Automatic ejection shoe taking device

Abstract

The utility model discloses an automatic ejection shoe taking device, which relates to the technical field of injection product blanking and comprises a visual positioning manipulator provided with a visual perception CCD (Charge Coupled Device) component used for acquiring parameter information of the surface of a mold; one end, close to the injection mold seat, of the quick discharging manipulator is provided with a quick-release switching disc, and the quick-release switching disc is used for mounting a clamping jaw; and an identification part and an information part which can be identified by the visual perception CCD assembly are arranged on the end face of the mold. According to the automatic ejection shoe taking device provided by the utility model, the visual positioning manipulator can identify the information part and the identification part, so that the information part and the identification part are fed back to the quick discharging manipulator to execute corresponding clamping and discharging actions. In the whole blanking process, the step of manual auxiliary blanking is omitted through visual perception, potential safety hazards are reduced, and the production efficiency is improved. And manual debugging is not needed after the die is replaced, and the visual perception CCD assembly calls a corresponding blanking program and a clamping jaw of a corresponding specification according to the information part of the installed die.

Description

Technical Field

[0001] The utility model relates to the technical field of injection product blanking, in particular to an automatic injection shoe-taking device. Background Art

[0002] Shoe injection molding is a process in which plastic material is injected into a mold at high temperature, where it cools and solidifies to form footwear components. Widely used in the production of a variety of footwear, including athletic and casual shoes, injection molding offers high efficiency and precision, and is also capable of producing complex footwear components.

[0003] CN202010777339.8 discloses an improved high-utilization EVA injection mold and a two-color sole molding machine and process, including a mold body and a closed runner device detachably mounted on the mold body, the mold body forming a plurality of mold cavities, the closed runner device including a connecting seat, a hollow tube and a diverter seat, an injection port is formed on the connecting seat, a diverter runner corresponding one-to-one to the mold cavity is formed on the diverter seat, a plurality of dark runners connected one-to-one with the mold cavity are formed in the mold body, and the diverter runners are connected to the dark runners on the mold body; the two ends of the hollow tube are respectively connected to the connecting seat and the diverter seat, and the two ends of the hollow tube are respectively connected to the injection port and the diverter runner.

[0004] Existing injection-molded footwear production requires removal of the finished product. However, the product's internal temperature is high, and manual removal with tools is time-consuming, impacting production efficiency and posing safety risks. Existing robotic arms are pre-programmed to grip products, requiring specific adjustments based on the product. This cumbersome process is unsuitable for production lines with a wide variety of products. Utility Model Content

[0005] The present utility model aims to at least solve the technical problem existing in the prior art that "the shoe products produced by existing injection molding need to be taken out after the product is formed. At this time, the internal temperature of the product is high, and manual removal with the help of tools is time-consuming, affecting production efficiency and posing a safety hazard. The existing robot is pre-programmed to clamp the product, and the equipment needs to be debugged according to the corresponding product. The debugging process is cumbersome and is not conducive to production lines with a large variety of products." To this end, the present utility model proposes an automatic injection shoe removal device, which arranges two robots on both sides of the mold to work together to quickly locate the product in the mold and remove the product, thereby improving production efficiency and reducing safety hazards. In addition, the robot realizes adaptive debugging through visual recognition of mold and product information, reducing downtime debugging time and improving production efficiency.

[0006] According to some embodiments of the present invention, the automatic ejection shoe removal device includes:

[0007] The injection mold base is installed in the equipment, which includes an upper mold base and a lower mold base, and the upper mold base and the lower mold base are used to install the upper and lower molds of the mold respectively;

[0008] A visual positioning manipulator is provided on one side of the injection mold base and is provided with a visual perception CCD component for obtaining parameter information of the mold surface;

[0009] A fast unloading manipulator is provided on one side of the injection mold base, and a quick-release adapter plate is provided at one end thereof close to the injection mold base, and the quick-release adapter plate is used to install the clamping claw;

[0010] The visual positioning robot and the rapid blanking robot are respectively arranged on opposite sides of the injection mold base, and the end face of the mold is provided with an identification part and an information part that can be recognized by the visual perception CCD component.

[0011] According to some embodiments of the present invention, a control component is included, which is electrically connected to the visual positioning robot and the fast unloading robot respectively, and the control component controls the operation of the fast unloading robot according to the information fed back by the visual perception CCD component.

