Robot-based automatic loading and unloading gripper for fan injection mold

Abstract

The present invention relates to a robot-based automatic loading and unloading gripper for a fan injection mold, which is composed of a robot mounting flange, an XY floating adjustment mechanism, a machine base, a material unloading device, a mandrel loading device, a motor housing loading device, a guide shaft, and a precision guide shaft; the XY floating adjustment mechanism is installed on the upper surface of the machine base, and the robot mounting flange is installed on the XY floating adjustment mechanism; the motor housing loading device is installed in the middle of the lower end surface of the machine base, and the front and rear sides of the motor housing loading device are symmetrically fixedly connected with a precision guide shaft; the mandrel loading device is inlaid on the motor housing loading device and is concentrically arranged with the motor housing loading device; the material unloading device is arranged corresponding to the position of the mandrel loading device through a support plate fixedly connected to the machine base; and the four corners of the machine base are fixedly connected with guide shafts. The present invention can realize the unloading of fan blades, the loading of mandrels and the loading of motor housings, wherein the loading of mandrels and the loading of motor housings are completed synchronously, thereby improving production efficiency.

Description

Technical Field

[0001] The invention relates to the field of injection molding machine processing, and in particular to an automatic loading and unloading gripper for a fan injection mold based on a robot. Background Art

[0002] Industrial robots are highly versatile and can be widely used in various industrial fields, especially in some high-risk fields. Industrial robots can replace humans to ensure the safety of workers. In the field of injection molding machine production and processing, industrial robots are widely used to replace manual loading and unloading. Usually, the application of industrial robots is inseparable from robot grippers to complete the loading and unloading of workpieces. In particular, the loading and unloading of fan blade molds requires not only the unloading of fan blades, but also the quick embedding of the core shaft and motor housing. Because of the high precision requirements for loading and unloading, it is currently mainly completed manually, with low production efficiency and high risk. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects of the prior art and provide a robot-based automatic loading and unloading gripper for a fan injection mold that can realize the unloading of fan blades, the loading of core shafts and the loading of motor housings.

[0004] The technical solution for achieving the purpose of the present invention is: a robot-based automatic loading and unloading gripper for a fan injection mold, which is composed of a robot mounting flange, an XY floating adjustment mechanism, a machine base, a feeding device, a core shaft feeding device, a motor housing feeding device, a guide shaft, and a precision guide shaft; the XY floating adjustment mechanism is installed on the upper surface of the machine base, and the robot mounting flange is installed on the XY floating adjustment mechanism; the motor housing feeding device is installed in the middle of the lower end surface of the machine base, and the front and rear sides of the motor housing feeding device are symmetrically fixedly connected with precision guide shafts; the core shaft feeding device is embedded in the motor housing feeding device and is concentrically arranged with the motor housing feeding device; the feeding device is arranged at a position corresponding to the core shaft feeding device through a support plate fixedly connected to the machine base; and guide shafts are fixedly connected to the four corners of the machine base.

[0005] The above technical solution comprises two sets of unloading devices, core shaft loading devices and motor housing loading devices, which are symmetrically arranged front to back; the axes of the two sets of motor housing loading devices, the two sets of core shaft loading devices and the two precision guide shafts are all on the same plane.

[0006] The XY floating adjustment mechanism described in the above technical solution is composed of an X-direction guiding mechanism, an X-direction slider, an X-direction first limiting mechanism, an X-direction first resetting mechanism, an X-direction second limiting mechanism, an X-direction second resetting mechanism, a Y-direction guiding mechanism, a Y-direction slider, a Y-direction first limiting mechanism, a Y-direction first resetting mechanism, a Y-direction second limiting mechanism, and a Y-direction second resetting mechanism; the X-direction first limiting mechanism and the X-direction first resetting mechanism are fixed side by side on one side of the X-direction guiding mechanism, and are symmetrical with the X-direction second limiting mechanism and the X-direction second resetting mechanism fixed on the other side of the X-direction guiding mechanism; the X-direction slider cooperates with the X-direction guiding mechanism slider; the Y-direction guiding mechanism is fixedly connected with the X-direction slider; the Y-direction first limiting mechanism and the Y-direction first resetting mechanism are fixed side by side on one side of the Y-direction guiding mechanism, and are symmetrical with the Y-direction second limiting mechanism and the Y-direction second resetting mechanism fixed on the other side of the Y-direction guiding mechanism; the Y-direction slider cooperates with the Y-direction guiding mechanism slider, and the Y-direction slider is fixedly connected with the robot mounting flange.

