An adjustable manipulator structure

Abstract

The present invention relates to the technical field of manipulator devices, and specifically discloses an adjustable manipulator structure to solve the problem of poor grasping efficiency in the prior art; the manipulator structure includes a vertically arranged grasping base column, the lower end of the grasping base column is connected to a supporting component, at least two transverse movement guide sleeves are provided on both sides of the upper end of the grasping base column, a horizontal sliding rod is slidably arranged in the transverse movement guide sleeve, a vertical traction sleeve is provided at one end of the horizontal sliding rod, and the vertical traction sleeve is connected to a reciprocating traction component for driving the horizontal sliding rod to reciprocate in the transverse movement guide sleeve. The present invention is designed in response to the existing needs, can drive the grasping position to rotate as needed, adjust the grasping angle, and at the same time can use the movement generated by the sliding of the grasping beam plate to cooperate with the side push unit to realize the grasping clamp, and further realize the grasping of the curved path. Furthermore, there is no need to separately control the path, effectively improving the grasping efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulator equipment, and particularly to an adjustable manipulator structure. Background Art

[0002] An injection molding manipulator is a machine specifically equipped for injection molding production automation. It can reduce heavy physical labor, improve working conditions and work safety, and can imitate some functions of the upper limbs of the human body. It plays an extremely important role in improving the production efficiency of injection molding machines, stabilizing product quality, reducing the scrap rate, reducing production costs, and enhancing the competitiveness of enterprises. The manipulator is a key device for taking materials in injection molding equipment and can replace manual labor in dangerous environments. The patent with the publication number CN111633631B discloses a manipulator for injection molding. Although this device can complete the grasping of injection molded parts, during the grasping process, the grasping arm can only move horizontally and rotate, and it must reach a set position before controlling the grasping arm to complete the feeding action towards the inner cavity of the mold. This makes the feeding action separated from the horizontal movement action, which is not conducive to improving the grasping efficiency of the manipulator. At the same time, when this manipulator is working, it cannot obtain the situation of the inner wall of the molding cavity, and it requires workers to walk to the corresponding position to observe, resulting in poor safety.

[0003] Based on this, an adjustable manipulator structure is now provided to eliminate the drawbacks of existing devices. Summary of the Invention

[0004] The purpose of the present invention is to provide an adjustable manipulator structure to solve the problem of poor grasping efficiency in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] An adjustable manipulator structure includes a vertically arranged grasping base column. The lower end of the grasping base column is connected to a support component. At least two horizontal movement guide sleeves are provided on both sides of the upper end of the grasping base column. A horizontal sliding rod is slidably arranged in the horizontal movement guide sleeves. One end of the horizontal sliding rod is provided with a vertical traction sleeve. The vertical traction sleeve is connected to a reciprocating traction component for driving the horizontal sliding rod to reciprocate in the horizontal movement guide sleeves. The other end of the horizontal sliding rod is provided with a grasping component for grasping the molded part in the injection mold cavity. A camera for obtaining image information of the injection molded part is also provided on the grasping component.

[0007] Based on the above technical solutions, the present invention also provides the following optional technical solutions:

[0008] In an alternative solution: The grasping component includes a grasping beam plate. An installation groove for mounting the camera is provided at the middle position of the grasping beam plate. At least one clamping chute is formed on the grasping beam plate. Two clamping sliders are slidably arranged in each clamping chute. The clamping sliders pass through the clamping chutes and are connected to limit sliders. The outer sides of the limit sliders are connected to grasping link rods. A grasping clamp for grasping the injection molding part is provided at the end of the grasping link rod. A clamping driving part for driving the two to move relatively is connected between the two clamping sliders. A grasping sliding seat is provided on one side of the grasping beam plate. Two guiding sleeve seats are provided at the lower end of the grasping sliding seat. The guiding sleeve seats are slidably arranged with a horizontal sliding rod. A relief spring is connected between the end of the horizontal sliding rod and the guiding sleeve seat. A flipping driving part for driving the grasping beam plate to flip is provided on the grasping sliding seat. A feeding driving part for driving the grasping beam plate to move towards the injection molding position is provided at the upper end of the grasping sliding seat.

