Robot manipulator

Abstract

The present invention discloses a manipulator device for a robot, which relates to the field of injection molding technology. The device comprises: a fixed seat; a clamping assembly, wherein the clamping assembly has two, the two clamping assemblies are arranged in parallel, and the two clamping assemblies are movably arranged on the fixed seat; a synchronous moving assembly, the synchronous moving assembly is arranged on the fixed seat, and the synchronous moving assembly drives the two clamping assemblies to move synchronously toward or away from each other; wherein the clamping assembly comprises a support seat movably arranged on the fixed seat, and two support shafts are rotatably arranged on the support seat, and a support roller is coaxially arranged on the outside of each support shaft, and the two support rollers are arranged in parallel; the present invention facilitates the rapid shedding of injection molded parts during the throwing process.

Description

Technical Field

[0001] The invention relates to the technical field of injection molding, in particular to a manipulator device for a robot. Background Art

[0002] Manipulator devices have a wide range of uses. They can be used to grab, carry objects or operate tools. In the injection molding industry, robots are generally used to drive manipulators to clamp injection molded parts from molds and transport the injection molded parts to a predetermined location. Existing manipulators usually use splints to clamp injection molded parts. During the clamping process, the injection molded parts are easily adhered to the splint, which makes it inconvenient for the injection molded parts to fall off later. In addition, the inner wall of the splint is also prone to adhere to edge materials or debris, making it easier for the injection molded parts to stick to the splint during the subsequent clamping process, resulting in the injection molded parts not being able to fall off in time. Summary of the invention

[0003] The object of the present invention is to provide a manipulator device for a robot, which facilitates the timely removal of injection molded parts during the material throwing process.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a robot manipulator device includes a fixed seat and further includes:

[0005] A clamping assembly, wherein the clamping assembly has two components, the two clamping components are arranged in parallel, and the two clamping components are movably arranged on the fixing seat;

[0006] A synchronous moving component, which is arranged on the fixed seat and drives the two clamping components to move synchronously toward or away from each other;

[0007] Wherein, the clamping assembly comprises a support seat movably arranged on a fixed seat, two support shafts are rotatably arranged on the support seat, a support roller is coaxially arranged on the outside of each support shaft, and the two support rollers are arranged in parallel;

[0008] A clamping roller is coaxially arranged on the outside of each of the supporting rollers;

[0009] The fixed seat is provided with a transmission assembly, and when the two clamping assemblies move synchronously toward or away from each other, the transmission assembly drives each supporting roller to rotate.

[0010] Furthermore, it also includes:

[0011] A scraper assembly, each of the clamping assemblies is provided with a corresponding scraper assembly, and each of the scraper assemblies is arranged between two clamping rollers included in the corresponding clamping assembly;

[0012] Wherein, the scraper assembly includes a scraper, and the scraper is arranged between the corresponding two clamping rollers; a support rod is connected between the bottom of the scraper and the corresponding support seat.

[0013] Furthermore, the transmission assembly includes:

[0014] Transmission racks, there are two transmission racks, the two transmission racks are arranged in parallel, and the two transmission racks are arranged on a fixed seat;

[0015] A first transmission gear, wherein there are two first transmission gears, and the two first transmission gears are respectively meshed with the two transmission racks;

[0016] A second transmission gear, wherein there are two second transmission gears, and the two second transmission gears are respectively meshed with the two first transmission gears;

[0017] Wherein, a first transmission gear is sleeved on the outside of one of the support shafts of each clamping assembly, and two of the second transmission gears are sleeved on the outside of the other two support shafts.

[0018] Furthermore, the synchronous movement component includes:

[0019] A rotating shaft, the rotating shaft is rotatably disposed on the fixing seat;

[0020] A guide gear, wherein the guide gear is sleeved outside the rotating shaft and the guide gear is fixedly connected to the rotating shaft;

[0021] Guide racks, the guide racks have two, the two guide racks are symmetrical about the axis of the rotating shaft, the two guide racks are meshed with the guide gear, and the two guide racks are movably arranged on the fixed seat;

[0022] A driving device, the driving device is arranged on a fixed seat, and the driving device drives one of the guide racks to move;

[0023] A connecting rod is connected between the guide rack connected to the driving device and one of the support seats, and the other guide rack is fixedly connected to the other support seat.

