CN116238097A - Segmented full-automatic injection molding process based on manipulator control - Google Patents
Segmented full-automatic injection molding process based on manipulator control Download PDFInfo
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- CN116238097A CN116238097A CN202310525050.0A CN202310525050A CN116238097A CN 116238097 A CN116238097 A CN 116238097A CN 202310525050 A CN202310525050 A CN 202310525050A CN 116238097 A CN116238097 A CN 116238097A
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- reinforcing material
- injection molding
- manipulator
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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
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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
- B29C45/14—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
- B29C45/1418—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 the inserts being deformed or preformed, e.g. by the injection pressure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Abstract
The invention relates to the technical field of injection molding based on manipulator control, and particularly discloses a segmented full-automatic injection molding process based on manipulator control, which comprises the following steps: cutting the selected reinforcing material according to the requirements of the product; the control part controls the manipulator to position and lay the cut reinforcing material into the die; and (5) carrying out sectional pressure application and injection molding on the die. Through the control of manipulator, can realize carrying out the location clamp to the reinforcement material after cutting and get and lay, can be with its level, accurate place in the mould, prevent that reinforcement material from piling up the fold and influencing product quality to the used equipment cooperation work of injection moulding such as manipulator, injecting glue machine can be controlled to the control portion, realizes full automated production, when promoting production efficiency, has improved the yields and the fibre content of product.
Description
Technical Field
The invention relates to the technical field of injection molding based on manipulator control, in particular to a segmented full-automatic injection molding process based on manipulator control.
Background
Because of the characteristics of high strength, high modulus, low quality, low price and the like of fiber reinforced composite materials, the fiber reinforced composite materials become outstanding in new material markets. However, when the requirements of higher fiber content, higher production efficiency and higher product yield are fused together, the current technical scheme cannot meet the requirements.
In the prior art, the high-pressure resin transfer molding process (HP-RTM) has the fiber content of only about 50 percent by volume; in the prepreg compression molding Process (PCM), fiber lines are easy to be scattered and the void content is higher; in the autoclave molding process, the production efficiency is lower;
the invention is mainly aimed at improving the high-pressure resin transfer molding process, wherein the reinforcing materials are mostly flexible, and when the reinforcing materials are laid, the manual laying is more accurate, but the production efficiency is low; the invention adopts a sectional type pressurizing injection molding process, and cooperates with a mechanical arm to clamp and lay the reinforcing material so as to realize full automation, improve the production efficiency, the fiber content and the yield.
Therefore, there is a need for a segmented full-automatic injection molding process based on manipulator manipulation that at least partially solves the problems of the prior art.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to at least partially solve the above problems, the present invention provides a segmented full-automatic injection molding process based on manipulator manipulation, comprising:
s100, cutting the selected reinforcing material according to the requirements of products;
s200, controlling the manipulator to position and lay the cut reinforcing material into a die through the control part;
s300, pressurizing the die in a segmented mode, and performing injection molding.
Preferably, between S100 and S200, further includes: and heating the die, and laying the reinforcing material after the heating temperature reaches the set temperature.
Preferably, the S200 includes:
s210, controlling the manipulator to move above the cut reinforcing material in a positioning manner through the control part, adjusting the clamping pose, and clamping the cut reinforcing material;
s220, positioning and conveying the cut reinforcing material to a die by using a manipulator;
s230, flattening the cut reinforcing material by a manipulator and laying the flattened reinforcing material in a die.
Preferably, the manipulator is provided with at least four clamping points, and when the clamping pose is adjusted, the positions of the clamping points are adjusted according to the size of the cut reinforcing material, and then the clamping is performed sequentially.
Preferably, in the horizontal direction, the clamping compensation distance is reserved between the clamping point and the corner of the cut reinforcing material.
