Special manipulator for disc sole injection molding machine

Abstract

The utility model discloses a special manipulator for a disc sole injection molding machine, which comprises a working table, a stand column and a pre-opening mechanism capable of reciprocating along the X direction are arranged on the working table, a cross beam is arranged on the stand column, and a mold opening mechanism, a material taking mechanism and a waste material taking mechanism capable of reciprocating along the X direction are arranged on the cross beam. The mold opening mechanism further comprises a shoe sole pressing mechanism used for pressing and fixing a shoe sole, and an X-direction moving mechanism used for driving the mold opening mechanism, the material taking mechanism and the waste material taking mechanism to move away from or close to the shoe mold in a reciprocating mode is arranged on the cross beam. The full-automatic shoe sole mold opening machine realizes full-automatic production and automatic operation, can automatically finish the work of unlocking, mold opening, product taking, waste taking and mold closing of a shoe sole mold, does not need manual participation, greatly improves the working efficiency, effectively improves the enterprise benefit and reduces the labor cost.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical automation technical field, concretely relates to a disc sole injection molding machine special manipulator. BACKGROUND

[0002] In the sole production process, disc injection molding machine is used for injection molding. After injection molding, manual operation is needed for mold opening, product taking, mold closing and waste cleaning. This operation mode not only has high labor intensity, but also has low efficiency and is easy to produce errors, which has adverse effects on product quality and production efficiency. Therefore, a disc sole injection molding machine special manipulator is needed to replace manual operation and improve work efficiency. CONTENT OF THE UTILITY MODEL

[0003] In order to overcome the above-mentioned deficiencies in the prior art, the purpose of the utility model is to provide a disc sole injection molding machine special manipulator.

[0004] The utility model discloses a disc sole injection molding machine special manipulator, including the workbench, be equipped with the stand and the pre-opening mechanism that can reciprocate along the X direction on the workbench, be equipped with the crossbeam on the stand, be equipped with the mold opening mechanism, the material taking mechanism and the waste taking out mechanism that can reciprocate along the X direction on the crossbeam, the mold opening mechanism still includes the sole lower pressure mechanism for the shoe sole pressure tightly fixed, be equipped with the X direction moving mechanism for driving the mold opening mechanism, the material taking mechanism and the waste taking out mechanism do reciprocating motion away from or close to the shoe mold on the crossbeam.

[0005] Preferably, the pre-opening mechanism includes a straight push rod that can reciprocate along the X direction on the workbench, a horizontal drive mechanism for driving the straight push rod to clamp or move away from the mold, a top plate for lifting the upper mold rod to open the upper mold to an acute angle, a top plate lifting seat for lifting the top plate, a pneumatic lifting assist cylinder and a vertical drive mechanism for driving the top plate lifting seat to lift, the top plate lifting seat is fixedly connected with the top plate at the upper end, and the lower end of the top plate lifting seat is connected with the piston rod of the pneumatic lifting assist cylinder.

[0006] Preferably, the vertical drive mechanism includes an electric drive mold opening reducer and an electric drive mold opening lifting motor for driving the transmission of the electric drive mold opening reducer, the output end of the electric drive mold opening reducer is connected with a cam, the cam is connected with the top plate lifting seat through a swing arm, one end of the swing arm is fixedly connected with the cam, and the other end of the swing arm is fixedly connected with the top plate lifting seat.

[0007] Preferably, the utility model preferably has lifting linear tracks on both sides of the top plate lifting seat, lifting linear sliders that can slide on the lifting linear tracks, and fixed plates that are fixedly connected with the workbench on the lifting linear sliders.

[0008] Preferably, the transverse drive mechanism of this utility model includes a movable frame for fixing the straight push rod, a straight push clamping cylinder for pushing the movable frame to reciprocate, and a base plate fixed on the worktable. The straight push clamping cylinder is mounted on the base plate, and the base plate is provided with side plates located on both sides of the straight push clamping cylinder. A support plate is connected between the two side plates, and each side plate is provided with a straight push rail. A straight push slider is provided on the straight push rail and can slide on it. The straight push slider is fixedly connected to the movable frame. The base plate is also provided with a through hole through which the top plate lifting seat passes. The top plate is located above the through hole and is connected to the top plate lifting seat.

