A post-injection material removal robot for automobile sunroof injection molding parts

Abstract

The present invention relates to the field of manipulators, and specifically to a manipulator for taking out materials after the injection molding of automobile sunroof injection molding parts. It includes a mechanical arm connected to the output end of a three-axis moving mechanism, and also includes: a clamping mechanism, connected to the output end of the mechanical arm, including a positioning support, a motor frame, an active motor, a movable support, two clamping plates and two flexible pads, the positioning support is fixedly connected to the output end of the mechanical arm, the motor frame is fixedly connected to the end of the positioning support away from the mechanical arm, the active motor is fixedly connected to the motor frame, the movable support is slidably connected to the positioning support, the two clamping plates are symmetrically arranged on the side of the movable support away from the mechanical arm, the two flexible pads are respectively fixedly connected to the ends of the two clamping plates that are close to each other, the active motor can eventually drive the two clamping plates to move when it is started, and the two clamping plates can clamp the injection molding parts through the flexible pads after they move; the material withdrawal mechanism is connected to the movable support, and can drive the movable support to move in the direction close to the positioning support.

Description

Technical Field

[0001] The invention relates to the field of manipulators, in particular to a manipulator for taking out materials after injection molding of an automobile sunroof injection molded part. Background Art

[0002] During the injection molding of automobile sunroof parts, the injection molding machine's retrieval robot mainly replaces manpower to take out the mold in the injection cavity, thereby greatly improving the material retrieval speed and reducing the waiting time for manual operation.

[0003] When traditional manipulators are driven by a three-axis moving mechanism, buffering is indeed required to avoid damage to the injection molded parts during the contact and separation process, and to ensure that the injection molded parts and the hole openings will not be deformed due to collision during the separation process. In order to achieve these functions, traditional manipulators usually choose to add additional sensors and drive sources to complete the power drive when performing collision avoidance. However, the introduction of more sensors and drive sources will not only make the control system of the manipulator more complicated, but the complex control system and the interaction of multiple components may make debugging and maintenance more difficult, and professional technicians are required to ensure the normal operation of the manipulator.

[0004] At the same time, additional sensors and drive sources require a certain amount of time to detect and respond to collisions, which may limit the reaction speed of the robot. However, when the robot picks up injection molded parts, the hardness of the injection molded parts is much lower than the driving force of the robot. Therefore, if the robot responds to the collision at a delayed speed, the injection molded parts will be damaged immediately, thereby affecting the quality of the finished injection molded parts. Summary of the invention

[0005] Based on this, it is necessary to provide a material removal robot for automobile sunroof injection molding parts after injection molding in view of the existing technical problems.

[0006] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0007] A post-injection material taking manipulator for an automobile sunroof injection molded part comprises a mechanical arm connected to an output end of a three-axis moving mechanism, and further comprises:

[0008] The clamping mechanism is connected to the output end of the robot arm, and includes a positioning support, a motor frame, an active motor, a movable support, two clamping plates and two flexible pads. The positioning support is fixedly connected to the output end of the robot arm, the motor frame is fixedly connected to the end of the positioning support away from the robot arm, the active motor is fixedly connected to the motor frame, the movable support is slidably connected to the positioning support, the two clamping plates are symmetrically arranged on the side of the movable support away from the robot arm, the two flexible pads are respectively fixedly connected to the ends of the two clamping plates close to each other, and the active motor can eventually drive the two clamping plates to move when started, and the two clamping plates can clamp the injection molded parts through the flexible pads after moving;

[0009] The material-returning mechanism is connected to the movable support and can drive the movable support to move toward the direction close to the positioning support.

