A six-axis manipulator for an injection molding machine and its control method

Abstract

The present invention discloses a six-axis manipulator for an injection molding machine and its control method. On the one hand, a six-axis manipulator for an injection molding machine includes a six-axis manipulator device provided on an external injection molding machine; the six-axis manipulator device includes a base provided on the top of the injection molding machine, a six-axis robotic arm provided on the base, and a picking fixture provided on the six-axis robotic arm; it further includes an integrated control cabinet provided on one side wall of the injection molding machine and electrically connected to the six-axis robotic arm and the picking fixture, and a sprue cutter structure and a flame treatment structure are provided on the front end face of the injection molding machine. On the other hand, the present invention also provides a control method using the above six-axis manipulator for an injection molding machine. The present invention has the advantages of being able to be applicable to the clamping operations of multiple types of automotive parts to achieve the full-process automatic production of automotive parts, being able to automatically perform sprue cutting and deburring operations on automotive parts, not easily causing damage to automotive parts, effectively improving production efficiency and product qualification rate.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and more specifically, to a six-axis manipulator for an injection molding machine and a control method thereof. Background Art

[0002] Currently, in the process of manufacturing automotive parts, it is common to integrally form thermoplastic or thermosetting plastics into various specified types of plastic products through the mutual cooperation of a thermoplastic molding die and an injection molding machine. After the automotive parts are manufactured, a manipulator installed on the injection molding machine is used to take out the manufactured plastic products from the injection molding machine, thereby completing the production of automotive parts.

[0003] However, the commonly used manipulator for an injection molding machine is a three-axis bull arm manipulator. During the process of being used in conjunction with an injection molding machine, it is usually only applicable to the clamping operation of automotive parts with simple structures or small sizes. For automotive parts with complex structures or large sizes, such as automotive pedals and automotive bumpers, it is difficult to take out such automotive parts from the limited mold cavity inside the injection molding machine using the existing three-axis bull arm manipulator. Often, manual labor is required to grab the automotive parts from the mold cavity of the injection molding machine to complete a production cycle. This not only fails to automatically complete the production of automotive parts throughout the entire process, resulting in low production efficiency, but also the problem that improper manual part taking is likely to cause damage to the automotive parts, affecting the product qualification rate. In addition, during the use of the existing three-axis bull arm manipulator, there is also a lack of functions for automatically trimming the water inlet and deburring the automotive parts. After the automotive parts are manufactured, additional manual operations for trimming the water inlet and deburring are required, further reducing the production efficiency and making it difficult to meet the actual application requirements.

[0004] Chinese patent application with publication number CN207465802U discloses a structure of an injection molding machine manipulator with six-axis drive. Its technical key points include: an installation base, on which a six-axis manipulator device is provided. The six-axis manipulator device includes a first-axis drive base, a second-axis drive mechanism, a third-axis drive mechanism, a fourth-axis drive base, a fifth-axis drive mechanism, and a sixth-axis drive mechanism. A turntable rotation device is provided between the first-axis drive base and the installation base. A Z-axis telescopic device and a manipulator boom are provided on the second-axis drive mechanism. A Y-axis rotation rocker and a first connecting rod are provided on the third-axis drive mechanism. A ball bearing is provided below the fourth-axis drive base. An X-axis rotation rocker and a second connecting rod are provided on the fifth-axis drive mechanism. The second connecting rod is movably sleeved on one end of the X-axis rotation rocker. An inductor and an adjustable workpiece clamping device are provided on the sixth-axis drive mechanism. Although this solution solves the problem of being applicable to the clamping operation of various types of automotive parts to achieve the automatic completion of the production of automotive parts throughout the entire process, it cannot solve the problem of automatically trimming the water inlet and deburring the automotive parts.

[0005] Therefore, the present invention provides a new technical solution to solve the above problems. Summary of the Invention

[0006] An object of the present invention is to provide a six-axis manipulator for an injection molding machine that can be applicable to the clamping operations of various types of automotive parts to achieve the full-process automatic production of automotive parts, can automatically perform gate cutting and deburring operations on automotive parts, is not prone to damage automotive parts during the production process, and effectively improves production efficiency and product qualification rate.

[0007] Another object of the present invention is to provide a control method for the above six-axis manipulator for an injection molding machine.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0009] On the one hand, the present invention provides a six-axis manipulator for an injection molding machine, including a six-axis manipulator device provided on an external injection molding machine; the six-axis manipulator device includes a base provided on the top of the injection molding machine, a six-axis robotic arm is provided on the base, and a pick-up fixture for cooperating with the six-axis robotic arm to take out the produced automotive parts from the mold cavity of the injection molding machine is provided at one end of the six-axis robotic arm away from the base; it also includes an integrated control cabinet provided on a side wall of the injection molding machine and electrically connected to the six-axis robotic arm and the pick-up fixture, and a gate knife structure and a flame treatment structure for cooperating with the pick-up fixture to perform gate cutting and deburring operations on the produced automotive parts are sequentially provided from left to right on the front end face of the injection molding machine.