[0024] Furthermore, the driving device comprises:

[0025] A driving cylinder, wherein the driving cylinder is mounted on the fixing seat;

[0026] A connecting block, which is disposed on one of the guide racks and is fixedly connected to an output end of the driving cylinder;

[0027] Wherein, the fixing seat is provided with an elongated hole, and the connecting block passes through the elongated hole.

[0028] Furthermore, an annular groove is coaxially arranged on the clamping roller.

[0029] Furthermore, each of the support seats is provided with a first sliding block, the fixed seat is provided with a first linear guide rail, and the first sliding block is cooperatively provided on the first linear guide rail.

[0030] Furthermore, a second linear guide is provided on the fixed seat, a second slider is provided on the guide rack connected to the driving device, and the second slider is cooperatively provided on the second linear guide;

[0031] A third sliding block is arranged on the other guide rack, a third linear guide rail is also arranged on the fixing seat, and the third sliding block is cooperatively arranged on the third linear guide rail.

[0032] Compared with the prior art, the beneficial effects achieved by the present invention are as follows.

[0033] 1. During the throwing process, driving the support roller to rotate helps to reduce or avoid the injection molded parts from sticking to the annular groove, making it easier for the injection molded parts to fall off in time.

[0034] 2. When the support seats move back to back to the reset process, the part of the support roller holding the injection molded part will pass through the scraper, which is convenient for scraping off the debris or edge material adhering to the annular groove. When the injection molded part is clamped next time, it can avoid increasing the extrusion of the injection molded part. It also helps to reduce or avoid the injection molded part from adhering to the annular groove, further facilitating the timely removal of the injection molded part. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0036] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention.

[0037] Figure 2 It is a schematic diagram of the installation of a clamping assembly, a transmission assembly and a synchronous moving assembly according to the first embodiment of the present invention.

[0038] Figure 3 It is a schematic diagram of the structure of the clamping assembly of the first embodiment of the present invention.

[0039] Figure 4 It is a schematic diagram of the coordination of the clamping assembly, the transmission assembly and the synchronous moving assembly in the first embodiment of the present invention.

[0040] Figure 5It is a schematic diagram of the positions of the transmission rack, the first transmission gear, the second transmission gear, the guide rack and the guide gear of the first embodiment of the present invention.

[0041] Figure 6 It is a schematic diagram of the position of the scraper assembly in the second embodiment of the present invention.

[0042] Figure 7 It is a schematic diagram of the positions of the first linear guide rail, the first slider, the third linear guide rail and the third slider in embodiment three of the present invention.

[0043] Figure 8 It is a schematic diagram of the positions of the second linear guide rail and the second slider in the third embodiment of the present invention.

[0044] Explanation of the accompanying drawings: 1. Fixed seat; 11. Connecting seat; 12. Long hole; 2. Clamping assembly; 21. Support seat; 22. Support shaft; 23. Support roller; 24. Clamping roller; 241. Annular groove; 3. Synchronous moving assembly; 31. Guide gear; 32. Rotating shaft; 33. Guide rack; 34. Driving device; 341. Driving cylinder; 342. Connecting block; 35. Connecting rod; 4. Transmission assembly; 41. Transmission rack; 42. First transmission gear; 43. Second transmission gear; 5. Scraper assembly; 51. Scraper; 52. Support rod; 6. First linear guide rail; 61. First slider; 7. Second linear guide rail; 71. Second slider; 8. Third linear guide rail; 81. Third slider. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Embodiment 1

[0047] See also Figure 1-Figure 2 The present invention provides a technical solution: a manipulator device for a robot includes a fixed base 1, on which two clamping assemblies 2 are movably arranged, and the two clamping assemblies 2 are arranged in parallel; a synchronous moving assembly 3 is arranged on the fixed base 1, and the two clamping assemblies 2 are connected to the synchronous moving assembly 3, and the synchronous moving assembly 3 is used to drive the two clamping assemblies 2 to move synchronously toward or away from each other; a transmission assembly 4 is also arranged on the fixed base 1, and during the synchronous movement of the two clamping assemblies 2 toward or away from each other, the transmission assembly 4 drives each supporting roller 23 to rotate.

