CN204640724U - A servo-controlled high-speed side-feeding manipulator - Google Patents

Abstract

The utility model discloses a servo control high-speed side-fetching manipulator, which comprises a Z-axis side-fetching manipulator arm, an X-axis transverse moving mechanism and a Y-bearing chamfering manipulator arm; the Y-bearing chamfering mechanical arm comprises an up-and-down moving mechanism and a chamfering mechanism, the chamfering mechanism is arranged on a moving platform of the up-and-down moving mechanism, and the Z-axis side taking mechanical arm and the X-axis transverse moving mechanism are arranged on the side of the Y-bearing chamfering mechanical arm. The utility model discloses a Z axle side that is located X axle sideslip mechanism is got robotic arm and is carried out taking out of product, then give the product to the Y bearing and connect the action that chamfer robotic arm accomplished the piling up, with taking out and piling up separately becoming two independent devices of product and going to accomplish, take out the process and pile up the synchronous going on of process, realize that the injection moulding product is high-speed to take out for thin wall spare product production cycle of moulding plastics is shorter, the empty cycle time 2 seconds of servo control high-speed side formula manipulator, get thing time 0.6 seconds in the mould.

Description

A servo-controlled high-speed side-feeding manipulator

technical field

The utility model relates to the technical field of mechanical manufacturing, in particular to a servo-controlled high-speed side-taking manipulator.

Background technique

In-mold labeling has been widely used in the fields of daily chemicals and condiments. Especially for daily chemical products, in-mold labeling is widely favored by daily chemical companies for its trinity of protective, functional and decorative functions. For in-mold labeling, it can get beautiful colorful patterns on the bottle like screen printing. However, after the packaging container with in-mold labeling is produced, it is impossible to change the label, which affects the flexibility of production. This requires the manufacturer to have accurate sales forecasts for the products. However, there are not many domestic manufacturers reaching this level, which limits the rapid development of in-mold labeling in China.

The molding cycle of injection molding products is getting shorter and shorter, and the molding process is becoming more and more complex, which puts forward higher requirements for the speed and function of injection molding manipulators. In the past, the operating cycle of the side-taking manipulator was about 6 seconds, but now it takes 4 seconds or even less. The previous method can only increase the power of the motor, which increases the cost and the volume of the mechanism. Therefore, how to improve operation and responsiveness has become a must-solve issue.

Utility model content

In order to solve the above problems, the utility model discloses a servo-controlled high-speed side-taking manipulator, which adopts a digitally controlled servo mechanism to achieve high-speed removal of injection molded products.

The technical scheme that the utility model adopts for realizing the above object is:

A servo-controlled high-speed side-taking robot arm, which includes a Z-axis side-taking robot arm, an X-axis traversing mechanism, and a Y-bearing chamfering robot arm. The Z-axis side-taking robot arm includes a Z-axis drawing mechanism. The Z-axis drawing mechanism is arranged on the traversing platform of the X-axis traversing mechanism; the Y-bearing chamfering mechanical arm includes an up and down movement mechanism and a chamfering mechanism, and the chamfering mechanism is arranged on the moving platform of the up and down movement mechanism , the Z-axis side fetching mechanical arm and the X-axis traversing mechanism are arranged on the side of the Y-bearing chamfering mechanical arm.

The traversing platform of the X-axis traversing mechanism is movably arranged on a receiving platform, and a servo motor is fixed on the traversing platform, and the servo motor is connected to a gear through a reducer. The gear racks mesh with each other.

The receiving platform is provided with a transverse guide rail, and the bottom surface of the traversing platform is fixed with a slider matching the transverse guide rail.

The Z-axis drawing mechanism includes two horizontally arranged first arm parts and second arm parts, the first arm part is fixedly arranged on a Z-bearing connecting platform, and the Z-bearing connecting platform is fixedly arranged on the horizontal Above the moving platform, the second arm is movably connected with the first arm through a belt transmission mechanism, and the end of the second arm is fixedly connected with a suction cup assembly.

The up and down moving mechanism also includes a guide rail vertically arranged on a column, and a belt transmission mechanism is arranged in the column, and the moving platform is movably arranged on the column through the belt transmission mechanism.

The chamfering mechanism includes a guide chute arranged on the column, a bearing connecting the rotating shaft of the mobile platform, a connecting rod connecting the guiding chute and the rotating shaft, and a receiving jig fixed on one end of the rotating shaft.

