A material taking and overturning injection molding mechanical hand

Abstract

The application belongs to the technical field of injection molding equipment, and particularly relates to a material taking and overturning injection molding mechanical hand, 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, a rotating shaft, a shaft seat, a rotating base plate, a cylinder fixing plate, a rotating cylinder, a rotating joint, 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 disc. The material taking and overturning injection molding mechanical hand can take material in an inclined state, and is convenient for taking material with an inclined material taking surface and has a more closely attached suction surface. The power of the micro vacuum pump at the material suction position of the suction disc is automatically adjusted by the partition scheduling assembly, so that stable negative pressure suction force can be maintained at the material suction position of the suction disc, firm grasping is ensured, and the grasping adaptability is improved compared with a traditional single-chamber suction disc.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of injection molding equipment, and particularly relates to a material taking and overturning injection molding mechanical hand. BACKGROUND

[0002] The injection molding machine is also called injection molding machine or injection machine. It is the main molding equipment for making various shaped plastic products by using thermoplastic or thermosetting plastics and molding die. It is divided into vertical type, horizontal type and all-electric type. The injection molding machine can heat the plastic, apply high pressure to the molten plastic, and make it fill the mold cavity. When working, the solid raw material needs to be melted, then injected into the mold through the feeding pipe and nozzle for molding. The molded injection parts need to be transported to the next station for reprocessing. When the injection parts are taken out of the mold, manual grabbing of the workpiece is often used. The injection parts are cooled after being molded by the molten plastic under high temperature, and usually have a high residual temperature. The operator is in danger of being scalded when grabbing the workpiece, and the work rate is low.

[0003] The existing mechanical hand takes out the injection molded material through the cooperation of three-axis linkage and clamping jaw, and takes out the material from the injection mold with the cooperation of the clamping jaw. However, some injection molds or material taking surfaces are not designed in a plane, and are not suitable for injection molds or material taking surfaces with inclined surfaces, resulting in insufficient adhesion of ordinary clamping jaws to the material taking surface, which is not convenient for clamping and taking out the material. The clamping jaw on the material is not enough, and the material is easy to fall off. This material taking method is not flexible enough, and the material cannot be taken out by rotating the angle, resulting in inconvenience in material taking and transporting. And the suction cup of the mechanical hand used first is integral type, and cannot realize independent partition scheduling for adsorption. There may be a situation of insufficient negative pressure, which reduces the stability of material grabbing. SUMMARY

[0004] The purpose of the present application is to provide a material taking and overturning injection molding mechanical hand, which aims to solve the technical problems of the existing material taking method, which is not flexible enough, cannot rotate the angle to take out the material, and cannot take out and transport the material from a specific angle, resulting in inconvenience in material taking and transporting.

[0005] To achieve the above purpose, the material taking and overturning injection molding mechanical hand provided by the embodiments of the present application comprises a fixing mechanism, a lifting mechanism, a rotating mechanism, a material taking mechanism and a control system. The lifting mechanism is connected to the fixing mechanism. The rotating mechanism is connected to the lifting mechanism and the material taking mechanism respectively. The material taking mechanism is connected to the rotating connection.

[0006] The rotating mechanism comprises a stand, a rotating shaft, a shaft base, a rotating base plate, a cylinder fixing plate, a rotating cylinder, a rotating joint, a rotating column and a rotating plate, the stand is connected to the fixing mechanism, the rotating shaft passes through the shaft base and is connected to the stand, the shaft base 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 thereof extends out of the rotating base plate, one end of the rotating cylinder is connected to the cylinder fixing plate and the other end thereof is connected to the rotating joint, the rotating cylinder is arranged in an inclined manner on the cylinder fixing plate, the rotating cylinder and the cylinder fixing plate form an angle of 3-15°, the rotating joint is connected to the rotating column, the rotating column is rotationally connected to the rotating plate, and the bottom of the rotating plate is connected to the rotating shaft; one end of the rotating plate is provided with a rotating groove, and the rotating joint and the rotating column are movably arranged in the rotating groove;

[0007] The taking mechanism comprises a taking fixing plate, a taking cylinder, a taking assembly and a partition scheduling assembly, the taking fixing plate is connected to the rotating base plate, the taking cylinder is connected to the taking fixing plate, and the taking assembly is connected to the taking cylinder; the partition scheduling assembly is provided with a plurality of partition scheduling assemblies and is connected to the taking assembly; the taking assembly comprises a taking support, a taking block, a taking head and a suction disc, the taking support is connected to the taking cylinder, the taking block is connected to the taking support, the taking head is connected to the suction disc, and the partition scheduling assembly comprises a micro vacuum pump and a pressure sensor, the micro vacuum pump is connected to the taking block and the taking head respectively, the pressure sensor is connected to the outside of the suction disc and is arranged below the micro vacuum pump, a plurality of partition scheduling assemblies are connected to the taking assembly, each partition scheduling assembly and the suction disc form an independent negative pressure adsorption module, and the rotating cylinder, the taking cylinder, the micro vacuum pump and the pressure sensor are electrically connected to the control system.

