CN112848058A - Double-manipulator automatic vision positioning insertion piece injection molding machine - Google Patents
Double-manipulator automatic vision positioning insertion piece injection molding machine Download PDFInfo
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- CN112848058A CN112848058A CN202110192325.4A CN202110192325A CN112848058A CN 112848058 A CN112848058 A CN 112848058A CN 202110192325 A CN202110192325 A CN 202110192325A CN 112848058 A CN112848058 A CN 112848058A
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- 238000001746 injection moulding Methods 0.000 title claims abstract description 111
- 238000003780 insertion Methods 0.000 title abstract description 7
- 230000037431 insertion Effects 0.000 title abstract description 7
- 230000000007 visual effect Effects 0.000 claims abstract description 24
- 238000007599 discharging Methods 0.000 claims abstract description 20
- 239000000463 material Substances 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 19
- 238000000926 separation method Methods 0.000 claims description 17
- 239000013307 optical fiber Substances 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 7
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 5
- 101100408454 Arabidopsis thaliana PLC6 gene Proteins 0.000 description 39
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 2
- 239000010931 gold Substances 0.000 description 2
- 229910052737 gold Inorganic materials 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 210000004243 sweat Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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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
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14008—Inserting articles into the mould
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/40—Removing or ejecting moulded articles
- B29C45/42—Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots
- B29C2045/4241—Auxiliary means for removing moulded articles from the robot
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Injection Moulding Of Plastics Or The Like (AREA)
Abstract
The invention relates to a double-manipulator automatic visual positioning insert injection molding machine, and belongs to the technical field of injection molding piece production equipment. The double-manipulator automatic visual positioning insertion piece injection molding machine comprises an injection molding machine, a workpiece arrangement component, a loading visual manipulator, a discharging manipulator, a finished product processing component and a PLC. According to the invention, after the workpieces are orderly arranged by the workpiece arrangement component according to the injection molding requirement of the injection molding machine, the workpieces are taken out from the workpiece arrangement component by the feeding visual manipulator, then the manipulator automatically detects the corresponding injection molding stations on the injection molding machine according to the shapes of the inserts and inserts the inserts into the corresponding injection molding stations, and the products after injection molding are taken out by the blanking manipulator, so that the manual insertion of the workpieces into the injection molding stations of the injection molding machine one by one or the manual taking of the products after injection molding from the injection molding machine one by one is avoided, the production efficiency of the products is effectively improved, the whole process is automatically completed by the machine, and the manual use is reduced.
Description
Technical Field
The invention belongs to the technical field of injection molding piece production equipment, and particularly relates to a double-manipulator automatic visual positioning insert injection molding machine.
Background
In the production process of the insert, after a workpiece is manually inserted into a mold, the workpiece is manually controlled by a matched injection molding machine to be subjected to injection molding, and then a finished product is taken out, and the operation is repeated in a repeated way. In current production facility, the plug-in components are carried out to multi-purpose manual work, need the manual work to insert corresponding mould hole site with the gold utensil one by one, because of the gold utensil is small and exquisite and the surface can not be stained with the sweat (prevent the sweat and corrode), the operator need wear gloves in whole journey at the during operation, operates slowly, and extremely inconvenient taking leads to product production efficiency low moreover. In addition, in the aspect of personnel configuration, 2-3 persons are needed to complete the whole production process, and the labor cost is high.
Disclosure of Invention
In order to solve the problems, the invention provides a double-manipulator automatic visual positioning insert injection molding machine. According to the invention, after the workpieces are orderly arranged by the workpiece arrangement component according to the injection molding requirement of the injection molding machine, the workpieces are taken out from the workpiece arrangement component by the feeding visual manipulator, then the manipulator automatically detects the corresponding injection molding stations on the injection molding machine according to the shapes of the inserts and inserts the inserts into the corresponding injection molding stations, and the products after injection molding are taken out by the blanking manipulator, so that the manual insertion of the workpieces into the injection molding stations of the injection molding machine one by one or the manual taking of the products after injection molding from the injection molding machine one by one is avoided, the production efficiency of the products is effectively improved, the whole process is automatically completed by the machine, and the manual use is reduced.