[0010] Preferably, the six-axis robotic arm includes a body rotation axis, a main arm front and rear swing axis, a forearm front and rear swing axis, a wrist rotation axis, a wrist up and down swing axis, and a end rotation axis electrically connected to the integrated control cabinet, wherein the pick-up fixture is installed at the end of the end rotation axis.

[0011] Preferably, the body rotation axis is installed on the base for left and right rotation movements, the main arm front and rear swing axis is installed at one end of the body rotation axis away from the base, the forearm front and rear swing axis is installed at one end of the main arm front and rear swing axis away from the body rotation axis for loading and unloading swing movements, the wrist rotation axis is installed at one end of the forearm front and rear swing axis away from the main arm front and rear swing axis for free rotation movements, the wrist up and down swing axis is installed at one end of the wrist rotation axis away from the forearm front and rear swing axis for small up and down flipping movements, and the end rotation axis is installed at one end of the wrist up and down swing axis away from the wrist rotation axis for 360-degree rotation movements.

[0012] Preferably, the gate knife structure includes a limit seat bolted to the lower end of one side of the injection molding machine near the integrated control cabinet. A gate knife is movably sleeved on the limit seat and can rotate 360 degrees relative to the limit seat for trimming the gate of the produced automotive parts in cooperation with the picking fixture. A screw is provided at one end of the gate knife connected to the limit seat for fixing the gate knife on the limit seat.

[0013] Preferably, the flame treatment structure includes a mounting seat bolted to the lower end of one side of the injection molding machine away from the integrated control cabinet. A turntable is provided on the mounting seat through a ball bearing. A flame combustion assembly capable of rotating 360 degrees with the turntable is provided on the turntable. A screw for fixing the turntable on the mounting seat is also provided on the turntable. The flame combustion assembly is electrically connected to the integrated control cabinet through a wire.

[0014] Preferably, the flame combustion assembly includes a flame burner provided on the turntable and self - contained with fuel. A flame combustion port is connected to the outlet end of the flame burner through an electric valve. An electronic igniter is provided at one end of the flame combustion port away from the electric valve. The electric valve and the electronic igniter are both electrically connected to the integrated control cabinet through wires.

[0015] Preferably, the picking fixture includes a support seat bolted to one end of the end rotating shaft away from the wrist vertical swing shaft, and the support seat can rotate 360 degrees with the end rotating shaft. A picking cylinder is provided at one end of the support seat close to the end rotating shaft. A plurality of vacuum suction cups are provided at one end of the support seat away from the end rotating shaft and are all connected to the output end of the picking cylinder through a connecting pipe. The picking fixture is electrically connected to the integrated control cabinet through the picking cylinder.

[0016] On the other hand, the present invention also provides a control method for the six - axis manipulator of the injection molding machine. The control method includes the following steps:

[0017] S1. After the integrated control cabinet receives the signal that the injection molding machine has completed the production of automotive parts, the integrated control cabinet starts the six - axis robotic arm of the six - axis manipulator device to move according to a preset motion trajectory, send the picking fixture into the mold cavity of the injection molding machine and closely attach it to the automotive parts.

[0018] S2. Start the picking fixture to work through the integrated control cabinet, so that the picking fixture vacuum adsorbs the automotive parts. Then, start the six-axis robotic arm of the six-axis robotic device by the integrated control cabinet to move according to the preset motion trajectory, and take out the picking fixture together with the automotive parts from the mold cavity of the injection molding machine. At the same time, use the integrated control cabinet to transmit a signal to the injection molding machine to make the injection molding machine close the mold for the production of the next automotive part;

[0019] S3. Start the six-axis robotic arm of the six-axis robotic device by the integrated control cabinet to move according to the preset motion trajectory, drive the picking fixture together with the automotive parts to run to the gate cutting tool structure, and run according to the preset motion trajectory to cooperate with the gate cutting tool structure for gate cutting operation;

[0020] S4. After the automotive parts complete the gate cutting operation, start the six-axis robotic arm of the six-axis robotic device by the integrated control cabinet to move according to the preset motion trajectory, drive the picking fixture together with the automotive parts to run to the flame treatment structure. At the same time, start the flame treatment structure to work through the integrated control cabinet to generate a flame to deburr the automotive parts;

[0021] S5. After the automotive parts complete the deburring operation, stop the work of the flame treatment structure through the integrated control cabinet, and at the same time, start the six-axis robotic arm of the six-axis robotic device to work, drive the picking fixture together with the automotive parts to move according to the preset motion trajectory, and place the automotive parts on the external conveyor line;

[0022] S6. Finally, start the six-axis robotic arm of the six-axis robotic device by the integrated control cabinet to work, drive the picking fixture to move according to the preset motion trajectory to reset, and wait for a signal to perform the picking operation of the next automotive part.

