An automatic loading and unloading manipulator for plastic parts

Abstract

The present invention provides an automatic loading and unloading manipulator for plastic parts, which includes a three-axis drive assembly. A clamping structure is arranged at the output end of the three-axis drive assembly. The clamping structure includes a suction cup assembly, a power source one, and a material storage assembly. The power source one drives the suction cup assembly to send the frame-shaped cover plate into the material storage assembly. A power source two is arranged at the side end of the material storage assembly, and the power source two is used to move the frame-shaped cover plate in and out. Through the cooperation between the suction cup assembly and the material storage assembly, the frame-shaped cover plate is taken out from the injection molding machine and sent into the material storage assembly, so that after the unloading manipulator finishes clamping in one injection molding machine, it can directly enter the next injection molding machine, optimizing the moving path of the three-axis drive assembly, reducing the moving time, and reducing the production cost of the equipment without reducing the production efficiency.

Description

Technical Field

[0001] The present invention relates to an automated device, and in particular, to a plastic part automatic loading and unloading manipulator. Background Art

[0002] There is a conventional frame-shaped cover plate, which is a plastic product and is produced by injection molding using an injection molding machine. Usually, when producing the above-mentioned frame-shaped cover plate, it is manually taken and the gate generated by injection molding is cut off. However, the method of manual material taking has low efficiency and high labor intensity. Therefore, those skilled in the art have developed a blanking manipulator. For example, a Chinese patent with the publication number CN215661658U discloses an injection molding production line for cosmetic packaging bottles, including an injection molding machine and a blanking conveyor belt beside the injection molding machine. A connecting column is provided above the injection molding machine, and an XYZ three-axis drive assembly is provided on the connecting column, and a clamping jaw is provided at the output end of the three-axis drive assembly. The product in the injection molding machine is taken out by the clamping jaw and placed in the blanking conveyor belt.

[0003] The above patent still has deficiencies. Usually, the clamping jaw can only take out one product in the injection molding machine at a time. When producing some large batches of products, multiple injection molding machines need to be equipped. Setting the three-axis drive assembly and the clamping jaw at the upper end of all injection molding machines will increase the equipment cost. Although the equipment cost can be reduced by using a large three-axis drive assembly and a long blanking conveyor belt, whenever the clamping jaw clamps out the product in the injection molding machine, the product needs to be sent to the blanking conveyor belt, increasing the movement path of the clamping jaw. When the number of injection molding machines increases, the moving 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, the purpose of the present invention is to provide a plastic part automatic loading and unloading manipulator with a material storage function.

[0005] To solve the above technical problems, the technical solution of the present invention is: a plastic part automatic loading and unloading manipulator, including a three-axis drive assembly, a clamping structure is provided at the output end of the three-axis drive assembly. The clamping structure includes a suction cup assembly, a power source one, and a material storage assembly. The power source one drives the suction cup assembly to send the frame-shaped cover plate into the material storage assembly. A power source two is provided at the side end of the material storage assembly, and the power source two is used to move the frame-shaped cover plate in and out.

[0006] Through the above technical means, through the cooperation between the suction cup assembly and the material storage assembly, the frame-shaped cover plate is taken out of the injection molding machine and sent into the material storage assembly. Thus, after the blanking manipulator finishes clamping in one injection molding machine, it can directly enter the next injection molding machine, optimizing the moving path of the three-axis drive assembly and reducing the moving time. As a result, a single blanking manipulator can cooperate with a relatively large number of injection molding machines to clamp out the frame-shaped cover plates in all injection molding machines and complete the overall unloading on a single blanking conveyor belt, reducing the equipment production cost without reducing the production efficiency.

[0007] Preferably, the suction cup assembly includes an air duct plate, a suction cup mounting rod, and a vacuum suction cup. The vacuum suction cup is fixed at one end of the suction cup mounting rod, and the other end of the suction cup mounting rod is fixedly arranged on the air duct plate. The air duct plate is communicated with an air pump, and the air duct plate is arranged at the output end of the first power source.

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

[0009] Preferably, the first power source includes a first servo motor and a first linear cylinder. An installation frame is arranged at the output end of the three-axis drive assembly, and a first installation plate is arranged on the installation frame. Both the first servo motor and the first linear cylinder are arranged on the first installation plate. The air duct plate is fixedly arranged at the output end of the first servo motor, and the first servo motor is arranged at the output end of the first linear cylinder. The first servo motor drives the suction cup assembly to rotate, and the first linear cylinder drives the suction cup assembly to move and send the frame-shaped cover plate into the material storage assembly.

