Bidirectional material taking and placing gripper module

Abstract

The utility model discloses a bi-directional material taking and placing gripper module which comprises a transferring frame, a feeding mechanism, a discharging mechanism and a mold locking mechanism, the feeding mechanism used for placing products is installed on an upper bottom plate of the transferring frame, and the discharging mechanism used for taking finished products is installed on a lower bottom plate of the transferring frame. A mold locking mechanism matched with the forming mold is further installed on the periphery of the upper bottom plate, and the feeding mechanism comprises a movable plate, a linear bearing, a jacking air cylinder, a buffering spring, a precise manual sliding table, a material taking clamping jaw and a photoelectric sensor. By means of the mode, unformed finished products can be synchronously grabbed, injection-molded finished products can be taken away, multiple functions are achieved, it can be guaranteed that the products and molds are not damaged by pressing while feeding is in place, and the feeding precision is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading materials, in particular to a two-way material taking and placing gripper module. Background Art

[0002] After the new car fan is assembled, it needs to be placed in the injection mold for integrated injection molding. In order to improve the molding efficiency, most molds have multiple cavities in one mold. Before and after molding, the new car fan needs to be grabbed and placed in the mold, and the molded product needs to be taken out. The grabbing efficiency of a single loading robot and unloading robot is low, which affects the overall molding rhythm. In addition, since the product is a precision part, the accuracy of picking and placing is relatively high. Especially when placing the new car fan in the mold, ordinary multi-station robots are difficult to ensure the position accuracy of each station. In addition, the stroke of the robot also affects the placement of the product. If the stroke is low, the product cannot be put in place. If the stroke is too long, the product is easy to crush the mold.

[0003] Based on the above defects and shortcomings, it is necessary to improve the existing technology and design a two-way material picking and placing gripper module. Utility Model Content

[0004] The main technical problem solved by the utility model is to provide a two-way material picking and placing gripper module, which can not only synchronously grab unformed finished products, but also take away finished products after injection molding. It has multiple functions and can ensure that the materials are loaded in place without damaging the products and molds, thereby ensuring the loading accuracy.

[0005] In order to solve the above technical problems, a technical solution adopted by the utility model is: to provide a two-way material picking and unloading gripper module, which includes a transfer rack, a loading mechanism, a unloading mechanism and a locking mechanism. A loading mechanism for placing products is installed on the upper bottom plate of the transfer rack, and a unloading mechanism for taking finished products is installed on the lower bottom plate of the transfer rack. A locking mechanism that cooperates with the forming mold is also installed around the upper bottom plate. The loading mechanism includes a movable plate, a linear bearing, a lifting cylinder, a buffer spring, a precision manual slide, a material picking claw and a photoelectric sensor. The movable plate is arranged between the upper bottom plate and the lower bottom plate through a linear bearing guide frame, and a lifting cylinder is installed on the upper bottom plate. The piston rod of the lifting cylinder passes through the movable plate and the passing part is covered with a buffer spring. Several groups of precision manual slides are installed on the movable plate. Material picking claws for grabbing products are installed on the precision manual slide. The material picking claws pass through the upper bottom plate, and a photoelectric sensor pointing to the material picking claws is also installed on the upper bottom plate. The material picking claw adopts a three-claw cylinder.

[0006] Preferably, the unloading mechanism includes a clamping cylinder and an in-position sensor, and a plurality of groups of clamping cylinders corresponding to the product acupoints on the mold are installed on the lower base plate. An in-position sensor is provided at the side end of the clamping cylinder, and the clamping cylinder adopts a three-claw cylinder.

[0007] Preferably, the mold locking mechanism includes a pneumatic locker and a locking sleeve, the pneumatic locker is installed on the upper base plate through a bracket, the product injection mold is embedded with a locking sleeve that cooperates with the pneumatic locker, and the locking sleeve is provided with an annular groove that cooperates with a steel ball.