In order to achieve the purpose, the invention is implemented according to the following technical scheme:
the double-manipulator automatic visual positioning insert injection molding machine comprises an injection molding machine 1, a workpiece arranging component 2, a loading visual manipulator 3, a discharging manipulator 4, a finished product processing component 5 and a PLC 6; the injection molding machine is characterized in that a workpiece arrangement component 2 for arranging disordered workpieces in order according to the injection molding requirement of the injection molding machine 1 is arranged on the front side of the injection molding machine 1, a feeding visual manipulator 3 for conveying the arranged workpieces to the injection molding machine 1 is positioned on the front side of the injection molding machine 1, and a finished product processing component 5 and a discharging manipulator 4 for conveying the injection molded workpieces to the finished product processing component 5 are arranged on the right side of the injection molding machine 1; the PLC6 is respectively and electrically connected with the injection molding machine 1, the workpiece arrangement component 2, the feeding vision manipulator 3 and the discharging manipulator 4.
Further, the workpiece arrangement component 2 comprises a vibration disc 2-1, a jacking separation mechanism 2-3, a workpiece placing linear module 2-7, a workpiece carrying linear module 2-4 and a cylinder clamping jaw 2-6; the tail end of a discharging guide rail of the vibration disc 2-1 is provided with a jacking separation mechanism 2-3, the side of the jacking separation mechanism 2-3 is provided with a workpiece placing linear module 2-7, a driving motor of the workpiece placing linear module 2-7 is connected with a PLC6 through a servo driver, a slider of the workpiece placing linear module 2-7 is provided with a workpiece placing clamp 2-2, the workpiece placing clamp 2-2 is provided with a correlation optical fiber sensor 2-2-1, the correlation optical fiber sensor 2-2-1 is connected with a PLC6, a workpiece carrying linear module 2-4 is arranged above the workpiece placing linear module 2-7, a driving motor of the workpiece carrying linear module 2-4 is connected with a PLC6 through the servo driver, and a slider of the workpiece carrying linear module 2-4 is provided with a vertical movement driving cylinder 2-5, the vertical moving driving cylinder 2-5 is connected with the PLC6 through an electromagnetic valve, a piston slide block of the vertical moving driving cylinder 2-5 is provided with a cylinder clamping jaw 2-6 which can carry a workpiece ejected by the jacking separation mechanism 2-3 to the workpiece placing clamp 2-2, and the cylinder clamping jaw 2-6 is connected with the PLC6 through an electromagnetic valve.
Preferably, the jacking separation mechanism 2-3 comprises a mounting frame 2-3-1 and a positioning block 2-3-2; the top of the mounting frame 2-3-1 is provided with a positioning block 2-3-2, the positioning block 2-3-2 is provided with a positioning groove 2-3-3 matched with the shape of a workpiece, the positioning groove 2-3-3 is in butt joint with a discharge guide rail of the vibration disc 2-1, a push rod 2-3-4 capable of moving up and down is arranged in the positioning groove 2-3-3, the push rod 2-3-4 is installed on a piston slide block of the jacking cylinder 2-3-5, and the jacking cylinder 2-3-5 is connected with a PLC6 through an electromagnetic valve.
Preferably, the mounting rack 2-3-1 is slidably mounted on the sliding rail 2-3-7, the mounting rack 2-3-1 is connected with a piston slider of the moving cylinder 2-3-6, the moving cylinder 2-3-6 is connected with the PLC6 through an electromagnetic valve, two positioning blocks 2-3-2 are arranged on the mounting rack 2-3-1, and positioning grooves 2-3-3 on the two positioning blocks 2-3-2 are respectively matched with workpieces in different shapes.
Further, the feeding visual manipulator 3 comprises a mechanical arm 3-1, a CCD camera 3-2 for detecting an injection molding station of the injection molding machine 1 and a mechanical claw 3-3 for clamping a workpiece; the CCD camera 3-2 and the mechanical claw 3-3 are both arranged at the tail end of the mechanical arm 3-1, the CCD camera 3-2 is connected with the PLC6, and a control module of the mechanical arm 3-1 is connected with the PLC 6. A
Preferably, the mechanical claw 3-3 comprises a base 3-3-1, a left clamping plate 3-3-2, a right clamping plate 3-3-3 and a clamping cylinder 3-3-4; the base 3-3-1 is internally provided with a sliding chute, a sliding rod I3-3-5 and a sliding rod II 3-3-6 which can move left and right are arranged in the sliding chute, the sliding rod I3-3-5 and the sliding rod II 3-3-6 are driven to move by a clamping cylinder 3-3-4 which is arranged on the base 3-3-1 respectively, the clamping cylinder 3-3-4 is connected with a PLC6 through an electromagnetic valve, a left clamping plate 3-3-2 is arranged on the sliding rod I3-3-5, and a right clamping plate 3-3-3 is correspondingly arranged on the sliding rod II 3-3-6.
