A robot for loading and unloading materials of a vertical injection molding machine and a method for loading and unloading materials

Abstract

The present invention proposes a robot for loading and unloading materials of a vertical injection molding machine and a loading and unloading method thereof, comprising a frame, a feeding device, a two-way feeding mechanism, a floating clamp assembly, a picking mechanism, a rotary receiving tray and a pushing mechanism. The feeding device, the two-way feeding mechanism, the floating clamp assembly, the picking mechanism, the rotary receiving tray and the pushing mechanism are installed on the frame, the feeding device is connected to one side of the two-way feeding mechanism, the floating clamp assembly is arranged above the two-way feeding mechanism, the pushing mechanism is arranged behind the rotary receiving tray, the rotary receiving tray is connected to a material trough, a linear bearing plate is arranged on the top of the frame, the floating clamp assembly is connected to the linear bearing plate and moves axially along the linear bearing plate, and the position of the floating clamp assembly on the XY axis and the β angle is adjusted by the floating clamp assembly when clamping the insert, so that it is completely matched with the insert, the error is reduced, and the generation of waste is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical equipment, and in particular relates to a manipulator for loading and unloading materials of a vertical injection molding machine and a loading and unloading method thereof. Background Art

[0002] Vertical AC / DC injection molding machine series: This machine is mainly used for the injection molding of connecting wires, various electronic and computer data cables, and power plug cables. This machine generally includes a rotating worktable on which two lower mold assemblies are arranged symmetrically for alternately processing injection molded parts. Traditional vertical injection molding machines usually use manual loading and unloading, but there are the following problems: After each rotation of the worktable, there will be a certain slight error. Under normal circumstances, it is usually checked by the naked eye or adjusted with the help of corresponding instruments during material discharge, which is time-consuming and labor-intensive. Summary of the invention

[0003] The present invention proposes a robot arm for loading and unloading materials of a vertical injection molding machine and a method for loading and unloading materials, which solves the defect in the prior art that a certain slight error will occur after each rotation of the workbench. Generally, it is usually checked by the naked eye or adjusted with the help of corresponding instruments when unloading materials, which is time-consuming and labor-intensive.

[0004] The technical solution of the present invention is achieved in this way:

[0005] A robot for loading and unloading materials of a vertical injection molding machine comprises a frame, a feeding device, a two-way feeding mechanism, a floating clamp assembly, a picking mechanism, a rotary receiving tray and a pushing mechanism. The feeding device, the two-way feeding mechanism, the floating clamp assembly, the picking mechanism, the rotary receiving tray and the pushing mechanism are installed on the frame, the feeding device is connected to one side of the two-way feeding mechanism, the floating clamp assembly is arranged above the two-way feeding mechanism, the pushing mechanism is arranged behind the rotary receiving tray, the rotary receiving tray is connected to a material trough, a linear bearing plate is arranged on the top of the frame, and the floating clamp assembly is connected to the linear bearing plate and moves axially along the linear bearing plate.

[0006] Preferably, the feeding device includes a feeding base, a primary extension plate and a feeding plate, the primary extension plate is connected to the first cylinder, the feeding plate is connected to the second cylinder, the second cylinder and the feeding plate are fixed to the primary extension plate, two feed troughs are provided on the primary extension plate, and the output port of the feeding base is connected to the feed trough.

[0007] Preferably, the bidirectional feeding mechanism includes a first clamp, which is provided with two groups of bidirectional clamping grooves, the bottom of the first clamp is connected to a positioning plate, the end corners of the positioning plate are provided with positioning holes, and the bottom of the positioning plate is connected to a first rotary cylinder.

[0008] The extended plate is driven by the first cylinder to be pushed to the clamping groove, and the insert falls into the feeding groove from the feeding base, and the insert is pushed into the clamping groove by the feeding plate.

[0009] Preferably, the floating clamp assembly includes a lifting upper plate and a lifting plate, the lifting upper plate and the lifting plate are connected by a first servo motor, and also includes a second clamp, a first floating head middle plate and a second floating head middle plate, a first slider and a first slide rail are arranged between the first floating head middle plate and the second floating head middle plate in the X-axis direction, the first slider is fixedly connected to the first floating head middle plate, the first slide rail is connected to the second floating head middle plate, a second slider and a second slide rail are arranged at the bottom of the second floating head middle plate in the Y-axis direction, the second slider is connected to the second floating head middle plate, the second slide rail is fixed to the lifting plate, a circular hole is opened in the middle of the first floating head middle plate and the second floating head middle plate, a bearing is connected in the circular hole, a fourth cylinder is connected to the inner side of the bearing, the fourth cylinder is connected to the second clamp, and also includes a flange connected to the first floating head middle plate, a floating head guide column is arranged on the diagonal of the flange, and corresponding to the first clamp, two groups of bidirectional clamping grooves are arranged on the second clamp, and clamping arms are respectively arranged in front of the openings of the bidirectional clamping grooves, and the clamping arms are connected to the third cylinder.