[0008] As an optional scheme of the application, the taking mechanism further comprises an electromagnetic adsorption assembly, the electromagnetic adsorption assembly is fixedly connected to the suction disc, the electromagnetic adsorption assembly comprises an electromagnetic coil and a proximity sensor, the electromagnetic coil and the proximity sensor are fixedly connected to the suction disc, 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 application, the suction disc comprises 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 flow channel, a branch flow channel and a water outlet, the water inlet is arranged at the side edge of the lower disc body, the main flow channel is arranged at the inner side of the lower disc body and connected with the water inlet, one end of the branch flow channel is connected with the main flow channel and the other end extends to the center of the lower disc body, and the water outlet is arranged at the center of the lower disc body and connected with the branch flow channel; a nanoscale hydrophilic layer is fixedly connected to the bottom side of the lower disc body, and the nanoscale hydrophilic layer is made of silicon dioxide.

[0010] As an optional scheme of the present application, the lower disc body is provided with a flow guide assembly, the flow guide assembly is arranged below the suction head, the flow guide assembly comprises a plurality of flow guide grooves, the plurality of flow guide grooves are arranged in a ring shape and are spaced apart, and the width of the flow guide grooves gradually decreases from the outer side to the inner side.

[0011] As an optional scheme of the present application, two vertical columns are arranged in parallel and opposite to each other, both of the vertical columns are fixedly connected with the rotating shaft, a vertical column groove is arranged at the connection position of the vertical column and the rotating shaft, the vertical column groove is connected with one end of the vertical column, and the rotating shaft is fixedly installed in the vertical column groove; the pressure sensor is arranged at one side of the flow guide groove.

[0012] As an optional scheme of the present application, the fixing mechanism comprises a fixing base, a fixing base plate, a fixing plate and a fixing connecting rod, two fixing bases are arranged and fixedly connected with the fixing base plate, one end of the fixing plate is fixedly connected with the fixing base and the fixing base plate, the other end of the fixing plate extends out of the fixing base and is fixedly connected with the fixing connecting rod.

[0013] As an optional scheme of the present application, the lifting mechanism comprises a lifting cylinder, a lifting base plate, a lifting sliding rail and a lifting sliding block, the lifting cylinder is fixedly connected with one side of the lifting base plate, the lifting sliding rail is fixedly connected with the other side of the lifting base plate, the top of the lifting cylinder is fixedly connected with the fixing connecting rod, one end of the lifting sliding block is slidingly connected with the lifting sliding rail and the other end of the lifting sliding block is fixedly connected with the fixing base plate; two lifting sliding rails and two lifting sliding blocks are arranged, and one lifting sliding block is arranged on one lifting sliding rail; the lifting cylinder comprises a lifting cylinder body and a piston connecting rod, one end of the lifting cylinder body is fixedly connected with the lifting base plate, one end of the piston connecting rod is movably connected with the lifting cylinder body, the other end of the piston connecting rod extends out of the lifting cylinder body and is fixedly connected with the fixing connecting rod; the vertical column is fixedly connected with the lifting base plate.

[0014] As an optional scheme of the present application, the material taking mechanism further comprises a guide assembly arranged on one side of the material taking cylinder and fixedly connected to the rotating base plate; the guide assembly comprises a guide fixed plate, a guide seat, a guide sliding sleeve and a guide rod, one end of the guide fixed plate is fixedly connected to the rotating base plate, the guide seat is fixedly connected to the bottom of the guide fixed plate, the guide sliding sleeve is fixedly connected to the guide seat, and one end of the guide rod is fixedly connected to the material taking support and the other end is movably arranged in the guide sliding sleeve.

[0015] As an optional scheme of the present application, one end of the material taking support is fixedly connected to the guide rod and the other end is fixedly connected to the material taking block; a plurality of material taking blocks are arranged and fixedly connected to the material taking support, the number of the material taking blocks is the same as that of the material taking heads and the partition scheduling assemblies, one partition scheduling assembly is fixedly connected to one material taking block, and one material taking head is fixedly connected to one partition scheduling assembly; the first adjusting groove is arranged on the material taking support and the second adjusting groove is arranged on the material taking block, and the first adjusting groove and the second adjusting groove are partially arranged in a coincident manner.

[0016] As an optional scheme of the present application, the rotating base plate is provided with a buffer assembly, the buffer assembly comprises a buffer fixed plate and a spring buffer, one end of the buffer fixed plate is fixedly connected to the rotating base plate, the other end of the buffer fixed plate extends out of the rotating base plate and is fixedly connected to the spring buffer, and one end of the spring buffer extends out of the buffer fixed plate and abuts against the stand column.