[0007] The mandrel feeding device described in the above technical solution is composed of a mandrel feeding hose and a mandrel guide shaft; the mandrel guide shaft is fixedly connected to the machine base; the mandrel feeding hose and the mandrel guide shaft are fixedly connected.

[0008] The core shaft guide shaft described in the above technical solution comprises a hose insertion portion, a conical guide portion and a cylindrical positioning portion, and the core shaft feeding hose is fixedly connected to the hose insertion portion of the core shaft guide shaft.

[0009] The motor housing feeding device described in the above technical solution is composed of a motor housing suction device and a motor housing pushing device.

[0010] The motor housing suction device described in the above technical scheme is composed of a first air pipe joint, a first sealing ring, a second sealing ring, a motor housing positioning plate and a lower cover plate; the first air pipe joint is fixedly connected to the machine base, and is communicated with the first air path component of the machine base; the lower cover plate presses and fixes the motor housing positioning plate on the machine base; the first sealing ring is installed between the lower cover plate and the machine base; the second sealing ring is installed between the motor housing positioning plate and the machine base; a gap is left between the lower cover plate and the machine base to form a second air path component; the motor housing positioning plate has a third air path component, and the motor housing positioning plate cooperates with the lower cover plate cylindrical pair; wherein the first air path component, the second air path component, the third air path component and the fourth air path component are connected in pairs to form a motor housing suction air path.

[0011] The motor casing ejecting device described in the above technical scheme is composed of a second air pipe joint, an upper cover plate, a third sealing ring, a fourth sealing ring and a push rod matched with a push rod guide component; the upper cover plate has a fifth air path component; the second air pipe joint is fixedly connected to the upper cover plate and communicated with the fifth air path component; the upper cover plate is fixedly connected to the machine base; the third sealing ring and the fourth sealing ring are installed between the upper cover plate and the machine base to form a sixth air path component; the fifth air path component, the sixth air path component and the push rod guide component are connected in pairs to form a motor casing ejecting air path, and the motor casing ejecting action is realized by applying air pressure to eject the push rod, and the retraction of the push rod is realized by vacuuming.

[0012] The unloading device described in the above technical solution is composed of a suction cup and a buffer; the suction cup is installed on the buffer; the buffer is fixedly connected to the middle position of the support plate, and the buffer is arranged corresponding to the position of the core shaft feeding device.

[0013] The two sets of unloading devices described in the above technical solution are symmetrically installed on the support plate front and back; each set of unloading devices consists of a suction cup and a buffer, a corresponding suction cup is installed on the corresponding buffer, and the distance between the axes of the two buffers is equal to the distance between the axes of the two sets of core shaft feeding devices.

[0014] After adopting the above technical solution, the present invention has the following positive effects:

[0015] (1) The machine base of the present invention is fixedly connected to the guide shaft and the precision guide shaft. The guide shaft realizes rough positioning, and the precision guide shaft realizes fine positioning, thereby realizing accurate loading of the core shaft and the motor housing. The core shaft loading hose realizes the transportation of the core shaft, the motor housing suction device realizes the material taking function of the motor housing, and the motor housing top material device realizes the unloading function of the motor housing.

[0016] (2) The mandrel feeding hose of the present invention realizes the transportation of the mandrel, and conveys the mandrel to the mandrel guide shaft through air pressure. The conical guiding component and the cylindrical positioning component realize the guiding and positioning functions of the mandrel.

[0017] (3) The present invention has three grippers, which can realize the unloading of fan blades, the loading of core shafts and the loading of motor shells, wherein the loading of core shafts and the loading of motor shells are completed synchronously, thereby improving production efficiency.

[0018] (4) The present invention adaptively adjusts the error of the robot's repeated positioning accuracy through the XY floating mechanism.

[0019] (5) The present invention adopts a double-station arrangement to simultaneously complete the loading and unloading of two products, thereby improving production efficiency.

