An intelligent injection molding robot

Abstract

The present invention provides an intelligent injection molding robot, which relates to the field of injection molding robots and comprises a reciprocating screw. The top of a ball nut seat of the reciprocating screw is fixedly connected with a base, the reciprocating screw is located on the left side of an injection molding machine, a conveyor belt is arranged on the left side of the reciprocating screw, and a motor is installed on the inner side of the base. By controlling the operation of a servo motor B, a worm at a rotating shaft can drive an electric telescopic rod B at the top of a worm wheel to deflect and adjust the horizontal angle. By controlling the operation of the electric telescopic rod B, a telescopic part can drive a sleeve to translate. By controlling the servo motor B and the electric telescopic rod B to cooperate in operation through a program, the servo motor B can drive the bottom surface of a suction cup tube to perform multi-directional tilt adjustment. By controlling the angles of four groups of suction cup tubes to adjust and adapt to different positions on the surface of an injection molded part respectively, the robot can adapt to stably adsorb non-planar injection molded parts, thereby solving the problem that the existing robot is inconvenient to adapt to the surface angle of non-planar injection molded parts and to stably adsorb them.

Description

Technical Field

[0001] The invention relates to the technical field of injection molding robots, and in particular to an intelligent injection molding robot. Background Art

[0002] The Panton chair is an integrally formed plastic chair with a stylish and elegant appearance and a smooth and elegant curve. It is comfortable and elegant and fits the human body. When the Panton chair is injection molded, it is necessary to grab the curved surface of the Panton chair, and a manipulator can be used to take the mold. For example, the invention patent CN112936774A discloses an injection molding manipulator, in which the top of the support seat is rotatably connected with a rotating shaft, and the end of the rotating shaft away from the support seat is fixedly connected with a fixed slider, and the inner wall side of the fixed slider is connected with a moving rod through a motor, and the top of the end of the moving rod away from the fixed slider is provided with a The invention discloses a pneumatic lifting device, one end of which passes through a moving rod and is threadedly connected to a mold taking robot, a threaded hole is provided on the top of a connecting block, locking grooves are provided on the sides of the connecting block, a robot is fixedly connected to the bottom of the connecting block, a connecting groove is provided on the side of the robot, a mold taking clamp is rotatably connected to the side of the inner wall of the connecting groove through a rotating pin, and an electromagnetic block is provided on the bottom of the inner wall of the connecting groove. The invention relates to the field of injection molding equipment accessories. The injection molding mold taking robot can not only conveniently take out injection molded parts with high surface precision, but also the mold taking robot does not need to frequently replace different robots when grabbing different injection molded parts.

[0003] However, the above-mentioned manipulator still has the following problems: the manipulator is not convenient for adjusting the distance between the suction cups according to the shape of the injection molded part. Specifically, the existing manipulator is not convenient for adjusting the distance between the suction point and the suction cup according to the undulation of the injection molded part surface, and it is not convenient for adjusting the suction cup angle to adapt to different positions on the surface of the injection molded part with a curvature. At the same time, the existing structure is not convenient for adapting to the surface angle of the non-planar injection molded part and stably adsorbing it. The existing manipulator cannot reduce the negative impact of particles on the workpiece surface during adsorption, and it is not convenient to increase the adsorption strength of the suction cup on the injection molded part. Summary of the invention

[0004] In view of this, the present invention provides an intelligent injection molding robot that controls the operation of a servo motor B so that the worm at the rotating shaft can drive the electric telescopic rod B at the top of the worm wheel to deflect and adjust the horizontal angle. By controlling the operation of the electric telescopic rod B, the telescopic part can drive the sleeve to translate. By program-controlling the coordinated operation of the servo motor B and the electric telescopic rod B, the robot can drive the bottom surface of the suction cup tube to perform multi-directional tilt adjustment. By controlling the angles of four groups of suction cup tubes, different positions on the surface of the injection molded part can be adjusted and adapted respectively, so as to adapt to the stable adsorption of non-planar injection molded parts.

[0005] The invention provides an intelligent injection molding robot, which specifically includes a reciprocating screw; the top of the ball nut seat of the reciprocating screw is fixedly connected to a base, the reciprocating screw is located on the left side of the injection molding machine, a conveyor belt is arranged on the left side of the reciprocating screw, a motor is installed on the inner side of the base, a horizontal rotating table is coaxially connected to the top of the motor shaft of the base, a main arm is installed on the top of the horizontal rotating table, a central control seat is installed on the top of the main arm, a secondary arm is installed on the right end of the central control seat shaft, a servo motor A is fixedly connected to the right end of the secondary arm, a control console is fixedly connected to the right end of the servo motor A shaft, a data signal of the control console is connected to a numerical control center through wireless communication, a negative pressure center is fixedly connected to the bottom of the control console, four groups of negative pressure air pumps are installed on the inner side of the negative pressure center, a vertical tube cavity is fixedly connected to the bottom of the negative pressure center, and a visual detection camera is installed on the bottom of the inner side of the vertical tube cavity; a scissor mechanism is fixedly connected to the outer side of the vertical tube cavity, and the number of scissor mechanisms is set to four groups; an electric telescopic rod A is fixedly connected to the outer side of the scissor mechanism.

