Manipulator for injection molding machine and alignment structure

Abstract

The utility model relates to the field of injection molding, and discloses a manipulator for an injection molding machine, comprising: a substrate extending in a first direction; the translation assembly is arranged at the bottom of the base plate; the positioning assembly is arranged on the base plate, and the positioning assembly extends downwards in the second direction and is matched with the positioning hole in the alignment structure, so that the position between the manipulator for the injection molding machine and the injection molding machine is fixed; and the grabbing assembly is arranged on the top of the base plate, and the grabbing assembly is used for grabbing the injection molding part. According to the manipulator for the injection molding machine and the alignment structure, the manipulator for the injection molding machine is aligned with the alignment structure after being moved so as to ensure that the position between the manipulator for the injection molding machine and the injection molding machine is fixed.

Description

Technical Field

[0001] The present application relates to the field of injection molding, and in particular to a robot arm and an alignment structure for an injection molding machine. Background Art

[0002] Injection molding robots are specially equipped for injection molding production automation. They can reduce heavy physical labor, improve working conditions and ensure safe production. They can mimic some of the functions of the human upper limbs and can automatically control them to transport products or manipulate tools for production operations according to predetermined requirements. They play an extremely important role in improving the production efficiency of injection molding machines, stabilizing product quality, reducing scrap rates, lowering production costs, and enhancing the competitiveness of enterprises.

[0003] In order to change the working position of the existing injection molding robot so as to match other injection molding machines when the current injection molding machine is repaired, the existing injection molding machine robot has the problem that its relative position with the injection molding machine is not fixed after movement, resulting in the injection molding machine robot being unable to accurately identify the injection molded parts. Utility Model Content

[0004] This application primarily addresses the technical problem in the prior art whereby an injection molding machine manipulator cannot accurately identify molded parts due to its unstable relative position to the injection molding machine after movement. A manipulator and an alignment structure are provided, which align the manipulator with an alignment structure after movement to ensure a fixed position between the manipulator and the injection molding machine.

[0005] In order to solve the above technical problems, the present application provides a manipulator for an injection molding machine, characterized in that the manipulator for an injection molding machine includes:

[0006] a substrate extending along a first direction;

[0007] A translation assembly, the translation assembly being arranged at the bottom of the substrate;

[0008] a positioning assembly, the positioning assembly being arranged on the substrate, extending downwardly along the second direction and cooperating with the positioning hole on the alignment structure to achieve fixation of the position between the injection molding machine manipulator and the injection molding machine;

[0009] A grabbing assembly is arranged on the top of the base plate and is used for grabbing the injection molded part.

[0010] In one embodiment, the injection molding machine robot further includes:

[0011] An alignment member is provided at the bottom of the substrate, the alignment member extends downward along the second direction, and the alignment member is coordinated with the alignment mark on the alignment structure to achieve the fixation of the position of the injection molding machine robot.

[0012] In one embodiment, the alignment member is a long strip structure arranged along the second direction, and the cross section of the alignment member is an L-shaped structure.

[0013] In one embodiment, a height of the alignment member in the two directions is shorter than a height of the translation assembly in the second direction.

[0014] In one embodiment, a mechanical fitting portion is provided on the substrate along the second direction, and the positioning assembly includes a mechanical connection portion provided along the second direction, and the mechanical connection portion is cooperatively connected with the mechanical fitting portion to realize the up and down movement of the positioning assembly along the second direction.

[0015] In one embodiment, the positioning assembly further includes a movable structure and a positioning post, wherein the movable structure is connected to the first end of the mechanical connection portion, and the movable structure is located at the top of the substrate, the positioning post is connected to the second end of the mechanical connection portion, and the positioning post is located at the bottom of the substrate, and the positioning post is gap-fitted with the positioning hole on the alignment structure.

[0016] In one embodiment, the gripping assembly includes:

[0017] a first translation structure, the first translation structure comprising a first translation slot, a first translation block, and a first driving member, the first translation slot being arranged on the base plate along a third direction, the first translation slot being upwardly opened, the first translation block being slidably connected to the first translation slot via a sliding structure, and the first driving member being connected to the first translation block to drive the first translation block to move within the first translation slot along the third direction;

[0018] A column, the column is arranged along the second direction, and a first end of the column is rotatably connected to the first translation block via a rotating member;

[0019] a second translation structure, the second translation structure comprising a cross frame, a second translation block and a second driving member, the cross frame being arranged along the first direction, the cross frame being connected to the second end of the column, a second translation slot being arranged in the cross frame along the first direction, the second translation block being slidably connected to the second translation slot, and the second driving member being connected to the second translation block to drive the second translation block to move in the second translation slot along the first direction;

[0020] The third translation structure includes a grabbing clamp and a third driving member. The fixed end of the third driving member is connected to the second translation block, and the movable end of the third driving member is connected to the grabbing clamp to drive the grabbing clamp to move along the second direction.

