Automatic clamping device for vertical injection molding machine

Abstract

The utility model relates to an automatic clamping device for a vertical injection molding machine, which comprises a mechanical arm I and a mechanical arm II, the two mechanical arms are respectively provided with a chuck I and a chuck II, each chuck is provided with a sucking disc A and a water gap clamp B, the sucking disc A is used for sucking a product, the water gap clamp B is used for clamping water gap waste, and the chuck II is used for clamping the water gap waste. A sucking disc A and a water gap clamp B of the chuck I are respectively arranged on the front and back surfaces of the hand plate; the suction cup A and the water gap clamp B of the second chuck are arranged in an up-down layered mode, and the water gap clamp B can be driven by an air cylinder to slide up and down. Products and water gap waste can be clamped respectively, and clamping marks on the products are avoided.

Description

Technical Field

[0001] The utility model relates to an automatic clamping device, which is mainly applied to clamping products and sprue waste of a vertical injection molding machine. Background Art

[0002] An injection molding machine is also known as an injection molding machine or an injection machine. It is the main molding equipment for making various shaped plastic products from thermoplastic or thermosetting plastics using plastic molding dies. It is divided into vertical, horizontal, and all-electric types. The zy-623 injection molding machine usually consists of an injection system, a mold clamping system, a hydraulic transmission system, an electrical control system, a lubrication system, a heating and cooling system, a safety monitoring system, etc. The function of the mold clamping system is to ensure the closing, opening, and ejection of products of the mold. For a vertical injection molding machine, the mold opens and closes in the up and down direction, and the product is ejected upward after mold opening. The product can be taken out by a simple manipulator. After the clamping operation of the claw of the existing manipulator, it is easy to leave marks on the product; and there is no special claw for clamping sprue waste. Content of the Utility Model

[0003] Objective of the utility model: In order to overcome the defects of the prior art, the utility model provides an automatic clamping device for a vertical injection molding machine, which can clamp products and sprue waste respectively and avoid clamping marks on the products.

[0004] Technical solution of the utility model: An automatic clamping device for a vertical injection molding machine includes a first robotic arm and a second robotic arm. The two robotic arms respectively have a first chuck and a second chuck. Each chuck has a suction cup and a sprue clamp. The suction cup is used for sucking and holding the product, and the sprue clamp is used for clamping the sprue waste.

[0005] The suction cup and the sprue clamp of the first chuck are respectively arranged on the front and back sides of the hand plate.

[0006] The suction cup and the sprue clamp of the second chuck are arranged in an upper and lower layer. The sprue clamp can also be driven by a cylinder to slide up and down.

[0007] By adopting the above technical solution, the product is sucked and held by the suction cup, clamping marks on the product can be avoided, and a special sprue clamp is also provided to clamp the sprue waste, which is convenient for discharging.

[0008] Moreover, the suction cup and the sprue clamp of the first chuck are in one layer, while the suction cup and the sprue clamp of the second chuck are divided into two layers up and down, which is convenient for meeting the clamping requirements of different injection molding machines.

[0009] Preferably, each chuck is equipped with a quality inspection camera, which is installed on the loose-leaf board. The loose-leaf board has a round hole and an arc hole. A bolt passes through the corresponding holes and connects to the side of the quality inspection camera. The bolt is also adjustably arranged in the arc hole. The loose-leaf board is hinged to the side edge of the base plate. The head of the quality inspection camera faces the water inlet clamp and is used to detect whether the water inlet waste is successfully clamped. The base plate is used to connect to the robotic arm. By passing bolts through both the round hole and the arc hole, the positioning of the camera is achieved; and since the bolt is also adjustably arranged in the arc hole, the camera can be finely adjusted in angle; and the loose-leaf board is also hinged to the side edge of the base plate, which can drive the camera to further rotate and adjust, so that the head of the camera can accurately correspond to the water inlet clamp.

[0010] Preferably, each chuck is equipped with a sensor, which is installed on the movable plate. The movable plate has a long hole A. A bolt passes through the corresponding long hole A and connects to the mounting hole A. The bolt is also adjustably arranged in the long hole. The sensor is used to detect whether the injection molding machine has successfully opened the mold. The opening state of the injection molding machine is independently detected by each sensor, and the corresponding mechanical handle operates accordingly.