[0017] The above one or more technical solutions in the material taking and overturning injection molding mechanical hand provided by the embodiment of the present application at least have one of the following technical effects:

[0018] 1. The fixed mechanism is fixed to the mechanical hand of the injection molding machine, the lifting mechanism lowers or raises the rotating mechanism and the material taking mechanism to a specified position, then the rotating mechanism drives the lifting mechanism and the material taking mechanism to rotate to a specified angle, the material taking mechanism can take materials from a specific angle, the material taking mechanism can take materials in an inclined manner, the suction surface is more fitted, the material taking is more stable, the material taking flexibility and stability are improved, then the lifting mechanism drives the rotating mechanism and the material taking mechanism to lower or raise to a specified position, then the rotating mechanism adjusts the angle, the material transfer flexibility is improved, then the material taking mechanism places the materials, and the material taking and transferring 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, the suction material of some suction cups may not be in contact, resulting in insufficient negative pressure. The pressure sensor transmits the detection signal to the control system, and the control system automatically adjusts the power of the micro vacuum pump at the suction material of the corresponding suction cup according to the pressure feedback, so that the suction material of the suction cup can maintain stable negative pressure adsorption force, ensuring firm grabbing, and improving the grabbing adaptability compared with the traditional single chamber suction cup. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Fig. 1 The side view of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0022] Fig. 2 The perspective view of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0023] Fig. 3 The perspective view of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0024] Fig. 4 The perspective view of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0025] Fig. 5 The perspective view of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0026] Fig. 6 The perspective view of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0027] Fig. 7 The perspective view of the rotating mechanism of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0028] Fig. 8 The perspective view of the rotating mechanism of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0029] Fig. 9 The structure schematic view of the upper disc body and the electromagnetic adsorption assembly of the material taking and overturning injection molding manipulator provided by the embodiment of the present application.

[0030] Fig. 10 The structure diagram of the lower disc body of the material taking and overturning injection molding mechanical arm is provided for the embodiment of the application.

[0031] Fig. 11 The perspective view of the lower disc body of the material taking and overturning injection molding mechanical arm is provided for the embodiment of the application.

[0032] In the figure, various reference signs are as follows:

[0033] 1, fixing mechanism; 2, lifting mechanism; 3, rotating mechanism; 4, material taking mechanism; 5, buffer assembly; 6, partition scheduling assembly;

[0034] 11, fixing seat; 12, fixing base plate; 13, fixing plate; 14, fixing connecting rod;

[0035] 21, lifting cylinder; 22, lifting base plate; 23, lifting sliding rail; 24, lifting sliding block;

[0036] 31, stand 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, guiding 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 body; 212, piston connecting rod;

[0041] 311, stand column groove;

[0042] 361, rotating cylinder body; 362, piston rod;

[0043] 391, rotating groove; 392, opening groove;

[0044] 421, material taking cylinder body;

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

[0046] 441, material taking support; 442, material taking block; 443, material taking head; 444, suction disc; 445, first adjusting groove; 446, second adjusting groove; 447, flow guiding groove;

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

[0048] 4441, upper disc body; 4442, lower disc body; 4443, water inlet; 4444, main flow channel; 4445, branch flow channel; 4446, water outlet; 4447, nanoscale hydrophilic layer. DETAILED DESCRIPTION

[0049] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the embodiments of the present application, and cannot be understood as a limitation of the present application.

[0050] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0051] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0052] In the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0053] In one embodiment of the present application, as shown in Figs. 1-11 A material taking and overturning injection molding mechanical hand is provided, comprising a fixing mechanism 1, a lifting mechanism 2, a rotating mechanism 3, a material taking mechanism 4 and a control system, the lifting mechanism 2 is connected to the fixing mechanism 1, the rotating mechanism 3 is connected with the lifting mechanism 2 and the material taking mechanism 4 respectively, and the material taking mechanism 4 is connected to the rotating mechanism 3.

[0054] The rotating mechanism 3 comprises a column 31, a rotating shaft 32, a shaft base 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, the rotating shaft 32 passes through the shaft base 33 and is fixedly connected to the column 31. The shaft base 33 is fixedly connected to the rotating base plate 34. The cylinder fixing plate 35 is fixedly connected at one end to the rotating base plate 34 and extends out of the rotating base plate 34 at the other end. The rotating cylinder 36 is fixedly connected at one end to the cylinder fixing plate 35 and at the other end to the rotating joint 37. The rotating cylinder 36 is arranged in an inclined manner on the cylinder fixing plate 35, 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, 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. One end of the rotating plate 39 is provided with a rotating groove 391, and the rotating joint 37 and the rotating column 38 are movably arranged in the rotating groove 391. The other end of the rotating plate 39 is provided with an open groove 392, which is arranged on one side of the rotating shaft 32 and is in communication 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 provide an axial support force to the rotating shaft 32, facilitating the rotation of the rotating plate 39 and the rotating shaft 32 together, and the open groove 392 is beneficial to the stress release at the fixed position of the rotating plate 39 and the rotating shaft 32, avoiding stress concentration at the connection 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 elongated, it will push the rotating joint 37 to move along the movement direction of the rotating cylinder 36. Since the rotating joint 37 is fixed to the rotating column 38 and both are located in the rotating groove 391 of the rotating plate 39, the rotating column 38 will produce a relative displacement in the rotating groove 391 with the movement of the rotating joint 37. This displacement will cause a torque 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 base 33 and the column 31 to rotate together, thereby driving 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 suck the material from a specific angle, improving the flexibility of material taking, and the material taking mechanism 4 can place the material from a specified angle, improving the flexibility of material transfer. Conversely, when the rotating cylinder 36 contracts, it will pull the rotating joint 37 back, which will also cause the rotating plate 39 to produce a reverse rotating motion, thereby realizing the reciprocating rotation of the rotating plate 39 within a certain angle range to meet the corresponding working requirements.