Preferably, the manipulator includes:
the bearing frame is provided with a first supporting rail on the inner side, a second supporting rail is arranged below the first supporting rail, and the second supporting rail is rotationally connected to the inner side of the bearing frame through a first driving part;
the bearing frame is characterized in that a circular through hole is formed in the middle of the bearing frame, a first supporting rail is fixedly connected in the circular through hole, the first supporting rail and a second supporting rail penetrate through the axis of the circular through hole, an annular sliding rail is arranged on the inner side wall of the circular through hole, and two ends of the second supporting rail are in sliding connection with the annular sliding rail;
the clamping mechanism is used for clamping the cut reinforcing material; the first support rail and the second support rail are respectively provided with two rail grooves, and the clamping mechanism is connected in the rail grooves in a sliding manner;
the second driving part is used for driving the clamping mechanism to move in the track groove; and the first support rail and the second support rail are respectively provided with a second driving part.
Preferably, the gripping mechanism includes:
the sliding block is connected in the track groove in a sliding way, and a driving plate used for being connected with the second driving part is arranged at the top of the sliding block;
the pipe body is connected in the sliding block in a sliding way, and both ends of the pipe body penetrate through the sliding block;
the clamping main body is arranged at the bottom end of the pipe body, and a spring is connected between the clamping main body and the sliding block;
and the clamping driving part is connected with the top end of the pipe body and used for driving the clamping main body to clamp the cut reinforcing material.
Preferably, the gripping body includes:
the fixed cylinder is connected with the bottom end of the pipe body;
the elastic tube is sleeved between the fixed tube and the tube body;
the clamping piece is arranged on the inner side of the elastic cylinder, and a pressure sensor is arranged at the joint of the top end of the clamping piece and the elastic cylinder.
Preferably, the second driving part includes:
the support block is vertically arranged at the end part of the first support rail or the second support rail, and a chute is arranged on the support block;
the driving block is connected in the chute in a sliding way; the driving block provides moving power through a linear driving piece;
and one end of the connecting rod is hinged with the driving block, and the other end of the connecting rod is hinged with the driving plate.
Preferably, the S300 includes:
s310, after the reinforcing material is positioned and laid on the lower die, controlling the upper die to be matched with the lower die according to the first moving position of the set upper die, and then vacuumizing the die by using a vacuum pump, and stopping vacuumizing when the vacuum pump displays that the preset value is reached; the preset value is-0.95 MPa;
s320, injecting molding materials into the mold by using a glue injection machine according to the set value of the injection of the molding materials;
s330, after the injection of the molding material is completed, opening an overflow channel of the mold;
s340, controlling the upper die to move according to the set secondary moving position or the set die clamping pressure of the upper die;
and S350, maintaining pressure and heat according to the curing time of the selected molding material, curing and molding, and demolding.
Compared with the prior art, the invention at least comprises the following beneficial effects:
according to the segmented full-automatic injection molding process based on manipulator control, through manipulator control, positioning, clamping and laying of the cut reinforcing material can be achieved, the cut reinforcing material can be placed in a mold smoothly and accurately, the reinforcing material is prevented from being stacked and wrinkled to affect product quality, and a control part can control equipment used for injection molding of the manipulator, a glue injection machine and the like to cooperate, so that full-automatic production is achieved, production efficiency is improved, and meanwhile yield and fiber content of products are improved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a flow chart of a segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 2 is a flowchart of step S200 in the segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
FIG. 3 is a flowchart of step S300 in the segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 4 is a schematic structural diagram of a manipulator in a segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 5 is a schematic diagram of an internal top view structure of a manipulator in a segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 6 is a schematic diagram of an internal structure of a manipulator in a segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 7 is a schematic structural diagram of the segmented full-automatic injection molding process based on manipulator control after the angle of the second support rail is adjusted;
FIG. 8 is a schematic structural view of a gripping mechanism in a segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 9 is a schematic diagram of an internal structure of a clamping mechanism in a segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
FIG. 10 is a schematic diagram of the connection relationship of the injection molding equipment used in the segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
FIG. 11 is a schematic diagram of the internal structure of a mold in the segmented full-automatic injection molding process based on manipulator manipulation according to the present invention;
fig. 12 is a schematic structural diagram of a hydraulic cylinder controlling push rod extending in a sectional type full-automatic injection molding process based on manipulator control according to the present invention;
fig. 13 is a schematic structural diagram of the hydraulic cylinder controlling the retraction of the ejector rod in the segmented full-automatic injection molding process based on manipulator control according to the invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings and examples to enable those skilled in the art to practice the invention by referring to the description.