[0048] See also Figure 3The clamping assembly 2 includes a support seat 21 movably arranged on the fixed seat 1, and two support shafts 22 are arranged on the support seat 21, and the two support shafts 22 are arranged in parallel. Each support shaft 22 is movably connected to the support seat 21 through a bearing, and the top end of each support shaft 22 penetrates the support seat 21; a support roller 23 is coaxially arranged on the outside of each support shaft 22, and the support roller 23 is fixedly connected to the support shaft 22; a clamping roller 24 is coaxially arranged on the outside of each support roller 23, and the clamping roller 24 is fixedly connected to the support roller 23. The clamping roller 24 is used to clamp the injection molded part, and an annular groove 241 is coaxially arranged on the upper part of the clamping roller 24.

[0049] See also Figure 2 , Figure 4 as well as Figure 5 The synchronous moving component 3 includes a rotating shaft 32, which is movably connected to the fixed seat 1 through a bearing; a guide gear 31 is provided on the outer sleeve of the rotating shaft 32, and the guide gear 31 is fixedly connected to the rotating shaft 32; two guide racks 33 are respectively meshed on both sides of the guide gear 31, and the two guide racks 33 are movably arranged on the fixed seat 1, and the two guide racks 33 are both meshed with the guide gear 31, and the two guide racks 33 are symmetrical about the axis center of the rotating shaft 32; the synchronous moving component 3 also includes a driving device 34, and the driving device 34 is connected to one of the guide racks 33; a connecting rod 35 is connected between the guide rack 33 connected to the driving device 34 and one of the support seats 21, and the other guide rack 33 is fixedly connected to the other support seat 21.

[0050] The driving device 34 includes a driving cylinder 341, which is installed on the outer wall of the fixed seat 1; the piston rod of the driving cylinder 341 is fixedly connected to the connecting block 342, and the connecting block 342 is fixedly connected to the guide rack 33, and the axis of the piston rod of the driving cylinder 341 is parallel to the length direction of the guide rack 33; at the same time, a long hole 12 is provided on the fixed seat 1, and the connecting block 342 passes through the long hole 12; the piston rod of the driving cylinder 341 is extended to drive the guide rack 33 connected to the connecting block 342 to move, and the guide rack 33 drives the guide gear 31 to rotate, and the guide gear 31 drives another guide rack 33 to move, so that the two guide racks 33 move synchronously toward each other, and the two guide racks 33 drive the two support seats 21 to move synchronously toward each other, thereby driving the support rollers 23 on the two support seats 21 to move synchronously toward each other, thereby clamping the injection molded parts, and the injection molded parts are clamped in the corresponding two annular grooves 241.

[0051] See again Figure 2 , Figure 4 as well as Figure 5The transmission assembly 4 includes two parallel transmission racks 41, and the length direction of the transmission racks 41 is parallel to the length direction of the guide rack 33; the two transmission racks 41 are both arranged on the fixed seat 1, and one of the transmission racks 41 is located directly above the other transmission rack 41; the transmission assembly 4 also includes two first transmission gears 42, the two first transmission gears 42 are respectively meshed with the two transmission racks 41, and the two first transmission gears 42 are staggered up and down; one side of the two first transmission gears 42 is respectively meshed with a second transmission gear 43, and the two second transmission gears 43 are also staggered up and down; wherein, a first transmission gear 42 is respectively sleeved on the outside of one of the support shafts 22 of each clamping assembly 2, that is, Figure 4 As shown, the two first transmission gears 42 adjacent to the left end of the support seat 21 are respectively sleeved on the outside of the two support shafts 22 adjacent to the left end of the support seat 21, and the second transmission gears 43 are respectively sleeved on the outside of the remaining two support shafts 22. The first transmission gear 42 is fixedly connected to the corresponding support shaft 22, and the second transmission gear 43 is fixedly connected to the corresponding support shaft 22; in addition, the transmission ratio between the first transmission gear 42 and the second transmission gear 43 is one.

[0052] See also Figure 1-Figure 5 When the support base 21 moves synchronously toward or away from each other, the two first transmission gears 42 roll on the corresponding transmission racks 41 respectively, that is, the two first transmission gears 42 will rotate, thereby prompting the two second transmission gears 43 to rotate; that is, during the synchronous movement of the support base 21 toward or away from each other, each first transmission gear 42 and each second transmission gear 43 are driven to rotate at the same time, and each first transmission gear 42 rotates in the opposite direction to the second transmission gear 43 meshing with it, thereby driving each support roller 23 to rotate.

[0053] A connecting seat 11 is provided on the fixing seat 1, and the connecting seat 11 is used to connect with equipment such as a robot or a multi-degree-of-freedom mobile device, so as to drive the movement of the connecting seat 11, and then drive the fixing seat 1 and the supporting seat 21 to move, thereby driving the entire manipulator device to clamp the injection molded parts.