[0009] In an alternative solution: A cleaning unit for cleaning the surface of the camera is provided on the grasping beam plate. The quality of the camera shooting is ensured by the cleaning unit. The cleaning unit includes a cleaning slider slidably arranged on the surface of the grasping beam plate. A sponge strip for wiping the surface of the camera is provided on the cleaning slider. An air spraying hole for blowing air towards the camera is provided on the surface of the camera. The lower end of the cleaning slider is connected to a limit slider through a transverse movement link rod. The air inlet position at the upper end of the cleaning slider is communicated with a piston air charging link rod. The other end of the piston air charging link rod is provided with a piston block. The piston block is slidably arranged in the inner cavity of the air charging piston cylinder. A communication port for communicating the air charging piston cylinder and the cleaning slider is provided on the piston block. A one-way exhaust valve is provided in the piston air charging link rod. A one-way air inlet valve is provided on the air charging piston cylinder.

[0010] In an alternative solution: The feeding driving part includes a feeding sliding seat slidably arranged at the upper end of the grasping sliding seat. An installation area for facilitating the installation of the flipping driving part is provided at the end of the feeding sliding seat. Two feeding guide rods are horizontally arranged above the grasping sliding seat. The feeding guide rods are slidably arranged with the horizontal holes on the feeding sliding seat. Both ends of the feeding guide rods are connected to the grasping sliding seat through base blocks. A feeding return spring is connected between one end of the feeding guide rod and the feeding sliding seat. A side pushing unit for pushing the feeding sliding seat to slide towards the side is further provided at the upper end of the grasping sliding seat.

[0011] In an alternative solution: The side pushing unit includes a feeding guiding pin arranged at the middle position of the upper end of the feeding sliding seat. A feeding guiding cross bar is horizontally arranged above the grasping sliding seat. An end inclined plate for guiding the feeding guiding pin to move towards the side is provided at the end of the feeding guiding cross bar.

[0012] In an optional scheme: the side thrust unit includes a feed guide pin arranged at the upper end of the feed slide, and a winding roller is provided at the upper end of the feed guide pin through the rotation of a reset coil spring, a traction rope is wound on the winding roller, and the traction rope is passed around the middle pin rod on the grabbing slide and is connected and fixed to the grabbing base column, and the middle pin rod is arranged close to the grabbing beam plate.

[0013] In an optional scheme: the flipping drive component includes a flipping U-shaped frame arranged in the middle position of the grabbing beam plate, two flipping arm plates are provided on the side of the flipping U-shaped frame, a flipping shaft is fixed between the flipping arm plates, the end of the flipping shaft is fixedly connected to the flipping turbine, the upper side of the flipping turbine is meshed with the flip worm, and the flip worm is connected to a flip motor for driving its rotation.

[0014] In an optional scheme: the clamping drive component includes a clamping screw hole arranged on the clamping slider, a clamping screw is arranged in the clamping screw hole, and the clamping screw is provided with a clamping thread segment matching the clamping slider, and each pair of clamping thread segments have opposite thread rotation directions. One end of the clamping screw is rotatably connected to a fixed block at the end of the grabbing beam plate, and the clamping screw is connected to a clamping motor for driving it to rotate.

[0015] In an optional scheme: the reciprocating traction component includes a traction cross seat, and a first pulley and a second pulley are rotatably provided at the two ends of the traction cross seats respectively, the first pulley and the second pulley are connected by a traction belt transmission, a traction side block is fixedly provided on the side of the traction belt, a vertical traction rod is rotatably provided on the side of the traction side block, the upper end of the vertical traction rod is slidably matched with a vertical traction sleeve, the shaft end of the first pulley is connected to a traction motor for driving it to rotate, and the traction cross seat is provided with a stroke adjustment member for adjusting the traction stroke.

[0016] The top end of the driving member is connected with the driving member by the spring, and the bottom end of the driving member is connected with the spring which is fixedly provided with a toothed connecting strip which is cooperatively connected with the driving member.