[0020] (6) The present invention cooperates with an industrial robot to automatically load and unload the injection molding machine, thereby realizing automation and reducing the operating risks of the injection molding machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

[0022] Figure 1 It is a structural schematic diagram of embodiment 1 of the present invention;

[0023] Figure 2 It is a bottom schematic diagram of Example 1 of the present invention;

[0024] Figure 3 It is a plan view of Embodiment 2 of the present invention;

[0025] Figure 4 For the present invention Figure 3 Cross-sectional view in the AA direction;

[0026] Figure 5 For the present invention Figure 3 Cross-sectional view in the BB direction;

[0027] Figure 6 For the present invention Figure 3 The cross-sectional view in CC direction;

[0028] Figure 7 is a schematic diagram of a mandrel guide shaft of the present invention;

[0029] Figure 8 It is a schematic diagram of the XY floating adjustment mechanism of the present invention;

[0030] Fig. 9 for Figure 8 Bottom view of

[0031] Fig.10 for Figure 8 Left view of

[0032] Fig.11 A three-dimensional diagram of a base according to Embodiment 2 of the present invention;

[0033] Fig.12 A plan view of a base according to Embodiment 2 of the present invention;

[0034] Fig.13 for Fig.12 The enlarged schematic diagram at A in the middle;

[0035] Fig.14 is a schematic diagram of a lower cover plate of the present invention;

[0036] Fig.15 for Fig.14 Cross-sectional view in the EE direction;

[0037] Fig.16 is a three-dimensional diagram of the lower cover plate of the present invention;

[0038] Fig.17 is a schematic diagram of embodiment 2 of the present invention;

[0039] Fig.18 This is a bottom schematic diagram of Example 2 of the present invention. DETAILED DESCRIPTION

[0040] (Example 1)

[0041] See Figures 3 to 18 The present invention is composed of a robot mounting flange 1, an XY floating adjustment mechanism 2, a machine base 3, a feeding device 4, a core shaft feeding device 5, a motor housing feeding device 6, a guide shaft 7, and a precision guide shaft 8; the XY floating adjustment mechanism 2 is mounted on the upper surface of the machine base 3, and the robot mounting flange 1 is mounted on the XY floating adjustment mechanism 2; the motor housing feeding device 6 is mounted in the middle of the lower end surface of the machine base 3, and the front and rear sides of the motor housing feeding device 6 are symmetrically fixedly connected with the precision guide shaft 8; the feeding device 4 is fixedly connected to the machine base 3 by The support plate 9 on the base 3 is arranged at the position corresponding to the mandrel feeding device 5; the four corners of the base 3 are fixedly connected with guide shafts 7; wherein, the unloading device 4, the mandrel feeding device 5 and the motor housing feeding device 6 each have two sets, and are arranged symmetrically front and back; the axes of the two motor housing feeding devices 6, the two mandrel feeding devices 5 and the two precision guide shafts 8 are all on the same plane; the corresponding mandrel feeding device 5 is inlaid on the corresponding motor housing feeding device 6, and is arranged concentrically with the corresponding motor housing feeding device 6. The two sets of unloading devices 4 are symmetrically installed on the support plate 9 front and back; each set of unloading devices 4 is composed of a suction cup 10 and a buffer 11, and the corresponding suction cup 10 is installed on the corresponding buffer 11, and the distance between the axes of the two buffers 11 is equal to the distance between the axes of the two sets of mandrel feeding devices 5.