Preferably, a yielding gap 3-3-7 is arranged between the left splint 3-3-2 and the right splint 3-3-3, a detection rod 3-3-8 is arranged in the yielding gap 3-3-7, the detection rod 3-3-8 is connected with the base 3-3-1 in a sliding way through a sliding rod III 3-3-9, a sliding rod IV 3-3-13 is clamped on the sliding rod III 3-3-9, a spring 3-3-12 is arranged between the sliding rod III 3-3-9 and the sliding rod IV 3-3-13, a detection cylinder 3-3-10 for driving the sliding rod IV 3-3-13 to move downwards is arranged on the base 3-3-1, the detection cylinder 3-3-10 is connected with a PLC6 through an electromagnetic valve, photoelectric sensors 3-3-11 corresponding to the slide bars III 3-3-9 one by one are arranged on the base 3-3-1, and the photoelectric sensors 3-3-11 are connected with a PLC 6.
Further, the finished product processing assembly 5 comprises a crusher 5-1 and a discharge chute 5-2.
Further, the blanking manipulator 4 comprises a blanking mechanical arm 4-1, a workpiece blanking cylinder clamping jaw 4-2 and a nozzle material blanking cylinder clamping jaw 4-3; the tail end of the blanking mechanical arm 4-1 is provided with a workpiece blanking cylinder clamping jaw 4-2 used for grabbing a workpiece and a nozzle material blanking cylinder clamping jaw 4-3 used for grabbing a nozzle material, and the blanking mechanical arm 4-1, the workpiece blanking cylinder clamping jaw 4-2 and the nozzle material blanking cylinder clamping jaw 4-3 are respectively connected with a PLC 6.
The invention has the beneficial effects that:
according to the invention, after the workpieces are orderly arranged by the workpiece arrangement component according to the injection molding requirement of the injection molding machine, the workpieces are taken out from the workpiece arrangement component by the feeding visual manipulator, then the manipulator automatically detects the corresponding injection molding stations on the injection molding machine according to the shapes of the inserts and inserts the inserts into the corresponding injection molding stations, and the products after injection molding are taken out by the blanking manipulator, so that the manual insertion of the workpieces into the injection molding stations of the injection molding machine one by one or the manual taking of the products after injection molding from the injection molding machine one by one is avoided, the production efficiency of the products is effectively improved, the whole process is automatically completed by the machine, and the manual use is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a workpiece alignment mechanism according to the present invention;
FIG. 3 is a schematic perspective view of a lift-off mechanism according to the present invention;
FIG. 4 is a cross-sectional view of a locating block of the present invention;
FIG. 5 is a schematic perspective view of a feeding vision manipulator of the present invention;
FIG. 6 is a schematic perspective view of a gripper according to the present invention;
FIG. 7 is a schematic perspective view of a gripper according to the present invention;
FIG. 8 is a schematic view of the left and right clamping plates of the present invention installed;
FIG. 9 is a perspective view of the test rod assembly of the present invention;
FIG. 10 is a schematic view of the blanking assembly installation of the present invention;
FIG. 11 is a schematic perspective view of the blanking manipulator of the present invention;
FIG. 12 is a control block diagram of the present invention;
in the figure 1-12, 1-injection molding machine, 2-workpiece arrangement component, 2-1 vibration disc, 2-2 workpiece placing clamp, 2-2-1 correlation optical fiber sensor, 2-3 jacking separation mechanism, 2-3-1 mounting rack, 2-3-2 positioning block, 2-3-3 positioning groove, 2-3-4 ejector rod, 2-3-5 jacking cylinder, 2-3-6 moving cylinder, 2-3-7 sliding rail, 2-4 workpiece carrying linear module, 2-5 vertical moving driving cylinder, 2-6 cylinder clamping jaw, 2-7 workpiece placing linear module, 3-loading visual manipulator, 3-1 mechanical arm, 3-2CCD camera, 3-3 mechanical jaw, 2-2 vibration disc, 2-2 workpiece placing clamp, 3-3-1 base, 3-3-2 left splint, 3-3-3 right splint, 3-3-4 clamping cylinder, 3-3-5 slide bar I, 3-3-6 slide bar II, 3-3-7 yielding gap, 3-3-8 detection bar, 3-3-9 slide bar III, 3-3-10 detection cylinder, 3-3-11 photoelectric sensor, 3-3-13 slide bars IV, 3-3-12 springs, 4-blanking manipulators, 4-1 blanking mechanical arm, 4-2 workpiece blanking cylinder clamping jaws, 4-3 water gap material blanking cylinder clamping jaws, 5-finished product processing assembly, 5-1 pulverizer, 5-2 discharging chutes and 6-PLC.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings to facilitate understanding of the skilled person.
