Multi-section long-stroke side-taking robot arm

By designing a multi-section long stroke side-take robot arm, using a three-axis guide system and servo motor to drive the gear, the three-axis free movement and flexible adaptation of the injection molded manipulator are achieved, and the problems of unstable pickup angle and insufficient load capacity are solved, and the efficiency and stability of the manipulator are improved.

CN222628517UActive Publication Date: 2025-03-18SHENZHEN BOWANG HIGH TECH IND CO LTD
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Patent Information

Application Number
CN202420496569.0
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-03-14
Publication Date
2025-03-18
Estimated Expiration
2034-03-14

AI Technical Summary

Technical Problem

When existing injection molding robots deal with different injection molding parts, the pickup angle is unstable, and the stroke of large robots requires a large height space, which increases the load on the injection molding machine and limits the load capacity of the robot arm.

Method used

A multi-section long stroke side-take robot arm is designed to achieve free movement in the three-axis coordinate system through the X-axis, Z-axis and Y-axis guide systems, and the gears and cylinders are driven by the servo motor to achieve flexible adaptation of rotation adjustment and grasping angles.

Benefits of technology

The robot's multi-sectional length travel free movement in the three-axis coordinate system is realized, which reduces the requirements for space height, reduces the load on the injection molding machine, improves the load capacity of the robotic arm, and improves the flexibility and stability of the pickup.

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Abstract

The utility model discloses a multi-section long stroke side taking robot arm, relates to injection molding manipulator technical field, including bottom plate and support seat, bottom plate top bolt is fixed with the support seat, and the support seat upper end support surface bolt is fixed with X-axis guide rail, X-axis guide rail upper surface slide along the extension direction is equipped with the transverse slide carriage, the transverse slide carriage is equipped with the transverse slide carriage. A Z-axis guide rail is fixedly installed on the side face of the transverse sliding base. According to the multi-section long-stroke side taking robot arm, the side taking robot arm is arranged, a servo motor on one side of a mounting plate is meshed with a toothed bar through an output end driving gear, so that the side taking robot arm can conduct autorotation to adjust the grabbing position, and a large arm pushes a toggle joint at the rear end of a small arm through a side face adjusting air cylinder; and the small arm rotates in the mounting groove by taking the middle part as a rotating center, so that the suction cup seat at the front end of the small arm is driven to adjust the grabbing angle to adapt to different piece taking angles required for producing different injection molding pieces, and flexible piece taking of the side-taking mechanical arm is facilitated.
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Description

Technical Field

[0001] The utility model relates to the technical field of injection molding manipulators, in particular to a multi-section long-stroke side-taking robot arm. Background Art

[0002] Injection molding machine is also known as injection molding machine or injection machine. Many factories call it beer machine and injection molded products are called beer parts. It is the main molding equipment for thermoplastics or thermosetting materials using plastic molding molds to make plastic products of various shapes. Injection molding machines can be divided into vertical, horizontal and vertical-horizontal composite types according to the arrangement of injection devices and clamping devices. Injection molding machine is the most widely used processing machinery in the plastic processing industry. Not only can a large number of products be directly produced by injection molding machines, but it is also the key equipment for the injection stretch blow molding process.

[0003] The injection molding robot is a machine specially equipped for injection molding production automation. It can reduce heavy physical labor, improve working conditions and ensure safe production. However, general injection molding robots can only move with large strokes in the horizontal or vertical direction. In actual use, the production of different injection molded parts may result in different picking angles, which makes the robot's grasping effect unstable and brings inconvenience to the robot's picking. In addition, the existing large-scale injection molding machine robots are directly installed on the head plate of the injection molding machine and use vertical extraction movement. Not only does the stroke have a large height space requirement, it also increases the load on the fixed mold of the injection molding machine, while limiting the load-bearing capacity of the robot arm, affecting the use of the injection molding machine.

[0004] Therefore, in view of this, the existing structural deficiencies are studied and improved, and a multi-section long-stroke side-taking robot arm is proposed. Utility Model Content

[0005] The utility model aims to provide a multi-section long-stroke side-taking robot arm to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a multi-section long-stroke side-taking robot arm, comprising a base plate and a support seat, the support seat is fixed with bolts on the top of the base plate, and an X-axis guide rail is fixed with bolts on the upper support surface of the support seat, a transverse slide is slidably installed on the upper surface of the X-axis guide rail along the extension direction, and a Z-axis guide rail is fixedly installed on the side of the transverse slide, a longitudinal slide is slidably installed on the front side of the Z-axis guide rail along the extension direction, and a lifting rod is slidably installed on the side of the longitudinal slide, and the end of the lifting rod is fixedly connected to a mounting plate.