[0054] In this embodiment, when clamping the injection molded parts, the entire manipulator device is driven to move by a robot or other equipment, and the support rollers 23 on the two support seats 21 are respectively located on both sides of the part to be clamped of the injection molding machine, and the annular groove 241 corresponds to the part to be clamped of the injection molding machine; then, the piston rod of the driving cylinder 341 is extended to drive the connecting block 342 to move, and under the cooperation of the guide rack 33 and the guide gear 31, the two guide racks 33 are driven to move synchronously toward each other, and the two support seats 21 are further driven to move synchronously toward each other, and then the support rollers 23 are driven to move, so that the injection molded parts can be clamped, and the injection molded parts are clamped in the annular groove 241.

[0055] After the robot or other equipment drives the injection molded part to move to the predetermined position, when the injection molded part is thrown, the piston rod of the driving cylinder 341 is reset to realize the synchronous opposite movement of the two guide racks 33, thereby driving the two support seats 21 to synchronously move opposite to each other and reset (i.e. Figure 5 The state shown in the figure) causes the support roller 23 to release the clamping of the injection molded part, thereby realizing the falling off of the injection molded part; during the throwing process, when the support seat 21 moves synchronously in opposite directions, the first transmission gear 42 rolls on the transmission rack 41, so the first transmission gear 42 and the second transmission gear 43 will rotate, further driving each support shaft 22 to rotate, thereby realizing the rotation of each support roller 23. By driving the support roller 23 to rotate, it helps to reduce or avoid the injection molded part from adhering to the annular groove 241 during the throwing process, thereby facilitating the timely falling off of the injection molded part.

[0056] Embodiment 2

[0057] See also Figure 1-Figure 6 This embodiment is based on the first embodiment. A scraper assembly 5 is arranged between the two clamping rollers 24 corresponding to each clamping assembly 2. The scraper assembly 5 includes a scraper plate 51 arranged between the corresponding two clamping rollers 24. The two sides of the scraper plate 51 are respectively fitted with the corresponding two annular grooves 241, and a plurality of tooth grooves are arranged on the scraper plate 51. A support rod 52 is fixedly arranged at the bottom of the scraper plate 51, and the support rod 52 is arranged on the support seat 21.

[0058] When the support seat 21 moves back to back to the original position, the contact part of the annular groove 241 with the injection molding machine (i.e., the part of the support roller 23 clamping the injection molded part) will pass through the scraper 51, and the scraper 51 is convenient for scraping off the debris or edge material adhering to the annular groove 241; therefore, when the injection molded part is clamped next time, the increased squeezing of the injection molded part can be avoided, which also helps to reduce or avoid the adhesion of the injection molded part to the annular groove 241 during the throwing process, and further facilitates the timely removal of the injection molded part; the scraped debris or edge material will gather on the scraper 51, and after clamping and throwing a suitable number of injection molded parts, the machine is stopped and the scraper 51 is cleaned in time.

[0059] Embodiment 3

[0060] See also Figure 7 and Figure 8 This embodiment is based on the first embodiment, and a first slider 61 is provided on each support seat 21, a first linear guide rail 6 is provided on the fixed seat 1, and the first slider 61 is cooperatively provided on the first linear guide rail 6; through the cooperation between the first slider 61 and the first linear guide rail 6, the support seat 21 can be moved, and the stability of the movement of the support seat 21 is improved.

[0061] A second slider 71 is fixedly connected to the guide rack 33 connected to the connecting block 342, and a second linear guide 7 is arranged on the fixed seat 1, and the second slider 71 is cooperatedly arranged on the second linear guide 7; the second linear guide 7 is arranged parallel to the first linear guide 6, and the length direction of the second linear guide 7 is parallel to the length direction of the guide rack 33; through the cooperation between the second slider 71 and the second linear guide 7, the guide rack 33 connected to the connecting block 342 can move along the length direction of the second linear guide 7.

