CN117226812B

CN117226812B - Mechanical arm

Info

Publication number: CN117226812B
Application number: CN202311524743.4A
Authority: CN
Inventors: 吴峻睿; 谢仲铭; 白燕涛; 舒雨锋; 李方; 缪遇春
Original assignee: Dongguan Shini Electrothermal Machinery Co ltd
Current assignee: Dongguan Shini Electrothermal Machinery Co ltd
Priority date: 2023-11-16
Filing date: 2023-11-16
Publication date: 2024-02-02
Anticipated expiration: 2043-11-16
Also published as: CN117226812A

Abstract

The invention relates to the field of mechanical arms, in particular to a mechanical arm, which comprises a supporting seat, a travel track seat and a base, wherein the top of the supporting seat is fixedly connected with the travel track seat, and a shell is moved above the travel track seat, and the mechanical arm has the beneficial effects that: through the rotation of base for the work end can carry out exchange operation, including the drawing of patterns work of clearance mould waste material and auxiliary product, keep automaticly and high efficiency under the condition that reduces the unipolar manipulator, when switching drawing of patterns work end and carrying out work, jet stand can cool off and clear up the work end of clearance mould waste material, thereby guaranteed the cleanness of this work end, keep the work quality of work end clearance mould waste material, in addition, this manipulator is installed between per two injection molding machines, not only increased the operable space of injection molding machine, reduced the condition of manual operation by mistake, still solved the loaded down with trivial details problem of installation that every injection molding machine all needs installation unipolar manipulator to lead to.

Description

Mechanical arm

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm.

Background

The robot arm generally consists of three parts: a manipulator for grabbing; the motion mechanism can move, rotate and stretch in all directions; the control system generally needs to be programmed by a chip, and can be simply understood that the mechanical arm is a device for moving and controlling the mechanical arm to carry out grabbing and placing operations through a program. Wherein, single-axis manipulator generally falls into two kinds of transmission: the ball screw is used for transmission, the other is used for transmission of a synchronous belt (synchronous toothed belt), the two types of the ball screw are guided by a linear guide rail and matched with a servo motor or a stepping motor, positioning, transferring, carrying and the like in different application fields can be realized, the single-shaft mechanical arm can be combined with two shafts, three shafts and a gantry type through different combination patterns, the application fields of the single-shaft mechanical arm cover all automatic application fields, and the ball screw has wide application cases in the fields of liquid crystal panels, semiconductors, household appliances, automobiles, packaging, dispensing machines, welding, cutting and the like.

At present, plastic products are light, various and gorgeous in color and luster, and are popular with the masses, and the plastic products are manufactured by an injection molding machine, after injection molding, some molds need to process waste materials near a pouring opening, the former processing mode is carried out by adopting a mode of a single-shaft mechanical arm, for example, a single-shaft servo radial arm mechanical arm disclosed in China patent CN202020301939.2 can realize the up-and-down motion of the arm, and a pull wire is driven by the motion of a pulling cylinder, so that a gripper can be driven to work, the motion of the mechanical arm is realized, and some defects still exist:

when designing and producing high-precision plastic products, most can adopt the mode of three-plate mould to carry out injection moulding, after each mould injection moulding is finished, all need get rid of runner waste material in the injection mould, because the space is narrow and the temperature is higher, therefore inconvenient manual operation, so in prior art, most injection molding machines all adopt unipolar manipulator to clear up the runner waste material, and at this in-process, the anchor clamps can glue the waste material, influence subsequent cleaning quality, in addition, some plastic products can take place after the shaping and do not have the condition that is pushed out by the thimble, still need artifical manual drawing of patterns, this kind of simple and repetitive action also can set up the manipulator and replace the completion, in order to reduce staff's intensity of labour, and the manipulator that is used for clearing up runner waste material at present is installed respectively and is set up on the injection molding machine, and each injection molding machine all need be installed in proper order, loaded down with trivial details still occupy the space of injection molding machine, manual operation space has been reduced, thereby the condition that easily appears in the operation of injection molding machine in-process.