[0023] Preferably, in step S3, during the gate cutting operation of the automotive parts, the gate cutting operation time for each gate of the automotive parts is 2S.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] During the production of automotive parts, the present invention uses a six-axis robotic device to replace the three-axis bullhead arm robotic arm and is used in supporting with the injection molding machine. Due to the six-axis robotic device having a six-degree-of-freedom motion function, the present invention can be applicable to the clamping operations of various types of automotive parts, can replace manual loading and unloading operations to achieve the full-process automatic production of automotive parts, not only is not likely to cause damage to the automotive parts, but also can effectively improve the qualified rate of products. At the same time, the present invention is provided with a gate cutting tool structure and a flame treatment structure on the injection molding machine. During the working process, the six-axis robotic device with the gate cutting tool structure and the flame treatment structure can be used to perform gate cutting and deburring operations on the automotive parts, which can further improve the production efficiency.

[0026] When the present invention is specifically used, after the integrated control cabinet receives the production signal of the injection molding machine for automotive parts, the six-axis robotic arm of the six-axis robotic device is started by the integrated control cabinet to move the picking fixture into the mold cavity of the injection molding machine along a preset movement trajectory and closely adhere to the automotive parts; the picking fixture is started to work by the integrated control cabinet so that the picking fixture vacuum adsorbs the automotive parts, and then the six-axis robotic arm of the six-axis robotic device is started by the integrated control cabinet to move along a preset movement trajectory to take out the picking fixture together with the automotive parts from the mold cavity of the injection molding machine. At the same time, a signal is transmitted to the injection molding machine by the integrated control cabinet to make the injection molding machine close the mold for the production of the next automotive part; the six-axis robotic arm of the six-axis robotic device is started by the integrated control cabinet to drive the picking fixture together with the automotive parts to run to the gate cutting tool structure along a preset movement trajectory and run along a preset movement trajectory to cooperate with the gate cutting tool structure for gate cutting operation; after the automotive parts complete the gate cutting operation, the six-axis robotic arm of the six-axis robotic device is started by the integrated control cabinet to drive the picking fixture together with the automotive parts to run to the flame treatment structure along a preset movement trajectory. At the same time, the flame treatment structure is started to work by the integrated control cabinet to generate a flame to perform deburring operation on the automotive parts; after the automotive parts complete the deburring operation, while the flame treatment structure is stopped by the integrated control cabinet, the six-axis robotic arm of the six-axis robotic device is started to work to drive the picking fixture together with the automotive parts to place the automotive parts on the external conveyor line along a preset movement trajectory; finally, the six-axis robotic arm of the six-axis robotic device is started to work by the integrated control cabinet to drive the picking fixture to reset along a preset movement trajectory and wait for a signal for the picking operation of the next automotive part.

[0027] Therefore, the present invention has the advantages of being able to be applicable to the picking operations of multiple types of automotive parts to realize the full-process automatic production of automotive parts, being able to automatically perform gate cutting and deburring operations on automotive parts, not easily causing damage to automotive parts during the production process, effectively improving production efficiency and product qualification rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present invention will be further described below in conjunction with the drawings and embodiments.

[0029] Figure 1 is a schematic structural diagram of a six-axis robotic arm for an injection molding machine according to the present invention;

[0030] Figure 2 is a schematic structural diagram of a six-axis robotic device of a six-axis robotic arm for an injection molding machine according to the present invention;

[0031] Figure 3 is a circuit connection block diagram of a six-axis robotic arm for an injection molding machine according to the present invention;

[0032] Figure 4 It is a flow chart of a control method of a six-axis manipulator for an injection molding machine according to the present invention.

[0033] Description of reference numerals: 1, injection molding machine; 2, six-axis manipulator device; 21, base; 22, six-axis robotic arm; 221, body rotation axis; 222, main arm front and rear swing axis; 223, forearm front and rear swing axis; 224, wrist rotation axis; 225, wrist up and down swing axis; 226, end rotation axis; 23, picking fixture; 231, support seat; 232, picking cylinder; 233, connecting pipe; 234, vacuum suction cup; 24, integrated control cabinet; 25, gate cutter structure; 251, limit seat; 252, gate cutter; 253, screw; 26, flame treatment structure; 261, mounting seat; 262, ball bearing; 263, turntable; 264, flame combustion assembly; 100, flame burner; 200, electric valve; 300, flame combustion port; 400, electronic igniter; 265, screw. Detailed implementation manners