[0021] In one embodiment, the sliding structure includes a sliding groove and a sliding block, the sliding groove is arranged on one of the first translation groove and the first translation block, and the sliding block is arranged on the other of the first translation groove and the first translation block.

[0022] In order to solve the above technical problems, the present application also provides an alignment structure, characterized in that the alignment structure is used to fix the injection molding machine manipulator described in Example 1 to achieve the fixation of the relative position between the injection molding machine manipulator and the injection molding machine, characterized in that the alignment structure includes:

[0023] an alignment plate, wherein a side of the alignment plate close to the substrate is an alignment surface;

[0024] Alignment marks, the alignment marks being circumferentially distributed on the alignment surface to form an alignment pattern consistent with the outer shape of the substrate;

[0025] A positioning hole formed by extending the alignment surface downward along the second direction

[0026] In one embodiment, the alignment mark is an L-shaped structure.

[0027] Compared with the prior art, the injection molding machine robot of the present application cooperates with the positioning hole through the positioning component on the injection molding machine robot after movement to achieve the fixed position of the injection molding machine robot relative to the injection molding machine, thereby facilitating the injection molding machine robot to call out the existing program without aligning with the injection molding machine to accurately identify the injection-molded parts and to carry out the grasping of the injection-molded parts.

[0028] Therefore, the present invention has the characteristics of reasonable structure and convenient use. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Attachment Figure 1 This is a structural diagram of the robot arm and alignment structure for the injection molding machine of the present application;

[0030] Attachment Figure 2 It is a structural diagram of the positioning component of this application;

[0031] Attachment Figure 3 It is a structural diagram of the alignment structure of this application.

[0032] Description of the numbers in the figure:

[0033] X, first direction; Y, second direction;

[0034] 100. Substrate;

[0035] 200, translation component;

[0036] 300, positioning assembly; 310, mechanical connection portion; 320, moving structure; 330, positioning column;

[0037] 400, grab assembly; 410, first translation structure; 411, first translation slot; 412, first translation block; 413, first driving member; 414, sliding structure; 420, column; 421, rotating member; 430, second translation structure; 431, cross frame; 432, second translation block; 433, second driving member; 434, second translation slot; 440, third translation structure; 441, grabbing clamp; 442, third driving member;

[0038] 500, alignment parts;

[0039] 600, alignment structure; 610, alignment plate; 620, alignment mark; 630, positioning hole. DETAILED DESCRIPTION

[0040] In order to make the purpose, features, and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0041] In the prior art, there is a technical problem that the injection molding machine robot is not fixed in position relative to the injection molding machine after it moves, resulting in the injection molding machine robot being unable to accurately identify the injection molded parts.

[0042] To this end, the present application provides a manipulator for an injection molding machine, wherein the manipulator for an injection molding machine includes:

[0043] a substrate extending along a first direction;

[0044] A translation assembly, the translation assembly being arranged at the bottom of the substrate;

[0045] a positioning assembly, the positioning assembly being arranged on the substrate, extending downwardly along the second direction and cooperating with the positioning hole on the alignment structure to achieve fixation of the position between the injection molding machine manipulator and the injection molding machine;

[0046] A grabbing assembly is arranged on the top of the base plate and is used for grabbing the injection molded part.

[0047] On the other hand, the present application provides an alignment structure, wherein the alignment structure is used to fix the injection molding machine manipulator in Example 1 to achieve the fixation of the relative position between the injection molding machine manipulator and the injection molding machine, characterized in that the alignment structure includes:

[0048] an alignment plate, wherein a side of the alignment plate close to the substrate is an alignment surface;

[0049] Alignment marks, the alignment marks being circumferentially distributed on the alignment surface to form an alignment pattern consistent with the outer shape of the substrate;

[0050] A positioning hole is formed by extending the alignment surface downward along the second direction.

