CN206953411U - A kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products - Google Patents
A kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products Download PDFInfo
- Publication number
- CN206953411U CN206953411U CN201720837131.4U CN201720837131U CN206953411U CN 206953411 U CN206953411 U CN 206953411U CN 201720837131 U CN201720837131 U CN 201720837131U CN 206953411 U CN206953411 U CN 206953411U
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- Prior art keywords
- axle
- preset
- pawl
- direction axle
- template
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Abstract
The utility model provides a kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products, including preset (1), handgrip (2), mechanical arm (3).The preset that the utility model uses is made up of vibration feeding disc and three-dimensional fetching device, and three-dimensional fetching device is provided with pedestal, column, crossbeam, X to axle, Y-direction axle, Z-direction axle, template and preset pawl；Z-direction axle is moved forward and backward from X to the action of axle band, and preset pawl is driven by Z-direction axle and moved up and down, and template acts side-to-side movement by Y-direction axle band；Mechanical arm is six axis joint numerical controlled machinery arms；The wrist joint end of handgrip and mechanical arm connects；The present apparatus utilizes the interval of injection molding, by multiple inserts needed for the preset next round injection of preset, mechanical arm is waited to drive the part pawl of putting of handgrip disposably to grip the technical scheme delivered in mould, the unmanned automation injection molding of how embedding product is produced, has reached the purpose for improving efficiency, reducing standby energy consumption, reducing cost.
Description
Technical field
It the utility model is related to a kind of robot device, in particular to for unmanned automation injection molding production, noting
To mould inserts is built into before modeling matched moulds, the one kind for capturing product from mould after injection molds efficiently is inserted multiple inserts and grabbed
Take the numerical controlled machinery arm device of product.
Background technology
Explanation：The compound inserts embedded with metallic referred to as has embedding product inside injection-molded item, is provided with for inside multiple embedding
Part has embedding product to be referred to as how embedding product；In the injection molding process for having embedding product, be molded before matched moulds need to be built into mould it is embedding
Part, need to be removed from the molds product after injection die sinking；The above-mentioned operation inserted inserts and take out product, for the note of Attended mode
Type production is moulded into, by manually having been manually done, for unmanned automation injection molding production, is then completed by digital control mechanical arm.
The digital control mechanical arm of prior art in how embedding production of articles, can only a ground be built into inserts to mould,
Such operating time is long, efficiency is low, and injection machine stand-by period length, energy consumption are big, causes the integrated cost of how embedding product to occupy height, because
This, there is the problem of efficiency is low, standby energy consumption is big, cost is high and deficiency in prior art.
The content of the invention
For the above-mentioned problems of the prior art and deficiency, the utility model is used by preset, handgrip, mechanical arm structure
Into device, wherein, preset is made up of vibration feeding disc and three-dimensional fetching device, the three-dimensional fetching device be provided with pedestal, column,
Crossbeam, X are to axle, Y-direction axle, Z-direction axle, template and preset pawl；Z-direction axle is moved forward and backward from X to the action of axle band, and preset pawl is by Z-direction
Axle drives and moved up and down, and template acts side-to-side movement by Y-direction axle band；It is provided with above template embedding as built in how embedding product
The groove that part placement position coordinate is set is referred to as coordinate groove；Handgrip is provided with pickup pawl and puts part pawl, and the pickup pawl is provided with crawl
The pneumatic flange splint of more embedding product, the part pawl of putting are provided with multiple pneumatic flange splints corresponding with the coordinate groove respectively；It is described
Pneumatic flange splint is the fixture that opening and closing are driven by cylinder；Mechanical arm is six axis joint numerical controlled machinery arms；Handgrip and mechanical arm
Wrist joint end connects；
When originating work, vibration feeding disc, which manages inserts, lines up the Pan Kou for being transferred to vibration feeding disc waits, numerical control, and three
The preset pawl and template of fetching device are tieed up in X under the drive of axle, Y-direction axle and the target-seeking motion of Z-direction axle, preset pawl is by inserts one
One ground is moved to by the Pan Kou in each coordinate groove of template, when each coordinate groove of template puts full inserts
Afterwards, template removes to the right the operating area wait of Z-direction axle, and afterwards, mould die sinking, mechanical arm drive handgrip puts part pawl,
By etc. multiple inserts for staying on template disposably gripping is delivered in mould, afterwards, mould mold-closing injection, mold injection into
During the how embedding product of type, Y-direction axle drives template to move into the operating area of Z-direction axle to the left, coordinates preset pawl to continue to the seat
Multiple inserts needed for preset next round injection in groove are marked, after putting full inserts, template removes to the right the operating area of Z-direction axle again
Secondary wait；When injection molding is finished, how embedding product is released in mould die sinking, mechanical arm drive the pickup pawl of handgrip first will how embedding product from
Take out and moved on conveyer belt in mould, afterwards, mechanical arm drives handgrip to put part pawl, by template preset wait it is more
Individual inserts disposably deliver in mould by gripping, and mould mold-closing injection, work afterwards just so goes round and begins again；Utilize injection molding
Interval, be molded by the preset next round of preset needed for multiple inserts, wait mechanical arm drive handgrip to put part pawl disposable
Grip the technical scheme delivered in mould, there is provided a kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products, purport
The unmanned automation injection molding of how embedding product is produced, is reaching the mesh for improving efficiency, reducing standby energy consumption, reducing cost
's.