[0055] The taking mechanism 4 comprises a taking fixed plate 41, a taking air cylinder 42, a taking assembly 44 and a partition scheduling assembly 6. The taking fixed plate 41 is fixedly connected to the rotating base plate 34, the taking air cylinder 42 is fixedly connected to the taking fixed plate 41, and the taking assembly 44 is connected to the taking air cylinder 42. The partition scheduling assembly 6 is provided in plurality and is connected to the taking assembly 44. The taking assembly 44 comprises a taking support 441, a taking block 442, a taking head 443 and a suction disc 444. The taking support 441 is fixedly connected to the taking air cylinder 42, the taking block 442 is fixedly connected to the taking support 441, the taking head 443 is fixedly connected to the suction disc 444. The partition scheduling assembly 6 comprises a micro vacuum pump 61 and a pressure sensor 62, the micro vacuum pump 61 is fixedly connected to the taking block 442 and the taking head 443 respectively, and the pressure sensor 62 is fixedly connected to the outside of the suction disc 444 and is arranged below the micro vacuum pump 61. The plurality of partition scheduling assemblies 6 are connected to the taking assembly 44, each partition scheduling assembly 6 forms an independent negative pressure adsorption module with the suction disc 444, and the negative pressure adsorption module can adaptively adjust the negative pressure adsorption force according to different sizes of materials. The rotating air cylinder 36, the taking air cylinder 42, the micro vacuum pump 61 and the pressure sensor 62 are electrically connected to the control system.

[0056] The taking and overturning injection molding mechanical hand provided in the application is fixed on the mechanical hand of the injection molding machine through the fixing mechanism 1, the lifting mechanism 2 lowers or raises the rotating mechanism 3 and the taking mechanism 4 to a specified position, then the rotating mechanism 3 drives the lifting mechanism 2 and the taking mechanism 4 to rotate to a specified angle, the taking mechanism 4 can suck materials from a specific angle, the taking surface of some injection molds is not flat but is in an inclined shape, the taking mechanism 4 can suck materials from the inclined shape, which is convenient for sucking materials with a taking surface in an inclined shape, the adsorption surface is more fitted, the material suction is more stable, the taking flexibility and stability are improved, the taking flexibility is improved, then the lifting mechanism 2 drives the rotating mechanism 3 and the taking mechanism 4 to lower or raise to a specified position, then the rotating mechanism 3 adjusts the angle, the flexibility of material transfer is improved, then the taking mechanism 4 places the materials, and the taking and transferring of materials are more convenient; a plurality of partition scheduling assemblies 6 are arranged on the suction disc 444, each partition scheduling assembly 6 has a separate micro vacuum pump 61 and a pressure sensor 62, when grabbing injection products with different shapes, sizes and surface materials, the pressure sensor 62 monitors the negative pressure condition of the contact part between the suction disc 444 and the product in real time, for example, when grabbing products with uneven surfaces, the suction disc 444 may not be in good contact at the material suction part, resulting in insufficient negative pressure, 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 material suction part of the corresponding suction disc 444 according to the pressure feedback, so that the suction disc 444 can maintain stable negative pressure adsorption force at the material suction part, ensuring firm grabbing, and compared with the traditional single-chamber suction disc 444, the grabbing adaptability is improved.

[0057] In another embodiment of the application, the material taking mechanism 4 further comprises an electromagnetic adsorption assembly 45 fixedly connected in the suction cup 444. The electromagnetic adsorption assembly 45 comprises an electromagnetic coil 451 and a proximity sensor 452, both of which are fixedly connected in the suction cup 444, and the proximity sensor 452 is arranged on one side of the electromagnetic coil 451 and electrically connected with the control system. This design integrates the negative pressure suction cup 444 and the magnetic attraction function in one, and sets 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 to make the suction cup 444 generate magnetic force, which assists the negative pressure adsorption, and double protection ensures firm grabbing of heavy or smooth surface ferromagnetic products. When grabbing non-ferromagnetic products, the electromagnetic coil 451 is de-energized, and only negative pressure adsorption is relied on. Through this intelligent switching mode, the application range of the suction cup 444 is widened, and the diversified material taking demand of the production line is met. At the same time, the suction cup 444 is also equipped with the proximity sensor 452, which can automatically identify the material quality 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 attraction function, realizes the automatic intelligent switching of the material taking process, and improves the production efficiency. A layer of nano waterproof coating, such as 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 water molecules are difficult to penetrate. It can not only prevent water, but also prevent oil stains, dust and other impurities from adhering, without affecting the electromagnetic performance of the coil, and can also enhance its durability in humid environments.

