Mechanical hand for injection molding

Abstract

The utility model relates to a mechanical hand for injection moulding. Including frame, the rotary drive device that drives frame to make rotary motion is installed to the top of frame, and the swing clamping device is installed to the front of frame and its piston rod lower extreme, swing clamping device includes adapter block, the base plate is installed to the bottom of adapter block, the lug plate is equipped with in the bottom of base plate and is hinged and installed with the hoist plate through the pivot in the lug plate, the support plate is installed to the bottom front portion of hoist plate, the clamping cylinder of double -end cylinder form is installed to the front portion of support plate, the end of two groups piston rods of clamping cylinder is installed with the clamping jaw, still includes swing arm cylinder, and the hinge connection between its cylinder and base plate, the lower end of piston rod is hinged and connected with the lower part of hoist plate through connecting shaft, still includes the limiting sensing assembly that the swing angle of hoist plate is defined, the utility model provides a mechanical hand for injection moulding, reduces the requirement to action space, and injection moulding machine equipment can be placed more densely like this.

Description

Technical Field

[0001] This utility model belongs to the field of injection molding equipment technology, and in particular relates to a robotic arm for injection molding. Background Technology

[0002] Robotic arms used in the production of plastic products are typically used in conjunction with injection molding machines to improve the automation level of injection molding production. Specifically, robotic arms are used to grab products from the unloading end of the injection molding machine and transfer them to a receiving conveyor line (such as a receiving conveyor belt). The injection molded products are then transported along the conveyor line to the quality inspection or packaging process. Existing injection molding robotic arms are usually equipped with lateral movement devices and lifting devices. A gripping device (such as a suction cup or gripper) is installed at the bottom of the lifting device. During operation, the gripping device performs lateral reciprocating movement and lifting movement to grab the product, transfer it, and then release it.

[0003] The aforementioned robotic arm requires a relatively large installation space due to the need for a horizontally positioned track, which limits the density of injection molding machines in the injection molding workshop. Therefore, there is a need to develop and design a new type of robotic arm for injection molding that reduces the space requirements for operation. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm for injection molding that reduces the requirements for the operating space.

[0005] The technical solution adopted by this utility model is as follows: a robot for injection molding, including a base, a rotary drive device for driving the base to rotate is installed above the base, a lifting cylinder is installed at the front of the base and a swing clamping device is installed at the lower end of its piston rod; the swing clamping device includes a transition block, a base plate is installed at the bottom of the transition block, an ear plate is provided at the bottom of the base plate and a lifting plate is hinged to the ear plate via a rotating shaft, a support plate is installed at the bottom front of the lifting plate, a double-headed cylinder-type clamping cylinder is installed at the front of the support plate, grippers are installed at the ends of the two sets of piston rods of the clamping cylinder, and a swing arm cylinder is also included, the cylinder body of which is hinged to the base plate and the lower end of the piston rod is hinged to the lower part of the lifting plate via a connecting shaft; it also includes a limit sensing component for limiting the swing angle of the lifting plate.

[0006] Preferably, the gripper includes a support plate, a clamping block is installed at the front end of the support plate by fixing bolts, a V-shaped groove is provided on the inner end face of the clamping block and a rubber pad is installed in the V-shaped groove; a base plate is installed at the end of the piston rod of the clamping cylinder, and the root of the support plate is fixedly connected to the base plate.

[0007] Preferably, guide components are installed on both sides of the front part of the base. The guide components include guide blocks with guide holes and the guide blocks are fixedly installed on the base. Guide posts are provided in the guide holes, and the lower ends of the guide posts are fixedly connected to the top of the adapter block.

[0008] Preferably, a side plate is provided below the side edge of the substrate, and the limiting sensing assembly includes a first limiting sensor installed on the side of the lifting plate and a second limiting sensor installed on the side of the side plate. The first limiting sensor and the second limiting sensor are selected as proximity switches, with the detection end of the first limiting sensor facing forward and the detection end of the second limiting sensor facing backward.

[0009] Preferably, the rotary drive device includes a rotary assembly, a drive motor and a gearbox that output drive force to the rotary assembly, and a top base is installed on the top of the base and the top base is connected to the rotary assembly.

[0010] Preferably, the rotary assembly consists of a worm gear mechanism and a worm mechanism. The worm gear mechanism includes a worm gear housing and a worm gear located inside. The worm mechanism includes a worm gear housing and a worm located inside. The worm gear and the worm constitute a worm gear and worm structure. It also includes a turntable fixedly connected to the worm gear. A downwardly extending sleeve is installed at the center of the turntable. The upper end of the top base passes through the sleeve and is fixedly connected.