What the purpose of this utility model was realized in：A kind of digital control mechanical arm for efficiently inserting multiple inserts crawl products
Device, including preset, handgrip, mechanical arm, wherein：Described preset is made up of vibration feeding disc and three-dimensional fetching device, institute
It is electric and magnetic oscillation feeder equipment to state vibration feeding disc；The three-dimensional fetching device is from pedestal, column, crossbeam, X to axle, Y-direction axle, Z
The planer type numerical control three-dimensional fetching device formed to axle, template and preset pawl；Wherein, the pedestal is the steel of rectangular plate-like
Component, the column are cylindrical steel components, and the crossbeam is the steel components of rectangular plate-like；Two column time intervals,
It is parallel to each other, is fixed on vertically above pedestal, crossbeam level is fixedly connected on the upper end of two columns, and the X is to axle before
Rear to being connected at crossbeam, the Z-direction axle along the vertical direction with X to the orthogonal connection of axle, the Y-direction axle position in two columns it
Between center, be connected in left-right direction above the pedestal, the template is connected to the upper of the planker of the Y-direction axle
Face, the preset pawl are connected at the planker of the Z-direction axle down；The X to axle, Y-direction axle or Z-direction axle be by servomotor,
The digital controlled linear reciprocating drive mechanism that planker is secondary, screw pair is formed；Planker band action fore-and-aft direction of the Z-direction axle from X to axle moves,
Preset pawl is moved by the planker band action above-below direction of Z-direction axle, and template is moved by the planker band action left and right directions of Y-direction axle；
Above the template, the groove that the placement position coordinate provided with the inserts as built in how embedding product is set is referred to as coordinate groove；
Described handgrip is provided with pickup pawl and puts part pawl, and the pickup pawl is provided with the pneumatic folding for being used for capturing how embedding product
Folder, the part pawl of putting are provided with multiple the coordinate groove one-to-one corresponding with template, the pneumatic foldings for capturing inserts respectively
Folder；The pneumatic flange splint is the fixture that opening and closing are driven by cylinder；
Described mechanical arm is six axis joint numerical controlled machinery arms；
The wrist joint end of handgrip and mechanical arm connects；The Pan Kou of the discharging of vibration feeding disc is located at the operating area of Z-direction axle
Place.
Said structure statement direction face be divided into up, down, left, right, front, rear side, wherein, before be in face of present apparatus main view
The face of figure, behind be and the above relative face.
Working principle and beneficial effect
When originating work, vibration feeding disc, which manages inserts, lines up the Pan Kou for being transferred to vibration feeding disc waits；
Numerical control, the preset pawl and template of three-dimensional fetching device in X under the drive of axle, Y-direction axle and the target-seeking motion of Z-direction axle,
The preset pawl is moved on ground of inserts one in each coordinate groove of template by the Pan Kou, each when template
After the individual coordinate groove puts full inserts, the operating area that template removes to the right Z-direction axle waits, afterwards, mould die sinking, machinery
Arm drives handgrip to put part pawl, by etc. multiple inserts for staying on template disposably gripping is delivered in mould, afterwards, mould closes
It is molded into moulding, during the how embedding product of mold injection molding, Y-direction axle drives template to move into the operating area of Z-direction axle to the left, coordinates
Preset pawl continues multiple inserts needed for preset next round injection into the coordinate groove, and after putting full inserts, template moves right
The operating area for going out Z-direction axle again waits for；When injection molding is finished, how embedding product is released in mould die sinking, and mechanical arm drives handgrip
How embedding product is first removed from the molds and moved on conveyer belt by pickup pawl, and afterwards, mechanical arm drive handgrip puts part pawl, will be located at
Multiple inserts of preset wait on template disposably deliver in mould by gripping, mould mold-closing injection, and work afterwards is just such
Go round and begin again.
