A robot automatic loading and unloading hand claw for soft and hard rubber injection molding parts

Abstract

The application discloses a kind of soft and hard glue injection molding piece robot automatic feeding and discharging hand claw, it is related to medical instrument technical field, including frame mechanism, soft glue clamping mechanism, garbage nail clamping mechanism and hard glue clamping mechanism, soft glue clamping mechanism, garbage nail clamping mechanism and hard glue clamping mechanism are all set on frame mechanism, frame mechanism includes frame main body, soft glue clamping mechanism includes first gripper, first guide shaft, first cylinder, movable rubber plate, first air injection mechanism and first drive mechanism.Soft glue clamping mechanism, garbage nail clamping mechanism and hard glue clamping mechanism are integrated on frame mechanism, can realize the operation of hard glue piece feeding, garbage nail discharging and soft glue piece finished product discharging, overall structure is simple, style is compact, cost is reduced, and air injection mechanism and mould clamping mechanism, it is convenient for injection molding finished piece separation, simultaneously guarantee the hand claw stress when robot soft glue piece clamping is taken out.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an automatic loading and unloading gripper for robotic injection molding of soft and hard plastic parts. Background Technology

[0002] Robots are widely used in the medical device manufacturing industry, and injection molding technology and corresponding robotic loading and unloading technology for medical plastic parts, related accessories, and molds are maturing. A typical automated robotic loading and unloading production line for hard and soft plastic injection molded parts generally includes a robot, an injection molding machine, a robotic loading and unloading gripper, a loading conveyor, a waste disposal device, an unloading conveyor, a safety protection system, and an electrical control system. The general process of automated robotic loading and unloading for hard and soft plastic injection molded parts is as follows: the robot uses its robotic loading and unloading gripper to place the hard plastic part into the injection molding machine. After the injection molding machine thermosets and molds the soft plastic part containing the hard plastic part, the robot uses its robotic loading and unloading gripper to pick up the soft plastic part and unload it onto the unloading conveyor, while picking up the waste disposal device and unloading it. Generally, the robotic loading and unloading gripper for hard and soft plastic injection molded parts simultaneously completes the loading of the hard plastic part and the unloading of the waste disposal device and soft plastic part. This reduces the number of times the robot enters the injection molding machine, thereby reducing time and increasing the work cycle. To meet the requirement of simultaneous gripping, a typical automatic loading and unloading gripper needs to add a hand-changing structure, requiring more cylinders and drive mechanisms, resulting in complex structure and increased cost. Furthermore, the removal of injection molded parts relies entirely on the force exerted by the robot, placing high demands on the force and load of the robot's end effector. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic loading and unloading gripper for robots producing soft and hard plastic injection molded parts, in order to solve the above-mentioned technical problems.

[0004] The technical solution adopted in this invention is as follows:

[0005] An automatic loading and unloading gripper for soft and hard plastic injection molded parts includes a frame mechanism, a soft plastic clamping mechanism, a scrap nail clamping mechanism, and a hard plastic clamping mechanism, wherein the soft plastic clamping mechanism, the scrap nail clamping mechanism, and the hard plastic clamping mechanism are all mounted on the frame mechanism;

[0006] The framework structure includes a main frame;

[0007] The soft rubber clamping mechanism includes a first gripper, a first guide shaft, a first cylinder, a movable rubber plate, a first air jet mechanism, and a first drive mechanism. The movable rubber plate is located at one end of the frame body, and the first cylinder is located at the other end of the frame body. The output end of the first cylinder is connected to the movable rubber plate. The movable rubber plate is connected to the frame body through several first guide shafts. Several first grippers are provided on the movable rubber plate, with two first grippers facing each other. The two facing first grippers are connected to the movable rubber plate through the first drive mechanism. Each first gripper has a first slot, and the two first slots form a first clamping slot. The first air jet mechanism is located on the movable rubber plate opposite the first slot.

[0008] Preferably, the frame mechanism further includes a wire tie bracket, an electrical box, an adapter flange, and gaskets. The wire tie bracket and the electrical box are provided at the other end of the frame body. Several gaskets are provided between the electrical box and the frame body. The adapter flange is provided on one side of the frame body.

[0009] Preferably, the first jet mechanism includes a first nozzle, a first air pipe connector, and a first mounting plate. The first mounting plate is disposed on the movable rubber plate, and the first nozzle is provided on the first mounting plate. The first air pipe connector is connected to the first nozzle, and the first nozzle has a plurality of jet holes.

