CN115648534B - Manipulator is placed to injection molding nut - Google Patents
Manipulator is placed to injection molding nut Download PDFInfo
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- CN115648534B CN115648534B CN202211382845.2A CN202211382845A CN115648534B CN 115648534 B CN115648534 B CN 115648534B CN 202211382845 A CN202211382845 A CN 202211382845A CN 115648534 B CN115648534 B CN 115648534B
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- 238000001746 injection moulding Methods 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 230000005540 biological transmission Effects 0.000 claims description 41
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000002347 injection Methods 0.000 claims 2
- 239000007924 injection Substances 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 18
- 230000008569 process Effects 0.000 description 18
- 230000009471 action Effects 0.000 description 11
- 239000000463 material Substances 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Abstract
The invention discloses a manipulator for placing injection molding nuts, and relates to the field of manipulators. The invention comprises a mechanical arm, a clamping mechanism and an auxiliary positioning mechanism; wherein install the locating lever in being used for pressing from both sides the dress mechanism of putting the nut, when waiting to press from both sides dress nut in the nut loading tool takes place the skew, the locating lever can be when pressing from both sides the dress mechanism and press from both sides the nut through the locating lever and fix a position the centering to the nut, make the nut clamping in the positive intermediate position of pressing from both sides dress mechanism, the accuracy nature when improving the nut clamping, make follow-up nut bury in the buried hole of injection molding skeleton with buried hole accurate positioning, improve injection molding production quality, and when injection molding skeleton takes place the skew in skeleton positioning tool, when the nut can't take place the skew with buried hole accurate counterpoint, the locating lever can extrude the skew with the nut, and then when making the nut skew slide into the skeleton buried hole of burying of nut, accomplish the embedding of nut.
Description
Technical Field
The invention belongs to the field of manipulators, and particularly relates to an injection molding nut placement manipulator.
Background
The pre-burying treatment of the plastic part is a very important operation step in the injection molding process, in the injection molding production of workpieces such as automobile parts, the nut needs to be buried in the framework of the injection molding part, then the framework and the nut are placed in the mold cavity for injection molding, or the nut is directly placed in the mold cavity for injection molding, so that the nut is embedded in the injection molding part after the injection molding part is molded, and further the product after the injection molding is better in aesthetic property.
Chinese patent CN216544344U discloses a nut buries automation system for injection molding production, utilize the nut vibration dish unloading, through the unloading module with the nut automatic arrangement to the nut loading tool on the feed platform in, make the position distribution of the nut that puts in the nut loading tool unanimous with the nut sheathed tube position distribution that the nut loading tool corresponds, thereby reach accurate butt joint's purpose, nut loading tool cooperation manipulator picks up the nut from the nut loading tool on the feed platform, open the mould after the product shaping, the manipulator utilizes the elastic suction disc to draw the product back, bury the nut that picks up in the nut loading tool in the mould, the finished product output line is placed to the manipulator again after the action is accomplished, and then production efficiency and quality are improved, reduce the cost of labor. The manipulator clamps the nuts in the nut loading jig through the nut loading jig, and then embeds the clamped nuts. In the process of clamping the nut, the positioning system performs positioning and butt joint on the preset placement positions of the nut loading jig and the nut in the nut loading jig, instead of positioning and butt joint on the actual positions of the nut in the nut loading jig, so that when the positions of the nuts in the nut loading jig deviate, the nuts are correspondingly deviated in the nut loading jig after the nuts are clamped by the nut loading jig, so that the nuts and the embedded holes deviate when the nuts are embedded, the nuts cannot be embedded in the skeleton embedded holes, and the quality of injection molding pieces is further influenced; correspondingly, in the nut embedding process, the positioning system positions and butts the nut loading and unloading jig and the skeleton nut mounting hole in the skeleton fixing jig at preset positions, but positions and butts the actual positions of the nut loading and unloading jig and the skeleton nut mounting hole, so that when the skeleton position in the skeleton fixing jig deviates, the nut cannot be embedded into the embedded hole, and the quality of injection molding pieces is affected.
Disclosure of Invention
Aiming at the problems in the related art, the application provides an injection molding nut placement manipulator, wherein a positioning rod is arranged in a clamping mechanism used for clamping nuts on the manipulator, when the nuts to be clamped in a nut loading jig deviate, the positioning rod can position and align the nuts through the positioning rod when the clamping mechanism clamps the nuts, so that the nuts are clamped in the middle position of the clamping mechanism, the accuracy of the nuts during clamping is improved, the nuts can be accurately positioned and embedded into the embedded holes of an injection molding framework during subsequent nut embedding, the production quality of the injection molding is improved, and when the injection molding framework deviates in the framework positioning jig, the nuts cannot be accurately aligned with the embedded holes, the positioning rod can extrude the nuts to deviate, and then the nuts deviate and slide into the embedded holes of the framework; according to the application, through the arrangement of the positioning rod, whether the position of the nut is deviated or the position of the framework is deviated, the nut can be buried in the embedded hole of the framework, and the production quality of injection molding parts is improved.