[0010] Furthermore, the clamping mechanism also includes an active sleeve, an active insertion rod, a positioning spring, an umbrella gear frame, an active umbrella gear, a driven umbrella gear and an active roller shaft. The active sleeve is rotatably connected to the motor frame and is coaxially fixedly connected to the output end of the active motor. The active insertion rod is key-connected to the active sleeve, the umbrella gear frame is fixedly connected to the lower end of the movable support, the active insertion rod is rotatably connected to the umbrella gear frame, the active umbrella gear is rotatably connected to the umbrella gear frame and coaxially fixedly connected to the active insertion rod, the driven umbrella gear is meshed with the active umbrella gear and rotatably connected to the umbrella gear frame, the active roller shaft is rotatably connected to the lower end of the movable support through the shaft seat, the active roller shaft is coaxially fixedly connected to the driven umbrella gear, and the positioning spring is sleeved on the outside of the active insertion rod, one end of the positioning spring is abutted against the umbrella gear frame, and the other end is abutted against the active sleeve.

[0011] Furthermore, two groups of positioning columns arranged in a symmetrical state are formed at the lower end of the movable support, and the clamping mechanism also includes two worm wheels, two worms, two first pulleys and two second pulleys. The two worms are respectively fixedly connected to the two ends of the active roller shaft coaxially, and the two worm wheels are respectively meshed with the two worms. The two first pulleys are respectively rotatably connected to the corresponding positioning columns, and the two first pulleys are respectively fixedly connected to the two worm wheels coaxially. The two second pulleys are respectively arranged below the two first pulleys and are rotatably connected to the corresponding positioning columns, and the first pulley is connected to the second pulley through a belt transmission.

[0012] Furthermore, the clamping mechanism also includes four driven rollers, four clamping gears, four first connecting rods and four second connecting rods. Two clamping gears that mesh with each other are rotatably arranged on the side close to each group of positioning columns. The four driven rollers are respectively fixedly connected to the four clamping gears coaxially, the two driven rollers located above are respectively connected to the two second pulleys for transmission, one end of the four first connecting rods is respectively fixedly connected to the four clamping gears coaxially, and the other end is respectively hinged to the four second connecting rods, and the other end of the four second connecting rods is respectively hinged to one side of the clamping plate close to the positioning column.

[0013] Furthermore, the clamping mechanism also includes two magnetic disks, two magnetic sleeves, two positioning frames, two limit pins and two limit plates. The two magnetic disks are respectively fixedly connected to the two second pulleys coaxially, the two magnetic sleeves are respectively fixedly connected to the end of the two driven rollers close to the second pulley, the magnetic sleeves are connected to the corresponding magnetic disks through magnetic transmission, the two positioning frames are respectively arranged on the side of the two magnetic disks away from the second pulley, the two positioning frames are respectively fixedly connected to the corresponding positioning columns, and limit ring grooves are formed on the positioning frames. The two limit plates are respectively fixedly connected to the two positioning frames, the two limit pins pass through the corresponding limit ring grooves and are fixedly connected to the two magnetic sleeves, and the two limit pins can respectively resist the corresponding limit plates after the magnetic sleeves rotate.

[0014] Furthermore, the material return mechanism also includes a driving gear, a driven gear, a connecting baffle, a traction screw sleeve, a traction screw and a traction baffle. The driving gear is coaxially fixedly connected to one end of the driving sleeve close to the motor frame, the driven gear is arranged at the lower end of the driving gear and meshes with the driving gear, the traction screw sleeve is coaxially fixedly connected to the driven gear, the traction screw sleeve is threadedly connected to the traction screw sleeve, the traction baffle is fixedly connected to one end of the traction screw away from the traction screw sleeve, the connecting baffle is arranged on the side of the bevel gear frame away from the motor frame, the connecting baffle is fixedly connected to the lower end of the movable support, and the traction baffle can be against the connecting baffle after moving.

[0015] Furthermore, the material return mechanism also includes two positioning pins and two positioning sleeves. The two positioning sleeves are symmetrically arranged on both sides of the traction screw sleeve. One end of the two positioning sleeves is respectively fixedly connected to the traction baffle, one end of the two positioning pins is respectively connected to the two positioning sleeve keys, and the other end is respectively fixedly connected to the motor frame.

