Automatic material grabbing and placing device for injection molding machine

Abstract

The application discloses an automatic material grabbing and discharging device for an injection molding machine and relates to the technical field of injection molding part discharging. The automatic material grabbing and discharging device comprises a transfer unit, a suction unit and an adjusting unit. The transfer unit comprises a mechanical arm and a displacement structure connected to the mechanical arm in a transmission mode. The displacement structure is used for driving the mechanical arm to move. The suction unit comprises a suction seat rotatably connected to the mechanical arm, a first driving element connected to the suction seat in a transmission mode and a suction accessory arranged on the suction seat. The first driving element is used for driving the suction seat to rotate with the horizontal direction as the rotation axis. The suction accessory is used for absorbing and fixing the injection molding part to the suction seat. The adjusting unit comprises four displacement structures arranged on the circumferential side of the suction accessory and sliding elements corresponding to the displacement structures. The displacement structure comprises a winding assembly arranged on the sliding element and an adjusting belt arranged around the winding assembly. The adjusting belt is connected to the suction accessory. The winding assembly is used for winding or unwinding the adjusting belt. The sliding element is used for driving the winding assembly to move. The application improves the application range of the grabbing device.

Description

Technical Field

[0001] This invention relates to the field of injection molding part feeding technology, specifically to an automatic material gripping and feeding device for injection molding machines. Background Technology

[0002] Injection molding is one of the most important production methods for plastic products. After injection molding, holding pressure, cooling, and mold opening, the injection molding machine needs to remove the molded plastic product from the mold cavity. To improve production efficiency and ensure operational safety, injection molding machines are now generally equipped with automatic gripping devices (such as multi-degree-of-freedom robotic arms or linear module drive mechanisms), which use vacuum suction cups, pneumatic grippers, and other actuators to grip and transfer the product and the solidified material (gate) of the gating system.

[0003] In existing automatic material handling and unloading devices for injection molding machines, the suction cup seat and gripper seat of the gripping terminal mostly adopt a fixed installation structure. That is, each actuator is directly locked into the preset mounting holes on the mounting base plate by bolts, or fixed in a specific position by welding, integral molding or other methods.

[0004] However, the injection molding industry has gradually shifted from the traditional large-volume, single-product production model to a multi-product, small-volume, and frequently changing-order production model. Injection molding machines need to frequently change molds according to order requirements. After each mold change, due to differences in the product layout, sprue (gating system solidified material) position, and cavity layout of different molds, the previously fixed suction cups and grippers cannot correspond to the product and sprue positions of the new mold, causing the gripping device to malfunction. This results in a deficiency of low applicability of the gripping device. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic material handling and unloading device for injection molding machines to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic material handling and discharging device for injection molding machines, suitable for injection molding machines, comprising: The transfer unit includes a robotic arm and a displacement structure connected to the robotic arm via a transmission, the displacement structure being used to drive the robotic arm to move; The adsorption unit includes an adsorption seat rotatably connected to the robotic arm, a first driving member drively connected to the adsorption seat, and an adsorption member disposed on the adsorption seat. The first driving member drives the adsorption seat to rotate about a horizontal axis, and the adsorption member is used to adsorb and fix the injection-molded part to the adsorption seat. The adjustment unit includes four displacement structures disposed around the periphery of the adsorption element and sliding members corresponding to the displacement structures. Each displacement structure includes a winding assembly disposed on the sliding member and an adjustment belt with one end wound around the winding assembly. The other end of the adjustment belt is connected to the adsorption element. The winding assembly is used to wind or unwind the adjustment belt, and the sliding member is used to drive the winding assembly to move along the edge line of the adsorption seat.

[0007] Furthermore, the adjustment unit also includes a flattening structure disposed between the winding assembly and the adsorption member; The flattening structure includes two pressure seats arranged opposite each other, pressure rollers rotatably disposed on the pressure seats, and a second driving member connected to the pressure rollers. The second driving member is used to drive the pressure rollers to rotate about the horizontal axis.

[0008] Further, the two opposing pressure seats are referred to as the upper pressure seat and the lower pressure seat, respectively. The upper pressure seat is fixed to the adsorption seat, and the lower pressure seat is slidably connected to the upper pressure seat in the vertical direction. The flattening structure further includes an elastic member fixed to the upper pressure seat and the lower pressure seat, the elastic member having a preload force that causes the lower pressure seat to move away from the upper pressure seat; The adjustment unit also includes a trigger connected to the adsorption seat and a pull rope fixed between the trigger and the lower pressure seat. The trigger is used to drive the pull rope to pull the lower pressure seat closer to the upper pressure seat.

[0009] Furthermore, the adjustment unit also includes a lifting plate forming the trigger element, a trigger airbag disposed between the lifting plate and the adsorption element, and a pneumatic component communicating with the trigger airbag. The lifting plate is slidably connected to the adsorption seat in the vertical direction, and the pneumatic component is used to inflate or de-inflate the trigger airbag.

[0010] Furthermore, the adjustment unit also includes a movable frame sleeved on the trigger airbag, an XY axis module disposed between the movable frame and the adsorption seat, and a telescopic rod fixed between the movable frame and the adsorption element, the telescopic rod extending and retracting in the vertical direction.

[0011] Furthermore, the adsorption component includes a connecting portion and an adsorption part hinged to the connecting portion with a universal ball joint. The connection between the adsorption part and the connecting portion is provided with damping. The adsorption part is used to adsorb and fix the connecting portion and the injection molded part.

[0012] Furthermore, rollers are installed on the periphery of the lifting plate.

[0013] Furthermore, the outer periphery of the pressure roller is provided with multiple detection airbags and monitoring devices that are connected to the detection airbags one by one. The monitoring devices are used to monitor the air pressure changes inside the detection airbags.

[0014] Furthermore, the adjustment unit also includes connecting blocks corresponding to the adjustment belts and connecting bolts passing through the connecting blocks. The connecting blocks are fixed to the outer wall of the adsorption member. The connecting blocks have connecting grooves for the adjustment belts to extend into. The connecting bolts are used to fix the adjustment belts and the connecting grooves.

[0015] Furthermore, the adjusting belt has a through hole for the connecting bolt to pass through, and a reinforcing ring is fixed to the inner wall of the through hole.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: Since the ends of the four adjusting belts are all connected to the adsorption element, and the four adjusting belts are distributed in four different circumferential directions of the adsorption element, when a certain winding assembly changes its winding amount, the direction and magnitude of the traction force applied to the adsorption element by the adjusting belts connected to it change accordingly. Specifically, the adjusting belt with an increased winding amount generates a pulling force on the adsorption element toward the direction of the winding assembly, while the adjusting belt with a decreased winding amount releases the pulling force on the adsorption element accordingly. Under the synergistic effect of the traction forces in the four directions, the adsorption element deflects or shifts relative to the adsorption seat in the corresponding direction.

[0017] By controlling the winding amount of each winding component, the working end of the adsorption element can be moved to the target position within the mounting plane of the adsorption seat until it is aligned with the gripping point of the product in the new mold. Thus, through the coordinated control of the winding amount by each shifting structure in the adjustment unit, the gripping position of the adsorption element is reconfigured, thereby improving the applicability of the gripping device. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the automatic material handling and unloading device for injection molding machines according to the present invention; Figure 2 This is a partial schematic diagram illustrating the adjustment unit of the present invention; Figure 3 This is a schematic diagram illustrating the structure of the pull rope and lifting plate of the present invention; Figure 4 This is a schematic diagram illustrating the structure of the trigger airbag and the moving frame of the present invention; Figure 5 This is a schematic diagram illustrating the structure of the telescopic rod of the present invention; Figure 6 This is a partial schematic diagram illustrating the detection airbag of the present invention; Figure 7 This is a partial schematic diagram illustrating the connection method between the adjustment belt and the adsorption element in this invention; Figure 8This is a partial schematic diagram illustrating the through hole and reinforcing ring of the present invention.

[0019] In the picture: 10. Injection molding machine; 20. Transfer unit; 201. Robotic arm; 202. Displacement structure; 30. Adsorption unit; 301. Adsorption seat; 302. Adsorption element; 3021. Connecting part; 3022. Adsorption part; 40. Adjustment unit; 401. Rewinding assembly; 402. Adjustment belt; 4021. Through hole; 4022. Reinforcing ring; 403. Sliding component; 404. Upper pressure seat; 405. Lower pressure seat; 406. Pressure roller; 4061. Detection airbag; 407. Elastic component; 408. Pull rope; 409. Lifting plate; 410. Trigger airbag; 411. Moving frame; 412. XY axis module; 413. Telescopic rod; 414. Connecting block; 4141. Connecting groove; 415. Connecting bolt. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1-8As shown, the present invention provides a technical solution: an automatic material gripping and discharging device for an injection molding machine, suitable for an injection molding machine 10, including a transfer unit 20, an adsorption unit 30, and an adjustment unit 40; the transfer unit 20 includes a robotic arm 201 and a displacement structure 202 transmitted to the robotic arm 201, the displacement structure 202 being used to drive the robotic arm 201 to move, the displacement structure 202 having X-axis and Y-axis motion degrees of freedom, the displacement structure 202 being prior art, and will not be described in detail in this application; the adsorption unit 30 includes an adsorption seat 301 rotatably connected to the robotic arm 201, a first driving member transmitted to the adsorption seat 301, and an adsorption member 302 disposed on the adsorption seat 301, the first driving member being used to drive the adsorption seat 301 to rotate about the horizontal direction as the rotation axis. The first driving component is a servo motor. The adsorption component 302 is used to adsorb and fix the injection molded part to the adsorption seat 301. The adjustment unit 40 includes four shifting structures disposed around the adsorption component 302 and sliding components 403 corresponding to the shifting structures. The shifting structure includes a winding assembly 401 disposed on the sliding component 403 and an adjustment belt 402 with one end wrapped around the winding assembly 401. The other end of the adjustment belt 402 is connected to the adsorption component 302. The winding assembly 401 is used to wind or unwind the adjustment belt 402. The winding assembly 401 is a combination of a winding roller and a servo motor. The winding assembly 401 is prior art and will not be described in detail in this application. The sliding component 403 is used to drive the winding assembly 401 to move along the edge line of the adsorption seat 301. The sliding component 403 is a linear module.

[0022] The automatic material handling and unloading device for injection molding machines provided in this application, in actual operation, firstly, the transfer unit 20 performs a positioning action before material handling, and the displacement structure 202 drives the robotic arm 201 to move, so that the suction seat 301 reaches the material handling station after the injection molding machine 10 opens the mold. Then, the suction unit 30 starts, and the first driving component drives the suction seat 301 to rotate, so that the suction component 302 faces the injection molded part. The suction component 302 starts to work, and uses negative pressure suction to adhere and fix the injection molded part to the suction seat 301. Then, the transfer unit 20 moves to take the injection molded part out of the mold cavity and transfer it above the unloading station. Then, the first driving component drives the suction seat 301 to rotate again, so that the suction seat 301 carries the injection molded part towards the unloading station. Finally, the suction component 302 stops working, so that the injection molded part falls to the unloading station.

[0023] Each time the injection mold is changed, the specific gripping position of the adsorption component 302 needs to be reconfigured due to the differences in the product layout and sprue orientation between different molds. The operator or control system issues a command to the winding assembly 401 based on the actual distribution of the products in the new mold. The winding assembly 401 then performs the opposite action (one winding, one unwinding) until the working end of the adsorption component 302 is aligned with the gripping point of the product in the new mold.

[0024] Compared with the prior art, since the ends of the four adjusting belts 402 are all connected to the adsorption member 302, and the four adjusting belts 402 are distributed in four different circumferential directions of the adsorption member 302, when a winding assembly 401 changes its winding amount, the direction and magnitude of the traction force applied to the adsorption member 302 by the adjusting belts 402 connected to it change accordingly. Specifically, the adjusting belt 402 with an increased winding amount generates a pulling force on the adsorption member 302 toward the winding assembly 401, while the adjusting belt 402 with a decreased winding amount releases the pulling force on the adsorption member 302 accordingly. Under the synergistic effect of the traction forces in the four directions, the adsorption member 302 deflects or shifts relative to the adsorption seat 301 in the corresponding direction.

[0025] By controlling the winding amount of each winding assembly 401, the working end of the adsorption element 302 can be moved to the target position within the mounting plane of the adsorption seat 301 until it is aligned with the gripping point of the product in the new mold. Thus, by adjusting the coordinated control of the winding amount by each displacement structure in the adjustment unit 40, the gripping position of the adsorption element 302 is reconfigured, thereby improving the applicability of the gripping device.

[0026] In some embodiments, see Figure 2 and Figure 3 The adjustment unit 40 also includes a flattening structure disposed between the winding assembly 401 and the adsorption member 302.

[0027] The flattening structure includes two pressure seats arranged opposite each other, pressure rollers 406 rotatably mounted on the pressure seats, and a second driving member connected to the pressure rollers 406. The second driving member is used to drive the pressure rollers 406 to rotate around the horizontal axis. The second driving member is a servo motor.

[0028] During the process of the winding assembly 401 winding or unwinding the adjusting belt 402, the adjusting belt 402 will pass between two pressure rollers 406. During this process, the second driving component is activated to drive the two pressure rollers 406 to rotate in opposite directions, so that the pressure rollers 406 flatten the adjusting belt 402.

[0029] As a flexible strip structure, the adjusting belt 402 inevitably experiences localized wrinkles or build-up during winding or unwinding due to factors such as changes in the rotational speed of the winding assembly 401 drum and differences in frictional resistance between the adjusting belt 402 and the guide member. If these wrinkles and slack conditions are not eliminated in time, the effective traction direction and magnitude of the adjusting belt 402 will deviate from the set values ​​of the control system when applying traction force to the adsorption member 302, resulting in a deviation between the actual position reached by the adsorption member 302 and the target position.

[0030] During rotation, the pressure roller 406 applies a frictional force to the adjusting belt 402 in the same direction as the traction direction. This not only provides auxiliary traction to the adjusting belt 402 to reduce the load on the winding assembly 401, but also smooths out the wrinkles caused by uneven tension during winding or unwinding through the uniform rolling pressure of the pressure roller 406. This ensures that the adjusting belt 402 passes through the pressure roller 406 in a flat state and continues to extend towards the adsorption component 302.

[0031] Meanwhile, the fixed gap between the two pressure rollers 406 provides a precise guide channel for the adjusting belt 402, effectively preventing lateral deviation of the adjusting belt 402 perpendicular to the traction direction, and ensuring that the adjusting belt 402 always maintains its posture of moving in the preset direction. Thus, a complete working closed loop of "winding-flattening-traction" is formed between the flattening structure and the winding assembly 401. The winding assembly 401 is responsible for controlling the amount of winding and unwinding of the adjusting belt 402 to configure the target position of the adsorption element 302, while the flattening structure is responsible for eliminating the wrinkles generated by the adjusting belt 402 during transmission, ensuring that the effective working length of the adjusting belt 402 corresponding to the amount of winding and unwinding can be converted into the actual displacement of the adsorption element 302 on the adsorption seat 301 with the highest accuracy.

[0032] In some embodiments, see Figure 2 and Figure 3 The two pressure seats that are opposite each other are referred to as upper pressure seat 404 and lower pressure seat 405 respectively. Upper pressure seat 404 is fixed to adsorption seat 301, and lower pressure seat 405 is slidably connected to upper pressure seat 404 in the vertical direction.

[0033] The flattening structure also includes an elastic member 407 fixed to the upper pressure seat 404 and the lower pressure seat 405. The elastic member 407 has a preload force that causes the lower pressure seat 405 to move away from the upper pressure seat 404. The elastic member 407 is a spring.

[0034] The adjustment unit 40 also includes a trigger connected to the adsorption seat 301 and a pull rope 408 fixed between the trigger and the lower pressure seat 405. The trigger is used to drive the pull rope 408 to pull the lower pressure seat 405 closer to the upper pressure seat 404.

[0035] After the adsorption element 302 is adjusted to the preset position, the trigger element pulls the lower pressure seat 405 closer to the upper pressure seat 404 via the pull rope 408, thereby clamping the adjusting belt 402 through the two pressure rollers 406. If it is necessary to readjust the position of the adsorption element 302, the trigger element releases the pull rope 408. At this time, the elastic element 407 releases its elastic force, causing the lower pressure seat 405 to move away from the upper pressure seat 404, so that the gap between the two pressure rollers 406 can allow the adjusting belt 402 to pass through.

[0036] Through the above structural design, the present invention realizes a controllable working mode for the flattening structure to "loosen during movement and clamp after positioning" of the adjusting belt 402.

[0037] Two pressure rollers 406 clamp and fix the adjusting belt 402 with appropriate clamping force. At this time, the flattening structure has the dual functions of flattening and locking. The winding assembly 401 and the flattening structure simultaneously undertake the locking of the adjusting belt 402, ensuring the stability of the position of the adsorption component 302, thereby improving the repeatability and reliability of the gripping action.

[0038] Optionally, the trigger is a winding structure, which controls the free length of the pull rope 408, thereby controlling the distance between the upper pressure seat 404 and the lower pressure seat 405.

[0039] Optional, see Figure 3 and Figure 4 The adjustment unit 40 also includes a lifting plate 409 forming a trigger, a trigger airbag 410 disposed between the lifting plate 409 and the adsorption member 302, and a pneumatic component connected to the trigger airbag 410. The lifting plate 409 is slidably connected to the adsorption seat 301 in the vertical direction. The pneumatic component is used to inflate or de-inflate the trigger airbag 410. The pneumatic component is an air pump.

[0040] When the trigger airbag 410 is inflated, it expands and pushes out the lifting plate 409, which in turn pulls the pull rope 408 and brings the lower pressure seat 405 closer to the upper pressure seat 404. When the trigger airbag 410 is deflated, it shrinks, and the elastic element 407 releases its elasticity, causing the lower pressure seat 405 to move away from the upper pressure seat 404.

[0041] The combination of trigger airbag 410 and lifting plate 409 can synchronously control four sets of pressure rollers 406 to lock the adjusting belt 402. In contrast, the winding structure requires one pressure roller for each set of pressure rollers 406 to complete the locking function. The combination of trigger airbag 410 and lifting plate 409 is more cost-effective.

[0042] In some embodiments, see Figure 4 and Figure 5 The adjustment unit 40 also includes a movable frame 411 sleeved on the trigger airbag 410, an XY axis module 412 disposed between the movable frame 411 and the adsorption seat 301, and a telescopic rod 413 fixed between the movable frame 411 and the adsorption component 302, the telescopic rod 413 extending and retracting in the vertical direction.

[0043] During the movement of the adsorption component 302, the telescopic rod 413 causes the moving frame 411 to move synchronously, ensuring that the trigger airbag 410 is always aligned with the adsorption component 302. After the position of the adsorption component 302 is determined, the trigger airbag 410 inflates to complete the locking task and also compresses the adsorption component 302, causing the adsorption component 302 to press firmly against the injection molded part, thereby improving the adsorption stability between the adsorption component 302 and the injection molded part.

[0044] In some embodiments, see Figure 2 The adsorption component 302 includes a connecting part 3021 and an adsorption part 3022 hinged to the connecting part 3021 by a universal ball. The connection between the adsorption part 3022 and the connecting part 3021 is provided with damping. The adsorption part 3022 is used to adsorb and fix the connecting part 3021 and the injection molded part. The adsorption part 3022 is an electric suction cup.

[0045] When the surface of the injection molded part to be gripped is not an ideal plane, such as a shell with an arc contour, an irregularly shaped part with a sloping top surface, or a structural part with slight undulations on the surface, the suction surface of the rigidly fixed suction cup cannot match the actual surface shape of the product when it contacts the product surface. This results in a gap between the edge of the suction cup and the product surface, making it impossible to effectively establish negative pressure and significantly reducing the suction force. In this case, the injection molded part is very likely to fall off the suction cup during the transfer process, causing product damage or even safety accidents, severely limiting the applicability of automatic gripping devices to injection molded parts with complex shapes.

[0046] The adsorption component 302 is designed as a separate structure consisting of a connecting part 3021 and an adsorption part 3022, with a movable connection between them achieved through a universal ball joint. The adsorption part 3022, through the universal ball joint, gains the freedom to deflect at a certain angle relative to the connecting part 3021 in any direction. This allows the adsorption part 3022 to automatically adapt to the local tilt angle of the product surface when in contact with it, much like a universal joint, ensuring that the adsorption surface of the adsorption part 3022 always remains parallel and in close contact with the contact area of ​​the product surface. This adaptive fitting capability greatly increases the contact area and sealing performance between the adsorption part 3022 and various irregularly shaped surfaces, ensuring the effective establishment and transmission of negative pressure adsorption force. This enables the device to reliably grip injection molded parts with curved, arc-shaped, or inclined surfaces, significantly expanding the device's applicability.

[0047] In some embodiments, rollers are mounted on the periphery of the lifting plate 409.

[0048] As a key intermediate force transmission component connecting the trigger airbag 410 and the pull rope 408, the smoothness of the lifting plate 409 sliding in the vertical direction directly determines whether the air pressure change of the trigger airbag 410 can be transmitted to the displacement of the lower pressure seat 405 in a timely and accurate manner.

[0049] During long-term operation of the device, dust, material scraps, and lubricating grease applied to maintain the flexibility of mechanical movement inevitably accumulate inside the adsorption seat 301. These contaminants gradually accumulate on the sliding contact surface between the lifting plate 409 and the adsorption seat 301, forming a viscous sludge mixture that significantly increases the coefficient of sliding friction between them. As the frictional resistance increases, the trigger airbag 410 needs to generate a larger deformation driving force to push the lifting plate 409 to slide. This not only reduces the response speed of the pneumatic components to the position control of the lifting plate 409, resulting in a significant lag between the change in air pressure of the trigger airbag 410 and the change in clamping force of the pressure roller 406, but also, in extreme cases, when the frictional resistance exceeds the driving force that the trigger airbag 410 can provide, the lifting plate 409 will be completely stuck in the adsorption seat 301 and unable to slide, causing the clamping state switching function of the entire flattening structure to fail.

[0050] This invention transforms the sliding friction between the lifting plate 409 and the adsorption seat 301 into rolling friction, completely eliminating the high resistance problem caused by sliding friction from the perspective of physical contact. The resistance of rolling friction is much smaller than that of sliding friction. The driving force required for the lifting plate 409 to slide vertically under the drive of the trigger airbag 410 is greatly reduced. This means that even if the driving force generated by the trigger airbag 410 is small, it can reliably push the lifting plate 409 to slide, thereby ensuring the reliability and stability of the flattening structure clamping state switching function.

[0051] In some embodiments, see Figure 6 The outer periphery of the pressure roller 406 is provided with multiple detection airbags 4061 and monitoring elements that are connected to the detection airbags 4061 one by one. The monitoring elements are used to monitor the air pressure changes inside the detection airbags 4061.

[0052] When the second driving component in the flattening structure drives the upper and lower pressure rollers 406 to rotate in opposite directions around a horizontal axis, the pressure rollers 406 cause the detection airbags 4061 arranged on their outer periphery to rotate synchronously with the rotation of the pressure rollers 406. During this process, the adjusting belt 402 passes between the upper and lower pressure rollers 406, and the detection airbags 4061 on the outer periphery of the pressure rollers 406 alternately contact and separate from the surface of the adjusting belt 402 in a cycle.

[0053] When the surface of the adjusting belt 402 is flat and free of foreign objects, each detection airbag 4061 rotates with the pressure roller 406 to the position of contact with the adjusting belt 402. It is subjected to uniform counter pressure applied by the surface of the adjusting belt 402. The initial air pressure inside the detection airbag 4061 is kept within a stable reference range. The monitoring device continuously collects the air pressure signal of each detection airbag 4061.

[0054] When foreign objects, hard lumps, or existing localized protrusions are present on the surface of the adjusting belt 402, the foreign object moves with the adjusting belt 402 to the location of the pressure roller 406. At the instant the detection airbag 4061 corresponding to the outer periphery of the pressure roller 406 contacts the surface of the adjusting belt 402, the local compressive force exerted by the foreign object on the detection airbag 4061 is significantly greater than that on the surrounding flat area. This causes the detection airbag 4061 to undergo compression deformation beyond the normal range, resulting in a momentary increase in its internal air pressure. The monitoring device immediately detects this sudden change in air pressure and issues an audible and visual alarm signal, indicating that there is an abnormality on the surface of the adjusting belt 402 requiring inspection and handling. After the foreign object is removed or the adjusting belt 402 is replaced, the operator confirms that the air pressure signal fed back by the monitoring device has returned to the reference value range and restarts the device to resume normal operation.

[0055] Multiple detection airbags 4061 are arranged along the outer periphery of the pressure roller 406, forming continuous dynamic contact with the surface of the adjusting belt 402 as the pressure roller 406 rotates, which is equivalent to establishing a "tactile sensing interface" between the pressure roller 406 and the adjusting belt 402. In addition, the structure of the detection airbags 4061 on the outer periphery of the pressure roller 406 also has the function of assisting flattening. As the pressure roller 4061 rotates, each detection airbag 4061 alternately contacts the surface of the adjusting belt 402. The elastic deformation of the airbags themselves applies uniform and flexible pressure to the surface of the adjusting belt 402. Compared with the direct contact of the rigid pressure roller 406, the elastic contact of the airbags can better adapt to the small thickness fluctuations of the surface of the adjusting belt 402, making the flattening effect more uniform and gentle, and avoiding excessive compression of the surface of the adjusting belt 402.

[0056] In some embodiments, see Figure 7 The adjustment unit 40 also includes a connecting block 414 corresponding to the adjustment belt 402 and a connecting bolt 415 passing through the connecting block 414. The connecting block 414 is fixed to the outer wall of the adsorption member 302. The connecting block 414 has a connecting groove 4141 for the adjustment belt 402 to extend into. The connecting bolt 415 is used to fix the adjustment belt 402 and the connecting groove 4141.

[0057] Since the adjusting belt 402 will inevitably wear, fatigue, or be accidentally damaged during long-term use and needs to be replaced regularly, the connection structure should be easy to disassemble and assemble.

[0058] The connecting groove 4141 provides clear guidance and limit for the insertion of the adjusting belt 402. When connecting the adjusting belt 402, the operator only needs to insert the end of the adjusting belt 402 along the connecting groove 4141, without complicated alignment operations, which greatly improves the convenience and efficiency of the connection operation.

[0059] In some embodiments, see Figure 8The adjusting belt 402 has a through hole 4021 for the connecting bolt 415 to pass through, and a reinforcing ring 4022 is fixed to the inner wall of the through hole 4021.

[0060] The operator passes the connecting bolt 415 through the bolt hole of the connecting block 414 and the through hole 4021 on the adjusting band 402 in sequence, so that the connecting bolt 415 passes through the entire adjusting band 402. Then, the operator tightens the connecting bolt 415 so that the threaded part of the connecting bolt 415 fits tightly with the threaded hole on the connecting block 414, and at the same time, the head of the connecting bolt 415 forms a pressing fit with the surface of the adjusting band 402.

[0061] Since the connecting bolt 415 passes through the through hole 4021 on the adjusting belt 402, when the adjusting belt 402 is subjected to a traction force along the length direction of the connecting groove 4141, the shank of the connecting bolt 415 forms a direct mechanical blocking effect with the inner wall of the through hole 4021. Even if the friction between the surface of the adjusting belt 402 and the inner wall of the connecting groove 4141 is reduced due to factors such as vibration or lubrication, the limiting effect of the shank of the connecting bolt 415 on the edge of the through hole 4021 can also independently undertake the function of preventing the adjusting belt 402 from slipping out of the connecting groove 4141.

[0062] When the connecting bolt 415 passes through the through hole 4021 and is tightened, the reinforcing ring 4022 directly bears the radial compressive force and axial shear force from the shank of the connecting bolt 415 and evenly transmits these forces to the surrounding body material of the adjusting belt 402, thereby avoiding direct contact between the shank of the connecting bolt 415 and the hole wall of the body material of the adjusting belt 402.

[0063] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. An automatic material handling and unloading device for an injection molding machine, suitable for injection molding machines, characterized in that, include: The transfer unit includes a robotic arm and a displacement structure connected to the robotic arm via a transmission, the displacement structure being used to drive the robotic arm to move; The adsorption unit includes an adsorption seat rotatably connected to the robotic arm, a first driving member drively connected to the adsorption seat, and an adsorption member disposed on the adsorption seat. The first driving member is used to drive the adsorption seat to rotate about a horizontal axis, and the adsorption member is used to adsorb and fix the injection molded part to the adsorption seat. as well as The adjustment unit includes four displacement structures disposed around the periphery of the adsorption element and sliding members corresponding to the displacement structures. Each displacement structure includes a winding assembly disposed on the sliding member and an adjustment belt with one end wound around the winding assembly. The other end of the adjustment belt is connected to the adsorption element. The winding assembly is used to wind or unwind the adjustment belt, and the sliding member is used to drive the winding assembly to move along the edge line of the adsorption seat.

2. The automatic material handling and unloading device for injection molding machines according to claim 1, characterized in that, The adjustment unit also includes a flattening structure disposed between the winding assembly and the adsorption member; The flattening structure includes two pressure seats arranged opposite each other, pressure rollers rotatably disposed on the pressure seats, and a second driving member connected to the pressure rollers. The second driving member is used to drive the pressure rollers to rotate about the horizontal axis.

3. The automatic material handling and unloading device for injection molding machines according to claim 2, characterized in that, The two opposing pressure seats are referred to as the upper pressure seat and the lower pressure seat, respectively. The upper pressure seat is fixed to the adsorption seat, and the lower pressure seat is slidably connected to the upper pressure seat in the vertical direction. The flattening structure further includes an elastic member fixed to the upper pressure seat and the lower pressure seat, the elastic member having a preload force that causes the lower pressure seat to move away from the upper pressure seat; The adjustment unit also includes a trigger connected to the adsorption seat and a pull rope fixed between the trigger and the lower pressure seat. The trigger is used to drive the pull rope to pull the lower pressure seat closer to the upper pressure seat.

4. The automatic material handling and unloading device for injection molding machines according to claim 3, characterized in that, The adjustment unit further includes a lifting plate forming the trigger element, a trigger airbag disposed between the lifting plate and the adsorption element, and a pneumatic component connected to the trigger airbag. The lifting plate is slidably connected to the adsorption seat in the vertical direction, and the pneumatic component is used to inflate or de-inflate the trigger airbag.

5. The automatic material handling and unloading device for injection molding machines according to claim 4, characterized in that, The adjustment unit also includes a movable frame sleeved on the trigger airbag, an XY axis module disposed between the movable frame and the adsorption seat, and a telescopic rod fixed between the movable frame and the adsorption element, the telescopic rod extending and retracting in the vertical direction.

6. The automatic material handling and unloading device for injection molding machines according to claim 5, characterized in that, The adsorption component includes a connecting part and an adsorption part hinged to the connecting part with a universal ball joint. The connection between the adsorption part and the connecting part is provided with damping. The adsorption part is used to adsorb and fix the connecting part and the injection molded part.

7. The automatic material handling and unloading device for injection molding machines according to claim 4, characterized in that, Rollers are installed around the periphery of the lifting plate.

8. The automatic material handling and unloading device for injection molding machines according to claim 2, characterized in that, The outer periphery of the pressure roller is provided with multiple detection airbags and monitoring devices that are connected to the detection airbags one by one. The monitoring devices are used to monitor the air pressure changes inside the detection airbags.

9. The automatic material handling and unloading device for injection molding machines according to claim 8, characterized in that, The adjustment unit also includes connecting blocks corresponding to the adjustment belts and connecting bolts passing through the connecting blocks. The connecting blocks are fixed to the outer wall of the adsorption element. The connecting blocks have connecting grooves for the adjustment belts to extend into. The connecting bolts are used to fix the adjustment belts and the connecting grooves.

10. The automatic material handling and unloading device for injection molding machines according to claim 9, characterized in that, The adjusting belt has a through hole for the connecting bolt to pass through, and a reinforcing ring is fixed to the inner wall of the through hole.

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