As shown in fig. 1, the double-manipulator automatic visual positioning insert injection molding machine comprises an injection molding machine 1, a workpiece arrangement component 2, a feeding visual manipulator 3, a discharging manipulator 4, a finished product processing component 5 and a PLC 6; the injection molding machine is characterized in that a workpiece arrangement component 2 for arranging disordered workpieces in order according to the injection molding requirement of the injection molding machine 1 is arranged on the front side of the injection molding machine 1, a feeding visual manipulator 3 for conveying the arranged workpieces to the injection molding machine 1 is positioned on the front side of the injection molding machine 1, and a finished product processing component 5 and a discharging manipulator 4 for conveying the injection molded workpieces to the finished product processing component 5 are arranged on the right side of the injection molding machine 1; the PLC6 is respectively and electrically connected with the injection molding machine 1, the workpiece arrangement component 2, the feeding vision manipulator 3 and the discharging manipulator 4. During operation, a workpiece needing injection molding is placed in the workpiece arrangement component 2 through manual work, the workpiece arrangement component 2 arranges mixed and disorderly workpieces orderly according to injection molding requirements of the injection molding machine 1, then the feeding visual manipulator 3 grabs the injection molding stations on the injection molding machine 1 after the workpieces are automatically detected, the workpieces are accurately placed on the injection molding stations of the injection molding machine 1, then the injection molding machine 1 performs injection molding on the workpieces, and the injection molded workpieces are taken out by the blanking manipulator 4 and placed in the finished product processing component 5.
As shown in fig. 2, the workpiece arrangement component 2 comprises a vibration disc 2-1, a jacking separation mechanism 2-3, a workpiece placing linear module 2-7, a workpiece carrying linear module 2-4 and a cylinder clamping jaw 2-6; the tail end of a discharging guide rail 6 of the vibration disc 2-1 is provided with a jacking separation mechanism 2-3, the vibration disc 2-1 is obtained by commercial purchase, the vibration disc 2-1 is in a normally open state during work, and workpieces are continuously output from the discharging guide rail according to a specific placing form; as shown in fig. 3, the jacking separation mechanism 2-3 comprises a mounting frame 2-3-1 and a positioning block 2-3-2; the top of the mounting frame 2-3-1 is provided with a positioning block 2-3-2, the positioning block 2-3-2 is provided with a positioning groove 2-3-3 matched with the shape of a workpiece, the positioning groove 2-3-3 is butted with a discharge guide rail of the vibration disc 2-1, a mandril 2-3-4 capable of moving up and down is arranged in the positioning groove 2-3-3, the mandril 2-3-4 is arranged on a piston slide block of a jacking cylinder 2-3-5, the jacking cylinder 2-3-5 is connected with a PLC6 through an electromagnetic valve, when the mounting frame works, the workpiece is separated from the discharge guide rail 6 and then enters the positioning block 2-3-2 along the positioning groove 2-3-3, and the innermost workpiece is just positioned on the mandril 2-3-4, the PLC6 controls the jacking cylinder 2-3-5 to extend through the electromagnetic valve to drive the ejector rod 2-3-4 to lift upwards, so that the workpiece on the ejector rod 2-3-4 is lifted, and the workpieces led out side by side are separated. Preferably, the mounting rack 2-3-1 is slidably mounted on a sliding rail 2-3-7, the mounting rack 2-3-1 is connected with a piston slider of a moving cylinder 2-3-6, the moving cylinder 2-3-6 is connected with a PLC6 through an electromagnetic valve, two positioning blocks 2-3-2 are arranged on the mounting rack 2-3-1, positioning grooves 2-3-3 on the two positioning blocks 2-3-2 are respectively matched with workpieces with different shapes, the mounting rack 2-3-1 moves along the sliding rail 2-3-7 through the moving cylinder 2-3-6, when the moving cylinder 2-3-6 extends, the positioning groove 2-3-3 of the positioning block 2-3-2 on the left side is butted with a discharge guide rail of the vibrating disk 2-1, when the movable cylinder 2-3-6 is shortened, the positioning groove 2-3-3 of the positioning block 