It will be understood that terms, such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 13, the invention provides a segmented full-automatic injection molding process based on manipulator control, which comprises the following steps:
s100, cutting the selected reinforcing material according to the requirements of products;
s200, controlling the manipulator 7 to position and lay the cut reinforcing material into the die 1 through the control part;
s300, carrying out sectional pressing and injection molding on the die 1.
The working principle and the beneficial effects of the technical scheme are as follows: the reinforcing material is selected from suitable fibers such as glass fibers, carbon fibers, aramid fibers, basalt fibers, etc., depending on the product being manufactured; the molding material selects a suitable resin system, for example, an epoxy resin system, a polyurethane resin system, etc., depending on the product to be manufactured;
after the reinforcing material is selected, the reinforcing material is required to be cut according to the size of the manufactured product, then the cut reinforcing material is positioned and clamped by a manipulator 7 and is positioned and laid in a lower die 110 of a die 1, after the reinforcing material is laid, the upper die 120 and the lower die 110 are clamped (pressed for the first time), the molding material is injected, and then the second time of pressing is carried out, so that the molding material and the reinforcing material are pressed under high pressure in the die 1, and excessive molding material can overflow, thereby realizing the sectional pressing injection molding;
through above-mentioned design, through the control of manipulator 7, can realize carrying out the location clamp to the reinforcement material after cutting and get and lay, can be with its level and smooth, accurate place in mould 1, prevent that reinforcement material from appearing piling up fold and influencing product quality to the used equipment cooperation work of injection moulding such as manipulator 7, injecting glue machine 4 can be controlled to the control portion, realizes full automated production, when promoting production efficiency, has improved the yields and the fibre content of product.
In one embodiment, between S100 and S200, further includes: and heating the die 1, and laying the reinforcing material after the heating temperature reaches the set temperature.
The working principle and the beneficial effects of the technical scheme are as follows: the die 1 is heated, so that the subsequent high-pressure injection molding is facilitated, and the product quality is improved.
In one embodiment, the S200 includes:
s210, controlling the manipulator 7 to move above the cut reinforcing material in a positioning manner through the control part, adjusting the clamping pose, and clamping the cut reinforcing material;
s220, positioning and conveying the cut reinforcing material to the die 1 by the manipulator 7;
s230, flattening the cut reinforcing material by the manipulator 7 and laying the flattened reinforcing material in the die 1.
The working principle and the beneficial effects of the technical scheme are as follows: the reinforced material can be cut on a cutting machine, after the cutting is completed, the control part controls the mechanical arm 7 to move to the position above the cut reinforced material, visual positioning can be adopted to obtain the position information and the size information of the cut reinforced material, the clamping position of the mechanical arm 7 is adjusted according to the position information, the clamping pose of the mechanical arm 7 is adjusted according to the size information, and the cut reinforced material is clamped after the adjustment; after clamping, the manipulator 7 is controlled by the control part to move to the position of the die 1, namely the position above the lower die 110, then positioning adjustment is carried out again, the accuracy of the laying position of the reinforcing material is guaranteed, after positioning adjustment is finished, the manipulator 7 can flatten the reinforcing material made of flexible materials, because the situation of wrinkles possibly occurs when clamping, if the flexible reinforcing material is directly laid in the lower die 110, the situation of partial stacking possibly occurs, the product quality is influenced, therefore, before laying, the manipulator 7 performs flattening operation on the reinforcing material, the smooth laying of the reinforcing material into the lower die 110 is guaranteed, the laying efficiency and the laying quality are improved, and the yield is further improved.
In one embodiment, the manipulator 7 is provided with at least four clamping points, and when the clamping pose is adjusted, the positions of the clamping points are adjusted according to the size of the cut reinforcing material, and then the clamping is performed sequentially.