[0011] Preferably, the rotary assembly further includes a mounting bracket, the worm gear housing of the worm gear mechanism is fixedly connected to the middle of the mounting bracket, and mounting holes are provided at both ends of the mounting bracket.

[0012] The advantages and positive effects of this utility model are:

[0013] This invention provides a robotic arm for injection molding. Compared with existing robotic arms that perform lateral reciprocating and lifting movements, the robotic arm of this invention uses a rotary drive device to drive the base and its swing gripping device to rotate, thereby shifting the injection molded product. A lifting cylinder drives the swing gripping device to move up and down, and a swing arm cylinder drives the lifting plate and its gripping assembly to swing back and forth, separating the injection molded product from the discharge end of the injection molding machine. Compared with existing robotic arms, this robotic arm requires less operating space to complete the separation, rotation, and placement of the injection molded product onto the conveyor line, reducing the space requirements and allowing for a more compact arrangement of injection molding machines in the injection molding workshop. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0015] Figure 2 yes Figure 1 A three-dimensional structural diagram of the slewing drive device, viewed from above;

[0016] Figure 3 yes Figure 1 A three-dimensional structural diagram of the swing clamping device, viewed from above;

[0017] Figure 4 yes Figure 1 A three-dimensional structural diagram of the swing clamping device, viewed from below.

[0018] In the picture:

[0019] 1. Drive motor; 2. Gearbox; 3. Rotary assembly; 3-1. Mounting bracket; 3-2. Worm gear mechanism; 3-3. Worm mechanism; 3-4. Turntable; 4. Lifting cylinder; 5. Top base; 6. Guide assembly; 7. Base; 8. Base plate; 9. Rotating shaft; 10. Swing arm cylinder; 11. Connecting shaft; 12. First limit sensor; 13. Adapter block; 14. Ear plate; 15. Lifting plate; 16. Support plate; 17. Second limit sensor; 18. Clamping cylinder; 19. Gripper; 19-1. Support plate; 19-2. Fixing bolt; 19-3. Clamping block; 20. Side plate. Detailed Implementation

[0020] To further understand the invention content, features and effects of this utility model, the following embodiments are provided in detail.

[0021] Please see Figure 1 This invention relates to a robotic arm for injection molding, comprising a base 7, a rotary drive device mounted above the base 7 for rotating the base 7, and a lifting cylinder 4 mounted at the front of the base with a swing gripping device mounted at the lower end of its piston rod. Therefore, this robotic arm for injection molding moves the injection-molded product by rotation. During operation, the swing gripping device swings to the discharge end of the injection molding machine and grips the injection-molded product, then swings outward to separate the injection-molded product from the discharge end of the injection molding machine. The rotary drive device then drives the base 7, its lifting cylinder 4, and the swing gripping device to rotate at a certain angle to move the injection-molded product. The lifting cylinder 4 controls the lifting and lowering movement of the swing gripping device. After the swing gripping device descends, it releases the injection-molded product, which then falls onto the conveyor line.

[0022] Please see Figure 2 In this embodiment, the rotary drive device includes a rotary assembly 3, a drive motor 1 and a gearbox 2 that output drive force to the rotary assembly 3, and a top base 5 is mounted on the top of the base 7 and is connected to the rotary assembly 3. The drive motor 1 and the gearbox 2 output forward or reverse drive force to the rotary assembly 3, and the rotary assembly 3 drives the base 7 and its auxiliary components to rotate forward or in reverse through the top base 5.

[0023] In this embodiment, the rotary assembly 3 consists of a worm gear mechanism 3-2 and a worm mechanism 3-3. The worm gear mechanism 3-2 includes a worm gear housing and a worm gear located inside. The worm mechanism 3-3 includes a worm gear housing and a worm located inside. The worm gear and worm constitute a worm gear structure. It also includes a turntable 3-4 fixedly connected to the worm gear. A downwardly extending sleeve is installed at the center of the turntable 3-4. The upper end of the top base 5 passes through the sleeve and is fixedly connected. The end of the worm is connected to the output shaft of the reduction gearbox 2. When the drive motor 1 rotates forward, the worm gear structure drives the turntable 3-4 to rotate the top base 5 in the forward direction. Conversely, when the drive motor 1 rotates in reverse, the worm gear structure drives the turntable 3-4 to rotate the top base 5 in the reverse direction.

