Material taking, overturning and injection molding manipulator

Abstract

The invention belongs to the technical field of injection molding equipment, and particularly relates to a material taking, overturning and injection molding manipulator which comprises a fixing mechanism, a lifting mechanism, a rotating mechanism, a material taking mechanism and a control mechanism. The rotating mechanism comprises a stand column, a rotating shaft, a shaft seat, a rotating base plate, an air cylinder fixing plate, a rotating air cylinder, a rotating connector, a rotating column and a rotating plate. The material taking assembly comprises a material taking support, a material taking block, a material suction head and a suction cup. According to the material taking, overturning and injection molding mechanical arm, the material taking mechanism can obliquely suck materials, the materials with the oblique material taking faces can be sucked conveniently, and the suction faces are better attached. The power of the micro vacuum pumps at the material suction positions of the corresponding suction cups is automatically adjusted through the partition dispatching assemblies, so that the stable negative pressure adsorption force can be maintained at the material suction positions of the suction cups, firm grabbing is ensured, and compared with a traditional single-cavity suction cup, the grabbing adaptability is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of injection molding equipment, and in particular relates to a material taking and flipping injection molding robot. Background Art

[0002] Injection molding machine is also known as injection molding machine or injection machine. It is the main molding equipment that uses plastic molding molds to make plastic products of various shapes from thermoplastics or thermosetting plastics. It is divided into vertical, horizontal and all-electric types. The injection molding machine can heat the plastic and apply high pressure to the molten plastic to make it eject and fill the mold cavity. When it works, it needs to melt the solid raw materials and then inject them into the mold through the feeding pipe and nozzle for molding. The molded injection molded parts need to be transported to the next station for reprocessing. When the injection molded parts are taken out of the mold, they are often manually grabbed. The injection molded parts are formed after the molten plastic at high temperature is cooled, and usually have a high residual temperature. The operator is in danger of being scalded when grabbing the workpiece, and the work efficiency is low.

[0003] The existing manipulator uses three-axis linkage to cooperate with the clamp to take out the injection molded material, and cooperates with the clamp to take the material out of the injection mold. However, some injection molds or material taking surfaces are not designed in a flat plane, and are not suitable for injection molds or material taking surfaces with inclined surfaces. As a result, the ordinary clamp and the material taking surface are not well fitted, and it is not convenient to add materials to take them out. The gripping surface of the clamp on the material is not enough, and the material is easy to fall. This material taking method is not flexible enough, and the material cannot be taken out by rotating the angle, which makes it inconvenient to take and transport the material. In addition, the suction cup of the first manipulator is an integral type, and it cannot realize independent partition scheduling for adsorption for different finished products. There may be insufficient negative pressure, which reduces the stability of grasping. Summary of the invention

[0004] The purpose of the present invention is to provide a material picking and flipping injection molding robot, aiming to solve the technical problems in the prior art that the material picking method is not flexible enough, the material cannot be taken out by rotating the angle, and the material cannot be taken out and transported from a specific angle, resulting in inconvenience in material picking and transportation.

[0005] To achieve the above-mentioned purpose, the embodiment of the present invention provides a material-taking and flipping injection molding robot, comprising a fixing mechanism, a lifting mechanism, a rotating mechanism, a material-taking mechanism and a control system, wherein the lifting mechanism is connected to the fixing mechanism, the rotating mechanism is respectively connected to the lifting mechanism and the material-taking mechanism, and the material-taking mechanism is connected to the rotating connection;

[0006] The rotating mechanism includes a column, a rotating shaft, an axle seat, a rotating base plate, a cylinder fixing plate, a rotating cylinder, a rotating joint, a rotating column and a rotating plate, the column is connected to the fixing mechanism, the rotating shaft passes through the axle seat and is connected to the column, the axle seat is connected to the rotating base plate, one end of the cylinder fixing plate is connected to the rotating base plate, and the other end extends out of the rotating base plate, one end of the rotating cylinder is connected to the cylinder fixing plate, and the other end is connected to the rotating joint, the rotating cylinder is arranged on the cylinder fixing plate in an inclined shape, the angle formed by the rotating cylinder and the cylinder fixing plate is 3-15°, the rotating joint is connected to the rotating column, the rotating column is rotatably connected to the rotating plate, and the bottom of the rotating plate is connected to the rotating shaft; a rotating groove is provided at one end of the rotating plate, and the rotating joint and the rotating column are both movably arranged in the rotating groove;

[0007] The material picking mechanism includes a material picking fixed plate, a material picking cylinder, a material picking component and a partition scheduling component, the material picking fixed plate is connected to the rotating base plate, the material picking cylinder is connected to the material picking fixed plate, and the material picking component is connected to the material picking cylinder; the partition scheduling component is provided with multiple components, and all are connected to the material picking component; the material picking component includes a material picking bracket, a material picking block, a material suction head and a suction cup, the material picking bracket is connected to the material picking cylinder, the material picking block is connected to the material picking bracket, and the material suction head is connected to the suction cup; the partition scheduling component includes a micro vacuum pump and a pressure sensor, the micro vacuum pump is respectively connected to the material picking block and the material suction head, the pressure sensor is connected to the outside of the suction cup and is arranged below the micro vacuum pump; multiple partition scheduling components are connected to the material picking component, and each partition scheduling component forms an independent negative pressure adsorption module with the suction cup; the rotating cylinder, the material picking cylinder, the micro vacuum pump and the pressure sensor are all electrically connected to the control system.

[0008] As an optional solution of the present invention, the material picking mechanism also includes an electromagnetic adsorption component, which is fixedly connected to the suction cup; the electromagnetic adsorption component includes an electromagnetic coil and a proximity sensor, which are both fixedly connected to the suction cup, and the proximity sensor is arranged on one side of the electromagnetic coil and is electrically connected to the control system.

[0009] As an optional scheme of the present invention, the suction cup includes an upper disk body and a lower disk body, the upper disk body is fixedly connected to the top side of the lower disk body, the electromagnetic adsorption assembly is fixedly connected to the upper disk body, the lower disk body is provided with a water inlet, a main channel, a branch channel and a water outlet, the water inlet is arranged on the side of the lower disk body, the main channel is arranged on the inner side of the lower disk body and connected to the water inlet, one end of the branch channel is connected to the main channel, and the other end extends to the center of the lower disk body, the water outlet is arranged at the center of the lower disk body and connected to the branch channel; a nano-scale hydrophilic layer is fixedly connected to the bottom side of the lower disk body, and the material of the nano-scale hydrophilic layer is silicon dioxide.