[0008] Compared with the prior art, the beneficial effects of the utility model are:

[0009] The loading mechanism is used for synchronous loading, and the unloading mechanism is used for synchronous taking out. It can synchronously grab unmolded finished products and take away finished products after injection molding, with multiple functions.

[0010] During the loading process, the movable plate where the material-taking clamping claw is located is set with spring elasticity, which can ensure that the material is loaded in place without damaging the product and the mold;

[0011] The mold locking mechanism, the pneumatic locker is inflated, and the steel balls around the extended end of the pneumatic locker are ejected. The steel balls are hung in the locking sleeve, which can automatically position and lock the mold;

[0012] The precision manual slide can manually adjust the loading position according to actual requirements to ensure loading accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a bidirectional material picking and placing gripper module.

[0014] Figure 2 This is a structural schematic diagram of a two-way material picking and placing gripper module from another perspective.

[0015] Figure 3 It is a schematic diagram of the partial structure of the feeding mechanism of a two-way material picking and placing gripper module.

[0016] Figure 4 The figure is a schematic diagram of the structure of the clamping mechanism of a two-way material picking and placing gripper module.

[0017] Among them, 1, transfer rack, 11, upper bottom plate, 12, lower bottom plate, 13, connecting column;

[0018] 2. Feeding mechanism, 21. Movable plate, 22. Linear bearing, 23. Lifting cylinder, 24. Buffer spring, 25. Precision manual slide, 26. Retrieving clamp, 27. Photoelectric sensor;

[0019] 3. Unloading mechanism, 31. Gripper cylinder, 32. In-position sensor;

[0020] 4. clamping mechanism, 41. pneumatic locker, 42. locking sleeve, 420. annular groove. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0022] See also Figures 1 to 4 , the utility model embodiment includes:

[0023] A two-way material picking and placing gripper module comprises a transfer rack 1, a material loading mechanism 2, a material unloading mechanism 3 and a clamping mechanism 4.

[0024] A loading mechanism 2 for placing products is installed on the upper bottom plate 11 of the transfer rack 1, and a unloading mechanism 3 for taking finished products is installed on the lower bottom plate 12 of the transfer rack 1. A clamping mechanism 4 cooperating with the molding mold is also installed around the upper bottom plate 11.

[0025] The transfer rack 1 comprises an upper base plate 11, a lower base plate 12 and a connecting column 13. The upper base plate 11 and the lower base plate 12 which are parallel to each other are fixedly connected by the connecting column 13. The side end of the transfer rack 1 is installed at the wrist of the six-axis manipulator.

[0026] The feeding mechanism 2 includes a movable plate 21, a linear bearing 22, a lifting cylinder 23, a buffer spring 24, a precision manual slide 25, a material picking clamp 26 and a photoelectric sensor 27. The movable plate 21 is guided and mounted between the upper base plate 11 and the lower base plate 12 through the linear bearing 22. The lifting cylinder 23 is installed on the upper base plate 11. The piston rod of the lifting cylinder 23 passes through the movable plate 21 and the passing part is covered with a buffer spring 24. The piston rod of the lifting cylinder 23 drives the movable plate 21 to move along the linear bearing 22. The linear bearing 22 slides, and the setting of the buffer spring 24 ensures that the movable plate 21 slides elastically, and can elastically contact the mold during the loading process to avoid damage to the product and the mold. Several groups of precision manual slides 25 are installed on the movable plate 21. The precision manual slide 25 is equipped with a material picking claw 26 for grabbing the product. The material picking claw 26 passes through the upper base plate 11. The upper base plate 11 is also equipped with a photoelectric sensor 27 pointing to the material picking claw 26. The material picking claw 26 adopts a three-claw cylinder.

[0027] The unloading mechanism 3 includes a clamping cylinder 31 and an in-position sensor 32. A plurality of groups of clamping cylinders 31 corresponding to the product acupoints on the mold are installed on the lower base plate 12. The in-position sensor 32 is arranged at the side end of the clamping cylinder 31. The in-position sensor 32 is installed on the base plate 12 through a bracket. The clamping cylinder 31 adopts a three-claw cylinder.

