Automatic feeding and discharging manipulator for plastic parts

Abstract

The automatic plastic part feeding and discharging mechanical arm comprises a three-axis driving assembly, a clamping structure is arranged at the output end of the three-axis driving assembly and comprises a suction cup assembly, a first power source and a storage assembly, the first power source drives the suction cup assembly to feed a frame-shaped cover plate into the storage assembly, and a second power source is arranged at the side end of the storage assembly. The second power source is used for moving in and out the frame-shaped cover plate, and the frame-shaped cover plate is taken out of the injection molding machine and fed into the storage assembly through cooperation between the suction cup assembly and the storage assembly, so that the discharging mechanical arm can directly enter the next injection molding machine after clamping in one injection molding machine is completed, the moving path of the three-axis driving assembly is optimized, and the production efficiency is improved. The moving time is shortened, and the production efficiency is not reduced while the equipment production cost is reduced.

Description

Technical Field

[0001] The invention relates to automation equipment, in particular to an automatic loading and unloading manipulator for plastic parts. Background Art

[0002] There is a frame-type cover plate, which is a plastic product, which is produced and processed by injection molding by an injection molding machine. Usually, when producing the above-mentioned frame-type cover plate, the material is taken out manually and the gate generated by the injection molding is cut off. However, the manual material taking method is inefficient and labor-intensive. Therefore, technical personnel in this field have developed a material unloading robot. For example, a Chinese patent with announcement number CN215661658U discloses an injection molding production line for cosmetic packaging bottles, including an injection molding machine and a material unloading conveyor belt on the side of the injection molding machine. A connecting column is arranged above the injection molding machine, and an XYZ three-axis drive assembly is arranged on the connecting column. A clamp is arranged at the output end of the three-axis drive assembly, and the product in the injection molding machine is taken out by the clamp and placed in the material unloading conveyor belt.

[0003] The above patent still has shortcomings. Usually, the clamp can only take out one product in an injection molding machine at a time. When producing some large-scale products, multiple injection molding machines are required. Setting a three-axis drive assembly and a clamp at the upper end of all injection molding machines will increase the equipment cost. Although a large three-axis drive assembly and a longer unloading conveyor belt can also reduce the equipment cost, every time the clamp clamps out a product in the injection molding machine, the product needs to be sent to the unloading conveyor belt, and the movement path of the clamp increases. When the number of injection molding machines increases, the movement efficiency of the three-axis drive assembly cannot meet the production efficiency of the injection molding machine. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an automatic loading and unloading robot for plastic parts, which has a material storage function.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a plastic parts automatic loading and unloading robot, including a three-axis drive assembly, the output end of the three-axis drive assembly is provided with a clamping structure, the clamping structure includes a suction cup assembly, a power source 1 and a storage assembly, the power source 1 drives the suction cup assembly to send the frame cover into the storage assembly, the side end of the storage assembly is provided with a power source 2, and the power source 2 is used to move the frame cover in and out.

[0006] Through the above-mentioned technical means, the frame cover is taken out from the injection molding machine and sent into the storage assembly through the cooperation between the suction cup assembly and the storage assembly, so that the unloading robot can directly enter the next injection molding machine after completing the clamping in one injection molding machine, optimize the moving path of the three-axis drive assembly, and reduce the moving time, so that a single unloading robot can cooperate with a large number of injection molding machines, and complete the overall unloading on a unloading conveyor belt after clamping the frame cover in all injection molding machines, thereby reducing the production cost of the equipment without reducing the production efficiency.

[0007] Preferably, the suction cup assembly includes an airway plate, a suction cup mounting rod and a vacuum suction cup, the vacuum suction cup is fixed to one end of the suction cup mounting rod, the other end of the suction cup mounting rod is fixedly set on the airway plate, the airway plate is connected to the air pump, and the airway plate is set at the output end of power source one.

[0008] Through the above technical means, the frame cover in the injection molding machine is taken out by generating negative pressure through the vacuum suction cup. Compared with the clamping method, there is no need to consider reserving clamping space when designing the frame cover mold, making the mold design simpler.

[0009] Preferably, the power source comprises a servo motor and a linear cylinder, a mounting frame is provided at the output end of the three-axis drive assembly, a mounting plate is provided on the mounting frame, the servo motor and the linear cylinder are both arranged on a mounting plate, the airway plate is fixedly arranged at the output end of the servo motor, the servo motor is arranged at the output end of the linear cylinder, the servo motor drives the suction cup assembly to rotate, and the linear cylinder drives the suction cup assembly to move and send the frame cover into the material storage assembly.