[0006] Optionally, the bottom of the telescopic part of the electric telescopic rod A is fixedly connected to a vertical undulating frame, and the bottom of the vertical undulating frame is fixedly connected to a base.

[0007] Optionally, a servo motor B is fixedly connected to the inner side of the base, and a worm is coaxially connected to the rotating shaft of the servo motor B.

[0008] Optionally, the base is rotatably connected to a vertical shaft on the inside, a worm gear is coaxially connected to the outside of the vertical shaft, the worm and the worm gear are meshed for transmission, the top of the vertical shaft is rotatably connected to the inside of the vertical undulating frame, and an electric telescopic rod B is fixedly connected to the top of the vertical shaft.

[0009] Optionally, an oblique bracket is fixedly connected to the bottom of the base, and a universal joint A is fixedly connected to the bottom of the oblique bracket.

[0010] Optionally, the end of the telescopic part of the electric telescopic rod B is fixedly connected to a universal joint B, and the end is rotatably connected to a sleeve, and a sliding groove is provided on the inner curved side of the sleeve.

[0011] Optionally, the end of the universal joint A is rotatably connected to the outer side of the bottom of the suction cup tube, and a fixed sleeve is fixedly connected to the curved side of the suction cup tube.

[0012] Optionally, the outer curved side surface of the fixed sleeve is fixedly connected with a vertical edge, the sleeve is slidably connected to the outer curved side surface of the fixed sleeve, and the slide groove is slidably connected to the vertical edge.

[0013] Beneficial Effects

[0014] According to the manipulator of each embodiment of the present invention, the four groups of scissor mechanisms can be controlled to operate separately according to the surface area of ​​the injection molded part, so that the four groups of electric telescopic rods A can be driven to translate outward, and the spacing between the four groups of suction cups can be adjusted according to the shape of the injection molded part, so as to facilitate stable adsorption of the injection molded part.

[0015] In addition, when adsorbing an injection-molded part with an integrated structure such as a Panton chair, each group of robotic arms can be controlled to operate in linkage so that the vertical tube cavity is aligned with the surface of the Panton chair. After inspecting the curved surface of the Panton chair injection-molded part through a visual inspection camera and transmitting the curvature data of the injection-molded part surface to the CNC center, the four groups of scissor mechanisms are controlled to operate in servo through programming, so that the electric telescopic rod A can be controlled to operate in servo, and the telescopic part can drive each group of vertical undulating frames to translate the surface of the injection-molded part, and the distance between the adsorption point and the suction cup can be adjusted according to the degree of undulation of the injection-molded part surface.

[0016] In addition, by controlling the operation of servo motor B, the worm gear at the rotating shaft can drive the electric telescopic rod B on the top of the worm wheel to deflect and adjust the horizontal angle. By controlling the operation of electric telescopic rod B, the telescopic part can drive the sleeve to translate. By program-controlling the coordinated operation of servo motor B and electric telescopic rod B, it can drive the bottom surface of the suction cup tube to perform multi-directional tilt adjustment. By controlling the angles of four groups of suction cup tubes, different positions on the surface of the injection molded parts can be adjusted and adapted respectively. It can adapt to the stable adsorption of non-planar injection molded parts, and can also adapt to the adsorption of spherical injection molded parts such as helmets of different sizes.

[0017] In addition, after the injection mold is opened, the bottom of the control console is deflected and aligned with the surface of the injection molded part through program control. By controlling the operation of the transmission pump, it can spray water mist on the surface of the injection molded part through the ultrasonic nozzle, so that the surface of the injection molded part can be moistened. After the suction cup is controlled to contact the injection molded part, the adsorption strength of the suction cup on the injection molded part can be improved.

[0018] In addition, when there are impurities in the barrel and die of the injection molding machine, the temperature is incorrect, the raw material is heated in the barrel for too long, the color powder is not dispersed properly, or the filter is perforated, the surface of the injection molded part will be granulated. By spraying water mist, the particles in the adsorption area can be cleared and the surface particles can be prevented from affecting the adsorption during adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings of the embodiment are briefly introduced below.