In view of such circumstances, the present invention provides a manipulator, and an object thereof is to enable a working end to perform an exchange operation by rotation of a base, including a demolding operation of cleaning mold waste and auxiliary products, to maintain automation and high efficiency while reducing a single-axis manipulator, and to enable a jet base to cool and clean the working end of cleaning mold waste while switching the demolding working end to perform work, thereby ensuring cleaning of the working end, maintaining a working quality of cleaning mold waste by the working end, and in addition, to install the manipulator between every two injection molding machines, not only increasing an operable space of the injection molding machines, reducing a case of manual misoperation, but also solving a problem of complicated installation caused by the necessity of installing the single-axis manipulator for each injection molding machine.

Disclosure of Invention

In view of the above problems, the present application provides a manipulator, which solves the problems mentioned in the background art, in the prior art, most injection molding machines adopt a single-shaft manipulator to clean the waste materials in the flow, and in the process, the clamp may be stuck with the waste materials, so as to affect the subsequent cleaning quality; at present, the manipulator for cleaning runner waste materials and the manipulator for assisting demolding are respectively installed and established on the injection molding machine, and each injection molding machine is required to be installed in sequence, so that the space of the injection molding machine is fussy, the manual operation space is reduced, and the problem that misoperation is easy to occur in the operation process of the injection molding machine is caused:

the manipulator comprises a supporting seat, a travel track seat and a base, wherein the travel track seat is fixedly connected to the top of the supporting seat, a shell is arranged above the travel track seat in a moving mode, an expanding mechanism for increasing the moving range of the base is arranged at the top of the shell, four air pumps are fixedly arranged in the supporting seat, air outlet ends of the four air pumps are respectively inserted with an air ejector pipe, an air ejector mechanism is movably connected in the expanding mechanism, and a limiting module is arranged on one side of the expanding mechanism and used for driving the air ejector mechanism to move;

the expansion mechanism comprises two mounting rods, wherein the two mounting rods are fixedly connected to the top of the shell, the interiors of the two mounting rods are slidably connected with a motion seat, the interiors of the two motion seats are rotatably connected with a rotating shaft, and the outer wall of the rotating shaft is fixedly connected with a mounting seat; the limiting module comprises two arc plates, the two arc plates are respectively and fixedly connected to one sides of the two motion seats, sliding grooves are formed in the two arc plates, sliding rods are connected in the two sliding grooves in a sliding mode, the sliding rods are fixedly connected with the mounting seats, and touch rods are movably connected to one sides of the two arc plates; the jet mechanism comprises a sliding plate, the sliding plate is connected to the interiors of two mounting rods in a sliding manner, two driving rods are fixedly connected to the bottoms of the sliding plate, the driving rods can be pushed by a touch rod to move, fixing rods are fixedly connected between the two mounting rods, a jet seat is fixedly connected to the top of the sliding plate, air pipes are arranged in the jet seat and the interiors of the fixing rods, the two air pipes are communicated, and the jet pipe can be communicated with the air pipes in the fixing rods.

Further, base and mount pad fixed connection, revolving cylinder is installed to one side of base, one side of base rotates and is connected with draws and pulls out the roof beam fixing base, revolving cylinder's flexible end sliding connection draws in drawing the inside of pulling out the roof beam fixing base, draw one side fixedly connected with of pulling out the roof beam fixing base draws and pull out the roof beam, draw the opposite side fixedly connected with of pulling out the roof beam fixing base draws and pull out the cylinder, draw the outer wall sliding connection who pulls out the roof beam to have the arm mount pad, draw the flexible end and the arm mount pad fixed connection of pulling out the cylinder, the inside sliding connection of arm mount pad has robotic arm, the both ends of robotic arm all accessible bolt fixedly connected with work end, one of them the waste material of injection mold is cleared up to the work end, another the supplementary mould drawing of patterns of work end.