[0017] In an alternative solution: The support member includes a bottom slider disposed at the lower end of the grasping base column. The bottom slider is slidably disposed in a chute at the upper end of the horizontal base. A horizontal screw rod matching the bottom slider is provided in the chute on the horizontal base. One end of the horizontal screw rod is rotatably connected to the inner wall of the chute, and the other end of the horizontal screw rod is connected to a bottom motor for driving its rotation.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. The present invention is designed for the existing needs and can drive the grasping position to rotate, adjust the grasping angle. At the same time, it can also utilize the movement generated by the sliding of the grasping beam plate to cooperate with the side-pushing unit to achieve the grasping clamp, and then achieve the grasping of the bending path. Furthermore, there is no need to control the path separately, effectively improving the grasping efficiency.

[0020] 2. When adjusting the grasping angle, the present invention samples the matching of the worm and worm gear, which has a self-locking positioning function, ensuring the stability of the grasping. At the same time, the present application can also obtain the grasping image information in real time, facilitating the operator to control the working conditions of the injection molding position, ensuring the stable operation of the equipment and the safety of the operation.

[0021] 3. The present invention can also drive the cleaning unit to work by using the clamping power, thereby pre-blowing the camera and then wiping the camera, ensuring the quality of the photography. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of one side of the present invention.

[0023] Figure 2 It is a schematic structural diagram of the other side of the present invention.

[0024] Figure 3 It is a schematic structural diagram of one side of the reciprocating traction member of the present invention.

[0025] Figure 4 It is a schematic structural diagram of the other side of the reciprocating traction member of the present invention.

[0026] Figure 5 It is a schematic structural diagram of one side of the grasping member of the present invention.

[0027] Figure 6 It is a schematic structural diagram of the other side of the grasping member of the present invention.

[0028] Figure 7 It is a schematic structural diagram of the bottom of the grasping member of the present invention.

[0029] Figure 8 It is a schematic structural diagram of the cleaning unit of the present invention.

[0030] Figure 9 Another structural schematic diagram of the side thruster unit of the present invention.

[0031] Figure 10 Internal structural schematic diagram of the cleaning unit of the present invention.

[0032] Annotation of reference numerals: grasping base column 100, transverse movement guide sleeve 101, horizontal sliding rod 102, vertical traction sleeve 103, feed guiding cross bar 104, end inclined plate 105;

[0033] Reciprocating traction component 200, first fixed side plate 201, fine-tuning motor 202, fine-tuning screw 203, tensioning arm plate 204, tensioning wheel 205, traction cross seat 206, traction motor 207, first belt pulley 208, traction side block 209, vertical traction rod 210, traction belt 211, tensioning sliding rod 212, tensioning sliding sleeve 213, tensioning spring 214, tensioning slider 215, second belt pulley 216, sliding notch 217, second fixed side plate 218, vertical sliding sleeve 219;

[0034] Horizontal screw 401, horizontal base 402, bottom motor 403, height push rod 404;

[0035] Grasping component 500, grasping beam plate 501, clamping slider 502, clamping chute 503, clamping screw 504, flipping arm plate 505, flipping shaft 506, feed return spring 507, feed sliding seat 508, feed guide rod 509, feed guiding pin 510, grasping sliding seat 511, flipping motor 512, flipping worm 513, flipping turbine 514, flipping U-shaped frame 515, clamping motor 516, grasping clamp 517, grasping connecting rod 518;

[0036] Piston inflation connecting rod 519, cleaning slider 520, air jet hole 521, camera 522, transverse movement connecting rod 523, limit slider 524, inflation piston cylinder 525, guide sleeve seat 526, avoidance spring 527;

[0037] Intermediate pin rod 528, winding roller 529, traction rope 530. Detailed implementation manners

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] As Figures 1 - 10As shown in the figure, an embodiment of the present invention provides an adjustable manipulator structure, including a vertically arranged grasping base column 100. The lower end of the grasping base column 100 is connected to a supporting component. At least two transverse movement guiding sleeves 101 are provided on both sides of the upper end of the grasping base column 100. A horizontal sliding rod 102 is slidably arranged in the transverse movement guiding sleeves 101. One end of the horizontal sliding rod 102 is provided with a vertical traction sleeve 103. The vertical traction sleeve 103 is connected to a reciprocating traction component 200 for driving the horizontal sliding rod 102 to reciprocate in the transverse movement guiding sleeves 101. The other end of the horizontal sliding rod 102 is provided with a grasping component 500 for grasping the formed part in the injection mold cavity. A camera 522 for obtaining the image information of the injection molded part is also provided on the grasping component 500. During actual use, the reciprocating traction component 200 provides power for the horizontal sliding rod 102, so that the grasping component 500 at the end of the horizontal sliding rod 102 can quickly grasp the injection molded part and complete the grasping work. The camera 522 can obtain the grasping action information, which is convenient for monitoring the grasping and improves the operation safety;

