A multifunctional robot for injection molding machine

Abstract

This invention relates to the field of robotic arm technology, and more particularly to a multifunctional robotic arm for injection molding machines, comprising a robotic arm and a gripping mechanism disposed at the free end of the robotic arm. The gripping mechanism includes a first housing and a second housing. The first housing is fixedly disposed at the upper end of the second housing. The interior of the second housing is provided with mutually perpendicular sliding rods, which are horizontally arranged. Each sliding rod is fitted with two corresponding collars. The lower end of each collar is fixedly connected to a first movable rod. A servo push rod is installed on the first housing to drive the collars to slide along the corresponding sliding rod. The second housing is provided with a through groove for the first movable rod to slide. A first airbag is fitted on the body of the first movable rod, and a suction cup is disposed at the lower end of the first movable rod. The first movable rods cooperate with each other to grip objects.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more particularly to a multifunctional robotic arm for injection molding machines. Background Technology

[0002] Injection molding is a method of shaping industrial products. Products are usually made using rubber injection molding and plastic injection molding. Injection molding can also be divided into injection molding compression molding and die casting. Injection molding machines are the main molding equipment that uses plastic molds to make plastic products of various shapes from thermoplastic or thermosetting materials.

[0003] During the injection molding process, the product needs to be removed from the mold after demolding. Due to the high temperature of the product after demolding, manual removal can be dangerous. Injection molded products can generally be divided into solid and hollow shapes. For most solid and thick-walled hollow injection molded products, traditional robotic arms can handle them normally. However, for thin-walled hollow injection molded products, which have lower strength, traditional robotic arms can cause severe deformation and damage if the clamping force is too large. If the clamping force is too small, the product cannot be lifted smoothly, affecting production efficiency. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a multifunctional robotic arm for injection molding machines.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A multifunctional robotic arm for injection molding machines includes a robotic arm and a gripping mechanism disposed at the free end of the robotic arm. The gripping mechanism includes a first housing and a second housing. The first housing is fixedly disposed at the upper end of the second housing. The interior of the second housing is provided with mutually perpendicular sliding rods. The sliding rods are horizontally arranged, and each sliding rod is fitted with two corresponding collars. The lower end of each collar is fixedly connected to a first movable rod. A servo push rod is installed on the first housing to drive the collars to slide along the corresponding sliding rods. The second housing is provided with a through groove for the first movable rod to slide. A first airbag is fitted on the body of the first movable rod, and a suction cup is disposed at the lower end of the first movable rod. The first movable rods cooperate with each other to grip objects.

[0007] Preferably, suction cups are provided on both the sidewalls of the first movable rod that are close to each other and the sidewalls that are far apart from each other. A second air supply channel is provided inside the first movable rod. The second air supply channel is connected to the suction cups and is connected to the inlet end of the vacuum pump through a first hose. The vacuum pump is installed inside the first housing and the first housing is provided with vent holes.

[0008] Preferably, the lower end of the first movable rod is at the same horizontal plane, and a suction cup is also provided at the lower end of the first movable rod. The plate-shaped injection molded product can be gripped by the suction cup at the lower end of the first movable rod. That is, the robotic arm drives the gripping mechanism to move, so that the suction cup of the first movable rod is in close contact with the injection molded product. At this time, the corresponding suction cup triggering mechanism is triggered, and the injection molded product is gripped by the suction cup, thereby realizing the gripping of the plate-shaped injection molded product.

[0009] Preferably, the first movable rod is provided with a suction cup triggering mechanism adapted to the suction cup. When the suction cup triggering mechanism is triggered, the corresponding suction cup is connected to the second air supply channel.

[0010] Preferably, the suction cup triggering mechanism includes an elastic block, a second movable rod, a movable plate, a spring, a blocking block, and a third air supply channel. The first movable rod has a cavity inside to accommodate the movable plate. The outlet end of the third air supply channel is connected to the cavity. The blocking block is adapted to the outlet end of the third air supply channel, and the end of the blocking block is fixedly connected to the movable plate. The elastic block is connected to the movable plate through the second movable rod. The spring is disposed between the inner wall of the movable plate and the first movable rod. When the suction cup is in close contact with the injection-molded product, the suction cup triggering mechanism is triggered. The injection-molded product squeezes the elastic block, which pushes the second movable rod to move. The second movable rod pushes the movable plate to move. When the movable plate moves, the blocking block separates from the outlet end of the third air supply channel, thereby connecting the suction cup with the cavity. For suction cups that are not in contact with the injection-molded product, the movable plate is in close contact with the inner wall of the cavity under the action of the spring, and the blocking block is stuck at the outlet end of the third air supply channel, so the corresponding suction cup is not connected.