[0009] Preferably, the front end of the straight push rod of this utility model is provided with a locking port for locking the mold slide rod.

[0010] Preferably, the workbench of this invention also has a finished product placement area on one side.

[0011] Preferably, the workbench of this invention is provided with height-adjustable feet at the bottom.

[0012] Preferably, the mold opening mechanism of this utility model includes a first transverse plate connected to the X-direction moving mechanism. The first transverse plate is provided with an upper mold opening mechanism and a middle frame opening mechanism, and the shoe sole pressing mechanism is disposed on the first transverse plate.

[0013] Preferably, the upper mold opening mechanism of this utility model includes a first lifting seat, a first drive motor for driving the first transverse plate to reciprocate along the Z direction, an upper mold hook that can hook the flipping rod on the side of the upper mold at the lower end of the first lifting seat, a first rack on the first lifting seat, a first drive gear that meshes with the first rack at the output end of the first drive motor, a first linear track on the first lifting seat, and a first linear slider that slides with the first linear track on the first transverse plate.

[0014] Preferably, the opening mechanism of the present invention includes a middle frame hook and a middle frame lifting cylinder for driving the middle frame hook to reciprocate along the Z direction. The piston rod of the middle frame lifting cylinder is connected to the middle frame hook. A second linear track A is provided on the first transverse plate, and the middle frame hook is provided with a second linear slider A that slides with the second linear track A.

[0015] Preferably, the sole pressing mechanism of this utility model includes a pressing rod for pressing and fixing the sole, a sole pressing cylinder for driving the pressing rod to reciprocate along the Z direction, and a shoe pressing forward cylinder A for driving the shoe pressing cylinder to reciprocate along the X direction. The shoe pressing forward cylinder A is fixed to a first transverse plate, and a pressing rod connecting plate is provided on the sole pressing cylinder. The pressing rod connecting plate is connected to the piston rod of the shoe pressing forward cylinder A.

[0016] Preferably, the utility model discloses the pressure rod one end with sole lower pressure cylinder's piston rod is connected, and the pressure rod other end is equipped with the pressure head.

[0017] Preferably, the utility model discloses the taking mechanism includes with X to the second horizontal shift board of moving mechanism connection, the second lift seat of reciprocating motion in the second horizontal shift board along Z direction, the second drive motor A for driving the second lift seat reciprocating motion along Z direction, the jaw mechanism for clamping the sole in mould, with the Y to the second lift seat of driving mechanism connection, Y to the driving mechanism for driving the jaw mechanism reciprocating motion along Y direction.

[0018] Preferably, the utility model discloses Y to the driving mechanism includes with the motor mounting plate of second lift seat connection, sets up the second drive motor B and second linear track B on the motor mounting plate, with the second rack of jaw mechanism connection, the second rack is equipped with the second linear slider B of sliding fit with second linear track B, the output of second drive motor B is equipped with the second driving gear A of meshing with second rack.

[0019] Preferably, the utility model discloses being equipped with the taking material lift rack on the second lift seat, the output of second drive motor A is equipped with the second driving gear B of meshing with taking material lift rack, the second lift seat is still equipped with taking material lift linear track, and the second horizontal shift board is equipped with the taking material lift linear slider of sliding with taking material lift linear track;

[0020] Preferably, the utility model discloses the jaw mechanism includes with the jaw support of second rack connection, the jaw for clamping the sole in mould, and the jaw is at least two, and two jaws are oppositely arranged.

[0021] The jaw transmission mechanism for controlling the opening and closing between two jaws enables two jaws to clamp or release the sole.

[0022] The adjusting bolt for adjusting the initial opening and closing size between two jaws.

[0023] Preferably, the utility model discloses the jaw transmission mechanism includes the gear shaft of installing on the jaw support, the third driving gear and third driven gear of installing on the gear shaft, the shoe pusher cylinder B for driving the gear shaft rotation, the two jaw opening and closing tooth rows of being equipped with with the meshing of both sides of third driven gear, the jaw mounting plate for fixing the jaw is equipped on each jaw opening and closing tooth row, and each jaw opening and closing tooth row is still connected with the jaw support through a sliding assembly.