Further, travel track seat and supporting seat fixed connection, travel track seat's inside fixed mounting has the motor, travel track seat's inside rotation is connected with initiative lead screw and driven lead screw, the output and the initiative lead screw fixed connection of motor, the outer wall of initiative lead screw is equipped with hold-in range one, initiative lead screw and driven lead screw pass through a hold-in range transmission and are connected, the equal threaded connection of outer wall of initiative lead screw and driven lead screw has the translation piece, translation piece sliding connection is in travel track seat's inside, two fixedly connected with motor one between the translation piece, the one end fixedly connected with fixed disk of motor one output shaft, the outer wall fixedly connected with casing of fixed disk.

Further, the expansion mechanism comprises a motor II, the motor II is fixedly connected to the inside of the shell, the inside of the two mounting rods is respectively connected with a main screw rod and an auxiliary screw rod in a rotating mode, the outer wall of the main screw rod is provided with a synchronous belt II, the main screw rod is connected with the auxiliary screw rod through a synchronous belt II in a transmission mode, the outer walls of the main screw rod and the auxiliary screw rod are connected with a moving seat in a threaded mode, the moving seat is respectively and slidably connected to the inside of the two mounting rods, one side of the rotating shaft is fixedly connected with a motor III, one end of the output shaft of the motor III is fixedly connected with one end of the rotating shaft, the outer wall of the rotating shaft is fixedly connected with a connecting rod, and one side of the connecting rod is fixedly connected with the mounting seat.

Further, the limit module comprises a sliding rod, two connecting frames are fixedly connected to the outer wall of the sliding rod, the two connecting frames are fixedly connected with the mounting seat, a fixing shaft is fixedly connected between the two circular arc plates, and two touch rods are rotatably connected to the outer wall of the fixing shaft.

Further, the air injection mechanism comprises two driving rods, the two driving rods are respectively located at one sides of the two mounting rods, springs are fixedly installed in the two mounting rods, and one ends of the springs are fixedly connected with the sliding plate.

Further, a limiting block is fixedly connected to one side of the arc plate, and the limiting block can be contacted with the touch rod.

Further, the rotation range of the mounting seat is smaller than or equal to 90 degrees.

The beneficial effects of the invention are as follows:

(1) According to the manipulator disclosed by the invention, the base can be rotated by the driving of the motor III, so that the working end can perform exchange operation, wherein the demolding operation of cleaning the die waste and auxiliary products is realized, automation and high efficiency can be kept under the condition of reducing a single-shaft manipulator, wherein when the demolding working end is switched to work, the working end responsible for cleaning the die waste is positioned at one side of the jet seat, so that the jet seat can jet air to the working end for cleaning the die waste, the working end can be cooled and cleaned, and the waste adhered to the working end is blown off, so that the cleaning of the working end is ensured, the working quality of cleaning the die waste by the working end is kept, the operable space of an injection molding machine can be increased, the condition of manual misoperation is reduced, and the product quality is ensured.

(2) According to the manipulator disclosed by the invention, the fixing disc is driven to rotate by the motor, so that the shell and the base are driven to rotate, the integral direction can be turned, the manipulator moves to the other injection molding machine, and the waste material cleaning and demolding work can be performed on the other injection molding machine.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic view of the overall structure provided by the present invention;

FIG. 2 is a schematic structural diagram of the expansion mechanism and the limiting module part provided by the invention;

FIG. 3 is a schematic view of the structure of the inside of the travel rail seat according to the present invention;

FIG. 4 is a schematic view of other angle structures inside the travel rail seat according to the present invention;

FIG. 5 is a top view of the overall structure provided by the present invention;

FIG. 6 is a cross-sectional view of the parts of the expansion mechanism, the limiting module and the air injection mechanism provided by the invention;

FIG. 7 is a cross-sectional view of an air injection mechanism provided by the present invention;

FIG. 8 is a cross-sectional view of a jet mount according to the present invention;

FIG. 9 is a schematic view of a working end for cleaning waste material provided by the present invention on one side of a jet seat;

FIG. 10 is a cross-sectional view of a jet mechanism and jet tube portion provided by the present invention.

