Material taking device and method for injection molded parts

Abstract

The invention discloses a material taking device for injection molding parts. The material taking device comprises a base, a conveying mechanism, a positioning mechanism, a transferring mechanism, a reversing mechanism, a conveying device, a part taking device and a sensing module. The conveying mechanism conveys injection molded parts to the positioning mechanism for positioning, and the transferring mechanism transfers the injection molded parts to the reversing mechanism; and after the reversing mechanism overturns the injection molding part by a preset angle, the part taking device grabs the injection molding part and places the injection molding part on the conveying device. The production efficiency of the whole machine is improved through the transferring mechanism, the reversing mechanism and the workpiece taking device, compared with the scheme depending on a complex robot wrist, the structure is simpler, the rigidity is better, damage caused by workpiece falling is avoided, and the product quality is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of injection molding technology, and more specifically to a material handling device and method for injection molded parts. Background Technology

[0002] In the production and processing of injection molded parts, it is usually necessary to transfer the parts produced by the injection molding machine from the loading station to the downstream station (such as a conveyor belt or packaging line). Currently, some small and medium-sized enterprises still rely on manual labor for material handling, orientation adjustment, and placement. This method has obvious drawbacks: First, manual operation is inefficient, and it is difficult to increase the work cycle; second, long hours of repetitive labor can easily lead to operator fatigue, resulting in misplacement, omission, or safety accidents, and poor product consistency; finally, labor costs are rising year by year, placing a heavy economic burden on enterprises.

[0003] When injection molded parts have complex shapes or require precise handling, issues such as inaccurate picking and placing, and inconsistent picking directions can easily occur, affecting the seamless transition between subsequent processes. A common solution is to use a single robotic arm or gantry crane to handle all material handling actions. However, a single robotic arm has low automation efficiency. It needs to perform a complete cycle of picking up materials from the waiting point, moving them to the downstream conveyor belt for placement, and finally returning to the waiting point. Each work cycle is very long. While the robotic arm is performing placement and return actions, the upstream feeding equipment, even if it has prepared the next workpiece, must wait, limiting the overall line efficiency to the single-machine cycle.

[0004] Furthermore, most of the existing automated devices mentioned above use fixed timing or open-loop control. At the waiting point of the loading station, if the vibratory feeder does not arrive in time, resulting in the workpiece not yet being in place, but the robotic arm that grabs the material still arrives according to the fixed timing, a blank grab will occur, causing subsequent workstation B to be affected. Summary of the Invention

[0005] In order to overcome the technical defects of low automation efficiency and inflexible posture adjustment in the prior art, the present invention provides a material handling device and method for injection molded parts.

[0006] To solve the above problems, the present invention is implemented according to the following technical solution:

[0007] The first aspect of the present invention provides a material handling device for injection molded parts, comprising:

[0008] Base;

[0009] A conveying mechanism, which is fixed on the base, includes a circular vibrating plate and a straight vibrating plate, with the discharge port of the circular vibrating plate connected to the straight vibrating plate.

[0010] A positioning mechanism is fixed to the end of the direct vibratory feeder, and the positioning mechanism is used to position the injection molded part;

[0011] A transfer mechanism is mounted on the base. The transfer mechanism includes a horizontal shaft and a lifting shaft. The horizontal shaft is slidably connected to the lifting shaft. The lower end of the lifting shaft is provided with a gripping component. The gripping component of the transfer mechanism is used to pick up the injection molded part on the positioning mechanism.

[0012] A reversing mechanism, which is fixed to the base and located below the transfer mechanism;

[0013] A conveying device, which is fixed to the base;

[0014] A picking device is disposed between the reversing mechanism and the conveying device;

[0015] The sensing module includes a first sensing module and a second sensing module; the first sensing module is disposed on the positioning mechanism and is used to detect the positioning status of the injection molded part on the positioning mechanism; the second sensing module is disposed on the reversing mechanism and is used to detect the reversing status of the reversing mechanism.

[0016] The transfer mechanism is used to transfer the injection molded part from the positioning mechanism to the carrier plate of the reversing mechanism; the reversing mechanism is used to reverse the carrier plate by a predetermined angle; the picking device is used to pick up the reversed injection molded part from the carrier plate of the reversing mechanism and place it on the conveying device.

[0017] According to a first aspect of the present invention, a first specific embodiment of the first aspect is provided, wherein the reversing mechanism further includes:

[0018] A sliding assembly, which is fixed to the base, includes a slide rail and a cable chain;

[0019] A support base, which is slidably mounted on the slide rail and connected to the cable chain;

[0020] A rotating shaft, which is rotatably mounted on the support base;

[0021] A support plate, connected to the rotating shaft, is used to support the injection molded part;

[0022] A driving component, which connects the support base and the bearing plate, is used to drive the bearing plate to rotate around the rotation axis.

[0023] According to a first aspect of the present invention, a second specific embodiment of the first aspect is provided, wherein the support plate includes a first support plate and a second support plate;

[0024] The first bearing plate and the second bearing plate are connected by bolts;

[0025] The second support plate is used to support the injection molded part;

[0026] The first and second carrier plates are provided with a detection section adapted to the second sensing module.

[0027] According to a first aspect of the present invention, a third specific embodiment of the first aspect is provided, wherein the positioning mechanism is a positioning block disposed at the end of the straight vibrating disk, the first sensing module is disposed on the positioning block, and the positioning block is provided with a special-shaped groove for orienting the injection molded part.

[0028] According to a first aspect of the present invention, a fourth specific embodiment of the first aspect is provided, wherein the part-retrieving device includes a multi-axis motion module and a suction component disposed on the multi-axis motion module, the suction component being a vacuum suction cup, and the multi-axis motion module moving the injection molded part on the reversing mechanism to the conveying device.