2-3-2 on the right side is butted with the discharging guide rail of the vibrating disc 2-1, so that the device can be suitable for workpieces of different shapes and is more convenient to use. A workpiece placing linear module 2-7 is arranged on the side of the jacking separation mechanism 2-3, a driving motor of the workpiece placing linear module 2-7 is connected with a PLC6 through a servo driver, a workpiece placing clamp 2-2 is arranged on a slide block of the workpiece placing linear module 2-7, a correlation optical fiber sensor 2-2-1 is arranged on the workpiece placing clamp 2-2, the correlation optical fiber sensor 2-2-1 is connected with a PLC6, a workpiece carrying linear module 2-4 is arranged above the workpiece placing linear module 2-7, a driving motor of the workpiece carrying linear module 2-4 is connected with the PLC6 through the servo driver, a vertical moving driving cylinder 2-5 is arranged on the slide block of the workpiece carrying linear module 2-4, and the vertical moving driving cylinder 2-5 is connected with the PLC6 through an electromagnetic valve, a piston slide block of the vertical moving driving cylinder 2-5 is provided with a cylinder clamping jaw 2-6 which can carry a workpiece ejected by the jacking separation mechanism 2-3 to the workpiece placing clamp 2-2, the cylinder clamping jaw 2-6 is connected with a PLC6 through an electromagnetic valve, when the vertical moving driving cylinder 2-5 works, the PLC6 controls the workpiece carrying linear module 2-4 to drive the cylinder clamping jaw 2-6 to move right above the workpiece ejected by the jacking separation mechanism 2-3, then the PLC6 controls the vertical moving driving cylinder 2-5 to drive the cylinder clamping jaw 2-6 to move downwards so that the cylinder clamping jaw 2-6 can clamp the workpiece, the PLC6 controls the cylinder clamping jaw 2-6 to act to clamp the workpiece, then controls the vertical moving driving cylinder 2-5 to drive the cylinder clamping jaw 2-6 to move upwards so as to take the workpiece out from the positioning block 2-3-2, then controlling the workpiece carrying linear module 2-4 to drive the cylinder clamping jaws 2-6 to move right above the workpiece placing clamp 2-2, detecting blank stations on the workpiece placing clamp 2-2 by the corresponding opposite optical fiber sensor 2-2-1 and transmitting the blank stations to the PLC6, controlling the workpiece placing linear module 2-7 to drive the workpiece placing clamp 2-2 to move according to input signals by the PLC6 so that the blank stations on the workpiece placing clamp 2-2 are right opposite to the workpieces transported by the cylinder clamping jaws 2-6, controlling the vertical movement driving cylinder 2-5 to drive the cylinder clamping jaws 2-6 to move downwards by the PLC6, placing the workpieces on the blank stations on the workpiece placing clamp 2-2, repeating the actions continuously until the workpiece placing clamp 2-2 has no blank stations, and controlling the workpiece carrying linear module 2-4 to drive the workpiece placing clamp 2-2 to move to be convenient to move by the PLC6 And stopping at the position where the feeding vision manipulator 3 grabs the workpiece, and driving the workpiece placing clamp 2-2 to move and reset by the workpiece carrying linear module 2-4 after the workpiece is taken by the feeding vision manipulator 3.
As shown in fig. 5, the feeding visual manipulator 3 comprises a mechanical arm 3-1, a CCD camera 3-2 for detecting an injection molding station of the injection molding machine, and a gripper 3-3 for gripping a workpiece; the CCD camera 3-2 and the gripper 3-3 are both installed at the tail end of the mechanical arm 3-1, the CCD camera 3-2 is connected with a PLC6, a control module of the mechanical arm 3-1 is connected with a PLC6, the CCD camera 3-2 is provided with picture analysis software, the PLC6 controls the mechanical arm 3-1 to move the gripper 3-3 to a corresponding position to clamp a workpiece, then the mechanical arm 3-1 is controlled to move the gripper 3-3 to the upper side of the injection molding machine, the CCD camera 3-2 takes a picture of an injection molding station of the injection molding machine 1 and transmits the picture to the PLC6 after analysis, the PLC6 controls the mechanical arm 3-1 to accurately move the gripper 3-3 to the corresponding position according to an input signal, the gripper 3-3 acts, and the workpiece is placed on the corresponding station of the injection molding machine 1 to be subjected.