[0051] Example 1:

[0052] Attachment Figure 1 This is a structural diagram of the robot arm and alignment structure used in the injection molding machine of this application. Figure 1 As shown, the first direction X is the horizontal direction of the injection molding machine robot, that is, the direction from left to right or from right to left. The second direction Y is the height direction between the injection molding machine robot and the alignment structure 600, that is, the direction from top to bottom or from bottom to top. In this application, the injection molding machine robot is on top and the alignment structure 600 is on the bottom. The third direction is the front-to-back direction of the injection molding machine robot or the back-to-front direction of the injection molding machine robot.

[0053] Attachment Figure 1 This is a structural diagram of the robot arm and alignment structure 600 used in the injection molding machine of this application. Figure 1 As shown, the robot arm for an injection molding machine of the present application includes a base plate 100, which is a connecting plate and is used to support the translation assembly 200, the positioning assembly 300, the gripping assembly 400, and the alignment member 500. To ensure that the base plate 100 does not interfere with the ground during translation, the base plate 100 is arranged to extend along a first direction X, that is, the base plate 100 is arranged horizontally along the first direction X.

[0054] In one embodiment, the substrate 100 is a planar plate structure.

[0055] Please refer to the attached Figure 1 As shown, the robot for the injection molding machine of the present application includes a translation assembly 200, which is arranged at the bottom of the base plate 100 to enable the base plate 100 to move horizontally relative to the ground.

[0056] In one embodiment, a plurality of translation assemblies 200 are provided. Further, four translation assemblies 200 are provided.

[0057] In one embodiment, the translation assembly 200 is a universal roller or a pulley.

[0058] Please refer to the attached Figure 1 As shown, the injection molding machine manipulator of the present application includes a positioning assembly 300, which is arranged on the substrate 100 and extends downward along the second direction Y. The positioning assembly 300 cooperates with the positioning hole 630 on the alignment structure 600 to achieve the fixation of the position between the injection molding machine manipulator and the injection molding machine. The injection molding machine manipulator is provided with multiple sets of grasping instructions according to the different settings of the injection molding machine model or the injection molding part model, and the grasping instruction refers to the control information generated by the grasping step of the injection molding machine manipulator grasping the injection molding part. If the position between the injection molding machine manipulator and the injection molding part is relatively fixed, the injection molding machine manipulator does not need to perform position calibration after moving and can directly call the grasping instruction to grasp the injection molding part.

[0059] Please refer to the attached Figure 1 As shown, the injection molding machine robot of the present application also includes an alignment member 500. Before the positioning assembly 300 completes the position fixation of the injection molding machine robot, the alignment member 500 completes the positioning of the substrate 100 and the alignment structure 600, thereby facilitating the fixation between the positioning assembly 300 and the alignment structure 600. The alignment member 500 is disposed at the bottom of the substrate 100 and extends downward along the second direction Y. The alignment member 500 cooperates with the alignment mark 620 on the alignment structure 600 to achieve the fixation of the injection molding machine robot. The specific cooperation process between the alignment member 500 and the alignment mark 620 on the alignment structure is as follows: the translation assembly 200 moves the substrate 100 and simultaneously drives the alignment member 500 to move. When the projection of the alignment member 500 along the second direction coincides with the alignment mark 620, it can be determined that the positioning between the substrate 100 and the alignment structure 600 is complete.

[0060] In one embodiment, the alignment member 500 is a long strip structure disposed along the second direction Y.

[0061] In one embodiment, the cross-sectional structure of the alignment member 500 is an L-shaped structure or a rectangular structure.

[0062] In one embodiment, the height of the alignment member 500 in the second direction Y is shorter than the height of the translation assembly 200 in the second direction Y, so as to ensure that the alignment member 500 does not interfere with the ground when the substrate moves.

[0063] Please refer to the attached Figure 1As shown, the injection molding machine robot of the present application also includes a gripping assembly 400, which is disposed on top of the base plate 100 and is used to grip injection molded parts. To achieve multi-directional movement of the injection molding machine robot, the injection molding machine robot includes a first translation structure 410 that allows a gripping clamp 441 to move along a third direction, a rotating member 421 that allows the gripping clamp 441 to rotate circumferentially, a second translation structure 430 that allows the gripping clamp 441 to move along a first direction X, and a third translation structure 440 that allows the gripping clamp 441 to move along a second direction Y. The injection molding machine robot grips injection molded parts through the first translation structure 410, the rotating member 421, the second translation structure 430, and the third translation structure 440.