[0010] As an optional solution of the present invention, a guide component is provided on the lower disk body, and the guide component is arranged below the suction head. The guide component includes a plurality of guide grooves, and the plurality of guide grooves are arranged in a ring shape at intervals, and the width of the guide grooves gradually decreases from the outside to the inside.

[0011] As an optional solution of the present invention, it is characterized in that there are two columns, which are arranged in parallel and opposite to each other, and both columns are fixedly connected to the rotating shaft. A column groove is provided at the connection between the column and the rotating shaft, and the column groove is connected to one end of the column. The rotating shaft is fixedly installed in the column groove; the pressure sensor is arranged on one side of the guide groove.

[0012] As an optional solution of the present invention, the fixing mechanism includes a fixing seat, a fixing base plate, a fixing plate and a fixing connecting rod. Two fixing seats are provided and are both fixedly connected to the fixing base plate. One end of the fixing plate is respectively fixedly connected to the fixing seat and the fixing base plate, and the other end extends out of the fixing seat and is fixedly connected to the fixing connecting rod.

[0013] As an optional solution of the present invention, the lifting mechanism includes a lifting cylinder, a lifting base, a lifting rail and a lifting slider, the lifting cylinder is fixedly connected to one side of the lifting base, the lifting rail is fixedly connected to the other side of the lifting base, the top of the lifting cylinder is fixedly connected to the fixed connecting rod, one end of the lifting slider is slidably connected to the lifting rail, and the other end is fixedly connected to the fixed base; two lifting rails and two lifting sliders are each provided, and one lifting slider is provided on one lifting rail; the lifting cylinder includes a lifting cylinder body and a piston connecting rod, one end of the lifting cylinder body is fixedly connected to the lifting base, one end of the piston connecting rod is movably connected to the lifting cylinder body, and the other end extends out of the lifting cylinder body and is fixedly connected to the fixed connecting rod; the column is fixedly connected to the lifting base.

[0014] As an optional solution of the present invention, the material picking mechanism also includes a guide assembly, which is arranged on one side of the material picking cylinder and fixedly connected to the rotating base plate; the guide assembly includes a guide fixing plate, a guide seat, a guide sleeve and a guide rod, one end of the guide fixing plate is fixedly connected to the rotating base plate, the guide seat is fixedly connected to the bottom of the guide fixing plate, the guide sleeve is fixedly connected to the guide seat, one end of the guide rod is fixedly connected to the material picking bracket, and the other end is movably inserted into the guide sleeve.

[0015] As an optional solution of the present invention, one end of the material picking bracket is fixedly connected to the guide rod, and the other end is fixedly connected to the material picking block; there are multiple material picking blocks, and they are all fixedly connected to the material picking bracket, the suction heads and partition scheduling components are the same as the number of the material picking blocks, one partition scheduling component is fixedly connected to one material picking block, and one suction head is fixedly connected to one partition scheduling component; the material picking bracket is provided with a first adjustment groove, and the material picking block is provided with a second adjustment groove, and the first adjustment groove and the second adjustment groove are partially overlapped.

[0016] As an optional solution of the present invention, a buffer assembly is provided on the side of the rotating base plate, and the buffer assembly includes a buffer fixing plate and a spring buffer. One end of the buffer fixing plate is fixedly connected to the rotating base plate, and the other end extends out of the rotating base plate and is fixedly connected to the spring buffer. One end of the spring buffer extends out of the buffer fixing plate and abuts against the column.

[0017] The above one or more technical solutions in the material retrieving and flipping injection molding robot provided by the embodiment of the present invention have at least one of the following technical effects:

[0018] 1. The lifting mechanism is fixed on the manipulator of the injection molding machine through the fixing mechanism. The lifting mechanism lowers or raises the rotating mechanism and the material taking mechanism to the specified position. Then the rotating mechanism drives the lifting mechanism and the material taking mechanism to rotate to the specified angle. The material taking mechanism can absorb materials from a specific angle. The material taking mechanism can absorb materials from an inclined state, which is convenient for absorbing materials with an inclined material taking surface. The adsorption surface is more fitted, the material absorption is more stable, and the material taking flexibility and stability are improved. Then the lifting mechanism drives the rotating mechanism and the material taking mechanism to lower or rise to the specified position, and then the angle is adjusted through the rotating mechanism, which improves the flexibility of material transportation. Then the material is placed through the material taking mechanism, and the material taking and transportation are more convenient;

[0019] 2. By setting multiple partition scheduling components on the suction cup, each partition scheduling component has a separate micro vacuum pump and pressure sensor. When grabbing injection molded products of different shapes, sizes and surface materials, the pressure sensor monitors the negative pressure of the contact part between the suction cup and the product in real time. For example, when grabbing products with uneven surfaces, some suction points of the suction cup may have insufficient negative pressure due to poor contact. The pressure sensor transmits the detection signal to the control system. The control system automatically adjusts the power of the micro vacuum pump at the corresponding suction point of the suction cup according to the pressure feedback, so that the suction point of the suction cup can maintain a stable negative pressure adsorption force to ensure a firm grasp. Compared with the traditional single-chamber suction cup, the grasping adaptability is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 A side view of the material picking and flipping injection molding robot provided in an embodiment of the present invention.

[0022] Figure 2 A three-dimensional diagram of a material-taking and flipping injection molding robot provided in an embodiment of the present invention.

[0023] Figure 3 A three-dimensional diagram of a material-taking and flipping injection molding robot provided in an embodiment of the present invention.

[0024] Figure 4 A three-dimensional diagram of a material-taking and flipping injection molding robot provided in an embodiment of the present invention.

[0025] Figure 5 A three-dimensional diagram of the material-grabbing and flipping injection molding robot provided in an embodiment of the present invention with the suction cup omitted.

[0026] Figure 6 A three-dimensional diagram of the material picking and flipping injection molding robot provided in an embodiment of the present invention with the suction cup omitted.

[0027] Figure 7 A three-dimensional diagram of the rotating mechanism of the material picking and flipping injection molding robot provided in an embodiment of the present invention.