The working principle and the beneficial effects of the technical scheme are as follows: when the flexible reinforcing material is clamped, if the clamping position is not proper, a part of the reinforcing material may fall down, and the flexible reinforcing material is paved under the condition, so that stacking is easy to occur; therefore, at least four clamping points are arranged on the manipulator 7, so that the reinforcing material can be uniformly clamped, and the four clamping points sequentially execute clamping actions when in clamping, so that the reinforcing material is prevented from being pulled by clamping at the same time, and the reinforcing material is prevented from being damaged;
for example, if the cut reinforcing material is rectangular, the four clipping points are adjusted to correspond to the rectangle, and it is preferable to clip four corners near the rectangle.
In one embodiment, in the horizontal direction, the clamping compensation distance is reserved between the clamping point and the corner of the cut reinforcing material.
The working principle and the beneficial effects of the technical scheme are as follows: when the manipulator adjusts the clamping pose, the clamping point is close to the corner of the reinforcing material, but the clamping compensation distance is reserved between the clamping point and the corner in the horizontal direction, and the clamping point of the reinforcing material is possibly lifted due to a certain clamping mode (such as a flexible clamping jaw or a common clamping mode for the flexible material), when the clamping is carried out in sequence, the former clamping point is prevented from pulling the reinforcing material after the clamping action is completed, so that the latter clamping point is misplaced with the reinforcing material in the vertical direction, and the clamping fails; the compensation distance is got to the clamp that leaves, can guarantee that every clamp gets the point and all can carry out effective clamp to the reinforcement material and get, and prevent to form pulling to the reinforcement material after getting the action owing to clamp, guarantee to press from both sides and get efficiency.
In one embodiment, the robot 7 includes:
the bearing frame 710 is provided with a first support rail 720 on the inner side, a second support rail 730 is provided below the first support rail 720, and the second support rail 730 is rotatably connected to the inner side of the bearing frame 710 through a first driving part 740;
the middle part of the bearing frame 710 is provided with a circular through hole, a first support rail 720 is fixedly connected in the circular through hole, the first support rail 720 and a second support rail 730 both penetrate through the axis of the circular through hole, the inner side wall of the circular through hole is provided with an annular sliding rail 711, and two ends of the second support rail 730 are in sliding connection with the annular sliding rail 711;
a clamping mechanism 750 for clamping the cut reinforcing material; the first support rail 720 and the second support rail 730 are respectively provided with two rail grooves 760, and the clamping mechanism 750 is slidably connected in the rail grooves 760;
a second driving part 770 for driving the gripping mechanism 750 to move in the rail groove 760; the first support rail 720 and the second support rail 730 are provided with a second driving part 770.
The working principle and the beneficial effects of the technical scheme are as follows: the action of the manipulator 7 is controlled by the control part, the first support rail 720 is fixedly connected with the bearing frame 710, the bearing frame 710 can be arranged in a circular shape, the second support rail 730 is rotationally connected with the first support rail 720, a connecting shaft arranged on the second support rail 730 passes through the first support rail 720 to be connected with the first driving part 740, and the first driving part 740 is fixed in the bearing frame 710; the first driving part 740 can drive the second support rail 730 to rotate in the bearing frame 710, the first driving part 740 is in communication connection with the control part, and when the second support rail 730 rotates, both ends of the second support rail 730 slide in the annular slide rail 711, so that the rotation limiting support of the second support rail 730 is realized, and the moving stability of the second support rail 730 is ensured;
two rail grooves 760 are formed in the two support rails along the length direction, a clamping mechanism 750 is slidably connected in each rail groove 760, linear movement of the clamping mechanism 750 is driven by a second driving part 770, and the second driving part 770 is in communication connection with the control part;
therefore, the two clamping mechanisms 750 on the second support rail 730 can rotate synchronously along with the second support rail 730, and the four clamping mechanisms 750 can independently move linearly under the drive of the second driving part 770, so that the clamping positions of the four clamping mechanisms 750 can be adjusted, the position adjustment of the four clamping points is realized, and the reinforcing materials with different sizes can be smoothly clamped.