[0011] Preferably, an adjusting plate is further provided between the base plate and the hand plate of the first chuck. The adjusting plate is connected to the base plate through a clamping plate. The adjusting plate can be used for installing the sensor and has a plurality of mounting holes A. Long holes B are provided at both ends of the plate length of the adjusting plate, and the long holes B are also arranged along the plate width of the adjusting plate. A long hole C is provided at one end of the hand plate. A bolt passes through the long hole C and the corresponding long hole B to connect the hand plate and one end of the adjusting plate. A clamping mouth and a mounting hole B are provided at one end of the clamping plate. The other end of the adjusting plate is inserted into the clamping mouth of the clamping plate, and a bolt passes through the mounting hole B and the corresponding long hole B to connect the other end of the adjusting plate and the clamping plate. The structure of the first chuck is simple, and the installation position of the hand plate can be adjusted relative to the base plate.

[0012] Preferably, the suction cup of the second chuck is connected to the lower part of the base plate through a suction plate, and the water inlet clamp B is connected to the cylinder located above the base plate through a mounting plate. The water inlet clamp B can also be used for installing the sensor and has a plurality of mounting holes A.

[0013] Preferably, a sliding frame is further provided on the cylinder. The sliding frame has a sliding plate and a driving plate located at the upper end of the sliding plate. The sliding between the sliding plate and the cylinder housing is guided by a guide rail and guide block structure. The driving plate has a "U" - shaped clamping plate, and a circular groove is provided at the end of the piston rod of the cylinder. The piston rod is connected to the driving plate by clamping the circular groove with the clamping plate. The mounting plate is connected to the driving plate. The cooperation of the "U" - shaped clamping plate and the groove can achieve fixation in the up - and - down direction, and the piston rod can be disengaged from the side opening of the "U" - shaped clamping plate.

[0014] Preferably, the suction plate has a long hole D on its plate length. The suction cup A is adjustably arranged in the long hole D through a screw A. There is a limiting platform A on the screw A. A nut A is also screwed on the end of the screw A protruding outside the long hole D. The nut A and the limiting platform A cooperate to form a clamping of the suction plate.

[0015] Preferably, both robotic arms are six-axis articulated robotic arms, which have a high degree of freedom, 6 axes, and are suitable for working on almost any trajectory or angle.

[0016] Preferably, the nozzle clamp is a pneumatic finger, which is a variant cylinder and can be used to grasp objects to realize various actions of the robotic arm.

[0017] Preferably, the two robotic arms are installed on the gantry and can slide horizontally on the gantry. The gantry has a cross beam and two side vertical columns. A sliding seat is slidably arranged on the cross beam. The cross beam also has a horizontal through groove and a slide rail. The sliding seat is arranged on the slide rail through a slider. The robotic arm passes through the through groove through a fixed shaft and is connected to the sliding seat. There is one robotic arm on each side of the gantry. During automated operation, the robotic arm can slide arbitrarily horizontally; and during semi-automatic manual use, the two robotic arms can also be pushed to both sides respectively. Description of the Drawings

[0018] Figure 1 Structural diagram of a specific embodiment of the present utility model;

[0019] Figure 2 Front structural diagram of chuck one in a specific embodiment of the present utility model;

[0020] Figure 3 Back structural diagram of chuck one in a specific embodiment of the present utility model;

[0021] Figure 4 Structural diagram of chuck two in a specific embodiment of the present utility model;

[0022] Figure 5 Substrate structural diagram of chuck two in a specific embodiment of the present utility model;

[0023] Figure 6 Exploded view of the cylinder and the carriage in a specific embodiment of the present utility model;

[0024] Figure 7 Suction cup structural diagram of chuck two in a specific embodiment of the present utility model;

[0025] Figure 8 Cooperation diagram of the automated clamping device and the vertical injection molding machine in a specific embodiment of the present utility model.