[0028] Figure 8 A three-dimensional diagram of the rotating mechanism of the material picking and flipping injection molding robot provided in an embodiment of the present invention.

[0029] Fig. 9 A schematic structural diagram of the upper disk body and electromagnetic adsorption assembly of the material picking and flipping injection molding robot provided in an embodiment of the present invention.

[0030] Fig.10 A schematic structural diagram of the lower plate of the material picking and flipping injection molding robot provided in an embodiment of the present invention.

[0031] Fig.11 A three-dimensional view of the lower disk of the material-taking and flipping injection molding robot provided in an embodiment of the present invention.

[0032] Among them, the reference numerals in the figure are:

[0033] 1. Fixing mechanism; 2. Lifting mechanism; 3. Rotating mechanism; 4. Retrieving mechanism; 5. Buffering assembly; 6. Partition scheduling assembly;

[0034] 11. Fixed seat; 12. Fixed base plate; 13. Fixed plate; 14. Fixed connecting rod;

[0035] 21. Lifting cylinder; 22. Lifting base plate; 23. Lifting slide rail; 24. Lifting slider;

[0036] 31. Column; 32. Rotating shaft; 33. Shaft seat; 34. Rotating base plate; 35. Cylinder fixing plate; 36. Rotating cylinder; 37. Rotating joint; 38. Rotating column; 39. Rotating plate;

[0037] 41. Material taking fixing plate; 42. Material taking cylinder; 43. Guide assembly; 44. Material taking assembly; 45. Electromagnetic adsorption assembly;

[0038] 51. Buffer fixing plate; 52. Spring buffer;

[0039] 61. Micro vacuum pump; 62. Pressure sensor;

[0040] 211. lifting cylinder; 212. piston connecting rod;

[0041] 311, column slot;

[0042] 361. Rotating cylinder; 362. Piston rod;

[0043] 391, rotating slot; 392, open slot;

[0044] 421, material taking cylinder;

[0045] 431, guide fixing plate; 432, guide seat; 433, guide rod;

[0046] 441, material taking bracket; 442, material taking block; 443, material suction head; 444, suction cup; 445, first adjustment groove; 446, second adjustment groove; 447, guide groove;

[0047] 451, electromagnetic coil; 452, proximity sensor;

[0048] 4441. upper plate; 4442. lower plate; 4443. water inlet; 4444. main flow channel; 4445. branch flow channel; 4446. water outlet; 4447. nano-scale hydrophilic layer. DETAILED DESCRIPTION

[0049] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0050] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0053] In one embodiment of the present invention, Figures 1 to 11 As shown, a material picking and flipping injection molding robot is provided, including a fixing mechanism 1, a lifting mechanism 2, a rotating mechanism 3, a material picking mechanism 4 and a control system. The lifting mechanism 2 is connected to the fixing mechanism 1, and the rotating mechanism 3 is respectively connected to the lifting mechanism 2 and the material picking mechanism 4, and the material picking mechanism 4 is connected to the rotating connection.

[0054] The rotating mechanism 3 includes a column 31, a rotating shaft 32, a shaft seat 33, a rotating base plate 34, a cylinder fixing plate 35, a rotating cylinder 36, a rotating joint 37, a rotating column 38 and a rotating plate 39. The column 31 is fixedly connected to the fixing mechanism 1, and the rotating shaft 32 passes through the shaft seat 33 and is fixedly connected to the column 31. The shaft seat 33 is fixedly connected to the rotating base plate 34. One end of the cylinder fixing plate 35 is fixedly connected to the rotating base plate 34, and the other end extends out of the rotating base plate 34. One end of the rotating cylinder 36 is fixedly connected to the cylinder fixing plate 35, and the other end is fixedly connected to the rotating joint 37. The rotating cylinder 36 is arranged on the cylinder fixing plate 35 in an inclined shape, and the angle formed by the rotating cylinder 36 and the cylinder fixing plate 35 is 3-15°, preferably 8°. The rotating joint 37 is fixedly connected to the rotating column 38, and the rotating column 38 is rotatably connected to the rotating plate 39, and the bottom of the rotating plate 39 is fixedly connected to the rotating shaft 32. A rotating groove 391 is provided at one end of the rotating plate 39, and the rotating joint 37 and the rotating column 38 are both movably arranged in the rotating groove 391. An open groove 392 is provided at the other end of the rotating plate 39, and the open groove 392 is arranged on one side of the rotating shaft 32 and connected with one end of the rotating plate 39. When the rotating plate 39 drives the rotating shaft 32 to rotate, the cross section of the open groove 392 will play an axial supporting force on the rotating shaft 32, which is convenient for the rotating plate 39 to drive the rotating shaft 32 to rotate together, and the open groove 392 is conducive to the stress release at the fixing point of the rotating plate 39 and the rotating shaft 32, avoiding stress concentration at the connection point between the rotating plate 39 and the rotating shaft 32, and improving the service life of the rotating plate 39. When the rotating cylinder 36 starts to work, if the rotating cylinder 36 is extended, it will push the rotating joint 37 to move along the movement direction of the rotating cylinder 36. Since the rotating joint 37 and the rotating column 38 are fixed and both are located in the rotating groove 391 of the rotating plate 39, the rotating column 38 will produce relative displacement in the rotating groove 391 as the rotating joint 37 moves. This displacement will cause a torque force on the rotating plate 39. Since the bottom of the rotating plate 39 is fixedly connected to the rotating shaft 32, the rotating plate 39 will drive the rotating shaft 32, the shaft seat 33 and the column 31 to rotate together, and then drive the lifting mechanism 2, the material taking mechanism 4 and the fixing mechanism 1 to rotate together, so that the material taking mechanism 4 can absorb materials from a specific angle, improving the flexibility of material taking, and the material taking mechanism 4 can place materials from a specified angle, improving the flexibility of material transportation. On the contrary, when the rotating cylinder 36 contracts, it will pull the rotating joint 37 to move back, and also cause the rotating plate 39 to produce a reverse rotational motion, so as to realize the reciprocating rotation of the rotating plate 39 within a certain angle range to meet the corresponding work requirements.

