Automatic material taking gripper for injection molding machining

Abstract

The invention discloses an automatic material taking gripper for injection molding machining, and relates to the technical field of material taking grippers, the automatic material taking gripper comprises a mounting frame forming the material taking gripper, the mounting frame is provided with two suction cup sets, suction cups of the suction cup sets are provided with L-shaped connecting rods, the connecting rods are provided with rotating shafts which are inclined and extend into the mounting frame, and the rotating shafts are connected with the suction cup sets. When a polished and deburred workpiece is transferred, the multiple suction cups of the mounting frame are all attached to the top of the workpiece, the material taking gripper lifts the workpiece and moves to the next procedure, and in the process, the rotating shaft corresponding to the first suction cup rotates relative to the mounting frame to be attached to the inner ring of the workpiece, and the rotating shaft corresponding to the second suction cup drives the second suction cup to move; the first suction cup is matched with the second suction cup to suck and clamp the workpiece from the side face, the lower portion of the workpiece is sunken inwards to form a big-end-up state, the workpiece can be better clamped, and the workpiece is prevented from falling off in the transferring process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material taking gripper, in particular to an automatic material taking gripper for injection molding processing. BACKGROUND

[0002] It is known that the material taking gripper is one of the commonly used devices in the production line of modern factories, and the suction cup type gripper is one of the important branches of the material taking gripper, which is mainly used to move the workpiece from one production line to another production line for the next step of processing.

[0003] For example, the invention patent with the application publication number CN109516200B and the application publication date of November 10, 2021, and the name of "a grinding jig cover grabbing and transfer device for notebook computer shell injection molding part" includes a gripper frame and a base, the top of the base is rotationally connected with a robot arm, the top of the gripper frame is fixedly connected with a connecting block, the top of the robot arm is movably connected with the gripper frame through the connecting block, the bottom of the gripper frame is fixedly connected with eight groups of guide pipes, the bottom of the guide pipe is movably sleeved with a sleeve pipe, the inner cavity bottom of the sleeve pipe is fixedly connected with a plug-in column on the upper side, the plug-in column is located in the inner cavity of the guide pipe and the top of the plug-in column is fixedly connected with a baffle, the outer side of the plug-in column is wound with a buffer spring, the bottom of the sleeve pipe is fixedly connected with a fixing frame, the bottom of the four edges of the fixing frame is fixedly connected with a plurality of connecting frames, the bottom of the connecting frame is fixedly connected with a mounting frame, the top of the mounting frame is fixedly installed with an air pump, the bottom of the mounting frame is fixedly connected with a plurality of air pipes, the bottom of the air pipe is fixedly connected with a suction cup, the fixing frame is fixedly installed with an air cylinder, the bottom of the air cylinder is fixedly connected with a lifting frame, the bottom of the lifting frame is fixedly installed with an electromagnet, a plurality of through holes are formed in the lifting frame.

[0004] The deficiency of the prior art is that the suction cup is one of the important components of the material taking gripper, which can be adsorbed on the surface of the workpiece and then move the workpiece synchronously with the suction cup, but when the workpiece to be transferred is a circular square barrel upper protection ring, the top of the workpiece is a curved surface, the suction cup cannot well fit the workpiece, and air leakage is easy to occur during the process of fitting and transferring the workpiece, and even the workpiece is dropped. SUMMARY

[0005] The purpose of the present application is to provide an automatic material taking gripper for injection molding processing to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme: an automatic material taking gripper for injection molding processing, comprising a mounting frame which constitutes a material taking gripper, and the mounting frame is provided with: two suction cup groups, the suction cups of the suction cup groups are provided with L-shaped connecting rods, the connecting rods are provided with rotating shafts which are inclined and extend into the mounting frame, wherein: The rotation shafts of the two groups of suction discs are alternately moved to make the two groups of suction discs clamp the inner and outer rings of the workpiece respectively.

[0007] As a further description of the above technical solution: the included angle between the rotation shaft and the horizontal plane is 45°.

[0008] As a further description of the above technical solution: the adjacent pair of rotation shafts of the two groups of suction discs are perpendicular.

[0009] As a further description of the above technical solution: the mounting frame is provided with a transmission rod, and the rotation shaft moves axially to be coupled with the transmission rod.

[0010] As a further description of the above technical solution: the mounting frame is provided with a sliding rod connecting the adjacent two rotation shafts on the same group of suction discs and a dial corresponding to the sliding rod and driving the sliding rod to move.

[0011] As a further description of the above technical solution: the dial is provided with an inner ring, an outer ring concentric with the inner ring, and a connecting groove connecting the inner ring and the outer ring, and the sliding rod is provided with a tenon extending into the dial.