In one embodiment, the gripping mechanism 750 includes:
a slider 751 slidably coupled to the rail groove 760, and having a driving plate 752 at the top thereof for coupling to the second driving part 770;
the pipe body 753 is connected in the sliding block 751 in a sliding way, and two ends of the pipe body 753 penetrate through the sliding block 751;
a clamping body 754 arranged at the bottom end of the pipe body 753, and a spring 755 is connected between the clamping body 754 and the sliding block 751;
and a clamping driving part connected with the top end of the pipe body 753 and used for driving the clamping main body 754 to clamp the cut reinforcing material.
The working principle and the beneficial effects of the technical scheme are as follows: the vertical movement of the slide block 751 is limited by the track groove 760, and after the whole downward movement of the manipulator 7 is contacted with the reinforcing material or the lower die 110 for stress, the clamping main body 754 and the pipe body 753 move upwards, and the pipe body 753 slides in the slide block 751, so that the spring 755 is compressed, and the effective clamping and placing of the reinforcing material by the clamping main body 754 are ensured;
the tube body 753 is made of hard material and cannot deform;
the clamping manner of the clamping mechanism 750 may adopt a structure (such as negative pressure type, bionic adsorption type grabbing, etc.) for clamping the flexible material, which is commonly used in the prior art, and specific structures of the clamping main body 754 and the clamping driving part will not be described herein.
In one embodiment, the gripping body 754 includes:
the fixed cylinder 7541 is connected with the bottom end of the tube body 753;
an elastic tube 7542 sleeved between the fixed tube 7541 and the tube 753;
the clamping member 7543 is arranged on the inner side of the elastic tube 7542, and a pressure sensor 7544 is arranged at the joint of the top end of the clamping member 7543 and the elastic tube 7542.
Further, the pressure sensors 7544 are arranged in plurality in the circumferential direction for sensing pressure value changes from a plurality of directions.
The working principle and the beneficial effects of the technical scheme are as follows: in order to achieve flattening before laying the reinforcing material and to prevent pulling of the reinforcing material, the gripping body 754 is set to be flexible; the fixed cylinder 7541 is fixedly connected with the pipe body 753, the elastic cylinder 7542 is made of rubber and other materials with deformability, and the elastic cylinder 7542 is in sealing connection with the fixed cylinder 7541 and the pipe body 753; the clamping piece 7543 is also in sealing connection with the elastic cylinder 7542, so that a certain clearance distance exists between the clamping piece 7543 and the end part of the pipe body 753, and the clamping piece 7543 can be deformed along with the elastic cylinder 7542; a pressure sensor 7544 is arranged at the joint of the clamping piece 7543 and the elastic cylinder 7542 and is used for sensing the position change of the clamping piece 7543; for example, when the reinforcement material is flattened, the clamping mechanism 750 is driven by the second driving part 770 to be far away from each other, and after the reinforcement material is flattened, a tensile force is generated on the clamping member 7543, and the tensile force can deform the elastic cylinder 7542 so as to squeeze the pressure sensor 7544 to generate a pressure value, thereby determining that the reinforcement material is flattened and being capable of being laid; after the reinforcement material is laid, the clamping piece 7543 is restored to the initial position under the elastic restoring force of the elastic cylinder 7542;
through the design, the pressure sensor 7544 can be used for detecting whether the clamped reinforcing material is flattened or not so as to ensure that the reinforcing material is accurately laid into the lower die 110, prevent stacking and ensure production quality.
In one embodiment, the second driving part 770 includes:
the support block 771 is vertically arranged at the end part of the first support rail 720 or the second support rail 730, and is provided with a chute;
the driving block 772 is connected in the chute in a sliding way; the driving block 772 provides moving power through a linear driving member;
a connecting rod 773, one end of which is hinged with the driving block 772 and the other end of which is hinged with the driving plate 752.