[0011] Preferably, the end of the movable plate is arc-shaped, the movable plate corresponding to the suction cup at the lower end of the first movable rod, after the movable plate moves, its two ends contact the end faces of the other two movable plates; the movable plate corresponding to the suction cup on the side wall of the first movable rod, after the movable plate moves, its lower end contacts the end face of the lowest movable plate.

[0012] Preferably, a fixing block is also fixedly installed on the inner wall of the cavity. A slot is provided in the middle of the fixing block, and a horizontally arranged movable block is inserted into the slot. When the elastic block on one side of the first movable rod is squeezed, the elastic block pushes the movable plate to move through the second movable rod. The movable plate pushes the movable block to move, so that both ends of the movable block are in contact with the movable plate. A second airbag is installed on the movable block. The end of the second airbag extends to the outside of the movable block and contacts the inner wall of the slot. When one of the movable plates is opened and the vacuum pump starts to evacuate the suction cup, the pressure inside the cavity gradually decreases, the second airbag expands, and the friction between the second airbag and the inner wall of the slot increases, making the movable block unable to move. This prevents the other movable plate from being opened, ensuring that the suction cup can work normally.

[0013] Preferably, each suction cup has at least two sets of elastic blocks inside, the elastic blocks are located on both sides of the third air supply channel, and the end face of the elastic block is sealed to the inner wall of the suction cup.

[0014] Preferably, the first movable rod is provided with a first air supply channel communicating with the first airbag. The first air supply channel is connected to an air compressor pump through a second hose. The air compressor pump is installed inside the first housing.

[0015] Preferably, a first fixing block is fixedly disposed on the outer wall of the collar, and the output end of the servo push rod is fixedly connected to the first fixing block.

[0016] The beneficial effects of this invention are:

[0017] 1. The multifunctional robotic arm proposed in this invention can quickly grasp solid and hollow injection molded products. For solid injection molded products, the first movable rods are brought closer together to clamp the injection molded product. For thin-walled hollow injection molded products, the first movable rods are brought close to the injection molded product so that the suction cup is tightly attached to the injection molded product. A vacuum pump is used to evacuate the suction cup to hold the injection molded product, preventing severe deformation of the injection molded product and making the injection molded product less prone to damage.

[0018] 2. The multifunctional robotic arm proposed in this invention has a suction cup triggering mechanism adapted to the suction cup on the first movable rod. When the suction cup triggering mechanism is triggered, the corresponding suction cup is connected to the second air supply channel, so that the suction cup that is in close contact with the injection molded product is connected, while the other suction cups are in an unconnected state. When the vacuum pump is started, it ensures that the suction force of the suction cup that is in close contact with the injection molded product is sufficient, which facilitates the gripping of the product and reduces the loss of power.

[0019] 3. The multifunctional robotic arm proposed in this invention has an arc-shaped end to the movable plate. The movable plate corresponding to the suction cup at the lower end of the first movable rod, after moving, has both ends in contact with the end faces of the other two movable plates. The movable plate corresponding to the suction cup on the side wall of the first movable rod, after moving, has its lower end in contact with the end face of the lowest movable plate. That is, after the movable plate corresponding to the lower suction cup moves, the other two movable plates cannot move, and after the movable plate corresponding to the side wall suction cup moves, the lower movable plate cannot move. With the help of the movable block, only one suction cup on a single first movable rod works at the same time, ensuring sufficient suction force of the suction cup and avoiding waste of air source. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the main structure of a multifunctional robotic arm for injection molding machines proposed in this invention;

[0021] Figure 2This is a schematic diagram of the main cross-sectional structure of the gripping mechanism of a multifunctional robotic arm for injection molding machines proposed in this invention.

[0022] Figure 3 This is a bottom view of the first and second housings of a multifunctional robotic arm for an injection molding machine proposed in this invention.

[0023] Figure 4 This is a cross-sectional view of the second housing of a multifunctional robotic arm for an injection molding machine proposed in this invention.

[0024] Figure 5 This is a cross-sectional view of the first movable rod of a multifunctional robotic arm for an injection molding machine proposed in this invention.