[0012] According to some embodiments of the present invention, the mold is provided with a cavity, the identification part is arranged around the cavity, the identification part includes a positioning groove and an anti-foolproof groove, the visual perception CCD component locates the product reference position in the cavity through the positioning groove, and identifies the direction through the anti-foolproof groove.

[0013] According to some embodiments of the present invention, the positioning groove and the anti-foolproof groove are concavely arranged on the end surface of the mold, and a reflective coating is provided in the positioning groove and the anti-foolproof groove.

[0014] According to some embodiments of the present invention, the information portion is provided on the end surface of the mold, and the information portion is provided with a fluorescent coating.

[0015] According to some embodiments of the present invention, the information portion is etched into a strip-shaped groove on the end surface of the mold.

[0016] According to some embodiments of the present invention, the visual perception CCD component is provided with a fill light and an ultraviolet light group, the fill light and the ultraviolet light group are arranged in a surrounding manner, and the ultraviolet light group is used to illuminate the fluorescent coating of the information part.

[0017] According to some embodiments of the present invention, a clamping claw library is provided on one side of the rapid unloading robot, and the quick-release adapter plate is used to install clamping claws of corresponding models from the clamping claw library.

[0018] According to some embodiments of the present invention, the rapid unloading robot and the visual positioning robot respectively adopt a four-axis structure.

[0019] The automatic shoe ejection device according to some embodiments of the present invention has at least the following beneficial effects: a visual positioning robot can identify the information unit and the identification unit, providing feedback to the rapid unloading robot to execute the corresponding clamping and unloading action. The quick-release adapter plate can then clamp the corresponding clamping jaws based on the feedback information. The entire unloading process eliminates manual unloading steps through visual perception, reducing safety hazards and improving production efficiency. Furthermore, no manual debugging is required after mold replacement. The visual perception CCD component uses the information unit of the installed mold to call the corresponding unloading program and the corresponding clamping jaws.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 This is a three-dimensional diagram of the layout of the automatic ejection shoe removal device according to an embodiment of the present utility model;

[0023] Figure 2 This is a side view of the layout of the automatic ejection shoe removal device according to an embodiment of the present utility model;

[0024] Figure 3 A top view of a mold according to an embodiment of the present invention;

[0025] Figure 4 This is a partial schematic diagram of a visual positioning manipulator according to an embodiment of the present utility model;

[0026] Figure 5 This is a partial schematic diagram of a fast unloading robot according to an embodiment of the present utility model.

[0027] Reference numerals:

[0028] Upper die base 110, lower die base 120,

[0029] Mold 200, cavity 210, positioning groove 221, anti-fool groove 222, information part 230,

[0030] Visual positioning robot 300, visual perception CCD component 310, fill light 311, ultraviolet light group 312, fast unloading robot 400, quick release adapter plate 410. DETAILED DESCRIPTION

[0031] The following describes in detail embodiments of the present invention. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0032] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, top, bottom, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0033] In the description of this utility model, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and is not to be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0034] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0035] Reference below Figure 1-Figure 5 The automatic ejection shoe removal device according to the embodiment of the present invention is described.

[0036] like Figure 1-Figure 5 As shown, the automatic injection shoe removal device includes an injection mold 200, a visual positioning robot 300 and a fast unloading robot 400. Specifically, the injection mold 200 is installed in the injection molding equipment. The injection mold 200 includes an upper mold base 110 and a lower mold base 120. The upper mold base 110 and the lower mold base 120 are used to install the upper and lower molds of the mold 200 respectively. The upper mold of the mold 200 is installed at the upper mold base 110, and the lower mold is installed at the lower mold base 120. The mold 200 is closed by the clamping action of the upper mold base 110 and the lower mold base 120 and then injection molding is performed. After the product is formed, the upper and lower molds are separated, and the product is taken out by the collaborative work of the visual positioning robot 300 and the fast unloading robot 400, thereby reducing the safety risks of manual unloading and improving the unloading efficiency.

[0037] The visual positioning robot 300 is located on one side of the injection mold 200 and is equipped with a visual perception CCD component 310, which is used to obtain parameter information of the surface of the mold 200. The visual perception CCD component 310 identifies the position of the product on the surface of the mold 200 and feeds the product coordinate information back to the fast unloading robot 400.

[0038] The rapid unloading robot 400 is positioned near the injection mold 200. A quick-release adapter plate 410 is located near the mold 200, which is used to mount a gripper. The rapid unloading robot 400 uses the gripper to quickly grasp and unload the product based on information provided by the vision-based positioning robot 300.