The working principle and the beneficial effects of the technical scheme are as follows: the linear driving piece can be a motor and a screw, the screw is in threaded connection with the driving block 772, the motor drives the screw to rotate after working, the screw drives the driving block 772 to linearly move in the chute, when the driving block 772 moves downwards, the connecting rod 773 is driven to move, and the connecting rod 773 drives the driving plate 752 to move towards the side far away from the supporting block 771, so that the linear movement of the clamping mechanism 750 is realized; the linear driving piece can also be an electric telescopic rod, and the driving block 772 is connected with the telescopic end of the electric telescopic rod;
the second driving part 770 on the second support rail 730 horizontally rotates in synchronization with the second support rail 730, and the second driving part 770 on the second support rail 720 is in a fixed state, thereby ensuring effective driving of the gripping mechanism 750.
In one embodiment, the S300 includes:
s310, after the reinforcing material is positioned and laid on the lower die 110, controlling the upper die 120 to be matched with the lower die 110 according to the first moving position of the set upper die 120, then vacuumizing the die 1 by using the vacuum pump 3, and stopping vacuumizing after the vacuum pump 3 displays that the preset value is reached; the preset value is-0.95 MPa;
s320, injecting molding materials into the mold 1 by using the glue injection machine 4 according to the set value of the injection of the molding materials;
s330, after the injection of the molding material is completed, opening the overflow channel 112 of the mold 1;
s340, controlling the upper die 120 to move according to the set secondary moving position or the set die clamping pressure of the upper die 120;
and S350, maintaining pressure and heat according to the curing time of the selected molding material, curing and molding, and demolding.
The apparatus for injection molding further comprises:
a press 2 on which a lower die 110 and an upper die 120 are provided; the press 2 provides power for the movement of the upper die 120 and applies pressure for the die assembly of the upper die 120 and the lower die 110; the mold 1 includes an upper mold 120 and a lower mold 110;
a vacuum pump 3 connected to the upper die 120 for evacuating the interior of the die 1 during die assembly;
the glue injector 4 is connected with the upper die 120 and is used for injecting molding materials into the die 1;
an overflow area 111 is arranged on at least one side of the inside of the lower die 110, and an overflow channel 112 is arranged above the overflow area 111 and above the inner cavity of the lower die 110; the upper die 120 is internally provided with a hydraulic cylinder 5, the hydraulic cylinder 5 is provided with a push rod 6, and when the hydraulic cylinder 5 controls the push rod 6 to extend out, the overflow channel 112 is in a closed state; when the hydraulic cylinder 5 controls the ejector rod 6 to retract, the overflow passage 112 is in an open state.
The working principle and the beneficial effects of the technical scheme are as follows: when the upper die 120 moves for the first time (first pressure application), the ejector rod 6 is driven by the hydraulic cylinder 5, and is in an extending state, the ejector rod 6 contacts with the lower die 110 to seal the overflow channel 112, so that the inner cavity of the lower die 110 is isolated from the overflow channel 112, at the moment, the inside of the die 1 is vacuumized, then the molding material is injected according to a set value, after the molding material is injected, the ejector rod 6 is controlled to retract by the hydraulic cylinder 5, the ejector rod 6 is separated from the lower die 110, the overflow channel 112 is opened, when the upper die 120 is controlled by the press 2 to move to a designated position under the second pressure application (second pressure application), the redundant molding material can overflow from the overflow channel 112 into the overflow region 111, thereby realizing the two-stage pressure injection molding, reducing the void ratio, improving the product quality and the yield, and the volume content of fibers in the product can be improved by adopting the method, thereby achieving the purposes of reducing the product thickness, improving the product strength and reducing the product cost.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (10)
1. A segmented full-automatic injection molding process based on manipulator control is characterized by comprising the following steps of:
s100, cutting the selected reinforcing material according to the requirements of products;
s200, controlling a manipulator (7) through a control part to position and lay the cut reinforcing material into the die (1);
s300, pressurizing the die (1) in a segmented mode, and performing injection molding.
2. The robot-operated segmented full-automatic injection molding process according to claim 1, further comprising, between S100 and S200: and heating the die (1), and laying the reinforcing material after the heating temperature reaches the set temperature.