[0058] In another embodiment of the present application, the suction cup 444 comprises 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 assembly 45 is fixedly connected to the upper disc body 4441. The lower disc body 4442 is provided with a water inlet 4443, a main flow channel 4444, a branch flow channel 4445 and a water outlet 4446, the water inlet 4443 is arranged at the side edge of the lower disc body 4442, and the main flow channel 4444 is arranged at the inner side of the lower disc body 4442 and connected with the water inlet 4443. One end of the branch flow channel 4445 is connected with the main flow channel 4444, and the other end extends to the center of the lower disc body 4442, and the water outlet 4446 is arranged at the center of the lower disc body 4442 and connected with the branch flow channel 4445. The bottom side of the lower disc body 4442 is fixedly connected with a nanoscale hydrophilic layer 4447, and the material of the nanoscale hydrophilic layer 4447 is silicon dioxide. By connecting a water pump and a water pipe to the water inlet 4443, and connecting the water pipe with the water pump and the water inlet 4443, respectively, the water pump sequentially flushes water into the main flow channel 4444 and the branch flow channel 4445 through the water pipe, and the water flows out through the water outlet 4446, and the water flow flushes the dirt and residue in the lower disc body 4442 out of the water outlet 4446. By arranging the nanoscale hydrophilic layer 4447 at the bottom side of the lower disc body 4442, a polymer coating containing silicon dioxide nanoparticles is used, the silicon dioxide nanoparticles have excellent hydrophilicity, and when they are uniformly dispersed in a polymer matrix such as a common polymer such as polyurethane or epoxy resin, a stable and hydrophilic coating can be formed. Such coating not only has good hydrophilicity, but also can promote the spreading of water on the surface of the suction cup to form a water film, and the polymer matrix provides certain wear resistance and adhesion, thereby improving the adsorption force of the suction cup 444.

[0059] In another embodiment of the present application, the lower disc body 4442 is provided with a flow guide assembly arranged below the suction head 443. The flow guide assembly includes a plurality of flow guide grooves 447 arranged in a ring shape at intervals, the width of the flow guide grooves 447 gradually decreases from the outside to the inside, and the pressure sensor 62 is arranged on one side of the flow guide grooves 447. After the airflow enters the flow guide grooves 447, the width of the flow guide grooves 447 gradually decreases from the outside to the inside, and according to Bernoulli's principle of fluid mechanics, the airflow speed will gradually increase. This is like the water speed increasing at the narrowing of the river channel. The high-speed airflow can more efficiently remove the air near the contact part between the suction disc 444 and the product, further enhancing the negative pressure effect of the suction disc 444 and accelerating the adsorption process. The ring-shaped and interval-arranged flow guide grooves 447 can ensure that the airflow entering from all directions can be orderly guided, avoiding airflow turbulence, making the negative pressure distribution below the suction disc 444 more uniform, and even when grabbing products of large size or irregular shape, each contact point can also obtain sufficient negative pressure adsorption force, improving the stability of grabbing. During the adsorption process, the pressure sensor 62 monitors the pressure on one side of the flow guide grooves 447 in real time. When grabbing injection molded products of different materials and shapes, the degree of fit and sealing effect between the product and the suction disc 444 is different, which will cause the pressure in the flow guide grooves 447 to change. For example, when grabbing a product with a rough surface, a small amount of air may leak, causing the pressure in the flow guide grooves 447 to rise; while grabbing 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 adjusts the running parameters of the micro vacuum pump 61 intelligently according to the data fed back by the pressure sensor 62 and combines the pre-set algorithm. If the pressure sensor 62 detects that the pressure rises, indicating that the adsorption effect of the suction disc 444 may be poor, the control system will increase the power of the micro vacuum pump 61 to further reduce the internal air pressure of the suction disc 444 and enhance the adsorption force; on the contrary, if the pressure is stable and within a reasonable range, the micro vacuum pump 61 will remain in the current running state to avoid excessive energy consumption and be more energy-saving and environmentally friendly.

[0060] In another embodiment of the present application, two vertical columns 31 are arranged in parallel and opposite to each other, both of which are fixedly connected with the rotating shaft 32, and the vertical column groove 311 is arranged at the connection between the vertical column 31 and the rotating shaft 32, the vertical column groove 311 is communicated with one end of the vertical column 31, and the rotating shaft 32 is fixedly installed in the vertical column groove 311. The rotating plate 39 drives the rotating shaft 32 and the vertical column 31 to rotate together, and then drives the lifting mechanism 2 and the fixing mechanism 1 to rotate together, improving the flexibility of material taking and transporting.

[0061] In another embodiment of the present application, two shaft seats 33 are provided, the two shaft seats 33 are arranged in parallel and oppositely, and are fixedly connected to the rotating base plate 34, and the rotating shaft 32 is fixedly connected to the two shaft seats 33 respectively. By providing the two shaft seats 33, the two shaft seats 33 drive the rotating base plate 34 and the material taking mechanism 4 to rotate simultaneously, and the stability during the rotating movement is improved.

[0062] In another embodiment of the present application, the rotating cylinder 36 comprises a rotating cylinder body 361 and a piston rod 362, the rotating cylinder body 361 is fixedly connected to the cylinder fixing plate 35 at one end, the piston rod 362 is movably connected to the rotating cylinder body 361 at one end and is fixedly connected to the rotating joint 37 at the other end. The rotating cylinder 36 works on the principle of gas pressure driving.