[0034] Refer to Figures 1 to 4As shown in the figure, a six-axis manipulator for an injection molding machine includes a six-axis manipulator device 2 provided on the external injection molding machine 1; the six-axis manipulator device 2 includes a base 21 provided on the top of the injection molding machine 1, a six-axis robotic arm 22 is provided on the base 21, and a picking fixture 23 for cooperating with the six-axis robotic arm 22 to take out the produced automotive parts from the mold cavity of the injection molding machine 1 is provided at one end of the six-axis robotic arm 22 away from the base 21; it also includes an integrated control cabinet 24 provided on one side wall of the injection molding machine 1 and electrically connected to the six-axis robotic arm 22 and the picking fixture 23. On the front end face of the injection molding machine 1, a gate cutting knife structure 25 and a flame treatment structure 26 for cooperating with the picking fixture 23 to perform gate cutting and deburring operations on the produced automotive parts are arranged in sequence from left to right. During use, after the integrated control cabinet receives the signal that the injection molding machine has completed the production of automotive parts, the six-axis robotic arm of the six-axis manipulator device is started by the integrated control cabinet to move according to a preset movement trajectory to send the picking fixture into the mold cavity of the injection molding machine and closely adhere to the automotive parts; the picking fixture is started to work by the integrated control cabinet so that the picking fixture vacuum adsorbs the automotive parts, and then the six-axis robotic arm of the six-axis manipulator device is started by the integrated control cabinet to move according to a preset movement trajectory to take out the picking fixture together with the automotive parts from the mold cavity of the injection molding machine. At the same time, the integrated control cabinet transmits a signal to the injection molding machine to make the injection molding machine close the mold for the production of the next automotive part; the six-axis robotic arm of the six-axis manipulator device is started by the integrated control cabinet to move according to a preset movement trajectory to drive the picking fixture together with the automotive parts to run to the gate cutting knife structure and operate in cooperation with the gate cutting knife structure according to a preset movement trajectory for gate cutting; after the automotive parts complete the gate cutting operation, the six-axis robotic arm of the six-axis manipulator device is started by the integrated control cabinet to move according to a preset movement trajectory to drive the picking fixture together with the automotive parts to run to the flame treatment structure. At the same time, the flame treatment structure is started to work by the integrated control cabinet to generate a flame to perform deburring operations on the automotive parts; after the automotive parts complete the deburring operation, while the integrated control cabinet stops the work of the flame treatment structure, the six-axis robotic arm of the six-axis manipulator device is started to work to drive the picking fixture together with the automotive parts to move according to a preset movement trajectory to place the automotive parts on the external conveyor line; finally, the six-axis robotic arm of the six-axis manipulator device is started by the integrated control cabinet to work to drive the picking fixture to move according to a preset movement trajectory to reset and wait for a signal for the picking operation of the next automotive part.A six-axis manipulator device 2 is used to replace the three-axis bullhead arm manipulator and is used in conjunction with the injection molding machine 1. The six-axis manipulator device 2 has a six-degree-of-freedom motion function and can be suitable for clamping operations of various types of automobile parts. It can replace manual loading and unloading operations to realize the full-process automatic production of automobile parts, which is not easy to cause damage to automobile parts and can effectively improve the product qualification rate. At the same time, by providing a sprue knife structure 25 and a flame treatment structure 26 on the injection molding machine 1, during the working process, the six-axis manipulator device 2 with the sprue knife structure 25 and the flame treatment structure 26 can be used to cut sprues and deburr automobile parts, which can further improve production efficiency.

[0035] In this embodiment, the six-axis robotic arm 22 includes a body rotation shaft 221 electrically connected to the integrated control cabinet 24, a main arm front-back swing shaft 222, a forearm front-back swing shaft 223, a wrist rotation shaft 224, a wrist up-down swing shaft 225, and a end rotation shaft 226. Among them, the picking fixture 23 is installed at the end of the end rotation shaft 226. The body rotation shaft 221 is installed on the base 21 for left-right rotation, the main arm front-back swing shaft 222 is installed at one end of the body rotation shaft 221 away from the base 21, the forearm front-back swing shaft 223 is installed at one end of the main arm front-back swing shaft 222 away from the body rotation shaft 221 for loading and unloading swing, the wrist rotation shaft 224 is installed at one end of the forearm front-back swing shaft 223 away from the main arm front-back swing shaft 222 for free rotation, the wrist up-down swing shaft 225 is installed at one end of the wrist rotation shaft 224 away from the forearm front-back swing shaft 223 for small up-down flipping, and the end rotation shaft 226 is installed at one end of the wrist up-down swing shaft 225 away from the wrist rotation shaft 224 for 360-degree rotation.During use, after the integrated control cabinet 24 receives the signal that the injection molding machine 1 has completed the production of automotive parts, the integrated control cabinet 24 starts the body rotation shaft 221, the main arm front and rear swing shaft 222, the forearm front and rear swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225, and the end rotation shaft 226 of the six-axis robotic arm 22 to act according to a preset motion trajectory to send the picking fixture 23 into the mold cavity of the injection molding machine 1 and closely attach it to the automotive parts; the integrated control cabinet 24 starts the picking fixture 23 to work so that the picking fixture 23 vacuum adsorbs the automotive parts, and then the integrated control cabinet 24 starts the body rotation shaft 221, the main arm front and rear swing shaft 222, the forearm front and rear swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225, and the end rotation shaft 226 of the six-axis robotic arm 22 to act according to a preset motion trajectory to take out the picking fixture 23 together with the automotive parts from the mold cavity of the injection molding machine 1. At the same time, the integrated control cabinet 24 transmits a signal to the injection molding machine 1 to make the injection molding machine close the mold for the production of the next automotive part; the integrated control cabinet 24 starts the body rotation shaft 221, the main arm front and rear swing shaft 222, the forearm front and rear swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225, and the end rotation shaft 226 of the six-axis robotic arm 22 to act according to a preset motion trajectory to drive the picking fixture 23 together with the automotive parts to run to the gate cutting tool structure 25 and perform gate cutting operation in cooperation with the gate cutting tool structure 25 according to a preset motion trajectory; after the automotive parts complete the gate cutting operation, the integrated control cabinet 24 starts the body rotation shaft 221, the main arm front and rear swing shaft 222, the forearm front and rear swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225, and the end rotation shaft 226 of the six-axis robotic arm 22 to act according to a preset motion trajectory to drive the picking fixture 23 together with the automotive parts to run to the flame treatment structure 26. At the same time, the integrated control cabinet 24 starts the flame treatment structure 26 to work to generate a flame to perform deburring operation on the automotive parts; after the automotive parts complete the deburring operation, while the integrated control cabinet 24 stops the work of the flame treatment structure 26, it starts the body rotation shaft 221, the main arm front and rear swing shaft 222, the forearm front and rear swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225, and the end rotation shaft 226 of the six-axis robotic arm 22 to drive the picking fixture 23 together with the automotive parts to act according to a preset motion trajectory to place the automotive parts on the external conveyor line; finally, the integrated control cabinet 24 starts the body rotation shaft 221, the main arm front and rear swing shaft 222, the forearm front and rear swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225, and the end rotation shaft 226 of the six-axis robotic arm 22 to drive the picking fixture 23 to reset according to a preset motion trajectory and wait for a signal to perform the picking operation of the next automotive part.