In order to solve the technical problems, the invention is realized by the following technical scheme:
The invention relates to an injection molding nut placement manipulator which comprises a mechanical arm, a clamping mechanism and an auxiliary positioning mechanism, wherein the mechanical arm is arranged on the clamping mechanism; the clamping mechanism comprises a connecting seat, a clamping driving assembly and clamping jaws, wherein the connecting seat is fixedly arranged at the execution end of the mechanical arm, the clamping jaws are arranged on the connecting seat through the clamping driving assembly, and the clamping driving assembly can drive the clamping jaws to fold and open; the auxiliary positioning mechanism comprises a lifting transmission assembly, an offset reset assembly and a positioning rod, wherein the lifting transmission assembly is arranged on the connecting seat, the lifting transmission assembly is in transmission connection with the clamping driving assembly, the positioning rod is arranged on the lifting transmission assembly through the offset reset assembly, a pushing plate is fixedly arranged at the bottom end of the positioning rod, and an arc-shaped end head is fixedly arranged at the bottom surface of the pushing plate; the lifting transmission assembly can synchronously drive the offset reset assembly and the positioning rod to move upwards when the clamping driving assembly drives the clamping jaws to close, the lifting transmission assembly can synchronously drive the offset reset assembly and the positioning rod to move downwards when the clamping driving assembly drives the clamping jaws to open, and the offset reset assembly can drive the positioning rod to reset and return when the positioning rod is offset.
Further, the mechanical arm comprises a fixed arm, a first rotating arm, a second rotating arm and a lifting arm, one end of the first rotating arm is rotatably mounted on the top end of the fixed arm, one end of the second rotating arm is rotatably mounted on the first rotating arm, and the lifting arm is mounted on the second rotating arm in a lifting mode.
Further, the clamping driving assembly comprises an air cylinder and a sliding rail, the air cylinder and the sliding rail are fixedly arranged in the connecting seat, a right sliding block and a left sliding block are slidably arranged in the sliding rail, the right sliding block and the left sliding block are distributed in the sliding rail in a staggered manner, a right chute which is gradually inclined downwards to the right side is arranged on the right sliding block, and a left chute which is gradually inclined downwards to the left side is arranged on the left sliding block; the telescopic end of the air cylinder is fixedly provided with a U-shaped frame, a driving shaft is fixedly arranged at the U-shaped groove opening of the U-shaped frame, and the driving shaft is inserted into the right chute and the left chute.
Further, the clamping jaw comprises a right clamping jaw and a left clamping jaw, the right clamping jaw is fixedly arranged at the bottom end of the right sliding block, the left clamping jaw is fixedly arranged at the bottom end of the left sliding block, and the right clamping jaw and the left clamping jaw are symmetrically distributed below the connecting seat.
Further, the lifting transmission assembly comprises a gear, racks and a support, wherein the support is fixedly arranged on the inner wall of the connecting seat, a screw rod is rotatably arranged on the support through a bearing, the gear is fixedly arranged at the top end of the screw rod, the racks are provided with two groups, the two groups of racks are respectively and fixedly arranged on the bottom surfaces of the right sliding block and the left sliding block, and the two groups of racks are respectively in meshed transmission connection with the two sides of the gear; the screw rod is provided with a screw sleeve in a threaded transmission manner, the outer ring of the screw sleeve is fixedly provided with a limit seat, the top end of the limit seat is fixedly provided with a limit rod which is in sliding connection with the support, and the bottom end of the limit seat is fixedly provided with an offset reset assembly.
Further, the offset reset assembly comprises an inner spring seat and an outer spring seat, the outer spring seat is fixedly mounted at the bottom end of the limiting seat through a connecting rod, the inner spring seat is arranged on the inner ring of the outer spring seat, a plurality of springs distributed at equal angles are fixedly mounted between the inner spring seat and the outer spring seat, and the positioning rod is fixedly mounted at the bottom end of the inner spring seat.
Further, the top end of the positioning rod penetrates through the inner spring seat to extend to the lower portion of the threaded sleeve, and the threaded sleeve is in rotary connection with the positioning rod through a universal ball bearing.