[0025] Figure 6 This invention proposes a multi-functional robotic arm for injection molding machines. Figure 5 Enlarged structural diagram at point A in the middle;

[0026] Figure 7 This is a front view schematic diagram of the movable block and fixed block of a multifunctional robotic arm for an injection molding machine proposed in this invention;

[0027] Figure 8 This is a cross-sectional view of the movable block and fixed block of a multifunctional robotic arm for injection molding machines proposed in this invention.

[0028] In the diagram: 1. Robotic arm; 2. Grasping mechanism; 201. First housing; 202. Second housing; 203. Slide rod; 204. Collar; 205. First movable rod; 206. Suction cup; 207. First airbag; 208. First fixed block; 209. Servo push rod; 210. First air supply channel; 211. Second air supply channel; 212. Cavity; 213. Elastic block; 214. Second movable rod; 215. Movable plate; 216. Spring; 217. Block; 218. Third air supply channel; 219. First hose; 220. Vacuum pump; 221. Second hose; 222. Air compressor pump; 223. Through groove; 224. Fixed block; 225. Movable block; 226. Second airbag. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0030] Reference Figure 1-8A multi-functional robotic arm for injection molding machines includes a robotic arm 1 and a gripping mechanism 2 disposed at the free end of the robotic arm 1. The gripping mechanism 2 includes a first housing 201 and a second housing 202. The first housing 201 is fixedly disposed at the upper end of the second housing 202. The interior of the second housing 202 is provided with mutually perpendicular sliding rods 203. The sliding rods 203 are horizontally arranged. Each sliding rod 203 is fitted with two corresponding collars 204. The lower end of each collar 204 is fixedly connected to a first movable rod 205. The first housing 201 is equipped with a servo push rod 209 that drives the collars 204 to slide along the corresponding sliding rods 203. The second housing 202 is provided with a through groove 223 for the first movable rod 205 to slide. The first movable rod 205 is fitted with a first airbag 207. The lower end of the first movable rod 205 is provided with a suction cup 206. The first movable rods 205 cooperate with each other to grip objects.

[0031] Suction cups 206 are provided on the side walls of the first movable rod 205 that are close to each other and on the side walls that are far apart from each other. A second gas supply channel 211 is provided inside the first movable rod 205. The second gas supply channel 211 is connected to the suction cups 206 and is connected to the inlet end of the vacuum pump 220 through the first hose 219. The vacuum pump 220 is installed inside the first housing 201. The first housing 201 is provided with vent holes.

[0032] The first movable rod 205 is respectively provided with a suction cup triggering mechanism adapted to the suction cup 206. When the suction cup triggering mechanism is triggered, the corresponding suction cup 206 is connected to the second air supply channel 211.

[0033] The lower end of the first movable rod 205 is at the same horizontal plane. The lower end of the first movable rod 205 is also provided with a suction cup 206. The suction cup 206 at the lower end of the first movable rod 205 can be used to grasp the plate-shaped injection molded product. That is, the robotic arm 1 drives the gripping mechanism 2 to move, so that the suction cup 206 of the first movable rod 205 is in close contact with the injection molded product. At this time, the corresponding suction cup triggering mechanism is triggered, and the injection molded product is sucked by the suction cup 206, thereby realizing the gripping of the plate-shaped injection molded product.

[0034] The suction cup triggering mechanism includes an elastic block 213, a second movable rod 214, a movable plate 215, a spring 216, a blocking block 217, and a third air supply channel 218. The first movable rod 205 has a cavity 212 inside to accommodate the movable plate 215. The outlet end of the third air supply channel 218 is connected to the cavity 212, and the third air supply channel 218 is connected to the second air supply channel 211 through the cavity 212. The blocking block 217 is adapted to the outlet end of the third air supply channel 218, and the end of the blocking block 217 is fixedly connected to the movable plate 215. The elastic block 213 is connected to the movable plate 215 through the second movable rod 214. The spring 216 is located... Between the inner wall of the movable plate 215 and the first movable rod 205, when the suction cup 206 is in close contact with the injection molded product, the suction cup triggering mechanism is triggered, the injection molded product squeezes the elastic block 213, the elastic block 213 pushes the second movable rod 214 to move, the second movable rod 214 pushes the movable plate 215 to move, when the movable plate 215 moves, the blocking block 217 separates from the outlet end of the third air supply channel 218, thereby making the suction cup 206 connected to the cavity 212. The movable plate 215 of the suction cup 206 that is not in contact with the injection molded product is in close contact with the inner wall of the cavity 212 under the action of the spring 216, the blocking block 217 is stuck at the outlet end of the third air supply channel 218, and the corresponding suction cup 206 is not connected.