In the figure: 1. a support base; 2. an air pump; 3. a gas lance; 4. a travel rail seat; 41. a driving screw rod; 42. a driven screw rod; 43. a synchronous belt I; 44. a translation block; 5. a first motor; 51. a fixed plate; 52. a housing; 6. an expanding mechanism; 601. a second motor; 602. a mounting rod; 603. a synchronous belt II; 604. a main screw; 605. a secondary screw; 606. a motion seat; 607. a third motor; 608. a rotating shaft; 609. a connecting rod; 610. a mounting base; 7. a limit module; 701. an arc plate; 702. a limiting block; 703. a fixed shaft; 704. a touch lever; 705. a slide bar; 706. a connecting frame; 8. an air injection mechanism; 801. a slide plate; 802. a jet seat; 803. a spring; 804. a fixed rod; 805. a driving rod; 9. a base; 10. a rotary cylinder; 11. a beam fixing seat is pulled out; 12. pulling out the beam; 13. a drawing cylinder; 14. an arm mounting seat; 15. a mechanical arm; 16. a working end.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the description of the embodiments or the prior art, and it is obvious that the following description of the structure of the drawings is only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art. It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention.

Examples:

as shown in fig. 1-10, the embodiment of the invention provides a manipulator, which comprises a supporting seat 1, a travel track seat 4 and a base 9, wherein the travel track seat 4 is fixedly connected to the top of the supporting seat 1, a shell 52 moves above the travel track seat 4, an expanding mechanism 6 is arranged at the top of the shell 52, the base 9 is arranged on one side of the expanding mechanism 6, four air pumps 2 are fixedly arranged in the supporting seat 1, air outlet ends of the four air pumps 2 are respectively inserted with an air ejector tube 3, a limiting module 7 is arranged on one side of the expanding mechanism 6, and an air ejector mechanism 8 is movably connected in the expanding mechanism 6; the travel track seat 4 is assembled to drive the shell 52 to move through the movement of the translation block 44, so that the expansion mechanism 6, the limit module 7, the air injection mechanism 8 and the base 9 move and work back and forth between two injection molding machines; the expanding mechanism 6 is assembled to drive the movement seat 606 to move through the motor II 601, the position of the installation seat 610 can be adjusted, the base 9 can be moved to a proper position, the motor III 607 is utilized to drive the rotation shaft 608 to rotate, the installation seat 610 can be rotated, the position of the base 9 can be further adjusted, and the working end 16 can be switched to work; a limit module 7, which is assembled to move the sliding rod 705 along with the mounting seat 610, so that the sliding rod 705 slides inside the arc plate 701, and the sliding rod 705 can push the touch rod 704 to move; the air injection mechanism 8 is assembled in such a way that the touch rod 704 pushes the driving rod 805 to move, and the sliding plate 801 compresses the spring 803 to drive the air injection seat 802 to be matched with the fixed rod 804, so that the air injection pipe 3 is communicated with the air injection seat 802, and the working end 16 is cooled and cleaned by air.

In this embodiment, the base 9 may be rotated by driving the motor three 607, so that the working end 16 may perform an exchange operation, including demolding operation for cleaning mold waste and auxiliary products, which may keep automation and high efficiency under the condition of reducing a single-axis manipulator, where when the demolding working end 16 is switched to perform work, the working end 16 responsible for cleaning mold waste may be located at one side of the air injection seat 802, so that the air injection seat 802 may perform air injection on the working end 16 for cleaning mold waste, may cool and clean the working end 16, and blow off waste adhered to the working end 16, thereby ensuring cleaning of the working end 16, keeping the working quality of the working end 16 for cleaning mold waste, and the manipulator may increase the operable space of the injection molding machine, reduce the situations of manual misoperation, and ensure the product quality.

