CN205674441U - Robot device and there is its injection machine - Google Patents
Robot device and there is its injection machine Download PDFInfo
- Publication number
- CN205674441U CN205674441U CN201620542279.0U CN201620542279U CN205674441U CN 205674441 U CN205674441 U CN 205674441U CN 201620542279 U CN201620542279 U CN 201620542279U CN 205674441 U CN205674441 U CN 205674441U
- Authority
- CN
- China
- Prior art keywords
- guide part
- robot device
- manipulator
- robot
- guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000002347 injection Methods 0.000 title claims abstract description 30
- 239000007924 injection Substances 0.000 title claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000465 moulding Methods 0.000 description 4
- 229920003023 plastic Polymers 0.000 description 4
- 239000004033 plastic Substances 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000019901 Anxiety disease Diseases 0.000 description 1
- 230000036506 anxiety Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of robot device and has its injection machine.Wherein, robot device includes: supporting part；First guide part, is arranged on supporting part；Second guide part, is slidably disposed on the first guide part；Robot arm, robot arm is slidably disposed on the second guide part；Wherein, the guide direction of the first guide part and the guide direction of the second guide part have angle.So arranging makes robot arm have four frees degree in the horizontal direction, in limited space so that it is more flexible that robot arm captures product, is effectively reduced working space and the floor space of robot device.
Description
Technical field
The utility model relates to automatic processing production equipment technical field, in particular to a kind of robot device and
There is its injection machine.
Background technology
As depicted in figs. 1 and 2, in prior art, moulding is completed to take out operation, wherein, 20 ' by five-shaft numerical control machinery hand
Being the first guide part, 50 ' is robot arm, and A ' B ' and C ' represents conveyer belt.Moulding after taking-up is converged by a plurality of conveyer belt
It always on a total conveyer belt, is transported to downstream production line.Five-shaft numerical control of the prior art machinery hand in-convenience in use, every
Injection machine side will increase belt line, needs large-scale installing space, easily causes production line field management chaotic so that
Injection machine operating efficiency is not high, puts floor space greatly, causes the defects such as hall space expenditure anxiety.
Utility model content
Main purpose of the present utility model is the injection machine providing a kind of robot device and having it, existing to solve
The problem that in technology, injection machine floor space is wide.
To achieve these goals, according to an aspect of the present utility model, a kind of robot device is provided, comprising:
Supporting part；First guide part, is arranged on supporting part；Second guide part, is slidably disposed on the first guide part；Manipulator
Portion, robot arm is slidably disposed on the second guide part；Wherein, the guide direction of the first guide part and the second guide part
Guide direction has angle.
Further, robot device also includes: the first pedestal, and the first pedestal is slidably disposed in the first guide part
On, the second guide part is arranged on the first pedestal.
Further, robot device also includes: drive division, is arranged on the second guide part, and drive division drives manipulator
Slide on the second guide part in portion.
Further, drive division includes: motor；Timing Belt, the first end of Timing Belt is connected with motor, the of Timing Belt
Two ends are connected with robot arm, and motor is by drawing Timing Belt so that robot arm moves on the second guide part.
Further, robot device also includes: controller, is arranged on the second guide part, controller and drive division electricity
Connect.
Further, the first guide part includes the first line slideway, the first pedestal for coordinate with the first line slideway the
One slide block.
Further, the second guide part includes the second line slideway, robot arm is provided with and joins with the second line slideway
The second slide block closing.
Further, the axis perpendicular of the axis of the second line slideway and the first line slideway.
Further, the second line slideway includes multiple guide shaft, and multiple guide shafts are arranged in parallel to each other.
Further, robot arm includes: support beam, is arranged on the second guide part；Manipulator, is movably arranged as propping up
On support beam.
Further, robot arm includes: locating piece, is arranged in support beam and for fixing Timing Belt.
Further, manipulator includes: the first manipulator, and the first manipulator is arranged in support beam, the first manipulator tool
The first of promptly product is had to firmly grasp position and the first off-position of release product；Second manipulator, the second manipulator and first
Manipulator is arranged in support beam at intervals, and the second manipulator has the second of promptly product and firmly grasps position and discharge product
Second off-position.