[0028] The mold locking mechanism 4 includes a pneumatic locker 41 and a locking sleeve 42. The pneumatic locker 41 is installed on the upper base plate 11 through a bracket. The product injection mold is embedded with a locking sleeve 42 that cooperates with the pneumatic locker 41. The locking sleeve 42 is provided with an annular groove 420 that cooperates with a steel ball. When the pneumatic locker 41 is inflated, steel balls around the extended end of the pneumatic locker 41 pop out and hang in the locking sleeve 42, which plays a role in rapid positioning and mold locking.

[0029] When the two-way material taking and releasing gripper module of the utility model works, the transfer carrier 1 is moved to the material taking position by the six-axis manipulator, the material taking clamping claw 26 of the feeding mechanism 2 grabs the injection molded product, that is, the new automobile fan, the transfer carrier 1 is moved to the injection mold, the pneumatic locker 41 of the locking mechanism 4 is inserted into the locking sleeve 42, the pneumatic locker 41 is inflated, and the steel balls around the extended end of the pneumatic locker 41 are ejected, and the steel balls are hung in the locking sleeve 42, the mold is positioned and locked, and the piston rod of the lifting cylinder 23 is contracted to drive the movable plate 21 to move toward the mold. After moving into place, the material taking clamping claw 26 releases the product, the transfer carrier 1 is removed, the mold is closed for injection molding, and after the injection molded product is formed, the mold is opened, and the transfer carrier 1 is moved to the mold by the six-axis manipulator, the end where the unloading mechanism 3 is located is close to the mold, the mold is opened, and the clamping claw cylinder 31 grabs the finished product after molding, and moves it to the designated position for placement.

[0030] The utility model discloses a two-way material taking and placing gripper module, which can not only synchronously grab unformed finished products, but also take away finished products after injection molding, has multiple functions, can ensure that materials are loaded in place without damaging products and molds, and ensures loading accuracy.

[0031] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A two-way material picking and placing gripper module, characterized in that: It includes a transfer rack, a loading mechanism, a unloading mechanism and a locking mechanism. The upper bottom plate of the transfer rack is equipped with a loading mechanism for placing products, the lower bottom plate of the transfer rack is equipped with a unloading mechanism for taking finished products, and locking mechanisms that cooperate with the molding mold are also installed around the upper bottom plate. The loading mechanism includes a movable plate, a linear bearing, a lifting cylinder, a buffer spring, a precision manual slide, a material picking claw and a photoelectric sensor. The movable plate is arranged between the upper bottom plate and the lower bottom plate through a linear bearing guide. The upper bottom plate is equipped with a lifting cylinder. The piston rod of the lifting cylinder passes through the movable plate and the passing part is covered with a buffer spring. Several groups of precision manual slides are installed on the movable plate. The precision manual slide is equipped with a material picking claw for grabbing products. The material picking claw passes through the upper bottom plate. A photoelectric sensor pointing to the material picking claw is also installed on the upper bottom plate. The material picking claw adopts a three-claw cylinder.

2. A two-way material picking and placing gripper module according to claim 1, characterized in that: The unloading mechanism includes a clamping claw cylinder and an in-place sensor. A plurality of groups of clamping claw cylinders corresponding to the product acupoints on the mold are installed on the lower base plate. An in-place sensor is arranged at the side end of the clamping claw cylinder. The clamping claw cylinder adopts a three-claw cylinder.

3. A two-way material picking and placing gripper module according to claim 1, characterized in that: The mold locking mechanism includes a pneumatic locker and a locking sleeve. The pneumatic locker is installed on the upper base plate through a bracket. The product injection mold is embedded with a locking sleeve that cooperates with the pneumatic locker. The locking sleeve is provided with an annular groove that cooperates with a steel ball.

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