[0016] Furthermore, the clamping mechanism also includes two positioning slides, four positioning slide rails, two movable slides, two movable pins and two return springs. The two positioning slides are respectively fixedly connected to the lower ends of the two positioning supports, the four positioning slide rails are respectively fixedly connected to the lower ends of the positioning supports, each positioning slide is respectively fixedly connected to the two positioning slide rails, the two movable slides are respectively fixedly connected to the upper ends of the movable supports, each movable slide is respectively slidably connected to the corresponding two positioning slide rails, one end of the two movable pins is respectively fixedly connected to the two movable slides, and the other end is respectively slidably connected to the two positioning slides, the two return springs are respectively sleeved on the outside of the two movable pins, one end of the two return springs is respectively abutted against the two movable slides, and the other end is respectively abutted against the two positioning slides.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] Firstly, the device separates the injection molded part from the hole by setting a pushing mechanism, ensuring that the injection molded part will not collide with the hole after being processed and formed by the robot arm, thereby improving the quality of the finished injection molded part;

[0019] Second, when the device separates the injection molded part from the hole, no additional sensors and drive sources are introduced to complete the power drive, thereby simplifying the complexity of the robot and avoiding affecting the reaction speed of the robot due to additional sensors and drive sources;

[0020] Third, the device uses a flexible pad to clamp the injection molded parts, and uses a worm gear structure to prevent the flexible pad from shifting in the opposite direction, which causes the injection molded parts to fall when the flexible pad drives the injection molded parts to move, affecting the clamping ability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1is a schematic diagram of the three-dimensional structure of an embodiment;

[0022] Figure 2 is a side view of an embodiment;

[0023] Figure 3 is a side view of the clamping mechanism and the material withdrawing mechanism in the embodiment;

[0024] Figure 4 yes Figure 3 A magnified view of the structure at center;

[0025] Figure 5 Schematic diagram of the three-dimensional structure of the clamping mechanism and the material-removing mechanism in the embodiment;

[0026] Figure 6 yes Figure 5 A magnified view of the structure at B in the middle;

[0027] Figure 7 yes Figure 5 A magnified view of the structure at C in the middle;

[0028] Figure 8 It is a front view of the three-dimensional structure of the clamping mechanism and the material-removing mechanism in the embodiment;

[0029] Fig. 9 It is a half-section view of the three-dimensional structure of the clamping mechanism and the material-removing mechanism in the embodiment;

[0030] Fig.10 2. It is a bottom view of the clamping mechanism and the material-returning mechanism in the embodiment;

[0031] Fig.11 yes Fig.10 Enlarged view of the structure at point D in the middle.

[0032] The numbers in the figure are:

[0033] 1. Robotic arm; 2. Three-axis moving mechanism; 3. Clamping mechanism; 4. Positioning support; 5. Motor frame; 6. Active motor; 7. Active sleeve; 8. Active plug rod; 9. Positioning spring; 10. Bevel gear frame; 11. Active bevel gear; 12. Driven bevel gear; 13. Active roller shaft; 14. Movable support; 15. Positioning column; 16. Positioning slide block; 17. Positioning slide rail; 18. Movable slide block; 19. Movable pin shaft; 20. Reset spring; 21. Worm gear; 22. Worm; 23. First pulley ; 24. Second pulley; 25. Disk; 26. Magnetic sleeve; 27. Positioning frame; 28. Limiting ring groove; 29. ​​Limiting pin; 30. Limiting plate; 31. Driven roller; 32. Clamping gear; 33. First connecting rod; 34. Second connecting rod; 35. Clamping plate; 36. Flexible pad; 37. Material withdrawal mechanism; 38. Driving gear; 39. Driven gear; 40. Connecting baffle; 41. Traction screw sleeve; 42. Traction screw; 43. Traction baffle; 44. Positioning pin shaft; 45. Positioning sleeve. DETAILED DESCRIPTION

[0034] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0035] refer to Figures 1 to 11 A post-injection material taking robot for automobile sunroof injection molding parts comprises a robot arm 1 connected to the output end of a three-axis moving mechanism 2, and also comprises:

[0036] The clamping mechanism 3 is connected to the output end of the robot arm 1, and includes a positioning support 4, a motor frame 5, an active motor 6, a movable support 14, two clamping plates 35 and two flexible pads 36. The positioning support 4 is fixedly connected to the output end of the robot arm 1, the motor frame 5 is fixedly connected to the end of the positioning support 4 away from the robot arm 1, the active motor 6 is fixedly connected to the motor frame 5, the movable support 14 is slidably connected to the positioning support 4, the two clamping plates 35 are symmetrically arranged on the side of the movable support 14 away from the robot arm 1, and the two flexible pads 36 are respectively fixedly connected to the ends of the two clamping plates 35 that are close to each other. When the active motor 6 is started, the two clamping plates 35 can eventually move. After the two clamping plates 35 move, the injection molded parts can be clamped by the flexible pads 36;

[0037] The material-returning mechanism 37 is connected to the movable support 14 , and can drive the movable support 14 to move toward the positioning support 4 .

[0038] When the device is in operation, after the three-axis moving mechanism 2 drives the robot 1 to move, the robot 1 will drive the positioning support 4 and the movable support 14 to move to the side of the injection molded part, and then the active motor 6 will start and eventually drive the two clamps 35 to approach each other. After the two clamps 35 are close, they will clamp the injection molded part through the flexible pad 36. In order to take the injection molded part out of the hole, after the injection molded part is clamped, as the active motor 6 continues to run, the material return mechanism 37 will start and drive the movable support 14 to move in the direction close to the positioning support 4. At this time, the movement of the movable support 14 can drive the injection molded part and the hole to separate, thereby avoiding the robot arm 1 from moving significantly and causing damage to the injection molded part.

[0039] In order to supplement the specific structure of the clamping mechanism 3, the following features are also specifically provided:

[0040] The clamping mechanism 3 also includes an active sleeve 7, an active insertion rod 8, a positioning spring 9, an umbrella gear frame 10, an active umbrella gear 11, a driven umbrella gear 12 and an active roller shaft 13. The active sleeve 7 is rotatably connected to the motor frame 5 and is coaxially fixedly connected to the output end of the active motor 6. The active insertion rod 8 is key-connected to the active sleeve 7. The umbrella gear frame 10 is fixedly connected to the lower end of the movable support 14. The active insertion rod 8 is rotatably connected to the umbrella gear frame 10. The active umbrella gear 11 is rotatably connected to the umbrella gear frame 10 and coaxially fixedly connected to the active insertion rod 8. The driven umbrella gear 12 is meshed with the active umbrella gear 11 and rotatably connected to the umbrella gear frame 10. The active roller shaft 13 is rotatably connected to the lower end of the movable support 14 through the shaft seat. The active roller shaft 13 is coaxially fixedly connected to the driven umbrella gear 12. The positioning spring 9 is sleeved on the outside of the active insertion rod 8. One end of the positioning spring 9 abuts against the umbrella gear frame 10, and the other end abuts against the active sleeve 7. After the active motor 6 is started, the active motor 6 will drive the active rod 8 to rotate through the active sleeve 7. After the active rod 8 rotates, it will drive the driven bevel gear 12 to rotate through the active bevel gear 11. After the driven bevel gear 12 rotates, it will drive the active roller shaft 13 to rotate. When the movable support 14 moves, the movable support 14 will drive the positioning spring 9 to compress through the bevel gear frame 10. At this time, the corresponding active rod 8 and the active sleeve 7 will have a relative displacement, and the positioning spring 9 can facilitate the active rod 8 and the active sleeve 7 to return to their original positions.

[0041] In order to further supplement the specific structure of the clamping mechanism 3, the following features are also specifically provided:

[0042] Two groups of positioning columns 15 arranged in a symmetrical state are formed at the lower end of the movable support 14. The clamping mechanism 3 also includes two worm wheels 21, two worms 22, two first pulleys 23 and two second pulleys 24. The two worms 22 are respectively coaxially fixed to the two ends of the active roller shaft 13, the two worm wheels 21 are respectively meshed with the two worms 22, the two first pulleys 23 are respectively rotatably connected to the corresponding positioning columns 15, the two first pulleys 23 are respectively coaxially fixed to the two worm wheels 21, the two second pulleys 24 are respectively arranged below the two first pulleys 23 and are rotatably connected to the corresponding positioning columns 15, and the first pulley 23 is transmission-connected to the second pulley 24 via a belt. After the active roller shaft 13 rotates, the active roller shaft 13 will drive the worm wheel 21 to rotate through the worm 22, and the worm wheel 21 will drive the second pulley 24 to rotate through the first pulley 23. In this process, since the transmission of the worm wheel 21 and the worm 22 is self-locking, the two flexible pads 36 can remain stable after clamping the injection molded part, preventing the injection molded part from falling off during the movement of the movable support 14.