[0036] In this embodiment, the gate knife structure 25 includes a limit seat 251 which is installed on the injection molding machine 1 near the lower end of the integrated control cabinet 24 by bolts. A gate knife 252 which can rotate 360 degrees relative to the limit seat 251 for cooperating with the picking fixture 23 to perform gate cutting operation on the produced automotive parts is movably sleeved on the limit seat 251. A screw 253 for fixing the gate knife 252 on the limit seat 251 is provided at one end of the gate knife 252 connected to the limit seat 251. During use, according to the preset movement trajectory of the picking fixture 23 driven by the six-axis robotic arm 22 together with the automotive parts, the gate knife 252 is rotated relative to the limit seat 251 to an appropriate position so that it can be adapted to the picking fixture 23 to perform gate cutting operation on the automotive parts, and then the gate knife 252 is fixed on the limit seat 251 by the screw 253, thereby limiting the gate knife 252 at the designated use position. The gate knife structure 25 adopts the structural design of combining the limit seat 251, the gate knife 252 and the screw 253, so that the cutting edge position of the gate knife 252 is adjustable and can be applied to the gate cutting operations of different types of automotive parts, improving the applicability of use.

[0037] In this embodiment, the flame treatment structure 26 includes a mounting seat 261 bolted to the lower end of the side of the injection molding machine 1 away from the integrated control cabinet 24. A turntable 263 is provided on the mounting seat 261 through a ball bearing 262. A flame combustion assembly 264 capable of rotating and adjusting 360 degrees along with the turntable 263 is provided on the turntable 263. A screw 265 for fixing the turntable 263 to the mounting seat 261 is also provided on the turntable 263. Among them, the flame combustion assembly 264 is electrically connected to the integrated control cabinet 24 through a wire. The flame combustion assembly 264 includes a flame burner 100 provided on the turntable 263 and self - contained with fuel. A flame combustion port 300 is connected to the outlet end of the flame burner 100 through an electric valve 200. An electronic igniter 400 is provided at one end of the flame combustion port 300 away from the electric valve 200. Among them, the electric valve 200 and the electronic igniter 400 are both electrically connected to the integrated control cabinet 24 through wires. During the use process, according to the preset movement trajectory of the six - axis robotic arm 22 driving the picking fixture 23 together with the automotive part, the turntable 263 is rotated under the action of the ball bearing 262 to drive the flame combustion assembly 264 to rotate to an appropriate position so that it can be adapted to the picking fixture 23 to perform deburring operations on the automotive part. Then, the turntable 263 is fixed to the mounting seat 261 through the screw 265, thereby limiting the flame combustion assembly 264 to a specified use position to be applicable to the deburring operations of different types of automotive parts, improving the applicability of use. When deburring, the integrated control cabinet 24 starts the body rotation axis 221, the main arm front - and - rear swing axis 222, the forearm front - and - rear swing axis 223, the wrist rotation axis 224, the wrist up - and - down swing axis 225, and the end rotation axis 226 of the six - axis robotic arm 22 to act according to the preset movement trajectory to drive the picking fixture 23 together with the automotive part to run to the flame combustion port 300 of the flame combustion assembly 264. At the same time, the integrated control cabinet 24 starts the electric valve 200 and the electronic igniter 400 to work, so that the fuel in the flame burner 100 is sequentially transported through the electric valve 200 and the flame combustion port 300 to the electronic igniter 400 for ignition, thereby generating a flame to perform deburring operations on the automotive part.