[0063] The specific working principle of the rotating mechanism 3 is as follows: when compressed air is introduced into the specific air port of the rotating cylinder body 361, the gas forms a pressure difference in the cylinder body, and pushes the piston rod 362 to do linear motion. Since the rotating cylinder 36 is arranged obliquely (forms 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 direction of the rotating shaft 32 and a component force along the tangent direction of the rotating shaft 32. The component force along the tangent direction will generate a torque on the rotating joint 37, thereby driving the rotating joint 37 to rotate.

[0064] The rotating mechanism 3 rotates as follows: 1. Intake stage: when compressed air enters the cylinder body from the intake port of the rotating cylinder body 361, the gas acts on the piston rod 362. The piston inside the rotating cylinder body 361 divides the cylinder body into two chambers, the pressure on the intake side rises, pushing the piston rod 362 to extend outward. Due to the inclination angle of the rotating cylinder 36, the direction of the piston rod 362 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, which in turn 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 tangent component of the piston rod 362 movement direction makes the rotating joint 37 start to rotate around the axis of the rotating column 38, and at the same time drives 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, the other air port of the rotating cylinder body 361 is supplied with air (or the original air port is exhausted), so that the piston rod 362 retracts. During the retraction of the piston rod 362, due to the inclination angle, a torque in the opposite direction is generated, driving the rotating joint 37, the rotating column 38 to rotate in the opposite direction, thereby making the rotating plate 39 rotate in the opposite direction, returning to the initial position or reaching a new rotation angle position.

[0065] In another embodiment of the application, the side of the rotating base plate 34 is provided with a buffer assembly 5, which includes a buffer fixed plate 51 and a spring buffer 52. One end of the buffer fixed plate 51 is fixedly connected to the rotating base plate 34, the other end extends out of the rotating base plate 34 and is fixedly connected with the spring buffer 52. One end of the spring buffer 52 extends out of the buffer fixed plate 51 and abuts against the stand column 31. The spring buffer 52 is a device that uses the elastic deformation of the spring to absorb and buffer energy. When the rotating base plate 34 collides with the stand column 31 or generates a larger contact force due to inertia or other external force factors during rotation, the spring buffer 52 can play a buffering role.

[0066] In another embodiment of the application, the fixing mechanism 1 includes a fixing seat 11, a fixing base plate 12, a fixing plate 13 and a fixing connecting rod 14. The fixing seat 11 is provided with two and is fixedly connected to the fixing base plate 12. One end of the fixing plate 13 is fixedly connected with 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 with the fixing connecting rod 14. By fixing the fixing seat 11 with other injection molding mechanical hands, the injection molding mechanical hand of the application is fixed to other injection molding mechanical hands.

[0067] In another embodiment of the present application, the lifting mechanism 2 comprises a lifting cylinder 21, a lifting base plate 22, lifting slide rails 23 and lifting sliding blocks 24, the lifting cylinder 21 is fixedly connected to one side of the lifting base plate 22, the lifting slide rails 23 are fixedly connected to the other side of the lifting base plate 22, the top of the lifting cylinder 21 is fixedly connected with the fixed connecting rod 14, one end of the lifting sliding block 24 is slidingly connected with the lifting slide rail 23, and the other end is fixedly connected with the fixed base plate 12. The lifting slide rail 23 and the lifting sliding block 24 are both provided with two, and one lifting slide rail 23 is provided with one lifting sliding block 24. The lifting cylinder 21 comprises a lifting cylinder body 211 and a piston connecting rod 212, one end of the lifting cylinder body 211 is fixedly connected with the lifting base plate 22, one end of the piston connecting rod 212 is movably connected with the lifting cylinder body 211, and the other end extends out of the lifting cylinder body 211 and is fixedly connected with the fixed connecting rod 14. The stand 31 is fixedly connected with the lifting base plate 22. The lifting cylinder body 211 drives the piston connecting rod 212 to move up and down, and since the fixing mechanism 1 is fixedly installed on the injection molding mechanical hand, 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 sliding block 24, and in turn drives the rotating mechanism 3 and the material taking mechanism 4 to move up and down together.

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

[0069] In another embodiment of the present application, the material taking mechanism 4 further comprises a guide assembly 43, which comprises a guide fixed plate 431, a guide seat 432, a guide sliding sleeve and a guide rod 433. The guide fixed plate 431 is fixedly connected to the rotating base plate 34 at one end. The guide seat 432 is fixedly connected to the bottom of the guide fixed plate 431. The guide sliding sleeve is fixedly connected to the guide seat 432. The guide rod 433 is connected to the material taking assembly 44 at one end and movably penetrates the guide sliding sleeve at the other end.

[0070] In another embodiment of the present application, the material taking support 441 is fixedly connected to the material taking piston shaft 422 and the guide rod 433 at one end and fixedly connected to the material taking block 442 at the other end. A plurality of material taking blocks 442 are fixedly connected to the material taking support 441. The number of the material taking blocks 442 is the same as that of the suction heads 443 and the partition scheduling assemblies 6. The suction head 443 is fixedly connected to the suction disc 444. One material taking block 442 is provided with one partition scheduling assembly 6, and one partition scheduling assembly 6 is provided with one suction head 443. The material taking support 441 is provided with a first adjusting groove 445, the material taking block 442 is provided with a second adjusting groove 446, and the first adjusting groove 445 and the second adjusting groove 446 are partially overlapped. The material taking block 442 is fixedly connected to the material taking support 441 by bolts.