[0029] According to a first aspect of the present invention, a fifth embodiment of the first aspect is provided, wherein the conveying device includes a conveyor belt and a receiving frame, the conveying device is disposed below the part taking device, the receiving frame is disposed at the end of the conveyor belt, and the conveying device is used to convey the injection molded part to the receiving frame.

[0030] According to a first aspect of the present invention, a sixth embodiment of the first aspect is provided, further comprising:

[0031] An outer frame, wherein the base is installed inside the outer frame;

[0032] The part-retrieving device is mounted on the outer frame.

[0033] According to a first aspect of the present invention, a seventh embodiment of the first aspect is provided, further comprising:

[0034] A control module is provided, which is connected to the conveying mechanism, the transfer mechanism, the positioning mechanism, the reversing mechanism, and the suction device.

[0035] The second aspect of the present invention provides a material handling method, which is applied to the material handling device for injection molded parts described in the first aspect, the material handling device including a conveying mechanism, a positioning mechanism, a transfer mechanism, a reversing mechanism, a part handling device, a conveying device, and a sensing module;

[0036] The following material handling method is executed according to the control module:

[0037] S1 Conveying Step: The injection molded part is conveyed through the conveying mechanism;

[0038] S2 Positioning Step: Position the injection molded part using the positioning mechanism;

[0039] S3 First sensing step: Detect the positioning status of the injection molded part through the first sensing module;

[0040] S4 Transfer Step: The injection molded part is transferred from the positioning mechanism to the bearing plate of the reversing mechanism through the transfer mechanism;

[0041] S5 Reversal Step: The bearing plate is reversed by a predetermined angle using the reversal mechanism;

[0042] S6 Second sensing step: Detect the reversing state of the reversing mechanism through the second sensing module;

[0043] S7 Part Retrieval Step: The part retrieval device picks up the reversed injection molded part from the support plate;

[0044] S8 Placement Step: The injection molded part is placed on the conveying device using the part-picking device.

[0045] According to a second aspect of the present invention, the present invention provides a first specific embodiment of the second aspect, wherein the transfer step is triggered after the first sensing step detects that the injection molded part is in place;

[0046] The item retrieval step is triggered after the second sensing step detects that the reversing mechanism has reversed to a vertical state.

[0047] In step S4, the transfer step specifically includes:

[0048] The lifting shaft of the transfer mechanism descends above the positioning mechanism to grasp the injection molded part;

[0049] The lifting shaft of the transfer mechanism rises and moves horizontally along the transverse shaft to above the reversing mechanism;

[0050] The lifting shaft of the transfer mechanism descends, placing the injection molded part onto the reversing mechanism.

[0051] Compared with existing technologies, the advantages of this invention are as follows: By setting up a transfer mechanism and a picking device, this invention decomposes the material handling process into a "transfer-reverse-picking" operation. This layout decouples the actions of the transfer mechanism (responsible for the first stage) and the picking device (responsible for the second stage), allowing the transfer mechanism to immediately return to the positioning mechanism to pick up a new injection molded part after placing it on the reversing mechanism, without waiting for the picking device to complete the subsequent placement and return actions. After the transfer mechanism completes loading, it can immediately reset for the next picking, without waiting for subsequent flipping and unloading actions, thus improving the overall production efficiency of the machine. This invention, through the reversing mechanism and the picking device, can stably complete the conversion of the injection molded part from a horizontal loading posture to a vertical unloading posture. This dedicated reversing structure, compared to solutions relying on complex robot wrists, is simpler and more rigid, and avoids damage caused by workpiece drops, ensuring product quality. This invention also solves the connection problem caused by fixed timing control in existing technologies by setting up a sensing module. The first sensing module ensures that the transfer mechanism only grabs the injection molded part after it has actually reached its position, avoiding empty grabbing; the second sensing module ensures that the picking device only picks up the part after the reversing mechanism has actually reversed into position, avoiding impact. Attached Figure Description

[0052] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein:

[0053] Figure 1 This is a perspective view of the material handling device of the present invention;

[0054] Figure 2 This is a perspective view of the material handling device of the present invention;

[0055] Figure 3 This is a perspective view of the reversing mechanism of the present invention;

[0056] Figure 4 This is a perspective view of the transfer mechanism of the present invention;

[0057] Figure 5 This is a perspective view of the part-retrieving device of the present invention;

[0058] Figure 6 This is a three-dimensional schematic diagram of the material handling device of the present invention;

[0059] In the picture:

[0060] 10-Base, 11-Outer frame;

[0061] 20 - Conveying mechanism; 21 - Circular vibratory plate; 22 - Straight vibratory plate;

[0062] 30 - Positioning mechanism; 31 - Positioning stop; 32 - Irregular groove;

[0063] 40 - Transfer mechanism, 41 - Horizontal axis, 42 - Lifting axis, 43 - Gripping assembly;

[0064] 50-Reversing mechanism, 51-Support base, 52-Rotating shaft, 53-Carrier plate, 531-First carrier plate, 532-Second carrier plate, 533-Detection unit, 54-Drive component, 55-Sliding assembly, 551-Slide rail, 552-Drag chain;

[0065] 60 - Picking device; 61 - Multi-axis motion module; 62 - Picking assembly;

[0066] 70 - Conveying device; 71 - Conveyor belt; 72 - Receiving box;

[0067] 80 - Sensing module, 81 - First sensing module, 82 - Second sensing module. Detailed Implementation

[0068] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0069] Example 1

[0070] like Figures 1-6 As shown,

[0071] The first aspect of the present invention provides a material handling device for injection molded parts, comprising:

[0072] Base 10;

[0073] The conveying mechanism 20 is fixed on the base 10. The conveying mechanism 20 includes a circular vibrating plate 21 and a straight vibrating plate 22. The discharge port of the circular vibrating plate 21 is connected to the straight vibrating plate 22.