[0038] In this embodiment, the picking fixture 23 includes a support seat 231 mounted on the end rotating shaft 226 by bolts at an end away from the wrist vertical swing shaft 225, and the support seat 231 can rotate 360 degrees along with the end rotating shaft 226. At an end of the support seat 231 close to the end rotating shaft 226, a picking cylinder 232 is provided. At an end of the support seat 231 away from the end rotating shaft 226, a plurality of vacuum suction cups 234 are provided, and all of them are connected to the output end of the picking cylinder 232 through a connecting pipe 233. Among them, the picking fixture 23 is electrically connected to the integrated control cabinet 24 through the picking cylinder 232. During the use process, the integrated control cabinet 24 starts the picking cylinder 232 to work. Under the action of the connecting pipe 233, the contact surface between the vacuum suction cup 234 and the automotive part is evacuated to form a vacuum adsorption state to adsorb the automotive part, effectively improving the stability of the grasping of the automotive part to prevent the automotive part from falling and being damaged.

[0039] In this embodiment, the integrated control cabinet 24 is an integrated control cabinet with a programmable controller.

[0040] In specific use of this embodiment, first, according to the preset movement trajectory of the six-axis robotic arm 22 driving the part-gripping fixture 23 together with the automotive part, rotate the gate cutter 252 relative to the limit seat 251 to a proper position so that it can be adapted to the part-gripping fixture 23 to perform the gate cutting operation on the automotive part, and then fix the gate cutter 252 on the limit seat 251 through the screw 253, thereby limiting the gate cutter 252 at the designated use position. Under the action of the ball bearing 262, rotate the turntable 263 to drive the flame combustion assembly 264 to rotate to a proper position so that it can be adapted to the part-gripping fixture 23 to perform the deburring operation on the automotive part, and then fix the turntable 263 on the mounting seat 261 through the screw 265, thereby limiting the flame combustion assembly 264 at the designated use position. Secondly, after the integrated control cabinet 24 receives the production signal of the automotive part completed by the injection molding machine 1, the integrated control cabinet 24 starts the body rotation shaft 221, the main arm forward and backward swing shaft 222, the forearm forward and backward swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225 and the end rotation shaft 226 of the six-axis robotic arm 22 to act according to the preset movement trajectory to send the part-gripping fixture 23 into the mold cavity of the injection molding machine 1. At this time, the vacuum suction cup 234 of the part-gripping fixture 23 closely adheres to the automotive part. Start the part-gripping cylinder 232 to work through the integrated control cabinet 24. Under the action of the connecting pipe 233, evacuate the contact surface between the vacuum suction cup 234 and the automotive part to form a vacuum adsorption state to adsorb the automotive part. Then, the integrated control cabinet 24 starts the body rotation shaft 221, the main arm forward and backward swing shaft 222, the forearm forward and backward swing shaft 223, the wrist rotation shaft 224, the wrist up and down swing shaft 225 and the end rotation shaft 226 of the six-axis robotic arm 22 to act according to the preset movement trajectory to take out the part-gripping fixture 23 together with the automotive part from the mold cavity of the injection molding machine 1. At the same time, use the integrated control cabinet 24 to transmit a signal to the injection molding machine 1 to make the injection molding machine close the mold for the production of the next automotive part.Then, the integrated control cabinet 24 starts the body rotation axis 221, the main arm front and rear swing axis 222, the forearm front and rear swing axis 223, the wrist rotation axis 224, the wrist up and down swing axis 225, and the end rotation axis 226 of the six-axis robotic arm 22 to move according to a preset motion trajectory, driving the picking fixture 23 together with the automotive part to run to the gate cutter 252, and operating in cooperation with the gate cutter 252 according to the preset motion trajectory to perform the gate cutting operation. After the automotive part completes the gate cutting operation, the integrated control cabinet 24 starts the body rotation axis 221, the main arm front and rear swing axis 222, the forearm front and rear swing axis 223, the wrist rotation axis 224, the wrist up and down swing axis 225, and the end rotation axis 226 of the six-axis robotic arm 22 to move according to a preset motion trajectory, driving the picking fixture 23 together with the automotive part to run to the flame combustion port 300 of the flame combustion assembly 264. At the same time, the integrated control cabinet 24 starts the electric valve 200 and the electronic igniter 400 to work, so that the fuel in the flame burner 100 is sequentially transported through the electric valve 200 and the flame combustion port 300 to the electronic igniter 400 for ignition, thereby generating a flame to perform deburring operation on the automotive part; finally, after the automotive part completes the deburring operation, while the integrated control cabinet 24 stops the electric valve 200 and the electronic igniter 400 from working, it starts the body rotation axis 221, the main arm front and rear swing axis 222, the forearm front and rear swing axis 223, the wrist rotation axis 224, the wrist up and down swing axis 225, and the end rotation axis 226 of the six-axis robotic arm 22 to drive the picking fixture 23 together with the automotive part to place the automotive part on the external conveyor line according to a preset motion trajectory. By the integrated control cabinet 24 stopping the picking cylinder 232 from working, the contact surface between the vacuum chuck 234 and the automotive part is no longer in a vacuum adsorption state, so that the automotive part falls off on the external conveyor line. Then, the integrated control cabinet 24 starts the body rotation axis 221, the main arm front and rear swing axis 222, the forearm front and rear swing axis 223, the wrist rotation axis 224, the wrist up and down swing axis 225, and the end rotation axis 226 of the six-axis robotic arm 22 to drive the picking fixture 23 to reset according to a preset motion trajectory, waiting for a signal to perform the picking operation for the next automotive part.;

[0041] In summary, the present invention adopts the above structure and has the advantages of being able to be applicable to the picking operations of multiple types of automotive parts to realize the full-process automatic production of automotive parts, being able to automatically perform gate cutting and deburring operations on automotive parts, not easily causing damage to automotive parts during the production process, effectively improving the production efficiency and the product qualification rate.