[0010] Through the above-mentioned technical means, the airway plate is driven to rotate by a servo motor, so that the axial direction of the material storage assembly is staggered with the mold opening direction of the mold, to prevent the suction cup assembly from being unable to extend into the mold due to the length of the material storage assembly being greater than the mold opening distance. A linear cylinder is set up to pull the servo motor to move, thereby sending the frame cover into the material storage assembly.

[0011] Preferably, the material storage assembly includes a positioning frame, a gate shearing piece and a tensioning piece. The positioning frame is arranged at the output end of the three-axis drive assembly and limits the displacement of the frame-type cover plate in the X-axis direction. The tensioning piece is arranged on the positioning frame and is used to limit the displacement of the frame-type cover plate in the Z-axis direction. The power source 2 is used to drive the frame-type cover plate to move axially along the positioning frame. The gate shearing piece is used to cut the gate of the frame-type cover plate.

[0012] Through the above-mentioned technical means, by setting a positioning frame and a tensioning member, the position accuracy of the frame-type cover plate when storing materials is increased, and the frame-type cover plate is driven to move by power source 2, thereby providing power for it when stacking and unloading the frame-type cover plate, and the automatic shearing of the gate is completed by the gate shearing member.

[0013] Preferably, the second power source includes a side frame, a pair of power rollers, a conveyor belt and two servo motors. The power rollers are rotatably arranged on the side frame. The two servo motors are fixed on the side frame and drive the power rollers to rotate. The conveyor belt is sleeved on the two power rollers. The tensioning member presses the frame cover against the conveyor belt.

[0014] Through the above technical means, the power roller is driven to rotate by servo motor 2, and the conveyor belt is driven to rotate, and the transportation of the frame cover is completed in cooperation with the tensioning parts. The conveyor belt can prevent the frame cover from getting stuck during unloading, and the falling time and number of the frame cover can be controlled, so that the storage assembly can be used as a loading structure for subsequent equipment.

[0015] Preferably, the conveyor belt is an annular sandpaper.

[0016] Through the above technical means, while transporting the frame-type cover plate, the gate of the frame-type cover plate can be polished after the frame-type cover plate is transported to the extreme position, thereby saving polishing steps and improving the degree of automation.

[0017] Preferably, the tensioning member comprises a tensioning wheel group 1 and a tensioning wheel group 2, and the tails of the tensioning wheel group 1 and the tensioning wheel group 2 are respectively provided with an electric cylinder 2 and an electric cylinder 3, and the electric cylinder 2 and the electric cylinder 3 are fixedly arranged on a positioning frame.

[0018] Through the above technical means, by setting the tension wheel group 1 and the tension wheel group 2, the frame-type cover plate is controlled to be pressed or separated from the surface of the conveyor belt while limiting the frame-type cover plate.

[0019] Preferably, the gate shearing member comprises a cutting blade frame and a cutting blade, wherein the cutting blade is arranged on the cutting blade frame, and the cutting blade frame is arranged at the front end of the second power source and is located on the moving path of the gate.

[0020] Through the above technical means, through the cooperation between the cutting knife frame and the cutting knife, the power source drives the suction cup assembly to send the frame cover plate into the positioning frame, thereby completing the cutting of the gate.

[0021] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up the material storage component, after the clamping is completed, there is no need to put the frame cover into the unloading conveyor belt to continue clamping, which saves the clamping time and increases the efficiency of the equipment; 2. Through the cooperation of servo motor 1, linear cylinder 1 and gate shearing piece, the gate can be cut off in the process of sending the frame cover into the storage component, thereby improving the automation degree of the equipment; 3. By using the circular sandpaper as a conveyor belt, the gate of the frame cover can be polished by continuing to rotate the conveyor belt when transporting the frame cover, further increasing the degree of automation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of an embodiment; Figure 2 Schematic diagram of the clamping structure Figure 1 ; Figure 3 It is a bottom view schematic diagram of the clamping structure; Figure 4 Schematic diagram of the clamping structure Figure 2 ; Figure 5 Schematic diagram of the clamping structure Figure 3 ; Figure 6 It is a cross-sectional schematic diagram of the clamping structure.