[0074] Positioning mechanism 30 is fixed to the end of the straight vibrating plate 22 and is used to position the injection molded part;

[0075] The transfer mechanism 40 is mounted on the base 10. The transfer mechanism 40 includes a horizontal shaft 41 and a lifting shaft 42. The horizontal shaft 41 is slidably connected to the lifting shaft. The lower end of the lifting shaft 42 is provided with a gripping component 43. The gripping component 43 of the transfer mechanism 40 is used to pick up the injection molded part on the positioning mechanism 30.

[0076] The reversing mechanism 50 is fixed on the base 10 and located below the transfer mechanism 40;

[0077] Conveying device 70, which is fixed to base 10;

[0078] The item picking device 60 is located between the reversing mechanism 50 and the conveying device 70.

[0079] The sensing module 80 includes a first sensing module 81 and a second sensing module 82. The first sensing module 81 is disposed on the positioning mechanism 30 and is used to detect the positioning status of the injection molded part on the positioning mechanism 30. The second sensing module 82 is disposed on the reversing mechanism 50 and is used to detect the reversing status of the reversing mechanism 50.

[0080] The transfer mechanism 40 is used to transfer the injection molded part from the positioning mechanism 30 to the carrier plate 53 of the reversing mechanism 50; the reversing mechanism 50 is used to reverse the carrier plate 53 by a predetermined angle; the picking device 60 is used to pick up the reversed injection molded part from the carrier plate 53 of the reversing mechanism 50 and place it on the conveying device 70.

[0081] The first aspect of this invention provides a material handling device for injection-molded parts. See also... Figure 1 The material handling device in this embodiment includes a base 10, and a conveying mechanism 20, a transfer mechanism 40, a reversing mechanism 50 and a conveying device 70 fixed or installed on the base 10.

[0082] Specifically, the conveying mechanism 20 is fixed to the base 10 and is used to sort and feed disordered injection molded parts. In this embodiment, the conveying mechanism 20 preferably includes a circular vibratory feeder 21 and a straight vibratory feeder 22. The circular vibratory feeder 21 is used for preliminary sorting and conveying of bulk injection molded parts, and its outlet is connected to the straight vibratory feeder 22, which is used to stably convey the injection molded parts to a predetermined gripping position.

[0083] The positioning mechanism 30 is fixed to the end of the linear vibratory feeder 22. When the injection molded part is conveyed to the end along the linear vibratory feeder 22, the positioning mechanism 30 is used to accurately position the injection molded part to ensure that it is in the correct gripping posture. Preferably, the positioning mechanism 30 can be a positioning block 31 provided at the end of the linear vibratory feeder 22, and the positioning block 31 can be provided with a special groove 32 for orienting the injection molded part.

[0084] The transfer mechanism 40 is mounted on the base 10 and is used to perform the first stage of gripping and transferring actions. The transfer mechanism 40 includes a horizontal shaft 41 and a lifting shaft 42, with the horizontal shaft 41 and the lifting shaft 42 slidably connected (e.g., the slider of the lifting shaft 42 is mounted on the guide rail of the horizontal shaft 41). The lower end of the lifting shaft 42 is provided with a gripping component 43, which is used to pick up the injection molded part from the positioning mechanism 30. In a preferred embodiment, the gripping component 43 is a vacuum suction cup or a pneumatic gripper.

[0085] The reversing mechanism 50 is fixed to the base 10 and located below the transfer mechanism 40, specifically within the operating range of the transfer mechanism 40. The reversing mechanism 50 is used to receive the injection molded part delivered by the transfer mechanism 40 and flip it by a predetermined angle, specifically 90 degrees in this embodiment.

[0086] See Figure 3 In a preferred embodiment, the reversing mechanism 50 further includes: a support base 51 fixed to the base 10; a rotating shaft 52 rotatably mounted on the support base 51; a carrier plate 53 connected to the rotating shaft 52; and a drive element 54 (e.g., a cylinder or servo motor) connecting the support base 51 and the carrier plate 53 (or a rocker arm connected to the rotating shaft 52), the drive element 54 being used to drive the carrier plate 53 to rotate around the rotating shaft 52.

[0087] Furthermore, the support plate 53 may include a first support plate 531 and a second support plate 532, which are connected by bolts. The second support plate 532 is used to directly support the injection molded part.

[0088] The conveying device 70 is fixed on the base 10 and is used to transport the processed injection molded parts to the downstream station.

[0089] The picking device 60 is located between the reversing mechanism 50 and the conveying device 70. Preferably, the picking device 60 may include a multi-axis motion module 61 and a suction assembly 62 (such as a vacuum suction cup) located at its end.

[0090] The material handling device in this embodiment also includes a sensing module 80, which is key to realizing automated closed-loop control. The sensing module 80 includes a first sensing module 81 and a second sensing module 82.

[0091] The first sensing module 81, optionally a photoelectric sensor or a fiber optic sensor, is disposed on the positioning mechanism 30 and on the positioning stop 31. The first sensing module 81 is used to detect the positioning status of the injection molded part on the positioning mechanism 30.

[0092] The second sensing module 82, optionally a photoelectric sensor or a fiber optic sensor, is disposed on the reversing mechanism 50. The second sensing module 82 is used to detect the reversing state of the reversing mechanism 50, i.e., whether it has been reversed to the vertical position. Specifically, a detection part 533 adapted to the second sensing module 82 can be provided between the first support plate 531 and the second support plate 53 of the support plate 53. When the reversing mechanism 50 is activated, the detection part 533 moves accordingly. When it is sensed by the second sensing module 82, it indicates that the reversal has been completed.

[0093] The material handling device in this embodiment also includes:

[0094] The control module is electrically connected to all the aforementioned mechanisms and the sensing module 80.

[0095] The workflow of this embodiment is as follows: the conveying mechanism 20 operates, the circular vibratory plate 21 sorts the injection molded parts and then sends them to the positioning mechanism 30 via the straight vibratory plate 22 to wait.