[0071] Overall working principle of the taking component 44: The taking component 44 is connected with the taking piston shaft 422 of the taking cylinder 42 and the guide rod 433 of the guide assembly 43 through the taking bracket 441, so as to realize power transmission and control of the movement direction. When the taking cylinder 42 works, the extension and retraction movement of the taking piston shaft 422 drives the taking bracket 441 to move, and then the whole taking component 44 moves synchronously. The taking blocks 442 are used for installing the taking heads 443, and the arrangement of multiple taking blocks 442 and taking heads 443 can increase the range and efficiency of taking. The suction cups 444 are matched with the taking heads 443 and use the negative pressure principle to adsorb the materials. The first adjusting groove 445 and the second adjusting groove 446 are arranged in coincidence to facilitate the adjustment of the position of the taking block 442 on the taking bracket 441, so as to adapt to the taking requirements of materials of different sizes or layouts.

[0072] Suction principle of the taking head 443 and the suction cup 444: The suction cup 444 is fixedly connected with the taking head 443, and in working, the suction cup 444 contacts with the material surface. By forming a negative pressure environment in the suction cup 444, the atmospheric pressure outside and the pressure inside the suction cup 444 are different, so that the material is tightly adsorbed on the suction cup 444. The air in the suction cup 444 is sucked out by the micro vacuum pump 61, so that the air pressure in the suction cup 444 is lower than the atmospheric pressure outside, and then the suction force is generated, so that the molded product in the injection molding machine is adsorbed and taken out.

[0073] Working process: preparation and position adjustment before taking: according to the size, shape and layout of the material to be taken, the structure of the taking component 44 is optimized by adjusting the position of the taking block 442 on the taking bracket 441. The specific operation is to loosen the bolts for fixing the taking block 442 on the taking bracket 441, so that the taking block 442 can move within the range where the first adjusting groove 445 and the second adjusting groove 446 coincide. After adjusting the position, the bolts are tightened to fix the position of the taking block 442.

[0074] Taking process: when taking is needed, the taking cylinder 42 starts to work. The taking piston shaft 422 extends to drive the taking bracket 441 to move forward. The taking bracket 441 pushes the taking block 442 and the taking head 443 to move together towards the material. When the suction cup 444 contacts with the material surface, the micro vacuum pump 61 starts to suck out the air in the suction cup 444 to form a negative pressure in the suction cup 444. At this time, under the action of the atmospheric pressure, the material is tightly adsorbed on the suction cup 444.

[0075] Movement and placement after taking:

[0076] The material taking piston shaft 422 is retracted, and the material taking assembly 44 with the material adsorbed is taken back to the initial position or moved to the designated placement position. In the placement position, the micro vacuum pump 61 stops working, the air pressure in the suction cup 444 is restored to the same as the external atmospheric pressure, the adsorption force disappears, the material falls off from the suction cup 444, and the whole process of material taking and placing is completed.

[0077] The material taking and overturning injection molding mechanical hand provided in the application is fixed on the mechanical hand of the injection molding machine through the fixing mechanism 1, the lifting mechanism 2 lowers or raises the rotating mechanism 3 and the material taking mechanism 4 to the designated position, then the rotating mechanism 3 drives the lifting mechanism 2 and the material taking mechanism 4 to rotate to the designated angle, the material taking mechanism 4 can take the material from the specific angle, the material taking flexibility is improved, then the lifting mechanism 2 drives the rotating mechanism 3 and the material taking mechanism 4 to lower or raise to the designated position, then the rotating mechanism 3 adjusts the angle, the flexibility of the material transfer is improved, and then the material taking mechanism 4 places the material, the material taking and transferring are more convenient; a plurality of partition scheduling assemblies 6 are arranged on the suction cup 444, each partition scheduling assembly 6 has a separate micro vacuum pump 61 and a pressure sensor 62, when the injection molded products of different shapes, sizes and surface materials are grabbed, the pressure sensor 62 monitors the negative pressure condition of the contact part of the suction cup 444 and the product in real time, for example, when the product with uneven surface is grabbed, the suction cup 444 may not be in good contact and the negative pressure is insufficient at the material suction part, 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 material suction part of the corresponding suction cup 444 according to the pressure feedback, so that the suction cup 444 can maintain stable negative pressure adsorption force at the material suction part, and firm grabbing is ensured, compared with the traditional single-chamber suction cup, the grabbing adaptability is improved.