[0010] Preferably, the first driving mechanism includes a base, a first driving member, a connecting seat, a sliding block, and a connecting block. The base is disposed on the movable rubber plate, and two first driving members are disposed inside the base. The connecting seat is disposed on the base, and a sliding groove is formed on the connecting seat. Two sliders are disposed in the sliding groove, and a connecting block is disposed on each slider. The connecting block is connected to the first gripper, and the output end of the first driving member is connected to the first slider.

[0011] Preferably, the device also includes a mold clamping mechanism, which includes a clamping bracket, a locking bracket, and a clamping cylinder. The movable rubber plate has an opening in the middle. One end of the clamping bracket is located on the frame body, and the other end of the clamping bracket extends out of the opening. The locking bracket is located at the other end of the clamping bracket, and the clamping cylinder is located between the locking bracket and the clamping bracket.

[0012] Preferably, the garbage nail clamping mechanism includes a second drive mechanism, a second gripper, and a second air jet mechanism. The second drive mechanism is installed at one end of the frame body, and two second grippers are provided on the second drive mechanism. The second air jet mechanism is provided between the two second grippers. The two second grippers are arranged opposite each other, and each second gripper has three clamping ends.

[0013] Preferably, the hard plastic clamping mechanism includes a movable plate, a third gripper, a third drive mechanism, a second cylinder, and a second guide shaft. The movable plate is movably mounted on one end of the frame body via the second guide shaft. The second cylinder is located at the other end of the frame body, and its output end is connected to the movable plate. The movable plate is provided with the third drive mechanism, which is provided with two third grippers. Each of the two third grippers is provided with a second slot, and the two opposing second slots form a second clamping groove.

[0014] As a further preferred embodiment, the system also includes a speed control valve, which is located at the center of one end of the frame body and is connected to the first jet mechanism and the second jet mechanism.

[0015] The above technical solution has the following advantages or beneficial effects:

[0016] In this invention, the soft rubber clamping mechanism, the garbage nail clamping mechanism, and the hard rubber clamping mechanism are integrated on the frame mechanism, which can realize the operation of loading hard rubber parts, unloading garbage nails, and unloading soft rubber finished products. By fixing the hard rubber clamping mechanism and the soft rubber clamping mechanism to the motion mechanism respectively, and using the motion of a linear cylinder to drive the soft rubber clamping mechanism and the hard rubber clamping mechanism to grab respectively, the overall structure is simple, compact, and the cost is reduced. Furthermore, the air jet mechanism and the mold clamping mechanism facilitate the separation of injection molded finished parts, while ensuring the force of the gripper when the robot clamps and releases the soft rubber parts. Attached Figure Description

[0017] Figure 1 This invention relates to a three-dimensional robotic automatic loading and unloading gripper for soft and hard plastic injection molded parts. Figure 1 ;

[0018] Figure 2 This invention relates to a three-dimensional robotic automatic loading and unloading gripper for soft and hard plastic injection molded parts. Figure 2 ;

[0019] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0020] Figure 4 yes Figure 2 Enlarged view of point B in the middle.

[0021] In the diagram: 1. Frame mechanism; 101. Frame body; 102. Cable tie bracket; 103. Electrical box; 104. Adapter flange; 105. Gasket; 106. Speed ​​control valve; 2. Soft rubber clamping mechanism; 201. First gripper; 202. First guide shaft; 203. First cylinder; 204. Movable rubber plate; 205. First air jet mechanism; 206. First drive mechanism; 207. First nozzle; 208. First mounting plate; 209. Air jet hole; 210 1. Base; 211. Connecting seat; 212. Sliding block; 213. Connecting block; 3. Garbage nail clamping mechanism; 301. Second drive mechanism; 302. Second gripper; 303. Second air jet mechanism; 4. Hard plastic clamping mechanism; 41. Movable plate; 402. Third gripper; 403. Third drive mechanism; 404. Second cylinder; 405. Second guide shaft; 5. Mold clamping mechanism; 501. Clamping bracket; 502. Locking bracket; 503. Clamping cylinder. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] Figure 1 This invention relates to a three-dimensional robotic automatic loading and unloading gripper for soft and hard plastic injection molded parts. Figure 1 ; Figure 2This invention relates to a three-dimensional robotic automatic loading and unloading gripper for soft and hard plastic injection molded parts. Figure 2 ; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 yes Figure 2 A magnified view of point B in the middle. Please refer to [link / reference]. Figures 1 to 4 As shown, a preferred embodiment is illustrated, illustrating an automatic loading and unloading gripper for soft and hard plastic injection molded parts. The gripper includes a frame mechanism 1, a soft plastic clamping mechanism 2, a scrap nail clamping mechanism 3, and a hard plastic clamping mechanism 4, all of which are mounted on the frame mechanism 1. In this embodiment, the soft plastic clamping mechanism 2, the scrap nail clamping mechanism 3, and the hard plastic clamping mechanism 4 are integrated onto the frame mechanism 1 to form the loading and unloading gripper. This enables the loading of hard plastic parts, the unloading of scrap nails, and the unloading of finished soft plastic parts. When simultaneously gripping different parts, there is no need to repeatedly add a gripper switching structure, thereby reducing costs.