[0064] Furthermore, the first translation structure 410 includes a first translation groove 411, a first translation block 412 and a first driving member 413. The first translation groove 411 is arranged on the substrate 100 along the third direction. The first translation groove 411 is provided with an opening upward. The first translation block 412 is slidingly connected to the first translation groove 411 through a sliding structure 414. The first driving member 413 is connected to the first translation block 412 to drive the first translation block 412 to move along the third direction in the first translation groove 411.

[0065] In one embodiment, the sliding structure 414 includes a sliding groove and a sliding block. The sliding groove is disposed on one of the first translation groove 411 and the first translation block 412 , and the sliding groove is disposed on the other of the first translation groove 411 and the first translation block 412 .

[0066] Furthermore, the column 420 is arranged along the second direction Y, and the first end of the column 420 is rotatably connected to the first translation block 412 through the rotating member 421 .

[0067] Furthermore, the second translation structure 430 includes a horizontal frame 431, a second translation block 432 and a second driving member 433. The horizontal frame 431 is arranged along the first direction X, and the horizontal frame 431 is connected to the second end of the column 420. A second translation groove 434 is provided in the horizontal frame 431 along the first direction X. The second translation block 432 is slidably connected to the second translation groove 434. The second driving member 433 is connected to the second translation block 432 to drive the second translation block 432 to move in the second translation groove 434 along the first direction X.

[0068] Furthermore, the third translation structure 440 includes a grabbing clamp 441 and a third driving member 442. The fixed end of the third driving member 442 is connected to the second translation block 432, and the movable end of the third driving member 442 is connected to the grabbing clamp 441 to drive the grabbing clamp 441 to move along the second direction Y.

[0069] Attachment Figure 2 This is a structural diagram of the positioning component 300 of the present application. Figure 2As shown, a mechanical engagement portion is provided on the substrate 100 along the second direction Y. The positioning assembly 300 includes a mechanical connection portion 310, a movable structure 320, and a positioning post 330. The mechanical connection portion 310 is provided along the second direction Y. The mechanical connection portion 310 and the mechanical engagement portion are engaged and connected to each other to enable the positioning assembly 300 to move up and down along the second direction Y. Furthermore, the movable structure 320 is connected to a first end of the mechanical connection portion 310 and is located at the top of the substrate 100. The positioning post 330 is connected to a second end of the mechanical connection portion 310 and is located at the bottom of the substrate 100. The positioning post 330 is loosely engaged with the positioning hole 630 on the alignment structure 600.

[0070] In one embodiment, the positioning assembly 300 and the base plate 100 are connected by a rotational or sliding connection. Furthermore, when the positioning assembly 300 and the base plate 100 are connected by a rotational connection, the mechanical engagement portion is a threaded hole, and the mechanical connection portion 310 is a threaded post. The positioning assembly 300 operates by rotating the movable structure 320 while the mechanical connection portion 310 rotates within the mechanical engagement portion, driving the positioning post 330 to move up and down along the second direction Y. When the positioning post 330 moves downward along the second direction Y, it simultaneously enters the positioning hole 630, thereby securing the position of the injection molding machine's manipulator.

[0071] Example 2

[0072] Attachment Figure 3 This is a schematic diagram of the alignment structure 600 of the present application. Figure 3 As shown, the alignment structure 600 of the present application is used to fix the injection molding machine manipulator in Example 1 to achieve the fixation of the relative position between the injection molding machine manipulator and the injection molding machine. The alignment structure 600 includes an alignment plate 610, which is embedded in the ground. The side of the alignment plate 610 close to the substrate 100 is the alignment surface. The alignment structure 600 also includes alignment marks 620, which are distributed circumferentially on the alignment surface to form an alignment pattern consistent with the outer shape of the substrate 100. The alignment structure 600 also includes positioning holes 630, which are clearance-matched with the positioning posts 330 of the positioning assembly 300 in Example 1. The positioning holes 630 are formed by the alignment surface extending downward along the second direction Y.

[0073] In one embodiment, the alignment mark 620 is an L-shaped structure.