[0020] The drawings described below are only related to some embodiments of the present invention, but are not intended to limit the present invention.

[0021] In the attached picture:

[0022] Figure 1 It is a schematic top view of the overall three-dimensional structure of the robot arm according to the first embodiment of the present invention.

[0023] Figure 2 yes Figure 1 A is a partial enlarged schematic diagram of the middle part.

[0024] Figure 3 It is a stereoscopic schematic diagram of the vertical lumen of the manipulator according to the first embodiment of the present invention when viewed from above.

[0025] Figure 4 It is a top view of a vertical lumen of the manipulator according to the first embodiment of the present invention.

[0026] Figure 5 It is a three-dimensional disassembly schematic diagram of the scissor mechanism of the manipulator according to the first embodiment of the present invention.

[0027] Figure 6 It is a schematic diagram of the three-dimensional disassembled structure of the vertical undulating frame of the manipulator according to the first embodiment of the present invention.

[0028] Figure 7 It is a three-dimensional schematic diagram of the base of the manipulator according to the first embodiment of the present invention.

[0029] Reference numerals list

[0030] 1. Reciprocating screw;

[0031] 2. Base;

[0032] 201, horizontal rotating platform; 202, main arm; 203, central control seat; 204, servo motor A;

[0033] 3. Console;

[0034] 301, negative pressure center; 302, vertical lumen; 303, visual detection camera;

[0035] 4. Scissor mechanism;

[0036] 5. Electric telescopic rod A;

[0037] 6. Vertical undulating frame;

[0038] 601, base; 602, servo motor B; 603, worm; 604, worm wheel; 605, oblique bracket; 606, universal joint A;

[0039] 7. Electric telescopic rod B;

[0040] 701, universal joint B; 702, sleeve; 703, slide groove;

[0041] 8. Suction cup tube;

[0042] 801, fixed sleeve; 802, vertical edge. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and examples.

[0044] Example: Please refer to Figures 1 to 7 As shown:

[0045] The present invention provides an intelligent injection molding robot, comprising a reciprocating screw 1; a base 2 is fixedly connected to the top of a ball nut seat of the reciprocating screw 1, the reciprocating screw 1 is located on the left side of an injection molding machine, a conveyor belt is arranged on the left side of the reciprocating screw 1, a motor is installed on the inner side of the base 2, a horizontal rotating table 201 is coaxially connected to the top of the motor shaft of the base 2, a main arm 202 is installed on the top of the horizontal rotating table 201, a central control seat 203 is installed on the top of the main arm 202, a secondary arm is installed on the right end of the shaft of the central control seat 203, a servo motor A204 is fixedly connected to the right end of the secondary arm, a control console 3 is fixedly connected to the right end of the shaft of the servo motor A204, and a data signal of the control console 3 is connected to a numerical control center through wireless communication A negative pressure center 301 is fixedly connected to the bottom of the console 3, four groups of negative pressure air pumps are installed on the inner side of the negative pressure center 301, the negative pressure air pump pipeline is connected to the top of the suction cup tube 8, a vertical tube cavity 302 is fixedly connected to the bottom of the negative pressure center 301, and a visual detection camera 303 is installed on the bottom of the inner side of the vertical tube cavity 302; a scissor mechanism 4 is fixedly connected to the outer facade of the vertical tube cavity 302, and the number of scissor mechanisms 4 is set to four groups; an electric telescopic rod A5 is fixedly connected to the outer side of the scissor mechanism 4, and the operation of the manipulator is remotely controlled by the CNC center to control the operation of the reciprocating screw 1. After the mold of the injection molding machine is opened, the vertical tube cavity 302 can be adjusted to the outside of the surface of the injection molded part.