[0012] As a further description of the above technical solution: the included angle between the inner rings on the corresponding dials of the two groups of suction discs is 90°.

[0013] As a further description of the above technical solution: the outer rings of the plurality of dials are each provided with an inner recess, and the inner recesses on the corresponding dials of the two groups of suction discs are opposite.

[0014] As a further description of the above technical solution: the rotation shaft is provided with a limiting sheet, and the inclined hole of the mounting frame is provided with a positioning groove symmetrically distributed and matched with the limiting sheet.

[0015] As a further description of the above technical solution: the inner part of the outer edge of the suction disc of one of the groups of suction discs is provided with an elastic sheet which is inclined and pressed one by one.

[0016] In the above technical solution, the automatic material taking gripper for injection molding processing has the following beneficial effects: when the workpiece after deburring is transferred, the mounting frame moves downward with the material taking gripper, the multiple suction cups of the two suction cup groups on the mounting frame are attached to the top of the workpiece, and the vacuum pump works to vacuumize the inside of the suction cup, thereby enhancing the suction force of the suction cup on the workpiece; the material taking gripper lifts the workpiece and moves it to the next process; in this process, the first group of vacuum pumps stops working, and the rotating shaft corresponding to the first suction cup rotates relative to the mounting frame; the rotating shaft drives the first suction cup to move through the L-shaped connecting rod; the first suction cup changes from the horizontal position attached to the top of the workpiece to the vertical position attached to the inner circle of the workpiece, and the first suction cup is pressed on the parting line of the workpiece; then the first group of vacuum pumps resumes working, the first suction cup is attached to the inner circle of the workpiece, the second group of vacuum pumps stops working, and the rotating shaft corresponding to the second suction cup drives the second suction cup to move, so that the second suction cup is attached to the outer circle of the workpiece; the first suction cup cooperates with the second suction cup to suction and clamp the workpiece from the side; the lower part of the workpiece is concave inward, forming an upper large and lower small state, which can better clamp the workpiece and avoid the workpiece from falling during the transfer process; moreover, if the inner circle of the workpiece is not deburred qualified during the movement of the second suction cup, the protrusion of the parting line will lift the first suction cup, so that the first suction cup cannot be attached to the workpiece, and the second suction cup is separated from the workpiece; at this time, the workpiece can fall from the material taking gripper, thereby the workpiece can be screened. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0018] Figure 1 The general structure schematic diagram provided for the embodiments of the present application; Figure 2 The internal structure schematic diagram of the mounting frame provided for the embodiments of the present application; Figure 3 The Figure 2 enlarged view of A in FIG. 4; Figure 4 The Figure 2 enlarged view of B in FIG. 4; Figure 5 The structure schematic diagram of the driving disc provided for the embodiments of the present application; Figure 6 The structure schematic diagram of the connecting rod provided for the embodiments of the present application; Figure 7 The structure schematic diagram of the inclined hole provided for the embodiments of the present application; Figure 8 The structure schematic diagram of the first dial provided for the embodiments of the present application; Figure 9 This is a schematic diagram of the structure of the second dial provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the workpiece provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of the internal structure of the first suction cup provided in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Mounting bracket; 11. Suction cup assembly; 111. Connecting rod; 112. Rotating shaft; 113. Gear plate; 114. Movable sleeve; 115. Limiting plate; 116. Transmission rod; 117. Bevel gear; 118. Slide rod; 12. Drive plate; 121. First dial; 122. Second dial; 123. Inner ring; 124. Outer ring; 125. Connecting groove; 126. Inner recess; 127. Tenon; 128. Slide plate; 13. Angled hole; 131. Positioning groove; 132. Rotating cavity; 141. First suction cup; 142. Second suction cup; 143. Elastic plate; 2. Workpiece. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] Please see Figures 1-11 This invention provides a technical solution: an automatic material handling gripper for injection molding, comprising a mounting frame 1 that forms the gripper, the mounting frame 1 being provided with: Two suction cup assemblies 11, each suction cup in the suction cup assembly 11 is provided with an L-shaped connecting rod 111, and the connecting rod 111 is provided with an inclined rotating shaft 112 that extends into the mounting bracket 1, wherein: The rotating shafts 112 on the two suction cup assemblies 11 move alternately so that the two suction cup assemblies 11 clamp the inner and outer rings of the workpiece 2 respectively.

[0022] Specifically, the suction cup assembly 11 consists of multiple first suction cups 141 and multiple second suction cups 142. Furthermore, the mounting bracket 1 is equipped with two sets of miniature vacuum pumps corresponding to the two suction cup assemblies 11.