[0043] In order to drive the two clamping plates 35 to move, the following features are also specifically provided:

[0044] The clamping mechanism 3 also includes four driven roller shafts 31, four clamping gears 32, four first connecting rods 33 and four second connecting rods 34. Two clamping gears 32 meshing with each other are rotatably provided on the side close to each group of positioning columns 15. The four driven roller shafts 31 are respectively coaxially fixedly connected with the four clamping gears 32, and the two driven roller shafts 31 located at the top are respectively connected to the two second pulleys 24 for transmission. One end of the four first connecting rods 33 is respectively coaxially fixedly connected with the four clamping gears 32, and the other end is respectively hinged to the four second connecting rods 34, and the other end of the four second connecting rods 34 is respectively hinged to the side of the clamping plate 35 close to the positioning column 15. After the second pulley 24 rotates, the second pulley 24 will drive the clamping gear 32 to rotate through the driven roller shaft 31. At this time, the two clamping gears 32 rotate at the same time, and then drive the clamping plate 35 to move after being transmitted through the first connecting rod 33 and the second connecting rod 34 in turn. After the clamping plate 35 moves, it will approach the injection molded part through the flexible pad 36 to achieve flexible clamping of the injection molded part.

[0045] In order to limit the displacement of the clamping plate 35 and avoid damage to the injection molded parts, the following features are also specifically provided:

[0046] The clamping mechanism 3 also includes two magnetic disks 25, two magnetic sleeves 26, two positioning frames 27, two limit pins 29 and two limit plates 30. The two magnetic disks 25 are respectively fixedly connected to the two second pulleys 24 coaxially, the two magnetic sleeves 26 are respectively fixedly connected to one end of the two driven rollers 31 close to the second pulley 24, the magnetic sleeves 26 are connected to the corresponding magnetic disks 25 through magnetic transmission, the two positioning frames 27 are respectively arranged on the side of the two magnetic disks 25 away from the second pulley 24, the two positioning frames 27 are respectively fixedly connected to the corresponding positioning columns 15, the positioning frames 27 are formed with limit ring grooves 28, the two limit plates 30 are respectively fixedly connected to the two positioning frames 27, the two limit pins 29 are respectively passed through the corresponding limit ring grooves 28 and then fixedly connected to the two magnetic sleeves 26, and the two limit pins 29 can respectively abut against the corresponding limit plates 30 after the magnetic sleeves 26 rotate. When the second pulley 24 rotates, the second pulley 24 will drive the magnetic sleeve 26 to rotate through the magnetic disk 25. After the magnetic sleeve 26 rotates, it will drive the clamping gear 32 to rotate through the driven roller 31. After the flexible pad 36 is tightly pressed against the injection molded part, in order to prevent the continuous movement of the clamping plate 35 from damaging the injection molded part, during the deformation of the flexible pad 36, the limit pin 29 and the limit plate 30 will be pressed against each other. At this time, the magnetic disk 25 and the magnetic sleeve 26 rotate relative to each other, that is, the second pulley 24 can no longer drive the clamping gear 32 to continue rotating after continuing to rotate, thereby avoiding damage to the injection molded part.

