CN114953342A

CN114953342A - Automatic feeding and discharging manipulator of injection molding machine

Info

Publication number: CN114953342A
Application number: CN202210774779.7A
Authority: CN
Inventors: 米延年; 张松; 赵捷; 胡麟华; 沈成丽
Original assignee: Ningbo University of Technology
Current assignee: Ningbo University of Technology
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2022-08-30

Abstract

The invention discloses an automatic loading and unloading manipulator of an injection molding machine, which comprises a fixed plate, a swinging mechanism and a material taking mechanism, wherein a fixed upright post is installed at the upper end of the fixed plate, the swinging mechanism is installed at the upper end of the fixed upright post, the swinging mechanism comprises a stepping motor, a first gear, a second gear and a driving shaft, an installation hole is formed in the upper end of the fixed upright post, the driving shaft is movably installed on the inner side of the installation hole through a bearing, the stepping motor is installed on one side of the fixed upright post through an installation seat, the first gear is installed at the output shaft end of the stepping motor, the second gear is installed at one end, close to the stepping motor, of the driving shaft, the second gear is meshed with the first gear, and an installation frame is installed at one end, far away from the second gear, of the driving shaft. The invention selects the clamping mode according to the characteristics of the product such as size, shape and the like, thereby further improving the applicability of the device and simultaneously avoiding the damage of the product caused by the problem of the clamping mode due to the problem of the clamping equipment.

Description

Automatic feeding and discharging manipulator of injection molding machine

Technical Field

The invention relates to the technical field of production of injection molding manipulators, in particular to an automatic feeding and discharging manipulator for an injection molding machine.

Background

The industrial feeding and discharging mechanical arm is a high-technology automatic production device developed in recent decades. The industrial loading and unloading manipulator is an important branch of industrial robots. It features that it can complete various expected tasks by programming, and has the advantages of both human and machine in structure and performance, especially human intelligence and adaptability. The accuracy of the manipulator operation and the ability of completing the operation in various environments have wide development prospects in various fields of national economy. The automatic loading and unloading device enables scattered medium and small-sized workpiece blanks to pass through the orienting mechanism to realize oriented sequencing, and then the workpieces are sequentially conveyed to a machine tool and a working position by the loading and unloading device and are taken away. If the workpiece is large and the shape is complex, the workpiece is difficult to directly clamp, so that the product is damaged, and the workpiece is usually manually oriented and then sent to a working place by a feeding and discharging mechanism. The automatic feeding and discharging device is widely adopted, so that the quality and the yield of products can be improved, and the automatic feeding and discharging device has very important significance for guaranteeing personal safety, improving labor environment, reducing labor intensity, improving labor productivity, saving raw material consumption, reducing production cost and the like.

Disclosure of Invention

The invention aims to provide an automatic feeding and discharging manipulator of an injection molding machine, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: automatic feeding and discharging manipulator of injection molding machine, including fixed plate, swing mechanism, feeding agencies, the stationary mast is installed to the upper end of fixed plate, swing mechanism installs the upper end at the stationary mast, swing mechanism includes step motor, first gear, second gear, drive shaft, the mounting hole has been seted up to the upper end of stationary mast, the drive shaft passes through bearing movable mounting in the inboard of mounting hole, step motor passes through the mount pad and installs one side at the stationary mast, the output axle head at step motor is installed to first gear, the one end that the drive shaft is close to step motor is installed to the second gear, intermeshing between second gear and the first gear, the mounting bracket is installed to the one end that the second gear was kept away from to the drive shaft, the inside two of mounting bracket are installed the slide bar, feeding agencies installs feeding agencies between the slide bar, feeding agencies includes movable block, material, The device comprises a limiting plate and a first pneumatic cylinder, wherein the movable block is respectively sleeved outside sliding rods on two sides in a mounting frame, the limiting plate is arranged between the movable blocks, a fixed block is arranged on one side of the limiting plate, the first pneumatic cylinder is arranged on one side of the upper end of the limiting plate through a mounting seat, a line collecting groove is formed in the inner side of the fixed block, a line bundling groove is arranged at the upper end of the fixed block, a limiting frame is arranged on one side of the limiting plate and fixedly connected with the line bundling groove, a mounting plate is arranged at the telescopic shaft end of the first pneumatic cylinder and fixedly connected with the fixed block, a connecting piece is arranged at the lower end of the mounting plate, a fixing frame is arranged at the lower end of the connecting piece, a second pneumatic cylinder is arranged on the inner side of the fixing frame, a clamping plate is arranged at the lower end of the fixing frame, a clamping piece is interactively arranged at the lower end of the clamping plate, and the clamping piece is connected with the driving end of the second pneumatic cylinder, the mounting frame is provided with a third pneumatic cylinder at one end far away from the fixed upright post through installation, a pushing piece is installed at the telescopic shaft end of the third pneumatic cylinder, two ends of the pushing piece are respectively sleeved on the outer side of the sliding rod, and the pushing piece is fixedly connected with the movable block.