[0023] Further, when the workpiece 2 is transported after the deburring, the mounting frame 1 moves downward with the material taking gripper, the multiple suction cups of the two suction cup groups 11 on the mounting frame 1 are attached to the top of the workpiece 2, and the vacuum pump works to vacuumize the inside of the suction cup, so that the suction force of the suction cup on the workpiece 2 is enhanced, the material taking gripper lifts the workpiece 2 and moves to the next process, in this process, the first group of vacuum pumps stops working, and the rotating shaft 112 corresponding to the first suction cup 141 rotates relative to the mounting frame 1, the rotating shaft 112 drives the first suction cup 141 to move through the L-shaped connecting rod 111, the first suction cup 141 changes from the horizontal position attached to the top of the workpiece 2 to the vertical position attached to the inner circle of the workpiece 2, and the first suction cup 141 is pressed on the parting line of the workpiece 2, then the first group of vacuum pumps resumes working, the first suction cup 141 is sucked on the inner circle of the workpiece 2, the second group of vacuum pumps stops working, the rotating shaft 112 corresponding to the second suction cup 142 drives the second suction cup 142 to move, so that the second suction cup 142 is attached to the outer circle of the workpiece 2, the first suction cup 141 cooperates with the second suction cup 142 to absorb and clamp the workpiece 2 from the side, the lower part of the workpiece 2 is inwardly recessed, forming an upper large and lower small state, which can better clamp the workpiece 2, and avoid the workpiece 2 from falling in the process of transportation, and in the process of moving of the second suction cup 142, if the inner circle of the workpiece 2 is not polished qualified, the protrusion of the parting line will lift the first suction cup 141, so that the first suction cup 141 cannot be attached to the workpiece 2, and the second suction cup 142 is separated from the workpiece 2, at this time, the workpiece 2 can fall from the material taking gripper, and then the workpiece 2 can be screened.

[0024] Further, in the above embodiment, the polishing difficulty of the parting line of the inner circle of the workpiece 2 is greater than that of the parting line of the outer circle.

[0025] In still another embodiment provided by the application, the angle between the rotating shaft 112 and the horizontal plane is 45°.

[0026] Specifically, when the angle between the rotating shaft 112 and the horizontal plane is 45°, the bottom surface of the L-shaped connecting rod 111 can change from the horizontal state to the vertical state after rotating 180° with the rotating shaft 112, so as to drive the suction cup to change from the horizontal position attached to the top of the workpiece 2 to the vertical position attached to the side wall of the workpiece 2, and then facilitate the cooperation of the first suction cup 141 and the second suction cup 142 to clamp the workpiece 2.

[0027] In still another embodiment provided by the application, the pair of rotating shafts 112 adjacent to the two suction cup groups 11 are perpendicular.

[0028] Specifically, the adjacent first suction cup 141 and the second suction cup 142 form a group, and the corresponding rotating shafts 112 are perpendicular to each other, the first suction cup 141 and the second suction cup 142 can be located on the two sides of a straight part of the circular square workpiece 2 after moving, and the first suction cup 141 and the second suction cup 142 are close to each other, so that the pressure can be better applied to the side wall of the workpiece 2, the workpiece 2 becomes a state of being large at the top and small at the bottom, and then the first suction cup 141 and the second suction cup 142 can cooperate to clamp the workpiece 2, and the workpiece 2 is prevented from falling during the transfer process.

[0029] In still another embodiment provided by the application, the mounting frame 1 is provided with a transmission rod 116, and the rotating shaft 112 moves axially to be coupled with the transmission rod 116.

[0030] Specifically, the mounting frame 1 is internally provided with a bidirectional stepping motor, one output end of the motor is provided with a driving disc 12, the driving disc 12 is engaged with the adjacent two transmission rods 116, the top of the rotating shaft 112 is provided with a gear disc 113, and the end of the transmission rod 116 is provided with a bevel gear 117 engaged with the gear disc 113.

[0031] Further, during work, the rotating shaft 112 moves axially to separate the suction cup from the workpiece 2, and the distance between the two is increased, so that the rotating shaft 112 drives the connecting rod 111 and the suction cup to rotate, the gear disc 113 on the rotating shaft 112 is engaged with the bevel gear 117 at the end of the transmission rod 116, at this time, the motor drives the driving disc 12 to rotate, the driving disc 12 drives the transmission rod 116 engaged therewith to rotate, the transmission rod 116 drives the gear disc 113 to rotate through the bevel gear 117 at the end, and the gear disc 113 drives the connecting rod 111 and the suction cup to rotate through the rotating shaft 112, so that the suction cup moves from the horizontal position to the vertical position, and then the rotating shaft 112 moves reversely to make the suction cup recombine with the workpiece 2, so that the suction cup clamps the workpiece 2.

