Automatic laser cleaning composite robot for mold bin

Abstract

The utility model discloses an automatic laser cleaning composite robot for a mold bin, belongs to the technical field of mold bin cleaning, and aims to solve the problems that residues in a mold cavity are mainly cleaned manually in the conventional mold cleaning process, so that the cleaning efficiency is low, the cleaning time is short, and the cleaning cost is low. The technical problems that large-batch multi-production-line production cannot be handled, workers are prone to fatigue due to large labor capacity, cleaning quality is difficult to guarantee, long-time work cannot be achieved, and potential safety hazards are prone to being generated are solved. The composite robot comprises a transferring vehicle body, a six-axis robot and a mold cleaning assembly, the upper surface of the transferring vehicle body is fixedly connected with a control cabinet, a base of the six-axis robot is installed on the upper surface of the control cabinet, and the output end of the six-axis robot is fixedly connected with the mold cleaning assembly. The six-axis robot is used for cleaning the mold bin, the cleaning efficiency is high, large-batch multi-production-line production is automatically dealt with, the labor intensity of workers is reduced, and the cleaning quality is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mold bin cleaning, and in particular relates to an automatic laser cleaning composite robot for a mold bin. Background Art

[0002] Molds are various molds and tools used in industrial production to obtain the desired products by injection molding, blow molding, extrusion, die casting or forging molding, smelting, stamping and other methods. In short, molds are tools used to make molded objects. This tool is composed of various parts, and different molds are composed of different parts. It mainly realizes the processing of the shape of the object by changing the physical state of the molded material. Known as the "mother of industry", during the use of molds, plastic or other residues will remain in the grooves carved in the mold, which may cause the products produced to become defective. Therefore, it is particularly important to keep the mold clean.

[0003] Existing mold cleaning is mainly done by manually cleaning the residue in the mold cavity. This method not only has low cleaning efficiency and cannot cope with large-scale multi-line production, but also workers are prone to fatigue due to heavy workload, difficult to ensure cleaning quality, and cannot work for long periods of time, which is prone to safety hazards. Utility Model Content

[0004] Technical issues to be solved:

[0005] In view of the deficiencies in the prior art, the purpose of the utility model is to provide a composite robot for automatic laser cleaning of a mold bin, which aims to solve the technical problems that the existing mold cleaning is mainly carried out by manually cleaning the residues in the mold cavity. This method not only has low cleaning efficiency and cannot cope with large-scale multi-line production, but also causes workers to have a large workload and are easily fatigued, the cleaning quality is difficult to guarantee, and they cannot work for a long time, which is prone to safety hazards.

[0006] Technical solution:

[0007] In order to solve the above technical problems, the utility model provides a composite robot for automatic laser cleaning of a mold bin, which comprises a transfer vehicle, a six-axis robot and a mold cleaning assembly. The upper surface of the transfer vehicle is fixedly connected to a control cabinet, the base of the six-axis robot is installed on the upper surface of the control cabinet, the output end of the six-axis robot is fixedly connected to the mold cleaning assembly, and the transfer vehicle is used to move to the mold bin and clean the mold bin through the cooperation of the six-axis robot, the mold cleaning assembly and the control cabinet.

[0008] Preferably, the transfer vehicle body includes an AMR vehicle, moving wheels are installed at the four corners of the lower surface of the AMR vehicle, anti-collision strips are fixedly connected to the bottom ends of the left and right sides of the AMR vehicle, and the anti-collision strips are rubber components. Navigation and obstacle avoidance laser radars are installed at the tops of the left and right sides of the AMR vehicle. This arrangement enables the transfer vehicle body to have a fault self-diagnosis alarm function, and multiple protections such as laser radar + photoelectric sensor + mechanical anti-collision, so that the transfer vehicle body can be moved to the mold warehouse more stably.

[0009] Furthermore, the six-axis robot includes a base and a first robotic arm, a second robotic arm, a third robotic arm, a fourth robotic arm and a fifth robotic arm that are movably connected to each other. The base cooperates with the first robotic arm, the second robotic arm, the third robotic arm, the fourth robotic arm and the fifth robotic arm to clean the mold bin at various angles.

[0010] Furthermore, the mold cleaning assembly includes a mounting plate mounted on the fifth robot arm, a positioning camera is mounted on a side of the mounting plate close to the fifth robot arm, and a laser head is mounted on a side of the mounting plate away from the robot arm.

[0011] Furthermore, the control cabinet includes a casing, an electrical module is arranged inside the casing, a human-machine interface is arranged on the left side of the casing, and the human-machine interface is electrically connected to the electrical module.