[0023] Figure numerals: 1. three-axis drive assembly; 2. material clamping structure; 3. suction cup assembly; 4. power source one; 5. material storage assembly; 6. power source two; 7. airway plate; 8. suction cup mounting rod; 9. vacuum suction cup; 10. servo motor one; 11. linear cylinder one; 12. mounting frame; 13. mounting plate one; 14. long waist hole; 15. positioning frame; 16. gate shearing piece; 17. tensioning piece; 18. side frame; 19. power roller; 20. conveyor belt; 21. servo motor two; 22. tensioning wheel group one; 23. tensioning wheel group two; 24. electric cylinder two; 25. electric cylinder three; 26. cutting knife frame; 27. cutting knife; 90. frame cover; 92. injection molding machine; 93. unloading conveyor belt. DETAILED DESCRIPTION

[0024] The specific implementation modes of the present invention are further described below in conjunction with the accompanying drawings to make the technical solutions of the present invention easier to understand and grasp.

[0025] A plastic parts automatic loading and unloading robot, such as Figure 1-Figure 6As shown, it includes a three-axis drive component 1, and a clamping structure 2 is arranged at the output end of the three-axis drive component 1. The three-axis drive component 1 is composed of an X-axis drive component, a Y-axis drive component and a Z-axis drive component. The clamping structure 2 is controlled to move between multiple injection molding machines 92. The clamping structure 2 includes a pair of suction cup components 3, a pair of power sources 1 4 and a pair of storage components 5. The power source 1 4 drives the suction cup component 3 to feed the frame-type cover plate 90 into the storage component 5, and can feed two frame-type cover plates 90 at the same time. A power source 2 6 is arranged between the two storage components 5, and the power source 2 6 is used The frame cover plate 90 is moved in and out. After the suction cup assembly 3 takes the frame cover plate 90 out from an injection molding machine 92, it can be sent into the material storage assembly 5 and can directly enter the next injection molding machine 92. The moving path of the three-axis drive assembly 1 is optimized and the moving time is reduced, so that a single unloading robot can cooperate with a large number of injection molding machines 92, and the injection molding time and cooling time are reasonably utilized. After the frame cover plates 90 in all the injection molding machines 92 are clamped out, the overall unloading can be completed on a unloading conveyor belt 93, thereby reducing the production cost of the equipment without reducing the production efficiency.

[0026] The suction cup assembly 3 includes an airway plate 7, a suction cup mounting rod 8 and a vacuum suction cup 9. The vacuum suction cup 9 is fixed to one end of the suction cup mounting rod 8, and the other end of the suction cup mounting rod 8 is fixedly arranged on the airway plate 7. An air path is opened in the airway plate 7, and the suction cup mounting rod 8 is a hollow rod. The airway plate 7 is connected to the air pump so that the vacuum suction cup 9 can be controlled by the air pump to suck the frame cover 90. The frame cover 90 in the injection molding machine 92 can be taken out by generating negative pressure through the vacuum suction cup 9. Compared with the clamping method, there is no need to consider reserving clamping space when designing the frame cover 90 mold, which makes the mold design simpler.

[0027] The power source 4 includes a servo motor 10 and a linear cylinder 11. The output end of the three-axis drive assembly 1 is provided with a mounting frame 12, and a mounting plate 13 is provided on the mounting frame 12. The material storage assembly 5 is also provided on the mounting frame 12. The servo motor 10 and the linear cylinder 11 are both provided on the mounting plate 13. The airway plate 7 is fixedly provided at the output end of the servo motor 10. The servo motor 10 is provided at the output end of the linear cylinder 11. Figure 5 As shown, the servo motor 10 drives the suction cup assembly 3 to rotate, so that the axial direction of the material storage assembly 5 is staggered with the mold opening direction of the mold, to prevent the length of the material storage assembly 5 from being greater than the mold opening distance, resulting in the suction cup assembly 3 being unable to extend into the mold. The linear cylinder 11 is used to drive the servo motor and the suction cup assembly 3 to move, so as to send the frame cover plate 90 into the material storage assembly 5. A long waist hole 14 is opened on the mounting plate 13, and the output shaft of the servo motor 10 slides in the long waist hole 14 to prevent the linear cylinder 11 from pulling the servo motor 10 and then interfering with the output rod of the servo motor 10.

[0028] The material storage assembly 5 includes a positioning frame 15, a gate shearing piece 16 and a tensioning piece 17. The positioning frame 15 is arranged on the mounting frame 12 and limits the displacement of the frame-type cover plate 90 in the X-axis direction. The tensioning piece 17 is arranged on the positioning frame 15 and is used to limit the displacement of the frame-type cover plate 90 in the Z-axis direction. The power source 6 is used to drive the frame-type cover plate 90 to move axially along the positioning frame 15. The gate shearing piece 16 is used to cut the gate of the frame-type cover plate 90.