[0047] In order to supplement the specific structure of the material return mechanism 37, the following features are also specifically provided:

[0048] The material withdrawal mechanism 37 also includes a driving gear 38, a driven gear 39, a connecting baffle 40, a traction screw sleeve 41, a traction screw 42 and a traction baffle 43. The driving gear 38 is coaxially fixedly connected to one end of the driving sleeve 7 close to the motor frame 5. The driven gear 39 is arranged at the lower end of the driving gear 38 and meshes with the driving gear 38. The traction screw sleeve 41 is coaxially fixedly connected to the driven gear 39. The traction screw sleeve 41 is threadedly connected to the traction screw sleeve 41. The traction baffle 43 is fixedly connected to one end of the traction screw 42 away from the traction screw sleeve 41. The connecting baffle 40 is arranged on the side of the bevel gear frame 10 away from the motor frame 5. The connecting baffle 40 is fixedly connected to the lower end of the movable support 14. The traction baffle 43 can be against the connecting baffle 40 after moving. When the active sleeve 7 rotates, the active sleeve 7 will drive the driven gear 39 to rotate through the active gear 38. After the driven gear 39 rotates, it will drive the traction screw 42 to move through the traction screw sleeve 41. After the traction screw 42 moves, it can drive the connecting baffle 40 to move through the traction baffle 43. After the connecting baffle 40 moves, it will drive the movable support 14 to move in the direction close to the positioning support 4, thereby realizing the separation of the injection molded part and the hole.

[0049] In order to achieve the displacement of the traction screw 42, the following features are also specifically provided:

[0050] The material return mechanism 37 further includes two positioning pins 44 and two positioning sleeves 45, which are symmetrically arranged on both sides of the traction screw sleeve 41, one end of the two positioning sleeves 45 is respectively fixedly connected to the traction baffle 43, one end of the two positioning pins 44 is respectively key-connected to the two positioning sleeves 45, and the other end is respectively fixedly connected to the motor frame 5. When the traction screw 42 moves, the two positioning sleeves 45 and the two positioning pins 44 will slide relative to each other, thereby preventing the traction screw sleeve 41 from being unable to drive the traction screw 42 to move when rotating.

[0051] In order to realize the relative sliding of the movable support 14 and the positioning support 4, and the subsequent resetting of the movable support 14, the following features are also specifically provided:

[0052] The clamping mechanism 3 also includes two positioning sliders 16, four positioning slide rails 17, two movable sliders 18, two movable pins 19 and two return springs 20. The two positioning sliders 16 are respectively fixedly connected to the lower ends of the two positioning supports 4, the four positioning slide rails 17 are respectively fixedly connected to the lower ends of the positioning supports 4, each positioning slider 16 is respectively fixedly connected to the two positioning slide rails 17, the two movable sliders 18 are respectively fixedly connected to the upper ends of the movable supports 14, each movable slider 18 is respectively slidably connected to the corresponding two positioning slide rails 17, one ends of the two movable pins 19 are respectively fixedly connected to the two movable sliders 18, and the other ends are respectively slidably connected to the two positioning sliders 16, the two return springs 20 are respectively sleeved on the outside of the two movable pins 19, one ends of the two return springs 20 are respectively abutted against the two movable sliders 18, and the other ends are respectively abutted against the two positioning sliders 16. When the movable support 14 moves, the movable support 14 will be displaced along the long side direction of the positioning slide rail 17 to prevent it from moving during the movement. At the same time, the two return springs 20 will be compressed to ensure that when the traction screw 42 moves away from the positioning support 4, the movable support 14 can move under the action of the return spring 20.

[0053] The working principle of this device is that when the device is running, after the three-axis moving mechanism 2 drives the robot arm 1 to move, the robot arm 1 will drive the positioning support 4 and the movable support 14 to move to the side of the injection molded part, and then the active motor 6 will start and eventually drive the two clamps 35 to approach each other. After the two clamps 35 are close, they will clamp the injection molded part through the flexible pad 36.

[0054] During this process, in order to prevent the continuous movement of the clamping plate 35 from causing damage to the injection molded parts, during the deformation of the flexible pad 36, the limit pin 29 and the limit plate 30 will offset each other. At this time, the magnetic disk 25 and the magnetic sleeve 26 will rotate relative to each other, that is, the second pulley 24 can no longer drive the clamping gear 32 to continue rotating after continuing to rotate, thereby avoiding damage to the injection molded parts.