[0078] The above is only a preferred embodiment of the application, and is not used to limit the application, any modification, equivalent replacement and improvement within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A material handling and flipping injection molding robot, characterized in that, It includes a fixing mechanism, a lifting mechanism, a rotating mechanism, a material picking mechanism, and a control system. The lifting mechanism is connected to the fixing mechanism, the rotating mechanism is connected to both the lifting mechanism and the material picking mechanism, and the material picking mechanism is connected to the rotating mechanism. The rotating mechanism includes a column, a rotating shaft, a bearing seat, a rotating base plate, a cylinder fixing plate, a rotating cylinder, a rotary joint, a rotating column, and a rotating plate. The column is connected to the fixing mechanism. The rotating shaft passes through the bearing seat and is connected to the column. The bearing 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 rotary joint. The rotating cylinder is inclined on the cylinder fixing plate, and the angle formed between the rotating cylinder and the cylinder fixing plate is 3-15°. The rotary joint is connected to the rotating column, and the rotating column is rotatably connected to the rotating plate. The bottom of the rotating plate is connected to the rotating shaft. One end of the rotating plate is provided with a rotating groove, and the rotating joint and the rotating column are both movably disposed within the rotating groove. The material handling mechanism includes a material handling fixing plate, a material handling cylinder, a material handling assembly, and a zoned scheduling assembly. The material handling fixing plate is connected to the rotating base plate, the material handling cylinder is connected to the material handling fixing plate, and the material handling assembly is connected to the material handling cylinder. Multiple zoned scheduling assemblies are provided and connected to the material handling assembly. The material handling assembly includes a material handling bracket, a material handling block, a suction head, and a suction cup. The material handling bracket is connected to the material handling cylinder, the material handling block is connected to the material handling bracket, and the suction head is connected to the suction cup. The zoned scheduling assembly includes a miniature vacuum pump and a pressure sensor. The miniature vacuum pump is connected to the material handling block and the suction head, respectively. The pressure sensor is connected to the outside of the suction cup and positioned below the miniature vacuum pump. Multiple zoned scheduling assemblies are connected to the material handling assembly, and each zoned scheduling assembly and the suction cup form an independent negative pressure adsorption module. The rotating cylinder, the material handling cylinder, the miniature vacuum pump, and the pressure sensor are all electrically connected to the control system. The suction cup includes an upper plate and a lower plate. The upper plate is fixedly connected to the top side of the lower plate. The lower plate is provided with an inlet, a main channel, a branch channel, and an outlet. The inlet is located on the side of the lower plate. The main channel is located inside the lower plate and connected to the inlet. One end of the branch channel is connected to the main channel, and the other end extends to the center of the lower plate. The outlet is located at the center of the lower plate and connected to the branch channel. A nano-scale hydrophilic layer is fixedly connected to the bottom side of the lower plate. The nano-scale hydrophilic layer is made of silicon dioxide.

2. The material handling and flipping injection molding robot according to claim 1, characterized in that, The material handling mechanism further 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. The proximity sensor is located on one side of the electromagnetic coil and is electrically connected to the control system.

3. The material handling and flipping injection molding robot according to claim 2, characterized in that, The electromagnetic adsorption component is fixedly connected to the upper plate.

4. The material handling and flipping injection molding robot according to claim 3, characterized in that, The lower plate is provided with a flow guiding component, which is located below the suction head. The flow guiding component includes multiple flow guiding grooves, which are arranged in a ring at intervals. The width of the flow guiding grooves gradually decreases from the outer side to the inner side. The pressure sensor is located on one side of the flow guiding groove.

5. A material handling and flipping injection molding robot according to any one of claims 1-4, characterized in that, Two columns are provided, arranged in parallel and opposite directions. 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 handling and flipping injection molding robot according to claim 1, characterized in that, The fixing mechanism includes a fixing base, a fixing base plate, a fixing plate, and a fixing connecting rod. There are two fixing bases, both of which are fixedly connected to the fixing base plate. One end of the fixing plate is fixedly connected to the fixing base and the fixing base plate respectively, and the other end extends out of the fixing base and is fixedly connected to the fixing connecting rod.

7. The material handling and flipping injection molding robot according to claim 6, characterized in that, The lifting mechanism includes a lifting cylinder, a lifting base plate, a lifting slide rail, and a lifting slider. The lifting cylinder is fixedly connected to one side of the lifting base plate, and the lifting slide rail is fixedly connected to the other side of the lifting base plate. 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 slide rail, and the other end is fixedly connected to the fixed base plate. There are two lifting slide rails and two lifting sliders, and one lifting slider is provided on each lifting slide 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 plate, and one end of the piston connecting rod is movably connected to the lifting cylinder body, while 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 plate.

8. The material handling and flipping injection molding robot according to claim 7, characterized in that, The material handling mechanism further includes a guide assembly, which is disposed on one side of the material handling 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 inside the guide seat, and one end of the guide rod is fixedly connected to the material handling bracket, while the other end movably passes through the guide sleeve.

9. A material handling and flipping injection molding robot according to claim 8, characterized in that, One end of the material-receiving bracket is fixedly connected to the guide rod, and the other end is fixedly connected to the material-receiving block. Multiple material-receiving blocks are provided, all fixedly connected to the material-receiving bracket. The number of suction heads and partition scheduling components is the same as the number of material-receiving blocks. One partition scheduling component is fixedly connected to each material-receiving block, and one suction head is fixedly connected to each partition scheduling component. The material-receiving bracket is provided with a first adjustment groove, and the material-receiving blocks are provided with a second adjustment groove, with the first adjustment groove and the second adjustment groove partially overlapping.

10. A material handling and flipping injection molding robot according to claim 1, characterized in that, The rotating base plate is provided with a buffer assembly on its side. 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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