According to another aspect of the present utility model, provide a kind of injection machine, including robot device, on robot device
The robot device stated.
Application the technical solution of the utility model, robot device include supporting part, the first guide part, the second guide part and
Robot arm.First guide part is arranged on supporting part.Second guide part is slidably disposed on the first guide part.Manipulator
Portion is slidably disposed on the second guide part；Wherein, the guide direction of the guide direction of the first guide part and the second guide part
There is angle.So arranging makes robot arm have four frees degree in the horizontal direction, in limited space so that machine
It is more flexible that tool hand captures product, is effectively reduced working space and the floor space of robot device.
Brief description
A part of Figure of description constituting the application is used for providing being further appreciated by of the present utility model, this practicality
Novel schematic description and description is used for explaining the utility model, is not intended that to improper restriction of the present utility model.
In the accompanying drawings:
Fig. 1 shows the structural representation of injection machine of the prior art；
Fig. 2 shows the location arrangements schematic diagram during injection machine work in Fig. 1；
Fig. 3 shows the structural representation of the embodiment according to injection machine of the present utility model；
Fig. 4 shows the structural representation of the blast at the first visual angle of the embodiment of the robot arm in Fig. 3；
Fig. 5 shows the detonation configuration schematic diagram at the second visual angle of the embodiment of the robot arm in Fig. 4；
Fig. 6 shows the schematic diagram at the first visual angle of the embodiment of the injection machine in Fig. 3；
Graph of a relation with conveyer belt when Fig. 7 shows that the injection machine in Fig. 3 works；
The schematic diagram of the embodiment one of location arrangements when Fig. 8 shows the injection machine work in Fig. 3；And
The schematic diagram of the embodiment two of location arrangements when Fig. 9 shows the injection machine work in Fig. 3.
Wherein, above-mentioned accompanying drawing includes that the following drawings marks:
10th, supporting part；20th, the first guide part；30th, the first pedestal；40th, the second guide part；50th, robot arm；51st, second
Pedestal；52nd, drive division；521st, motor；53rd, support beam；54th, locating piece；55th, the first manipulator；56th, the second manipulator；60th, drive
Dynamic portion；70th, controller.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As it is shown on figure 3, according to an aspect of the present utility model, provide a kind of robot device.New according to this practicality
One specific embodiment of type, this robot device includes supporting part the 10th, the first guide part the 20th, the second guide part 40 and machine
Tool hand 50.First guide part 20 is arranged on supporting part 10.Second guide part 40 is slidably disposed in the first guide part 20
On.Robot arm 50 is slidably disposed on the second guide part 40.Wherein, the guide direction of the first guide part 20 is led with second
Guide direction to portion 40 has angle.
In the present embodiment, robot device also includes the first pedestal 30.First pedestal 30 is slidably disposed in first
On guide part 20, the second guide part 40 is arranged on the first pedestal 30.So arranging makes the first pedestal 30 drive the second guiding
Portion 40 reciprocatingly slides on the first guide part 20.For example tooth bar can be set on the first guide part 20, at the first pedestal 30
The upper setting gear suitable with tooth bar and driver 60, driver 60 can be motor, by motor-driven gear at tooth bar
Upper rotate and drive the first pedestal 30 to slide on the first guide part 20.Chute can also be set on the first guide part 20,
On first pedestal 30, roller and motor are set, are rolled in chute by motor driving rolls thus drive the first pedestal 30 sliding
Dynamic.
As shown in Figure 4 and Figure 5, robot device also includes drive division 52.Drive division 52 is arranged on the second guide part 40,
Drive division 52 drives robot arm 50 to slide on the second guide part 40.Owing to the guide direction of the first guide part 20 is led with second
Guide direction to portion 40 has angle.I.e. drive division 52 drive robot arm 50 slide on the second guide part 40 add former
There is the free degree of manipulator activity in approximately the same plane, thus increase the flexibility of whole robot device.