[0055] The material picking mechanism 4 includes a material picking fixed plate 41, a material picking cylinder 42, a material picking assembly 44 and a partition scheduling assembly 6. The material picking fixed plate 41 is fixedly connected to the rotating base plate 34, the material picking cylinder 42 is fixedly connected to the material picking fixed plate 41, and the material picking assembly 44 is connected to the material picking cylinder 42. There are multiple partition scheduling assemblies 6, and they are all connected to the material picking assembly 44. The material picking assembly 44 includes a material picking bracket 441, a material picking block 442, a material suction head 443 and a suction cup 444. The material picking bracket 441 is fixedly connected to the material picking cylinder 42, the material picking block 442 is fixedly connected to the material picking bracket 441, and the material suction head 443 is fixedly connected to the suction cup 444. The partition scheduling assembly 6 includes a micro vacuum pump 61 and a pressure sensor 62. The micro vacuum pump 61 is fixedly connected to the material picking block 442 and the material suction head 443 respectively, and the pressure sensor 62 is fixedly connected to the outside of the suction cup 444 and is arranged below the micro vacuum pump 61. Multiple partition scheduling components 6 are connected to the material taking component 44, and each partition scheduling component 6 and the suction cup 444 form an independent negative pressure adsorption module, which can adaptively adjust the negative pressure adsorption force according to materials of different sizes. The rotating cylinder 36, the material taking cylinder 42, the micro vacuum pump 61 and the pressure sensor 62 are all electrically connected to the control system.

[0056] The material-grabbing and flipping injection molding robot provided in the present application is fixed on the robot arm of the injection molding machine through a fixing mechanism 1, and the lifting mechanism 2 lowers or raises the rotating mechanism 3 and the material-grabbing mechanism 4 to a specified position, and then the rotating mechanism 3 drives the lifting mechanism 2 and the material-grabbing mechanism 4 to rotate to a specified angle, and the material-grabbing mechanism 4 can absorb materials from a specific angle. The material-grabbing surface of some injection molds is not flat, but inclined. The material-grabbing mechanism 4 can absorb materials from an inclined state, which is convenient for absorbing materials with an inclined material-grabbing surface. The adsorption surface is more fitted, the material absorption is more stable, and the flexibility and stability of material-grabbing are improved. The flexibility of material-grabbing is improved, and then the lifting mechanism 2 drives the rotating mechanism 3 and the material-grabbing mechanism 4 to lower or raise to a specified position, and then the angle is adjusted by the rotating mechanism 3, which improves the flexibility of material transportation. The structure 4 is used to place materials, and it is more convenient to pick up and transport materials. By arranging multiple partition scheduling components 6 on the suction cup 444, each partition scheduling component 6 has a separate micro vacuum pump 61 and a pressure sensor 62. When grasping injection molded products of different shapes, sizes and surface materials, the pressure sensor 62 monitors the negative pressure of the contact part between the suction cup 444 and the product in real time. For example, when grasping products with uneven surfaces, some suction places of the suction cup 444 may have insufficient negative pressure due to poor contact. The pressure sensor 62 transmits the detection signal to the control system. The control system automatically adjusts the power of the micro vacuum pump 61 at the suction place of the corresponding suction cup 444 according to the pressure feedback, so that the suction place of the suction cup 444 can maintain a stable negative pressure adsorption force to ensure firm grasping. Compared with the traditional single-chamber suction cup 444, the grasping adaptability is improved.

[0057] In another embodiment of the present invention, the material picking mechanism 4 further includes an electromagnetic adsorption component 45, which is fixedly connected to the suction cup 444. The electromagnetic adsorption component 45 includes an electromagnetic coil 451 and a proximity sensor 452, both of which are fixedly connected to the suction cup 444. The proximity sensor 452 is arranged on one side of the electromagnetic coil 451 and is electrically connected to the control system. This design integrates the negative pressure suction cup 444 with the magnetic suction function, and arranges the electromagnetic coil 451 and the magnetic material inside the suction cup 444. When grabbing the injection molded product of ferromagnetic material, the control system activates the electromagnetic coil 451, so that the suction cup 444 generates magnetic force to assist the negative pressure adsorption, and the double guarantee ensures that the heavier or smooth surface ferromagnetic products are firmly grasped. When grabbing non-ferromagnetic products, the electromagnetic coil 451 is powered off, relying only on negative pressure adsorption. Through this intelligent switching mode, the application scope of the suction cup 444 is broadened to meet the diversified material picking needs of the production line. At the same time, the suction cup 444 is also equipped with a proximity sensor 452, which can automatically identify the material of the product to be grabbed. When the proximity sensor 452 detects a ferromagnetic signal, it sends a signal to the control system in advance to prepare to switch the magnetic suction function, so as to realize the automatic intelligent switching of the material picking process and improve production efficiency. A layer of nano-waterproof coating, such as a fluorocarbon polymer coating, is sprayed on the surface of the electromagnetic coil 451 and the proximity sensor 452. The molecular structure of this coating is tight and difficult for water molecules to penetrate. It is waterproof and can prevent the adhesion of impurities such as oil, dust, etc. It does not affect the electromagnetic properties of the coil and can also enhance its durability in a humid environment.

[0058] In another embodiment of the present invention, the suction cup 444 includes an upper disc body 4441 and a lower disc body 4442, the upper disc body 4441 is fixedly connected to the top side of the lower disc body 4442, and a sealing ring is fixedly connected between the upper disc body 4441 and the lower disc body 4442 to ensure air tightness. The electromagnetic adsorption component 45 is fixedly connected to the upper disc body 4441. The lower disc body 4442 is provided with a water inlet 4443, a main channel 4444, a branch channel 4445 and a water outlet 4446. The water inlet 4443 is arranged on the side of the lower disc body 4442, and the main channel 4444 is arranged on the inner side of the lower disc body 4442 and connected to the water inlet 4443. One end of the branch channel 4445 is connected to the main channel 4444, and the other end extends to the center of the lower disc body 4442. The water outlet 4446 is arranged at the center of the lower disc body 4442 and connected to the branch channel 4445. A nano-scale hydrophilic layer 4447 is fixedly connected to the bottom side of the lower plate 4442, and the material of the nano-scale hydrophilic layer 4447 is silicon dioxide. By connecting a water pump and a water pipe to the water inlet 4443, the water pipe is connected to the water pump and the water inlet 4443 respectively, and the water pump flushes water into the main channel 4444 and the branch channel 4445 in sequence through the water pipe, and flows out through the water outlet 4446, and the water flow flushes the dirt and residue in the lower plate 4442 out of the water outlet 4446. By arranging the nano-scale hydrophilic layer 4447 on the bottom side of the lower plate 4442, a polymer coating containing silicon dioxide nanoparticles is used. The silicon dioxide nanoparticles have excellent hydrophilicity, and they are evenly dispersed in a polymer matrix, such as common polymers such as polyurethane and epoxy resin, to form a stable and hydrophilic coating. This coating not only has good hydrophilicity and can promote water to spread on the surface of the suction cup to form a water film, but the polymer matrix also provides certain wear resistance and adhesion, thereby improving the adsorption force of the suction cup 444.