[0026] Frame structure 1 includes frame body 101;

[0027] The soft rubber clamping mechanism 2 includes a first gripper 201, a first guide shaft 202, a first cylinder 203, a movable rubber plate 204, a first air jet mechanism 205, and a first drive mechanism 206. The movable rubber plate 204 is located at one end of the frame body 101, and the first cylinder 203 is located at the other end of the frame body 101. The output end of the first cylinder 203 is connected to the movable rubber plate 204. The movable rubber plate 204 is connected to the frame body 101 through several first guide shafts 202. Several first grippers 201 are provided on the movable rubber plate 204, with two first grippers 201 facing each other. The two facing first grippers 201 are connected to the movable rubber plate 204 through the first drive mechanism 206. Each first gripper 201 has a first slot, and the two first slots form a first clamping slot. The first air jet mechanism 205 is provided on the movable rubber plate 204 opposite to the first slot. See also Figure 2 As shown, the first cylinder 203 drives the movable rubber plate 204 to move, causing it to move away from or closer to the frame body 101, facilitating the first gripper 201 to approach the soft rubber part. The first drive mechanism 206 drives the two first grippers 201 to move closer together, thereby clamping the soft rubber part. The first jet mechanism 205 sprays air onto the surface of the soft rubber part to remove dust or dirt. A first guide shaft 202 passes through the frame body 101 and can move relative to it, guiding the movement of the movable rubber plate 204. The soft rubber part is located in the first clamping groove for clamping.

[0028] Furthermore, as a preferred embodiment, the frame mechanism 1 also includes a cable tie bracket 102, an electrical box 103, an adapter flange 104, and gaskets 105. The cable tie bracket 102 and the electrical box 103 are located at the other end of the frame body 101. Several gaskets 105 are disposed between the electrical box 103 and the frame body 101. An adapter flange 104 is located on one side of the frame body 101. See also... Figure 2 As shown, the adapter flange 104 is used to connect to an external robot, facilitating the movement of the robot-driven loading and unloading gripper. At least two wire tie brackets 102 are provided for organizing wire harnesses. The electrical box 103 can be connected to the first cylinder 203 and the first drive component to control their operation; both the first cylinder 203 and the first drive component are linear cylinders. A spacer 105 can be provided between the electrical box 103 and the frame body 101 to prevent contact between the electrical box 103 and the frame body 101, and the thickness of the spacer 105 is adjustable.

[0029] Furthermore, as a preferred embodiment, the first jet mechanism 205 includes a first nozzle 207, a first air pipe connector, and a first mounting plate 208. The first mounting plate 208 is disposed on the movable rubber plate 204, and the first nozzle 207 is disposed on the first mounting plate 208. The first air pipe connector communicates with the first nozzle 207, and the first nozzle 207 has a plurality of jet holes 209. A speed regulating valve 106 is disposed at the middle of one end of the frame body 101, and the speed regulating valve 106 is connected to the first jet mechanism 205 and the second jet mechanism 303. The first air pipe connector can be connected to the speed regulating valve 106 to control the airflow magnitude. The speed regulating valve 106 can be connected to an external air pump to provide airflow. The airflow can be sprayed onto the surface of the soft rubber part through the jet holes 209 on the first nozzle 207.