The base 9 and mount pad 610 fixed connection, revolving cylinder 10 is installed to one side of base 9, one side rotation of base 9 is connected with draws and pulls out roof beam fixing base 11, revolving cylinder 10's flexible end sliding connection draws in drawing the inside of pulling out roof beam fixing base 11, draw out roof beam 12 of one side fixedly connected with drawing out roof beam fixing base 11, draw out the opposite side fixedly connected with drawing out the roof beam 13 of roof beam fixing base 11, draw out the outer wall sliding connection who pulls out roof beam 12 has arm mount pad 14, draw out the flexible end and arm mount pad 14 fixed connection of roof beam 13, arm mount pad 14's inside sliding connection has robotic arm 15, the both ends of robotic arm 15 all accessible bolt fixedly connected with work end 16, one of them work end 16 clearance injection mold's waste material, another work end 16 assists the mould drawing out, through drawing out the flexible of roof beam 13, can make arm mount pad 14 slide at drawing out the outer wall of roof beam 12, the position of micromatic robotic arm 15, rethread robotic arm 15 slides in arm mount pad 14's inside, and then make work end 16 can press from the clamp the mould waste material in the injection molding machine clear up, wherein, still can make the flexible roof beam 11 drive the position that draws out the fixing base 16 through rotating through making through rotating the flexible roof beam 11, and can further adjust the work end 16.

The travel track seat 4 is fixedly connected with the supporting seat 1, a motor is fixedly installed in the travel track seat 4, a driving screw 41 and a driven screw 42 are rotatably connected in the travel track seat 4, the output end of the motor is fixedly connected with the driving screw 41, a synchronous belt one 43 is arranged on the outer wall of the driving screw 41, the driving screw 41 is in transmission connection with the driven screw 42 through the synchronous belt one 43, translation blocks 44 are in threaded connection with the outer wall of the driving screw 41 and the outer wall of the driven screw 42, the translation blocks 44 are in sliding connection with the interior of the travel track seat 4, a motor one 5 is fixedly connected between the two translation blocks 44, one end of an output shaft of the motor one 5 is fixedly connected with a fixed disc 51, a shell 52 is fixedly connected with the outer wall of the fixed disc 51, the driving screw 41 is driven to rotate through the motor, the driven screw 42 is driven by the transmission of the synchronous belt one 43, the threaded translation blocks 44 slide in the interior of the row Cheng Guidao seat 4, and the base 9 is driven to move, and therefore the injection molding machine is approached or kept away from the injection molding machine.

The expanding mechanism 6 comprises a motor II 601 and two mounting rods 602, the two mounting rods 602 are fixedly connected to the top of the shell 52, the motor II 601 is fixedly connected to the inside of the shell 52, a main screw 604 and a secondary screw 605 are respectively connected to the inside of the two mounting rods 602 in a rotating mode, a synchronous belt II 603 is arranged on the outer wall of the main screw 604, the main screw 604 and the secondary screw 605 are in transmission connection through the synchronous belt II 603, a moving seat 606 is connected to the outer wall of the main screw 604 and the outer wall of the secondary screw 605 in a threaded mode, the two moving seats 606 are respectively and slidably connected to the inside of the two mounting rods 602, a rotating shaft 608 is rotatably connected to the inside of the two moving seats 606, one end of an output shaft of the motor III 607 is fixedly connected to one end of the rotating shaft 608, a connecting rod 609 is fixedly connected to the outer wall of the rotating shaft 608, one side of the connecting rod 609 is fixedly connected to a mounting seat 610, the rotating range of the mounting seat 610 is smaller than or equal to 90 degrees, after the base 9 rotates by 90 degrees, a working end 16 for cleaning die waste is located on one side of the air injection seat 802, and the other working end 16 for assisting in demolding is operated by the motor 601, and is connected to the inner side of the moving seat 602 in a sliding mode through the two moving seat 601, and the main screw 601 is driven by the driving mechanism II, and the rotating seat 602 is well, and is rotatably connected to the moving seat 602 in a proper position to the moving seat, and is adjusted.