[0059] In another embodiment of the present invention, a flow guide assembly is provided on the lower plate 4442, and the flow guide assembly is arranged below the suction head 443. The flow guide assembly includes a plurality of flow guide grooves 447, and the plurality of flow guide grooves 447 are arranged in annular intervals, and the width of the flow guide grooves 447 gradually decreases from the outside to the inside; the pressure sensor 62 is arranged on one side of the flow guide groove 447. After the airflow enters the flow guide groove 447, since the width of the flow guide groove 447 gradually decreases from the outside to the inside, according to the Bernoulli principle of fluid mechanics, the airflow speed will gradually increase. This is just like the water flow speed of a river channel increases at the constriction point. The high-speed airflow can more efficiently take away the air near the contact part between the suction cup 444 and the product, further enhance the negative pressure effect of the suction cup 444, and accelerate the adsorption process. The guide groove 447 arranged at annular intervals can ensure that the airflow entering from all directions can be guided in an orderly manner, avoiding the phenomenon of airflow turbulence, making the negative pressure distribution under the suction cup 444 more uniform. Even if the product is larger or irregularly shaped, it can ensure that each contact point can obtain sufficient negative pressure adsorption force, thereby improving the stability of the grasping. During the adsorption process, the pressure sensor 62 monitors the pressure on one side of the guide groove 447 in real time. When grasping injection molded products of different materials and shapes, the degree of fit and sealing effect between the product and the suction cup 444 are different, which will cause the pressure in the guide groove 447 to change. For example, when grasping a product with a rough surface, a small amount of air may leak, causing the pressure in the guide groove 447 to increase; while when grasping a product with a smooth surface, the pressure is relatively stable. The pressure sensor 62 transmits these real-time pressure data to the control system. The control system intelligently regulates the operating parameters of the micro vacuum pump 61 based on the data fed back by the pressure sensor 62 and the pre-set algorithm. If the pressure sensor 62 detects an increase in pressure, indicating that the adsorption effect of the suction cup 444 may not be good, the control system will increase the power of the micro vacuum pump 61 to further reduce the internal air pressure of the suction cup 444 and enhance the adsorption force; conversely, if the pressure is stable and within a reasonable range, the micro vacuum pump 61 will maintain the current operating state to avoid excessive energy consumption and be more energy-saving and environmentally friendly.

[0060] In another embodiment of the present invention, two columns 31 are provided, and are arranged in parallel and opposite to each other. Both columns 31 are fixedly connected to the rotating shaft 32. A column slot 311 is provided at the connection between the column 31 and the rotating shaft 32. The column slot 311 is connected to one end of the column 31, and the rotating shaft 32 is fixedly installed in the column slot 311. The rotating plate 39 drives the rotating shaft 32 and the column 31 to rotate together, and then drives the lifting mechanism 2 and the fixing mechanism 1 to rotate together, thereby improving the flexibility of taking and transporting materials.

[0061] In another embodiment of the present invention, two shaft seats 33 are provided, the two shaft seats 33 are arranged in parallel and opposite to each other, and are both fixedly connected to the rotating base plate 34, and the rotating shaft 32 is respectively fixedly connected to the two shaft seats 33. By providing two shaft seats 33, the two shaft seats 33 simultaneously drive the rotating base plate 34 and the material taking mechanism 4 to rotate, thereby improving the stability during the rotational motion.

[0062] In another embodiment of the present invention, the rotary cylinder 36 includes a rotary cylinder body 361 and a piston rod 362. One end of the rotary cylinder body 361 is fixedly connected to the cylinder fixing plate 35. One end of the piston rod 362 is movably connected to the rotary cylinder body 361, and the other end is fixedly connected to the rotary joint 37. The rotary cylinder 36 works based on the principle of air pressure drive.

[0063] The specific working principle of the rotating mechanism 3 is as follows: when compressed air is introduced into a specific air port of the rotating cylinder 361, the gas forms a pressure difference in the cylinder, pushing the piston rod 362 to perform linear motion. Since the rotating cylinder 36 is tilted (forming an angle of 3-15°, preferably 8°, with the cylinder fixing plate 35), the linear motion of the piston rod 362 can be decomposed into a component force perpendicular to the rotating axis 32 and a component force along the tangent direction of the rotating axis 32. The tangential direction component force will generate a torque on the rotating joint 37, thereby driving the rotating joint 37 to rotate.

[0064] The rotating mechanism 3 rotates in the following working process: 1. Intake stage: When compressed air enters the cylinder from the air inlet of the rotating cylinder 361, the gas acts on the piston rod 362. The piston inside the rotating cylinder 361 divides the cylinder into two chambers, and the pressure on the intake side increases, pushing the piston rod 362 outward. Due to the inclination angle of the rotating cylinder 36, the direction in which the piston rod 362 extends is not perpendicular to the rotating base plate 34, but has a certain angle (3-15°, preferably 8°) with the vertical direction. 2. Power transmission stage: The extension movement of the piston rod 362 drives the rotating joint 37 fixedly connected thereto. Because the rotating joint 37 is connected to the rotating column 38, and the rotating column 38 moves in the rotating groove 391 of the rotating plate 39, the rotating joint 37 will be displaced under the push of the piston rod 362. The tangential component of the piston rod 362 in the direction of movement causes the rotating joint 37 to start rotating around the axis of the rotating column 38, while driving the rotating column 38 to rotate in the rotating groove 391. This rotation will generate a torque transmitted to the rotating plate 39, thereby driving the rotating plate 39 to rotate. 3. Reset stage: When the rotating plate 39 needs to rotate in the opposite direction or return to the initial position, another air port of the rotating cylinder 361 is inlet (or the original air port is exhausted), so that the piston rod 362 is retracted. During the retraction process of the piston rod 362, due to its tilt angle, a torque in the opposite direction is generated, driving the rotating joint 37 and the rotating column 38 to rotate in the opposite direction, so that the rotating plate 39 rotates in the opposite direction and returns to the initial position or reaches a new rotation angle position.