[0096] The first sensing module 81 detects that the injection molded part on the positioning mechanism 30 has been in place and sends a position signal to the control module.

[0097] After receiving the signal, the control module controls the transfer mechanism 40 to operate: its lifting shaft 42 descends, and the gripping component 43 picks up the injection molded part; the lifting shaft 42 rises, and the horizontal shaft 41 moves to above the carrier plate 53 of the reversing mechanism 50; the lifting shaft 42 descends again, placing the injection molded part on the carrier plate 53.

[0098] At this point, the transfer mechanism 40 can return to the positioning mechanism 30 to prepare to grab the next workpiece without waiting for subsequent steps, thus realizing parallel operation.

[0099] Before or simultaneously with the start of the reversing action, the control module can control the support base 51 to slide along the slide rail 551, moving the reversing mechanism 50 to the flipping station or the avoidance station.

[0100] The control module controls the drive component 54 of the reversing mechanism 50 to reverse the bearing plate 53 by a predetermined angle (e.g., 90 degrees).

[0101] The second sensing module 82 detects that the carrier plate 53 has been reversed into position and sends a reversed position signal to the control module.

[0102] After receiving the signal, the control module controls the part-picking device 60 to move: the part-picking device 60 moves above the reversing mechanism 50, and its suction component 62 picks up the injection molded part after reversal.

[0103] The picking device 60 then moves above the conveying device 70 and places the injection molded part on the conveying device 70.

[0104] The conveyor 70 is started to transport the injection molded part to the downstream process (such as the receiving box 72).

[0105] According to a first aspect of the present invention, the present invention provides a first specific embodiment of the first aspect, wherein the reversing mechanism 50 further includes:

[0106] The sliding assembly 55 is fixed on the base 10 and includes a slide rail 551 and a drag chain 552.

[0107] Support base 51 is slidably mounted on slide rail 551 and connected to drag chain 552;

[0108] A rotating shaft 52 is rotatably mounted on a support base 51;

[0109] The support plate 53 is connected to the rotating shaft 52 and is used to support the injection molded part;

[0110] A drive unit 54 connects the support base 51 and the carrier plate 53, and is used to drive the carrier plate 53 to rotate around the rotation axis 52. The support base 51 is configured to slide along the slide rail 551 to drive the carrier plate 53 to adjust its position between the transfer mechanism 40 and the picking device 60.

[0111] like Figure 3 As shown, this embodiment further defines the specific structure of the reversing mechanism 50. The reversing mechanism 50 is mainly used to receive the injection molded part delivered by the transfer mechanism 40 and flip it from a first posture (such as a horizontal posture) to a second posture (such as a vertical posture) so that the subsequent picking device 60 can grasp it.

[0112] Specifically, the reversing mechanism 50 includes:

[0113] Sliding assembly 55 includes a linear slide rail 551 fixedly mounted on the base 10. The slide rail 551 extends in the front-to-back direction. The sliding assembly 55 also includes a cable chain 552, one end of which is fixed to the base 10 and the other end is connected to a movable support 51 for storing and protecting the cable connected to the drive unit 54 or the sensing module, so that it follows the movement of the support 51 as it slides.

[0114] Support base 51: The support base 51 serves as the movable base of the reversing mechanism 50. Its bottom is equipped with a slider that cooperates with the slide rail 551, thus allowing it to slide on the slide rail 551. Under the drive of the drive source, the support base 51 can drive the entire reversing mechanism 50 to slide back and forth along the slide rail 551.

[0115] Rotating shaft 52: The rotating shaft 52 is rotatably mounted on the support base 51. In this embodiment, the support base 51 is provided with bearing holes or bearing seats, and both ends of the rotating shaft 52 are supported on the support base 51 by bearings, thereby forming a horizontal rotation center line.

[0116] Support plate 53: The support plate 53 is fixedly connected to the rotating shaft 52. Specifically, one end or bottom of the support plate 53 is provided with a bushing or connecting block, which is locked to the rotating shaft 52 by a key connection or set screw. The support plate 53 is used to directly support the injection molded part, and its surface shape is preferably adapted to the placement surface of the injection molded part to ensure that the injection molded part will not slip during the flipping process.

[0117] Drive component 54: Drive component 54 is connected between support base 51 and bearing plate 53 to provide tilting power. In this preferred embodiment, drive component 54 is a telescopic cylinder. The tail end of the cylinder body is hinged to support base 51 (or base 10), and the end of the piston rod of the cylinder is hinged to an eccentric position (i.e., a position off-center from the center of rotation axis 52) of bearing plate 53.

[0118] Working Principle: In addition to performing the aforementioned flipping and resetting actions, the reversing mechanism 50 of this embodiment also has a position adjustment function. Sliding Adjustment Action: When the transfer mechanism 40 lowers the injection molded part, the support base 51 slides to the receiving position; when flipping or the picking device 60 needs to grab it, the support base 51 can slide to the optimal working position. This sliding design increases the system's spatial layout flexibility and can be used to avoid interference from other moving parts.

[0119] Flipping action: The piston rod of the drive member 54 extends (or retracts), pushing the hinge point of the support plate 53 to move. Since the support plate 53 is restricted to rotating only around the rotation axis 52, the linear thrust of the cylinder is converted into the rotational torque of the support plate 53 around the rotation axis 52, thereby driving the support plate 53 and the injection molded part on it to rotate by a predetermined angle.

[0120] Reset action: After the part is picked up, the drive component 54 moves in the opposite direction, causing the bearing plate 53 to rotate in the opposite direction to reset, waiting for the next bearing.

[0121] Through the above structure, this embodiment utilizes the linkage rocker principle (cylinder + rotating shaft) to achieve stable and rapid switching of the injection molded part's posture, resulting in a compact structure that is easy to control.