[0055] After the injection molded part is clamped, in order to take the injection molded part out of the hole, as the active motor 6 continues to run, the traction screw 42 will move and drive the connecting baffle 40 to move through the traction baffle 43. After the connecting baffle 40 moves, it will drive the movable support 14 to move in the direction close to the positioning support 4. At this time, the movement of the movable support 14 can drive the injection molded part and the hole to separate, thereby preventing the robot arm 1 from moving significantly and causing damage to the injection molded part.

[0056] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A post-injection material removal robot for automobile sunroof injection molded parts, comprising a robot arm (1) connected to an output end of a three-axis moving mechanism (2), characterized in that: Also includes: The clamping mechanism (3) is connected to the output end of the mechanical arm (1), and comprises a positioning support (4), a motor frame (5), an active motor (6), a movable support (14), two clamping plates (35) and two flexible pads (36); the positioning support (4) is fixedly connected to the output end of the mechanical arm (1); the motor frame (5) is fixedly connected to an end of the positioning support (4) away from the mechanical arm (1); the active motor (6) is fixedly connected to the motor frame (5); the movable support (14) is slidably connected to the positioning support (4); the two clamping plates (35) are symmetrically arranged on a side of the movable support (14) away from the mechanical arm (1); the two flexible pads (36) are respectively fixedly connected to the ends of the two clamping plates (35) that are close to each other; the active motor (6) can eventually drive the two clamping plates (35) to move when it is started; after the two clamping plates (35) move, the injection molded part can be clamped by the flexible pads (36); The material return mechanism (37) is connected to the movable support (14) and can drive the movable support (14) to move in a direction close to the positioning support (4); The clamping mechanism (3) further comprises an active sleeve (7), an active insertion rod (8), a positioning spring (9), an umbrella gear frame (10), an active umbrella gear (11), a driven umbrella gear (12) and an active roller shaft (13); the active sleeve (7) is rotatably connected to the motor frame (5) and is coaxially fixedly connected to the output end of the active motor (6); the active insertion rod (8) is key-connected to the active sleeve (7); the umbrella gear frame (10) is fixedly connected to the lower end of the movable support (14); the active insertion rod (8) is rotatably connected to the umbrella gear frame (10); the active umbrella gear ( The driven bevel gear (12) is meshed with the active bevel gear (11) and is rotatably connected to the bevel gear frame (10) and is coaxially fixedly connected to the active insertion rod (8); the driven bevel gear (12) is meshed with the active bevel gear (11) and is rotatably connected to the bevel gear frame (10); the active roller shaft (13) is rotatably connected to the lower end of the movable support (14) through the shaft seat; the active roller shaft (13) and the driven bevel gear (12) are coaxially fixedly connected; a positioning spring (9) is sleeved on the outside of the active insertion rod (8); one end of the positioning spring (9) is against the bevel gear frame (10), and the other end is against the active sleeve (7); The material-removing mechanism (37) further comprises a driving gear (38), a driven gear (39), a connecting baffle (40), a traction screw sleeve (41), a traction screw (42) and a traction baffle (43); the driving gear (38) is coaxially fixedly connected to one end of the driving sleeve (7) close to the motor frame (5); the driven gear (39) is arranged at the lower end of the driving gear (38) and meshes with the driving gear (38); the traction screw sleeve (41) is coaxially fixedly connected to the driven gear (39); the traction screw sleeve (42) is threadedly connected to the traction screw sleeve (41); the traction baffle (43) is fixedly connected to one end of the traction screw (42) away from the traction screw sleeve (41); the connecting baffle (40) is arranged on a side of the bevel gear frame (10) away from the motor frame (5); the connecting baffle (40) is fixedly connected to the lower end of the movable support (14); and the traction baffle (43) can abut against the connecting baffle (40) after moving; The material return mechanism (37) further comprises two positioning pins (44) and two positioning sleeves (45), wherein the two positioning sleeves (45) are symmetrically arranged on both sides of the traction screw sleeve (41), one end of the two positioning sleeves (45) is respectively fixedly connected to the traction baffle (43), one end of the two positioning pins (44) is respectively key-connected to the two positioning sleeves (45), and the other end is respectively fixedly connected to the motor frame (5).