[0010] Through the above technical means, the air duct plate is driven to rotate by the first servo motor, so that the axial direction of the material storage assembly is staggered with the mold opening direction, preventing the length of the material storage assembly from being greater than the mold opening distance and causing the suction cup assembly to be unable to extend into the mold. By setting the first linear cylinder and making it pull the first servo motor to move, the frame-shaped cover plate is sent into the material storage assembly.

[0011] Preferably, the material storage assembly includes a positioning frame, a gate shearing part, and a tensioning part. The positioning frame is arranged at the output end of the three-axis drive assembly and restricts the displacement of the frame-shaped cover plate in the X-axis direction. The tensioning part is arranged on the positioning frame and is used to restrict the displacement of the frame-shaped cover plate in the Z-axis direction. The second power source is used to drive the frame-shaped cover plate to move axially along the positioning frame, and the gate shearing part is used to shear the gate of the frame-shaped cover plate.

[0012] Through the above technical means, by setting the positioning frame and the tensioning part, the position accuracy of the frame-shaped cover plate during material storage is increased. By driving the frame-shaped cover plate to move with the second power source, power is provided for it when stacking and unloading the frame-shaped cover plate, and the gate is automatically sheared by the gate shearing part.

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

[0014] By the above technical means, the second servo motor drives the power rollers to rotate, drives the conveyor belt to rotate, and cooperates with the tensioning member to complete the transportation of the frame-shaped cover plate. When discharging, the conveyor belt can prevent the frame-shaped cover plate from getting stuck, and can control the dropping time and quantity of the frame-shaped cover plate, so that the storage component can be used as the feeding structure of the subsequent equipment.

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

[0016] By the above technical means, while transporting the frame-shaped cover plate, when the frame-shaped cover plate is transported to the extreme position, the gate of the frame-shaped cover plate can be polished, saving the polishing step and improving the automation degree.

[0017] Preferably, the tensioning member includes a first tensioning wheel set and a second tensioning wheel set. Electric cylinders two and three are respectively arranged at the tails of the first tensioning wheel set and the second tensioning wheel set. The electric cylinders two and three are fixedly arranged on the positioning frame.

[0018] By the above technical means, by setting the first tensioning wheel set and the second tensioning wheel set, while limiting the frame-shaped cover plate, it can control the frame-shaped cover plate to press against or disengage from the surface of the conveyor belt.

[0019] Preferably, the gate shearing member includes a cutter holder and a cutting blade. The cutting blade is arranged on the cutter holder. The cutter holder is arranged at the front end of the second power source and is located on the moving path of the gate.

[0020] By the above technical means, through the cooperation between the cutter holder and the cutting blade, when the first power source drives the suction cup assembly to send the frame-shaped cover plate into the positioning frame, the gate is cut off.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. By setting the storage component, it is not necessary to put the frame-shaped cover plate on the discharging conveyor belt after clamping is completed, and clamping can be continued, saving clamping time and increasing the efficiency of the equipment;

[0023] 2. Through the cooperation of the first servo motor, the first linear cylinder, and the gate shearing member, the gate can be cut off during the process of sending the frame-shaped cover plate into the storage component, improving the automation degree of the equipment;

[0024] 3. By using a ring-shaped sandpaper as a conveyor belt, the gate of the frame-shaped cover plate can be polished by continuously rotating the conveyor belt after transporting the frame-shaped cover plate, further increasing the automation degree of the equipment. Description of the Drawings

[0025] Figure 1 It is a schematic structural diagram of the embodiment;

[0026] Figure 2 It is a schematic structural diagram of the clamping structure Figure 1 ;

[0027] Figure 3 It is a bottom view schematic diagram of the clamping structure;

[0028] Figure 4 It is a schematic structural diagram of the clamping structure Figure 2 ;

[0029] Figure 5 It is a schematic structural diagram of the clamping structure Figure 3 ;

[0030] Figure 6 It is a cross-sectional schematic diagram of the clamping structure.

[0031] Reference Numerals: 1. Three-axis drive assembly; 2. 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 shear piece; 17. Tensioning piece; 18. Side frame; 19. Power roller; 20. Conveyor belt; 21. Servo motor two; 22. Tensioning pulley group one; 23. Tensioning pulley group two; 24. Electric cylinder two; 25. Electric cylinder three; 26. Knife holder; 27. Knife blade; 90. Frame-shaped cover plate; 92. Injection molding machine; 93. Downstream conveyor belt. Detailed Description of the Preferred Embodiments

[0032] The following further details the specific embodiments of the present invention in conjunction with the accompanying drawings, so that the technical solutions of the present invention are easier to understand and master.