[0035] The end of the movable plate 215 is arc-shaped. The movable plate 215 corresponding to the suction cup 206 at the lower end of the first movable rod 205 is in contact with the end faces of the other two movable plates 215 after it moves. The movable plate 215 corresponding to the suction cup 206 on the side wall of the first movable rod 205 is in contact with the end face of the lowest movable plate 215 after it moves.

[0036] A fixing block 224 is also fixedly installed on the inner wall of the cavity 212. A slot is provided in the middle of the fixing block 224, and a horizontally arranged movable block 225 is inserted into the slot. When the elastic block 213 on one side of the first movable rod 205 is compressed, the elastic block 213 pushes the movable plate 215 to move via the second movable rod 214. The movable plate 215 pushes the movable block 225 to move, so that both ends of the movable block 225 are in contact with the movable plate 215. A second airbag 226 is installed on the movable block 225. The end of the second airbag 226 extends to the outside of the movable block 225, and the end of the second airbag 226 contacts the inner wall of the slot. When one of the movable plates 215 is opened and the vacuum pump 220 starts to evacuate the suction cup 206, the pressure inside the cavity 212 gradually decreases, the second airbag 226 expands, and the friction between the second airbag 226 and the inner wall of the slot increases, making the movable block 225 unable to move, thereby preventing the other movable plate 215 from being opened and ensuring that the suction cup 206 can work normally.

[0037] Each suction cup 206 has at least two sets of elastic blocks 213 inside. The elastic blocks 213 are located on both sides of the third air supply channel 218, and the end face of the elastic blocks 213 is sealed to the inner wall of the suction cup 206.

[0038] The first movable rod 205 is provided with a first air supply channel 210 communicating with the first airbag 207. The first air supply channel 210 is connected to the air compressor pump 222 through the second hose 221. The air compressor pump 222 is installed inside the first housing 201. Compressed air is injected into the first airbag 207 through the air compressor pump 222, causing the first airbag 207 to expand, which can reduce the damage of the relatively hard first movable rod 205 to the injection molded product.

[0039] A first fixing block 208 is fixedly installed on the outer wall of the collar 204, and the output end of the servo push rod 209 is fixedly connected to the first fixing block 208.

[0040] In this embodiment, the robotic arm 1 drives the gripping mechanism 2 to move. The gripping method is determined according to the type of injection molded product. For solid injection molded products, the first movable rods 205 move closer to each other to clamp the injection molded product. During the operation, compressed air is injected into the first airbag 207 by the air compressor pump 222, causing the first airbag 207 to expand. This can reduce the damage to the injection molded product caused by the relatively hard first movable rods 205. For thin-walled hollow injection molded products, the first movable rods 205 are brought close to the injection molded product, so that the suction cup 206 is tightly attached to the injection molded product. The suction cup triggering mechanism is triggered, and the vacuum pump 220 evacuates the suction cup 206 to suck up the injection molded product, avoiding severe deformation of the injection molded product and making the injection molded product less prone to damage.

[0041] The first movable rod 205 is equipped with a suction cup triggering mechanism adapted to the suction cup 206. When the suction cup triggering mechanism is triggered, the corresponding suction cup 206 is connected to the second air supply channel 211, so that the suction cup 206 that is in close contact with the injection molded product is connected, while the other suction cups 206 are in an unconnected state. When the vacuum pump 220 is started, it ensures that the suction force of the suction cup 206 that is in close contact with the injection molded product is sufficient, which is convenient for product gripping. At the same time, the other suction cups 206 are in an inactive state, which can reduce power loss.