[0040] The grasping component 500 includes a grasping beam plate 501. An installation groove for installing the camera 522 is provided at the middle position of the grasping beam plate 501. At least one clamping sliding groove 503 is provided on the grasping beam plate 501. Two clamping sliding blocks 502 are slidably arranged in each clamping sliding groove 503. The clamping sliding blocks 502 pass through the clamping sliding grooves 503 and are connected to a limit sliding block 524. The outer side of the limit sliding block 524 is connected to a grasping connecting rod 518. A grasping clamp 517 for grasping the injection molded part is provided at the end of the grasping connecting rod 518. The two clamping sliding blocks 502 are connected to a clamping driving part for driving their relative movement. A grasping sliding seat 511 is provided on one side of the grasping beam plate 501. Two guiding sleeve seats 526 are provided at the lower end of the grasping sliding seat 511. The guiding sleeve seats 526 are slidably arranged with the horizontal sliding rod 102. A relief spring 527 is connected between the end of the horizontal sliding rod 102 and the guiding sleeve seat 526. A flipping driving part for driving the grasping beam plate 501 to flip is provided on the grasping sliding seat 511. A feeding driving part for driving the grasping beam plate 501 to move towards the injection molding position of the injection molded part is provided at the upper end of the grasping sliding seat 511. The feeding driving part drives the grasping beam plate 501 to move perpendicular to the displacement direction of the grasping sliding seat 511. The combination of the two effectively improves the grasping efficiency of the product;

[0041] A cleaning unit for cleaning the surface of the camera 522 is provided on the grasping beam plate 501. The quality of imaging is ensured by the cleaning unit. The cleaning unit includes a cleaning slider 520 slidably arranged on the surface of the grasping beam plate 501. A sponge strip for wiping the surface of the camera 522 is provided on the cleaning slider 520. An air jet hole 521 for blowing air towards the camera 522 is provided on the surface of the camera 522. The lower end of the cleaning slider 520 is connected to a limit slider 524 through a transverse movement connecting rod 523. The air inlet position at the upper end of the cleaning slider 520 is communicated with a piston inflation connecting rod 519. The other end of the piston inflation connecting rod 519 is provided with a piston block, and the piston block is slidably arranged in the inner cavity of an inflation piston cylinder 525. A communication port for communicating the inflation piston cylinder 525 and the cleaning slider 520 is provided on the piston block. A one-way exhaust valve is provided in the piston inflation connecting rod 519. A one-way intake valve is provided on the inflation piston cylinder 525. When the limit slider 524 moves, the transverse movement connecting rod 523 will pull the cleaning slider 520 to move along the grasping beam plate 501 towards the camera 522. During the movement, the piston block at the end of the piston inflation connecting rod 519 will squeeze the air inside the inflation piston cylinder 525, so that the air flow moves along the piston inflation connecting rod 519, then enters the cleaning slider 520, and finally is discharged from the air jet hole 521, thereby blowing away the dust on the surface of the camera 522. When the cleaning slider 520 passes by the camera 522, wiping operation can be performed on the surface of the camera 522, ensuring the quality of imaging. In this way, using the clamping power as the power source for cleaning enables a cleaning action to be completed every time a grasping is performed;

[0042] The feeding driving part includes a feeding slider 508 slidably arranged on the upper end of the grasping slider 511. An installation area convenient for installing the flipping driving part is provided at the end of the feeding slider 508. Two feeding guide rods 509 are horizontally arranged above the grasping slider 511. The feeding guide rods 509 are slidably arranged in the horizontal holes on the feeding slider 508. Both ends of the feeding guide rods 509 are connected to the grasping slider 511 through base blocks. One end of the feeding guide rod 509 is connected to the feeding slider 508 through a feeding return spring 507. Under the pressing of the feeding return spring 507, the feeding slider 508 is in the initial position. A side pushing unit for pushing the feeding slider 508 to slide towards the side is further provided on the upper end of the grasping slider 511. Through the side pushing unit, the feeding slider 508 and the grasping beam plate 501 connected thereto can be driven to move towards the injection molding position;