In this embodiment, the first timing belt 43 is connected to the driving screw 41 and the driven screw 42 through a belt pulley, and the second timing belt 603 is connected to the main screw 604 and the auxiliary screw 605 through a belt pulley, which is not described in detail herein.

The limit module 7 comprises two arc plates 701, one sides of the two moving seats 606 are fixedly connected with the arc plates 701, sliding grooves are formed in the two arc plates 701, sliding rods 705 are connected in the two sliding grooves in a sliding mode, two connecting frames 706 are fixedly connected to the outer walls of the sliding rods 705, the two connecting frames 706 are fixedly connected with the mounting seats 610, a fixed shaft 703 is fixedly connected between the two arc plates 701, two touch rods 704 are rotatably connected to the outer walls of the fixed shaft 703, a limit block 702 is fixedly connected to one side of each arc plate 701, the limit block 702 can be in contact with the touch rods 704, the limit block 702 can limit the moving range of the touch rods 704, the air injection mechanism 8 comprises a sliding plate 801, the sliding plate 801 is connected to the interiors of the two mounting rods 602 in a sliding mode, two driving rods 805 are fixedly connected to the bottoms of the sliding plate 801, the two driving rods 805 are respectively located on one sides of the two mounting rods 602, springs 804 are fixedly mounted in the interiors of the two mounting rods 602, one ends of the springs are fixedly connected with the sliding plates 801, the top of the sliding plates 801 are fixedly connected with air injection seats 802, the two mounting rods 802 are fixedly connected with the fixing rods 802, the fixing rods 802 are fixedly connected to the inner portions 803, the inner portions of the two mounting rods 803 are fixedly connected with the air injection pipes 803, and the inner portions 803 are fixedly connected with the air injection pipes 803, and can be communicated with the air pipes 803, and the inner air injection pipes 803 can be fixedly connected through the air pipes 803, and air through the air pipes 803 through the air pipes.

In this embodiment, the rotation shaft 608 is driven by the third motor 607 to rotate, so that the connecting rod 609 drives the mounting seat 610 to rotate, and thus the base 9 rotates, after the base 9 rotates 90 degrees, the working end 16 for cleaning the mold waste is located at one side of the air injection seat 802, wherein the mounting seat 610 can drive the connecting frame 706 to move when rotating, the sliding rod 705 slides in the circular arc plate 701, the sliding rod 705 can push the touch rod 704, the driving rod 805 is pushed by the touch rod 704 to drive the sliding plate 801 to compress the spring 803, a ventilation pipeline in the air injection seat 802 is communicated with a ventilation pipeline in the fixed rod 804, and then the air injection pipe 3 is communicated with the ventilation pipeline in the fixed rod 804, so that the air injection seat 802 can perform air injection to the working end 16 for cleaning the mold waste, the working end 16 can be cooled and cleaned, the waste adhered to the working end 16 is blown off, thereby the cleaning of the working end 16 is ensured, the working quality of cleaning the mold waste of one injection molding machine is maintained, after the waste and the injection molding machine is completed, the waste cleaning machine can be moved to another injection molding machine to clean the waste, and the demolding machine is in particular to the single shaft 5, and the injection machine is installed with the single shaft, and the injection machine is not required to be rotated, so that the injection machine is only needs to be rotated, and the injection machine is required to be installed with the single shaft machine.

The specific working mode is as follows:

when the automatic feeding device is used, the supporting seat 1 is arranged between every two injection molding machines, the two injection molding machines are set to work alternately, the driving screw rod 41 is driven to rotate by the motor, the driven screw rod 42 is driven to rotate by the transmission of the synchronous belt one 43, the translation block 44 in threaded connection slides in the row Cheng Guidao seat 4, and the base 9 is driven to move and approach to the injection molding machines;