Further, a plurality of groups of clamping driving assemblies and a plurality of groups of clamping jaws are arranged on the connecting seat, the clamping driving assemblies are uniformly distributed in the connecting seat, and a group of clamping jaws are arranged on each group of clamping driving assemblies in a transmission mode.
The invention has the following beneficial effects:
1. according to the invention, when the mechanical arm drives the clamping mechanism to move to clamp the nut through the clamping jaw, the arc-shaped end at the bottom end of the positioning rod is just inserted into the threaded hole in the middle of the nut, when the position of the nut to be clamped is deviated, the positioning rod can enable the arc-shaped end at the bottom end to be abutted between the top surface of the nut and the threaded hole of the nut when the nut to be clamped moves downwards along with the clamping mechanism, at the moment, along with the continuous descending of the positioning rod and the arc-shaped end, the arc-shaped surface at the bottom of the arc-shaped end can slide in a dislocation manner with the threaded hole, so that the positioning rod is deviated, the arc-shaped end gradually slides into the threaded hole, and when the arc-shaped end completely slides into the threaded hole, the arc-shaped end is not abutted any longer, at the moment, the positioning rod and the arc-shaped end are reset and the nut are driven to move and swing under the action of the deviation reset component, so that the nut can be accurately clamped in the clamping jaw, and the nut can be accurately positioned and buried in the embedded hole of the injection molding piece framework when the subsequent nut is embedded, and the injection molding piece production quality is improved.
2. When the clamping mechanism embeds the nut into the embedded hole in the framework, the lifting transmission assembly can synchronously drive the offset reset assembly and the positioning rod to move downwards when the clamping driving assembly drives the clamping jaw to open and loosen the nut, and further drive the arc-shaped end head and the pushing plate to move downwards, if the framework arrangement position is offset, the nut is not fully aligned with the embedded hole on the framework, the nut can be obliquely lapped on the inner wall of the embedded hole, at the moment, the pushing plate can be abutted to the top surface of the nut and pushes and slides the nut into the embedded hole along with the continuous descending of the positioning rod and the pushing plate, so that the nut is embedded into the embedded hole in a sliding manner; the clamping driving assembly and the lifting transmission assembly are matched to synchronously drive the positioning rod and the pushing plate to move downwards when the clamping jaw loosens the embedded nut, and then the pushing plate pushes the nut to slide into the embedded hole, so that the nut can be ensured to be embedded into the embedded hole of the framework, and the production quality of injection molding parts can be improved.
3. According to the invention, the positioning rod can position and align the nut when the clamping mechanism clamps the nut, so that the nut is clamped at the middle position of the clamping mechanism, the accuracy of the nut clamping is improved, the nut can be accurately positioned and embedded into the embedded hole of the injection molding framework when the subsequent nut is embedded, the production quality of the injection molding is improved, and when the injection molding framework deviates in the framework positioning jig, the positioning rod can be matched with the pushing bar to squeeze and deviate the nut, and the nut deviates and slides into the embedded hole of the framework, so that the nut is embedded; the nut embedding process is enabled to ensure that the nut can be accurately embedded into the embedded hole of the framework no matter the position of the nut is deviated or the position of the framework is deviated, so that the production quality of injection molding parts is improved.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings that are needed for the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic perspective view of a manipulator of the present invention when mounted on a workbench;
FIG. 2 is a schematic view of a three-dimensional cutaway structure of a manipulator of the present invention;
FIG. 3 is a schematic view of a clamping mechanism of the present invention in perspective cut-away;
FIG. 4 is a schematic view of the structure of the present invention shown in FIG. 3 at a partially enlarged scale;
FIG. 5 is a schematic view of the structure of the present invention shown in FIG. 3 at B in a partially enlarged manner;
FIG. 6 is a second perspective view of the clamping mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the present invention shown in FIG. 6 at C in a partially enlarged manner;
FIG. 8 is a schematic view of an exploded construction of the clamping mechanism of the present invention;
Fig. 9 is a schematic view of a partial enlarged structure at D of fig. 8 according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
100. a work table; 200. a skeleton positioning jig;