[0042] The XY floating adjustment mechanism 2 is composed of an X-direction guiding mechanism 12, an X-direction slider 13, an X-direction first limiting mechanism 14, an X-direction first resetting mechanism 16, an X-direction second limiting mechanism 15, an X-direction second resetting mechanism 17, a Y-direction guiding mechanism 18, a Y-direction slider 19, a Y-direction first limiting mechanism 20, a Y-direction first resetting mechanism 22, a Y-direction second limiting mechanism 21, and a Y-direction second resetting mechanism 23; the X-direction first limiting mechanism 14 and the X-direction first resetting mechanism 16 are fixed side by side on one side of the X-direction guiding mechanism 12, and are fixed on the other side of the X-direction guiding mechanism 12. The second X-direction limiting mechanism 15 and the second X-direction resetting mechanism 17 on the side are symmetrical in center; the X-direction slider 13 cooperates with the slider of the X-direction guiding mechanism 12; the Y-direction guiding mechanism 18 is fixedly connected to the X-direction slider 13; the first Y-direction limiting mechanism 20 and the first Y-direction resetting mechanism 22 are fixed side by side on one side of the Y-direction guiding mechanism 18, and are symmetrical with the second Y-direction limiting mechanism 21 and the second Y-direction resetting mechanism 23 fixed on the other side of the Y-direction guiding mechanism 18; the Y-direction slider 19 cooperates with the slider of the Y-direction guiding mechanism 18, and the Y-direction slider 19 is fixedly connected to the robot mounting flange 1.

[0043] The mandrel feeding device 5 is composed of a mandrel feeding hose 24 and a mandrel guide shaft 25; the mandrel guide shaft 25 is fixedly connected to the machine base 3; the mandrel feeding hose 24 and the mandrel guide shaft 25 are fixedly connected. The mandrel guide shaft 25 has a hose insertion portion 26, a conical guide portion 27 and a cylindrical positioning portion 28, and the mandrel feeding hose 24 is fixedly connected to the hose insertion portion 26 of the mandrel guide shaft 25.

[0044] The motor housing feeding device 6 is composed of a motor housing suction device and a motor housing top feeding device. The motor housing suction device is composed of a first air pipe joint 29, a first sealing ring 30, a second sealing ring 31, a motor housing positioning plate 32 and a lower cover plate 33; the first air pipe joint 29 is fixedly connected to the machine base 3 and communicated with the first air path component 34 of the machine base 3; the lower cover plate 33 presses and fixes the motor housing positioning plate 32 on the machine base 3; the first sealing ring 30 is installed between the lower cover plate 33 and the machine base 3; the second sealing ring 31 is installed between the motor housing positioning plate 32 and the machine base 3; a gap is left between the lower cover plate 33 and the machine base 3 to form a second air path component 35; the motor housing positioning plate 32 has a third air path component 36; wherein the first air path component 34, the second air path component 35, the third air path component 36 and the fourth air path component 37 are connected in pairs to form a motor housing suction air path. The motor housing ejection device is composed of a second air pipe joint 38, an upper cover plate 39, a third sealing ring 40, a fourth sealing ring 41 and a push rod 42 matched with a push rod guide component 45; the upper cover plate 39 has a fifth air path component 43; the second air pipe joint 38 is fixedly connected to the upper cover plate 39 and communicated with the fifth air path component 43; the upper cover plate 39 is fixedly connected to the base 3; the third sealing ring 40 and the fourth sealing ring 41 are installed between the upper cover plate 39 and the base 3 to form a sixth air path component 44; the fifth air path component 43, the sixth air path component 44 and the push rod 42 guide component are connected in pairs to form a motor housing ejection air path. The first air path component 34 is in the shape of a through hole, the fourth air path component 37 is in the shape of a sinking groove, the ventilation component 46 is in the shape of a blind hole, and the push rod guide component 45 is in the shape of a stepped hole.

[0045] (Example 2)

[0046] See Figure 1 and Figure 2 This embodiment is basically the same as the embodiment 1, and the difference between the components is that: there is only one set of the unloading device 4, the core shaft loading device 5 and the motor housing loading device 6, the unloading device 4 is composed of a suction cup 10 and a buffer 11; the suction cup 10 is installed on the buffer 11; the buffer 11 is fixedly connected to the middle position of the support plate 9, and the buffer 11 is arranged corresponding to the position of the core shaft loading device 5.