the arm mounting seat 14 can slide on the outer wall of the drawing beam 12 through the extension and retraction of the drawing cylinder 13, the position of the mechanical arm 15 is finely adjusted, the mechanical arm 15 slides in the arm mounting seat 14, the working end 16 can clamp and clean die scraps in the injection molding machine, the drawing beam fixing seat 11 can drive the drawing beam 12 to rotate through the extension and retraction of the rotary cylinder 10, and the position of the working end 16 is better adjusted;

the motor III 607 drives the rotation shaft 608 to rotate, so that the connecting rod 609 drives the mounting seat 610 to rotate, the base 9 rotates, after the base 9 rotates 90 degrees, the working end 16 for cleaning the die waste is positioned at one side of the air injection seat 802, wherein the mounting seat 610 drives the connecting frame 706 to move when rotating, the sliding rod 705 slides in the circular arc plate 701, the sliding rod 705 pushes the touch rod 704, the driving rod 805 is pushed by the touch rod 704 to drive the sliding plate 801 to compress the spring 803, the air pipe in the air injection seat 802 is communicated with the air pipe in the fixed rod 804, and the air injection pipe 3 is communicated with the air pipe in the fixed rod 804, so that the air injection seat 802 can inject air to the working end 16 for cleaning the die waste, cool and clean the working end 16, blow off the waste adhered to the working end 16, thereby ensuring the cleaning of the working end 16 and keeping the working quality of the die waste cleaned by the working end 16;

after the base 9 rotates 90 degrees, the working end 16 for cleaning the die waste is positioned at one side of the air injection seat 802, the other working end 16 for assisting in demolding is subjected to demolding, the motor II 601 drives the main screw 604 to rotate, the auxiliary screw 605 is rotated by utilizing the transmission of the synchronous belt II 603, the moving seat 606 in threaded connection slides in the mounting rod 602, so that the mounting seat 610 and the base 9 are driven to move, the mechanical arm 15 is expanded and adjusted to move to a proper position, and further the auxiliary demolding is better performed;

after the waste material of one injection molding machine is cleaned and demoulded, the injection molding machine can be moved to the other injection molding machine to clean and demould the waste material, specifically, the motor I5 drives the fixed disc 51 to rotate, thereby driving the shell 52 and the base 9 to rotate, i.e. turning the whole direction, and then cleaning and demould the waste material of the other injection molding machine.

Finally, it should be noted that: the foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a manipulator, includes supporting seat (1), stroke track seat (4), base (9), the top fixedly connected with stroke track seat (4) of supporting seat (1), the top motion of stroke track seat (4) has casing (52), the top of casing (52) is provided with expansion mechanism (6) that are used for increasing base (9) range of motion, the inside fixed mounting of supporting seat (1) has four air pump (2), and four the end of giving vent to anger of air pump (2) all peg graft has jet-propelled pipe (3), its characterized in that: the inside of the expansion mechanism (6) is movably connected with an air injection mechanism (8), one side of the expansion mechanism (6) is provided with a limit module (7), and the limit module (7) is used for driving the air injection mechanism (8) to move;

the expanding mechanism (6) comprises two mounting rods (602), the two mounting rods (602) are fixedly connected to the top of the shell (52), the interiors of the two mounting rods (602) are slidably connected with a moving seat (606), a rotating shaft (608) is rotatably connected to the interiors of the two moving seats (606), and a mounting seat (610) is fixedly connected to the outer wall of the rotating shaft (608); the limiting module (7) comprises two arc plates (701), the two arc plates (701) are respectively and fixedly connected to one sides of two moving seats (606), sliding grooves are formed in the two arc plates (701), sliding rods (705) are connected in the sliding grooves in a sliding manner, the sliding rods (705) are fixedly connected with mounting seats (610), and touch rods (704) are movably connected to one sides of the two arc plates (701); the air injection mechanism (8) comprises a sliding plate (801), the sliding plate (801) is slidably connected to the interiors of two mounting rods (602), two driving rods (805) are fixedly connected to the bottom of the sliding plate (801), the driving rods (805) can be pushed by the touch rods (704) to move, a fixing rod (804) is fixedly connected between the two mounting rods (602), an air injection seat (802) is fixedly connected to the top of the sliding plate (801), air pipes are respectively arranged in the air injection seat (802) and the fixing rod (804), and the two air pipes are communicated with each other, and the air injection pipe (3) can be communicated with the air pipes in the fixing rod (804);