[0043] The side push unit includes a feed guide pin 510 disposed at the middle position of the upper end of the feed slide 508. A feed guide cross bar 104 is horizontally provided above the gripping slide 511. The end of the feed guide cross bar 104 is provided with an end inclined plate 105 for guiding the feed guide pin 510 to move laterally. When the gripping slide 511 moves to the gripping position, under the guidance of the end inclined plate 105 at this time, the feed guide pin 510 is subjected to the thrust of the inclined surface of the end inclined plate 105, so that the gripping beam plate 501 moves towards the injection molded part.

[0044] Figure 9 As shown, another implementation of the side push unit is that the side push unit includes a feed guide pin 510 disposed at the upper end of the feed slide 508. A winding roller 529 is rotatably provided at the upper end of the feed guide pin 510 through a return coil spring. A traction rope 530 is wound around the winding roller 529. The traction rope 530 bypasses the intermediate pin 528 on the gripping slide 511 and is fixedly connected to the gripping base column 100. The intermediate pin 528 is disposed close to the gripping beam plate 501. When the gripping slide 511 moves to the gripping position, the traction rope 530 on the winding roller 529 is completely released. At this time, the traction rope 530 is stressed, so as to pull the feed guide pin 510 to move towards the gripping beam plate 501. At this time, the gripping slide 511 will also move along with it, providing power for the gripping beam plate 501 to move towards the injection molded part. The side push method here does not interfere with the closing of the injection mold.

[0045] The flipping drive member includes a flipping U-shaped frame 515 disposed at the middle position of the gripping beam plate 501. Two flipping arm plates 505 are provided on the side of the flipping U-shaped frame 515. A flipping shaft 506 is fixedly provided between the flipping arm plates 505. The end of the flipping shaft 506 is fixedly connected to the flipping turbine 514. The upper side of the flipping turbine 514 meshes with the flipping worm 513. The flipping worm 513 is connected to a flipping motor 512 for driving its rotation. By driving the flipping worm 513 to rotate by the flipping motor 512, the flipping worm 513 matches with the flipping turbine 514, so as to drive the flipping shaft 506 to flip. The flipping shaft 506 drives the flipping arm plates 505 and the gripping beam plate 501 at the end of the flipping arm plates 505 to flip, so that the gripping angle can be adjusted to grip injection molded parts at different positions.

[0046] The clamping drive member includes a clamping screw hole provided on the clamping slider 502, in which a clamping screw 504 is provided, and the clamping screw 504 is provided with a clamping threaded section matching the clamping slider 502, and each pair of clamping threaded sections has opposite thread rotation directions, and one end of the clamping screw 504 is rotatably connected to a fixed block at the end of the grabbing beam plate 501, and the clamping screw 504 is connected to a clamping motor 516 for driving the rotation thereof, and the clamping motor 516 drives the clamping screw 504 and the clamping slider 502 to rotate relative to each other, thereby driving the two clamping sliders 502 to slide relative to each other, thereby obtaining clamping power;

[0047] The reciprocating traction component 200 includes a traction cross seat 206, and the ends of the two traction cross seats 206 are respectively rotatably provided with a first pulley 208 and a second pulley 216, and the first pulley 208 and the second pulley 216 are connected by a traction belt 211. A traction side block 209 is fixedly provided on the side of the traction belt 211, and a vertical traction rod 210 is rotatably provided on the side of the traction side block 209. The upper end of the vertical traction rod 210 is slidably matched with the vertical traction sleeve 103, and the shaft end of the first pulley 208 is connected to drive the vertical traction sleeve 103. The rotating traction motor 207 drives the first pulley 208 to rotate through the traction motor 207, and the first pulley 208 and the second pulley 216 drive the traction belt 211 to rotate, thereby driving the traction side block 209 to reciprocate along with the traction belt 211, and the vertical traction rod 210 will reciprocate along with the traction side block 209. During the movement, the upper end of the vertical traction rod 210 will slide relative to the vertical traction sleeve 103, so that the horizontal slide bar 102 can be powered to slide back and forth. The traction cross seat 206 is provided with a stroke adjustment member for adjusting the traction stroke;