[0032] In still another embodiment provided by the application, the mounting frame 1 is provided with a sliding rod 118 connecting the adjacent two rotating shafts 112 on the same suction cup group 11 and a dial corresponding to the sliding rod 118 and driving the sliding rod 118 to move.

[0033] Specifically, the rotating shaft 112 is rotatably provided with a movable sleeve 114, and the adjacent two movable sleeves 114 of the same suction cup group 11 are fixedly provided with the sliding rod 118, so that the sliding rod 118 drives the rotating shaft 112 to move without hindering the rotation of the rotating shaft 112, the sliding rod 118 is specifically a telescopic rod, the dial includes a first dial 121 corresponding to the sliding rod 118 of the first suction cup 141 and a second dial 122 corresponding to the sliding rod 118 of the second suction cup 142, and the first dial 121 and the second dial 122 are respectively installed on the two output ends of the motor.

[0034] Further, when the transfer work is performed, the motor drives the first dial 121 and the second dial 122 to rotate synchronously, the first dial 121 drives the corresponding slide rod 118 of the first suction cup 141 to move first, so that the rotating shaft 112 of the first suction cup 141 is coupled with the transmission rod 116, and then the first suction cup 141 moves from the horizontal position to the vertical position, and then the corresponding slide rod 118 of the first suction cup 141 moves downward, and the rotating shaft 112 stops working, and the second dial 122 drives the corresponding slide rod 118 of the second suction cup 142 to move upward, so that the rotating shaft 112 of the second suction cup 142 is coupled with the transmission rod 116, and then the second suction cup 142 moves from the horizontal position to the vertical position, and then the corresponding slide rod 118 of the second suction cup 142 moves downward, and the rotating shaft 112 stops working, at this time, the first suction cup 141 and the second suction cup 142 cooperate to clamp the workpiece 2.

[0035] In still another embodiment of the present application, the dial is provided with an inner ring 123, an outer ring 124 concentric with the inner ring 123, and a connecting groove 125 connecting the inner ring 123 and the outer ring 124, and the slide rod 118 is provided with a tenon 127 extending into the dial.

[0036] Specifically, the middle part of the slide rod 118 is provided with a sliding plate 128, and the sliding plate 128 is provided with a cylindrical tenon 127 extending into the dial.

[0037] Further, when the dial rotates, the tenon 127 moves along the outer ring 124 on the dial, the sliding plate 128 and the slide rod 118 are at the lowest point, the dial continues to rotate, the tenon 127 moves along the connecting groove 125 and gradually enters the inner ring 123, the tenon 127 drives the sliding plate 128 and the slide rod 118 to move upward, and then drives the rotating shaft 112 to move upward, the rotating shaft 112 is coupled with the transmission rod 116, the transmission rod 116 drives the shaft rod to rotate, then the tenon 127 moves along the connecting groove 125 on the other side of the inner ring 123, the rotating shaft 112 is separated from the transmission rod 116, and the connecting rod 111 returns to the lowest point, so that the suction cup is attached to the workpiece 2.

[0038] In still another embodiment of the present application, the included angle between the inner rings 123 on the dials corresponding to the two suction cup groups 11 is 90°.

[0039] Specifically, the inner ring 123 part on the second dial 122 is deflected by an angle of 90° relative to the inner ring 123 part on the first dial 121, the central angle corresponding to the inner ring 123 and the connecting grooves 125 on both sides thereof is less than 90°, when the first dial 121 drives the corresponding shaft rod of the first suction cup 141 to move, the second suction cup 142 corresponding to the second dial 122 always maintains the state of being attached to the workpiece 2, after the first suction cup 141 is attached to the workpiece 2 again, the second dial 122 drives the second suction cup 142 to separate from the workpiece 2, and the second suction cup 142 moves.

[0040] In still another embodiment of the present application, the outer ring 124 of each dial is provided with an inner recess 126, and the two suction disc groups 11 are arranged opposite the inner recess 126 of the dial.

[0041] Specifically, when the workpiece 2 is transported to the target position, the motor drives the first dial 121 and the second dial 122 to move, so that the tenon 127 corresponding to the two dials moves along the inner recess 126 to the direction close to the center of the dial, so that the first suction disc 141 and the second suction disc 142 are away from the workpiece 2, and the workpiece 2 is released, and then the motor is reversely rotated to sequentially return the second suction disc 142 and the first suction disc 141 to the initial position.