Further, a control box is installed on one side of the fixed stand column, a control panel is arranged on the surface of the control box, a control system is arranged on the inner side of the control panel and comprises a central processing unit, a PCL processor and a grading control unit, the central processing unit is respectively connected with the PCL processor and the grading control unit, and the grading control unit is respectively connected with the stepping motor, the first pneumatic cylinder, the second pneumatic cylinder and the third pneumatic cylinder.

Further, fixed column keeps away from one side of controlling the case and installs the detection alarm box, baroceptor, torque sensor are installed to the inboard of detecting the alarm box, detect alarm box and control box electric connection, baroceptor installs the connection siphunculus department at first pneumatic cylinder, second pneumatic cylinder, third pneumatic cylinder, torque sensor installs the middle part at the drive shaft.

Further, spacing support is installed to the one end that the mounting bracket is close to the stationary mast, the stationary mast is close to installation one side and has seted up the spacing groove, spout movable mounting is passed through at the inboard of spacing groove to the one end that spacing support is close to the stationary mast.

Furthermore, the material taking mechanisms are at most provided with two groups, and the two groups of material taking mechanisms are static groups because one group moves and the other group is far away from the third pneumatic cylinder.

Further, a movable groove is formed in one side, close to the fixed block, of the limiting plate, a limiting slide rail is installed on one side, close to the limiting plate, of the fixed block, a limiting block is arranged on one side, close to the fixed block, of the inner side of the movable groove, and the limiting block is movably connected with the limiting slide rail through a sliding groove.

Further, one side of the limiting plate, which is far away from the first pneumatic cylinder, is provided with a limiting rod through a movable hole, rubber collision caps are installed at two ends of the limiting rod, and a fastening piece is installed at one end, close to the limiting plate, of the outer side of each end of the limiting rod through threads.

Compared with the prior art, the invention has the beneficial effects that:

the device can select a clamping mode according to the characteristics of the product such as size and shape, thereby further improving the applicability of the device, simultaneously avoiding the product damage caused by the problem of the clamping mode due to the problem of clamping equipment, simultaneously avoiding the product collision damage caused by the material taking mechanism due to the excessive movement of the material taking mechanism by adjusting the length of the limiting rod according to the requirement before the material taking mechanism is driven by the first pneumatic cylinder, secondly, the invention can select a special angle for clamping some special products, thereby further expanding the practicability of the device, can also take materials according to material taking ports of different equipment, is convenient to be installed on equipment of different models and types, thereby further expanding the applicability of the device, and can carry out safety protection on the device by an automatic detection alarm box, and can automatically alarm if the air pressure is insufficient or sudden failure occurs, and the power supply is automatically cut off, so that the safety of the mechanical arm and the die is ensured.

Drawings

FIG. 1 is a schematic structural view of an automatic loading and unloading manipulator of an injection molding machine according to the present invention;

FIG. 2 is a schematic diagram of a top view structure of an automatic loading and unloading manipulator mounting rack of the injection molding machine of the present invention;

FIG. 3 is a schematic view of a wiring trough and a limiting frame mounting structure of the automatic feeding and discharging manipulator of the injection molding machine.