[0033] An automatic loading and unloading manipulator for plastic parts, as Figures 1 - 6As shown in the figure, it includes a three-axis drive assembly 1. A material clamping structure 2 is provided at the output end of the three-axis drive assembly 1. The three-axis drive assembly 1 is composed of an X-axis drive assembly, a Y-axis drive assembly, and a Z-axis drive assembly, which controls the movement of the material clamping structure 2 between multiple injection molding machines 92. The material clamping structure 2 includes a pair of suction cup assemblies 3, a pair of power sources one 4, and a pair of material storage assemblies 5. The power source one 4 drives the suction cup assembly 3 to send the frame-shaped cover plate 90 into the material storage assembly 5, and can feed two frame-shaped cover plates 90 at the same time. A power source two 6 is provided between the two material storage assemblies 5. The power source two 6 is used to move the frame-shaped cover plate 90 in and out. When the suction cup assembly 3 takes out the frame-shaped cover plate 90 from one injection molding machine 92, it can be sent into the material storage assembly 5, and then directly enter the next injection molding machine 92. The movement path of the three-axis drive assembly 1 is optimized, and the movement time is reduced. Thus, a single blanking manipulator can cooperate with a relatively large number of injection molding machines 92, rationally utilize the injection time and cooling time, and complete the overall unloading of the frame-shaped cover plates 90 in all injection molding machines 92 on a single blanking conveyor belt 93, reducing the equipment production cost without reducing the production efficiency.

[0034] The suction cup assembly 3 includes an air duct plate 7, a suction cup mounting rod 8, and a vacuum suction cup 9. The vacuum suction cup 9 is fixed at 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 air duct plate 7. An air path is opened in the air duct plate 7. The suction cup mounting rod 8 is a hollow rod. The air duct plate 7 is connected to an air pump, and the vacuum suction cup 9 can be controlled by the air pump to suck the frame-shaped cover plate 90. The frame-shaped cover plate 90 in the injection molding machine 92 is taken out by generating negative pressure through the vacuum suction cup 9. Compared with the clamping method, there is no need to consider leaving a clamping space when designing the mold of the frame-shaped cover plate 90, making the mold design simpler.

[0035] The power source one 4 includes a servo motor one 10 and a linear cylinder one 11. An installation frame 12 is provided at the output end of the three-axis drive assembly 1. An installation plate one 13 is arranged on the installation frame 12. The material storage assembly 5 is also arranged on the installation frame 12. The servo motor one 10 and the linear cylinder one 11 are both arranged on the installation plate one 13. The air duct plate 7 is fixedly arranged at the output end of the servo motor one 10. The servo motor one 10 is arranged at the output end of the linear cylinder one 11. As Figure 5 shown in the figure, the servo motor one 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, preventing 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 one 11 is used to drive the servo motor and the suction cup assembly 3 to move, so as to send the frame-shaped cover plate 90 into the material storage assembly 5. A long waist hole 14 is opened on the installation plate one 13, and the output shaft of the servo motor one 10 slides in the long waist hole 14 to prevent interference of the output rod of the servo motor one 10 after the linear cylinder one 11 pulls the servo motor one 10.

[0036] The material storage assembly 5 includes a positioning frame 15, a gate shearing member 16, and a tensioning member 17. The positioning frame 15 is disposed on the mounting frame 12 and restricts the displacement of the frame-shaped cover plate 90 in the X-axis direction. The tensioning member 17 is disposed on the positioning frame 15 and is used to restrict the displacement of the frame-shaped cover plate 90 in the Z-axis direction. The second power source 6 is used to drive the frame-shaped cover plate 90 to move axially along the positioning frame 15. The gate shearing member 16 is used to shear the gate of the frame-shaped cover plate 90.

[0037] The second power source 6 includes a side frame 18, a pair of power rollers 19, a conveyor belt 20, and a second servo motor 21. The power rollers 19 are rotatably disposed on the side frame 18. The second servo motor 21 is fixed on the side frame 18 and drives the power rollers 19 to rotate. The conveyor belt 20 is sleeved on the two power rollers 19. The tensioning members 17 of the two material storage assemblies 5 respectively press the frame-shaped 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-shaped cover plate 90 is completed through the cooperation of the tensioning member 17 and the conveyor belt 20. When unloading, the conveyor belt 20 can prevent the frame-shaped cover plate 90 from getting stuck, and can control the dropping time and dropping quantity of the frame-shaped cover plate 90, so that the material storage assembly 5 can be used as the feeding structure of the subsequent equipment. After the frame-shaped cover plate 90 is transported to the limit position by the conveyor belt 20 and the conveyor belt 20 continues to run, the gate of the frame-shaped cover plate 90 can be polished, saving the polishing step and improving the automation degree.