3. The robot-operated segmented full-automatic injection molding process according to claim 1, wherein S200 comprises:
s210, controlling the manipulator (7) to move above the cut reinforcing material in a positioning manner through the control part, adjusting the clamping pose, and clamping the cut reinforcing material;
s220, positioning and conveying the cut reinforcing material to the mold (1) by the mechanical arm (7);
s230, flattening the cut reinforcing material by a manipulator (7) and laying the flattened reinforcing material in the die (1).
4. The segmented full-automatic injection molding process based on manipulator control according to claim 3, wherein the manipulator (7) is provided with at least four clamping points, and when the clamping pose is adjusted, the positions of the clamping points are adjusted according to the size of the cut reinforcing material, and then sequential clamping is performed.
5. The segmented full-automatic injection molding process based on manipulator control according to claim 4, wherein a clamping compensation distance is reserved between the clamping point and the corner of the cut reinforcing material in the horizontal direction.
6. The robot-controlled segmented full-automatic injection molding process according to claim 1, wherein the robot (7) comprises:
the bearing frame (710) is provided with a first support rail (720) on the inner side, a second support rail (730) is arranged below the first support rail (720), and the second support rail (730) is rotationally connected to the inner side of the bearing frame (710) through a first driving part (740);
a clamping mechanism (750) for clamping the cut reinforcing material; the first support rail (720) and the second support rail (730) are respectively provided with two rail grooves (760), and the clamping mechanism (750) is connected in the rail grooves (760) in a sliding manner;
a second driving part (770) for driving the gripping mechanism (750) to move in the rail groove (760); the first support rail (720) and the second support rail (730) are both provided with a second driving part (770).
7. The robot-operated segmented full-automatic injection molding process of claim 6, wherein the gripping mechanism (750) comprises:
a slider (751) slidably connected to the rail groove (760), and provided with a drive plate (752) on the top thereof for connection to the second drive section (770);
the pipe body (753) is connected in the sliding block (751) in a sliding way, and two ends of the pipe body (753) penetrate through the sliding block (751);
a clamping main body (754) arranged at the bottom end of the pipe body (753), and a spring (755) is connected between the clamping main body (754) and the sliding block (751);
and a clamping driving part connected with the top end of the pipe body (753) and used for driving the clamping main body (754) to clamp the cut reinforcing material.
8. The robot-operated segmented full-automatic injection molding process of claim 7, wherein the gripping body (754) comprises:
the fixed cylinder (7541) is connected with the bottom end of the pipe body (753);
an elastic tube (7542) sleeved between the fixed tube (7541) and the tube body (753);
the clamping piece (7543) is arranged on the inner side of the elastic cylinder (7542), and a pressure sensor (7544) is arranged at the joint of the top end of the clamping piece (7543) and the elastic cylinder (7542).
9. The robot-operated segmented full-automatic injection molding process according to claim 7, wherein the second driving part (770) comprises:
the support block (771) is vertically arranged at the end part of the first support rail (720) or the second support rail (730), and is provided with a chute;
the driving block (772) is connected in the chute in a sliding way; the driving block (772) provides moving power through a linear driving piece;
and one end of the connecting rod (773) is hinged with the driving block (772), and the other end of the connecting rod is hinged with the driving plate (752).
10. The robot-operated segmented full-automatic injection molding process according to claim 1, wherein S300 comprises:
s310, after the reinforcing material is positioned and laid on the lower die (110), controlling the upper die (120) to be matched with the lower die (110) according to the first moving position of the set upper die (120), and then carrying out vacuumizing treatment in the die (1) by utilizing the vacuum pump (3), and stopping vacuumizing after the vacuum pump (3) displays that the preset value is reached;
s320, injecting molding materials into the mold (1) by using the glue injection machine (4) according to the set value of the injection of the molding materials;
s330, after the injection of the molding material is completed, opening an overflow channel (112) of the mold (1);
s340, controlling the upper die (120) to move according to the set secondary moving position or the set die clamping pressure of the upper die (120);
and S350, maintaining pressure and heat according to the curing time of the selected molding material, curing and molding, and demolding.
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| CN116238097B (en) | 2023-07-25 |
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