In the figure: the device comprises a fixing plate 1, a swing mechanism 2, a stepping motor 21, a first gear 22, a second gear 23, a driving shaft 24, a material taking mechanism 3, a movable block 31, a limiting plate 32, a movable groove 321, a first pneumatic cylinder 33, a fixed block 34, a limiting slide rail 341, a line collecting groove 35, a line bunching groove 36, a limiting frame 37, a limiting block 38, a limiting rod 39, a fastening piece 391, a fixed upright post 4, a mounting hole 5, a mounting frame 6, a slide rod 7, a mounting plate 8, a connecting piece 9, a fixing frame 10, a second pneumatic cylinder 11, a clamping plate 12, a clamping piece 13, a third pneumatic cylinder 14, a pushing piece 15, a control box 16, a detection alarm box 17, a limiting support 18 and a limiting groove 19.

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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: an automatic loading and unloading manipulator of an injection molding machine comprises a fixed plate 1, a swing mechanism 2 and a material taking mechanism 3, wherein a fixed upright post 4 is installed at the upper end of the fixed plate 1, the swing mechanism 2 is installed at the upper end of the fixed upright post 4, the swing mechanism 2 comprises a stepping motor 21, a first gear 22, a second gear 23 and a driving shaft 24, a mounting hole 5 is formed in the upper end of the fixed upright post 4, the driving shaft 24 is movably installed at the inner side of the mounting hole 5 through a bearing, the stepping motor 21 is installed at one side of the fixed upright post 4 through a mounting seat, the first gear 22 is installed at the output shaft end of the stepping motor 21, the second gear 23 is installed at one end, close to the stepping motor 21, of the driving shaft 24, the second gear 23 is meshed with the first gear 22, a mounting frame 6 is installed at one end, far away from the second gear 23, slide bars 7 are installed at two ends inside the mounting frame 6, and the material taking mechanism 3 is installed between the slide bars 7, the material taking mechanism 3 comprises a movable block 31, a limiting plate 32 and a first pneumatic cylinder 33, wherein the movable block 31 is respectively sleeved outside the slide bars 7 at two sides in the mounting frame 6, the limiting plate 32 is arranged between the movable blocks 31, a fixed block 34 is arranged at one side of the limiting plate 32, the first pneumatic cylinder 33 is arranged at one side of the upper end of the limiting plate 32 through a mounting seat, a line collecting groove 35 is arranged at the inner side of the fixed block 34, a line bundling groove 36 is arranged at the upper end of the fixed block 34, a limiting frame 37 is arranged at one side of the limiting plate 32, the limiting frame 37 is fixedly connected with the line bundling groove 36, a mounting plate 8 is arranged at the telescopic shaft end of the first pneumatic cylinder 33, the mounting plate 8 is fixedly connected with the fixed block 34, a connecting piece 9 is arranged at the lower end of the mounting plate 8, a mounting frame 10 is arranged at the lower end of the connecting piece 9, a second pneumatic cylinder 11 is arranged at the inner side of the mounting frame 10, a clamping plate 12 is interactively arranged at the lower end of the clamping piece 13, the clamping piece 13 is connected with the driving end of the second pneumatic cylinder 11, a third pneumatic cylinder 14 is installed at one end, far away from the fixed upright post 4, of the mounting frame 6 through installation, a pushing piece 15 is installed at the telescopic shaft end of the third pneumatic cylinder 14, two ends of the pushing piece 15 are respectively sleeved on the outer side of the sliding rod 7, and the pushing piece 15 is fixedly connected with the movable block 31.

In the invention, a control box 16 is arranged on one side of a fixed upright post 4, a control panel is arranged on the surface of the control box 16, a control system is arranged on the inner side of the control panel, the control system comprises a central processing unit, a PCL processor and a grading control unit, the central processing unit is respectively connected with the PCL processor and the grading control unit, and the grading control unit is respectively connected with a stepping motor 21, a first pneumatic cylinder 33, a second pneumatic cylinder 11 and a third pneumatic cylinder 14.

In the invention, a detection alarm box 17 is arranged on one side of the fixed upright post 4 away from the control box, an air pressure sensor and a torque sensor are arranged on the inner side of the detection alarm box 17, the detection alarm box 17 is electrically connected with the control box 16, the air pressure sensor is arranged at the connecting pipe of the first pneumatic cylinder 33, the second pneumatic cylinder 11 and the third pneumatic cylinder 14, and the torque sensor is arranged in the middle of the driving shaft 24.