[0030] Furthermore, as a preferred embodiment, the first driving mechanism 206 includes a base 210, a first driving member, a connecting seat 211, a sliding block 212, and a connecting block 213. The base 210 is mounted on the movable rubber plate 204. Two first driving members are disposed within the base 210. The connecting seat 211 is disposed on the base 210, and a sliding groove is formed on the connecting seat 211. Two sliders are disposed within the sliding groove, and a connecting block 213 is disposed on each slider. The connecting block 213 is connected to the first gripper 201. The output end of the first driving member is connected to the first slider. The first driving member is a linear cylinder used to connect with the first slider. The lower end of the first slider extends into the base 210 and is connected to the first driving member. The two first driving members can drive the two first sliders to move away from or towards each other, thereby causing the two first grippers 201 to move away from or towards each other.

[0031] Furthermore, as a preferred embodiment, it also includes a mold clamping mechanism 5, which includes a clamping bracket 501, a locking bracket 502, and a clamping cylinder 503. An opening is provided in the middle of the movable rubber plate 204. One end of the clamping bracket 501 is mounted on the frame body 101, and the other end extends out of the opening. The locking bracket 502 is located at the other end of the clamping bracket 501, and the clamping cylinder 503 is positioned between the locking bracket 502 and the clamping bracket 501. The clamping cylinder 503 can be fixed to the clamping bracket 501 by the locking bracket 502. A locking block is provided at the end of the piston rod of the clamping cylinder 503 for engaging with an external injection molding machine. When the piston rod of the clamping cylinder 503 extends into the injection molding machine, the locking block engages with a slot inside the injection molding machine to achieve a locking fixation, ensuring that the gripper of the robot is subjected to force when the soft rubber part is clamped and released.

[0032] Furthermore, as a preferred embodiment, the trash nail clamping mechanism 3 includes a second drive mechanism 301, second grippers 302, and a second air jet mechanism 303. The second drive mechanism 301 is mounted on one end of the frame body 101. Two second grippers 302 are provided on the second drive mechanism 301, and the second air jet mechanism 303 is disposed between the two second grippers 302. The two second grippers 302 are positioned opposite each other, and each second gripper 302 has three clamping ends. In this embodiment, the second drive mechanism 301 has the same structure as the first drive mechanism 206, and the second air jet mechanism 303 has the same structure as the first air jet mechanism 205; therefore, further clarification is not required here. The second drive mechanism is used to drive the two second grippers 302 to move closer or further apart, and the second air jet mechanism 303 is used to spray gas onto the surface of the trash nail to remove dust or dirt.

[0033] Furthermore, as a preferred embodiment, the hard plastic clamping mechanism 4 includes a movable plate 41, third grippers 402, a third drive mechanism 403, a second cylinder 404, and a second guide shaft 405. The movable plate 41 is movably mounted on one end of the frame body 101 via the second guide shaft 405. The second cylinder 404 is located at the other end of the frame body 101, and its output end is connected to the movable plate 41. The movable plate 41 is provided with the third drive mechanism 403, which has two third grippers 402. Each of the two third grippers 402 has a second slot, and the two opposing second slots form a second clamping groove. The third drive mechanism 403 has the same structure as the first drive mechanism 206, and will not be further limited here. The third drive mechanism 403 can drive the two third grippers 402 to move closer to each other, thereby clamping the hard plastic part. In this embodiment, an air jet mechanism can also be provided between the two third grippers 402.

[0034] When in use, when there is a need for loading and unloading soft and hard plastic injection molded parts by the robot, the second cylinder 404 in the automatic loading and unloading gripper drives the movable plate 41 to drive the third gripper 402 to extend. Then, the third drive brings the two third grippers 402 closer to each other and clamps the hard plastic parts. Then, the second cylinder 404 drives the movable plate 41 to drive the third gripper 402 to retract.

[0035] Then the injection molding machine is turned on, and the automatic loading and unloading gripper enters the injection molding machine. The first gripper in the soft rubber clamping mechanism 2 moves to the position facing the injection molded soft rubber workpiece under the action of the first cylinder 203, and then the clamping cylinder 503 locks with the injection molding machine.

[0036] When the soft rubber workpiece is ejected for the second time by the injection molding machine, the first gripper extends and clamps the soft rubber workpiece under the drive of the first drive mechanism 206. Then, the first jet mechanism 205 blows gas onto the soft rubber workpiece (soft rubber part) to remove dust, while the first cylinder 203 retracts and the clamping cylinder 503 retracts to unlock.

[0037] When the automatic loading and unloading gripper moves toward the moving mold of the injection molding machine, the soft rubber workpiece is taken out of the injection molding machine. The automatic loading and unloading gripper retracts a fixed distance from the injection molding machine, so that the second gripper 302 moves to the position facing the injection molding waste nail. Then the automatic loading and unloading gripper moves toward the fixed mold of the injection molding machine, and clamps the injection molded waste nail through the second gripper 302. After clamping, it moves toward the moving mold of the injection molding machine.