Wherein, drive division 52 includes motor 521 and Timing Belt.First end of Timing Belt is connected with motor 521, Timing Belt
The second end be connected with robot arm 50.Motor 521 is by drawing Timing Belt so that robot arm 50 is at the second guide part 40
Upper movement.By arrange that motor 521 rotates forward when tighten up Timing Belt and make robot arm 50 along the second guide part 40 towards motor
521 directions are moved.When motor 521 inverts, motor traction Timing Belt makes robot arm 50 move away from motor 521.Pass through
Arrange and tighten up Timing Belt when motor 521 rotates forward robot arm 50 is moved towards motor 521 direction along the second guide part 40.When
When motor 521 inverts, motor traction Timing Belt makes robot arm 50 move away from motor 521.Popular says: robot arm 50
Individual being fixed in support beam, Timing Belt is fixed in support beam by pressing plate, and motor 521 is by pulling Timing Belt, it is achieved drive
Mechanically moving hand 50.
Further, robot device also includes controller 70.Controller 70 is arranged on the second guide part 40, controller
70 electrically connect with drive division 52.By arranging controller 70 on the second guide part 40, whole robot device is controlled,
Thus realize that robot device can complete work smoothly.Preferably, as it is shown in figure 5, can remote at the second guide part 40
One the second pedestal 51 is set on one end of robot arm 50, controller 70 is arranged on the second pedestal 51.So arrange
Add the stability of controller 70, it is to avoid controller affects its control during robot device moves because there are vibrations
Performance processed.Then the reliability of robot device is added.
As shown in Figure 6 and Figure 7, the first guide part 20 includes the first line slideway.First pedestal 30 is for leading with the first straight line
The first slide block that rail coordinates.Simple in construction is so set so that the first slide block successfully can slide along the first line slideway.
Refer to as shown in Figure 4 and Figure 5, the second guide part 40 includes the second line slideway.It is provided with on robot arm 50
The second slide block coordinating with the second line slideway.So significantly reduce the difficult processing of the second guide part 40 and the second slide block
Degree, is matched by the second line slideway and the second slide block and can realize the slip of robot arm 50 so that whole manipulator dress
The structure put is simpler, is easily worked, and ensure that robot device has good stability in operation.
As shown in Figures 1 to 7, the axis perpendicular of the axis of the second line slideway and the first line slideway.So arrange
Beneficially can increase the scope of activities of whole robot device to greatest extent.Robot device is had in the horizontal plane
Four frees degree, i.e. achieve robot device and have the operating position of arbitrfary point in horizontal plane.
Refer to as shown in Figure 4 and Figure 5 again, the second line slideway includes multiple guide shaft, and multiple guide shafts set in parallel to each other
Put.So arranging can increase the stability of robot device further.
Robot arm 50 includes support beam 53 and manipulator.Support beam 53 is arranged on the second guide part 40.Manipulator is lived
It is arranged in support beam 53 dynamicly.So arranging makes manipulator can move with the movement of support beam 53, adds machine
The activity space of tool hand and scope of activities.
Wherein, robot arm 50 also includes locating piece 54, is arranged in support beam 53 and for fixing Timing Belt.So set
Put and can increase the stability that robot arm 50 is connected with motor.
Further, manipulator also includes the first manipulator 55 and the second manipulator 56.First manipulator 55 is arranged at and props up
On support beam 53.First manipulator 55 has the first of promptly product and firmly grasps position and the first off-position of release product.Second
Manipulator 56 and the first manipulator 55 are arranged in support beam 53 at intervals, and the second manipulator 56 has the second of promptly product
Promptly the second off-position of position and release product.So arranging can increase the stability of robot device further,
Use the robot device with two manipulators can increase machinery by dependable with function during work.
As shown in Figure 8 and Figure 9, the robot device in above-described embodiment may be also used in injection machine technical field.According to
Another aspect of the present utility model, provides a kind of injection machine.This injection machine includes robot device, and robot device is above-mentioned
Robot device in embodiment.Wherein, in figure, A ' B ' and C ' represents conveyer belt.