[0048] The stroke adjustment member includes a sliding notch 217 formed in the traction cross-seat 206. A tension slider 215 is slidably disposed on the sliding notch 217. The tension slider 215 is rotatably connected to the end of the second pulley 216. One end of a tension slide bar 212 is connected to the side of the tension slider 215. The tension slide bar 212 slidably passes through a tension slide sleeve 213 on the surface of the traction cross-seat 206. The tension slider 215 and the tension slide sleeve 213 are connected by a tension spring 214. A tension pulley 205 is in tension fit with the lower side of the traction belt 211. The end of the tension pulley 205 is rotatably connected to a tension arm plate 204. The lower end of the tension arm plate 204 is slidably connected to a vertical sliding sleeve 219. A fine adjustment screw rod 203 is fitted in a threaded hole at the lower end of the tension pulley 205. The lower end of the fine adjustment screw rod 203 is connected to a fine adjustment motor 202 for driving its rotation. The bottom of the fine adjustment motor 202 is connected to the first fixed side plate 201. The vertical sliding sleeve 219 is connected to the second fixed side plate 218. The second fixed side plate 218, the first fixed side plate 201, and the traction cross-seat 206 are connected to the side of the grasping base column 100. During adjustment, the fine adjustment motor 202 drives the fine adjustment screw rod 203 to rotate relative to the tension arm plate 204. Under the action of the thread, the tension arm plate 204 slides downward along the vertical sliding sleeve 219, thereby generating a pulling force on the traction belt 211. In this way, the tension slider 215 can be driven to slide along the sliding notch 217, so as to adjust the distance between the second pulley 216 and the first pulley 208, and thus adjust the reciprocating stroke;

[0049] The support member includes a bottom slider provided at the lower end of the grasping base column 100. The bottom slider is slidably disposed in a chute at the upper end of a horizontal base 402. A horizontal screw rod 401 matching the bottom slider is provided in the chute on the horizontal base 402. One end of the horizontal screw rod 401 is rotatably connected to the inner wall of the chute. The other end of the horizontal screw rod 401 is connected to a bottom motor 403 for driving its rotation. The bottom motor 403 drives the horizontal screw rod 401 to rotate relative to the bottom slider. Under the action of the thread, the bottom slider slides in the horizontal base 402, thereby driving the grasping base column 100 to displace at the upper end of the horizontal base 402, providing a displacement space for the adjustment of the manipulator. Both sides of the lower end of the horizontal base 402 are connected to height push rods 404 for driving its up and down movement. The initial grasping height of the manipulator can be adjusted through the height push rods 404:

[0050] The elastic coefficient of the avoidance spring 527 is greater than that of the feed return spring 507.

[0051] Working principle: During actual use, the traction motor 207 drives the first pulley 208 to rotate. The first pulley 208 and the second pulley 216 drive the traction belt 211 to rotate, thereby driving the traction side block 209 to reciprocate along with the traction belt 211. The vertical traction rod 210 will reciprocate together with the traction side block 209. During the movement, the upper end of the vertical traction rod 210 will slide relative to the vertical traction sleeve 103, so as to provide power for the reciprocating sliding of the horizontal slide rod 102. Driven by the vertical traction rod 210, the horizontal slide rod 102 drives the grasping component 500 to move towards the injection cavity. The side push unit can drive the feed slide seat 508 and the grasping beam plate 501 connected thereto to move towards the injection position. The clamping motor 516 drives the clamping screw 504 to rotate relative to the clamping slider 502, thereby driving the two clamping sliders 502 to slide relative to each other, so as to obtain the clamping power. The clamping sliders 502 drive the two grasping connecting rods 518 to approach each other, thereby completing the clamping operation of the injection molded part. During the whole sampling process, the camera 522 can obtain the grasping action and the information of the injection cavity, which is convenient for the staff to control the equipment;