[0062] In addition, a third slider 81 is provided on the guide rack 33 that is not connected to the connecting block 342, and a third linear guide 8 is also provided on the fixed seat 1, and the third slider 81 is cooperatedly arranged on the third linear guide 8; the third linear guide 8 is arranged parallel to the second linear guide 7, and through the cooperation between the third slider 81 and the third linear guide 8, the guide rack 33 that is not connected to the connecting block 342 can move along the length direction of the third linear guide 8.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0064] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot manipulator device, comprising a fixed seat (1), characterized in that: Also includes: A clamping assembly (2), wherein the clamping assembly (2) comprises two clamping assemblies (2), the two clamping assemblies (2) are arranged in parallel, and the two clamping assemblies (2) are movably arranged on the fixing seat (1); A synchronous moving component (3), the synchronous moving component (3) being arranged on the fixed seat (1), and the synchronous moving component (3) driving the two clamping components (2) to move synchronously towards each other or synchronously away from each other; The clamping assembly (2) comprises a support seat (21) movably arranged on the fixed seat (1), two support shafts (22) are rotatably arranged on the support seat (21), a support roller (23) is coaxially arranged outside each of the support shafts (22), and the two support rollers (23) are arranged in parallel; A clamping roller (24) is coaxially arranged outside each of the supporting rollers (23); The fixed seat (1) is provided with a transmission assembly (4), and when the two clamping assemblies (2) move synchronously towards each other or synchronously away from each other, the transmission assembly (4) drives each supporting roller (23) to rotate; The transmission assembly (4) comprises a transmission rack (41), a first transmission gear (42) and a second transmission gear (43); there are two transmission racks (41), the two transmission racks (41) are arranged in parallel, and the two transmission racks (41) are both arranged on a fixed seat (1); There are two first transmission gears (42), and the two first transmission gears (42) are respectively meshed with the two transmission racks (41); There are two second transmission gears (43), and the two second transmission gears (43) are respectively meshed with the two first transmission gears (42); The two support shafts (22) included in the clamping assembly (2) are respectively sleeved with a first transmission gear (42) and a second transmission gear (43) on their exteriors; The synchronous moving assembly (3) comprises a rotating shaft (32), a guide gear (31), a guide rack (33) and a driving device (34); The rotating shaft (32) is rotatably disposed on the fixing seat (1); The guide gear (31) is sleeved outside the rotating shaft (32), and the guide gear (31) is fixedly connected to the rotating shaft (32); There are two guide racks (33), the two guide racks (33) are symmetrical about the axis center of the rotating shaft (32), the two guide racks (33) are both meshed with the guide gear (31), and the two guide racks (33) are movably arranged on the fixed seat (1); A driving device (34), the driving device (34) being arranged on the fixed seat (1), and the driving device (34) driving one of the guide racks (33) to move; A connecting rod (35) is connected between the guide rack (33) connected to the driving device (34) and one of the support seats (21), and the other guide rack (33) is fixedly connected to the other support seat (21).

2. The robot manipulator device according to claim 1, characterized in that: Also includes: A scraper assembly (5), each of the clamping assemblies (2) being provided with a corresponding scraper assembly (5), and each of the scraper assemblies (5) being provided between two clamping rollers (24) included in the corresponding clamping assembly (2); The scraper assembly (5) comprises a scraper (51), and the scraper (51) is arranged between two corresponding clamping rollers (24); a support rod (52) is connected between the bottom of the scraper (51) and the corresponding support seat (21).

3. The robot manipulator device according to claim 1, characterized in that: The driving device (34) comprises: A driving cylinder (341), wherein the driving cylinder (341) is mounted on the fixing seat (1); A connecting block (342), the connecting block (342) being arranged on one of the guide racks (33), and the connecting block (342) being fixedly connected to an output end of the driving cylinder (341); Wherein, the fixing seat (1) is provided with an elongated hole (12), and the connecting block (342) passes through the elongated hole (12).

4. The robot manipulator device according to claim 1, characterized in that: An annular groove (241) is coaxially arranged on the clamping roller (24).

5. The robot manipulator device according to claim 1, characterized in that: A first sliding block (61) is provided on each of the support seats (21), a first linear guide rail (6) is provided on the fixed seat (1), and the first sliding block (61) is cooperatively arranged on the first linear guide rail (6).

6. The robot manipulator device according to claim 1, characterized in that: The fixing seat (1) is provided with a second linear guide rail (7), a guide rack (33) connected to the driving device (34) is provided with a second slider (71), and the second slider (71) is cooperatively arranged on the second linear guide rail (7); A third sliding block (81) is arranged on the other guide rack (33), a third linear guide rail (8) is also arranged on the fixed seat (1), and the third sliding block (81) is cooperatively arranged on the third linear guide rail (8).

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