[0042] The end of the movable plate 215 is arc-shaped. The movable plate 215 corresponding to the lower suction cup 206 of the first movable rod 205, after moving, has both ends in contact with the end faces of the other two movable plates 215. The movable plate 215 corresponding to the side suction cup 206 of the first movable rod 205, after moving, has its lower end in contact with the end face of the lowest movable plate 215. That is, after the movable plate 215 corresponding to the lower suction cup 206 moves, the other two movable plates 215 cannot move. After the movable plate 215 corresponding to the side suction cup 206 moves, the lower movable plate 215 cannot move. With the cooperation of the movable block 215, only one suction cup 206 on a single first movable rod 205 works at the same time, ensuring sufficient suction force of the suction cup 206 and avoiding waste of air source.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multifunctional robot for injection molding machines, comprising a robot arm (1) and a gripping mechanism (2) arranged at the free end of the robot arm (1), characterized in that, The grabbing mechanism (2) comprises a first shell (201) and a second shell (202), the first shell (201) is fixedly arranged at the upper end of the second shell (202), the inside of the second shell (202) is provided with sliding rods (203) perpendicular to each other, the sliding rods (203) are horizontally arranged, two corresponding sleeve rings (204) are sleeved on each sliding rod (203), the lower end of the sleeve ring (204) is fixedly connected with a first movable rod (205), the first shell (201) is provided with a servo push rod (209) for driving the sleeve ring (204) to slide along the corresponding sliding rod (203), the second shell (202) is provided with a through slot (223) for the sliding of the first movable rod (205), a circular first air bag (207) is sleeved on the rod body of the first movable rod (205), a suction cup (206) is arranged at the lower end of the first movable rod (205), and the first movable rods (205) cooperate with each other to grab the article; The suction cups (206) are arranged on the mutually close side walls and the mutually far side walls of the first movable rods (205), the inside of the first movable rod (205) is provided with a second gas conveying channel (211), the second gas conveying channel (211) is communicated with the suction cup (206), and the second gas conveying channel (211) is connected with the inlet end of a vacuum pump (220) through a first hose (219), the vacuum pump (220) is installed in the inside of the first shell (201), and the first shell (201) is provided with a gas permeable hole; The lower ends of the first movable rods (205) are located at the same horizontal plane, and the lower ends of the first movable rods (205) are also provided with suction cups (206); The first movable rods (205) are respectively provided with suction cup trigger mechanisms matched with the suction cups (206), when the suction cup trigger mechanisms are triggered, the corresponding suction cups (206) are communicated with the second gas conveying channel (211); The suction cup trigger mechanism comprises an elastic block (213), a second movable rod (214), a movable plate (215), a spring (216), a blocking block (217) and a third gas conveying channel (218), the inside of the first movable rod (205) is provided with a cavity (212) for accommodating the movable plate (215), the outlet end of the third gas conveying channel (218) is communicated with the cavity (212), the blocking block (217) is matched with the outlet end of the third gas conveying channel (218), the end portion of the blocking block (217) is fixedly connected with the movable plate (215), the elastic block (213) is connected with the movable plate (215) through the second movable rod (214), and the spring (216) is arranged between the movable plate (215) and the inner wall of the first movable rod (205). The end of the movable plate (215) is arc-shaped, the movable plate (215) corresponding to the lower suction cup (206) of the first movable rod (205) is in contact with the end faces of the other two movable plates (215) after moving; the movable plate (215) corresponding to the side wall suction cup (206) of the first movable rod (205) is in contact with the end face of the lowermost movable plate (215) after moving; The inner wall of the cavity (212) is further fixedly provided with a fixed block (224), the middle part of the fixed block (224) is provided with a slot, and a horizontally arranged movable block (225) is inserted in the slot; when the elastic block (213) on one side of the first movable rod (205) is extruded, the elastic block (213) drives the movable plate (215) to move through the second movable rod (214), the movable plate (215) drives the movable block (225) to move, so that the two ends of the movable block (225) are in contact with the movable plate (215), and the second air bag (226) is installed on the movable block (225); the end of the second air bag (226) extends to the outside of the movable block (225), and the end of the second air bag (226) is in contact with the inner wall of the slot.

2. The multifunctional robot for injection molding machines according to claim 1, characterized in that, The inside of each suction cup (206) is provided with at least two groups of elastic blocks (213), the elastic blocks (213) are located on both sides of the third gas conveying channel (218), and the end face of the elastic block (213) is in sealing connection with the inner wall of the suction cup (206).

3. The multifunctional robot of claim 2, wherein The first movable rod (205) is provided with a first gas conveying channel (210) in communication with the first air bag (207), the first gas conveying channel (210) is connected with an air compression pump (222) through a second hose (221), and the air compression pump (222) is installed in the inside of the first shell (201).

4. The multifunctional robot of claim 3, wherein The outer wall of the sleeve ring (204) is fixedly provided with a first fixed block (208), and the output end of the servo push rod (209) is fixedly connected with the first fixed block (208) to drive the sleeve ring (204) to slide along the corresponding slide rod (203).

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