixed connection loop bar 83 in one side each other, two loop bar 83 is close to the equal fixed connection square 84 in one side each other, two square 84 all with the homonymy clamp board 16 joint, the sleeve pipe 81 and the loop bar 83 of setting can carry on spacingly to the clamp board 16, avoid clamping the board 16 and rotate, make the removal of clamping the board 16 more stable to it gets the board 16 to press from both sides to get the injection molding to make things convenient for the clamp.
A method of robotic manipulation for the production of injection molded parts comprising the steps of:
firstly, starting the second servo motor 14, enabling the second servo motor 14 to drive the driving mechanism 5, enabling the two second threaded rods 56 of the driving mechanism 5 to drive the two threaded plates 15 to move, and enabling the two threaded plates 15 to drive the two clamping plates 16 to clamp the injection molding piece;
Secondly, the connecting arm 67 of the auxiliary mechanism 6 is driven to move by the first bevel gear 51 of the driving mechanism 5, so that the two connecting arms 67 drive the two auxiliary plates 68 to move in an arc-shaped track, and the two auxiliary plates 68 clamp the front part and the rear part of the injection molding piece;
and thirdly, starting the first servo motor 9 to enable the first servo motor 9 to drive the adjusting mechanism 4 to enable the connecting block 44 of the adjusting mechanism 4 to drive the fixing frame 13 to move, so that the clamping plate 16 and the auxiliary plate 68 drive the injection molding part to move.
Specifically, when the injection molding machine is used, an external power supply is switched on, the second servo motor 14 is started, the second servo motor 14 drives the first bevel gear 51 to rotate, the first bevel gear 51 drives the two second bevel gears 57 to rotate, the two second bevel gears 57 drive the two third bevel gears 52 to rotate, the two third bevel gears 52 drive the two fourth bevel gears 53 to rotate, the two sixth bevel gears 55 drive the two second threaded rods 56 to rotate, the two second threaded rods 56 drive the two threaded plates 15 to move, the two threaded plates 15 drive the two clamping plates 16 to move towards one side close to an injection molding piece, and drive the two sleeve rods 83 to slide in the sleeve 81 until the two clamping plates 16 clamp the injection molding piece, meanwhile, the first bevel gear 51 drives the fixed rod 61 to rotate, the fixed rod 61 drives the seventh bevel gear 63 to rotate, the seventh bevel gear 63 drives the two eighth bevel gears 64 to rotate, the two eighth bevel gears 64 drive the two third threaded rods 65 to rotate, so that the two third threaded rods 65 drive the two threaded pipes 66 to move towards one side close to the same-side third threaded rod 65, the two threaded pipes 66 drive the connecting arms 67 to move, the two connecting arms 67 drive the two auxiliary plates 68 to move in an arc-shaped track, so that the two auxiliary plates 68 clamp the front and back parts of the injection molding piece, then the first servo motor 9 is started, the first servo motor 9 drives the worm 41 to rotate, the worm 41 drives the worm wheel 42 to rotate, the worm wheel 42 drives the first threaded rod 43 to rotate, the first threaded rod 43 drives the connecting block 44 to move, the connecting block 44 drives the lower end driving mechanism 5 and the auxiliary mechanism 6 to move, so as to drive the clamping plate 16 to move, and further drive the injection molding piece to move, when the clamping plate 16 needs to be replaced, the rotating handle 71 is rotated first, the rotating handle 71 drives the screw rod 72 to rotate, and the screw rod 72 drives the fixing block 73 to rotate, the fixing block 73 drives the arc block 76 to rotate, the arc block 76 is separated from the clamping groove 19 and enters the groove 74 until the screw rod 72 drives the fixing block 73 to be separated from the clamping groove 19, then the clamping plate 16 is pulled, the clamping plate 16 moves to one side far away from the threaded plate 15, the clamping plate 16 is separated from the threaded plate 15, the disassembly is finished, and then the clamping plate is replaced.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. The utility model provides a manipulator for producing injection molding, is including snatching platform (1), its characterized in that, snatch platform (1) upper end fixed connection support frame (2), support frame (2) middle part fixed connection bearer bar (3), install first servo motor (9) in bearer bar (3), install adjustment mechanism (4) on first servo motor (9), second servo motor (14) are installed to adjustment mechanism (4) lower extreme, fixed frame (13) are installed to adjustment mechanism (4) lower extreme, install actuating mechanism (5) in fixed frame (13), complementary unit (6) are installed to actuating mechanism (5) lower extreme, threaded plate (15) are all installed to actuating mechanism (5) lower extreme both sides, two threaded plate (15) are all through