[0010] The second fixture is fine-tuned in the X-axis direction by the first slider and the first slide rail, the second fixture is fine-tuned in the Y-axis direction by the second slider and the second slide rail, and the second fixture is fine-tuned in the β-angle direction by the bearing.

[0011] The angle β is the angle between the second fixture and the first fixture in the circumferential direction when the second fixture contacts the first fixture.

[0012] Preferably, a plurality of optical axes are arranged on the end angles between the lifting upper plate and the lifting plate.

[0013] Preferably, a screw is axially arranged on the linear bearing plate, a moving seat is connected to the floating clamp assembly, a nut is arranged on the moving seat, the nut is connected to the screw, and the screw is connected to the second servo motor.

[0014] Preferably, the pickup mechanism comprises a pickup seat and a pickup clamp, the pickup clamp is connected to the pickup seat, and the pickup seat is connected to the lifting plate.

[0015] Preferably, two discharge troughs are provided on the rotary receiving tray, and the pushing mechanism comprises a pushing plate and a fifth cylinder, the pushing plate is connected to the piston rod of the fifth cylinder, and the pushing plate is located directly behind one of the discharge troughs.

[0016] A method for loading and unloading a robot for loading and unloading a vertical injection molding machine comprises the following steps:

[0017] S1: Use a feeding device to feed the inserts one by one into the two-way feeding mechanism;

[0018] S2: The floating clamp assembly located above the two-way feeding mechanism clamps the insert in the two-way feeding mechanism. While clamping, the floating clamp assembly adjusts its position in the X-axis, Y-axis and β-angle directions to match the insert in the two-way feeding mechanism, so that the clamping groove in the floating clamp assembly is completely consistent with the insert in the two-way feeding mechanism;

[0019] S3: The floating clamp assembly is displaced as a whole, and the insert is placed in the lower mold of the injection molding machine. At the same time, the position in the X-axis, Y-axis and β-angle directions is adjusted so that the insert is completely consistent with the lower mold of the injection molding machine;

[0020] S4: The molded inserts are taken out by the taking-out mechanism and placed into the two unloading troughs of the rotary receiving tray. The inserts in the same direction are placed in the same unloading trough.

[0021] S5: The insert in one discharge trough is pushed into the material trough by the pushing mechanism. After the rotary receiving tray rotates 180°, the pushing mechanism pushes the insert in another discharge trough into the material trough, so that the directions of the inserts remain consistent.

[0022] In summary, the advantages of the present invention are:

[0023] The present invention discloses a manipulator for loading and unloading materials of a vertical injection molding machine and a loading and unloading method thereof. When clamping an insert, the floating clamp assembly adjusts the position of the floating clamp assembly on the XY axis and the β angle to fully match the insert, reduce errors, and reduce the generation of waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 It is a structural schematic diagram of a manipulator for loading and unloading materials of a vertical injection molding machine and a loading and unloading method thereof of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the enlarged structure of A;

[0027] Figure 3 for Figure 1 The structural diagram of the feeding device;

[0028] Figure 4 for Figure 1Schematic diagram of the partial structure of the floating clamp assembly. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figure 1-4 As shown, a robot for loading and unloading materials of a vertical injection molding machine includes a frame 1, a feeding device 2, a two-way feeding mechanism 3, a floating clamp assembly 4, a picking mechanism 5, a rotary receiving tray 6 and a pushing mechanism 7. The feeding device 2, the two-way feeding mechanism 3, the floating clamp assembly 4, the picking mechanism 5, the rotary receiving tray 6 and the pushing mechanism 7 are installed on the frame, one side of the two-way feeding mechanism 3 is connected to the feeding device 2, the floating clamp assembly 4 is arranged above the two-way feeding mechanism 3, the pushing mechanism 7 is arranged behind the rotary receiving tray 6, the rotary receiving tray 6 is connected to the material trough, and a linear bearing 27 plate 8 is arranged on the top of the frame, and the floating clamp assembly is connected to the linear bearing 27 plate and moves axially along the linear bearing 27 plate.

[0031] Preferably, the feeding device includes a feeding base 8, a primary extension plate 9 and a feeding plate 10, the primary extension plate 9 is connected to the feeding plate 10, the feeding plate 10 is connected to the second cylinder 12, the second cylinder 12 and the feeding plate 10 are fixed on the primary extension plate 9, and the primary extension plate 9 is provided with two feed troughs, and the output port of the feeding base 8 is connected to the feed trough.