[0042] A control method for a six-axis robotic arm used in an injection molding machine. The specific steps of the control method are as follows:

[0043] S1. After the integrated control cabinet 24 receives the production signal of the injection molding machine 1 for completing the production of automotive parts, the integrated control cabinet 24 starts the six-axis robotic arm 22 of the six-axis robotic device 2 to move according to a preset motion trajectory, sending the picking fixture 23 into the mold cavity of the injection molding machine 1 and pressing it tightly against the automotive parts.

[0044] S2. The integrated control cabinet 24 starts the picking fixture 23 to work so that the picking fixture 23 vacuum adsorbs the automotive parts. Then, the integrated control cabinet 24 starts the six-axis robotic arm 22 of the six-axis robotic device 2 to move according to a preset motion trajectory, taking out the picking fixture 23 together with the automotive parts from the mold cavity of the injection molding machine 1. At the same time, the integrated control cabinet 24 transmits a signal to the injection molding machine 1 to make the injection molding machine close the mold for the production of the next automotive part.

[0045] S3. The integrated control cabinet 24 starts the six-axis robotic arm 22 of the six-axis robotic device 2 to move according to a preset motion trajectory, driving the picking fixture 23 together with the automotive parts to run to the gate cutting tool structure 25 and operating in cooperation with the gate cutting tool structure 25 according to a preset motion trajectory for gate cutting operation.

[0046] S4. After the automotive parts complete the gate cutting operation, the integrated control cabinet 24 starts the six-axis robotic arm 22 of the six-axis robotic device 2 to move according to a preset motion trajectory, driving the picking fixture 23 together with the automotive parts to run to the flame treatment structure 26. At the same time, the integrated control cabinet 24 starts the flame treatment structure 26 to work to generate a flame for deburring the automotive parts.

[0047] S5. After the automotive parts complete the deburring operation, while the integrated control cabinet 24 stops the work of the flame treatment structure 26, it starts the six-axis robotic arm 22 of the six-axis robotic device 2 to work, driving the picking fixture 23 together with the automotive parts to move according to a preset motion trajectory and placing the automotive parts on the external conveyor line.

[0048] S6. Finally, the integrated control cabinet 24 starts the six-axis robotic arm 22 of the six-axis robotic device 2 to work, driving the picking fixture 23 to move according to a preset motion trajectory to reset, waiting for a signal for the picking operation of the next automotive part.

[0049] In this embodiment, in step S3, during the gate cutting operation of the automotive parts, the gate cutting operation time for each gate of the automotive parts is 2S.

[0050] For those skilled in the art, according to the above-described technical solutions and concepts, various corresponding changes and deformations can be made, and all these changes and deformations should fall within the protection scope of the claims of the present invention.

Claims

1. A six-axis manipulator for an injection molding machine, comprising a six-axis manipulator device (2) provided on an externally located injection molding machine (1); characterized in that: The six-axis manipulator device (2) includes a base (21) provided on the top of the injection molding machine (1). A six-axis robotic arm (22) is provided on the base (21). At one end of the six-axis robotic arm (22) far from the base (21), there is a picking fixture (23) used to cooperate with the six-axis robotic arm (22) to take out the produced automotive parts from the mold cavity of the injection molding machine (1). The six-axis manipulator device (2) further includes an integrated control cabinet (24) provided on one side wall of the injection molding machine (1) and electrically connected to the six-axis robotic arm (22) and the picking fixture (23). On the front end face of the injection molding machine (1), a gate cutting knife structure (25) and a flame treatment structure (26) are successively arranged from left to right. The gate cutting knife structure (25) is respectively used to cooperate with the picking fixture (23) to perform gate cutting and deburring operations on the produced automotive parts, and the flame treatment structure (26) is used to perform flame treatment on the produced automotive parts. The gate cutting knife structure (25) includes a limit seat (251) installed on the injection molding machine (1) near the lower end on the side of the integrated control cabinet (24) through bolts. A gate cutting knife (252) that can rotate 360 degrees relative to the limit seat (251) for cooperating with the picking fixture (23) to perform gate cutting operations on the produced automotive parts is movably sleeved on the limit seat (251). At one end of the gate cutting knife (252) connected to the limit seat (251), there is a screw (253) for fixing the gate cutting knife (252) on the limit seat (251). The flame treatment structure (26) includes a mounting seat (261) installed on the injection molding machine (1) near the lower end on the side far from the integrated control cabinet (24) through bolts. A turntable (263) is provided on the mounting seat (261) through a ball bearing (262). A flame combustion assembly (264) that can rotate 360 degrees along with the turntable (263) is provided on the turntable (263). There is also a screw (265) on the turntable (263) for fixing the turntable (263) on the mounting seat (261). Among them, the flame combustion assembly (264) is electrically connected to the integrated control cabinet (24) through a wire. The flame combustion assembly (264) includes a flame burner (100) provided on the turntable (263) and self - contained with fuel. A flame combustion port (300) is connected to the outlet end of the flame burner (100) through an electric valve (200). An electronic igniter (400) is provided at one end of the flame combustion port (300) far from the electric valve (200). Among them, both the electric valve (200) and the electronic igniter (400) are electrically connected to the integrated control cabinet (24) through wires.