[0007] Furthermore, the support seat is a trapezoidal structure, and the support surface at the upper end of the support seat is larger than the support surface at the lower end.

[0008] Furthermore, the transverse slide is connected to the X-axis guide rail through a motor toothed belt structure, the longitudinal slide is connected to the Z-axis guide rail through a motor belt structure, and the lifting rod is connected to the longitudinal slide through a motor rack structure.

[0009] Furthermore, an air pump is arranged on one side of the mounting plate, and a servo motor is arranged on the other side of the mounting plate, and a driving gear is fixedly connected to the output end of the servo motor.

[0010] Furthermore, a side-taking machine arm is rotatably installed at the bottom of the mounting plate, and the side-taking machine arm includes a large arm, an adjusting cylinder and a gear rod. The adjusting cylinder is rotatably installed on the side of the large arm through a fixing pin, and a gear rod is coaxially fixed on the top of the large arm, and the gear rod is meshed with the circumferential gear teeth of the driving gear.

[0011] Furthermore, the side-taking robot arm also includes a mounting groove and a small arm. The bottom of the large arm is provided with an inwardly recessed mounting groove, and the small arm is rotatably mounted inside the mounting groove through a pin shaft.

[0012] Furthermore, the side-taking robot arm also includes a toggle, and the rear end of the forearm is provided with a toggle, and the toggle is movably connected to the output end of the regulating cylinder.

[0013] Furthermore, the side-taking robot arm also includes a suction cup seat and a hose. The front end of the forearm is fixedly connected to the suction cup seat, and a vacuum suction cup is distributed in an array on the front of the suction cup seat, and the back of the suction cup seat is connected to the air pump through a hose.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. When the utility model is in use, the transverse slide is connected to the X-axis guide rail through the motor toothed belt structure, giving the side-taking robot arm the ability to move laterally in the X-axis direction, the longitudinal slide is connected to the Z-axis guide rail through the motor belt structure, giving the side-taking robot arm the ability to move longitudinally in the Z-axis direction, and the lifting rod is connected to the longitudinal slide through the motor rack structure, giving the side-taking robot arm the ability to lift in the Y-axis direction, so that the side-taking robot arm can move freely with multiple cut-off strokes in the three-axis coordinate system. In addition, the X-axis guide rail is fixed to the base plate through the support seat, and the installation position of the side-taking robot arm is transferred from the injection molding machine to the workbench, which not only reduces the requirement for the space height, but also reduces the load on the fixed mold of the injection molding machine, while improving the load-bearing capacity of the robot arm.

[0016] 2. The utility model sets a side-taking robot arm. The servo motor on one side of the mounting plate drives the meshing of the gear and the gear rod through the output end, so that the side-taking robot arm can rotate to adjust the grabbing position. The big arm pushes the elbow joint at the rear end of the small arm through the side adjustment cylinder, so that the small arm rotates in the mounting groove with the middle as the rotation center, and then drives the suction cup seat at the front end of the small arm to adjust the grabbing angle, so as to adapt to the different pickup angles required for the production of different injection molded parts, and facilitate the flexible pickup of the side-taking robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall external structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the external structure of the side-view robot arm of the utility model;

[0019] Figure 3 It is a schematic diagram of the overall structure of the utility model.

[0020] In the figure: 1. base plate; 2. support seat; 3. X-axis guide rail; 4. horizontal slide; 5. Z-axis guide rail; 6. longitudinal slide; 7. lifting rod; 8. mounting plate; 9. air pump; 10. servo motor; 11. driving gear; 12. side-taking robot arm; 1201. upper arm; 1202. adjusting cylinder; 1203. gear rod; 1204. mounting groove; 1205. forearm; 1206. elbow joint; 1207. suction cup seat; 1208. hose. DETAILED DESCRIPTION

