CN208629846U - It is a kind of for the automatic pick-up robot with bent angle moulding - Google Patents
It is a kind of for the automatic pick-up robot with bent angle moulding Download PDFInfo
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- CN208629846U CN208629846U CN201820629293.3U CN201820629293U CN208629846U CN 208629846 U CN208629846 U CN 208629846U CN 201820629293 U CN201820629293 U CN 201820629293U CN 208629846 U CN208629846 U CN 208629846U
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Abstract
The utility model discloses a kind of for the automatic pick-up robot with bent angle moulding, is related to injection molding machine automatic demoulding technical field, comprising: manipulator assembly and pickup tooling assembly, manipulator assembly include pickup mounting portion, mechanical arm and firm banking；Pickup tooling assembly includes tooling platform, clamping portion and servo displacement mechanism, and clamping portion is arranged on tooling platform, and pickup mounting portion is coupled with tooling platform so that the installation of pickup tooling assembly is fixed；Each revolution type rotation clamping mechanism includes guide seats, clamping device and transmission mechanism, revolution type rotation clamping mechanism is fixed on tooling platform by guide seats, guide seats are equipped with ring-shaped guide rail, and transmission mechanism can drive axis rotation of the clamping device on ring-shaped guide rail on injection machine mould with bent angle moulding；The utility model realizes complicated accurately space path and grasping movement, repeated consistency is good, and labor intensity is greatly reduced by revolution type rotation clamping mechanism.
Description
Technical field
It is especially a kind of for the automatic of bent angle moulding the utility model relates to injection molding machine automatic demoulding technical field
Pickup robot.
Background technique
Plastic injection technique includes injection molding process and pickup process, and pickup process usually utilizes mold releasability ejector
Product plastic part is ejected when mold is opened, separates product plastic part with mold cavity by structure, is ejected and is produced using demoulding mechanism
Product plastic part needs a condition, is exactly that the structure of product cannot interfere stripping movement, therefore work as to make with corner structure
Product plastic part can be removed from the mold, need using elasticity of plastics deformation characteristic, along mold cavity angle into
Row rotation and straight-line displacement, rotate the angle of angle and straight-line displacement with it is very accurate apart from needs；Currently, traditional dies ingot stripper
The motion in one dimension of structure cannot take out product, if increasing additional movement in conventional demoulding mechanism, cause mould structure abnormal
Complexity, therefore, this forced stripper mechanism are still carried out using manual mode, due to the movement locus angle of manpower, displacement direction with
The kinematic parameters precision such as distance, strength is uncontrollable, and the repeatable accuracy of movement is very poor, and manpower is difficult to accurately hold, therefore causes to produce
The deformation of product plastic part is serious and precision fluctuation is very big, and product plastic part is made to be difficult to effectively cooperate with assembly tooling on assembly line,
Influence production efficiency and assembly precision；Simultaneously because product is taken out by being manually entered in injection molding machine, need the frequent foot-up of people
Injection molding machine outside and mould inside are travelled to and fro between across injection molding machine guide post, labor intensity is very big, due to the spacing of mold dynamic model, quiet mould
From narrow, injection molding built-in temperature is higher, when human body is operated with turning round, it is easy to break mold cavity surface, and be easy to happen
It the industrial accidents such as detects a flaw, collide with.
A kind of automatic fetching device of injection molding machine as disclosed in Chinese utility model patent CN207059144U, including it is electronic
Cylinder and PLC controller, the top of the electric cylinder are equipped with pedestal, and the electric cylinder is connect by conducting wire with PLC controller, described
The upper surface of pedestal is set there are two support plate, and the PLC controller installation on the supporting plate, is equipped with installation between two support plates
Plate, the top and top side of the mounting plate are embedded with range sensor, and the range sensor is controlled by conducting wire and PLC
Device processed connects, and offers strip hole on the mounting plate, and slide bar is equipped between the strip hole, is equipped with two in the strip hole
A mounting blocks offer through-hole on the mounting blocks, and through-hole is socketed on slide bar, is offered along the side of the through-hole more
A mounting groove；The automatic fetching device of the utility model patent is not suitable for the automation pickup behaviour of the moulding with bent angle
Make.
A kind of for another example large high-speed injection molding machine automatic part picking dress disclosed in Chinese utility model patent CN207028102U
It sets, including mechanical arm, is used to support the pedestal of mechanical arm, the stroke track of guidance mechanical arm trend is provided on pedestal, and
The servo motor that driving mechanical arm is run along stroke track, which is characterized in that the mechanical arm includes straight-arm part, by straight-arm part
The workpiece taking sucker of support provides the asepwirator pump of adsorption capacity for workpiece taking sucker；The workpiece taking sucker includes chassis, is provided on chassis
Suction nozzle is connected between suction nozzle and asepwirator pump by tracheae；The automatic member withdrawing device of the utility model patent may be only available for product
Structure does not influence the situation of demoulding, not can solve the demoulding of the moulding with Complex Product Structure.