1. A mechanical arm; 11. a fixed arm; 12. a first rotating arm; 13. a second rotating arm; 14. a lifting arm; 2. a clamping mechanism; 21. a connecting seat; 22. a clamping jaw; 23. a cylinder; 24. a right slider; 25. a left slider; 26. a slide rail; 27. a U-shaped frame; 28. a drive shaft; 29. a right chute; 210. a left chute; 221. a right clamping jaw; 222. a left clamping jaw; 3. an auxiliary positioning mechanism; 31. a gear; 32. a positioning rod; 33. an arc-shaped end; 34. a rack; 35. a bracket; 36. a screw rod; 37. a limit seat; 38. a thread sleeve; 39. a universal ball bearing; 310. an inner spring seat; 311. an outer spring seat; 312. a spring; 313. a pushing plate.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, based on the embodiments in the invention, which a person of ordinary skill in the art would obtain without inventive faculty, are within the scope of the invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "top," "middle," "inner," and the like indicate an orientation or positional relationship, merely for convenience of description and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Referring to fig. 1 and 3-5, the invention relates to a manipulator for placing injection molding nuts, which comprises a mechanical arm 1, a clamping mechanism 2 and an auxiliary positioning mechanism 3; the clamping mechanism 2 comprises a connecting seat 21, a clamping driving assembly and clamping jaws 22, wherein the connecting seat 21 is fixedly arranged at the execution end of the mechanical arm 1, the clamping jaws 22 are arranged on the connecting seat 21 through the clamping driving assembly, and the clamping driving assembly can drive the clamping jaws 22 to fold and open; the auxiliary positioning mechanism 3 comprises a lifting transmission assembly, an offset reset assembly and a positioning rod 32, wherein the lifting transmission assembly is arranged on the connecting seat 21 and is in transmission connection with the clamping driving assembly, the positioning rod 32 is arranged on the lifting transmission assembly through the offset reset assembly, a pushing plate 313 is fixedly arranged at the bottom end of the positioning rod 32, and an arc-shaped end head 33 is fixedly arranged at the bottom surface of the pushing plate 313; the lifting transmission assembly can synchronously drive the offset reset assembly and the positioning rod 32 to move upwards when the clamping driving assembly drives the clamping jaw 22 to close, and can synchronously drive the offset reset assembly and the positioning rod 32 to move downwards when the clamping driving assembly drives the clamping jaw 22 to open, and the offset reset assembly can drive the positioning rod 32 to reset and return when the positioning rod 32 is offset;
The mechanical arm 1 is installed on the workbench 100, meanwhile, a framework positioning jig 200 is also installed on the workbench 100, a framework of an injection molding piece is installed through the framework positioning jig 200 in a positioning mode, a nut vibration material tray is installed on one side of the workbench 100, a nut bearing jig is installed at a discharge hole of the nut vibration material tray, when nuts are buried, the mechanical arm 1 drives the clamping mechanism 2 to move above the nut bearing jig, the clamping mechanism 2 is driven to move downwards to clamp nuts in the nut bearing jig, if the nuts are accurately positioned on the nut bearing jig, the arc end 33 at the bottom end of the positioning rod 32 is just inserted into a threaded hole in the middle of the nuts when the clamping mechanism 2 moves downwards, and when the positions of the nuts to be clamped deviate, the arc end 33 is abutted between the top surface of the nuts and the threaded hole of the nuts, at the moment, along with the continuous descending of the positioning rod 32 and the arc end 33, dislocation sliding is generated between the arc surface at the bottom of the arc end 33 and the threaded hole, and the arc end 32 is enabled to incline, and meanwhile, the arc end 33 gradually slides into the threaded hole, and when the end 33 completely enters the threaded hole, the threaded hole 33 is completely and is not abutted against the reset end 33 and then moves back to the clamping jaw assembly 22, and the nut is driven to move back by the reset jaw assembly, and the reset jaw assembly 22 is driven to clamp the nut 22;
Then the clamping mechanism 2 is driven by the mechanical arm 1 to move to a nut embedding position above the workbench 100, the clamping jaw 22 is driven by the clamping driving assembly to open so as to loosen the nut, the lifting transmission assembly synchronously drives the offset reset assembly and the positioning rod 32 to move downwards when the clamping driving assembly drives the clamping jaw 22 to open and loosen the nut, the arc-shaped end head 33 and the pushing plate 313 are driven to move downwards, if the skeleton placing position is offset, the nut is not completely aligned with the embedded hole on the skeleton, the loosened and fallen nut is obliquely lapped on the inner wall of the embedded hole, at the moment, the pushing plate 313 is gradually abutted to the top surface of the nut along with the continuous descending of the positioning rod 32 and the pushing plate 313, the positioning rod 32 and the pushing plate 313 are abutted and inclined, and then the pushing plate 313 pushes and slides the nut into the embedded hole in the descending process so that the nut is slidably embedded into the embedded hole; the clamping driving assembly and the lifting transmission assembly are matched to synchronously drive the positioning rod 32 and the pushing plate 313 to move downwards when the clamping jaw 22 loosens the embedded nut, and then the pushing plate 313 pushes the nut to slide into the embedded hole, so that the nut can be ensured to be embedded into the embedded hole of the framework.