[0012] Furthermore, it also includes a manual call button, multiple laminators and a charging system. Each laminator is provided with a QR code. The manual call button is wirelessly connected to the AMR cart and the laminator. The manual call button is used to call the AMR cart to the laminator for mold cleaning. The charging system is used to charge the AMR cart. The QR code is used to locate the laminator and enable the mold cleaning component to perform mold cleaning according to a preset path.

[0013] Furthermore, the method for using the mold bin automatic laser cleaning composite robot includes the following steps:

[0014] Step 1: Place the composite robot in a workshop where there is a wireless network and a laminator that needs to be cleaned. A call button and a QR code are added to the door opening method of the laminator, and all laminators have signal communication ports.

[0015] Step 2: Increase the minimum distance between the two laminators to 1300mm, leaving 300mm of space for the robot arms on both sides of the AMR. At the same time, increase the distance between the loading shelves of the two laminators to more than 1040mm, and ensure a radar sensing range of at least 150mm on both sides of the AMR.

[0016] Step 3: When in use, manually open the door and press the call button. After receiving the call command, the AMR car moves to the laminator and then scans the QR code at the laminator to determine its location.

[0017] Step 4: The six-axis robot extends the laser head at the mold cleaning component into the preset point of the mold cavity, then turns on the laser head and performs mold cleaning according to the preset path.

[0018] Step 5: After mold cleaning is completed, turn off the laser head and the six-axis robot will remove the laser head from the mold cavity.

[0019] Furthermore, in step 3, after receiving the call command, the AMR car checks whether the power is sufficient. If the power is insufficient, the AMR car moves to the charging area and charges automatically.

[0020] Furthermore, the AMR car automatically navigates to the laminator and automatically positions itself. The laser head cannot be exposed from the car body when the AMR car is running.

[0021] Furthermore, the workshop environment is a Class-A clean room, and the wireless network signal strength in the workshop must meet the requirements of the AMR car.

[0022] Beneficial effects:

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] The utility model uses a six-axis robot to clean the mold bin, which not only has a high cleaning efficiency, but also adopts the method of manually opening the door and pressing a button to make the transfer vehicle drive the six-axis robot and the mold cleaning component to move to the laminator, and then scans the QR code at the laminator to determine the position. The six-axis robot extends the laser head at the mold cleaning component into the preset point of the mold cavity, and then turns on the laser head to perform mold cleaning according to the preset path, thereby automating the production of large quantities and multiple production lines, reducing the labor intensity of workers and improving the quality of cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a top-down perspective schematic diagram of the three-dimensional structure of the automatic laser cleaning composite robot for the mold bin;

[0026] Figure 2 It is a schematic diagram of the upward-looking three-dimensional structure of the automatic laser cleaning composite robot for the mold bin;

[0027] Figure 3 It is a three-dimensional structural diagram of the mold bin automatic laser cleaning composite robot in use;

[0028] Figure 4 This is a schematic diagram of the structure of the installation workshop of the automatic laser cleaning composite robot for the mold warehouse;

[0029] Figure 5 This is a structural schematic diagram of the communication principle of the automatic laser cleaning composite robot for the mold warehouse.

[0030] The marks in the attached drawings are: 1. Transfer body; 2. Six-axis robot; 3. Mold cleaning component; 4. Control cabinet; 101. AMR cart; 102. Moving wheel; 103. Anti-collision strip; 104. Navigation and obstacle avoidance laser radar; 201. Machine base; 202. First robotic arm; 203. Second robotic arm; 204. Third robotic arm; 205. Fourth robotic arm; 206. Fifth robotic arm; 301. Mounting plate; 302. Positioning camera; 303. Laser head; 401. Casing; 402. Human-machine interface; 5. Laminator; 6. Charging system; 7. QR code. DETAILED DESCRIPTION

[0031] This specific embodiment is a mold bin automatic laser cleaning composite robot, and its structural schematic diagram is as follows Figure 1-Figure 5 As shown, the composite robot includes a transfer vehicle 1, a six-axis robot 2 and a mold cleaning component 3. The upper surface of the transfer vehicle 1 is fixedly connected to a control cabinet 4, the base of the six-axis robot 2 is installed on the upper surface of the control cabinet 4, and the output end of the six-axis robot 2 is fixedly connected to the mold cleaning component 3. The transfer vehicle 1 is used to move to the mold bin and clean the mold bin through the cooperation of the six-axis robot 2, the mold cleaning component 3 and the control cabinet 4.