As shown in fig. 6, the gripper 3-3 comprises a base 3-3-1, a left clamp plate 3-3-2, a right clamp plate 3-3-3, and a clamping cylinder 3-3-4; a sliding groove is arranged in the base 3-3-1, a sliding rod I3-3-5 and a sliding rod II 3-3-6 which can move left and right are arranged in the sliding groove, the sliding rod I3-3-5 and the sliding rod II 3-3-6 are driven to move by a clamping cylinder 3-3-4 which is arranged on the base 3-3-1 respectively, the clamping cylinder 3-3-4 is connected with a PLC6 through an electromagnetic valve, a left clamping plate 3-3-2 is arranged on the sliding rod I3-3-5, a right clamping plate 3-3-3 is correspondingly arranged on the sliding rod II 3-3-6, the clamping cylinder 3-3-4 is arranged on the front side surface of the base 3-3-1, and when the two clamping cylinders 3-3-4 are extended, the slide bar I3-3-5 and the slide bar II 3-3-6 are respectively driven to move leftwards and rightwards, so that the left clamping plate 3-3-2 and the right clamping plate 3-3-3 are driven to be separated from each other, and when the clamping cylinder 3-3-4 is shortened, the slide bar I3-3-5 and the slide bar II 3-3-6 drive the left clamping plate 3-3-2 and the right clamping plate 3-3-3 to be close to each other to clamp a workpiece. Preferably, a yielding gap 3-3-7 is arranged between the left splint 3-3-2 and the right splint 3-3-3, a detection rod 3-3-8 is arranged in the yielding gap 3-3-7, the detection rod 3-3-8 is connected with the base 3-3-1 in a sliding way through a sliding rod III 3-3-9, a sliding rod IV 3-3-13 is clamped on the sliding rod III 3-3-9, a spring 3-3-12 is arranged between the sliding rod III 3-3-9 and the sliding rod IV 3-3-13, a detection cylinder 3-3-10 for driving the sliding rod IV 3-3-13 to move downwards is arranged on the base 3-3-1, the detection cylinder 3-3-10 is connected with the PLC6 through an electromagnetic valve, photoelectric sensors 3-3-11 corresponding to the sliding rods III 3-3-9 one by one are arranged on the base 3-3-1, the photoelectric sensors 3-3-11 are connected with a PLC6, after a workpiece is clamped by the mechanical claw 3-3, the PLC6 controls the detection cylinders 3-3-10 to extend, the sliding rods III 3-3-9 and IV 3-3-13 drive the detection rods 3-3-8 to move downwards, in the downward movement process, after the detection rods 3-3-8 push against the workpiece, the detection rods 3-3-8 and III 3-3-9 stop moving downwards, at the moment, the sliding rods III-3-9 can be detected by the photoelectric sensors 3-3-11, under the action of springs 3-3-12, the sliding rods IV 3-3-13 can move downwards for a certain distance, if the workpiece is missing, the sliding rod III 3-3-9, the sliding rod IV 3-3-13 and the detection rod 3-3-8 move downwards to the limit position at the same time, the photoelectric sensor 3-3-11 cannot detect the sliding rod III 3-3-9, the photoelectric sensor 3-3-11 transmits a signal to the PLC6, and the PLC6 sends an emergency stop instruction.
The finished product processing assembly 5 comprises a crusher 5-1 and a discharge chute 5-2, the injection-molded workpiece is taken out by a discharging manipulator 4, then the discharging manipulator 4 places the product on the discharge chute 5-2 for output, and places the nozzle material in the crusher 5-1 for crushing.
As shown in fig. 11, the blanking manipulator 4 comprises a blanking mechanical arm 4-1, a workpiece blanking cylinder clamping jaw 4-2 and a nozzle material blanking cylinder clamping jaw 4-3; the tail end of a blanking mechanical arm 4-1 is provided with a workpiece blanking cylinder clamping jaw 4-2 for grabbing a workpiece and a nozzle material blanking cylinder clamping jaw 4-3 for grabbing a nozzle material, the blanking mechanical arm 4-1, the workpiece blanking cylinder clamping jaw 4-2 and the nozzle material blanking cylinder clamping jaw 4-3 are respectively connected with a PLC6, 4 workpiece blanking cylinder clamping jaws 4-2 are arranged at the tail end of the blanking mechanical arm 4-1 in parallel and are matched with the workpiece during injection molding at intervals, the nozzle material blanking cylinder clamping jaw 4-3 is arranged on the side surface of the workpiece blanking cylinder clamping jaw 4-2, the nozzle material can be grabbed when the workpiece blanking cylinder clamping jaw 4-2 is closed, so that the workpiece and the nozzle material can be taken out together, and during work, the workpiece blanking cylinder clamping jaw 4-2 and the nozzle material blanking cylinder clamping jaw 4-3 are moved to the corresponding position of an injection molding machine 1 through the blanking mechanical arm 4-1, then the workpiece and the nozzle material are closed at the same time, the workpiece and the nozzle material are grabbed, the blanking mechanical arm 4-1 acts to transport the workpiece and the nozzle material to the position above the finished product processing assembly 5, when the workpiece and the nozzle material are positioned above the crusher 5-1, the nozzle material blanking cylinder clamping jaw 4-3 is opened, the nozzle material is placed into the crusher 5-1 to be crushed, when the workpiece and the nozzle material are positioned above the discharging chute 5-2, the workpiece blanking cylinder clamping jaw 4-2 is opened, and the workpiece is led out of the device from the discharging chute 5-2.