Referring to fig. 1-2, in one embodiment, the mechanical arm 1 includes a fixed arm 11, a first rotating arm 12, a second rotating arm 13, and a lifting arm 14, wherein one end of the first rotating arm 12 is rotatably mounted on the top end of the fixed arm 11, one end of the second rotating arm 13 is rotatably mounted on the first rotating arm 12, and the lifting arm 14 is vertically mounted on the second rotating arm 13; wherein, a first motor in transmission connection with a first rotating arm 12 is arranged in the fixed arm 11, a second motor in transmission connection with a second rotating arm 13 is arranged in the first rotating arm 12, and a linear motor in transmission connection with a lifting arm 14 is arranged in the second rotating arm 13; when the mechanical arm 1 works, the first motor can drive the first rotating arm 12 to rotate, the second motor can drive the second rotating arm 13 to rotate, the linear motor can drive the lifting arm 14 to lift, and then the lifting arm 14 drives the clamping mechanism 2 to move on the workbench 100, so that nuts are clamped and embedded.
Referring to fig. 2 and fig. 6-9, in one embodiment, the clamping driving assembly includes a cylinder 23 and a slide rail 26, both the cylinder 23 and the slide rail 26 are fixedly installed inside the connecting seat 21, a right slide block 24 and a left slide block 25 are slidably installed in the slide rail 26, the right slide block 24 and the left slide block 25 are distributed in a dislocation manner in the slide rail 26, a right chute 29 gradually inclined downward to the right side is provided on the right slide block 24, and a left chute 210 gradually inclined downward to the left side is provided on the left slide block 25; a U-shaped frame 27 is fixedly arranged at the telescopic end of the air cylinder 23, a driving shaft 28 is fixedly arranged at the U-shaped slot opening of the U-shaped frame 27, and the driving shaft 28 is inserted into the right chute 29 and the left chute 210; the clamping jaw 22 comprises a right clamping jaw 221 and a left clamping jaw 222, the right clamping jaw 221 is fixedly arranged at the bottom end of the right sliding block 24, the left clamping jaw 222 is fixedly arranged at the bottom end of the left sliding block 25, and the right clamping jaw 221 and the left clamping jaw 222 are symmetrically distributed below the connecting seat 21;
When the cylinder 23 is in a contracted state, the driving shaft 28 is positioned at the top ends of the right chute 29 and the left chute 210, and at the moment, the right clamping jaw 221 and the left clamping jaw 222 are in an opened state, when the cylinder 23 is extended to drive the driving shaft 28 to move downwards along the right chute 29 and the left chute 210, the driving shaft 28 is used for abutting and moving the right sliding block 24 leftwards under the guiding action of the right chute 29 in the downward moving process, so as to drive the right clamping jaw 221 to move leftwards, and simultaneously, the driving shaft 28 is used for abutting and moving the left sliding block 25 rightwards under the guiding action of the left chute 210, so as to drive the left clamping jaw 222 to move rightwards, so that the right clamping jaw 221 and the left clamping jaw 222 are gradually folded in opposite directions until the right clamping jaw 221 and the left clamping jaw 222 are matched to clamp and fix a nut; correspondingly, when the cylinder 23 is contracted to drive the driving shaft 28 to move upwards and reset along the right chute 29 and the left chute 210, the driving shaft 28 is guided by the right chute 29 to move and reset the right slider 24 to the right in the upward movement process, so as to drive the right clamping jaw 221 to move and reset to the right, and simultaneously, the driving shaft 28 is guided by the left chute 210 to move and reset the left slider 25 to the left, so as to drive the left clamping jaw 222 to move and reset to the left, so that the right clamping jaw 221 and the left clamping jaw 222 are reversely moved and gradually opened, and the clamped nut is loosened.