Utility model content
One, technical problems to be solved
The utility model for drawbacks described above present in the prior art, provide it is a kind of for bent angle moulding from
Dynamic pickup robot solves the existing large labor intensity being manually demolded with bent angle moulding, and risk is high, and cannot be guaranteed note
The problem of precision of plastic, while solving the problems, such as the existing automation pickup with bent angle moulding.
Two, technical solution
In order to solve the above technical problems, the utility model provide it is a kind of for the automatic part picking machine with bent angle moulding
People, comprising: manipulator assembly and pickup tooling assembly, manipulator assembly include pickup mounting portion, mechanical arm and be used to support machine
The firm banking of tool arm, mechanical arm are used to provide multiple degrees of freedom for pickup tooling assembly mobile；
Pickup tooling assembly includes tooling platform, clamping portion and servo displacement mechanism, and clamping portion and servo displacement mechanism are equal
It is arranged on tooling platform, servo displacement mechanism is for moving clamping portion on tooling platform, pickup mounting portion and work
Assembling platform is coupled so that the installation of pickup tooling assembly is fixed；
Clamping portion is equipped at least two revolution type rotation clamping mechanisms, and each revolution type rotation clamping mechanism includes guiding
Pedestal, clamping device and transmission mechanism, revolution type rotation clamping mechanism are fixed on tooling platform by guide seats, are oriented to bottom
Seat is equipped with ring-shaped guide rail, and transmission mechanism can drive clamping device band bent angle moulding on injection machine mould on ring-shaped guide rail
Axis rotation；
When clamping device clamps the bent angle position with bent angle moulding, revolution type rotation clamping mechanism is in transmission mechanism
Driving rotate around desired trajectory, while servo displacement mechanism driving revolution type rotation clamping mechanism carry out tri- axis of xyz
Linear motion on direction, the i.e. rotary motion of revolution type rotation clamping mechanism and revolution type rotation clamping mechanism are in tri- axis of xyz
Linear motion on direction matches, to will remove from injection machine mould with bent angle moulding.
Wherein, mechanical arm be can six-freedom motion manipulator.
Wherein, truss is additionally provided on tooling platform, clamping portion is arranged on truss, and servo displacement mechanism driving clamping portion exists
It is moved on truss.
Wherein, clamping device includes driving cylinder and clamping mouth, and driving cylinder is used for as clamping mouth to band bent angle moulding
Clamping and become less severe power be provided.
Wherein, the quantity of revolution type rotation clamping mechanism is corresponding with the quantity with bent angle moulding, any revolution type rotation
Turn the corresponding corner shape with bent angle moulding of the clamping mouth on clamping mechanism to match.
Wherein, transmission mechanism is driven with clamping device by synchronous belt.
Wherein, clamping mouth is equipped with protective layer, protective layer used in protection band bent angle moulding.
Wherein, protective layer material is rubber.
Three, beneficial effect
It is compared with prior art, provided by the utility model a kind of for the automatic pick-up robot with bent angle moulding,
By revolution type rotation clamping mechanism, realizes complicated accurately space path and grasping movement, it is automatic to achieve complicated moulding
Change the technological break-through of intelligent releasing process；By the contoured design of pickup tooling assembly, replaces manual action, do not work tired
The defect of labor, repeated consistency is good, moulding is greatly reduced because of deformation of products fluctuation caused by knockout press, rejection rate is substantially
It reduces；It by robot replaces that labor intensity is greatly reduced, it is hidden to prevent personnel safety inside artificial frequently disengaging injection molding machine simultaneously
Suffer from.
Detailed description of the invention
Fig. 1 is a kind of overall structure for the automatic pick-up robot with bent angle moulding of the utility model；
Fig. 2 is a kind of pickup tooling assembly structure for the automatic pick-up robot with bent angle moulding of the utility model
Figure；
Fig. 3 is that a kind of revolution type for the automatic pick-up robot with bent angle moulding of the utility model rotates clamping machine
Structure structure chart；
In figure: 1 is manipulator assembly；2 be pickup tooling assembly；4 be pickup mounting portion；5 be firm banking；6 be machinery
Arm；7 be tooling platform；9 be servo displacement mechanism；11 be revolution type rotation clamping mechanism；12 be guide seats；13 fill to clamp
It sets；14 be transmission mechanism；15 be ring-shaped guide rail；17 be driving cylinder；18 be clamping mouth；23 be truss.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment cannot be used to limit the scope of the utility model for illustrating the utility model.