[0039] The visual positioning robot 300 and the rapid unloading robot 400 are positioned on opposite sides of the injection mold 200. The end faces of the mold 200 are equipped with an identification unit and an information unit 230, which are recognized by a visual sensing CCD assembly 310. The separate positioning of the visual positioning robot 300 and the rapid unloading robot 400 effectively improves their operational efficiency. While the visual positioning robot 300 acquires product position information, the rapid unloading robot 400 can quickly execute the desired position. Their independent operation effectively improves unloading efficiency and enhances production efficiency.

[0040] The visual positioning robot 300 can quickly locate the product position through the recognition part on the mold 200, and can obtain information about the mold 200 through the information part 230, so as to call the corresponding program according to the information feedback from the information part 230. The real-time visual recognition works in conjunction with the program preset to achieve a rapid response of the fast unloading robot 400.

[0041] In some embodiments of the present invention, a control component (not shown in the accompanying drawings) is included, which is electrically connected to the visual positioning robot 300 and the fast unloading robot 400, respectively. The control component controls the operation of the fast unloading robot 400 based on the information feedback from the visual perception CCD component 310.

[0042] Specifically, the control component can control the operation of the two manipulators at the same time. The information of the visual positioning manipulator 300 is fed back to the control component, and the control component immediately controls the operation of the fast unloading manipulator 400. In this embodiment, the coordinates of the product positioned by the visual positioning manipulator 300 are used as the reference value, and the visual positioning manipulator 300 and the fast unloading manipulator 400 share a set of absolute coordinates of the product. The visual positioning manipulator 300 establishes a coordinate system based on the recognition part. Since the positions of the recognition parts of different molds 200 are consistent, and the initial position of the fast unloading manipulator 400 remains unchanged, the control component can establish a positional relationship based on the two, so that the fast unloading manipulator 400 moves to the work station to unload. The visual positioning manipulator 300 can calculate the offset by comparing the position information obtained by the recognition part with the position information built into the control component, thereby compensating for the action execution of the fast unloading manipulator 400.

[0043] In some embodiments of the present invention, Figure 3 As shown, the mold 200 is provided with a cavity 210, and the identification part is arranged around the cavity 210. The identification part includes a positioning groove 221 and an anti-fool groove 222. The visual perception CCD component 310 locates the product reference position in the cavity 210 through the positioning groove 221 and identifies the direction through the anti-fool groove 222.

[0044] Specifically, the mold cavity 210 of the mold 200 adopts a uniform specification, so that the identification portion of different molds 200 is set in the same position. The identification portion is set around the mold cavity 210. In this embodiment, the identification portion includes three groups of positioning grooves 221 and a group of foolproof grooves 222. The layout of the foolproof grooves 222 is different from that of the positioning grooves 221. The positioning grooves 221 are arranged in a way that surrounds the mold cavity 210, while the foolproof grooves 222 are arranged differently from the positioning grooves 221. The visual positioning robot 300 can identify the orientation of the mold cavity 210 through the arrangement of the positioning grooves 221 and the foolproof grooves 222. This allows the user to determine whether the mold 200 is installed in the correct position or not.

[0045] Further, if Figure 3 As shown, positioning groove 221 and anti-mock groove 222 are concavely disposed on the end surface of mold 200, and a reflective coating is provided within positioning groove 221 and anti-mock groove 222. The concave surface of positioning groove 221 and anti-mock groove 222 effectively prevents wear of the reflective coating during use of mold 200, thereby maintaining the positioning accuracy of visual positioning robot 300. The reflective coating is a technical solution well known to those skilled in the art and will not be described in detail in this embodiment.

[0046] In some embodiments of the present invention, Figure 3As shown, the information portion 230 is disposed on the end surface of the mold 200 and is coated with a fluorescent coating. Furthermore, the information portion 230 is etched into a stripe-shaped groove on the end surface of the mold 200. Specifically, the information portion 230 also utilizes a recessed structure to prevent wear of the fluorescent coating. In this embodiment, the information portion 230 of the molds 200 of different products varies in style, and can be identified by the number of diagonal stripes arranged. In other embodiments, different molds 200 can also be provided with information portions 230 of different shapes for identification.