[0122] According to a first aspect of the present invention, a second specific embodiment of the first aspect is provided, wherein the support plate 53 includes a first support plate 531 and a second support plate 532;

[0123] The first bearing plate 531 and the second bearing plate 532 are connected by bolts;

[0124] The second support plate 532 is used to support the injection molded part;

[0125] Among them, a detection part 533 adapted to the second sensing module 82 is provided between the first support plate 531 and the second support plate 532.

[0126] Specifically, the support plate 53 adopts a split structure, including a first support plate 531 (main connecting plate) and a second support plate 532 (workpiece fixture plate).

[0127] First bearing plate 531: As a basic connecting member, one end of which is fixed to the rotating shaft 52, and is used to receive the rotational torque from the driving member 54.

[0128] Second bearing plate 532: As a fixture that directly contacts the injection molded part, its surface shape is customized according to the specific contour of the injection molded part to ensure that the injection molded part fits firmly when under load.

[0129] Connection method: The first support plate 531 and the second support plate 532 are detachably connected by bolts. This split design allows for the production of different types of injection molded parts, requiring only the replacement of the compatible second support plate 532 without disassembling the entire reversing mechanism 50, thus improving the equipment's versatility and changeover efficiency.

[0130] In addition, a detection unit 533 is provided between the first support plate 531 and the second support plate 532 (or at the connection between the two), and its position is adapted to the second sensing module 82 provided on the reversing mechanism 50.

[0131] Working principle: When the driving component 54 drives the carrier plate 53 to rotate to a predetermined angle (vertical state), the detection unit 533 moves accordingly and enters the detection area of ​​the second sensing module 82 (for example, blocking the light path or triggering the inductor), thereby triggering the second sensing module 82 to send a reverse positioning signal, notifying the control module that the next part picking action can be performed.

[0132] According to a first aspect of the present invention, a third specific embodiment of the first aspect is provided, wherein the positioning mechanism 30 is a positioning block 31 disposed at the end of the straight vibrating plate 22, the first sensing module 81 is disposed on the positioning block 31, and the positioning block 31 is provided with a special groove 32 for orienting the injection molded part.

[0133] like Figure 4 As shown, the positioning mechanism 30 is specifically a positioning block 31 located at the discharge end of the linear vibratory feeder 22. The positioning block 31 is fixedly installed to block the injection molded part conveyed by the linear vibratory feeder 22, causing it to stop moving at a predetermined position so that it can be grasped by the transfer mechanism 40.

[0134] To ensure that the injection molded part is gripped in the correct posture, the positioning block 31 is provided with a special groove 32.

[0135] The shape of the irregular groove 32 matches the specific end contour (positioning boss, snap-fit ​​position, etc.) of the injection molded part.

[0136] Orientation principle: Only when the injection molded part arrives at its end in the correct posture can its end smoothly engage or fit into the groove 32; if the posture is incorrect, the injection molded part will be blocked by the groove 32 or will not fit. This serves to regulate the posture.

[0137] The first sensing module 81 is directly mounted on the positioning block 31.

[0138] Detection principle: The detection end of the first sensing module 81 is located inside or on the side of the irregular groove 32. When the injection molded part is inserted into the irregular groove 32, the injection molded part triggers the first sensing module 81. At this time, the first sensing module 81 sends a workpiece positioning signal.

[0139] According to a first aspect of the present invention, a fourth specific embodiment of the first aspect is provided, wherein the part-retrieving device 60 includes a multi-axis motion module 61 and a suction component 62 disposed on the multi-axis motion module 61, the suction component 62 being a vacuum suction cup, and the multi-axis motion module 61 moves the injection molded part on the reversing mechanism 50 to the conveying device 70.

[0140] Specifically, the retrieval device 60 includes:

[0141] Multi-axis motion module 61: The multi-axis motion module 61 is suspended and mounted on the outer frame 11. In order to realize the spatial displacement of the injection molded part, the multi-axis motion module 61 preferably includes a horizontal movement component and a vertical lifting component.

[0142] Horizontal movement components, such as electric slides or rodless cylinders, are used to drive the suction assembly 62 to reciprocate horizontally between above the reversing mechanism 50 and above the conveying device 70.

[0143] Vertical lifting component: such as a pneumatic finger cylinder or a precision electric cylinder, installed on the moving end of the horizontal moving component, used to drive the suction component 62 to perform descending grasping and ascending avoidance actions.

[0144] Suction component 62: The suction component 62 is located at the output end of the multi-axis motion module 61 (specifically, the vertical lifting component). In this embodiment, the suction component 62 is preferably a vacuum suction cup.

[0145] The vacuum suction cup is connected to an external vacuum generator or vacuum pump via an air tube.

[0146] Preferably, the connecting rod of the vacuum suction cup is also provided with a buffer spring, which provides flexible buffering when the suction cup contacts the surface of the injection molded part, preventing rigid impact from damaging the surface of the injection molded part or damaging the suction cup.

[0147] Working procedure: After the reversing mechanism 50 completes the flipping action (i.e., the support plate 53 is at the predetermined vertical angle) and the second sensing module 82 sends a positioning signal, the picking device 60 operates according to the following steps:

[0148] Positioning: The horizontal moving component of the multi-axis motion module 61 drives the suction component 62 to move to the opposite side (or directly above) of the carrier plate 53 of the reversing mechanism 50.

[0149] Extend / Descend: The vertical lifting assembly moves to bring the vacuum suction cup into contact with the surface of the injection molded part;

[0150] Suction: The vacuum system is activated, and the vacuum suction cups grip the injection molded part.

[0151] Transfer: The vertical lifting assembly resets (retracts), and then the horizontal moving assembly brings the injection molded part above the conveyor 70;

[0152] Placement: The vertical lifting assembly operates again, sending the injection molded part to the surface of the conveyor belt 71, breaking the vacuum, releasing the injection molded part, and completing the material handling process.