Embodiment one:
The utility model embodiment it is a kind of for the automatic pick-up robot with bent angle moulding, as shown in Figure 1, Figure 2 and Fig. 3
It is shown, comprising: manipulator assembly 1 and pickup tooling assembly 2, manipulator assembly 1 include pickup mounting portion 4, mechanical arm 6 and be used for
The firm banking 5 of mechanical arm 6 is supported, mechanical arm 6 is used to provide multiple degrees of freedom movement, while manipulator for pickup tooling assembly 2
Assembly 1 is used to pickup tooling assembly 2 being moved to pickup in injection molding machine, and manipulator assembly 1 is used to incite somebody to action after the completion of pickup movement
Pickup tooling assembly 2 is removed out of injection molding machine, wherein ring flange can be used in pickup mounting portion 4；
Specifically, pickup tooling assembly 2 includes tooling platform 7, clamping portion and servo displacement mechanism 9, the setting of clamping portion
On tooling platform 7, servo displacement mechanism 9 is for moving clamping portion on tooling platform 7, pickup mounting portion 4 and work
Assembling platform 7 is coupled so that the installation fixation of pickup tooling assembly 2, realizes clamping portion by servo displacement mechanism 9 and exist
The demand moved in tri- axis direction of xyz is carried out when carrying out pickup；
In the specific application process, band bent angle moulding is door frame bar of automobile, and door frame bar of automobile all has bent angle, nothing up and down
Method passes through conventional demoulding mechanism ejecting product, at this point, revolution type rotation clamping mechanism 11 there are two needing to set in clamping portion, two
Revolution type rotation clamping mechanism 11 respectively corresponds the upper and lower bent angle of door frame bar of automobile；
Specifically, each revolution type rotation clamping mechanism 11 includes guide seats 12, clamping device 13 and transmission mechanism
14, revolution type rotation clamping mechanism 11 is fixed on tooling platform 7 by guide seats 12, and guide seats 12 are led equipped with annular
Rail 15, transmission mechanism 14 can drive axis of the clamping device 13 on ring-shaped guide rail 15 with bent angle moulding on injection machine mould
Rotation, the robot of the utility model pass through three freedom of the movement of the six degree of freedom of manipulator assembly 1, servo displacement mechanism 9
Degree movement and the revolution type revolution of revolution type rotation clamping mechanism 11 movement, complete the compound action of simulation manpower pickup；
When clamping device 13 clamps the bent angle position with bent angle moulding, revolution type rotation clamping mechanism 11 is being driven
The driving of mechanism 14 rotates around desired trajectory, at the same servo displacement mechanism 9 drive revolution type rotation clamping mechanism 11 into
Linear motion in tri- axis direction of row xyz, to will be removed from injection machine mould with bent angle moulding；
It is as described below that structure is embodied, as shown in figure 3, guide seats 12 are equipped with ring-shaped guide rail 15 and annular rack,
Clamping device 13 includes the fixture block on driving cylinder 17 and clamping mouth 18, and transmission mechanism 14 includes motor, gear and sliding block；Gear
It is arranged on sliding block, and gear is engaged with annular rack, sliding block can slide on ring-shaped guide rail 15, motor-driven gear rotation
So that transmission mechanism 14 moves in guide seats 12；Driving cylinder 17 is used to that the fixture block on clamping mouth 18 to be driven to move,
For the 18 pairs of clampings with bent angle moulding of clamping mouth and becomes less severe power is provided；When clamping device 13 is by the bent angle with bent angle moulding
When position clamps, clamping device 13 moves along a curved path under the driving of transmission mechanism 14 along ring-shaped guide rail 15, while servo is displaced
Mechanism 3 drives revolution type rotation clamping mechanism 5 to carry out the linear motion in tri- axis direction of xyz, is imitated by computer compound
Shape movement, simulates the pickup mode of manual working, to will remove from injection machine mould with bent angle moulding.
As shown in Fig. 2, being additionally provided with truss 23 on tooling platform 7, clamping portion is arranged on truss 23, servo displacement mechanism 9
Driving clamping portion moved on truss 23, servo motor drive so that movement it is more accurate, be conducive to improve clamping portion displacement
Precision.
In specific implementation process, by synchronous belt transmitting power, synchronous belt transmitting is dynamic for transmission mechanism 14 and clamping device 13
Power is reliable and stable, long service life.