[0021] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0022] like Figures 1 to 3As shown, a multi-section long stroke side-taking robot arm comprises a base plate 1 and a support seat 2. The support seat 2 is fixed with bolts on the top of the base plate 1, and an X-axis guide rail 3 is fixed with bolts on the upper support surface of the support seat 2. The support seat 2 is a trapezoidal structure, and the upper support surface of the support seat 2 is larger than the lower support surface. The X-axis guide rail 3 is fixed to the base plate 1 through the support seat 2. The installation position of the side-taking robot arm 12 is transferred from the injection molding machine to the workbench, which not only reduces the requirement for the space height, but also reduces the load on the fixed mold of the injection molding machine, while improving the load-bearing capacity of the robot arm. A transverse slide 4 is slidably installed on the upper surface of the X-axis guide rail 3 along the extension direction, and a Z-axis guide rail 5 is fixedly installed on the side of the transverse slide 4. The transverse slide 4 is connected to the X-axis guide rail 3 through a motor toothed belt structure, and the longitudinal slide 6 is connected through a motor toothed belt structure. The motor belt structure is connected to the Z-axis guide rail 5, the lifting rod 7 is connected to the longitudinal slide 6 through the motor rack structure, the front of the Z-axis guide rail 5 is slidably installed with the longitudinal slide 6 along the extension direction, and the lifting rod 7 is slidably installed on the side of the longitudinal slide 6, and the end of the lifting rod 7 is fixedly connected with the mounting plate 8, the transverse slide 4 is connected to the X-axis guide rail 3 through the motor toothed belt structure, giving the side-taking robot arm 12 the ability to move laterally in the X-axis direction, the longitudinal slide 6 is connected to the Z-axis guide rail 5 through the motor belt structure, giving the side-taking robot arm 12 the ability to move longitudinally in the Z-axis direction, the lifting rod 7 is connected to the longitudinal slide 6 through the motor rack structure, giving the side-taking robot arm 12 the ability to lift in the Y-axis direction, so that the side-taking robot arm 12 can move freely in multiple long strokes in the three-axis coordinate system;

[0023] like Figure 2As shown, an air pump 9 is provided on one side of the mounting plate 8, and a servo motor 10 is provided on the other side of the mounting plate 8, and a driving gear 11 is fixedly connected to the output end of the servo motor 10, and a side-taking machine arm 12 is rotatably installed at the bottom of the mounting plate 8, and the side-taking machine arm 12 includes a large arm 1201, an adjusting cylinder 1202 and a gear rod 1203, and the adjusting cylinder 1202 is rotatably installed on the side of the large arm 1201 through a fixing pin, and a gear rod 1203 is coaxially fixed on the top of the large arm 1201, and the gear rod 1203 is meshed with the circumferential gear teeth of the driving gear 11, and the side-taking machine arm 12 also includes a mounting groove 1204 and a small arm 1205, and an inwardly concave mounting groove 1204 is provided at the bottom of the large arm 1201, and the small arm 1205 is rotatably installed inside the mounting groove 1204 through a pin shaft, and the side-taking machine arm 12 also includes a toggle 1206, and the toggle 1206 is provided at the rear end of the small arm 1205, and the toggle 1206 The side-taking robot arm 12 is movably connected to the output end of the adjusting cylinder 1202, and the side-taking robot arm 12 also includes a suction cup seat 1207 and a hose 1208. The suction cup seat 1207 is fixedly connected to the front end of the forearm 1205, and a vacuum suction cup is distributed in an array on the front of the suction cup seat 1207, and the back of the suction cup seat 1207 is connected to the air pump 9 through the hose 1208. The servo motor 10 on one side of the mounting plate 8 drives the gear 11 to mesh with the gear rod 1203 through the output end, so that the side-taking robot arm 12 can rotate to adjust the grasping position. The upper arm 1201 pushes the elbow joint 1206 at the rear end of the forearm 1205 through the side adjusting cylinder 1202, so that the forearm 1205 rotates in the mounting groove 1204 with the middle part as the rotation center, thereby driving the suction cup seat 1207 at the front end of the forearm 1205 to adjust the grasping angle, so as to adapt to the different pickup angles required for the production of different injection molded parts, and facilitate the flexible pickup of the side-taking robot arm 12.