[0153] Through the multi-axis linkage and vacuum adsorption method described above, this embodiment can adapt to the non-destructive gripping of injection molded parts of different shapes and efficiently complete the material flow between workstations.

[0154] According to a first aspect of the present invention, a fifth embodiment of the first aspect is provided, wherein the conveying device 70 includes a conveyor belt 71 and a receiving frame 72, the conveying device 70 is disposed below the part taking device 60, the receiving frame 72 is disposed at the end of the conveyor belt 71, and the conveying device 70 is used to convey the injection molded part to the receiving frame 72.

[0155] The conveying device 70 is mainly responsible for transporting the injection molded parts placed by the picking device 60 to the collection area to realize the automatic collection of finished products.

[0156] Specifically, the conveying device 70 includes:

[0157] Conveyor 71: In this embodiment, the conveyor 71 may be a belt conveyor or a chain conveyor, and is horizontally arranged below the picking device 60 (specifically located below the release station of the picking device 60).

[0158] The conveyor belt 71 consists of a drive roller, a driven roller, and a conveyor belt wound around it, and is driven by a motor.

[0159] Preferably, the surface of the conveyor belt is made of PU (polyurethane) or PVC to provide a non-slip and flexible contact surface, preventing the injection molded parts from being scratched during unloading or conveying.

[0160] Receiving frame 72: The receiving frame 72 is located at the end of the conveyor belt 71.

[0161] When the conveyor belt 71 is in operation, the injection molded parts located on the belt move to the end of the belt and naturally fall into the receiving box 72.

[0162] The combination of placement by the part pick-up device 60, conveying by the conveyor belt 71, and collection by the receiving box 72 enables fully automated flow of injection molded parts from processing to packaging.

[0163] According to a first aspect of the present invention, a sixth embodiment of the first aspect is provided, further comprising:

[0164] The outer frame 11 and the base 10 are installed inside the outer frame 11;

[0165] The picking device 60 is mounted on the outer frame 11.

[0166] like Figure 6 As shown, the material handling device in this embodiment also includes an outer frame 11.

[0167] The outer frame 11 is typically welded from aluminum profiles or square steel to form a rectangular three-dimensional frame structure.

[0168] The base 10 (and the conveying mechanism 20, transfer mechanism 40, reversing mechanism 50, etc. installed on it) is horizontally installed at the bottom of the inner side of the outer frame 11, and the outer frame 11 provides overall structural support and protection.

[0169] Specifically, the picking device 60 (especially the fixed end of its multi-axis motion module 61) is suspended and fixed to the top crossbeam or side column of the outer frame 11 by a connecting plate, so that it is suspended above the reversing mechanism 50 and the conveying device 70.

[0170] Beneficial effects: The top-mounted or side-mounted installation method effectively utilizes vertical space and avoids the base 10 of the picking device 60 occupying the space of the equipment table below, making the conveying and reversing layout on the base 10 more compact; at the same time, the hanging installation also facilitates the picking device 60 to flexibly perform cross-station transfer actions from above.

[0171] According to a first aspect of the present invention, a seventh embodiment of the first aspect is provided, further comprising:

[0172] The control module is connected to the conveying mechanism, transfer mechanism, positioning mechanism, reversing mechanism, and suction device.

[0173] Example 2

[0174] The second aspect of the present invention provides a material handling method, which is applied to a material handling device for injection molded parts according to the first aspect. The material handling device includes a conveying mechanism, a positioning mechanism, a transfer mechanism, a reversing mechanism, a part handling device, a conveying device, and a sensing module.

[0175] The material handling method includes the following steps:

[0176] S1 Conveying Step: The injection molded part is conveyed through the conveying mechanism;

[0177] S2 Positioning Step: Position the injection molded part using a positioning mechanism;

[0178] S3 First Sensing Step: Detect the positioning status of the injection molded part through the first sensing module;

[0179] S4 Transfer Step: The injection molded part is transferred from the positioning mechanism to the carrier plate of the reversing mechanism through the transfer mechanism;

[0180] S5 Reversal Step: The bearing plate is reversed by a predetermined angle using the reversal mechanism;

[0181] S6 Second sensing step: Detect the reversing state of the reversing mechanism through the second sensing module;

[0182] S7 part retrieval procedure: The part retrieval device picks up the reversed injection molded part from the carrier plate;

[0183] S8 Placement Step: Place the injection molded part onto the conveyor using the part-picking device.

[0184] In this embodiment, specifically:

[0185] S1 Conveying Steps: Start the conveying mechanism; the circular vibratory feeder begins operation, initially straightening the scattered injection molded parts and feeding them into the linear vibratory feeder. Under the vibration conveying of the linear vibratory feeder, the injection molded parts move sequentially towards the end along the straight track.

[0186] S2 Positioning Step: The injection molded part is conveyed to the end of the linear vibratory feeder and blocked by the positioning mechanism (positioning block) located at the end. At this time, the end of the injection molded part is embedded in the irregular groove of the positioning block, thereby achieving positioning in the X, Y, and Z directions and establishing the gripping posture.

[0187] S3 First Sensing Step: The first sensing module, located on the positioning block, monitors the status within the irregular groove in real time. When the injection molded part is correctly positioned and triggers the first sensing module, the first sensing module sends a workpiece positioning signal to the control module.

[0188] S4 Transfer Steps: After receiving the workpiece arrival signal, the control module issues a command to trigger the transfer mechanism to move.

[0189] The specific process is as follows: the lifting shaft of the transfer mechanism descends, and the pneumatic gripper at the bottom closes to grab the injection molded part; the lifting shaft rises, and the horizontal shaft drives the lifting shaft to move horizontally above the reversing mechanism; the lifting shaft descends again, the pneumatic gripper opens, and the injection molded part is placed on the carrier plate (specifically the second carrier plate) of the reversing mechanism.

[0190] Note: After placement is completed, the transfer mechanism immediately resets above the positioning mechanism, waiting for the next round of grasping, thus achieving parallel operation.

[0191] S5 Reversal Step: After the injection molded part is placed on the carrier plate (or after the transfer mechanism leaves the interference zone), the control module controls the drive component of the reversal mechanism to move. The drive component pushes the carrier plate to rotate around the rotation axis, flipping the horizontally placed injection molded part by a predetermined angle so that it is in a vertical state.

[0192] S6 Second Sensing Step: The second sensing module, located on the reversing mechanism, monitors the angle of the carrier plate in real time. When the carrier plate flips to a predetermined angle, the detection unit on the carrier plate triggers the second sensing module, which then sends a reversal positioning signal to the control module.

[0193] S7 Pickup Procedure: After receiving the reverse positioning signal, the control module issues a command to trigger the pickup device to operate.

[0194] The specific process is as follows: the multi-axis motion module of the part-retrieving device moves to the opposite side of the reversing mechanism; the suction component extends and fits against the surface of the injection molded part; the vacuum system is turned on, and the suction component clamps the injection molded part; then the suction component retracts to complete the part-retrieving process.

[0195] S8 Placement Step: The pick-up device carries the injection molded part to above the conveyor device. The pick-up assembly extends again or operates directly, the vacuum system shuts off, and the injection molded part is released and placed on the conveyor belt of the conveyor device. The conveyor belt transports the injection molded part to the receiving box at the end, completing a single pick-up cycle.

[0196] Through the cyclic execution of S1 to S8 described above, this embodiment achieves efficient, stable, and automated material handling operations with closed-loop detection functionality.

[0197] According to a second aspect of the present invention, the present invention provides a first specific embodiment of the second aspect, wherein the transfer step is triggered after the first sensing step detects that the injection molded part is in place;

[0198] The item retrieval step is triggered after the second sensing step detects that the reversing mechanism has reversed to a vertical state.

[0199] In step S4, the transfer step specifically includes:

[0200] The lifting shaft of the transfer mechanism descends above the positioning mechanism to grab the injection molded part;

[0201] The lifting shaft of the transfer mechanism rises and moves horizontally along the transverse shaft to above the reversing mechanism;

[0202] The lifting shaft of the transfer mechanism descends, placing the injection molded part onto the reversing mechanism.

[0203] This embodiment uses sensor-driven control logic, rather than simple time-driven logic:

[0204] Triggering mechanism of the transfer step: The transfer step S4 is not automatically executed after a fixed delay after the start of the conveying step, but is strictly triggered after the first sensing step S3 detects that the injection molded part is in place.

[0205] That is, the control system monitors the signal level of the first sensing module in real time; only when the first sensing module confirms that the injection molded part has been correctly embedded in the irregular groove of the positioning mechanism will the control system send a start command to the transfer mechanism.

[0206] Beneficial effects: This logic effectively prevents empty gripping caused by feeding jams or delays, protecting the pneumatic grippers and molds.

[0207] Triggering mechanism for the item retrieval step: Similarly, the item retrieval step S7 is also triggered after the second sensing step S6 detects that the reversing mechanism has reversed to a vertical state.

[0208] That is, the control system must wait for the second sensing module to confirm that the carrier plate has been completely rotated 90 degrees and has come to a stable stop before allowing the picking device to enter the area above the reversing mechanism.

[0209] Beneficial effects: It effectively prevents the picking device from intervening before the reversing mechanism is in place or while it is in motion, thereby avoiding collision accidents between the robotic arm and the flipping fixture.

[0210] Furthermore, in step S4, the transfer mechanism executes a standard portal-shaped motion trajectory, specifically including the following sub-steps:

[0211] Descent gripping: After confirming that the positioning is in place, the lifting shaft of the transfer mechanism drives the gripping component (pneumatic gripper) to move downward in the vertical direction until it reaches the predetermined gripping height directly above the positioning mechanism. Then the pneumatic gripper closes and clamps the injection molded part.

[0212] Lifting and translating: After clamping the injection molded part, the lifting shaft retracts upward to a safe height (to avoid interference below); then, the transverse shaft drives the lifting shaft (and the injection molded part it grips) to move rapidly in the horizontal direction until it reaches directly above the carrier plate of the reversing mechanism.

[0213] Lowering and placing: The lifting shaft extends downwards again, accurately sending the injection molded part into the second carrier plate of the reversing mechanism; then the pneumatic gripper opens to release the injection molded part, the lifting shaft retracts, and the transfer process is completed.

[0214] Through the precise timing control and motion planning described above, this embodiment ensures stable handover of injection molded parts during high-speed transfer.

[0215] In summary, this invention provides a material handling device and method for injection molded parts. Through the relay-like coordination of a conveying mechanism, a positioning mechanism, a transfer mechanism, a reversing mechanism, a part-picking device, and a transmission device, a fully automated process for injection molded parts is achieved, from material loading, positioning, transfer, reversing, part picking, to transmission. In particular, by incorporating sliding components (slide rails and cable chains) on the reversing mechanism, this invention allows the reversing mechanism to adjust its position or avoid obstacles as needed, greatly improving the flexibility of the system layout and its adaptability to different working conditions. Simultaneously, the inclusion of a first sensing module and a second sensing module enables closed-loop detection and trigger control between each process, effectively avoiding empty gripping and impact phenomena, and improving the efficiency and reliability of automated operations.

[0216] The working principle of the material handling device for injection molded parts described in this invention is as follows: After the system is started, the conveying mechanism transports the injection molded part to the positioning mechanism for mechanical positioning. After the first sensing module detects that the injection molded part is in place, it sends a signal to the control module, triggering the transfer mechanism to start. The transfer mechanism performs a "descend-grab-rise-translate-descend" action, transferring the injection molded part from the positioning mechanism to the carrier plate of the reversing mechanism, and then quickly resets for the next round of grabbing, achieving parallel operation. During this process, if it is necessary to adjust the receiving position or avoid other components, the control module controls the support seat of the reversing mechanism to slide along the slide rail of the sliding component to a predetermined position. When the injection molded part is placed in place, the drive component of the reversing mechanism drives the carrier plate to rotate by a predetermined angle, completing the orientation flip of the injection molded part. After the second sensing module detects that the flip is in place, it sends a signal to the control module, triggering the picking device to start. The multi-axis motion module of the picking device drives the suction component to move to the reversing mechanism to pick up the injection molded part and transfer it to the conveying device for release. Finally, the conveying device transports the injection molded part to the receiving frame, completing the entire picking cycle.

[0217] Other structures of the material handling device for injection molded parts described in this invention are available in the prior art.

[0218] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A material handling device for injection molded parts, characterized in that, include: Base; A conveying mechanism, which is fixed on the base, includes a circular vibrating plate and a straight vibrating plate, with the discharge port of the circular vibrating plate connected to the straight vibrating plate. A positioning mechanism is fixed to the end of the direct vibratory feeder, and the positioning mechanism is used to position the injection molded part; A transfer mechanism is mounted on the base. The transfer mechanism includes a horizontal shaft and a lifting shaft. The horizontal shaft is slidably connected to the lifting shaft. The lower end of the lifting shaft is provided with a gripping component. The gripping component of the transfer mechanism is used to pick up the injection molded part on the positioning mechanism. A reversing mechanism, which is fixed to the base and located below the transfer mechanism; A conveying device, which is fixed to the base; A picking device is disposed between the reversing mechanism and the conveying device; The sensing module includes a first sensing module and a second sensing module; the first sensing module is disposed on the positioning mechanism and is used to detect the positioning status of the injection molded part on the positioning mechanism; the second sensing module is disposed on the reversing mechanism and is used to detect the reversing status of the reversing mechanism. The transfer mechanism is used to transfer the injection molded part from the positioning mechanism to the carrier plate of the reversing mechanism; the reversing mechanism is used to reverse the carrier plate by a predetermined angle; the picking device is used to pick up the reversed injection molded part from the carrier plate of the reversing mechanism and place it on the conveying device.

2. The material handling device for injection molded parts according to claim 1, characterized in that, The reversing mechanism also includes: A sliding assembly, which is fixed to the base, includes a slide rail and a cable chain; A support base, which is slidably mounted on the slide rail and connected to the cable chain; A rotating shaft, which is rotatably mounted on the support base; A support plate, connected to the rotating shaft, is used to support the injection molded part; A driving component, which connects the support base and the bearing plate, is used to drive the bearing plate to rotate around the rotation axis.

3. A material handling device for injection molded parts according to claim 2, characterized in that: The support plate includes a first support plate and a second support plate; The first bearing plate and the second bearing plate are connected by bolts; The second support plate is used to support the injection molded part; The first and second carrier plates are provided with a detection section adapted to the second sensing module.

4. A material handling device for injection molded parts according to claim 1, characterized in that: The positioning mechanism is a positioning block located at the end of the straight vibrating plate. The first sensing module is located on the positioning block, and the positioning block is provided with a special-shaped groove for orienting the injection molded part.

5. A material handling device for injection molded parts according to claim 1, characterized in that: The part-retrieving device includes a multi-axis motion module and a suction component disposed on the multi-axis motion module. The suction component is a vacuum suction cup. The multi-axis motion module moves the injection molded part on the reversing mechanism to the conveying device.

6. A material handling device for injection molded parts according to claim 1 or 5, characterized in that: The conveying device includes a conveyor belt and a receiving frame. The conveying device is located below the part taking device, and the receiving frame is located at the end of the conveyor belt. The conveying device is used to convey the injection molded part to the receiving frame.

7. A material handling system for injection molded parts according to claim 1, characterized in that, Also includes: An outer frame, wherein the base is installed inside the outer frame; The part-retrieving device is mounted on the outer frame.

8. A material handling device for injection molded parts according to claim 1, characterized in that, Also includes: A control module is provided, which is connected to the conveying mechanism, the transfer mechanism, the positioning mechanism, the reversing mechanism, and the suction device.

9. A material handling method, wherein the material handling method is applied to the material handling device for injection molded parts as described in any one of claims 1-8, characterized in that, The material handling device includes a conveying mechanism, a positioning mechanism, a transfer mechanism, a reversing mechanism, a picking device, a conveying device, and a sensing module. The following material handling method is executed according to the control module: S1 Conveying Step: The injection molded part is conveyed through the conveying mechanism; S2 Positioning Step: Position the injection molded part using the positioning mechanism; S3 First sensing step: Detect the positioning status of the injection molded part through the first sensing module; S4 Transfer Step: The injection molded part is transferred from the positioning mechanism to the bearing plate of the reversing mechanism through the transfer mechanism; S5 Reversal Step: The bearing plate is reversed by a predetermined angle using the reversal mechanism; S6 Second sensing step: Detect the reversing state of the reversing mechanism through the second sensing module; S7 Part Retrieval Step: The part retrieval device picks up the reversed injection molded part from the support plate; S8 Placement Step: The injection molded part is placed on the conveying device using the part-picking device.

10. A method for taking material from injection molded parts according to claim 9, characterized in that: The transfer step is triggered after the first sensing step detects that the injection molded part is in place; The item retrieval step is triggered after the second sensing step detects that the reversing mechanism has reversed to a vertical state. In step S4, the transfer step specifically includes: The lifting shaft of the transfer mechanism descends above the positioning mechanism to grasp the injection molded part; The lifting shaft of the transfer mechanism rises and moves horizontally along the transverse shaft to above the reversing mechanism; The lifting shaft of the transfer mechanism descends, placing the injection molded part onto the reversing mechanism.

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