The present apparatus utilizes the interval of injection molding, and required multiple inserts are molded using by the preset next round of preset, etc.
Treat that mechanical arm drives the disposable gripping of part pawl of putting of handgrip to deliver in mould, and the mode of product can be captured, make how embedding product
Unmanned automation injection molding production, improve efficiency, reduce standby energy consumption, reduce cost.
Above-mentioned, the utility model uses the device being made up of preset, handgrip, mechanical arm, wherein, preset is sent by vibrating
Charging tray and three-dimensional fetching device are formed, and the three-dimensional fetching device is provided with pedestal, column, crossbeam, X to axle, Y-direction axle, Z-direction axle, coordinate
Plate and preset pawl；Z-direction axle is moved forward and backward from X to the action of axle band, and preset pawl is driven by Z-direction axle and moved up and down, and template is by Y-direction
Axle band acts side-to-side movement；The groove that the inserts placement position coordinate as built in how embedding product is set is provided with above template to be referred to as
Coordinate groove；Handgrip is provided with pickup pawl and puts part pawl, and the pickup pawl is provided with the pneumatic flange splint for capturing how embedding product, described to put part
Pawl is provided with multiple pneumatic flange splints corresponding with the coordinate groove respectively；The pneumatic flange splint is the folder that opening and closing are driven by cylinder
Tool；Mechanical arm is six axis joint numerical controlled machinery arms；The wrist joint end of handgrip and mechanical arm connects；
When originating work, vibration feeding disc, which manages inserts, lines up the Pan Kou for being transferred to vibration feeding disc waits, numerical control, and three
The preset pawl and template of fetching device are tieed up in X under the drive of axle, Y-direction axle and the target-seeking motion of Z-direction axle, preset pawl is by inserts one
One ground is moved to by the Pan Kou in each coordinate groove of template, when each coordinate groove of template puts full inserts
Afterwards, template removes to the right the operating area wait of Z-direction axle, and afterwards, mould die sinking, mechanical arm drive handgrip puts part pawl,
By etc. multiple inserts for staying on template disposably gripping is delivered in mould, afterwards, mould mold-closing injection, mold injection into
During the how embedding product of type, Y-direction axle drives template to move into the operating area of Z-direction axle to the left, coordinates preset pawl to continue to the seat
Multiple inserts needed for preset next round injection in groove are marked, after putting full inserts, template removes to the right the operating area of Z-direction axle again
Secondary wait；When injection molding is finished, how embedding product is released in mould die sinking, mechanical arm drive the pickup pawl of handgrip first will how embedding product from
Take out and moved on conveyer belt in mould, afterwards, mechanical arm drives handgrip to put part pawl, by template preset wait it is more
Individual inserts disposably deliver in mould by gripping, and mould mold-closing injection, work afterwards just so goes round and begins again；Utilize injection molding
Interval, be molded by the preset next round of preset needed for multiple inserts, wait mechanical arm drive handgrip to put part pawl disposable
Grip the technical scheme delivered in mould, overcome prior art exist the problem of efficiency is low, standby energy consumption is big, cost is high with not
Foot, a kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products provided, make how embedding product nobody is automatic
Change injection molding production, reach the purpose for improving efficiency, reducing standby energy consumption, reducing cost.
Brief description of the drawings
Fig. 1 is that a kind of main view of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model is shown
It is intended to；
Fig. 2 is that a kind of axle of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model measures
It is intended to；
Fig. 3 is that a kind of three-dimensional of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model takes
Put the schematic front view of device 12；
Fig. 4 is that a kind of three-dimensional of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model takes
Put the schematic side view of device 12；
Fig. 5 is that a kind of three-dimensional of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model takes
Put the axonometric schematic diagram of device 12；
Fig. 6 is a kind of handgrip 2 of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model
Schematic front view；
Fig. 7 is a kind of handgrip 2 of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model
Vertical view axonometric schematic diagram；
Fig. 8 is a kind of handgrip 2 of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products of the present utility model
Look up axonometric schematic diagram.