[0024] Preferably, the clamping jaw support at least includes two spaced transverse plates, a cavity is formed between the two transverse plates, both ends of the transverse plate are provided with a vertical plate, one side of the vertical plate is provided with the shoe pressing forward cylinder B, the piston rod of the shoe pressing forward cylinder B is engaged with the third driving gear through the third rack, the other side of the vertical plate is provided with a bolt hole for the adjusting bolt to pass through, the adjusting bolt passes through the bolt hole to adjust the movement distance between the third rack and the adjusting bolt, and the gear shaft is rotatably arranged between the two transverse plates and connected with the third driven gear by penetrating one of the transverse plates.

[0025] Preferably, the sliding assembly includes a clamping jaw opening and closing straight rail mounted on the transverse plate and a clamping jaw opening and closing straight rail slider matched with the clamping jaw opening and closing straight rail.

[0026] Preferably, the opposite contact surfaces of the two clamping jaws are provided with anti-skid structures.

[0027] Preferably, the anti-skid structure is provided with a plurality of particles protruding towards the contact surface of the clamping jaw.

[0028] Compared with the prior art, the utility model has the following advantages and beneficial effects: the utility model mechanical hand and disc sole machine combination use, realized full automation production, automatic operation, can automatically complete to the unlocking of sole mould, opening mould, taking product, taking waste material and the work of closing mould, need not manual participation, improved work efficiency greatly, effectively improved enterprise benefit, reduced manual cost. BRIEF DESCRIPTION OF DRAWINGS

[0029] Other features, objects and advantages of the utility model will become more apparent through reading the following detailed description of the non-restrictive embodiments with reference to the accompanying drawings:

[0030] Figure 1 It is the structural schematic diagram of the utility model;

[0031] Figure 2 It is the structural schematic diagram of the material taking mechanism of the utility model;

[0032] Figure 3 It is the structural schematic diagram of the opening mould mechanism of the utility model;

[0033] Figure 4 It is the structural schematic diagram of the pre-opening mechanism of the utility model;

[0034] Figure 5 It is the structural schematic diagram of the transverse drive mechanism and straight push rod assembly of the utility model;

[0035] Figure 6The utility model discloses a vertical driving mechanism and pneumatic lifting force cylinder, lifting seat and top plate assembly structure schematic view.

[0036] Figure 7 The utility model discloses Y direction driving mechanism and clamping jaw mechanism assembly structure schematic view.

[0037] Figure 8 The utility model discloses clamping jaw mechanism structure schematic view.

[0038] Figure 9 The utility model discloses Figure 8 The utility model discloses side structure schematic view.

[0039] Figure 10 The utility model discloses clamping jaw support structure schematic view.

[0040] Figure 11 The utility model discloses three -dimensional structure schematic view.

[0041] Drawing mark explains:

[0042] 1 - workbench;

[0043] 2 - stand;

[0044] 3 - pre -open mechanism, 310 - base plate, 311 - side plate, 312 - support plate, 313 - through -hole, 314 - finished product placement area, 315 - height adjusting foot cup;

[0045] 32 - straight push rod, 320 - clamping site mouth;

[0046] 33 - horizontal driving mechanism, 330 - moving frame, 331 - straight push clamping mode cylinder, 332 - straight push rail, 333 - straight push sliding block;

[0047] 34 - top plate;

[0048] 35 - top plate lifting seat;

[0049] 36 - pneumatic lifting force cylinder;

[0050] 37 - vertical driving mechanism, 370 - electric drive open -mold reducer, 371 - electric drive open -mold lifting motor, 372 - cam, 373 - swing arm;

[0051] 38 - lifting linear rail;

[0052] 39 - descending linear sliding block, 390 - fixed plate;

[0053] 4 - crossbeam;

[0054] 5 - mold opening mechanism, 50 - sole pressing mechanism, 500 - pressing rod, 501 - sole pressing cylinder, 502 - front shoe pressing cylinder A, 503 - pressing rod connecting plate, 504 - pressing head;

[0055] 51 - first horizontal moving plate;

[0056] 52 - mold opening mechanism, 520 - first lifting seat, 521 - first driving motor, 522 - mold hook, 523 - first linear rail, 524 - first linear slider;