[0042] In still another embodiment of the present application, the rotating shaft 112 is provided with a limiting sheet 115, and the inclined hole 13 of the mounting frame 1 is provided with a positioning groove 131 which is symmetrically distributed and matched with the limiting sheet 115.

[0043] Specifically, the inclined hole 13 is provided with a rotating cavity 132 for the rotation of the limiting sheet 115.

[0044] Further, when the rotating shaft 112 moves axially along the inclined hole 13, the limiting sheet 115 moves along the positioning groove 131 on the inner wall of the inclined hole 13, and when the rotating shaft 112 is coupled with the transmission rod 116, the limiting sheet leaves the positioning groove 131 and enters the rotating cavity 132, the shaft is unlocked, and then the transmission rod 116 drives the rotating shaft 112 to rotate, the rotating shaft 112 rotates 180°, the limiting sheet is opposite to another positioning groove 131, and then the rotating shaft 112 moves obliquely downward along the inclined hole 13, the limiting sheet is inserted into another positioning groove 131, and the limiting sheet cooperates with the positioning groove 131 to limit the rotation of the rotating shaft 112, so that the suction disc cannot be attached to the workpiece 2 when the rotating shaft 112 rotates while moving along the inclined hole 13.

[0045] In still another embodiment of the present application, the inner edge of the suction disc of one of the suction disc groups 11 is provided with a plurality of elastic sheets 143 which are arranged inside and pressed one by one.

[0046] Specifically, the inner edge of the first suction disc 141 is provided with a plurality of elastic sheets 143 which are arranged inside and pressed one by one, and the elastic sheets 143 can be attached to the camber surface, so that when the first suction disc 141 is attached to the inner circle of the workpiece 2, if there is a protruding flash line on the inner circle, the elastic sheets 143 cannot be attached to the workpiece 2, the gap between the first suction disc 141 and the workpiece 2 is increased, and the workpiece 2 is screened to facilitate the polishing of the workpiece 2.

[0047] The above only describes certain exemplary embodiments of the present application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present application. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the present application.

Claims

1. An automatic material handling gripper for injection molding, characterized in that, Includes a mounting frame (1) that forms the material handling gripper, wherein the mounting frame (1) is provided with: Two suction cup assemblies (11), each suction cup of the suction cup assembly (11) is provided with an L-shaped connecting rod (111), and the connecting rod (111) is provided with an inclined rotating shaft (112) that extends into the mounting bracket (1), wherein: The rotating shafts (112) on the two suction cup assemblies (11) move alternately so that the two suction cup assemblies (11) clamp the inner and outer rings of the workpiece (2) respectively.

2. The automatic material handling gripper for injection molding according to claim 1, characterized in that, The angle between the rotating shaft (112) and the horizontal plane is 45°.

3. The automatic material handling gripper for injection molding according to claim 1, characterized in that, The two suction cup assemblies (11) are adjacent to each other with a pair of rotating shafts (112) perpendicular to each other.

4. The automatic material handling gripper for injection molding according to claim 1, characterized in that, The mounting bracket (1) is provided with a transmission rod (116), and the rotating shaft (112) moves axially to couple with the transmission rod (116).

5. The automatic material handling gripper for injection molding according to claim 1, characterized in that, The mounting bracket (1) is provided with a slide rod (118) that connects two adjacent rotating shafts (112) on the same suction cup group (11) and a dial that corresponds to the slide rod (118) and drives it to move.

6. The automatic material handling gripper for injection molding according to claim 5, characterized in that, The dial is provided with an inner ring (123), an outer ring (124) concentric with it, and a connecting groove (125) connecting the inner ring (123) and the outer ring (124). The slide bar (118) is provided with a tenon (127) extending into the dial.

7. The automatic material handling gripper for injection molding according to claim 6, characterized in that, The included angle between the inner rings (123) on the dials corresponding to the two suction cup groups (11) is 90°.

8. The automatic material handling gripper for injection molding according to claim 6, characterized in that, Each of the outer rings (124) of the multiple dials is provided with a recess (126), and the two suction cup groups (11) are directly opposite the recesses (126) on the dials.

9. The automatic material handling gripper for injection molding according to claim 1, characterized in that, The rotating shaft (112) is provided with a limiting piece (115), and the mounting bracket (1) has symmetrically distributed positioning grooves (131) in the oblique hole (13) that are adapted to the limiting piece (115).

10. The automatic material handling gripper for injection molding according to claim 1, characterized in that, One of the suction cup groups (11) has an elastic sheet (143) that is inclined inside the outer edge of the suction cup and pressed one by one.

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