[0047] The working principle of the present invention is as follows: the machine base 3 is fixedly connected with the guide shaft 7 and the precision guide shaft 8, the guide shaft 7 realizes rough positioning, and the precision guide shaft 8 realizes fine positioning, so as to realize accurate feeding of the core shaft and the motor shell; the other end of the core shaft feeding hose 24 is connected to the vibration plate, and the core shaft passes through the vibration plate blowing device, and the core shaft is transported to the pre-embedded position of the mold by using the air pressure difference, and the first air pipe joint 29 of the motor shell suction device is connected to the vacuum generator through the air pipe, so that the air pressure in the motor shell suction air path is lower than the external air pressure, forming a negative pressure, and realizing the motor shell picking function; the second air pipe joint 38 of the motor shell top material device is connected to the three-way valve through the air pipe, and the air path is divided into two parts. There are two, one air pipe is connected to the vacuum generator, and the other air pipe is connected to the high-pressure gas. When the motor shell suction device takes the motor shell, the three-way valve is connected to the vacuum generator, so that the air pressure of the motor shell top material air path is lower than the external air pressure, so that the push rod 42 moves upward; when the gripper moves to the injection mold to complete the positioning, the three-way valve is connected to the high-pressure gas, so that the air pressure of the motor shell top material air path is higher than the external air pressure, pushing the push rod 42 to move downward, and at the same time stopping the vacuum generator of the motor shell suction device. Under the action of the push rod 42, the motor shell moves downward and is transmitted to the injection mold to complete the motor shell feeding function; the unloading device realizes the unloading of the fan blades. The axes of the two sets of motor shell feeding devices 6, the two sets of core shaft feeding devices 5 and the two precision guide shafts 8 are on the same plane.

[0048] In the above embodiment, a single station is equipped with one suction cup 10 and a buffer 11, and the suction cup 10 and the buffer 11 are arranged in the center; a double station is equipped with two suction cups 10 and two buffers 11, and they are symmetrically arranged on the support plate 9 front and back; regardless of a single station or a double station, the position of the suction cup 10 needs to be set corresponding to the corresponding core shaft feeding device 5.

[0049] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific 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 principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot-based automatic loading and unloading gripper for fan injection mold, characterized in that: The invention is composed of a robot mounting flange (1), an XY floating adjustment mechanism (2), a machine base (3), a feeding device (4), a core shaft feeding device (5), a motor shell feeding device (6), a guide shaft (7), and a precision guide shaft (8); the XY floating adjustment mechanism (2) is mounted on the upper surface of the machine base (3), and the XY floating adjustment mechanism (2) is mounted with a robot mounting flange (1) for being fixedly connected to an industrial robot; the motor shell feeding device (6) is mounted in the middle of the lower end surface of the machine base (3), and the front and rear sides of the motor shell feeding device (6) are symmetrically fixedly connected with the precision guide shaft (8); the core shaft feeding device (5) is embedded in the motor shell feeding device (6) and is concentrically arranged with the motor shell feeding device (6); the feeding device (4) is arranged corresponding to the position of the core shaft feeding device (5) through a support plate (9) fixedly connected to the machine base (3); the four corners of the machine base (3) are fixedly connected with guide shafts (7); The unloading device (4), the core shaft loading device (5) and the motor housing loading device (6) each have two sets, and are symmetrically arranged front and back; the axes of the two sets of motor housing loading devices (6), the two sets of core shaft loading devices (5) and the two precision guide shafts (8) are all on the same plane; The XY floating adjustment mechanism (2) is composed of an X-direction guiding mechanism (12), an X-direction sliding block (13), an X-direction first limiting mechanism (14), an X-direction first resetting mechanism (16), an X-direction second limiting mechanism (15), an X-direction second resetting mechanism (17), a Y-direction guiding mechanism (18), a Y-direction sliding block (19), a Y-direction first limiting mechanism (20), a Y-direction first resetting mechanism (22), a Y-direction second limiting mechanism (21), and a Y-direction second resetting mechanism (23); the X-direction first limiting mechanism (14) and the X-direction first resetting mechanism (16) are fixed side by side on one side of the X-direction guiding mechanism (12), and are fixed on the other side of the X-direction guiding mechanism (12). The second X-direction limiting mechanism (15) and the second X-direction restoring mechanism (17) on the side are symmetrical in center; the X-direction slider (13) cooperates with the slider of the X-direction guiding mechanism (12); the Y-direction guiding mechanism (18) is fixedly connected to the X-direction slider (13); the first Y-direction limiting mechanism (20) and the first Y-direction restoring mechanism (22) are fixed side by side on one side of the Y-direction guiding mechanism (18), and are symmetrical in center with the second Y-direction limiting mechanism (21) and the second Y-direction restoring mechanism (23) fixed on the other side of the Y-direction guiding mechanism (18); the Y-direction slider (19) cooperates with the slider of the Y-direction guiding mechanism (18), and the Y-direction slider (19) is fixedly connected to the robot mounting flange (1); The unloading device (4) is composed of a suction cup (10) and a buffer (11); the suction cup (10) is installed on the buffer (11); the buffer (11) is fixedly connected to the middle position of the support plate (9), and the buffer (11) is arranged corresponding to the position of the core shaft loading device (5).