[0052] When the limit slider 524 moves, the transverse movement connecting rod 523 will pull the cleaning slider 520 to move along the grasping beam plate 501 towards the camera 522. During the movement, the piston block at the end of the piston inflation connecting rod 519 will squeeze the air inside the inflation piston cylinder 525, so that the air flow moves along the piston inflation connecting rod 519, then enters the cleaning slider 520, and finally is discharged through the air spraying hole 521, thereby blowing away the dust on the surface of the camera 522. When the cleaning slider 520 passes by the camera 522, it can wipe the surface of the camera 522, ensuring the quality of the camera shooting. In this way, using the clamping power as the power source for cleaning enables each grasping to complete a cleaning action.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adjustable manipulator structure, comprising a vertically arranged grabbing column (100), wherein the lower end of the grabbing column (100) is connected to a supporting component, characterized in that: At least two transverse guide sleeves (101) are provided on both sides of the upper end of the grabbing base column (100), a horizontal sliding bar (102) is slidably provided in the transverse guide sleeve (101), one end of the horizontal sliding bar (102) is provided with a vertical traction sleeve (103), the vertical traction sleeve (103) is connected to a reciprocating traction component (200) for driving the horizontal sliding bar (102) to slide back and forth in the transverse guide sleeve (101), the other end of the horizontal sliding bar (102) is provided with a grabbing component (500) for grabbing a molded part in an injection mold cavity, and a camera (522) for acquiring image information of the injection molded part is also provided on the grabbing component (500); The grabbing component (500) comprises a grabbing beam plate (501), a mounting groove for mounting a camera (522) is provided in the middle of the grabbing beam plate (501), at least one clamping slide groove (503) is provided on the grabbing beam plate (501), two clamping sliders (502) are slidably provided in each clamping slide groove (503), the clamping slider (502) passes through the clamping slide groove (503) and is connected to a limit slider (524), the outer side of the limit slider (524) is connected to a grabbing connecting rod (518), a grabbing clamp (517) for grabbing an injection molded part is provided at the end of the grabbing connecting rod (518), and the two clamping sliders (502) are connected A clamping drive member for driving the relative movement of the two, a grabbing slide (511) is provided on one side of the grabbing beam plate (501), two guide sleeves (526) are provided at the lower end of the grabbing slide (511), the guide sleeves (526) are slidably arranged with the horizontal slide bar (102), and the end of the horizontal slide bar (102) is connected to the guide sleeve (526) via an avoidance spring (527), a flipping drive member for driving the grabbing beam plate (501) to flip is provided on the grabbing slide (511), and a feed drive member for driving the grabbing beam plate (501) to move toward the injection molding position is provided at the upper end of the grabbing slide (511); The grabbing beam plate (501) is provided with a cleaning unit for cleaning the surface of the camera (522). The quality of the camera image is ensured by the cleaning unit. The cleaning unit comprises a cleaning slider (520) slidably arranged on the surface of the grabbing beam plate (501). The cleaning slider (520) is provided with a sponge strip for wiping the surface of the camera (522). The surface of the camera (522) is provided with an air jet hole (521) for blowing air toward the camera (522). The lower end of the cleaning slider (520) is connected to the camera (522) by a lateral movement. The rod (523) is connected to a limiting slider (524); the air inlet position at the upper end of the cleaning slider (520) is connected to the piston inflation connecting rod (519); a piston block is provided at the other end of the piston inflation connecting rod (519); the piston block is slidably arranged in the inner cavity of the inflation piston cylinder (525); a connecting port for connecting the inflation piston cylinder (525) and the cleaning slider (520) is provided on the piston block; a one-way exhaust valve is provided in the piston inflation connecting rod (519); and a one-way intake valve is provided on the inflation piston cylinder (525).

2. The adjustable manipulator structure according to claim 1, characterized in that: The feed drive member includes a feed slide (508) slidably arranged at the upper end of a grab slide (511); an installation area is provided at the end of the feed slide (508) for facilitating the installation of a flip drive member; two feed guide rods (509) are horizontally arranged above the grab slide (511); the feed guide rods (509) are slidably arranged with horizontal holes on the feed slide (508); both ends of the feed guide rods (509) are connected to the grab slide (511) through a base block; one end of the feed guide rod (509) is connected to the feed slide (508) through a feed reset spring (507); and a side push unit is also provided at the upper end of the grab slide (511) for pushing the feed slide (508) to slide toward the side.