[0029] The power source 26 includes a side frame 18, a pair of power rollers 19, a conveyor belt 20 and a servo motor 21. The power roller 19 is rotatably arranged on the side frame 18. The servo motor 21 is fixed on the side frame 18 and drives the power roller 19 to rotate. The conveyor belt 20 is sleeved on the two power rollers 19. The tensioning members 17 of the two storage assemblies 5 respectively press the frame cover plate 90 against the upper and lower ends of the conveyor belt 20. The conveyor belt 20 is an annular sandpaper. The transportation of the frame cover plate 90 is completed by the tensioning member 17 and the conveyor belt 20. During unloading, the conveyor belt 20 can prevent the frame cover plate 90 from getting stuck, and the falling time and falling amount of the frame cover plate 90 can be controlled, so that the storage assembly 5 can be used as a loading structure for subsequent equipment, and after the frame cover plate 90 is transported to the extreme position by the conveyor belt 20, the conveyor belt 20 continues to run to grind the gate of the frame cover plate 90, saving grinding steps and improving the degree of automation.

[0030] The tensioning member 17 includes a tensioning wheel set 1 22 and a tensioning wheel set 23. The tensioning wheel set 1 22 and the tensioning wheel set 23 have the same structure, and are both composed of a wheel frame and a plurality of rubber rollers. The rubber rollers are rotatably arranged on the wheel frame. The tails of the tensioning wheel set 1 22 and the tensioning wheel set 23 are respectively provided with an electric cylinder 24 and an electric cylinder 3 25. The electric cylinder 24 and the electric cylinder 3 25 are fixedly arranged on the positioning frame 15, and drive the wheel frame to be ejected and retracted. By arranging the tensioning wheel set 1 22 and the tensioning wheel set 23, the frame-type cover plate 90 is controlled to be pressed or separated from the surface of the conveyor belt 20 while limiting the frame-type cover plate 90. When it is needed When the frame cover 90 is separated from the conveyor belt 20, the electric cylinder 24 is pushed out and the electric cylinder 3 25 is retracted. If it needs to get closer, the electric cylinder 24 is retracted and the electric cylinder 3 25 is pushed out. The gate shearing piece 16 includes a cutting frame 26 and a cutting blade 27. The cutting blade 27 is arranged on the cutting frame 26. The cutting frame 26 is arranged at the front end of the side frame 18, and the cutting blade 27 is located on the moving path of the gate root. When the linear cylinder 11 pushes the frame cover 90 into the positioning frame 15, the gate can be cut off. Therefore, before the linear cylinder 11 is started, the robot arm is aligned with the position for collecting waste to complete the recovery of the gate.

[0031] The following is the clamping process: first, open the upper mold and the lower mold of the first injection molding machine 92, and drive the vacuum suction cup 9 to move into the first injection molding machine 92 through the three-axis drive component 1 and suck the frame cover 90, and take out the frame cover 90 through the three-axis drive component 1, and then move the vacuum suction cup 9 to the second injection molding machine 92 through the three-axis drive component 1. During the movement, the servo motor 10 drives the airway plate 7 to flip 270°, so that the frame cover 90 rotates to the front end of the positioning frame 15, and the linear cylinder 11 drives the servo motor 10 to move, and the frame cover 90 is set on the positioning frame 15. At the same time, the gate passes through the cutting blade 27. When the linear cylinder 11 pushes the servo motor 10 to move, the three-axis drive component 1 can drive the material storage component 5 to move to the waste collection position to facilitate the collection of the gate. At this time, the frame cover The plate 90 is in contact with the tension wheel assembly 1, the tension wheel assembly 2 and the conveyor belt 20. The tension wheel assembly 2 cooperates with the tension wheel assembly 1 to clamp the frame cover plate 90 to prevent it from falling off. The conveyor belt 20 cooperates with the tension wheel assembly 2 to move the frame cover plate 90 to the innermost side of the positioning frame 15, and continue to take out the frame cover plate 90 in the second injection molding machine 92 and move it to the third injection molding machine 92. The moving process is the same as the first group of frame cover plates 90. The second group of frame cover plates 90 is sent into the positioning frame 15. After all the frame cover plates 90 are taken out, the conveyor belt 20 can be driven to continue moving to grind the gate position of the frame cover plate 90. Finally, the three-axis drive assembly 1 drives the storage assembly 5 to move to the unloading conveyor belt 93. The conveyor belt 20 rotates in the opposite direction and cooperates with the tension wheel assembly 2 to unload all the frame cover plates 90.