clamping mechanism (7) joint clamping board (16), two the board (16) are got to the clamp and are close to equal fixed connection antiskid line (20) in one side each other, two the board (16) are got to the clamp and all seted up square groove (17) are got to one side upper end of keeping away from each other, two the board (16) are got to the clamp and all keep away from equal fixed connection fixture block (18) in one side middle part each other, two fixture block (18) lower extreme all blocks and are equipped with draw-in groove (19), two stop gear (8) of fixed frame (13) lower extreme one side fixed connection, adjustment mechanism (4) include worm (41), worm (41) and first servo motor (9) fixed connection, worm wheel (42) is connected in the meshing of worm (41) lower extreme, worm wheel (42) one side fixed connection first threaded rod (43) of worm wheel (42), worm wheel (42) are kept away from in first threaded rod (43) one side all through bearing and protection frame (3) inner wall fixed connection, threaded connection connecting block (44) are gone up in first threaded rod (43), the middle part of the lower end of the connecting block (44) is fixedly connected with the second servo motor (14), the two sides of the lower end of the connecting block (44) are fixedly connected with the fixing frame (13) through a connecting rod, the driving mechanism (5) comprises a first bevel gear (51), the first bevel gear (51) is fixedly connected with the second servo motor (14), the two sides of the first bevel gear (51) are respectively connected with a second bevel gear (57) in a meshed manner, the two second bevel gears (57) are mutually far away from one side and are respectively fixedly connected with a third bevel gear (52) through a rotating rod, the two third bevel gears (52) are respectively connected with a fourth bevel gear (53) in a meshed manner, the lower ends of the two fourth bevel gears (53) are respectively fixedly connected with a fifth bevel gear (54) through a rotating rod, the two fifth bevel gears (54) are mutually close to one side and are respectively connected with a sixth bevel gear (55), and the two sixth bevel gears (55) are mutually close to one side and are respectively fixedly connected with a second threaded rod (56), one side, close to each other, of each of the two second threaded rods (56) is in threaded connection with the threaded plate (15) on the same side, each auxiliary mechanism (6) comprises a fixing rod (61), the fixing rods (61) are fixedly connected with the first bevel gears (51) of the driving mechanisms (5), the lower ends of the fixing rods (61) are fixedly connected with a seventh bevel gear (63) through bearings, the front and rear parts of the seventh bevel gear (63) are respectively meshed with an eighth bevel gear (64), the sides, far away from each other, of the two eighth bevel gears (64) are respectively fixedly connected with a third threaded rod (65), the sides, far away from each other, of the two third threaded rods (65) respectively penetrate through threaded pipes (66) on the inner wall of the fixing frame (13) through bearings, the sides, far away from each other, of the two threaded pipes (66) are respectively fixedly connected with connecting arms (67), and the lower ends of the two connecting arms (67) are respectively fixedly connected with the auxiliary plates (68), the upper ends of the two connecting arms (67) are close to one side and are fixedly connected with a supporting plate (62) through a rotating shaft, the middle part of the supporting plate (62) is fixedly connected with a fixing rod (61) through a bearing, the two clamping mechanisms (7) comprise rotating handles (71), the upper ends of the two rotating handles (71) are fixedly connected with screw rods (72), the two screw rods (72) are in threaded connection with a threaded plate (15) at the same side, the upper ends of the two screw rods (72) are fixedly connected with fixing blocks (73), one sides of the two fixing blocks (73) close to one side are respectively provided with a groove (74), springs (75) are fixedly connected in the two grooves (74), one sides of the two springs (75) far away from the groove (74) at the same side are respectively fixedly connected with an arc-shaped block (76), the two limiting mechanisms (8) comprise sleeves (81), and the two sleeves (81) are fixedly connected with a fixing frame (13), two equal sliding connection stopper (82) in one side are close to each other sleeve pipe (81), two stopper (82) are close to equal fixed connection loop bar (83) in one side each other, two loop bar (83) are close to the square piece (84) of the equal fixed connection in one side each other, two square piece (84) are all with homonymy clamping plate (16) joint, support frame (2) upper end middle part fixed connection sliding frame (10), sliding frame (10) and protecting frame (3) are linked together, sliding connection slider (12) in sliding frame (10), slider (12) lower extreme fixed connection slide (11), connecting block (44) fixed connection of slide (11) and adjustment mechanism (4).