2. The six-axis robot for an injection molding machine according to claim 1, wherein: The six-axis robotic arm (22) includes a body rotation shaft (221), a main arm front-back swing shaft (222), a forearm front-back swing shaft (223), a wrist rotation shaft (224), a wrist up-down swing shaft (225), and a end rotation shaft (226) that are electrically connected to the integrated control cabinet (24). Among them, the picking fixture (23) is installed at the end of the end rotation shaft (226).

3. The six-axis robot for an injection molding machine according to claim 2, wherein: The body rotation shaft (221) is installed on the base (21) for left-right rotation movement. The main arm front-back swing shaft (222) is installed at one end of the body rotation shaft (221) away from the base (21). The forearm front-back swing shaft (223) is installed at one end of the main arm front-back swing shaft (222) away from the body rotation shaft (221) for loading and unloading swing movement. The wrist rotation shaft (224) is installed at one end of the forearm front-back swing shaft (223) away from the main arm front-back swing shaft (222) for free rotation movement. The wrist up-down swing shaft (225) is installed at one end of the wrist rotation shaft (224) away from the forearm front-back swing shaft (223) for small up-down flipping movement. The end rotation shaft (226) is installed at one end of the wrist up-down swing shaft (225) away from the wrist rotation shaft (224) for 360-degree rotation movement.

4. The six-axis manipulator for an injection molding machine according to claim 3, wherein: The picking fixture (23) includes a support base (231) installed on the end of the end rotation shaft (226) away from the wrist up-down swing shaft (225) by bolts, and the support base (231) can rotate 360 degrees with the end rotation shaft (226). At one end of the support base (231) close to the end rotation shaft (226), a picking cylinder (232) is provided. Also, at one end of the support base (231) away from the end rotation shaft (226), a number of vacuum suction cups (234) are provided, all of which are connected to the output end of the picking cylinder (232) through a connecting pipe (233). Among them, the picking fixture (23) is electrically connected to the integrated control cabinet (24) through the picking cylinder (232).

5. A control method for a six-axis manipulator used in an injection molding machine according to claim 1, characterized in that, This control method includes the following steps: S1. After the integrated control cabinet (24) receives the production signal of the automotive parts from the injection molding machine (1), the integrated control cabinet (24) starts the six-axis robotic arm (22) of the six-axis robotic device (2) to move according to a preset motion trajectory, and sends the picking fixture (23) into the mold cavity of the injection molding machine (1) and closely adheres to the automotive parts. S2. The integrated control cabinet (24) starts the picking fixture (23) to work so that the picking fixture (23) vacuum adsorbs the automotive parts. Then, the integrated control cabinet (24) starts the six-axis robotic arm (22) of the six-axis robotic device (2) to move according to a preset motion trajectory, and takes out the picking fixture (23) together with the automotive parts from the mold cavity of the injection molding machine (1). At the same time, the integrated control cabinet (24) transmits a signal to the injection molding machine (1) to make the injection molding machine close the mold for the production of the next automotive part. S3. The integrated control cabinet (24) starts the six-axis robotic arm (22) of the six-axis robotic arm device (2) to move according to a preset motion trajectory, driving the part-gripping fixture (23) together with the automotive part to run to the gate-cutting tool structure (25), and operating in cooperation with the gate-cutting tool structure (25) according to the preset motion trajectory to perform the gate-cutting operation; S4. After the automotive part completes the gate-cutting operation, the integrated control cabinet (24) starts the six-axis robotic arm (22) of the six-axis robotic arm device (2) to move according to a preset motion trajectory, driving the part-gripping fixture (23) together with the automotive part to run to the flame treatment structure (26). At the same time, the integrated control cabinet (24) starts the flame treatment structure (26) to work to generate a flame to perform deburring on the automotive part; S5. After the automotive part completes the deburring operation, while the integrated control cabinet (24) stops the flame treatment structure (26) from working, it starts the six-axis robotic arm (22) of the six-axis robotic arm device (2) to work, driving the part-gripping fixture (23) together with the automotive part to move according to a preset motion trajectory to place the automotive part on the external conveyor line; S6. Finally, the integrated control cabinet (24) starts the six-axis robotic arm (22) of the six-axis robotic arm device (2) to work, driving the part-gripping fixture (23) to reset according to a preset motion trajectory, and waiting for a signal to perform the part-gripping operation for the next automotive part.

6. The control method of a six-axis manipulator for an injection molding machine according to claim 5, characterized in that: In step S3, during the gate-cutting operation of the automotive part, the gate-cutting operation time for each gate of the automotive part is 2S.

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