[0026] In the figure: robotic arm 1, chuck 11, hand board 111, long hole C1111, adjusting plate 112, long hole B1121, clamping plate 113, clamping opening 1131, mounting hole B1132, robotic arm 2, chuck 21, air cylinder 211, air cylinder housing 2111, piston rod 2112, annular groove 21121, suction cup A, sprue clamp B, quality inspection camera C, head C1, hinge plate 3, round hole 31, arc hole 32, base plate 4, sensor D, movable plate 5, long hole A51, mounting hole A7, suction plate 212, long hole D2121, mounting plate 213, carriage 214, sliding plate 2131, drive plate 2132, "U" - shaped clamping plate 21321, screw A1, limiting platform A11, nut A2, gantry 6, cross beam 61, vertical rod 62, sliding seat 90, through slot 81, slide rail 82, slider 83, fixed shaft E, guide rail 91, guide block 92, vertical hole 1 101, vertical hole 2 102. Detailed implementation mode

[0027] Next, the technical solutions in this embodiment will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0028] As Figure 1-8 shown, an automatic clamping device for a vertical injection molding machine of the present invention includes robotic arm 1 and robotic arm 2. Both robotic arms are six - axis articulated robotic arms or five - axis articulated robotic arms. The two robotic arms respectively have chuck 11 and chuck 21. Each chuck has a suction cup A and a sprue clamp B. The suction cup A is used to hold the product, and the sprue clamp B is used to clamp the sprue waste. The sprue clamp is a pneumatic finger.

[0029] Specifically, each chuck has a quality inspection camera C. The quality inspection camera C is installed on the hinge plate 3. The hinge plate 3 has a round hole 31 and an arc hole 32. Bolts pass through the corresponding holes and connect to the side of the quality inspection camera C. The bolts are also adjustably arranged in the arc hole 32. The hinge plate 3 is hinged to the side of the base plate 4 through a hinge shaft. The head C1 of the quality inspection camera C faces the sprue clamp B and is used to detect whether the sprue waste is successfully clamped. The base plate 4 is used to connect to the robotic arm.

[0030] Specifically, each chuck is equipped with a sensor D. The sensor D is installed on the movable plate 5. There is a long hole A51 on the movable plate 5. A bolt passes through the corresponding long hole A51 and is connected to the mounting hole A7. The bolt is also adjustably arranged in the long hole. The sensor D is used to detect whether the injection molding machine has successfully opened the mold. The mounting hole can be a threaded hole and the bolt is fixed by threading, or the mounting hole is a round hole and one end of the bolt passes through the outside of the mounting hole and is fixed with a nut;

[0031] Among them, the suction cup A and the nozzle clip B of the first chuck 11 are respectively arranged on the front and back sides of the hand plate 111. An adjusting plate 112 is further arranged between the substrate 4 and the hand plate 111 of the first chuck 11. The adjusting plate 112 is connected to the substrate 4 through a clamping plate 113. The adjusting plate 112 can be used for installing the sensor D and has a plurality of mounting holes A7. The mounting holes A7 can be distributed in multiple numbers in the plate length and plate width. There are long holes B1121 at both ends of the plate length of the adjusting plate 112. The long holes B1121 are also arranged along the plate width of the adjusting plate 112. There is a long hole C1111 at one end of the hand plate 111. A bolt passes through the long hole C1111 and the corresponding long hole B1121 and is fixed with a nut to connect one end of the hand plate 111 and the adjusting plate 112. There is a clamping opening 1131 and a mounting hole B1132 at one end of the clamping plate 113. The other end of the adjusting plate 112 is inserted into the clamping opening 1131 of the clamping plate and is fixed by a bolt passing through the mounting hole B1132 and the corresponding long hole B1121 with a nut to connect the other end of the adjusting plate 112 and the clamping plate 113;