According to the invention, after the workpieces are orderly arranged by the workpiece arrangement component according to the injection molding requirement of the injection molding machine, the workpieces are taken out from the workpiece arrangement component by the feeding visual manipulator, then the manipulator automatically detects the corresponding injection molding stations on the injection molding machine according to the shapes of the inserts and inserts the inserts into the corresponding injection molding stations, and the products after injection molding are taken out by the blanking manipulator, so that the manual insertion of the workpieces into the injection molding stations of the injection molding machine one by one or the manual taking of the products after injection molding from the injection molding machine one by one is avoided, the production efficiency of the products is effectively improved, the whole process is automatically completed by the machine, and the manual use is reduced.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, while the invention has been described in detail with reference to the foregoing preferred embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the invention as defined by the appended claims; the size of the attached figure is irrelevant to the specific real object, and the size of the real object can be changed at will.
Claims (9)
1. The utility model provides an automatic vision positioning inserted sheet injection molding machine of duplex manipulator which characterized in that: the double-manipulator automatic visual positioning insert injection molding machine comprises an injection molding machine (1), a workpiece arranging component (2), a feeding visual manipulator (3), a discharging manipulator (4), a finished product processing component (5) and a PLC (6); the front side of the injection molding machine (1) is provided with a workpiece arrangement component (2) for arranging disordered workpieces in order according to the injection molding requirement of the injection molding machine (1), a feeding visual manipulator (3) for conveying the arranged workpieces to the injection molding machine (1) is positioned on the front side of the injection molding machine (1), and the right side of the injection molding machine (1) is provided with a finished product processing component (5) and a discharging manipulator (4) for conveying the injection molded workpieces to the finished product processing component (5); the PLC (6) is respectively and electrically connected with the injection molding machine (1), the workpiece arrangement component (2), the feeding vision manipulator (3) and the discharging manipulator (4).
2. The double-manipulator automatic vision positioning insert injection molding machine according to claim 1, characterized in that: the workpiece arrangement component (2) comprises a vibration disc (2-1), a jacking separation mechanism (2-3), a workpiece placing linear module (2-7), a workpiece carrying linear module (2-4) and a cylinder clamping jaw (2-6); the tail end of a discharge guide rail of the vibration disc (2-1) is provided with a jacking separation mechanism (2-3), a workpiece placing linear module (2-7) is arranged on the side of the jacking separation mechanism (2-3), a driving motor of the workpiece placing linear module (2-7) is connected with a PLC (6) through a servo driver, a workpiece placing clamp (2-2) is arranged on a sliding block of the workpiece placing linear module (2-7), a correlation optical fiber sensor (2-2-1) is arranged on the workpiece placing clamp (2-2), the correlation optical fiber sensor (2-2-1) is connected with the PLC (6), a workpiece carrying linear module (2-4) is arranged above the workpiece placing linear module (2-7), a driving motor of the workpiece carrying linear module (2-4) is connected with the PLC (6) through the servo driver, the vertical movement driving air cylinder (2-5) is installed on a sliding block of the workpiece carrying linear module (2-4), the vertical movement driving air cylinder (2-5) is connected with the PLC (6) through an electromagnetic valve, an air cylinder clamping jaw (2-6) capable of carrying a workpiece ejected by the jacking separation mechanism (2-3) to the workpiece placing clamp (2-2) is installed on a piston sliding block of the vertical movement driving air cylinder (2-5), and the air cylinder clamping jaw (2-6) is connected with the PLC (6) through the electromagnetic valve.
3. The double-manipulator automatic vision positioning insert injection molding machine according to claim 2, characterized in that: the jacking separation mechanism (2-3) comprises a mounting frame (2-3-1) and a positioning block (2-3-2); the top of the mounting rack (2-3-1) is provided with a positioning block (2-3-2), the positioning block (2-3-2) is provided with a positioning groove (2-3-3) matched with the shape of a workpiece, the positioning groove (2-3-3) is in butt joint with a discharge guide rail of the vibration disk (2-1), a push rod (2-3-4) capable of moving up and down is arranged in the positioning groove (2-3-3), the push rod (2-3-4) is installed on a piston slide block of the jacking cylinder (2-3-5), and the jacking cylinder (2-3-5) is connected with the PLC (6) through an electromagnetic valve.