[0065] In another embodiment of the present invention, a buffer assembly 5 is provided on the side of the rotating base plate 34, and the buffer assembly 5 includes a buffer fixing plate 51 and a spring buffer 52. One end of the buffer fixing plate 51 is fixedly connected to the rotating base plate 34, and the other end extends out of the rotating base plate 34 and is fixedly connected to the spring buffer 52. One end of the spring buffer 52 extends out of the buffer fixing plate 51 and abuts against the column 31. The spring buffer 52 is a device that absorbs and buffers energy by elastic deformation of the spring. When the rotating base plate 34 may collide with the column 31 or generate a large contact force due to inertia or other external force factors during the rotation process, the spring buffer 52 can play a buffering role.

[0066] In another embodiment of the present invention, the fixing mechanism 1 includes a fixing seat 11, a fixing base plate 12, a fixing plate 13 and a fixing connecting rod 14. Two fixing seats 11 are provided and are fixedly connected to the fixing base plate 12. One end of the fixing plate 13 is fixedly connected to the fixing seat 11 and the fixing base plate 12 respectively, and the other end extends out of the fixing seat 11 and is fixedly connected to the fixing connecting rod 14. The fixing seat 11 is fixed to other injection molding robots, so that the injection molding robot of the present application is fixed to other injection molding robots.

[0067] In another embodiment of the present invention, the lifting mechanism 2 includes a lifting cylinder 21, a lifting base plate 22, a lifting rail 23 and a lifting slider 24. The lifting cylinder 21 is fixedly connected to one side of the lifting base plate 22, the lifting rail 23 is fixedly connected to the other side of the lifting base plate 22, the top of the lifting cylinder 21 is fixedly connected to the fixed connecting rod 14, one end of the lifting slider 24 is slidably connected to the lifting rail 23, and the other end is fixedly connected to the fixed base plate 12. There are two lifting rails 23 and two lifting sliders 24, and one lifting slider 24 is provided on one lifting rail 23. The lifting cylinder 21 includes a lifting cylinder body 211 and a piston connecting rod 212. One end of the lifting cylinder body 211 is fixedly connected to the lifting base plate 22, one end of the piston connecting rod 212 is movably connected to the lifting cylinder body 211, and the other end extends out of the lifting cylinder body 211 and is fixedly connected to the fixed connecting rod 14. The column 31 is fixedly connected to the lifting base plate 22. The lifting cylinder 211 drives the piston connecting rod 212 to move up and down. Since the fixing mechanism 1 is fixedly installed on the injection molding robot, the piston connecting rod 212 drives the lifting base plate 22 and the lifting slide rail 23 to move up and down along the lifting slider 24 through the fixed connecting rod 14, thereby driving the rotating mechanism 3 and the material picking mechanism 4 to move up and down together.

[0068] In another embodiment of the present invention, the material taking fixed plate 41 is fixedly connected to the rotating base plate 34 and the material taking cylinder 42, and one end of the material taking cylinder 42 extends out of the material taking fixed plate 41 and is connected to the material taking assembly 44. The material taking cylinder 42 includes a material taking cylinder body 421 and a material taking piston shaft 422, the material taking cylinder body 421 is fixedly connected to the material taking fixed plate 41, one end of the material taking piston shaft 422 is movably connected to the material taking cylinder body 421, and the other end extends out of the material taking cylinder body 421 and is fixedly connected to the material taking assembly 44. The guide assembly 43 is arranged on one side of the material taking cylinder 42 and is connected to the rotating base plate 34 and the material taking assembly 44 respectively. The material taking piston shaft 422 moves telescopically along the axial direction of the cylinder body under the push of air pressure. Since the other end of the material taking piston shaft 422 is fixedly connected to the material taking assembly 44, the telescopic movement of the material taking piston shaft 422 will drive the material taking assembly 44 to move up and down, thereby facilitating the material taking and discharging operations of the material taking assembly 44.

[0069] In another embodiment of the present invention, the material picking mechanism 4 further includes a guide assembly 43, which includes a guide fixing plate 431, a guide seat 432, a guide sleeve and a guide rod 433. One end of the guide fixing plate 431 is fixedly connected to the rotating base plate 34, the guide seat 432 is fixedly connected to the bottom of the guide fixing plate 431, the guide sleeve is fixedly connected in the guide seat 432, one end of the guide rod 433 is connected to the material picking assembly 44, and the other end is movably arranged in the guide sleeve. During the movement of the material picking assembly 44: when the material picking cylinder 42 drives the material picking assembly 44 to move (such as the material picking piston shaft 422 extends to make the material picking assembly 44 move forward to perform the material picking operation), the material picking assembly 44 drives the guide rod 433 to slide in the guide sleeve through the material picking bracket 441. Since the inner diameter of the guide sleeve is slightly larger than the outer diameter of the guide rod 433, and the surface precision of the two is high, the guide rod 433 can slide smoothly in the guide sleeve, and at the same time, it is constrained by the guide sleeve to prevent the material picking assembly 44 from being offset in the left and right or up and down directions. For example, when the material picking assembly 44 is subjected to lateral force during the material picking process (such as a lateral force component generated when the material picking assembly 44 contacts the material due to a slightly biased material placement position), the guide rod 433 will transmit this lateral force to the guide sleeve, and the guide sleeve is firmly fixed on the rotating base plate 34 through the guide seat 432 and the guide fixing plate 431, which can resist this lateral force, ensuring that the material picking assembly 44 still moves along the axial direction of the guide rod 433, ensuring the accuracy of the material picking action. After the movement of the material picking assembly 44 is completed: when the material picking assembly 44 completes the material picking action and stops moving (such as the material picking piston shaft 422 retracts to make the material picking assembly 44 return to the initial position) under the action of the material picking cylinder 42, the guide rod 433 also stops sliding in the guide sleeve. At this time, the guide assembly 43 still maintains the positioning and supporting function of the material picking assembly 44, so that the material picking assembly 44 remains in the correct position and waits for the next material picking operation.