[0032] Among them, the suction cup A and the sprue clamp B of the second chuck 21 are arranged in an upper and lower layer. The sprue clamp B can also be driven by a cylinder 211 to slide up and down. The suction cup A of the second chuck 21 is connected to the lower part of the substrate 4 through a suction plate 212, and the sprue clamp B is connected to the cylinder 211 located above the substrate through a mounting plate 213. There is a first vertical hole 101 in the upper part of the substrate 4 and a second vertical hole 102 in the lower part. Bolts pass through the first vertical hole and are connected to the cylinder housing 2111. Bolts pass through the second vertical hole and are connected to the suction plate 212. The bolts are also adjustably arranged in the vertical holes to realize the up and down position adjustment of the suction plate or the cylinder. The sprue clamp B can also be used for installing the sensor D and has a plurality of mounting holes A7. A carriage 214 is also provided on the cylinder 211. The carriage 214 has a slide plate 2131 and a driving plate 2132 located at the upper end of the slide plate 2131. The slide plate 2131 and the cylinder housing 2111 are cooperated through a guide rail and guide block structure to realize sliding guidance. The guide rail 91 is located on the cylinder housing 2111, and the guide block 92 is located on the back surface of the slide plate 2131. The driving plate 2132 has a "U" - shaped clamping plate 21321. An annular groove 21121 is provided at the end of the piston rod 2112 of the cylinder. The piston rod 2112 is connected to the driving plate 2132 by clamping the clamping plate 21321 into the annular groove 21121. The mounting plate 213 is connected to the driving plate 2132. A long hole D2121 is provided on the plate length of the suction plate 212. The suction cup A is adjustably arranged in the long hole D2121 through a screw A1. A limiting platform A11 is provided on the screw A1. A nut A2 is also screwed on the end of the screw A1 extending out of the long hole D2121. The nut A2 and the limiting platform A11 cooperate to clamp the suction plate 212.

[0033] Specifically, two robotic arms are installed on the gantry 6 and can slide horizontally on the gantry 6. The gantry 6 has a cross - beam 61 and two side vertical poles 62. Two sliding seats 90 are slidably arranged on the cross - beam 61. The cross - beam 61 also has a transverse through - slot 81 and a slide rail 82. One or two transverse through - slots 81 can be provided. The sliding seat 90 is arranged on the slide rail 82 through a slider 83. The robotic arm passes through the through - slot 81 through a fixed shaft E and is connected to the corresponding sliding seat 90.

[0034] The injection molding machine sends a signal to the robotic arm when it opens the mold. Then the robotic arm extends to the front of the mold, and the sensor D detects whether the mold is opened correctly. If so, it extends into the material - taking position to take the material; if not, it alarms.

[0035] During the material - taking operation, the product is held by the suction cup A, which can avoid clamping marks on the product. A special sprue clamp B is also used to clamp the sprue waste. The robotic arm can take the product and the sprue waste at the same time. The quality inspection camera and the negative pressure sensor detect whether the material is taken successfully. If so, the taken product is placed on the conveyor belt and sent out, and the sprue waste is placed at a designated position; if not, it alarms.

[0036] After discharging the material, the robotic arm returns to its original position and waits for the next cycle of operation.

[0037] It should be noted that in the description of the present utility model, all directional indications (such as up, down, front, back...) are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the attached drawings). If this specific posture changes, the directional indications will also change accordingly.

[0038] In addition, in the present utility model, descriptions such as "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present utility model, the meaning of "several" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0039] In the description of the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled", "connected", "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. An automatic clamping device for a vertical injection molding machine, characterized in that: The invention comprises a first mechanical arm (1) and a second mechanical arm (2), wherein the two mechanical arms respectively have a first chuck (11) and a second chuck (21), each chuck having a suction cup (A) and a nozzle clamp (B), wherein the suction cup (A) is used to hold the product, and the nozzle clamp (B) is used to clamp the nozzle waste. The suction cup (A) and the nozzle clamp (B) of the clamp head (11) are respectively arranged on the front and back sides of the hand plate (111); The suction cup (A) and the nozzle clamp (B) of the second clamp (21) are arranged in upper and lower layers, and the nozzle clamp (B) can also be driven by the cylinder (211) to slide up and down.

2. The automatic clamping device for a vertical injection molding machine according to claim 1, characterized in that: Each clamping head has a quality inspection camera (C), and the quality inspection camera (C) is installed on a loose-leaf plate (3). The loose-leaf plate (3) has a round hole (31) and an arc hole (32). The corresponding holes are penetrated by bolts and connected to the side of the quality inspection camera (C). The bolts can also be adjustably arranged in the arc hole (32). The loose-leaf plate (3) is hinged on the side of the base plate (4). The head (C1) of the quality inspection camera (C) faces the nozzle clamp (B) and is used to detect whether the nozzle waste is successfully clamped. The base plate (4) is used to connect the robot arm.