Referring to fig. 2-4, in one embodiment, the lifting transmission assembly includes a gear 31, a rack 34 and a bracket 35, the bracket 35 is fixedly mounted on the inner wall of the connecting seat 21, a screw rod 36 is rotatably mounted on the bracket 35 through a bearing, the gear 31 is fixedly mounted on the top end of the screw rod 36, the rack 34 is provided with two groups, the two groups of racks 34 are respectively and fixedly mounted on the bottom surfaces of the right slider 24 and the left slider 25, and the two groups of racks 34 are respectively engaged with two sides of the gear 31 for transmission connection; a thread sleeve 38 is arranged on the screw rod 36 in a threaded transmission manner, a limit seat 37 is fixedly arranged on the outer ring of the thread sleeve 38, a limit rod which is in sliding connection with the support 35 is fixedly arranged at the top end of the limit seat 37, and the offset reset assembly is fixedly arranged at the bottom end of the limit seat 37;
When the right slide block 24 and the left slide block 25 are moved and folded, the two groups of racks 34 simultaneously drive the gears 31 to rotate, so that the gears 31 drive the screw rods 36 to rotate, the screw rods 36 drive the screw sleeves 38 to move upwards through screw transmission in the rotating process, and the screw sleeves 38 drive the offset reset assembly, the positioning rods 32 and the push plates 313 to move upwards through the limiting seats 37 in the upward moving process, so that the push plates 313 are prevented from abutting against the top surfaces of nuts to prevent the clamping jaws 22 from clamping the nuts; when the right slide block 24 and the left slide block 25 move and open, the two sets of racks 34 simultaneously drive the gear 31 to reversely rotate, so that the gear 31 drives the screw rod 36 to reversely rotate, the screw rod 36 drives the threaded sleeve 38 to move downwards through the threaded transmission in the reverse rotation process of the screw rod 36, and the threaded sleeve 38 drives the offset reset assembly, the positioning rod 32 and the pushing plate 313 to move downwards through the limiting seat 37 in the downward movement process, so that the positioning rod 32 and the pushing plate 313 cooperate to push the nuts into the embedded holes on the framework.
Referring to fig. 2-5, in one embodiment, the offset return assembly includes an inner spring seat 310 and an outer spring seat 311, the outer spring seat 311 is fixedly mounted at the bottom end of the limiting seat 37 through a connecting rod, the inner spring seat 310 is disposed at the inner ring of the outer spring seat 311, a plurality of springs 312 distributed at equal angles are fixedly mounted between the inner spring seat 310 and the outer spring seat 311, and the positioning rod 32 is fixedly mounted at the bottom end of the inner spring seat 310; when the positioning rod 32 and the arc-shaped end 33 are offset, and the arc-shaped end 33 is inserted into the threaded hole in the middle of the nut, the spring 312 between the inner spring seat 310 and the outer spring seat 311 is correspondingly deformed according to the offset direction of the positioning rod 32, and generates reset elastic force, when the arc-shaped end 33 is completely inserted into the threaded hole of the nut, and the arc-shaped end 33 is not subjected to the abutting action in the vertical direction, the positioning rod 32 and the arc-shaped end 33 are reset and aligned under the effect of the reset elastic force of the spring 312, and meanwhile, the arc-shaped end 33 drives the nut to move in the reset and alignment process, so that the nut is rectified, and the nut is synchronously aligned.
Referring to fig. 4, in one embodiment, the top end of the positioning rod 32 extends below the threaded sleeve 38 through the inner spring seat 310, the threaded sleeve 38 is rotationally connected with the positioning rod 32 through the universal ball bearing 39, and the positioning rod 32 is positioned and connected through the threaded sleeve 38 and the universal ball bearing 39, so that the installation and moving operation processes of the positioning rod 32 are more stable, excessive deflection of the positioning rod 32 is prevented, and the positioning and aligning effect of the positioning rod 32 is improved.
Referring to fig. 1-2, in one embodiment, the connecting seat 21 is provided with a plurality of groups of clamping driving assemblies and a plurality of groups of clamping jaws 22, the clamping driving assemblies are uniformly arranged and distributed in the connecting seat 21, each group of clamping driving assemblies is provided with a group of clamping jaws 22 in a transmission manner, and the number of single clamping and nut embedding of the clamping mechanism 2 can be increased by arranging a plurality of groups of clamping jaws 22, so that the working efficiency of the manipulator is improved.