[0046] like Figures 2 to 7As shown, the bottom of the telescopic part of the electric telescopic rod A5 is fixedly connected to the vertical undulating frame 6, the bottom of the vertical undulating frame 6 is fixedly connected to the base 601, the inner side of the base 601 is fixedly connected to the servo motor B602, the servo motor B602 is coaxially connected to the rotating shaft of the worm 603, the inner side of the base 601 is rotatably connected to the vertical axis, the outer side of the vertical axis is coaxially connected to the worm gear 604, the worm 603 and the worm gear 604 are meshed for transmission, the top of the vertical axis is rotatably connected to the inner side of the vertical undulating frame 6, the top of the vertical axis is fixedly connected to the electric telescopic rod B7, the bottom of the base 601 is fixedly connected to the oblique bracket 605, the bottom of the oblique bracket 605 is fixedly connected to the universal joint A606, and the end of the telescopic part of the electric telescopic rod B7 is fixedly connected The end of the universal joint B701 is rotatably connected with a sleeve 702, and a slide groove 703 is provided on the inner curved side of the sleeve 702. The end of the universal joint A606 is rotatably connected to the outer side of the bottom of the suction cup tube 8, and the curved side of the suction cup tube 8 is fixedly connected with a fixed sleeve 801, and the outer curved side of the fixed sleeve 801 is fixedly connected with a vertical edge 802. The sleeve 702 is slidably connected to the outer curved side of the fixed sleeve 801, and the slide groove 703 is slidably connected to the vertical edge 802. According to the surface area of ​​the injection molded part, the four groups of scissor-fork mechanisms 4 can be controlled to operate separately, and the four groups of electric telescopic rods A5 can be driven to move outward. The spacing between the four groups of suction cups can be adjusted according to the shape of the injection molded part, which is convenient for stable adsorption of the injection molded part. When the Panton chair is an integrated part When the injection molded parts of the structure are adsorbed, each group of mechanical arms can be controlled to operate in linkage so that the vertical tube cavity 302 is aligned with the surface of the Panton chair. After the curvature of the surface of the Panton chair injection molded part is detected by the visual detection camera 303, the curvature data of the surface of the injection molded part is transmitted to the CNC center, and the mechanism at the four groups of scissor-type mechanisms 4 is controlled to operate servo after programming, so that the electric telescopic rod A5 can be controlled to operate servo, so that the telescopic part can drive each group of vertical undulating frames 6 to translate the surface of the injection molded part, and the distance between the adsorption point and the suction cup can be adjusted according to the degree of undulation of the surface of the injection molded part. By controlling the operation of the servo motor B602, the worm 603 at the rotating shaft can drive the electric telescopic rod B at the top of the worm gear 604 7 is deflected and adjusted at the horizontal angle. By controlling the operation of the electric telescopic rod B7, the telescopic part can drive the sleeve 702 to move horizontally. By controlling the servo motor B602 and the electric telescopic rod B7 to cooperate in operation, it can drive the bottom surface of the suction cup tube 8 to adjust the inclination in multiple directions. By controlling the four groups of suction cup tubes 8 to adjust them separately, it can adapt to the stable adsorption of non-planar injection molded parts, and can also adapt to the adsorption of spherical injection molded parts such as helmets of different sizes. After the injection molded parts on the inner side of the injection molding machine mold are adsorbed and the injection molded parts are taken out, by controlling the reciprocating screw 1 and each group of mechanical arms to operate, the injection molded parts can be moved to the conveyor belt on the left, which is convenient for automatic unloading and placement of the injection molded parts.

[0047] Embodiment 2:

[0048] On the basis of the first embodiment, a visual inspection camera 303 is installed at the center of the bottom of the inner side of the vertical tube cavity 302, a transmission pump is fixedly connected to the inner side of the vertical tube cavity 302, four groups of bifurcated pipes are fixedly connected to the bottom of the transmission pump drainage pipe, a gooseneck pipe is fixedly connected to the bottom of the bifurcated pipe, the bottom of the gooseneck pipe is fixedly connected to the inclined bracket 605, and an ultrasonic nozzle is installed at the end of the gooseneck pipe. When the injection mold is opened, the bottom of the control console 3 is deflected and aligned with the surface of the injection molded part through the program control, and the transmission pump is controlled to operate so that it can spray water mist on the surface of the injection molded part through the ultrasonic nozzle, so that the surface of the injection molded part can be moistened, and the suction cup can be controlled to contact the injection molded part to improve the adsorption strength of the suction cup. When there are impurities in the barrel and die of the injection molding machine, the temperature is incorrect, the raw material is heated in the barrel for too long, the color powder is not dispersed well, or the filter is perforated, the surface of the injection molded part will be granulated, and the spraying of water mist can clear the flow of particles in the adsorption area, so as to prevent the surface particles from affecting the adsorption during adsorption.