Use the injection machine in the present embodiment can replace the mode of operation of five axis robot of the prior art, further
Optimize factory building layout.In the present embodiment, the automatic reading program of digital control system, when injection machine is given to die sinking safety signal, number
Ore-controlling Role provides the servomotor that positioning data drive corresponding axle to servo amplifier, and under servomotor effect, W axle is by pickup
Fixture navigates to molding machine mold center.First pass through A axle U axle action, B axle v axle action is descending respectively moves to injection machine plastic
Product ejection position and position, the mouth of a river, and water port of product is clamped, then go up and plastic product and the mouth of a river are taken out.Secondly W
Axle action, after moving to suitable position, Z axis action, whole robot arm 50 moves together and product moves to injection machine end
Above total belt conveyor line of end.Being about to plastic under last AB axle is put on total belt conveyor line, transports next station to.Thus may be used
Seeing, all plastics are all moved on total belt conveyor line by Z axis after completing pickup, and whole piece injection line has only to a total belt,
Eliminate every injection machine side and put a conveyer belt, preferably realize the layout of factory building and the arrangement of board.With L=20m,
As a example by the factory building section of W=10m, using the mode of traditional structure manipulator or artificial pickup, the injection machine that can put is 4
Platform and it needs to 4 auxiliary conveyor belt add one and collect conveyer belt.The utility model does not then need auxiliary conveyor belt, board and machine
The space of platform can greatly reduce, then up to 7 injection machines can be put in 20mx10m section, and saves 4 auxiliary conveyings
Band, it is only necessary to a total conveyer belt.Effectively saved the space of factory building, hall space saving more than 50%, all auxiliary skins
Band line can all be exempted, and can also effectively replace artificial pickup, hall space utilization rate is greatly improved and workshop is overall certainly
Dynamicization level, and save hardware cost and maintenance cost, decrease production cost.
Need to sort out inconvenience when being all summarized in a transmission lines if the product category that injection workshop produces is more, then may be used
According to the arrangement of Fig. 9, robot device is arranged in zones of different by certain machine, is finally aggregated into total pipeline
On.
As can be seen from the above description, the utility model the above embodiments achieve following technique effect:
Moulding directly can be aggregated into total belt line by the Z axis lengthening after injection machine takes out thus reduce a point skin
Putting with line, reduces spacing distance between equipment, is effectively increased the utilization rate of factory building.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for this
For the technical staff in field, the utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, should be included within protection domain of the present utility model.
Claims (13)
1. a robot device, it is characterised in that include:
Supporting part (10)；
First guide part (20), is arranged on described supporting part (10)；
Second guide part (40), is slidably disposed on described first guide part (20)；
Robot arm (50), described robot arm (50) is slidably disposed on described second guide part (40)；
Wherein, the guide direction of described first guide part (20) and the guide direction of described second guide part (40) have angle.
2. robot device according to claim 1, it is characterised in that described robot device also includes:
First pedestal (30), described first pedestal (30) is slidably disposed on described first guide part (20), and described second
Guide part (40) is arranged on described first pedestal (30).
3. robot device according to claim 1, it is characterised in that described robot device also includes:
Drive division (52), is arranged on described second guide part (40), and described drive division (52) drives described robot arm (50)
In the upper slip of described second guide part (40).
4. robot device according to claim 3, it is characterised in that described drive division (52) includes:
Motor (521)；
Timing Belt, the first end of described Timing Belt is connected with described motor (521), the second end of described Timing Belt and described machine
Tool hand (50) is connected, and described motor (521) is by drawing described Timing Belt so that described robot arm (50) is described the
Two guide parts (40) are upper mobile.
5. robot device according to claim 3, it is characterised in that described robot device also includes:
Controller (70), is arranged on described second guide part (40), and described controller (70) is electrically connected with described drive division (52)
Connect.
6. robot device according to claim 2, it is characterised in that described first guide part (20) includes the first straight line
Guide rail, described first pedestal (30) is the first slide block coordinating with described first line slideway.
7. robot device according to claim 6, it is characterised in that described second guide part (40) includes the second straight line
Guide rail, described robot arm (50) is provided with the second slide block coordinating with described second line slideway.
8. robot device according to claim 7, it is characterised in that the axis of described second line slideway and described the
The axis perpendicular of one line slideway.