3. The adjustable manipulator structure according to claim 2, characterized in that: The side push unit includes a feed guide pin (510) arranged at the middle position of the upper end of the feed slide (508), a feed guide cross bar (104) is horizontally arranged above the grab slide (511), and an end inclined plate (105) is provided at the end of the feed guide cross bar (104) to guide the feed guide pin (510) to move toward the side.

4. The adjustable manipulator structure according to claim 2, characterized in that: The side thrust unit comprises a feed guide pin (510) arranged at the upper end of a feed slide (508); a winding roller (529) is provided at the upper end of the feed guide pin (510) for rotation through a return coil spring; a traction rope (530) is wound around the winding roller (529); the traction rope (530) passes around an intermediate pin rod (528) on a grabbing slide (511) and is connected and fixed to a grabbing base column (100); the intermediate pin rod (528) is arranged close to a grabbing beam plate (501).

5. The adjustable manipulator structure according to claim 1, characterized in that: The flip driving member comprises a flip U-shaped frame (515) arranged in the middle of the grabbing beam plate (501), two flip arm plates (505) are arranged on the side of the flip U-shaped frame (515), a flip shaft (506) is fixedly arranged between the flip arm plates (505), the end of the flip shaft (506) is fixedly connected to a flip turbine (514), the upper side of the flip turbine (514) is meshed with a flip worm (513), and the flip worm (513) is connected to a flip motor (512) for driving the flip worm (513) to rotate.

6. The adjustable manipulator structure according to claim 1, characterized in that: The clamping drive component includes a clamping screw hole arranged on the clamping slider (502), a clamping screw rod (504) being matched in the clamping screw hole, a clamping threaded section matching the clamping slider (502) being arranged on the clamping screw rod (504), and each pair of clamping threaded sections having opposite thread rotation directions. One end of the clamping screw rod (504) is rotatably connected to a fixed block at the end of the grabbing beam plate (501), and the clamping screw rod (504) is connected to a clamping motor (516) for driving the rotation thereof.

7. The adjustable manipulator structure according to claim 1, characterized in that: The reciprocating traction component (200) comprises a traction cross seat (206), and the ends of the two traction cross seats (206) are respectively rotatably provided with a first pulley (208) and a second pulley (216), the first pulley (208) and the second pulley (216) are connected to each other through a traction belt (211), a traction side block (209) is fixedly provided on the side of the traction belt (211), a vertical traction rod (210) is rotatably provided on the side of the traction side block (209), the upper end of the vertical traction rod (210) is slidably matched with the vertical traction sleeve (103), the shaft end of the first pulley (208) is connected to a traction motor (207) for driving the first pulley (208) to rotate, and a stroke adjustment member for adjusting the traction stroke is provided on the traction cross seat (206).

8. The adjustable manipulator structure according to claim 7, characterized in that: The stroke adjustment member comprises a sliding notch (217) formed on the traction cross seat (206); a tensioning slider (215) is slidably provided on the sliding notch (217); the tensioning slider (215) is rotatably connected to the shaft end of the second pulley (216); the side surface of the tensioning slider (215) is connected to one end of a tensioning slide rod (212); the tensioning slide rod (212) slides through a tensioning sleeve (213) on the surface of the traction cross seat (206); the tensioning slider (215) and the tensioning sleeve (213) are connected via a tensioning spring (214); a tensioning wheel (205) is tensionedly fitted on the lower side of the traction belt (211); the tensioning The end of the tension wheel (205) is rotatably connected to the tensioning arm plate (204), the lower end of the tensioning arm plate (204) is slidably connected to the vertical sliding sleeve (219), a fine-tuning screw (203) is matched in the threaded hole at the lower end of the tension wheel (205), the lower end of the fine-tuning screw (203) is connected to a fine-tuning motor (202) for driving the fine-tuning screw (203) to rotate, the bottom of the fine-tuning motor (202) is connected to the first fixed side plate (201), the vertical sliding sleeve (219) is connected to the second fixed side plate (218), the second fixed side plate (218), the first fixed side plate (201) and the traction cross seat (206) are connected to the side of the grabbing base column (100).

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