[0024] In this embodiment, the rotary assembly 3 further includes a mounting bracket 3-1. The worm gear housing of the worm gear mechanism 3-2 is fixedly connected to the middle of the mounting bracket 3-1, and mounting holes are provided at both ends of the mounting bracket 3-1. The mounting bracket 3-1 is used to install and fix the rotary drive device onto the equipment support on site. Specifically, both ends of the mounting bracket 3-1 of the rotary assembly 3 are fixedly connected to the equipment support on site using bolts.

[0025] The swing clamping device includes an adapter block 13, the top center of which is fixedly connected to the lower end of the piston rod of the lifting cylinder 4. In this embodiment, guide components 6 are installed on both sides of the front part of the base 7. The guide components 6 include guide blocks with guide holes, and the guide blocks are fixedly mounted on the base 7. Guide posts are provided in the guide holes, and the lower ends of the guide posts are fixedly connected to the top of the adapter block 13. By setting two guide components 6 on the left and right, the stability of the adapter block 13 when it moves up and down can be improved.

[0026] Please see Figure 3 and Figure 4 It can be seen that:

[0027] A base plate 8 is mounted on the bottom of the adapter block 13. An ear plate 14 is provided on the bottom of the base plate 8, and a lifting plate 15 is hinged to the ear plate 14 via a pivot 9. A support plate 16 is mounted on the front bottom of the lifting plate 15, and a double-headed cylinder-type clamping cylinder 18 is mounted on the front of the support plate 16. Grippers 19 are mounted on the ends of the two sets of piston rods of the clamping cylinder 18. A swing arm cylinder 10 is also included, whose cylinder body is hinged to the base plate 8, and the lower end of the piston rod is hinged to the lower part of the lifting plate 15 via a connecting shaft 11.

[0028] As shown in the figure, there are two lifting plates 15, one on the left and one on the right. The two ends of the connecting shaft 11 are fixedly connected to the inner side surfaces of the two lifting plates 15 respectively. A notch is provided in the middle of the rear part of the base plate 8, and a bearing seat is installed above the notch. The front end of the cylinder body of the swing arm cylinder 10 is hinged to the bearing seat. When the piston rod of the swing arm cylinder 10 extends, the lifting plate 15 swings from back to front; conversely, when the piston rod of the swing arm cylinder 10 retracts, the lifting plate 15 swings from front to back.

[0029] To limit the position of the forward and backward swing, a limiting sensing component is also included to limit the swing angle of the lifting plate 15. In this embodiment, a side plate 20 is provided below the side edge of the base plate 8. The limiting sensing component includes a first limiting sensor 12 installed on the side of the lifting plate 15 and a second limiting sensor 17 installed on the side of the side plate 20. The first limiting sensor 12 and the second limiting sensor 17 are selected as proximity switches. The detection end of the first limiting sensor 12 faces forward, and the detection end of the second limiting sensor 17 faces backward. A first limiting metal block that cooperates with the first limiting sensor 12 and a second limiting metal block that cooperates with the second limiting sensor 17 are installed at appropriate positions on the equipment rack on site. In this way, when the swing arm cylinder 10 drives the lifting plate 15 to swing forward to... Figure 3 When the position shown is close to the first limit sensor 12, a signal is generated when the first limit metal block is close to it, and the device swings forward to the position. When the piston rod of the swing arm cylinder 10 retracts, the lifting plate 15 swings backward. When the second limit sensor 17 is close to the second limit metal block, a signal is generated when the device swings backward to the position.

[0030] The gripper 19 includes a support plate 19-1. A clamping block 19-3 is mounted on the front end of the support plate 19-1 using fixing bolts 19-2. A V-shaped groove is provided on the inner end face of the clamping block 19-3, and a rubber pad is installed within the V-shaped groove. The rubber pad is used to prevent damage to the injection-molded product. A base plate is mounted on the end of the piston rod of the clamping cylinder 18, and the root of the support plate 19-1 is fixedly connected to the base plate. Figure 4 As shown, the fixing bolt 19-2 has a rotating operating end located on the outside, and the fixing bolt 19-2 allows the clamping block 19-3 to be easily selected and replaced according to the type of injection molded product.