[0049] Specific usage and function of this embodiment: In the present invention, the operation of the manipulator is remotely controlled by the CNC center, so that it can control the operation of the reciprocating screw 1. After the mold of the injection molding machine is opened, the vertical tube cavity 302 can be adjusted to the outside of the surface of the injection molded part. According to the surface area of ​​the injection molded part, the four groups of scissor mechanisms 4 can be controlled to operate separately, so that it can drive the four groups of electric telescopic rods A5 to translate outward, and the spacing between the four groups of suction cups can be adjusted according to the shape of the injection molded part, so as to facilitate the stable adsorption of the injection molded part. When adsorbing the injection molded part of the integrated structure such as the Panton chair, each group of mechanical arms can be controlled to operate in linkage so that the vertical tube cavity 302 is aligned with the surface of the Panton chair. After the curvature of the surface of the Panton chair injection molded part is detected by the visual detection camera 303, the curvature data of the surface of the injection molded part is transmitted to the CNC center, and the mechanism at the four groups of scissor mechanisms 4 is controlled to operate servo after programming, so that it can control the servo operation of the electric telescopic rod A5, so that the telescopic part can drive each group of vertical The straight undulating frame 6 can translate the surface of the injection molded part, and can adjust the distance between the adsorption point and the suction cup according to the degree of undulation of the injection molded part surface. By controlling the operation of the servo motor B602, the worm 603 at the rotating shaft can drive the electric telescopic rod B7 on the top of the worm wheel 604 to deflect and adjust the horizontal angle. By controlling the operation of the electric telescopic rod B7, the telescopic part can drive the sleeve 702 to translate. By program-controlled servo motor B602 and electric telescopic rod B7 to cooperate in operation, it can drive the bottom surface of the suction cup tube 8 to perform multi-directional tilt adjustment. By controlling the four groups of suction cup tubes 8 to adjust them separately, it can adapt to the stable adsorption of non-planar injection molded parts, and can also adapt to the adsorption of spherical injection molded parts such as helmets of different sizes. After the injection molded parts on the inner side of the injection molding machine mold are adsorbed and the injection molded parts are taken out, by controlling the reciprocating screw 1 and each group of mechanical arms to operate, the injection molded parts can be moved to the conveyor belt on the left, which is convenient for automatic unloading and placement of the injection molded parts.

Claims

1. An intelligent injection molding robot, characterized in that: include: A reciprocating screw (1); the top of the ball nut seat of the reciprocating screw (1) is fixedly connected to a base (2); the reciprocating screw (1) is located on the left side of the injection molding machine; a conveyor belt is arranged on the left side of the reciprocating screw (1); a motor is installed on the inner side of the base (2); the top of the motor shaft of the base (2) is coaxially connected to a horizontal rotating table (201); a main arm (202) is installed on the top of the horizontal rotating table (201); a central control seat (203) is installed on the top of the main arm (202); a secondary arm is installed on the right end of the shaft of the central control seat (203); a servo motor A (204) is fixedly connected to the right end of the secondary arm; and a control console (3) is fixedly connected to the right end of the shaft of the servo motor A (204). ), the data signal of the control console (3) is connected to the numerical control center through wireless communication, the bottom of the control console (3) is fixedly connected to a negative pressure center (301), four groups of negative pressure air pumps are installed on the inner side of the negative pressure center (301), the bottom of the negative pressure center (301) is fixedly connected to a vertical tube cavity (302), and a visual detection camera (303) is installed on the inner bottom of the vertical tube cavity (302); a scissor mechanism (4) is fixedly connected to the outer side of the vertical tube cavity (302), and the number of the scissor mechanism (4) is set to four groups; the outer side of the scissor mechanism (4) is fixedly connected to an electric telescopic rod A (5); the bottom of the telescopic part of the electric telescopic rod A (5) is fixedly connected A vertical undulating frame (6) is provided, wherein the bottom of the vertical undulating frame (6) is fixedly connected to a base (601); a servo motor B (602) is fixedly connected to the inner side of the base (601), and a worm (603) is coaxially connected to the rotating shaft of the servo motor B (602); a vertical shaft is rotatably connected to the inner side of the base (601), a worm gear (604) is coaxially connected to the outer side of the vertical shaft, the worm gear (603) and the worm gear (604) are meshed for transmission, the top of the vertical shaft is rotatably connected to the inner side of the vertical undulating frame (6), and an electric telescopic rod B (7) is fixedly connected to the top of the vertical shaft; an inclined bracket (605) is fixedly connected to the bottom of the base (601), and the inclined bracket (60 5) The bottom is fixedly connected with a universal joint A (606); the end of the telescopic part of the electric telescopic rod B (7) is fixedly connected with a universal joint B (701); the end is rotatably connected with a sleeve (702); the inner curved side surface of the sleeve (702) is provided with a slide groove (703); the end of the universal joint A (606) is rotatably connected with the outer side of the bottom of the suction cup tube (8); the curved side surface of the suction cup tube (8) is fixedly connected with a fixed sleeve (801); the outer curved side surface of the fixed sleeve (801) is fixedly connected with a vertical edge (802); the sleeve (702) is slidably connected to the outer curved side surface of the fixed sleeve (801), and the slide groove (703) is slidably connected with the vertical edge (802).

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