[0032] Preferably, the bidirectional feeding mechanism includes a first clamp 11, on which two groups of bidirectional clamping grooves 13 are arranged, the bottom of the first clamp 11 is connected to a positioning plate 14, a positioning hole 15 is arranged on the end corner of the positioning plate 14, and the bottom of the positioning plate is connected to a first rotary cylinder 16.

[0033] The first extended plate 9 is driven by the feeding plate 10 to be pushed to the clamping groove, and the insert falls into the feeding trough from the feeding base 8, and is pushed into the clamping groove by the feeding plate 10.

[0034] Preferably, the floating clamp assembly includes a lifting upper plate 17 and a lifting plate 18, the lifting upper plate 17 and the lifting plate 18 are connected by a first servo motor 19, and also includes a second clamp, a first floating head middle plate 20 and a second floating head middle plate 21, a first slider 22 and a first slide rail 23 are arranged between the first floating head middle plate 20 and the second floating head middle plate 21 in the X-axis direction, the first slider 22 is fixedly connected to the first floating head middle plate 20, the first slide rail 23 is connected to the second floating head middle plate 21, and a second slider 24 and a second slide rail 25 are arranged at the bottom of the second floating head middle plate 21 in the Y-axis direction, and the second slider 2 4 is connected to the second floating head middle plate 21, the second slide rail 25 is fixed on the lifting plate 18, a circular hole 26 is opened in the middle of the first floating head middle plate 20 and the second floating head middle plate 21, a bearing 27 is connected in the circular hole 26, a fourth cylinder 28 is connected to the inner side of the bearing 27, the fourth cylinder 28 is connected to the second clamp, and also includes a flange connected to the first floating head middle plate 20, a floating head guide column 29 is arranged on the diagonal of the flange, and two groups of two-way clamping grooves 13 are arranged on the second clamp corresponding to the first clamp 11, and clamping arms are arranged in front of the openings of the two-way clamping grooves 13, respectively, and the clamping arms are connected to the third cylinder.

[0035] The second fixture is fine-tuned in the X-axis direction by the first slider 22 and the first slide rail 23, the second fixture is fine-tuned in the Y-axis direction by the second slider 24 and the second slide rail 25, and the second fixture is fine-tuned in the β-angle direction by the bearing 27.

[0036] The angle β is the angle between the second clamp and the first clamp 11 in the circumferential direction when the second clamp is in contact with the first clamp 11 .

[0037] Preferably, a plurality of optical axes are arranged on the end angles between the lifting upper plate 17 and the lifting plate 18 .

[0038] Preferably, a screw rod 30 is axially arranged on the linear bearing 27 plate, a moving seat (not shown) is connected to the floating clamp assembly, a nut is arranged on the moving seat, the nut is connected to the screw rod 30 , and the screw rod 30 is connected to the second servo motor 31 .

[0039] Preferably, the pickup mechanism includes a pickup seat and a pickup clamp, the pickup clamp is connected to the pickup seat, and the pickup seat is connected to the lifting plate 18.

[0040] Preferably, two discharge troughs 32 are formed on the rotary receiving tray, and the pushing mechanism includes a push plate and a fifth cylinder. The push plate is connected to the piston rod of the fifth cylinder, and the push plate is located directly behind one of the discharge troughs 32 .

[0041] A method for loading and unloading a robot for loading and unloading a vertical injection molding machine comprises the following steps:

[0042] S1: Use a feeding device to feed the inserts one by one into the two-way feeding mechanism;

[0043] S2: The floating clamp assembly located above the two-way feeding mechanism clamps the insert in the two-way feeding mechanism. While clamping, the floating clamp assembly adjusts its position in the X-axis, Y-axis and β-angle directions to match the insert in the two-way feeding mechanism, so that the clamping groove in the floating clamp assembly is completely consistent with the insert in the two-way feeding mechanism;

[0044] S3: The floating clamp assembly is displaced as a whole, and the insert is placed in the lower mold of the injection molding machine. At the same time, the position in the X-axis, Y-axis and β-angle directions is adjusted so that the insert is completely consistent with the lower mold of the injection molding machine;

[0045] S4: The molded inserts are taken out by the taking-out mechanism and placed into the two unloading troughs 32 of the rotary receiving tray. The inserts in the same direction are placed in the same unloading trough 32;