[0031] Operating method:

[0032] The conveyor line for conveying the injection-molded product after unloading is located in front of and below the discharge end of the injection molding machine. This injection molding robot is positioned above the conveyor line. The injection molding machine sends the product out of the discharge end to await pickup. The robot's rotary drive activates, causing the grippers 19 to rotate towards the injection-molded product. Then, the piston rod of the swing arm cylinder 10 extends, the lifting plate 15 swings forward, and the two grippers 19 move to both sides of the injection-molded product. Next, the clamping cylinder 18 activates, and the two grippers 19 clamp the injection-molded product. Afterwards... The piston rod of the swing arm cylinder 10 retracts, and the lifting plate 15 swings backward. At this time, the injection molded product separates from the discharge end of the injection molding machine. Then, the rotary drive device is activated, and the gripper 19 and the injection molded product rotate at a certain angle and reach the top of the conveyor line. Then, the lifting cylinder 4 is activated to lower the swing clamping device and the injection molded product to the low position. Then, the clamping cylinder 18 is activated, and the gripper 19 moves outward to release the injection molded product onto the conveyor line. Then, the lifting cylinder 4 is activated to raise the swing clamping device to the high position, thus completing one complete action.

Claims

1. A robotic arm for injection molding, characterized in that: Includes a base (7), a rotary drive device for driving the base (7) to rotate is installed above the base (7), a lifting cylinder (4) is installed at the front of the base (7) and a swing clamping device is installed at the lower end of its piston rod; the swing clamping device includes a transition block (13), a base plate (8) is installed at the bottom of the transition block (13), an ear plate (14) is provided at the bottom of the base plate (8) and a lifting plate (15) is hinged to the ear plate (14) by a rotating shaft (9) for lifting. A support plate (16) is installed at the bottom front of the plate (15). A double-headed cylinder (18) is installed at the front of the support plate (16). A gripper (19) is installed at the end of the two sets of piston rods of the gripper cylinder (18). A swing arm cylinder (10) is also included. Its cylinder body is hinged to the base plate (8). The lower end of the piston rod is hinged to the lower part of the lifting plate (15) through a connecting shaft (11). A limit sensing component is also included to limit the swing angle of the lifting plate (15).

2. The injection molding robot as described in claim 1, characterized in that: The gripper (19) includes a support plate (19-1), a clamping block (19-3) is installed at the front end of the support plate (19-1) by a fixing bolt (19-2), a V-shaped groove is provided on the inner end face of the clamping block (19-3) and a rubber pad is installed in the V-shaped groove; a base plate is installed at the piston rod end of the clamping cylinder (18), and the root of the support plate (19-1) is fixedly connected to the base plate.

3. The injection molding robot as described in claim 2, characterized in that: Guide components (6) are installed on both sides of the front part of the base (7). The guide components (6) include guide blocks with guide holes and the guide blocks are fixed on the base (7). A guide post is provided in the guide hole, and the lower end of the guide post is fixedly connected to the top of the adapter block (13).

4. The injection molding robot as described in claim 3, characterized in that: in A side plate (20) is provided below the side edge of the substrate (8). The limit sensing assembly includes a first limit sensor (12) installed on the side of the lifting plate (15) and a second limit sensor (17) installed on the side of the side plate (20). The first limit sensor (12) and the second limit sensor (17) are selected as proximity switches. The detection end of the first limit sensor (12) faces forward, and the detection end of the second limit sensor (17) faces backward.

5. The injection molding robot as described in any one of claims 1 to 4, characterized in that: The rotary drive device includes a rotary assembly (3), a drive motor (1) that outputs driving force to the rotary assembly (3), and a gearbox (2). A top base (5) is installed on the top of the base (7) and the top base (5) is connected to the rotary assembly (3).

6. The injection molding robot as described in claim 5, characterized in that: The rotary assembly (3) consists of a worm gear mechanism (3-2) and a worm mechanism (3-3). The worm gear mechanism (3-2) includes a worm gear housing and a worm gear located inside. The worm mechanism (3-3) includes a worm gear housing and a worm located inside. The worm gear and the worm constitute a worm gear structure. It also includes a turntable (3-4) fixedly connected to the worm gear. A downwardly extending sleeve is installed at the center of the turntable (3-4). The upper end of the top base (5) passes through the sleeve and is fixedly connected.

7. The injection molding robot as described in claim 6, characterized in that: The rotary assembly (3) also includes a mounting bracket (3-1), the worm gear housing of the worm gear mechanism (3-2) is fixedly connected to the middle of the mounting bracket (3-1), and mounting holes are provided at both ends of the mounting bracket (3-1).

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