[0070] In another embodiment of the present invention, one end of the material picking bracket 441 is fixedly connected to the material picking piston shaft 422 and the guide rod 433 respectively, and the other end is fixedly connected to the material picking block 442. There are multiple material picking blocks 442, and they are all fixedly connected to the material picking bracket 441. The suction heads 443 and the partition scheduling components 6 are the same in number as the material picking blocks 442, and the suction heads 443 are fixedly connected to the suction cups 444. One partition scheduling component 6 is provided on one material picking block 442, and one suction head 443 is provided on one partition scheduling component 6. The material picking bracket 441 is provided with a first adjustment groove 445, and the material picking block 442 is provided with a second adjustment groove 446, and the first adjustment groove 445 and the second adjustment groove 446 are partially overlapped. The fixed material picking block 442 is fixed to the material picking bracket 441 by bolts.

[0071] The overall cooperative working principle of the material picking assembly 44: the material picking assembly 44 is connected to the material picking piston shaft 422 of the material picking cylinder 42 and the guide rod 433 of the guide assembly 43 through the material picking bracket 441 to realize the transmission of power and the control of the direction of movement. When the material picking cylinder 42 is working, the telescopic movement of the material picking piston shaft 422 drives the material picking bracket 441 to move, and then the entire material picking assembly 44 moves synchronously. The material picking block 442 is used to install the suction head 443. The setting of multiple material picking blocks 442 and suction heads 443 can increase the range and efficiency of material picking. The suction cup 444 cooperates with the suction head 443 to absorb the material using the negative pressure principle. The overlapping setting of the first adjustment groove 445 and the second adjustment groove 446 is to facilitate the adjustment of the position of the material picking block 442 on the material picking bracket 441 to adapt to the material picking requirements of different sizes or layouts.

[0072] The suction principle of the suction head 443 and the suction cup 444: the suction cup 444 is fixedly connected to the suction head 443, and when working, the suction cup 444 contacts the surface of the material. By forming a negative pressure environment inside the suction cup 444, a pressure difference is generated between the external atmospheric pressure and the inside of the suction cup 444, so that the material is tightly adsorbed on the suction cup 444. The air in the suction cup 444 is extracted by the micro vacuum pump 61, so that the air pressure in the suction cup 444 is lower than the external atmospheric pressure, thereby generating an adsorption force, so as to adsorb and remove the molded product in the injection molding machine.

[0073] Working process: Preparation and position adjustment before material collection: According to the size, shape and layout of the material to be collected, the structure of the material collection assembly 44 is optimized by adjusting the position of the material collection block 442 on the material collection bracket 441. The specific operation is to loosen the bolts fixing the material collection block 442 on the material collection bracket 441 so that the material collection block 442 can move within the overlap range of the first adjustment slot 445 and the second adjustment slot 446. After adjusting the position, tighten the bolts to fix the position of the material collection block 442.

[0074] Material picking process: When it is necessary to pick up materials, the picking cylinder 42 starts to work. The picking piston shaft 422 extends, driving the picking bracket 441 to move forward. The picking bracket 441 pushes the picking block 442 and the suction head 443 to move toward the material. When the suction cup 444 contacts the surface of the material, the micro vacuum pump 61 starts to extract the air in the suction cup 444, forming a negative pressure inside the suction cup 444. At this time, under the action of atmospheric pressure, the material is tightly adsorbed on the suction cup 444.

[0075] Movement and placement after taking materials:

[0076] The material taking piston shaft 422 retracts, bringing the material taking assembly 44 with the material adsorbed back to the initial position or moving it to a designated placement position. At the placement position, the micro vacuum pump 61 stops working, so that the air pressure in the suction cup 444 is restored to the same as the external atmospheric pressure, the adsorption force disappears, and the material falls off the suction cup 444, completing the entire process of taking and placing the material.

[0077] The material-grabbing and flipping injection molding robot provided in the present application is fixed on the robot arm of the injection molding machine through a fixing mechanism 1, and the lifting mechanism 2 lowers or raises the rotating mechanism 3 and the material-grabbing mechanism 4 to a specified position, and then the rotating mechanism 3 drives the lifting mechanism 2 and the material-grabbing mechanism 4 to rotate to a specified angle, and the material-grabbing mechanism 4 can absorb materials from a specific angle, thereby improving the flexibility of material-grabbing, and then the lifting mechanism 2 drives the rotating mechanism 3 and the material-grabbing mechanism 4 to lower or rise to a specified position, and then the rotating mechanism 3 adjusts the angle, thereby improving the flexibility of material transfer, and then the material is placed through the material-grabbing mechanism 4, thereby making material-grabbing and material-transporting more convenient; by arranging a plurality of partition scheduling components 6 on the suction cup 444, each partition The zone scheduling component 6 has a separate micro vacuum pump 61 and a pressure sensor 62. When grabbing injection molded products of different shapes, sizes and surface materials, the pressure sensor 62 monitors the negative pressure of the contact part between the suction cup 444 and the product in real time. For example, when grabbing products with uneven surfaces, some suction points of the suction cup 444 may have insufficient negative pressure due to poor contact. The pressure sensor 62 transmits the detection signal to the control system. The control system automatically adjusts the power of the micro vacuum pump 61 at the suction point of the suction cup 444 according to the pressure feedback, so that the suction point of the suction cup 444 can maintain a stable negative pressure adsorption force to ensure firm grasping. Compared with the traditional single-chamber suction cup, the grasping adaptability is improved.