In the invention, one end of the mounting rack 6 close to the fixed upright post 4 is provided with a limiting bracket 18, one side of the fixed upright post 4 close to the mounting side is provided with a limiting groove 19, and one end of the limiting bracket 18 close to the fixed upright post 4 is movably mounted on the inner side of the limiting groove 19 through a sliding groove.

In the invention, the material taking mechanisms 3 are arranged in at most two groups, and the two groups of material taking mechanisms 3 are arranged in a static mode because of one group moving and one group static and the other group far away from the third pneumatic cylinder 14 is a static group.

In the invention, a movable groove 321 is formed in one side of the limiting plate 32 close to the fixed block 34, a limiting slide rail 341 is mounted on one side of the fixed block 34 close to the limiting plate 32, a limiting block 38 is arranged on one side of the inner side of the movable groove 321 close to the fixed block 34, and the limiting block 38 is movably connected with the limiting slide rail 341 through a sliding groove.

In the invention, a limiting rod 39 is arranged on one side of the limiting plate 32, which is far away from the first pneumatic cylinder 33, through a movable hole, rubber collision caps are arranged at two ends of the limiting rod 39, and a fastening piece 391 is arranged at one end, which is close to the limiting plate 32, of the outer side of the two ends of the limiting rod 39 through threads.

The working principle is as follows: before use, the device is firstly installed on an injection molding machine as required, the device is debugged as required, meanwhile, the PLC in the control system on the inner side of the control box 16 is debugged, so that the stepping motor 21 can rotate and operate conveniently, further, the equipment can operate as required, when the injection molding machine needs to be fed and discharged, the stepping motor 21 is started through a control panel on the control box 16, the stepping motor 21 drives the first gear 22 to rotate, the first gear 22 drives the second gear 23 to rotate so as to drive the driving shaft 24 to rotate, the driving shaft 24 drives the installation frame 6 to rotate as required so as to rotate to a proper angle, the third starting cylinder is started to drive the material taking mechanism 3 to reach the upper end or the parallel side of the corresponding position, and meanwhile, the first pneumatic cylinder 33 is started to drive the installation block to move on one side of the limiting plate 32, then the clamping piece 13 at the lower end of the mounting plate 8 is moved to a corresponding product position, meanwhile, the second pneumatic cylinder 11 is started to drive the clamping piece 13 to clamp the product, the first pneumatic cylinder 33 drives the fixing piece to move, so that the product is taken out of the production equipment, meanwhile, the two groups of material taking mechanisms 3 can be matched for use to take out the product or feed the raw material, the third pneumatic cylinder 14 drives the dynamic group of material taking mechanisms 3 to move to the static group of material taking mechanisms 3, so as to drive the clamping plate 12 at the lower end of the mounting plate 8 to clamp the product, so as to take or feed the product, so that the device can select a clamping mode according to the characteristics of the size, the shape and the like of the product, the applicability of the device is further improved, the problem that the product is damaged due to the clamping device is avoided, and meanwhile, before the material taking mechanism 3 is driven by the first pneumatic cylinder 33, the length of adjusting gag lever post 39 as required avoids extracting mechanism 3 excessive movement to lead to extracting mechanism 3 to collide the damage with the product as required, has automatic checkout alarm box 17 again and can carry out safety protection to the device, if the atmospheric pressure is insufficient or the proruption trouble can automatic alarm to automatic disconnection power guarantees the safety of robotic arm and mould.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