For protection band bent angle moulding, protective layer is equipped on clamping mouth 18, specifically, protective layer material is rubber
Glue.
The utility model includes the following steps: for the automatic part picking method with bent angle moulding
Firstly, injection machine mould is opened, manipulator assembly 1 moves pickup tooling assembly 2 from the initial position of mold exterior
Move the start position in mold；
Secondly, first revolution type rotation clamping mechanism 11 carries out being moved straightly to band under the driving of manipulator assembly 1
The pre- clamped position in bent angle moulding top；
Secondary, the clamping device 13 in first revolution type rotation clamping mechanism 11 is under the driving of transmission mechanism 14 around band
The top axis of bent angle moulding rotates, and is closed to predetermined position rear-guard cylinder 17 of taking offence, band bent angle moulding top is clamped；
Then, mechanical arm 6 is matched with first revolution type rotation clamping mechanism 11, will be with bent angle moulding top from mould
It is taken out in tool；
Then, in the state that first revolution type rotation clamping mechanism 11 keeps clamping, second revolution type rotating dress
Clamp mechanism 11 carries out being moved straightly to the band pre- clamped position in bent angle moulding lower part under the driving of servo displacement mechanism 9；
Then, clamping device 13 in second revolution type rotation clamping mechanism 11 under the driving of transmission mechanism 14 around
With bent angle moulding lower axis rotation, to predetermined position rear-guard take offence cylinder 17 be closed, band bent angle moulding lower part be clamped,
Mechanical arm 6 is matched with second revolution type rotation clamping mechanism 11, will be taken out out of mold with bent angle moulding lower part；
Finally, mechanical arm 6 will be removed out of mold with bent angle moulding and pickup tooling assembly 2.
Embodiment two:
For embodiment two compared with embodiment one, the quantity of revolution type rotation clamping mechanism 11 is three, can be to three
The moulding automatic part picking of a bent angle.
Generally speaking, the quantity of revolution type rotation clamping mechanism 11 is corresponding with the bent angle quantity with bent angle moulding, and
And when bent angle quantity is greater than three, the characteristics of needing multiple hand fits' ability pickups, can more embody the utility model；Simultaneously
The corresponding corner shape with bent angle moulding of clamping mouth 18 in any revolution type rotation clamping mechanism 11 matches,
The matching of shape can be realized by way of replacing clamping mouth 18, it is easy to operate, and pass through replacement clamping mouth
18 material adapts to the moulding of unlike material, has very wide application range.
Embodiment three:
For embodiment three compared with embodiment one, each revolution type rotation clamping mechanism 11 is designed with corresponding servo
Displacement mechanism 9 provides power for it and is moved, and each revolution type rotation clamping mechanism 11 successively acts；
Specifically, it is opened in injection machine mould, manipulator assembly 1 is by pickup tooling assembly 2 from the initial of mold exterior
Position is moved to the start position in mold, and first revolution type rotation clamping mechanism 11 is in corresponding first servo bit
It carries out being moved to the band pre- clamped position in bent angle moulding top, first revolution type rotation clamping mechanism under the driving of telephone-moving structure 9
Clamping device 13 on 11 rotates under the driving of transmission mechanism 14 around the top axis with bent angle moulding, to after predetermined position
Cylinder 17 is driven to be closed, band bent angle moulding top is clamped；
Then, mechanical arm 6 is matched with first revolution type rotation clamping mechanism 11, will be with bent angle moulding top from mould
It is taken out in tool；
Then, in the state that first revolution type rotation clamping mechanism 11 keeps clamping, second revolution type rotating dress
Clamp mechanism 11 carries out being moved straightly to band bent angle moulding lower part under the driving of corresponding second servo displacement mechanism 9
Pre- clamped position；
Then, clamping device 13 in second revolution type rotation clamping mechanism 11 under the driving of transmission mechanism 14 around
With bent angle moulding lower axis rotation, to predetermined position rear-guard take offence cylinder 17 be closed, band bent angle moulding lower part be clamped,
Mechanical arm 6 is matched with second revolution type rotation clamping mechanism 11, will be taken out out of mold with bent angle moulding lower part；
Finally, mechanical arm 6 will be removed out of mold with bent angle moulding and pickup tooling assembly 2.
Example IV:
For example IV compared with embodiment three, each revolution type rotation clamping mechanism 11 is designed with corresponding servo
Displacement mechanism 9 provides power for it and is moved, and each 11 concurrently-acting of revolution type rotation clamping mechanism；For vapour
For door framework, two revolution type rotation clamping mechanisms 11 can be simultaneously clamped door frame bar of automobile；Such design energy
Automatic part picking process is greatlyd save, so that multiple revolution type rotation clamping mechanisms 11 carry out clamping simultaneously, primary positioning can be complete
It is operated at pickup, more rapidly, improves production efficiency.