2. The robot-based automatic loading and unloading gripper for fan injection mold according to claim 1 is characterized in that: The mandrel feeding device (5) is composed of a mandrel feeding hose (24) and a mandrel guide shaft (25); the mandrel guide shaft (25) is fixedly connected to the machine base (3); the mandrel feeding hose (24) and the mandrel guide shaft (25) are fixedly connected.

3. The robot-based automatic loading and unloading gripper for fan injection mold according to claim 2 is characterized in that: The mandrel guide shaft (25) comprises a hose insertion portion (26), a conical guide portion (27) and a cylindrical positioning portion (28); the mandrel feeding hose (24) is fixedly connected to the hose insertion portion (26) of the mandrel guide shaft (25); the mandrel feeding hose (24) transports the mandrel into the mandrel guide shaft (25) by air pressure; the conical guide portion (27) and the cylindrical positioning portion (28) guide and position the mandrel.

4. The robot-based automatic loading and unloading gripper for fan injection mold according to claim 1 is characterized in that: The motor casing loading device (6) is composed of a motor casing suction device for realizing the taking of the motor casing and a motor casing lifting device for realizing the unloading of the motor casing.

5. The robot-based automatic loading and unloading gripper for fan injection mold according to claim 4 is characterized in that: The motor housing suction device is composed of a first air pipe joint (29), a first sealing ring (30), a second sealing ring (31), a motor housing positioning plate (32) and a lower cover plate (33); the first air pipe joint (29) is fixedly connected to the machine base (3) and communicated with a first air path component (34) of the machine base (3); the lower cover plate (33) presses and fixes the motor housing positioning plate (32) on the machine base (3); the first sealing ring (30) is installed between the lower cover plate (33) and the machine base (3); the second sealing ring (31) is fixedly connected to the machine base (3) and the lower cover plate (33); The sealing ring (31) is installed between the motor housing positioning plate (32) and the machine base (3); a gap is left between the lower cover plate (33) and the machine base (3) to form a second air path component (35); the motor housing positioning plate (32) has a third air path component (36), and the motor housing positioning plate (32) and the lower cover plate (33) are matched with each other in a cylindrical pair; wherein the first air path component (34), the second air path component (35), the third air path component (36) and the fourth air path component (37) are connected in pairs to form a motor housing suction air path.

6. The robot-based automatic loading and unloading gripper for fan injection mold according to claim 4 is characterized in that: The motor casing ejection device is composed of a second air pipe joint (38), an upper cover plate (39), a third sealing ring (40), a fourth sealing ring (41) and a push rod (42) matched with a push rod guide component (45); the upper cover plate (39) has a fifth air path component (43); the second air pipe joint (38) is fixedly connected to the upper cover plate (39) and communicated with the fifth air path component (43); the upper cover plate (39) is fixedly connected to the machine base (3); the third sealing ring (40) and the fourth sealing ring (41) are installed between the upper cover plate (39) and the machine base (3) to form a sixth air path component (44); the fifth air path component (43), the sixth air path component (44) and the push rod (42) guide component are connected in pairs to form a motor casing ejection air path, the motor casing ejection action is realized by applying air pressure to eject the push rod (42), and the retraction of the push rod (42) is realized by vacuuming.

7. The robot-based automatic loading and unloading gripper for fan injection mold according to claim 1 is characterized in that: Two sets of unloading devices (4) are symmetrically installed on the support plate (9) in front and back; each set of unloading devices (4) is composed of a suction cup (10) and a buffer (11), and a corresponding suction cup (10) is installed on a corresponding buffer (11), and the distance between the axes of the two buffers (11) is equal to the distance between the axes of the two sets of mandrel feeding devices (5).

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