[0038] Then the automatic loading and unloading gripper retracts a fixed distance from the injection molding machine, so that the third gripper 402 is positioned directly opposite the injection hard plastic part. The third gripper 402 extends and places the hard plastic part onto the fixed mold of the injection molding machine. Then the automatic loading and unloading gripper exits the injection molding machine, sequentially unloading the finished soft plastic part, placing the waste nail into the waste bin, and then clamping the hard plastic part at the fixed position. This process is repeated.

[0039] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic loading and unloading gripper for robots handling soft and hard plastic injection molded parts, characterized in that, It includes a frame mechanism, a soft rubber clamping mechanism, a trash nail clamping mechanism, and a hard rubber clamping mechanism, wherein the soft rubber clamping mechanism, the trash nail clamping mechanism, and the hard rubber clamping mechanism are all disposed on the frame mechanism; The framework structure includes a main frame; The soft rubber clamping mechanism includes a first gripper, a first guide shaft, a first cylinder, a movable rubber plate, a first air jet mechanism, and a first drive mechanism. The movable rubber plate is located at one end of the frame body, and the first cylinder is located at the other end of the frame body. The output end of the first cylinder is connected to the movable rubber plate. The movable rubber plate is connected to the frame body through several first guide shafts. Several first grippers are provided on the movable rubber plate, with two first grippers facing each other. The two facing first grippers are connected to the movable rubber plate through the first drive mechanism. Each first gripper has a first slot, and the two first slots form a first clamping slot. The first air jet mechanism is located on the movable rubber plate opposite the first slot. It also includes a mold clamping mechanism, which includes a clamping bracket, a locking bracket and a clamping cylinder. The movable rubber plate has an opening in the middle. One end of the clamping bracket is located on the frame body and the other end of the clamping bracket extends out of the opening. The locking bracket is located at the other end of the clamping bracket and the clamping bracket is located between the locking bracket and the clamping bracket. The garbage nail clamping mechanism includes a second drive mechanism, a second gripper, and a second air jet mechanism. The second drive mechanism is installed at one end of the frame body. The second drive mechanism is provided with two second grippers. The second air jet mechanism is provided between the two second grippers. The two second grippers are arranged opposite each other. Each second gripper has three clamping ends. The hard plastic clamping mechanism includes a movable plate, a third gripper, a third drive mechanism, a second cylinder, and a second guide shaft. The movable plate is movably mounted on one end of the frame body via the second guide shaft. The second cylinder is located at the other end of the frame body, and its output end is connected to the movable plate. The movable plate is provided with the third drive mechanism, which is provided with two third grippers. Each of the two third grippers is provided with a second slot, and the two opposing second slots form a second clamping groove.

2. The automatic loading and unloading gripper for soft and hard plastic injection molded parts as described in claim 1, characterized in that, The frame structure also includes a wire tie bracket, an electrical box, an adapter flange, and gaskets. The wire tie bracket and the electrical box are located at the other end of the frame body. Several gaskets are located between the electrical box and the frame body. The adapter flange is located on one side of the frame body.

3. The automatic loading and unloading gripper for soft and hard plastic injection molded parts as described in claim 1, characterized in that, The first jet mechanism includes a first nozzle, a first air pipe connector, and a first mounting plate. The first mounting plate is disposed on the movable rubber plate, and the first nozzle is disposed on the first mounting plate. The first air pipe connector is connected to the first nozzle, and the first nozzle has a plurality of jet holes.

4. The automatic loading and unloading gripper for soft and hard plastic injection molded parts as described in claim 1, characterized in that, The first driving mechanism includes a base, a first driving member, a connecting seat, a sliding block, and a connecting block. The base is disposed on the movable rubber plate. Two first driving members are disposed inside the base. The connecting seat is disposed on the base. A sliding groove is formed on the connecting seat. Two sliders are disposed in the sliding groove. Each slider is respectively disposed on a connecting block. The connecting block is connected to the first gripper. The output end of the first driving member is connected to the first slider.

5. The automatic loading and unloading gripper for soft and hard plastic injection molded parts as described in claim 1, characterized in that, It also includes a speed control valve, which is provided at the middle of one end of the frame body and is connected to the first jet mechanism and the second jet mechanism.

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