[0038] The tensioning member 17 includes a first tensioning wheel group 22 and a second tensioning wheel group 23. The first tensioning wheel group 22 and the second tensioning wheel group 23 have the same structure, and both are composed of a wheel frame and several rubber rollers. The rubber rollers are rotatably disposed on the wheel frame. Electric cylinders 24 and 25 are respectively disposed at the tails of the first tensioning wheel group 22 and the second tensioning wheel group 23. The electric cylinders 24 and 25 are fixedly disposed on the positioning frame 15 and drive the wheel frame to eject and retract. By providing the first tensioning wheel group 22 and the second tensioning wheel group 23, while restricting the frame-shaped cover plate 90, the pressing or detachment of the frame-shaped cover plate 90 from the surface of the conveyor belt 20 is controlled. When it is necessary to detach the frame-shaped cover plate 90 from the conveyor belt 20, the electric cylinder 24 is ejected and the electric cylinder 25 is retracted. When it is necessary to approach, the electric cylinder 24 is retracted and the electric cylinder 25 is ejected. The gate shearing member 16 includes a cutter frame 26 and a cutter blade 27. The cutter blade 27 is disposed on the cutter frame 26. The cutter frame 26 is disposed at the front end of the side frame 18 and makes the cutter blade 27 located on the moving path of the gate root. When the linear cylinder 11 pushes the frame-shaped cover plate 90 into the positioning frame 15, the gate can be cut off. Therefore, before the linear cylinder 11 is started, the manipulator is aligned with the position for collecting waste materials to complete the recovery of the gate.

[0039] The following is the process of clamping the material: First, open the upper mold and the lower mold of the first injection molding machine 92. Drive the vacuum suction cup 9 to move into the first injection molding machine 92 through the three-axis drive assembly 1 and suck the frame-shaped cover plate 90 tightly, and take out the frame-shaped cover plate 90 through the three-axis drive assembly 1. Then, move the vacuum suction cup 9 to the second injection molding machine 92 through the three-axis drive assembly 1. During the movement, the first servo motor 10 drives the air duct plate 7 to turn 270°, so that the frame-shaped cover plate 90 rotates to the front end of the positioning frame 15. The first linear cylinder 11 drives the first servo motor 10 to move, and sleuth the frame-shaped cover plate 90 on the positioning frame 15. At the same time, the gate passes through the cutting blade 27. When the first linear cylinder 11 pushes the first servo motor 10 to move, the three-axis drive assembly 1 can drive the material storage assembly 5 to move to the waste collection position to facilitate the collection of the gate. At this time, the frame-shaped cover plate 90 contacts the first tension wheel assembly, the second tension wheel assembly and the conveyor belt 20. The second tension wheel assembly and the first tension wheel assembly cooperate to clamp the frame-shaped cover plate 90 to prevent it from falling off. The conveyor belt 20 and the second tension wheel assembly cooperate to move the frame-shaped cover plate 90 to the innermost side of the positioning frame 15. Continue to take out the frame-shaped cover plate 90 in the second injection molding machine 92 and move it to the third injection molding machine 92. The movement process is the same as that of the first group of frame-shaped cover plates 90. Send the second group of frame-shaped cover plates 90 into the positioning frame 15. After all the frame-shaped cover plates 90 are taken out, the conveyor belt 20 can be driven to move continuously to polish the gate position of the frame-shaped cover plate 90. Finally, drive the material storage assembly 5 to move to the blanking conveyor belt 93 through the three-axis drive assembly 1. Through the reverse rotation of the conveyor belt 20 and the cooperation with the second tension wheel assembly, all the frame-shaped cover plates 90 are unloaded.

[0040] Of course, the above are only typical examples of the present invention. In addition, the present invention can also have many other specific implementation manners. Any 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 send 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; 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 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); The material storage assembly (5) comprises a positioning frame (15), wherein the positioning frame (15) is arranged at the output end of the three-axis driving assembly (1), and the second power source (6) is used to drive the frame-shaped cover plate (90) to move axially along the positioning frame (15).

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 airway plate (7) is fixedly arranged at the output end of the servo motor 1 (10).

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 gate shearing piece (16) and a tensioning piece (17); the positioning frame 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; 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.

Images