base (9) and mount pad (610) fixed connection, revolving cylinder (10) are installed to one side of base (9), one side rotation of base (9) is connected with draws and pulls out roof beam fixing base (11), revolving cylinder's (10) flexible end sliding connection draws in the inside of pulling out roof beam fixing base (11), draw one side fixedly connected with of pulling out roof beam fixing base (11) draws and pull out roof beam (12), draw the opposite side fixedly connected with of pulling out roof beam fixing base (11) draws out cylinder (13), draw out the outer wall sliding connection of roof beam (12) and have arm mount pad (14), draw out the flexible end and arm mount pad (14) fixed connection of cylinder (13), the inside sliding connection of arm mount pad (14) has robotic arm (15), the both ends of robotic arm (15) all accessible bolt fixedly connected with work end (16), one of them work end (16) clearance injection mold's waste material, another work end (16) assist the drawing of patterns.

2. A manipulator according to claim 1, wherein: travel track seat (4) and supporting seat (1) fixed connection, the inside fixed mounting of travel track seat (4) has the motor, the inside rotation of travel track seat (4) is connected with initiative lead screw (41) and driven lead screw (42), the output and the initiative lead screw (41) fixed connection of motor, the outer wall of initiative lead screw (41) is equipped with hold-in range one (43), initiative lead screw (41) and driven lead screw (42) pass through hold-in range one (43) transmission connection, the equal threaded connection of outer wall of initiative lead screw (41) and driven lead screw (42) has translation piece (44), translation piece (44) sliding connection is in the inside of travel track seat (4), two fixedly connected with motor one (5) between translation piece (44), one end fixedly connected with fixed disk (51) of motor one (5) output shaft, the outer wall fixedly connected with casing (52) of fixed disk (51).

3. A manipulator according to claim 2, wherein: the expansion mechanism (6) comprises a motor II (601), the motor II (601) is fixedly connected to the inside of the shell (52), the motor II (601) is connected with a main screw (604) and an auxiliary screw (605) in a rotating mode respectively, the outer wall of the main screw (604) is provided with a synchronous belt II (603), the main screw (604) is connected with the auxiliary screw (605) through a synchronous belt II (603) in a transmission mode, the outer walls of the main screw (604) and the auxiliary screw (605) are connected with a moving seat (606) in a threaded mode, the two moving seats (606) are connected to the inside of the two mounting rods (602) in a sliding mode respectively, one side of the rotating shaft (608) is fixedly connected with a motor III (607), one end of an output shaft of the motor III (607) is fixedly connected with one end of the rotating shaft (608), the outer wall of the rotating shaft (608) is fixedly connected with a connecting rod (609), and one side of the connecting rod (609) is fixedly connected with a mounting seat (610).

4. A manipulator according to claim 3, wherein: the limiting module (7) comprises a sliding rod (705), two connecting frames (706) are fixedly connected to the outer wall of the sliding rod (705), the two connecting frames (706) are fixedly connected with the mounting seat (610), a fixing shaft (703) is fixedly connected between the two arc plates (701), and two touch rods (704) are rotatably connected to the outer wall of the fixing shaft (703).

5. A manipulator according to claim 1, wherein: the air injection mechanism (8) comprises two driving rods (805), the two driving rods (805) are respectively located on one sides of the two mounting rods (602), springs (803) are fixedly installed in the two mounting rods (602), and one ends of the springs (803) are fixedly connected with the sliding plate (801).

6. A manipulator according to claim 3, wherein: one side of the arc plate (701) is fixedly connected with a limiting block (702), and the limiting block (702) can be contacted with a touch rod (704).

7. A manipulator according to claim 4, wherein: the rotation range of the mounting seat (610) is less than or equal to 90 degrees.