2. Method of operating a robot for the production of injection molded parts according to claim 1, characterized in that it comprises the following steps:
firstly, starting a second servo motor (14), so that the second servo motor (14) drives a driving mechanism (5) to drive two second threaded rods (56) of the driving mechanism (5) to drive two threaded plates (15) to move, and the two threaded plates (15) drive two clamping plates (16) to clamp an injection molding piece;
secondly, driving the connecting arms (67) of the auxiliary mechanism (6) to move through the first bevel gears (51) of the driving mechanism (5), so that the two connecting arms (67) drive the two auxiliary plates (68) to move in an arc-shaped track, and the two auxiliary plates (68) clamp the front and the rear parts of the injection molding piece;
and thirdly, starting the first servo motor (9), enabling the first servo motor (9) to drive the adjusting mechanism (4) to enable the connecting block (44) of the adjusting mechanism (4) to drive the fixing frame (13) to move, and enabling the clamping plate (16) and the auxiliary plate (68) to drive the injection molding piece to move.
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| CN113419041A (en) * | 2021-06-09 | 2021-09-21 | 无锡润安涂装科技有限公司 | Detection device and detection method for spraying of sheet metal parts |
| CN113685676B (en) * | 2021-08-29 | 2022-11-01 | 杭州杰普仕通信技术有限公司 | Intelligent urban road vehicle identification system and use method thereof |
| CN115178995A (en) * | 2022-08-02 | 2022-10-14 | 安徽瑞林精科股份有限公司 | Shell assembling device and method convenient to clamp and position |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2654517B2 (en) * | 1976-12-01 | 1979-09-27 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | manipulator |
| US5482340A (en) * | 1994-08-31 | 1996-01-09 | The Boeing Company | Articulating overhead mandrel manipulator |
| CN207682400U (en) * | 2017-10-12 | 2018-08-03 | 淮海工学院 | A kind of multifunction manipulator |
| CN207808386U (en) * | 2017-12-30 | 2018-09-04 | 东莞利雅特自动化机械科技有限公司 | A kind of multifunction manipulator on injection molding machine |
| CN108687789A (en) * | 2018-07-10 | 2018-10-23 | 东莞理工学院 | A kind of robot hand connection head |
| CN209425459U (en) * | 2018-12-26 | 2019-09-24 | 重庆怡得塑胶有限公司 | A kind of manipulator for air conditioner filter screen production line |
| CN209554311U (en) * | 2018-12-29 | 2019-10-29 | 东莞市易辉自动化机械有限公司 | A kind of firm manipulator of crawl |
| CN109774083B (en) * | 2019-01-08 | 2020-10-20 | 嘉兴科捷自动化设备有限公司 | Manipulator for producing injection molding parts and operation method thereof |
| CN210791034U (en) * | 2019-10-23 | 2020-06-19 | 孙璐媛 | Grabbing device for mechanical production |
| CN111855090A (en) * | 2020-07-29 | 2020-10-30 | 武汉亿维登科技发展有限公司 | Medicine bottle body detection device for medicine production |
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Denomination of invention: A manipulator for producing injection molded parts and its operation method Effective date of registration: 20221223 Granted publication date: 20220628 Pledgee: Bank of China Limited Xiangyang Branch Pledgor: Hubei punem Plastics Co.,Ltd. Registration number: Y2022980028909 |