[0074] Please refer to the attached Figure 1 To the attached Figure 3As shown, the specific operation process of the injection molding machine robot is as follows: the translation assembly 200 moves the injection molding machine robot so that its alignment member 500 is aligned with the alignment pattern on the alignment structure 600 in the second direction Y. Then, the positioning assembly 300 is rotated so that the positioning column 330 is screwed into the positioning hole 630 to achieve the relative position fixation between the injection molding machine robot and the injection molding machine. Each time the fixation method is used, the relative position between the injection molding machine robot and the injection molding machine is consistent. Therefore, the injection molding machine robot can directly call the grasping command in the injection molding machine robot to grasp the injection molded part without the need for position calibration.

[0075] In the description of this specification, the reference terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials, or characteristics described may be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0077] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A robot for an injection molding machine, characterized in that: The injection molding machine robot comprises: a substrate extending along a first direction; A translation assembly, the translation assembly being arranged at the bottom of the substrate; a positioning assembly, the positioning assembly being arranged on the substrate, extending downwardly along the second direction and cooperating with the positioning hole on the alignment structure to achieve fixation of the position between the injection molding machine manipulator and the injection molding machine; A grabbing assembly is arranged on the top of the base plate and is used for grabbing the injection molded part.

2. The robot for injection molding machine according to claim 1, characterized in that: The injection molding machine robot also includes: An alignment member is provided at the bottom of the substrate, the alignment member extends downward along the second direction, and the alignment member is coordinated with the alignment mark on the alignment structure to achieve the fixation of the position of the injection molding machine robot.

3. The robot for injection molding machine according to claim 2, characterized in that: The alignment member is a long strip structure arranged along the second direction, and the cross section of the alignment member is an L-shaped structure.

4. The robot for injection molding machine according to claim 3, characterized in that: A height of the alignment member in the second direction is shorter than a height of the translation assembly in the second direction.

5. The robot for injection molding machine according to claim 1, characterized in that: A mechanical matching portion is provided on the substrate along the second direction, and the positioning assembly includes a mechanical connection portion provided along the second direction. The mechanical connection portion is matched with the mechanical matching portion to realize the up and down movement of the positioning assembly along the second direction.

6. The robot for injection molding machine according to claim 5, characterized in that: The positioning assembly also includes a movable structure and a positioning column. The movable structure is connected to the first end of the mechanical connection part and is located at the top of the substrate. The positioning column is connected to the second end of the mechanical connection part and is located at the bottom of the substrate. The positioning column is gap-fitted with the positioning hole on the alignment structure.

7. The robot for injection molding machine according to claim 1, characterized in that: The grabbing component includes: a first translation structure, the first translation structure comprising a first translation slot, a first translation block, and a first driving member, the first translation slot being arranged on the base plate along a third direction, the first translation slot being upwardly opened, the first translation block being slidably connected to the first translation slot via a sliding structure, and the first driving member being connected to the first translation block to drive the first translation block to move within the first translation slot along the third direction; A column, the column is arranged along the second direction, and a first end of the column is rotatably connected to the first translation block via a rotating member; a second translation structure, the second translation structure comprising a cross frame, a second translation block and a second driving member, the cross frame being arranged along the first direction, the cross frame being connected to the second end of the column, a second translation slot being arranged in the cross frame along the first direction, the second translation block being slidably connected to the second translation slot, and the second driving member being connected to the second translation block to drive the second translation block to move in the second translation slot along the first direction; The third translation structure includes a grabbing clamp and a third driving member. The fixed end of the third driving member is connected to the second translation block, and the movable end of the third driving member is connected to the grabbing clamp to drive the grabbing clamp to move along the second direction.

8. The robot for injection molding machine according to claim 7, characterized in that: The sliding structure includes a sliding groove and a sliding block. The sliding groove is arranged on one of the first translation groove and the first translation block, and the sliding block is arranged on the other of the first translation groove and the first translation block.

9. An alignment structure, characterized in that The alignment structure is used to fix the injection molding machine manipulator according to any one of claims 1 to 8 to achieve the fixation of the relative position between the injection molding machine manipulator and the injection molding machine, and the alignment structure includes: an alignment plate, wherein a side of the alignment plate close to the substrate is an alignment surface; Alignment marks, the alignment marks being circumferentially distributed on the alignment surface to form an alignment pattern consistent with the outer shape of the substrate; A positioning hole is formed by extending the alignment surface downward along the second direction.

10. The alignment structure according to claim 9, wherein: The alignment mark is an L-shaped structure.

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