The utility model has the advantages that: the utility model takes out the product through the Z-axis side fetching mechanical arm located on the X-axis traversing mechanism, and then delivers the product to the Y-bearing chamfering mechanical arm to complete the stacking action, and the product The take-out and stacking are separated into two independent devices to complete; when the Z-axis side pick-up robot arm takes out the product and delivers it to the Y-bearing chamfering robot arm, the Y-bearing chamfering robot arm chamfers and stacks the product At the same time, the Z-axis side-feeding robot arm enters the injection molding machine at the same time to take out the next batch of injection molded products. The take-out process and the stacking process are carried out synchronously, realizing high-speed take-out and stacking of injection molded products, making the production cycle of injection molded thin-walled parts shorter. Servo control The empty cycle time of the high-speed side pick-up manipulator is 2 seconds, and the pick-up time in the mold is 0.6 seconds, which is faster and more efficient.

Below in conjunction with accompanying drawing and specific embodiment, the utility model is further described.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present embodiment;

Fig. 2 is a schematic structural diagram of the Y-bearing chamfering mechanical arm in Fig. 1 .

In the figure: 1. Z-axis side fetching robot arm, 11. Z-axis drawing mechanism, 111. First arm, 112. Second arm, 12. Z bearing connecting platform, 13. Suction cup assembly, 2. X-axis Traversing mechanism, 21. Traversing platform, 22. Receiving table, 23. Servo motor, 24. Rack, 25. Transverse guide rail, 3. Y bearing connected to chamfering mechanical arm, 31. Up and down moving mechanism, 311. Moving platform , 312. guide rail, 32. column, 33. chamfering mechanism, 331. guiding chute, 332. rotating shaft, 333. connecting rod, 334. undertaking jig.

Detailed ways

Embodiment, referring to Fig. 1 ~ Fig. 2, the servo-controlled high-speed side-taking type manipulator provided by this embodiment includes a Z-axis side-taking manipulator 1, an X-axis traversing mechanism 2 and a Y-bearing chamfering manipulator 3, so The Z-axis side-taking mechanical arm 1 includes a Z-axis drawing mechanism 11, and the Z-axis drawing mechanism 11 is arranged on the traversing platform 21 of the X-axis traversing mechanism 2; the Y-bearing chamfering robot arm 3 includes The up and down movement mechanism 31 and the chamfering mechanism 33, the chamfering mechanism 33 is arranged on the mobile platform 311 of the up and down movement mechanism 31, and the Z-axis side fetching mechanical arm 1 and the X-axis lateral movement mechanism 2 are arranged on the Y bearing connected to the bottom The side of Angle Manipulator 3. In this embodiment, the product is taken out by the Z-axis side fetching robot arm 1 located on the X-axis lateral movement mechanism 2, and then the product is handed over to the Y-bearing chamfering robot arm 3 to complete the stacking action, and the product removal and stacking are separated It is completed by two independent devices to realize high-speed removal of injection molded products, making the production cycle of injection molded thin-walled parts shorter. The empty cycle time of the servo-controlled high-speed side-feeding manipulator is 2 seconds, and the in-mold retrieval time is 0.6 seconds.

The traversing platform 21 of the X-axis traversing mechanism 2 is movably arranged on a receiving platform 22, and the traversing platform 21 is fixed with a servo motor 23, and the servo motor 23 is connected to a gear through a reducer. The table 22 is provided with a rack 24 in which the gears mesh with each other. The receiving platform 22 is provided with a transverse guide rail 25 , and the bottom surface of the traversing platform 21 is fixed with a slider matching the transverse guide rail 25 . The traversing platform 21 is driven by a gear driven by a servo motor 23 , and the gear and the rack 24 are engaged with each other for transmission, so as to realize the lateral rapid movement of the traversing platform 21 on the transverse guide rail 25 .

The Z-axis drawing mechanism 11 includes two horizontally arranged first arm parts 111 and a second arm part 112, the first arm part 111 is fixedly arranged on a Z bearing connecting platform 12, and the Z bearing connecting platform 12 The traversing platform 21 is fixedly connected, the second arm 112 is movably connected with the first arm 111 through a belt transmission mechanism, and the end of the second arm 112 is fixedly connected with a suction cup assembly 13 . The Z-axis pulling mechanism 11 moves laterally under the drive of the traversing platform 21. When it is in place, the second arm 112 is driven into the injection molding machine by the belt transmission mechanism, and the suction cup assembly 13 sucks the injection molded product. and remove.