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

1. Automatic feeding and discharging mechanical arm of injection molding machine, including fixed plate (1), swing mechanism (2), feeding agencies (3), its characterized in that: fixed post (4) are installed to the upper end of fixed plate (1), the upper end at fixed post (4) is installed in swing mechanism (2), swing mechanism (2) include step motor (21), first gear (22), second gear (23), drive shaft (24), mounting hole (5) have been seted up to the upper end of fixed post (4), drive shaft (24) are through bearing movable mounting in the inboard of mounting hole (5), step motor (21) are installed in one side of fixed post (4) through the mount pad, the output shaft end at step motor (21) is installed to first gear (22), second gear (23) are installed in the one end that is close to step motor (21) in drive shaft (24), intermeshing between second gear (23) and first gear (22), mounting bracket (6) are installed to the one end that second gear (23) were kept away from in drive shaft (24), slide bar (7) are installed to two inside of mounting bracket (6), install feeding agencies (3) between slide bar (7), feeding agencies (3) include movable block (31), limiting plate (32), first pneumatic cylinder (33), the outside at inside both sides slide bar (7) of mounting bracket (6) is established respectively to movable block (31), limiting plate (32) are installed between movable block (31), fixed block (34) are installed to one side of limiting plate (32), first pneumatic cylinder (33) are installed in upper end one side of limiting plate (32) through the mount pad, line concentration groove (35) have been seted up to the inboard of fixed block (34), line beam groove (36) are installed to the upper end of fixed block (34), spacing (37) are installed to one side of limiting plate (32), spacing (37) and line beam groove (36) fixed connection, mounting panel (8) are installed to the flexible axle head of first pneumatic cylinder (33), mounting panel (8) and fixed block (34) fixed connection, connecting piece (9) are installed to the lower extreme of mounting panel (8), mount (10) are installed to the lower extreme of connecting piece (9), second pneumatic cylinder (11) are installed to mount (10) inboard, splint (12) are installed to the lower extreme of mount (10), holder (13) are installed to the lower extreme interaction of splint (12), holder (13) are connected with the drive end of second pneumatic cylinder (11), third pneumatic cylinder (14) are installed through the installation to the one end that fixed post (4) was kept away from in mounting bracket (6), impeller (15) are installed to the flexible axle head of third pneumatic cylinder (14), impeller (15)'s both ends are established respectively in the outside of slide bar (7), the pushing piece (15) is fixedly connected with the movable block (31).

2. The automatic loading and unloading manipulator of injection molding machine as claimed in claim 1, wherein: one side installation control box (16) of fixed stand (4), the surface of control box (16) is provided with control panel, control panel's inboard is provided with control system, control system includes central processing unit, PCL treater, hierarchical the control unit, central processing unit is connected with PCL treater, hierarchical the control unit respectively, hierarchical the control unit is connected with step motor (21), first pneumatic cylinder (33), second pneumatic cylinder (11), third pneumatic cylinder (14) respectively.

3. The automatic loading and unloading manipulator of injection molding machine of claim 2, characterized in that: fixed post (4) are kept away from one side of controlling the case and are installed detection alarm box (17), baroceptor, torque sensor are installed to the inboard that detects alarm box (17), detect alarm box (17) and control box (16) electric connection, baroceptor installs the connection siphunculus department at first pneumatic cylinder (33), second pneumatic cylinder (11), third pneumatic cylinder (14), torque sensor installs the middle part at drive shaft (24).

4. The automatic loading and unloading manipulator of injection molding machine as claimed in claim 1, wherein: mounting bracket (6) are close to the one end of fixed post (4) and install spacing support (18), fixed post (4) are close to installation one side and have seted up spacing groove (19), spout movable mounting is passed through in the inboard of spacing groove (19) to the one end that spacing support (18) are close to fixed post (4).

5. The automatic loading and unloading manipulator of injection molding machine as claimed in claim 1, wherein: the material taking mechanisms (3) are at most provided with two groups, and the two groups of material taking mechanisms (3) are static groups because one group moves and the other group is far away from the third pneumatic cylinder (14).

6. The automatic loading and unloading manipulator of injection molding machine as claimed in claim 1, wherein: limiting plate (32) are close to one side of fixed block (34) and have seted up activity groove (321), limiting slide rail (341) are installed to one side that fixed block (34) are close to limiting plate (32), one side that the inboard of activity groove (321) is close to fixed block (34) is provided with stopper (38), pass through spout swing joint between stopper (38) and limiting slide rail (341).

7. The automatic loading and unloading manipulator of injection molding machine as claimed in claim 1, wherein: limiting rod (39) are installed through the activity hole to one side that first pneumatic cylinder (33) was kept away from in limiting plate (32), rubber collision cap is installed at the both ends of limiting rod (39), fastener (391) are all installed through the screw thread to the one end that the both ends outside of limiting rod (39) is close to limiting plate (32).