[0046] S5: The insert in one discharge trough 32 is pushed into the trough by the pushing mechanism. After the rotary receiving tray rotates 180°, the pushing mechanism pushes the insert in another discharge trough 32 into the trough, so that the directions of the inserts remain consistent.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for loading and unloading materials by a manipulator for loading and unloading materials of a vertical injection molding machine. The method is implemented based on a robot for loading and unloading materials of a vertical injection molding machine, the robot for loading and unloading materials of a vertical injection molding machine comprises a frame, a feeding device, a two-way feeding mechanism, a floating clamp assembly, a picking mechanism, a rotary receiving tray and a pushing mechanism, the feeding device, the two-way feeding mechanism, the floating clamp assembly, the picking mechanism, the rotary receiving tray and the pushing mechanism are installed on the frame, the feeding device is connected to one side of the two-way feeding mechanism, the floating clamp assembly is arranged above the two-way feeding mechanism, the pushing mechanism is arranged behind the rotary receiving tray, the rotary receiving tray is connected to the material trough, a linear bearing plate is arranged on the top of the frame, the floating clamp assembly is connected to the linear bearing plate and moves axially along the linear bearing plate, The feeding device includes a feeding base, a primary extension plate and a feeding plate, wherein the primary extension plate is connected to a first cylinder, the feeding plate is connected to a second cylinder, the second cylinder and the feeding plate are fixed to the primary extension plate, a feeding trough is provided on the primary extension plate, and the output port of the feeding base is connected to the feeding trough. The bidirectional feeding mechanism comprises a first clamp, the first clamp is provided with two sets of bidirectional clamping grooves, the bottom of the first clamp is connected to a positioning plate, the end corners of the positioning plate are provided with positioning holes, and the bottom of the positioning plate is connected to a first rotary cylinder. The floating clamp assembly includes a lifting upper plate and a lifting plate, the lifting upper plate and the lifting plate are connected by a first servo motor, and also includes a second fixture, a first floating head middle plate and a second floating head middle plate, a first slider and a first slide rail are arranged between the first floating head middle plate and the second floating head middle plate in the X-axis direction, the first slider is fixedly connected to the first floating head middle plate, the first slide rail is connected to the second floating head middle plate, a second slider and a second slide rail are arranged at the bottom of the second floating head middle plate in the Y-axis direction, the second slider is connected to the second floating head middle plate, the second slide rail is fixed to the lifting plate, a circular hole is opened in the middle of the first floating head middle plate and the second floating head middle plate, a bearing is connected in the circular hole, a fourth cylinder is connected to the inner side of the bearing, the fourth cylinder is connected to the second fixture, and also includes a flange connected to the first floating head middle plate, a floating head guide column is arranged on the diagonal of the flange, and corresponding to the first fixture, two groups of bidirectional clamping grooves are arranged on the second fixture, and clamping arms are arranged in front of the openings of the bidirectional clamping grooves, respectively, and the clamping arms are connected to the third cylinder, A plurality of optical axes are arranged on the end angles between the lifting upper plate and the lifting plate. A screw is axially arranged on the linear bearing plate, a moving seat is connected to the floating clamp assembly, a nut is arranged on the moving seat, the nut is connected to the screw, and the screw is connected to the second servo motor. The pickup mechanism includes a pickup seat and a pickup clamp, wherein the pickup clamp is connected to the pickup seat, and the pickup seat is connected to the lifting plate. There are two discharge troughs on the rotary receiving tray. The pushing mechanism includes a push plate and a fifth cylinder. The push plate is connected to the piston rod of the fifth cylinder. The push plate is located directly behind one of the discharge troughs. Features: The method comprises the following steps: S1: Use a feeding device to feed the inserts one by one into the two-way feeding mechanism; S2: The floating clamp assembly located above the two-way feeding mechanism clamps the insert in the two-way feeding mechanism. While clamping, the floating clamp assembly adjusts its position in the X-axis, Y-axis and β-angle directions to match the insert in the two-way feeding mechanism, so that the clamping groove in the floating clamp assembly is completely consistent with the insert in the two-way feeding mechanism; S3: The floating clamp assembly is displaced as a whole, and the insert is placed in the lower mold of the injection molding machine. At the same time, the position in the X-axis, Y-axis and β-angle directions is adjusted so that the insert is completely consistent with the lower mold of the injection molding machine; S4: The molded inserts are taken out by the taking-out mechanism and placed into the two unloading troughs of the rotary receiving tray. The inserts in the same direction are placed in the same unloading trough. S5: The insert in one discharge trough is pushed into the material trough by the pushing mechanism. After the rotary receiving tray rotates 180°, the pushing mechanism pushes the insert in another discharge trough into the material trough, so that the directions of the inserts remain consistent.

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