The using mode is as follows:
Firstly, a mechanical arm 1 drives a clamping mechanism 2 to move to the upper part of a nut bearing jig, then drives the clamping mechanism 2 to move downwards to clamp a nut in the nut bearing jig, if the nut is accurately positioned in the nut bearing jig, an arc-shaped end head 33 at the bottom end of a positioning rod 32 is just inserted into a threaded hole in the middle of the nut when the clamping mechanism 2 moves downwards, when the position of the nut to be clamped is deviated, the arc-shaped end head 33 is abutted between the top surface of the nut and the threaded hole of the nut, at the moment, along with the continuous descending of the positioning rod 32 and the arc-shaped end head 33, the arc-shaped surface at the bottom of the arc-shaped end head 33 can slide with the threaded hole in a dislocation manner, so that the positioning rod 32 is inclined in a deviation manner, a spring 312 between an inner spring seat 310 and an outer spring seat 311 correspondingly deforms according to the deviation direction of the positioning rod 32 and generates a reset elastic force, and meanwhile the arc-shaped end head 33 gradually slides into the threaded hole; when the arc-shaped end head 33 completely slides into the threaded hole, the arc-shaped end head 33 is not in abutting action any more, and at the moment, the positioning rod 32 and the arc-shaped end head 33 are reset and aligned under the action of the reset elastic force of the spring 312, and the nut is driven to move and align;
Then the driving cylinder 23 stretches to drive the driving shaft 28 to move downwards along the right chute 29 and the left chute 210, the driving shaft 28 moves the right sliding block 24 to the left in a abutting manner under the guiding action of the right chute 29 in the downward movement process, so as to drive the right clamping jaw 221 to move to the left, and meanwhile, the driving shaft 28 moves the left sliding block 25 to the right in an abutting manner under the guiding action of the left chute 210, so as to drive the left clamping jaw 222 to move to the right, so that the right clamping jaw 221 and the left clamping jaw 222 move towards each other to be gradually folded until the right clamping jaw 221 and the left clamping jaw 222 cooperate to clamp and fix a nut;
When the right slide block 24 and the left slide block 25 move and close, the two groups of racks 34 simultaneously drive the gears 31 to rotate, so that the gears 31 drive the screw rods 36 to rotate, the screw rods 36 drive the screw sleeves 38 to move upwards through screw transmission in the rotating process, and the screw sleeves 38 drive the offset reset assembly, the positioning rods 32 and the push plate 313 to move upwards through the limiting seat 37 in the upward moving process, so that the push plate 313 is prevented from abutting against the top surface of the nut to block the right clamping jaw 221 and the left clamping jaw 222 from clamping the nut;
Then the mechanical arm drives the clamping mechanism 2 to drive the nut to move to a nut embedding position above the workbench 100, the driving cylinder 23 is contracted to drive the driving shaft 28 to move upwards along the right chute 29 and the left chute 210 for resetting, the driving shaft 28 drives the right sliding block 24 to move rightwards in a butting manner under the guiding action of the right chute 29 in the upward moving process so as to drive the right clamping jaw 221 to move rightwards for resetting, and simultaneously the driving shaft 28 drives the left sliding block 25 to move leftwards in a butting manner under the guiding action of the left chute 210 so as to drive the left clamping jaw 222 to move leftwards for resetting, so that the right clamping jaw 221 and the left clamping jaw 222 move reversely and gradually open, and the clamped nut is loosened;
When the right slide block 24 and the left slide block 25 move and open, the two groups of racks 34 simultaneously drive the gears 31 to reversely rotate, so that the gears 31 drive the screw rods 36 to reversely rotate, the screw rods 36 reversely rotate to drive the screw sleeves 38 to downwards move through screw transmission, the screw sleeves 38 drive the offset reset assembly, the positioning rods 32 and the pushing plates 313 to downwards move through the limiting seats 37 in the downwards moving process, if the skeleton placing positions are offset, the nuts are not completely aligned with the embedded holes on the skeleton, the loosened and fallen nuts can obliquely be lapped on the inner walls of the embedded holes, at the moment, the pushing plates 313 gradually abut against the top surfaces of the nuts along with the continuous descending of the positioning rods 32 and the pushing plates 313, the positioning rods 32 and the pushing plates 313 are abutted against and inclined, and then the pushing plates 313 push the nuts to slide in the embedded holes in the descending process, so that the nuts are embedded in the embedded holes in a sliding mode.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above disclosed preferred embodiments of the invention are merely intended to help illustrate the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (6)
1. Manipulator is placed to injection molding nut, its characterized in that: comprises a mechanical arm (1), a clamping mechanism (2) and an auxiliary positioning mechanism (3); the clamping mechanism (2) comprises a connecting seat (21), a clamping driving assembly and clamping jaws (22), wherein the connecting seat (21) is fixedly arranged at the execution end of the mechanical arm (1), the clamping jaws (22) are arranged on the connecting seat (21) through the clamping driving assembly, and the clamping driving assembly can drive the clamping jaws (22) to fold and open;