Embodiment in below in conjunction with the accompanying drawings is described in further detail to the utility model, but should not be construed as to this reality
With new any restrictions.
In figure：Preset 1, vibration feeding disc 11, disk mouth 110, three-dimensional fetching device 12, pedestal 121, column 122, crossbeam
123rd, X to axle 124, Y-direction axle 125, Z-direction axle 126, template 127, preset pawl 128, handgrip 2, pickup pawl 21, put part pawl 22, machine
Tool arm 3, inserts 01.
Embodiment
Refering to Fig. 1~Fig. 8, a kind of digital control mechanical arm dress for efficiently inserting multiple inserts crawl products of the present utility model
Put, including preset 1, handgrip 2, mechanical arm 3, wherein：Described preset 1 is by vibration feeding disc 11 and the structure of three-dimensional fetching device 12
Into the vibration feeding disc 11 is electric and magnetic oscillation feeder equipment；The three-dimensional fetching device 12 is by pedestal 121, column 122, horizontal stroke
The planer type numerical control three-dimensional that beam 123, X are formed to axle 124, Y-direction axle 125, Z-direction axle 126, template 127 and preset pawl 128 picks and places
Mechanism；Wherein, the pedestal 121 is the steel components of rectangular plate-like, and the column 122 is cylindrical steel components, the horizontal stroke
Beam 123 is the steel components of rectangular plate-like；Two time intervals of column 122, it is parallel to each other, is fixed on the upper of pedestal 121 vertically
Face, the level of crossbeam 123 are fixedly connected on the upper end of two columns 122, and the X is connected to crossbeam 123 along the longitudinal direction to axle 124
Place, the Z-direction axle 126 is along the vertical direction with X to 124 orthogonal connection of axle, and the Y-direction axle 125 is between two columns 122
Center, it is connected in left-right direction above the pedestal 121, the template 127 is connected to the planker of the Y-direction axle 125
Above, the preset pawl 128 is connected at the planker of the Z-direction axle 126 down；The X is to axle 124, Y-direction axle 125 or Z-direction
Axle 126 is the digital controlled linear reciprocating drive mechanism being made up of servomotor, planker pair, screw pair；Z-direction axle 126 is from X to axle 124
Planker band action fore-and-aft direction motion, preset pawl 128 by Z-direction axle 126 planker band action above-below direction move, template
127 are moved by the planker band action left and right directions of Y-direction axle 125；Above the template 127, provided with as built in how embedding product
The groove that the placement position coordinate of inserts 01 is set is referred to as coordinate groove；
Described handgrip 2 is provided with pickup pawl 21 and puts part pawl 22, and the pickup pawl 21, which is provided with, to be used to capture how embedding product
Pneumatic flange splint, it is described put part pawl 22 and be provided with multiple corresponded respectively with the coordinate groove of template 127, be embedding for capturing
The pneumatic flange splint of part 01；The pneumatic flange splint is the fixture that opening and closing are driven by cylinder；
Described mechanical arm 3 is six axis joint numerical controlled machinery arms；
Handgrip 2 is connected with the wrist joint end of mechanical arm 3；The disk mouth 110 of the discharging of vibration feeding disc 11 is located at Z-direction axle 126
Operating area at.
Said structure statement direction face be divided into up, down, left, right, front, rear side, wherein, before be in face of present apparatus main view
The face of figure, behind be and the above relative face.
Working principle and beneficial effect
When originating work, vibration feeding disc 11, which manages inserts 01, lines up disk mouth 110 for being transferred to vibration feeding disc 11 etc.
Treat；
Numerical control, the preset pawl 128 and template 127 of three-dimensional fetching device 12 are in X to axle 124, Y-direction axle 125 and Z-direction axle 126
Under the drive of target-seeking motion, ground of inserts 01 1 is moved to template 127 by the preset pawl 128 by the disk mouth 110
In each coordinate groove, after each coordinate groove of template 127 puts full inserts 01, template 127 removes to the right Z
Waited to the operating area of axle 126, afterwards, mould die sinking, mechanical arm 3 drives handgrip 2 to put part pawl 22, by etc. stay in template
Multiple inserts 01 on 127 disposably deliver in mould by gripping, afterwards, mould mold-closing injection, in the how embedding system of mold injection molding
During product, Y-direction axle 125 drives template 127 to move into the operating area of Z-direction axle 126 to the left, coordinates preset pawl 128 to continue to institute
Multiple inserts 01 needed for preset next round injection in coordinate groove are stated, after putting full inserts 01, template 127 removes to the right Z-direction axle
126 operating area again waits for；When injection molding is finished, how embedding product is released in mould die sinking, and mechanical arm 3 drives taking for handgrip 2
How embedding product is first removed from the molds and moved on conveyer belt by part pawl 21, and afterwards, the drive handgrip 2 of mechanical arm 3 puts part pawl 22, will
Multiple inserts 01 of the preset wait on template 127 disposably deliver in mould by gripping, mould mold-closing injection, work afterwards
Work just so goes round and begins again.