[0047] In some embodiments of the present invention, Figure 1 and Figure 4 As shown, the visual perception CCD component 310 is a technical solution well known to those skilled in the art, and its structure will not be described in detail in this embodiment. The visual perception CCD component 310 is provided with a fill light 311 and an ultraviolet lamp group 312 on the original basis. The fill light 311 and the ultraviolet lamp group 312 are arranged in a surrounding manner, and the ultraviolet lamp group 312 is used to illuminate the fluorescent coating of the information part 230. Specifically, the ultraviolet lamp group 312 irradiates the fluorescent coating to make the information part 230 more obvious under the ultraviolet irradiation line, thereby improving the recognition efficiency of the visual perception CCD component 310. The fill light 311 irradiates the reflective coating to highlight the reflective coating, thereby improving the positioning effect of the visual perception CCD component 310.

[0048] In some embodiments of the present invention, a clamping mechanism (not shown in the accompanying drawings) is provided on one side of the rapid unloading robot 400. A quick-release adapter plate 410 is provided to install corresponding clamping mechanisms from the clamping mechanism. Specifically, the clamping mechanism is a technical solution well known to those skilled in the art. The clamping mechanism stores a variety of clamping mechanisms, the number of which is adjusted based on the specifications of the mold 200. The quick-release adapter plate 410 operates by installing corresponding clamping mechanisms with the assistance of either equipment or human assistance.

[0049] In some embodiments of the present invention, Figure 1 and Figure 2 As shown, the fast unloading robot 400 and the visual positioning robot 300 respectively adopt a four-axis structure.

[0050] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative use of the above terms does not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0051] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An automatic ejection shoe removal device, characterized in that: include: An injection mold (200) seat is installed in the equipment, and includes an upper mold seat (110) and a lower mold seat (120), wherein the upper mold seat (110) and the lower mold seat (120) are respectively used to install the upper and lower molds of the mold (200); A visual positioning manipulator (300) is arranged on one side of the injection mold (200) seat and is provided with a visual perception CCD component (310), wherein the visual perception CCD component (310) is used to obtain parameter information of the surface of the mold (200); A fast unloading manipulator (400) is arranged on one side of the injection mold (200) seat, and a quick-release adapter plate (410) is provided at one end thereof close to the injection mold (200) seat, and the quick-release adapter plate (410) is used to install a clamping claw; The visual positioning manipulator (300) and the rapid blanking manipulator (400) are respectively arranged on opposite sides of the injection mold (200) seat, and the end surface of the mold (200) is provided with an identification part and an information part (230) that can be identified by the visual perception CCD component (310).

2. The automatic ejection shoe removal device according to claim 1, characterized in that: It comprises a control component which is electrically connected to the visual positioning manipulator (300) and the fast unloading manipulator (400) respectively, and the control component controls the operation of the fast unloading manipulator (400) according to information fed back by the visual perception CCD component (310).

3. The automatic ejection shoe removal device according to claim 2, characterized in that: The mold (200) is provided with a cavity (210), the identification portion is arranged around the cavity (210), the identification portion includes a positioning groove (221) and an anti-mistake groove (222), the visual perception CCD component (310) locates the product reference position in the cavity (210) through the positioning groove (221), and identifies the direction through the anti-mistake groove (222).

4. The automatic ejection shoe removal device according to claim 3, characterized in that: The positioning groove (221) and the fool-proof groove (222) are concavely arranged on the end surface of the mold (200), and a reflective coating is arranged in the positioning groove (221) and the fool-proof groove (222).

5. The automatic ejection shoe removal device according to claim 2, characterized in that: The information portion (230) is provided on the end surface of the mold (200), and the information portion (230) is provided with a fluorescent coating.

6. The automatic ejection shoe removal device according to claim 5, characterized in that: The information portion (230) is etched on the end surface of the mold (200) to form a strip-shaped groove.

7. The automatic ejection shoe removal device according to claim 5, characterized in that: The visual perception CCD component (310) is provided with a fill light (311) and an ultraviolet light group (312), the fill light (311) and the ultraviolet light group (312) being arranged in a surrounding manner, and the ultraviolet light group (312) is used to illuminate the fluorescent coating of the information part (230).

8. The automatic ejection shoe removal device according to claim 1, characterized in that: A clamping claw library is provided on one side of the fast unloading manipulator (400), and the quick-release adapter plate (410) is used to install clamping claws of corresponding models from the clamping claw library.

9. The automatic ejection shoe removal device according to claim 7, characterized in that: The rapid unloading manipulator (400) and the visual positioning manipulator (300) respectively adopt a four-axis structure.

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