[0032] Of course, the above are only typical examples of the present invention. In addition, the present invention may also have many other specific implementations. All technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

Claims

1. A plastic parts automatic loading and unloading robot, comprising a three-axis drive assembly (1), wherein the output end of the three-axis drive assembly (1) is provided with a material clamping structure (2), wherein: The material clamping structure (2) comprises a suction cup assembly (3), a power source 1 (4) and a material storage assembly (5); the power source 1 (4) drives the suction cup assembly (3) to deliver the frame-shaped cover plate (90) into the material storage assembly (5); a power source 2 (6) is provided at the side end of the material storage assembly (5); the power source 2 (6) is used to move the frame-shaped cover plate (90) in and out.

2. According to claim 1, the automatic loading and unloading manipulator for plastic parts is characterized by: The suction cup assembly (3) comprises an airway plate (7), a suction cup mounting rod (8) and a vacuum suction cup (9); the vacuum suction cup (9) is fixed to one end of the suction cup mounting rod (8); the other end of the suction cup mounting rod (8) is fixedly arranged on the airway plate (7); the airway plate (7) is connected to an air pump; and the airway plate (7) is arranged at the output end of a power source (4).

3. The automatic loading and unloading manipulator for plastic parts according to claim 2 is characterized in that: The power source (4) comprises a servo motor (10) and a linear cylinder (11); a mounting frame (12) is provided at the output end of the three-axis drive assembly (1); a mounting plate (13) is provided on the mounting frame (12); the servo motor (10) and the linear cylinder (11) are both provided on the mounting plate (13); the airway plate (7) is fixedly provided at the output end of the servo motor (10); the servo motor (10) is provided at the output end of the linear cylinder (11); the servo motor (10) drives the suction cup assembly (3) to rotate; the linear cylinder (11) drives the suction cup assembly (3) to move and deliver the frame cover (90) into the material storage assembly (5).

4. The automatic loading and unloading manipulator for plastic parts according to claim 1 is characterized in that: The material storage assembly (5) comprises a positioning frame (15), a gate shearing piece (16) and a tensioning piece (17); the positioning frame (15) is arranged at the output end of the three-axis driving assembly (1) and limits the displacement of the frame-type cover plate (90) in the X-axis direction; the tensioning piece (17) is arranged on the positioning frame (15) and is used to limit the displacement of the frame-type cover plate (90) in the Z-axis direction; the power source 2 (6) is used to drive the frame-type cover plate (90) to move axially along the positioning frame (15); and the gate shearing piece (16) is used to shear the gate of the frame-type cover plate (90).

5. The automatic loading and unloading manipulator for plastic parts according to claim 4 is characterized in that: The power source 2 (6) comprises a side frame (18), a pair of power rollers (19), a conveyor belt (20) and a servo motor 2 (21); the power roller (19) is rotatably arranged on the side frame (18); the servo motor 2 (21) is fixed on the side frame (18) and drives the power roller (19) to rotate; the conveyor belt (20) is sleeved on the two power rollers (19); and the tensioning member (17) presses the frame cover plate (90) against the conveyor belt (20).

6. The automatic loading and unloading manipulator for plastic parts according to claim 5 is characterized in that: The conveyor belt (20) is an annular sandpaper.

7. The automatic loading and unloading manipulator for plastic parts according to claim 4 is characterized in that: The tensioning member (17) comprises a tensioning wheel group 1 (22) and a tensioning wheel group 2 (23), and the tails of the tensioning wheel group 1 (22) and the tensioning wheel group 2 (23) are respectively provided with an electric cylinder 2 (24) and an electric cylinder 3 (25), and the electric cylinder 2 (24) and the electric cylinder 3 (25) are fixedly arranged on the positioning frame (15).

8. The automatic loading and unloading manipulator for plastic parts according to claim 4 is characterized in that: The gate shearing piece (16) comprises a cutting frame (26) and a cutting blade (27), wherein the cutting blade (27) is arranged on the cutting frame (26), and the cutting frame (26) is arranged at the front end of the second power source (6) and is located on the moving path of the gate.

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