[0032] like Figure 1 and Figure 2 As shown, in this embodiment, the transfer vehicle body 1 includes an AMR cart 101, and moving wheels 102 are installed at the four corners of the lower surface of the AMR cart 101. The bottom ends of the left and right sides of the AMR cart 101 are fixedly connected with anti-collision strips 103, and the anti-collision strips 103 are rubber components. Navigation and obstacle avoidance laser radars 104 are installed at the tops of the left and right sides of the AMR cart 101.

[0033] This configuration enables the transfer vehicle 1 to have a fault self-diagnosis alarm function, and multiple protections such as laser radar + photoelectric sensor + mechanical anti-collision, so that the transfer vehicle 1 can be moved to the mold warehouse more stably.

[0034] like Figure 1 and Figure 2 As shown, in this embodiment, the six-axis robot 2 includes a base 201 and a first robotic arm 202, a second robotic arm 203, a third robotic arm 204, a fourth robotic arm 205 and a fifth robotic arm 206 that are movably connected to each other. The base 201 cooperates with the first robotic arm 202, the second robotic arm 203, the third robotic arm 204, the fourth robotic arm 205 and the fifth robotic arm 206 to clean the mold bin at various angles.

[0035] like Figure 1 and Figure 2As shown, in this embodiment, the mold cleaning assembly 3 includes a mounting plate 301 mounted on the fifth robotic arm 206, a positioning camera 302 is mounted on the side of the mounting plate 301 close to the fifth robotic arm 206, and a laser head 303 is mounted on the side of the mounting plate 301 away from the fifth robotic arm 206.

[0036] The six-axis robot 2 is arranged in this way to extend the laser head 303 at the mold cleaning component 3 into the preset point of the mold cavity, and then turn on the laser head 303 to perform mold cleaning work according to the preset path.

[0037] like Figure 1 and Figure 2 As shown, in this embodiment, the control cabinet 4 includes a housing 401, an electrical module is arranged inside the housing 401, a human-machine interface 1402 is arranged on the left side of the housing 401, and the human-machine interface 402 is electrically connected to the electrical module.

[0038] In this way, the six-axis robot 2 can be programmed through the human-machine interface 402, and the interaction is more convenient.

[0039] like Figure 1-5 As shown, in this embodiment, it also includes a manual call button, multiple laminators 5 and a charging system 6. A QR code 7 is provided at each laminator 5. The manual call button is wirelessly connected to the AMR cart 101 and the laminator 5. The manual call button is used to call the AMR cart 101 to the laminator 5 for mold cleaning. The charging system 6 is used to charge the AMR cart 101. The QR code 7 is used to locate the laminator 5 and enable the mold cleaning component 3 to perform mold cleaning according to a preset path.

[0040] When the setting is used in this way, the door is opened manually and a button is pressed to call. After receiving the call instruction, the AMR car 101 moves to the laminator 5, and then scans the QR code 7 at the laminator 5 to determine the position, so as to facilitate the cleaning of the mold at the laminator 5;

[0041] The charging system 6 can charge the battery within two hours and run for ten hours at full charge. The AMR car 101 can meet the requirements of uninterrupted power supply and battery replacement without restarting the device.

[0042] The method of using the mold bin automatic laser cleaning composite robot includes the following steps:

[0043] Step 1: Place the composite robot in a workshop. There is a wireless network and a laminator 5 that needs to be cleaned in the workshop. A call button and a QR code 7 are added to the door opening method of the laminator 5. All laminators 5 have signal communication ports.

[0044] Step 2: Increase the minimum distance between the two laminators 5 to 1300 mm, so that 300 mm of mechanical arm activity space is reserved on both sides of the AMR cart 101. At the same time, the distance between the loading shelves of the two laminators 5 is increased to more than 1040 mm, and the radar sensing range of at least 150 mm is guaranteed on both sides of the AMR cart 101.

[0045] Step 3: When in use, manually open the door and press the call button. After receiving the call command, the AMR car 101 moves to the laminator 5, and then scans the QR code 7 at the laminator 5 to determine the position.

[0046] Step 4: The six-axis robot 2 extends the laser head 303 at the mold cleaning component 3 into the preset position of the mold cavity, then turns on the laser head 303 and performs mold cleaning according to the preset path.

[0047] Step 5: After mold cleaning is completed, the laser head 303 is closed, and the six-axis robot 2 withdraws the laser head 303 from the mold cavity.

[0048] In this embodiment, in step three, after receiving the call command, the AMR car 101 checks whether the power is sufficient. If the power is insufficient, the AMR car 101 moves to the charging area to charge automatically.

[0049] This arrangement can ensure that the mold can be cleaned every time the AMR car 101 moves to the laminator 5, avoiding the problem that the cleaning cannot be completed due to insufficient power and a secondary cleaning is required.