Above are merely preferred embodiments of the utility model, it is noted that for the ordinary skill people of the art
Member for, without deviating from the technical principle of the utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (8)
1. a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that described for bent angle moulding
Automatic pick-up robot includes: manipulator assembly (1) and pickup tooling assembly (2)；
The manipulator assembly (1) includes pickup mounting portion (4), mechanical arm (6) and the firm banking for being used to support mechanical arm (6)
(5), the mechanical arm (6) is used to provide multiple degrees of freedom for the pickup tooling assembly (2) mobile；
The pickup tooling assembly (2) includes tooling platform (7), clamping portion and servo displacement mechanism (9), the clamping portion setting
On the tooling platform (7), the servo displacement mechanism (9) is mounted on the tooling platform (7), and the servo bit
Telephone-moving structure (9) for moving the clamping portion on the tooling platform (7), the pickup mounting portion (4) with it is described
Tooling platform (7) is coupled so that the pickup tooling assembly (2) installation is fixed；
The clamping portion includes at least two revolution type rotation clamping mechanisms (11), each revolution type rotation clamping mechanism
It (11) include guide seats (12), clamping device (13) and transmission mechanism (14), the revolution type rotation clamping mechanism (11) is logical
It crosses guide seats (12) to be fixed on the tooling platform (7), the guide seats (12) are equipped with ring-shaped guide rail (15), described
Transmission mechanism (14) can drive the clamping device (13) on the ring-shaped guide rail (15) around the bent angle axis with bent angle moulding
Line rotation；
The clamping device (13) is used to clamp at the bent angle position with bent angle moulding, the revolution type rotation clamping mechanism
(11) the linear motion of rotary motion and the revolution type rotation clamping mechanism (11) in tri- axis direction of xyz matches, and makes
Band bent angle moulding is obtained to remove from injection machine mould.
2. as described in claim 1 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the machine
Tool arm (6) be can six-freedom motion manipulator.
3. as described in claim 1 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the work
It is additionally provided on assembling platform (7) truss (23), the clamping portion is arranged on the truss (23), the servo displacement mechanism (9)
The clamping portion is driven to move on the truss (23).
4. as described in claim 1 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the folder
Tight device (13) includes driving cylinder (17) and clamping mouth (18), and the driving cylinder (17) is used to be that the clamping mouth (18) is right
Clamping with bent angle moulding and becomes less severe power is provided.
5. as claimed in claim 4 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the public affairs
The quantity of rotatable rotation clamping mechanism (11) is corresponding with the bent angle quantity with bent angle moulding, any revolution type rotation
The corresponding corner shape with bent angle moulding of the clamping mouth (18) turned on clamping mechanism (11) matches.
6. as described in claim 1 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the biography
Motivation structure (14) is driven with the clamping device (13) by synchronous belt.
7. as claimed in claim 4 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the dress
Clamping opening (18) is equipped with protective layer, described protective layer used in protection band bent angle moulding.
8. as claimed in claim 7 a kind of for the automatic pick-up robot with bent angle moulding, which is characterized in that the guarantor
Sheath material is rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629293.3U CN208629846U (en) | 2018-04-28 | 2018-04-28 | It is a kind of for the automatic pick-up robot with bent angle moulding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629293.3U CN208629846U (en) | 2018-04-28 | 2018-04-28 | It is a kind of for the automatic pick-up robot with bent angle moulding |
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| Publication Number | Publication Date |
|---|---|
| CN208629846U true CN208629846U (en) | 2019-03-22 |
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ID=65732194
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820629293.3U Active CN208629846U (en) | 2018-04-28 | 2018-04-28 | It is a kind of for the automatic pick-up robot with bent angle moulding |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819144A (en) * | 2018-04-28 | 2018-11-16 | 宁波易拓智谱机器人有限公司 | It is a kind of for the automatic pick-up robot with bent angle moulding and its pickup method |
-
2018
- 2018-04-28 CN CN201820629293.3U patent/CN208629846U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108819144A (en) * | 2018-04-28 | 2018-11-16 | 宁波易拓智谱机器人有限公司 | It is a kind of for the automatic pick-up robot with bent angle moulding and its pickup method |
| CN108819144B (en) * | 2018-04-28 | 2024-01-12 | 宁波易拓智谱机器人有限公司 | Automatic picking robot for injection molding with bent angle and picking method thereof |
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