The present apparatus utilize injection molding interval, using by 1 preset next round of preset be molded needed for multiple inserts 01,
Wait mechanical arm 3 to drive the disposable gripping of part pawl 22 of putting of handgrip 2 to deliver in mould, and the mode of product can be captured, make more
The unmanned automation injection molding production of embedding product, improves efficiency, reduces standby energy consumption, reduces cost.
Claims (1)
1. a kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products, including preset (1), handgrip (2), machinery
Arm (3), it is characterised in that：Described preset (1) is made up of vibration feeding disc (11) and three-dimensional fetching device (12), the vibration
Feed table (11) is electric and magnetic oscillation feeder equipment；The three-dimensional fetching device (12) is by pedestal (121), column (122), crossbeam
(123), the planer-type number that X is formed to axle (124), Y-direction axle (125), Z-direction axle (126), template (127) and preset pawl (128)
Control three-dimensional fetching device；Wherein, the pedestal (121) is the steel components of rectangular plate-like, and the column (122) is cylindrical steel
Texture part, the crossbeam (123) are the steel components of rectangular plate-like；Two column (122) time intervals, it is parallel to each other, vertically
It is fixed on above pedestal (121), crossbeam (123) level is fixedly connected on the upper end of two columns (122), and the X is to axle
(124) it is connected to crossbeam (123) place along the longitudinal direction, the Z-direction axle (126) is along the vertical direction with X to axle (124) positive commissure
Connect, center of the Y-direction axle (125) between two columns (122), be connected to the pedestal (121) in left-right direction
Above, the template (127) is connected to above the planker of the Y-direction axle (125), and the preset pawl (128) connects down
At the planker of the Z-direction axle (126)；The X is by servomotor, dragged to axle (124), Y-direction axle (125) or Z-direction axle (126)
The digital controlled linear reciprocating drive mechanism that plate is secondary, screw pair is formed；Before and after planker band action of the Z-direction axle (126) from X to axle (124)
Direction is moved, and preset pawl (128) is moved by the planker band action above-below direction of Z-direction axle (126), and template (127) is by Y-direction axle
(125) planker band action left and right directions motion；Above the template (127), provided with the inserts as built in how embedding product
(01) groove that placement position coordinate is set is referred to as coordinate groove；
Described handgrip (2) is provided with pickup pawl (21) and puts part pawl (22), and the pickup pawl (21), which is provided with, to be used to capture how embedding system
The pneumatic flange splint of product, the part pawl (22) of putting are provided with multiple coordinate groove one-to-one corresponding with template (127) respectively, used
In the pneumatic flange splint of crawl inserts (01)；The pneumatic flange splint is the fixture that opening and closing are driven by cylinder；
Described mechanical arm (3) is six axis joint numerical controlled machinery arms；
Handgrip (2) is connected with the wrist joint end of mechanical arm (3)；The Pan Kou (110) of the discharging of vibration feeding disc (11) is located at Z-direction axle
(126) at operating area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720837131.4U CN206953411U (en) | 2017-06-23 | 2017-06-23 | A kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720837131.4U CN206953411U (en) | 2017-06-23 | 2017-06-23 | A kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206953411U true CN206953411U (en) | 2018-02-02 |
Family
ID=61382758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720837131.4U Expired - Fee Related CN206953411U (en) | 2017-06-23 | 2017-06-23 | A kind of numerical controlled machinery arm device for efficiently inserting multiple inserts crawl products |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206953411U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115229156A (en) * | 2022-06-13 | 2022-10-25 | 浙江恒质新材料有限公司 | Automatic change spoke production facility |
-
2017
- 2017-06-23 CN CN201720837131.4U patent/CN206953411U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115229156A (en) * | 2022-06-13 | 2022-10-25 | 浙江恒质新材料有限公司 | Automatic change spoke production facility |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 |
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| CF01 | Termination of patent right due to non-payment of annual fee |