2. The post-injection material removal robot for automobile sunroof injection molded parts according to claim 1 is characterized in that: The lower end of the movable support (14) is formed with two groups of positioning columns (15) arranged in a symmetrical state. The clamping mechanism (3) also includes two worm wheels (21), two worms (22), two first pulleys (23) and two second pulleys (24). The two worms (22) are respectively coaxially fixedly connected to the two ends of the active roller shaft (13). The two worm wheels (21) are respectively meshed with the two worms (22). The two first pulleys (23) are respectively rotatably connected to the corresponding positioning columns (15). The two first pulleys (23) are respectively coaxially fixedly connected to the two worm wheels (21). The two second pulleys (24) are respectively arranged below the two first pulleys (23) and are rotatably connected to the corresponding positioning columns (15). The first pulley (23) is transmission-connected to the second pulley (24) via a belt.

3. The post-injection material removal robot for automobile sunroof injection molded parts according to claim 2 is characterized in that: The clamping mechanism (3) further comprises four driven roller shafts (31), four clamping gears (32), four first connecting rods (33) and four second connecting rods (34); two mutually meshing clamping gears (32) are rotatably arranged on the side close to each group of positioning columns (15); the four driven roller shafts (31) are respectively coaxially fixedly connected to the four clamping gears (32); the two driven roller shafts (31) located at the top are respectively transmission-connected to the two second pulleys (24); one end of the four first connecting rods (33) is respectively coaxially fixedly connected to the four clamping gears (32); the other end is respectively hinged to the four second connecting rods (34); the other end of the four second connecting rods (34) is respectively hinged to the side of the clamping plate (35) close to the positioning column (15).

4. The post-injection material removal robot for automobile sunroof injection molded parts according to claim 3 is characterized in that: The clamping mechanism (3) further comprises two magnetic disks (25), two magnetic sleeves (26), two positioning frames (27), two limit pins (29) and two limit plates (30). The two magnetic disks (25) are respectively fixedly connected to the two second pulleys (24) coaxially. The two magnetic sleeves (26) are respectively fixedly connected to one end of two driven rollers (31) close to the second pulleys (24). The magnetic sleeves (26) are connected to the corresponding magnetic disks (25) through magnetic transmission. The two positioning frames (27) are respectively arranged on the two second pulleys (24). The magnetic disk (25) is located on a side away from the second pulley (24), the two positioning frames (27) are respectively fixedly connected to the corresponding positioning columns (15), the positioning frames (27) are formed with limiting ring grooves (28), the two limiting plates (30) are respectively fixedly connected to the two positioning frames (27), the two limiting pins (29) respectively pass through the corresponding limiting ring grooves (28) and are then fixedly connected to the two magnetic sleeves (26), and the two limiting pins (29) can respectively abut against the corresponding limiting plates (30) after the magnetic sleeves (26) rotate.

5. The post-injection material removal robot for automobile sunroof injection molded parts according to claim 1, characterized in that: The clamping mechanism (3) further comprises two positioning slide blocks (16), four positioning slide rails (17), two movable slide blocks (18), two movable pins (19) and two return springs (20). The two positioning slide blocks (16) are respectively fixedly connected to the lower ends of the two positioning supports (4). The four positioning slide rails (17) are respectively fixedly connected to the lower ends of the positioning supports (4). Each positioning slide block (16) is respectively fixedly connected to the two positioning slide rails (17). The two movable slide blocks (18) are respectively fixedly connected to the upper ends of the movable supports (14). Each movable slide block (18) is respectively slidably connected to the corresponding two positioning slide rails (17). One ends of the two movable pins (19) are respectively fixedly connected to the two movable slide blocks (18) and the other ends are respectively slidably connected to the two positioning slide blocks (16). The two return springs (20) are respectively sleeved on the outsides of the two movable pins (19). One ends of the two return springs (20) are respectively abutted against the two movable slide blocks (18) and the other ends are respectively abutted against the two positioning slide blocks (16).

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