[0050] In this embodiment, the AMR vehicle 101 automatically navigates to the laminator 5 and automatically positions itself. When the AMR vehicle 101 is running, the laser head 303 cannot be exposed from the vehicle body.

[0051] This configuration of the AMR vehicle 101 is more intelligent, and the laser head 303 cannot be exposed from the vehicle body during operation to avoid collision with other objects, thereby improving safety.

[0052] like Figure 4 and Figure 5 As shown, in this embodiment, the workshop environment is a Class 10000 clean room, and the wireless network signal strength in the workshop must meet the requirements of the AMR car 101.

[0053] When the call is set in this way, the AMR car 101 can better receive the signal, so that the communication between the devices is good and the cleaning task of the mold bin is better coordinated.

[0054] like Figure 3 and Figure 4As shown, there are 20 plastic sealing machines 5 in total in the area, of which 17 are currently available and 3 are preset. When the composite robot is in use, the time for single-cavity single-side mold cleaning is 240s. A single machine has 3 mold cavities, and the cavity spacing is 690mm. The molds are cleaned once every 48 hours (172800s). Assuming that the AMR transfer vehicle 1 is initially located in the charging area, the moving distance is the average distance. Considering the factors such as the AMR transfer vehicle 1, start and stop, turn, and obstacle avoidance, the long distance V is 0.5m / s and the short distance V is 0.3m / s.

[0055] The total time for the AMR body to clear the molds of 17 plastic packaging equipment in this area is 14947*1.5=22420.5s (1.5 is the safety factor), the time required to complete the machine clearing the upper and lower molds is 2975 / 2=1487.5s (about 25 minutes), and the time required to complete the machine clearing the upper or lower mold is 11909 / 15=734s (about 13 minutes).

[0056] All technical features in this embodiment can be freely combined according to actual needs.

[0057] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A composite robot for automatic laser cleaning of mold bin, characterized by: The composite robot comprises a transfer vehicle (1), a six-axis robot (2) and a mold cleaning component (3); the upper surface of the transfer vehicle (1) is fixedly connected to a control cabinet (4); the base of the six-axis robot (2) is installed on the upper surface of the control cabinet (4); and the output end of the six-axis robot (2) is fixedly connected to the mold cleaning component (3); The transfer vehicle (1) is used to move to the mold bin and clean the mold bin through the cooperation of a six-axis robot (2), a mold cleaning component (3) and a control cabinet (4).

2. The mold bin automatic laser cleaning compound robot according to claim 1, characterized in that: The transfer vehicle body (1) comprises an AMR trolley (101), wherein moving wheels (102) are installed at the four corners of the lower surface of the AMR trolley (101), and anti-collision strips (103) are fixedly connected to the bottom ends of the left and right sides of the AMR trolley (101), wherein the anti-collision strips (103) are rubber components, and navigation and obstacle avoidance laser radars (104) are installed at the top ends of the left and right sides of the AMR trolley (101).

3. The mold bin automatic laser cleaning compound robot according to claim 2, characterized in that: The six-axis robot (2) comprises a machine base (201) and a first mechanical arm (202), a second mechanical arm (203), a third mechanical arm (204), a fourth mechanical arm (205) and a fifth mechanical arm (206) which are movably connected to each other. The machine base (201) cooperates with the first mechanical arm (202), the second mechanical arm (203), the third mechanical arm (204), the fourth mechanical arm (205) and the fifth mechanical arm (206) to clean the mold bin at various angles.

4. The mold bin automatic laser cleaning compound robot according to claim 3 is characterized in that: The mold cleaning assembly (3) comprises a mounting plate (301) mounted on a fifth robotic arm (206), a positioning camera (302) being mounted on a side of the mounting plate (301) close to the fifth robotic arm (206), and a laser head (303) being mounted on a side of the mounting plate (301) away from the fifth robotic arm (206).

5. The mold bin automatic laser cleaning compound robot according to claim 4, characterized in that: The control cabinet (4) comprises a casing (401), an electrical module is arranged inside the casing (401), a human-machine interface (402) is arranged on the left side of the casing (401), and the human-machine interface (402) is electrically connected to the electrical module.

6. The mold bin automatic laser cleaning compound robot according to claim 5, characterized in that: It also comprises a manual call button, a plurality of laminators (5) and a charging system (6), each of the laminators (5) being provided with a QR code (7), the manual call button being wirelessly connected to the AMR trolley (101) and the laminator (5), the manual call button being used to call the AMR trolley (101) to the laminator (5) to perform mold cleaning, the charging system (6) being used to charge the AMR trolley (101), and the QR code (7) being used to locate the laminator (5) and enable the mold cleaning component (3) to perform mold cleaning according to a preset path.

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