3. The automatic clamping device for a vertical injection molding machine according to claim 2, characterized in that: Each chuck has a sensor (D), and the sensor (D) is installed on the movable plate (5). The movable plate (5) has a long hole A (51), and a bolt is passed through the corresponding long hole A (51) and connected to the mounting hole A (7). The bolt can also be adjustably set in the long hole. The sensor (D) is used to detect whether the injection molding machine has successfully opened the mold.

4. The automatic clamping device for a vertical injection molding machine according to claim 3, characterized in that: An adjustment plate (112) is also provided between the base plate (4) and the hand plate (111) of the chuck (11). The adjustment plate (112) is connected to the base plate (4) via a clamp (113). The adjustment plate (112) can be used to install a sensor (D) and has a plurality of mounting holes A (7). Long holes B (1121) are provided at both ends of the length of the adjustment plate (112). The long holes B (1121) are also provided along the width of the adjustment plate. One end of the hand plate (111) has a long hole C (1121). 111), a long hole C (1111) and a corresponding long hole B (1121) are formed by bolts to connect the hand plate (111) to one end of the adjustment plate (112), one end of the clamping plate (113) has a clamping opening (1131) and a mounting hole B (1132), the other end of the adjustment plate (112) is inserted into the clamping opening (1131) of the clamping plate, and the mounting hole B (1132) and the corresponding long hole B (1121) are formed by bolts to connect the other end of the adjustment plate (112) to the clamping plate (113).

5. The automatic clamping device for a vertical injection molding machine according to claim 3, characterized in that: The suction cup (A) of the second clamp (21) is connected to the lower part of the base plate (4) via a suction plate (212), and the nozzle clamp (B) is connected to the cylinder (211) located at the upper part of the base plate via a mounting plate (213). The nozzle clamp (B) can also be used for installing a sensor (D) and has a plurality of mounting holes A (7).

6. The automatic clamping device for a vertical injection molding machine according to claim 5, characterized in that: The cylinder (211) is also provided with a slide (214), the slide (214) having a slide plate (2131) and a driving plate (2132) located at the upper end of the slide plate (2131), the slide plate (2131) and the cylinder housing (2111) being slidably guided via a guide rail and guide block structure, the driving plate (2132) having a "U"-shaped clamping plate (21321), the piston rod (2112) of the cylinder having an annular groove (21121) at the end thereof, the clamping plate (21321) being clamped into the annular groove (21121) to realize the connection between the piston rod (2112) and the driving plate (2132), and the mounting plate (213) being connected to the driving plate (2132).

7. The automatic clamping device for a vertical injection molding machine according to claim 5, characterized in that: The suction plate (212) has a long hole D (2121) on its length, the suction cup (A) is adjustably arranged in the long hole D (2121) via a screw rod (A1), a limiting platform (A11) is arranged on the screw rod (A1), and a nut (A2) is screwed on the end of the screw rod (A1) passing through the long hole D (2121), and the nut (A2) cooperates with the limiting platform (A11) to clamp the suction plate (212).

8. An automated clamping device for a vertical injection molding machine according to any one of claims 1 to 7, characterized in that: Both robotic arms are six-axis joint robotic arms.

9. An automatic clamping device for a vertical injection molding machine according to any one of claims 1 to 7, characterized in that: The nozzle clamp is a pneumatic finger.

10. An automatic clamping device for a vertical injection molding machine according to any one of claims 1 to 7, characterized in that: Two mechanical arms are mounted on a gantry (6) and can slide transversely on the gantry (6). The gantry (6) has a crossbeam (61) and two side vertical rods (62). A slide seat (90) is slidably arranged on the crossbeam (61). The crossbeam (61) also has a transverse through groove (81) and a slide rail (82). The slide seat (90) is arranged on the slide rail (82) via a slider (83). The mechanical arms penetrate the through groove (81) via a fixed shaft (E) and are connected to the slide seat (90).

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