[0078] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A material taking and flipping injection molding robot, characterized in that: It includes a fixing mechanism, a lifting mechanism, a rotating mechanism, a material taking mechanism and a control system, wherein the lifting mechanism is connected to the fixing mechanism, the rotating mechanism is respectively connected to the lifting mechanism and the material taking mechanism, and the material taking mechanism is connected to the rotating connection; The rotating mechanism includes a column, a rotating shaft, an axle seat, a rotating base plate, a cylinder fixing plate, a rotating cylinder, a rotating joint, a rotating column and a rotating plate, the column is connected to the fixing mechanism, the rotating shaft passes through the axle seat and is connected to the column, the axle seat is connected to the rotating base plate, one end of the cylinder fixing plate is connected to the rotating base plate, and the other end extends out of the rotating base plate, one end of the rotating cylinder is connected to the cylinder fixing plate, and the other end is connected to the rotating joint, the rotating cylinder is arranged on the cylinder fixing plate in an inclined shape, the angle formed by the rotating cylinder and the cylinder fixing plate is 3-15°, the rotating joint is connected to the rotating column, the rotating column is rotatably connected to the rotating plate, and the bottom of the rotating plate is connected to the rotating shaft; a rotating groove is provided at one end of the rotating plate, and the rotating joint and the rotating column are both movably arranged in the rotating groove; The material picking mechanism includes a material picking fixed plate, a material picking cylinder, a material picking component and a partition scheduling component, the material picking fixed plate is connected to the rotating base plate, the material picking cylinder is connected to the material picking fixed plate, and the material picking component is connected to the material picking cylinder; the partition scheduling component is provided with multiple components, and all are connected to the material picking component; the material picking component includes a material picking bracket, a material picking block, a material suction head and a suction cup, the material picking bracket is connected to the material picking cylinder, the material picking block is connected to the material picking bracket, and the material suction head is connected to the suction cup; the partition scheduling component includes a micro vacuum pump and a pressure sensor, the micro vacuum pump is respectively connected to the material picking block and the material suction head, the pressure sensor is connected to the outside of the suction cup and is arranged below the micro vacuum pump; multiple partition scheduling components are connected to the material picking component, and each partition scheduling component forms an independent negative pressure adsorption module with the suction cup; the rotating cylinder, the material picking cylinder, the micro vacuum pump and the pressure sensor are all electrically connected to the control system.

2. A material taking and flipping injection molding robot according to claim 1, characterized in that: The material picking mechanism also includes an electromagnetic adsorption component, which is fixedly connected to the suction cup; the electromagnetic adsorption component includes an electromagnetic coil and a proximity sensor, both of which are fixedly connected to the suction cup, and the proximity sensor is arranged on one side of the electromagnetic coil and is electrically connected to the control system.

3. A material taking and flipping injection molding robot according to claim 2, characterized in that: The suction cup includes an upper disc body and a lower disc body, the upper disc body is fixedly connected to the top side of the lower disc body, the electromagnetic adsorption assembly is fixedly connected to the upper disc body, the lower disc body is provided with a water inlet, a main channel, a branch channel and a water outlet, the water inlet is arranged on the side of the lower disc body, the main channel is arranged on the inner side of the lower disc body and connected to the water inlet, one end of the branch channel is connected to the main channel, and the other end extends to the center of the lower disc body, the water outlet is arranged in the center of the lower disc body and connected to the branch channel; a nano-scale hydrophilic layer is fixedly connected to the bottom side of the lower disc body, and the material of the nano-scale hydrophilic layer is silicon dioxide.

4. The material taking and flipping injection molding robot according to claim 3 is characterized in that: The lower disk is provided with a flow guide component, which is arranged below the suction head. The flow guide component includes a plurality of flow guide grooves, which are arranged in a ring shape and at intervals, and the width of the flow guide grooves gradually decreases from the outside to the inside; the pressure sensor is arranged on one side of the flow guide groove.

5. A material taking and flipping injection molding robot according to any one of claims 1 to 4, characterized in that: There are two columns, which are arranged in parallel and opposite to each other. Both columns are fixedly connected to the rotating shaft. A column groove is provided at the connection between the column and the rotating shaft. The column groove is connected to one end of the column, and the rotating shaft is fixedly installed in the column groove.

6. The material taking and flipping injection molding robot according to claim 1 is characterized in that: The fixing mechanism includes a fixing seat, a fixing base plate, a fixing plate and a fixing connecting rod. Two fixing seats are provided and are fixedly connected to the fixing base plate. One end of the fixing plate is fixedly connected to the fixing seat and the fixing base plate respectively, and the other end extends out of the fixing seat and is fixedly connected to the fixing connecting rod.

7. The material taking and flipping injection molding robot according to claim 6 is characterized in that: The lifting mechanism includes a lifting cylinder, a lifting base, a lifting rail and a lifting slider, the lifting cylinder is fixedly connected to one side of the lifting base, the lifting rail is fixedly connected to the other side of the lifting base, the top of the lifting cylinder is fixedly connected to the fixed connecting rod, one end of the lifting slider is slidably connected to the lifting rail, and the other end is fixedly connected to the fixed base; two lifting rails and two lifting sliders are each provided, and one lifting slider is provided on one lifting rail; the lifting cylinder includes a lifting cylinder body and a piston connecting rod, one end of the lifting cylinder body is fixedly connected to the lifting base, one end of the piston connecting rod is movably connected to the lifting cylinder body, and the other end extends out of the lifting cylinder body and is fixedly connected to the fixed connecting rod; the column is fixedly connected to the lifting base.

8. The material taking and flipping injection molding robot according to claim 7 is characterized in that: The material picking mechanism also includes a guide assembly, which is arranged on one side of the material picking cylinder and fixedly connected to the rotating base plate; the guide assembly includes a guide fixing plate, a guide seat, a guide sleeve and a guide rod, one end of the guide fixing plate is fixedly connected to the rotating base plate, the guide seat is fixedly connected to the bottom of the guide fixing plate, the guide sleeve is fixedly connected to the guide seat, one end of the guide rod is fixedly connected to the material picking bracket, and the other end is movably inserted into the guide sleeve.

9. The material taking and flipping injection molding robot according to claim 8 is characterized in that: One end of the material picking bracket is fixedly connected to the guide rod, and the other end is fixedly connected to the material picking block; there are multiple material picking blocks, and they are all fixedly connected to the material picking bracket, the suction heads and partition scheduling components are the same as the number of the material picking blocks, one partition scheduling component is fixedly connected to one material picking block, and one suction head is fixedly connected to one partition scheduling component; the material picking bracket is provided with a first adjusting groove, and the material picking block is provided with a second adjusting groove, and the first adjusting groove and the second adjusting groove are partially overlapped.

10. The material taking and flipping injection molding robot according to claim 1, characterized in that: A buffer assembly is provided on the side of the rotating base plate, and the buffer assembly includes a buffer fixing plate and a spring buffer. One end of the buffer fixing plate is fixedly connected to the rotating base plate, and the other end extends out of the rotating base plate and is fixedly connected to the spring buffer. One end of the spring buffer extends out of the buffer fixing plate and abuts against the column.

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