[0024] Working principle: When using this type of multi-cutting long-stroke side-picking robot arm, when in use, the transverse slide 4 is driven and connected to the X-axis guide rail 3 through the motor toothed belt structure, giving the side-picking robot arm 12 the ability to lateral movement in the X-axis direction, the longitudinal slide 6 is driven and connected to the Z-axis guide rail 5 through the motor belt structure, giving the side-picking robot arm 12 the ability to longitudinal movement in the Z-axis direction, and the lifting rod 7 is driven and connected to the longitudinal slide 6 through the motor rack structure, giving the side-picking robot arm 12 the ability to lift in the Y-axis direction, so that the side-picking robot arm 12 can move freely in multiple cut-off long strokes within the three-axis coordinate system. In addition, the X-axis guide rail 3 is fixed to the base plate 1 through the support seat 2, and the installation position of the side-picking robot arm 12 is transferred from the injection molding machine to the workbench without It not only reduces the requirement for space height, but also reduces the load on the fixed mold of the injection molding machine, while improving the load-bearing capacity of the robot arm. The servo motor 10 on one side of the mounting plate 8 drives the gear 11 at the output end to mesh with the gear rod 1203, so that the side-taking robot arm 12 can rotate to adjust the grasping position. The upper arm 1201 pushes the elbow joint 1206 at the rear end of the small arm 1205 through the side adjustment cylinder 1202, so that the small arm 1205 rotates in the mounting groove 1204 with the middle as the rotation center, thereby driving the suction cup seat 1207 at the front end of the small arm 1205 to adjust the grasping angle, so as to adapt to the different pickup angles required for the production of different injection molded parts, and facilitate the flexible pickup of the side-taking robot arm 12.

[0025] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A multi-section long-stroke side-taking robot arm, characterized in that: The invention comprises a base plate (1) and a support seat (2), wherein the support seat (2) is fixed to the top of the base plate (1) by bolts, and an X-axis guide rail (3) is fixed to the upper support surface of the support seat (2) by bolts, a transverse slide seat (4) is slidably mounted on the upper surface of the X-axis guide rail (3) along the extension direction, and a Z-axis guide rail (5) is fixedly mounted on the side of the transverse slide seat (4), a longitudinal slide seat (6) is slidably mounted on the front of the Z-axis guide rail (5) along the extension direction, and a lifting rod (7) is slidably mounted on the side of the longitudinal slide seat (6), and a mounting plate (8) is fixedly connected to the end of the lifting rod (7).

2. A multi-section long stroke side-take robot arm according to claim 1, characterized in that: The support seat (2) is a trapezoidal structure, and the upper end support surface of the support seat (2) is larger than the lower end support surface.

3. The multi-section long stroke side-take robot arm according to claim 1, characterized in that: The transverse slide (4) is connected to the X-axis guide rail (3) by a motor toothed belt structure, the longitudinal slide (6) is connected to the Z-axis guide rail (5) by a motor belt structure, and the lifting rod (7) is connected to the longitudinal slide (6) by a motor rack structure.

4. The multi-section long stroke side-taking robot arm according to claim 1, characterized in that: An air pump (9) is arranged on one side of the mounting plate (8), and a servo motor (10) is arranged on the other side of the mounting plate (8), and a driving gear (11) is fixedly connected to the output end of the servo motor (10).

5. The multi-section long stroke side-taking robot arm according to claim 1, characterized in that: A side-taking machine arm (12) is rotatably mounted on the bottom of the mounting plate (8), and the side-taking machine arm (12) comprises a large arm (1201), an adjusting cylinder (1202) and a gear rod (1203). The adjusting cylinder (1202) is rotatably mounted on the side of the large arm (1201) via a fixing pin, and a gear rod (1203) is coaxially fixed on the top of the large arm (1201), and the gear rod (1203) is meshed with the circumferential gear teeth of the driving gear (11).

6. The multi-section long stroke side-taking robot arm according to claim 5, characterized in that: The side-taking robot arm (12) further comprises a mounting groove (1204) and a small arm (1205); the bottom of the large arm (1201) is provided with an inwardly recessed mounting groove (1204), and the small arm (1205) is rotatably mounted inside the mounting groove (1204) via a pin shaft.

7. The multi-section long stroke side-taking robot arm according to claim 6, characterized in that: The side-taking robot arm (12) further comprises a toggle (1206), the rear end of the forearm (1205) is provided with the toggle (1206), and the toggle (1206) is movably connected to the output end of the regulating cylinder (1202).

8. The multi-section long stroke side-taking robot arm according to claim 6, characterized in that: The side-taking robot arm (12) also includes a suction cup seat (1207) and a hose (1208); the front end of the forearm (1205) is fixedly connected to the suction cup seat (1207); a vacuum suction cup is distributed in an array on the front of the suction cup seat (1207); and the back of the suction cup seat (1207) is connected to the air pump (9) via the hose (1208).