The up and down movement mechanism 31 also includes a guide rail 312 vertically arranged on a column 32, and a belt transmission mechanism is also provided in the column 32, and the mobile platform 311 is movably arranged on the column 32 through the belt transmission mechanism, and moves The platform 311 moves up and down on the column 32 through the guide rail 312 of the column 32 . Described chamfering mechanism 33 comprises the guide chute 331 that is arranged on the column 32, connects the rotating shaft 332 of mobile platform 311 by a bearing, connects the connecting rod 333 of guiding chute 331 and rotating shaft 332, and is fixed on rotating shaft 332 The receiving jig 334 on one end, the receiving jig 334 of the chamfering mechanism 33 receives the injection molded product taken out by the suction cup assembly 13, and rotates 90 degrees downward while moving downward.

The working principle of the utility model: when the second arm 112 of the mechanical arm 1 on the Z axis extends into the injection molding machine, the suction cup assembly 13 absorbs the injection molded product, and then the second arm 112 moves back to take out the product. The arm part 112 moves to the Y bearing and chamfering mechanical arm 3, and the jig 334 takes over the injection molded product. When the moving platform 311 moves downward, it drives the rotating shaft 332 to move downward at the same time. The connection with the rotating shaft 332 is fixed. The rod 333 is rotated downward by 90 degrees under the guidance of the guide chute 331, and the rotating shaft 332 and the receiving jig 334 fixed on the rotating shaft 332 are also rotated downward by 90 degrees at the same time, and finally the injection molded products are stacked vertically. .

When the Z-axis side fetching robot arm 1 enters the injection molding machine to take out the injection molded products, the Y-bearing chamfering robot arm 3 chamfers and stacks the products, that is, the taking-out process and the stacking process are carried out synchronously, shortening the time for taking out and stacking , which shortens the injection molding cycle and improves production efficiency.

The utility model is not limited to the above-mentioned embodiments, and other high-speed side-taking manipulators for servo control obtained by adopting the same or similar structures or devices as the above-mentioned embodiments of the utility model are within the protection scope of the utility model.

Claims (6)

1. a SERVO CONTROL high-speed side modus ponens manipulator, it is characterized in that: it comprises Z axis side and gets mechanical arm, X-axis transverse-moving mechanism and Y-axis undertaking chamfering mechanical arm, described Z axis side is got mechanical arm and is comprised Z axis pulling mechanism, and described Z axis pulling organization establishes is on the traversing platform of X-axis transverse-moving mechanism; Described Y-axis is accepted chamfering mechanical arm and is comprised reciprocating mechanism and chamfer mechanism, and described chamfer mechanism is arranged on the mobile platform of reciprocating mechanism, and described Z axis side gets mechanical arm and X-axis transverse-moving mechanism is arranged on the side that Y-axis accepts chamfering mechanical arm.

2. SERVO CONTROL high-speed side modus ponens manipulator according to claim 1, it is characterized in that: the traversing platform of described X-axis transverse-moving mechanism is movably arranged on an adapting table, described traversing platform is fixed with servo motor, this servo motor connects a gear by reductor, and described adapting table is provided with in the intermeshing tooth bar of described gear.

3. SERVO CONTROL high-speed side modus ponens manipulator according to claim 2, it is characterized in that: described adapting table is provided with cross slide way, described traversing platform base is fixed with the slide block suitable with this cross slide way.

4. SERVO CONTROL high-speed side modus ponens manipulator according to claim 1, it is characterized in that: described Z axis pulling mechanism comprises horizontally disposed first arm of two-section and the second arm, described first arm is fixedly installed on a Z axis adapting table, this Z axis adapting table is fixedly installed on above described traversing platform, described second arm is connected with the first arm motion by belt gear, and described second arm end winding support connects a Suction cup assembly.

5. SERVO CONTROL high-speed side modus ponens manipulator according to claim 1, it is characterized in that: described reciprocating mechanism also comprises the guide rail be vertically arranged on a column, also be provided with belt gear in described column, described mobile platform is movably arranged on column by this belt gear.

6. SERVO CONTROL high-speed side modus ponens manipulator according to claim 5, it is characterized in that: described chamfer mechanism comprises the guide chute be arranged on column, the rotating shaft of mobile platform is connected by a bearing, connect the connecting rod of guide chute and rotating shaft, and be fixed on the undertaking tool on rotating shaft one end.