the auxiliary positioning mechanism (3) comprises a lifting transmission assembly, an offset reset assembly and a positioning rod (32), wherein the lifting transmission assembly is installed on the connecting seat (21), the lifting transmission assembly is in transmission connection with the clamping driving assembly, the positioning rod (32) is installed on the lifting transmission assembly through the offset reset assembly, a pushing plate (313) is fixedly installed at the bottom end of the positioning rod (32), and an arc-shaped end head (33) is fixedly installed at the bottom surface of the pushing plate (313);
The lifting transmission assembly can synchronously drive the offset reset assembly and the positioning rod (32) to move upwards when the clamping driving assembly drives the clamping jaw (22) to fold, the lifting transmission assembly can also synchronously drive the offset reset assembly and the positioning rod (32) to move downwards when the clamping driving assembly drives the clamping jaw (22) to open, the offset reset assembly can drive the positioning rod (32) to reset and return when the positioning rod (32) deflects, the clamping driving assembly comprises an air cylinder (23) and a sliding rail (26), the air cylinder (23) and the sliding rail (26) are fixedly arranged in the connecting seat (21), a right sliding block (24) and a left sliding block (25) are arranged in the sliding rail (26) in a sliding manner, the lifting transmission assembly comprises a gear (31), a rack (34) and a bracket (35), the bracket (35) is fixedly arranged on the inner wall of the connecting seat (21), a screw (36) is rotatably arranged on the bracket (35) through a bearing, the gear (31) is fixedly arranged on the top end of the positioning rod (36), the two sliding blocks (34) are fixedly arranged on the left sliding block (24) and the right sliding block (25), the two groups of racks (34) are respectively meshed and connected with two sides of the gear (31) in a transmission manner;
Screw sleeve (38) is installed in screw drive on lead screw (36), the outer lane fixed mounting of screw sleeve (38) has spacing seat (37), the top fixed mounting of spacing seat (37) with gag lever post of support (35) slip grafting, the bottom fixed mounting of spacing seat (37) has skew reset subassembly, skew reset subassembly includes interior spring holder (310) and outer spring holder (311), outer spring holder (311) through connecting rod fixed mounting in the bottom of spacing seat (37), interior spring holder (310) set up in the inner circle of outer spring holder (311), just interior spring holder (310) with fixed mounting has spring (312) of a plurality of equiangular distribution between outer spring holder (311), locating lever (32) fixed mounting in the bottom of interior spring holder (310).
2. The injection molding nut placement manipulator of claim 1, wherein: the mechanical arm (1) comprises a fixed arm (11), a first rotating arm (12), a second rotating arm (13) and a lifting arm (14), wherein one end of the first rotating arm (12) is rotatably installed at the top end of the fixed arm (11), one end of the second rotating arm (13) is rotatably installed on the first rotating arm (12), and the lifting arm (14) is vertically installed on the second rotating arm (13).
3. The injection molding nut placement manipulator of claim 2, wherein: the right sliding block (24) and the left sliding block (25) are distributed in the sliding rail (26) in a staggered mode, a right chute (29) which is gradually inclined downwards to the right side is arranged on the right sliding block (24), and a left chute (210) which is gradually inclined downwards to the left side is arranged on the left sliding block (25);
The telescopic end of the air cylinder (23) is fixedly provided with a U-shaped frame (27), a driving shaft (28) is fixedly arranged at the U-shaped groove opening of the U-shaped frame (27), and the driving shaft (28) is inserted into the right chute (29) and the left chute (210).
4. A manipulator for placing an injection molded nut as claimed in claim 3, wherein: the clamping jaw (22) comprises a right clamping jaw (221) and a left clamping jaw (222), the right clamping jaw (221) is fixedly mounted at the bottom end of the right sliding block (24), the left clamping jaw (222) is fixedly mounted at the bottom end of the left sliding block (25), and the right clamping jaw (221) and the left clamping jaw (222) are symmetrically distributed below the connecting seat (21).
5. The injection nut placement manipulator of claim 4, wherein: the top end of the positioning rod (32) penetrates through the inner spring seat (310) to extend below the threaded sleeve (38), and the threaded sleeve (38) is rotationally connected with the positioning rod (32) through a universal ball bearing (39).
6. The injection molding nut placement manipulator of claim 1, wherein: a plurality of groups of clamping driving assemblies and a plurality of groups of clamping jaws (22) are arranged on the connecting seat (21), the clamping driving assemblies are uniformly distributed in the connecting seat (21), and a group of clamping jaws (22) are arranged on each group of clamping driving assemblies in a transmission mode.
Priority Applications (1)
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| CN202211382845.2A CN115648534B (en) | 2022-11-07 | 2022-11-07 | Manipulator is placed to injection molding nut |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211382845.2A CN115648534B (en) | 2022-11-07 | 2022-11-07 | Manipulator is placed to injection molding nut |
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| CN115648534A CN115648534A (en) | 2023-01-31 |
| CN115648534B true CN115648534B (en) | 2024-04-26 |
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| CN202211382845.2A Active CN115648534B (en) | 2022-11-07 | 2022-11-07 | Manipulator is placed to injection molding nut |
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|---|---|
| CN115648534A (en) | 2023-01-31 |
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