4. The double-manipulator automatic vision positioning insert injection molding machine according to claim 3, characterized in that: the mounting rack (2-3-1) is slidably mounted on the sliding rail (2-3-7), the mounting rack (2-3-1) is connected with a piston slider of the moving cylinder (2-3-6), the moving cylinder (2-3-6) is connected with the PLC (6) through an electromagnetic valve, two positioning blocks (2-3-2) are arranged on the mounting rack (2-3-1), and positioning grooves (2-3-3) on the two positioning blocks (2-3-2) are respectively matched with workpieces in different shapes.
5. The double-manipulator automatic visual positioning insert injection molding machine according to claim 1, 2, 3 or 4, characterized in that: the feeding visual manipulator (3) comprises a mechanical arm (3-1), a CCD camera (3-2) for detecting an injection molding station of the injection molding machine (1), and a mechanical claw (3-3) for clamping a workpiece; the CCD camera (3-2) and the mechanical claw (3-3) are both installed at the tail end of the mechanical arm (3-1), the CCD camera (3-2) is connected with the PLC (6), and a control module of the mechanical arm (3-1) is connected with the PLC (6).
6. The double-manipulator automatic vision positioning insert injection molding machine according to claim 5, characterized in that: the mechanical claw (3-3) comprises a base (3-3-1), a left clamping plate (3-3-2), a right clamping plate (3-3-3) and a clamping cylinder (3-3-4); the base (3-3-1) is internally provided with a sliding chute, a sliding rod I (3-3-5) and a sliding rod II (3-3-6) which can move left and right are arranged in the sliding chute, the sliding rod I (3-3-5) and the sliding rod II (3-3-6) are driven to move through a clamping cylinder (3-3-4) arranged on the base (3-3-1), the clamping cylinder (3-3-4) is connected with the PLC (6) through an electromagnetic valve, a left clamping plate (3-3-2) is arranged on the sliding rod I (3-3-5), and a right clamping plate (3-3-3) is correspondingly arranged on the sliding rod II (3-3-6).
7. The double-manipulator automatic vision positioning insert injection molding machine according to claim 6, characterized in that: a yielding gap (3-3-7) is arranged between the left splint (3-3-2) and the right splint (3-3-3), a detection rod (3-3-8) is arranged in the yielding gap (3-3-7), the detection rod (3-3-8) is connected with the base (3-3-1) in a sliding way through a slide rod III (3-3-9), a slide rod IV (3-3-13) is clamped on the slide rod III (3-3-9), a spring (3-3-12) is arranged between the slide rod III (3-3-9) and the slide rod IV (3-3-13), a detection cylinder (3-3-10) for driving the slide rod IV (3-3-13) to move downwards is arranged on the base (3-3-1), the detection cylinder (3-3-10) is connected with the PLC (6) through an electromagnetic valve, the base (3-3-1) is provided with photoelectric sensors (3-3-11) which correspond to the slide bars III (3-3-9) one by one, and the photoelectric sensors (3-3-11) are connected with the PLC (6).
8. The dual-manipulator automatic vision-positioning insert injection molding machine according to claim 1, 2, 3, 4, 6 or 7, wherein: the finished product processing assembly (5) comprises a crusher (5-1) and a discharging chute (5-2).
9. The double-manipulator automatic vision positioning insert injection molding machine according to claim 8, characterized in that: the blanking manipulator (4) comprises a blanking mechanical arm (4-1), a workpiece blanking cylinder clamping jaw (4-2) and a nozzle material blanking cylinder clamping jaw (4-3); the tail end of the blanking mechanical arm (4-1) is provided with a workpiece blanking cylinder clamping jaw (4-2) used for grabbing a workpiece and a water gap material blanking cylinder clamping jaw (4-3) used for grabbing a water gap material, and the blanking mechanical arm (4-1), the workpiece blanking cylinder clamping jaw (4-2) and the water gap material blanking cylinder clamping jaw (4-3) are respectively connected with a PLC (6).
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| CN114654678A (en) * | 2022-03-11 | 2022-06-24 | 公元股份有限公司 | Automatic take-out shearing equipment |
| CN115351986A (en) * | 2022-10-22 | 2022-11-18 | 无锡市宇寿医疗器械有限公司 | High-pressure injector injection molding equipment and molding process thereof |
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