9. robot device according to claim 7, it is characterised in that described second line slideway includes multiple guide shaft,
Multiple described guide shafts are arranged in parallel to each other.
10. robot device according to claim 1, it is characterised in that described robot arm (50) includes:
Support beam (53), is arranged on described second guide part (40)；
Manipulator, is movably arranged as in described support beam (53).
11. robot devices according to claim 10, it is characterised in that described robot arm (50) includes:
Locating piece (54), is arranged at described support beam (53) and above and is used for fixing Timing Belt.
12. robot devices according to claim 10, it is characterised in that described manipulator includes:
First manipulator (55), described first manipulator (55) is arranged in described support beam (53), described first manipulator
(55) there is the first of promptly product and firmly grasp position and the first off-position of the described product of release；
Second manipulator (56), described second manipulator (56) and described first manipulator (55) are arranged at described at intervals
In support beam (53), described second manipulator (56) have the second of promptly described product promptly position and the described product of release the
Two off-positions.
13. 1 kinds of injection machines, including robot device, it is characterised in that described robot device includes in claim 1 to 12
Robot device described in any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620542279.0U CN205674441U (en) | 2016-06-03 | 2016-06-03 | Robot device and there is its injection machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620542279.0U CN205674441U (en) | 2016-06-03 | 2016-06-03 | Robot device and there is its injection machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205674441U true CN205674441U (en) | 2016-11-09 |
Family
ID=57434477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620542279.0U Expired - Fee Related CN205674441U (en) | 2016-06-03 | 2016-06-03 | Robot device and there is its injection machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205674441U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856521A (en) * | 2016-06-03 | 2016-08-17 | 珠海格力智能装备有限公司 | Mechanical arm device and injection molding machine with the same |
| CN106808467A (en) * | 2016-11-30 | 2017-06-09 | 广东正业科技股份有限公司 | A kind of grasping mechanism |
-
2016
- 2016-06-03 CN CN201620542279.0U patent/CN205674441U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856521A (en) * | 2016-06-03 | 2016-08-17 | 珠海格力智能装备有限公司 | Mechanical arm device and injection molding machine with the same |
| CN106808467A (en) * | 2016-11-30 | 2017-06-09 | 广东正业科技股份有限公司 | A kind of grasping mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202684627U (en) | Automatic feeding-discharging double-manipulator system | |
| CN205032395U (en) | Robot vision sorts equipment | |
| CN205346110U (en) | A production line for parachute kit equipment | |
| CN105703193B (en) | A kind of connector production line | |
| CN207242724U (en) | A kind of sectional intermittent transmission device | |
| CN104828282A (en) | Multi-station film sticking machine | |
| CN206927249U (en) | Test equipment automatic handing system | |
| CN205674441U (en) | Robot device and there is its injection machine | |
| CN204124716U (en) | A kind of multiplex (MUX) with linear electric motors makes slide plate automatic feeding | |
| CN203917933U (en) | Automation Double-head numerical controlled lathes | |
| CN206105514U (en) | Modernization numerical control machining apparatus | |
| CN107160411A (en) | A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator | |
| CN204808036U (en) | Automatic portable cable sender ware people | |
| CN203254536U (en) | Bottle blank conveying mechanism of bottle blowing machine | |
| CN112936458A (en) | Centralized discharging wood processing center and control system and processing method thereof | |
| CN201092473Y (en) | Control device for section steel wire trolley | |
| CN202028797U (en) | Single-shaft processing device with multi-handpiece for locating positions | |
| CN105856521A (en) | Mechanical arm device and injection molding machine with the same | |
| CN211639879U (en) | Automatic marking and dotting mechanical device for medium and small platforms | |
| CN205112800U (en) | Be used for glyptic pair of longmen independent control engraver on mould | |
| CN209257743U (en) | Four axis engraving machines are revolved on a kind of double-station | |
| CN206562172U (en) | Glass loading device | |
| CN207787280U (en) | The processing unit (plant) of Length discrepancy trip stop finned tube | |
| CN110900554A (en) | Automatic marking and dotting mechanical device for medium and small platforms | |
| CN205200599U (en) | Drilling device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161109 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |