Energy-saving high-efficiency synchronous mechanical arm

Abstract

The application discloses an energy-saving high-efficiency synchronous mechanical arm, which comprises a mechanical arm X axis, a mechanical arm Y axis, a mechanical arm Z axis and a conical positioning and separating mechanism, wherein the mechanical arm Z axis comprises a fixed bending plate, a third linear guide rail, a power mechanism and a vertical shaft; the conical positioning and separating mechanism comprises a fixed base, a clutch air cylinder, a linear bearing, a positioning conical rod, a positioning cone, a positioning cone support, a buffer core rod, a buffer spring, a moving plate and a fixed plate; the fixed base is bolted to the fixed plate of the mechanical arm Z axis; the clutch air cylinder and the linear bearing are bolted to the fixed base; the positioning conical rod is threadedly connected with the piston rod of the clutch air cylinder; the positioning cone is bolted to the positioning cone support; the positioning cone support is bolted to the moving plate; the moving plate is bolted to the fixed plate; and the moving plate of an injection molding machine is bolted to the fixed plate. According to the above technical scheme, the mechanical arm Y axis borrows the power of the mold opening and closing of the injection molding machine, realizes the high synchronous movement of the mechanical arm and the mold opening and closing of the injection molding machine under the premise of saving the power of the Y axis, and has reasonable structure design and good practicability.

Description

Technical Field

[0001] This invention relates to the field of injection molding machine technology, specifically to an energy-saving and high-efficiency synchronous robotic arm. Background Technology

[0002] With the widespread application of injection molding machines in industrial and agricultural production, in order to minimize labor intensity and labor costs, achieve production automation, and pursue high efficiency and profit maximization, the application of robotic arms in the injection molding industry has become increasingly popular.

[0003] In actual production, regardless of whether the robotic arm is single-axis, dual-axis, or three-axis, its action rhythm often conflicts with the mold opening and closing rhythm of the injection molding machine, affecting the original design rhythm of the injection molding machine. This prolongs the time for the injection molding machine to open and close the mold, reducing production efficiency to some extent. Moreover, the existing three-axis robotic arms have complex structures and large volumes, resulting in high manufacturing costs and inconvenience in use. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an energy-saving and efficient synchronous robotic arm with reasonable structural design, high production efficiency, reliable operation, reduced manufacturing costs, and good practicality.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an energy-saving and high-efficiency synchronous robotic arm, comprising a robotic arm X-axis, a robotic arm Y-axis, a robotic arm Z-axis, and a conical positioning and separation mechanism, wherein the robotic arm Z-axis comprises a fixed bending plate, a third linear guide rail, a power mechanism, and a vertical axis;

[0006] The conical positioning and separation mechanism includes a fixed seat, a clutch cylinder, a linear bearing, a positioning cone rod, a positioning cone, a positioning cone support, a buffer core rod, a buffer spring, a moving plate, and a fixed plate. The fixed seat is bolted to the fixed plate of the Z-axis of the robotic arm. The clutch cylinder and the linear bearing are bolted to the fixed seat. The positioning cone rod is connected to the external thread on the piston rod of the clutch cylinder through its internal thread. The positioning cone is bolted to the positioning cone support, and the positioning cone support is bolted to the moving plate. The buffer spring is placed inside the positioning cone support. The lower flange of the buffer core rod is located at the upper end of the buffer spring. The upper part of the buffer core rod passes through the lower inner hole of the positioning cone. The moving plate is bolted to the fixed plate, and an injection molding moving template is bolted to the fixed plate.

[0007] The present invention is further configured such that: the X-axis of the robotic arm includes a frame, a first linear guide rail, a rodless cylinder, and a Y-axis fixing plate of the robotic arm; the linear guide rail and the rodless cylinder are bolted to the frame; the Y-axis fixing plate of the robotic arm is bolted to the slider of the linear guide rail; and the Y-axis fixing plate of the robotic arm is bolted to the slider of the rodless cylinder.

[0008] The Y-axis of the robotic arm includes a Y-axis fixing plate and a second linear guide. The Y-axis fixing plate is bolted to the Y-axis fixing plate of the robotic arm X-axis, and the linear guide is bolted to the Y-axis fixing plate.

[0009] The fixed plate is bolted to the slider of the linear guide rail of the Y-axis of the robotic arm. The linear guide rail and the power mechanism are bolted to the fixed plate. The vertical shaft is bolted to the slider of the linear guide rail. A product clamping device is fixedly installed at the lower end of the vertical shaft.

[0010] The present invention is further configured such that: a butterfly-shaped fixing bolt is provided between the moving plate and the fixed plate, and a throttle valve is provided on the air intake pipe of the clutch cylinder.

[0011] The invention is further configured such that: when changing products, first loosen the butterfly fixing bolts, manually guide the positioning cone rod to align with the positioning cone, open the throttle valve of the clutch cylinder intake pipe, and extend the cylinder shaft of the clutch cylinder to push the positioning cone rod downwards, so that the lower outer conical surface of the positioning cone rod and the inner conical surface of the positioning cone are tightly fitted; then, adjust the distance between the vertical axis of the robot arm's Z-axis and the opening and closing surface of the moving mold on the injection molding moving template by pulling the moving plate, and then tighten the butterfly fixing bolts between the moving plate and the fixed plate to achieve a firm connection between the robot arm's Y-axis and the injection molding moving template.

[0012] The invention is further configured such that: when the mold is opened, the injection molding motor template pulls the Y-axis of the robotic arm to move synchronously through the conical positioning and separation mechanism; at the same time, the power mechanism is started, the vertical axis moves downward, and the product clamping device clamps the injection molded product; when the mold is in place, the vertical axis is quickly lifted.

[0013] The present invention is further configured such that: when the injection molding machine completes mold closing, the clutch cylinder of the conical positioning and separation mechanism is reversed and activated, the cylinder shaft of the clutch cylinder retracts, driving the positioning cone rod to move upward and separate from the positioning cone, the X-axis of the robotic arm is activated, and the injection molded product clamped by the product clamping device at the lower end of the vertical shaft is transported to the designated position and returned to the initial position in a timely manner.

[0014] The beneficial effects of this invention are as follows: Compared with the prior art, this invention has a reasonable structural design. It adopts a mechanical arm Y-axis (the direction of the existing injection molding machine axis) connected to the existing injection molding machine moving template through a conical positioning and separation mechanism. That is, the mechanical arm Y-axis borrows the power of the injection molding machine opening and closing the mold. Under the premise of saving Y-axis power, it achieves highly synchronous movement between the mechanical arm and the injection molding machine opening and closing the mold, which solves the problem that the mechanical arm's action rhythm affects the injection molding machine's action rhythm and the problem of low production efficiency. This results in high production efficiency and reliable operation.

[0015] Secondly, a high-precision conical positioning and separation mechanism was designed, fully utilizing the advantages of conical positioning, such as simple structure, large contact surface, high positioning accuracy, and easy disengagement. The use of this high-precision conical positioning and separation mechanism significantly reduces the requirements for the robotic arm's X-axis and Y-axis operating accuracy, especially repeatability. This not only simplifies the robotic arm's automated control program but also reduces the manufacturing and operating costs of the X-axis and Y-axis, achieving effective energy savings and demonstrating good practicality.

[0016] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0017] Figure 1 This is a structural illustration of an embodiment of the present invention. Figure 1 ;

[0018] Figure 2 This is a structural illustration of an embodiment of the present invention. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the X-axis structure of the robotic arm in an embodiment of the present invention. Figure 1 ;

[0020] Figure 4 This is a schematic diagram of the X-axis structure of the robotic arm in an embodiment of the present invention. Figure 2 ;

[0021] Figure 5 This is a schematic diagram of the Y-axis structure of the robotic arm in an embodiment of the present invention. Figure 1 ;

[0022] Figure 6 This is a schematic diagram of the Y-axis structure of the robotic arm in an embodiment of the present invention. Figure 2 ;

[0023] Figure 7 This is a schematic diagram of the Z-axis structure of the robotic arm in an embodiment of the present invention. Figure 1 ;

[0024] Figure 8 This is a schematic diagram of the Z-axis structure of the robotic arm in an embodiment of the present invention. Figure 2 ;

[0025] Figure 9 This is a partial structural diagram of an embodiment of the present invention. Figure 1 ;

[0026] Figure 10 This is a partial structural diagram of an embodiment of the present invention. Figure 2 . Detailed Implementation

[0027] In the description of this embodiment, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," and "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] See Figures 1 to 10 The present invention discloses an energy-saving and high-efficiency synchronous robotic arm, including a robotic arm X-axis 1, a robotic arm Y-axis 2, a robotic arm Z-axis 3 and a conical positioning and separation mechanism 4. The robotic arm Z-axis 3 includes a fixed bending plate 301, a third linear guide rail 302, a power mechanism 303 and a vertical axis 304.

[0029] The conical positioning and separation mechanism 4 includes a fixed base 401, a clutch cylinder 402, a linear bearing 403, a positioning cone rod 404, a positioning cone 405, a positioning cone support 406, a buffer core rod 407, a buffer spring 408, a moving plate 409, and a fixed plate 410. The fixed base 401 is bolted to the fixed plate 301 of the Z-axis 3 of the robotic arm. The clutch cylinder 402 and the linear bearing 403 are bolted to the fixed base 401. The positioning cone rod 404 is connected via its internal thread. The piston rod of the clutch cylinder 402 is connected to the external thread. The positioning cone 405 is bolted to the positioning cone support 406. The positioning cone support 406 is bolted to the moving plate 409. The buffer spring 408 is placed inside the positioning cone support 406. The lower flange of the buffer core rod 407 is located at the upper end of the buffer spring 408. The upper part of the buffer core rod 407 passes through the lower inner hole of the positioning cone 405. The moving plate 409 is bolted to the fixed plate 410. The injection molding motor template is bolted to the fixed plate 410.

[0030] Preferably, the upper end of the positioning cone rod 404 is provided with an upward-facing threaded connection hole, and the lower end of the piston rod of the clutch cylinder 402 is provided with an external threaded connection part, which is threadedly connected to the threaded connection hole.

[0031] To make the structural design of the present invention more reasonable, as a preferred embodiment, the X-axis 1 of the robotic arm in this embodiment includes a frame 101, a first linear guide rail 102, a rodless cylinder 103, and a Y-axis fixing plate 104 of the robotic arm. The linear guide rail 102 and the rodless cylinder 103 are bolted to the frame 101, and the Y-axis fixing plate 104 of the robotic arm is bolted to the slider of the linear guide rail 102. At the same time, the Y-axis fixing plate 104 of the robotic arm is bolted to the slider of the rodless cylinder 103.

[0032] The robotic arm Y-axis 2 includes a robotic arm Y-axis fixing plate 201 and a second linear guide rail 202. The robotic arm Y-axis fixing plate 201 is bolted to the robotic arm Y-axis fixing plate 104 of the robotic arm X-axis 1, and the linear guide rail 202 is bolted to the robotic arm Y-axis fixing plate 201.

[0033] The fixed plate 301 is bolted to the slider of the linear guide rail 202 of the Y-axis 2 of the robotic arm. The linear guide rail 302 and the power mechanism 303 are bolted to the fixed plate 301. The vertical shaft 304 is bolted to the slider of the linear guide rail 302. A product clamping device 305 is fixedly installed at the lower end of the vertical shaft 304.

[0034] A butterfly-shaped fixing bolt is provided between the moving plate 409 and the fixed plate 410, and a throttle valve is provided on the air intake pipe of the clutch cylinder 402.

[0035] When changing products, first loosen the butterfly fixing bolts and manually guide the positioning cone rod 404 to align with the positioning cone 405. Open the throttle valve of the air intake pipe of the clutch cylinder 402. The cylinder shaft of the clutch cylinder 402 extends outward to push the positioning cone rod 404 downward. The lower outer conical surface of the positioning cone rod 404 and the inner conical surface of the positioning cone 405 fit tightly together. Then, adjust the distance between the vertical axis 304 of the robotic arm Z axis 3 and the moving mold opening and closing surface on the injection molding motor template by pulling the moving plate 409. Finally, tighten the butterfly fixing bolts between the moving plate 409 and the fixed plate 410 to achieve a firm connection between the robotic arm Y axis 2 and the injection molding motor template.

[0036] When the mold is opened, the injection molding motor template pulls the robotic arm Y-axis 2 to move synchronously through the conical positioning and separation mechanism 4. At the same time, the power mechanism 303 is started, the vertical shaft 304 moves downward, and the product clamping device 305 clamps the injection molded product. When the mold is in place, the vertical shaft 304 is quickly lifted.

[0037] When the injection molding machine completes mold closing, the clutch cylinder 402 of the conical positioning and separation mechanism 4 reverses and starts. The cylinder shaft of the clutch cylinder 402 retracts, driving the positioning cone rod 404 to move upward and separate from the positioning cone 405. The X-axis 1 of the robotic arm starts, transporting the injection molded product clamped by the product clamping device 305 at the lower end of the vertical shaft 304 to the designated position and returning to the initial position in time.

[0038] In practical applications, when changing products or molds, loosen the butterfly fixing bolts between the moving plate 409 and the fixed plate 410 of the conical positioning and separation mechanism 4, manually guide the positioning cone rod 404 and the positioning cone 405 to be aligned, open the throttle valve of the air inlet pipe of the clutch cylinder 402, and the piston rod of the clutch cylinder 402 extends outward to push the positioning cone rod 404 downward. The lower outer conical surface of the positioning cone rod 404 and the inner conical surface of the positioning cone 405 are tightly fitted together.

[0039] Pull the moving plate 409 to adjust the distance between the vertical axis 304 of the robotic arm Z-axis 3 and the moving mold opening and closing surface on the injection molding moving template to a suitable position, and then tighten the butterfly fixing bolts between the moving plate 409 and the fixed plate 410 to achieve a firm connection between the robotic arm Y-axis 2 and the injection molding moving template.

[0040] At this point, the robotic arm's X-axis 1, Y-axis 2, and Z-axis 3 are all in their initial positions. The conical positioning and separation mechanism 4 is in the "closed" position.

[0041] When the injection molding machine closes and opens the mold, the moving platen of the injection molding machine pulls the Y-axis 2 of the robotic arm synchronously through the conical positioning and separation mechanism 4. At the same time, the power mechanism 303 starts, the vertical shaft 304 moves downward, and the product clamping device 305 clamps (or sucks) the injection molded product before the ejector pin of the injection molding machine starts. When the ejector pin action is completed and the mold is in place, the vertical shaft 304 quickly rises, raising to the appropriate height in advance of the completion of the injection molding machine's mold closing action.

[0042] When the injection molding machine completes mold closing, the clutch cylinder 402 of the conical positioning and separation mechanism 4 reverses direction and starts. The piston rod of the clutch cylinder 402 retracts, driving the positioning cone rod 404 upward and separating it from the positioning cone 405. Immediately afterwards, the robotic arm X-axis 1 starts, and within the time it takes for the injection molding machine to complete injection, pressure holding, material conveying, and heat preservation actions, it transports the injection molded product clamped (or sucked) by the product clamping device 305 at the lower end of the vertical shaft 304 to the designated position and promptly returns to the initial position.

[0043] At this point, the energy-saving and high-efficiency synchronous robotic arm has completed one action cycle.

[0044] This invention uses a robotic arm Y-axis (in the direction of the existing injection molding machine axis) to connect with the existing injection molding machine's moving template via a conical positioning and separation mechanism. In other words, the robotic arm Y-axis borrows the power of the injection molding machine's mold opening and closing. While saving Y-axis power, it achieves highly synchronized movement between the robotic arm and the injection molding machine during mold opening and closing, solving the problem that the robotic arm's action rhythm affects the injection molding machine's action rhythm and results in low production efficiency. This makes the production efficiency high and the operation reliable.

[0045] Secondly, a high-precision conical positioning and separation mechanism was designed, fully utilizing the advantages of conical positioning, such as simple structure, large contact surface, high positioning accuracy, and easy disengagement. The use of this high-precision conical positioning and separation mechanism significantly reduces the requirements for the robotic arm's X-axis and Y-axis operating accuracy, especially repeatability. This not only simplifies the robotic arm's automated control program but also reduces the manufacturing and operating costs of the X-axis and Y-axis, achieving effective energy savings and demonstrating good practicality.

[0046] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. An energy-saving and high-efficiency synchronous robotic arm, comprising a robotic arm X-axis (1), a robotic arm Y-axis (2), a robotic arm Z-axis (3), and a conical positioning and separation mechanism (4), characterized in that: The Z-axis (3) of the robotic arm includes a fixed bending plate (301), a third linear guide rail (302), a power mechanism (303), and a vertical axis (304); The conical positioning and separation mechanism (4) includes a fixed base (401), a clutch cylinder (402), a linear bearing (403), a positioning cone rod (404), a positioning cone (405), a positioning cone support (406), a buffer core rod (407), a buffer spring (408), a moving plate (409), and a fixed plate (410). The fixed base (401) is bolted to the fixed plate (301) of the Z-axis (3) of the robotic arm. The clutch cylinder (402) and the linear bearing (403) are bolted to the fixed base (401). The positioning cone rod (404) passes through... Its internal thread is connected to the external thread on the piston rod of the clutch cylinder (402). The positioning cone (405) is bolted to the positioning cone support (406), the positioning cone support (406) is bolted to the moving plate (409), the buffer spring (408) is placed inside the positioning cone support (406), the lower flange of the buffer core rod (407) is located at the upper end of the buffer spring (408), the upper part of the buffer core rod (407) passes through the lower inner hole of the positioning cone (405), the moving plate (409) is bolted to the fixed plate (410), and the fixed plate (410) is bolted with the injection molding motor template.

2. The energy-saving and high-efficiency synchronous robotic arm according to claim 1, characterized in that: The robotic arm X-axis (1) includes a frame (101), a first linear guide rail (102), a rodless cylinder (103), and a robotic arm Y-axis fixing plate (104). The linear guide rail (102) is bolted to the rodless cylinder (103) on the frame (101). The robotic arm Y-axis fixing plate (104) is bolted to the slider of the linear guide rail (102), and at the same time, the robotic arm Y-axis fixing plate (104) is bolted to the slider of the rodless cylinder (103). The robotic arm Y-axis (2) includes a robotic arm Y-axis fixing plate (201) and a second linear guide (202). The robotic arm Y-axis fixing plate (201) is bolted to the robotic arm Y-axis fixing plate (104) of the robotic arm X-axis (1), and the linear guide (202) is bolted to the robotic arm Y-axis fixing plate (201). The fixed plate (301) is bolted to the slider of the linear guide rail (202) of the Y-axis (2) of the robotic arm. The linear guide rail (302) and the power mechanism (303) are bolted to the fixed plate (301). The vertical shaft (304) is bolted to the slider of the linear guide rail (302). A product clamping device (305) is fixedly installed at the lower end of the vertical shaft (304).

3. The energy-saving and high-efficiency synchronous robotic arm according to claim 2, characterized in that: A butterfly-shaped fixing bolt is provided between the moving plate (409) and the fixed plate (410), and a throttle valve is provided on the air intake pipe of the clutch cylinder (402).

4. The energy-saving and high-efficiency synchronous robotic arm according to claim 3, characterized in that: When changing products, first loosen the butterfly fixing bolts and manually guide the positioning cone rod (404) to be aligned with the positioning cone (405). Open the throttle valve of the air intake pipe of the clutch cylinder (402). The cylinder shaft of the clutch cylinder (402) extends outward to push the positioning cone rod (404) downward. The lower outer conical surface of the positioning cone rod (404) and the inner conical surface of the positioning cone (405) fit tightly together. Then, adjust the distance between the vertical axis (304) of the robot arm Z axis (3) and the moving mold opening and closing surface on the injection molding motor template by pulling the moving plate (409). Then tighten the butterfly fixing bolts between the moving plate (409) and the fixed plate (410) to achieve a firm connection between the robot arm Y axis (2) and the injection molding motor template.

5. The energy-saving and high-efficiency synchronous robotic arm according to claim 4, characterized in that: When the mold is opened, the injection molding motor template pulls the robotic arm Y-axis (2) to move synchronously through the conical positioning and separation mechanism (4). At the same time, the power mechanism (303) is started, the vertical shaft (304) moves downward, and the product clamping device (305) clamps the injection molded product. When the mold is in place, the vertical shaft (304) is quickly lifted.

6. The energy-saving and high-efficiency synchronous robotic arm according to claim 4, characterized in that: When the injection molding machine completes mold closing, the clutch cylinder (402) of the conical positioning separation mechanism (4) reverses and starts. The cylinder shaft of the clutch cylinder (402) retracts, driving the positioning cone rod (404) to move upward and separate from the positioning cone (405). The X-axis (1) of the robotic arm starts, transporting the injection molded product clamped by the product clamping device (305) at the lower end of the vertical shaft (304) to the designated position and returning to the initial position in time.

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