[0057] 53 - middle frame opening mechanism, 530 - middle frame hook, 531 - middle frame lifting cylinder, 532 - second linear rail A, 533 - second linear slider A;

[0058] 6 - material taking mechanism, 60 - second horizontal moving plate, 600 - material taking lifting linear slider, 61 - second lifting seat, 610 - material taking lifting rack, 611 - material taking lifting linear rail, 62 - second driving motor A, 620 - second driving gear A, 63 - Y direction driving mechanism, 630 - motor mounting plate, 631 - second driving motor B, 632 - second linear rail B, 633 - second rack, 634 - second linear slider B, 635 - second driving gear B;

[0059] 7 - waste taking-out mechanism;

[0060] 8 - X direction moving mechanism;

[0061] 9 - clamping jaw mechanism, 91 - clamping jaw support, 910 - horizontal plate, 911 - cavity, 912 - vertical plate, 913 - bolt hole, 914 - clamping jaw opening and closing linear rail, 915 - clamping jaw opening and closing linear slider;

[0062] 92 - clamping jaw, 920 - anti-skid structure;

[0063] 93 - adjusting bolt;

[0064] 94 - gear shaft;

[0065] 95 - third driving gear;

[0066] 96 - third driven gear;

[0067] 97 - front shoe pressing cylinder B;

[0068] 98 - clamping jaw opening and closing gear row, 980 - clamping jaw mounting plate;

[0069] 99 - third rack. DETAILED DESCRIPTION

[0070] The embodiments of the present application are described below in detail, examples of the embodiments are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, only for explaining the present application, and cannot be understood as a limitation of the present application.

[0071] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0072] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] Referring to Figures 1 to 11 As shown in FIG. 1, a special mechanical hand for disc sole injection molding machine, including workbench 1, the workbench 1 is equipped with column 2 and pre-opening mechanism 3 that can reciprocate along X direction, the column 2 is equipped with crossbeam 4, the crossbeam 4 is equipped with mold opening mechanism 5, material taking mechanism 6 and waste taking-out mechanism 7 that can reciprocate along X direction, the mold opening mechanism 5 still includes sole down-pressing mechanism 50 for pressing and fixing sole, the crossbeam 4 is equipped with X direction moving mechanism 8 for driving mold opening mechanism 5, material taking mechanism 6 and waste taking-out mechanism 7 to reciprocate away or close to shoe mold, wherein X direction moving mechanism 8 belongs to conventional moving mechanism in automation, here does not make too much description.

[0074] The pre-opening mechanism comprises a straight push rod 32 reciprocating along the X direction on the workbench 1, a transverse driving mechanism 33 for driving the straight push rod 32 to clamp or move away from the mold, a top plate 34 for lifting the front rod of the upper mold to open the upper mold to an acute angle, a top plate lifting seat 35 for lifting the top plate 34, a pneumatic lifting assist cylinder 36 for driving the top plate lifting seat 35 to lift, and a vertical driving mechanism 37. The upper end of the top plate lifting seat 35 is fixedly connected with the top plate 34, and the lower end of the top plate lifting seat 35 is connected with the piston rod of the pneumatic lifting assist cylinder 36. A clamping opening 320 for clamping the mold slide rod is arranged at the front end of the straight push rod 32. When the straight push rod 32 advances to the mold position, the clamping opening 320 can clamp the slide rod on the mold middle frame, so that the problem of instantaneous mold explosion or mold jumping when the top plate 34 opens the upper mold can be prevented.

[0075] Specifically, the vertical driving mechanism 37 comprises an electric drive mold opening reducer 370 and an electric drive mold opening lifting motor 371 for driving the transmission of the electric drive mold opening reducer 370. The electric drive mold opening lifting motor 371 is coupled with the input end of the electric drive mold opening reducer 370 through a shaft coupling, so as to ensure the installation precision of the shaft coupling and the concentricity between the motor and the reducer. The output end of the electric drive mold opening reducer 370 is connected with a cam 372, the cam 372 is connected with the top plate lifting seat 35 through a swing arm 373, one end of the swing arm 373 is fixedly connected with the cam 372, and the other end of the swing arm 373 is fixedly connected with the top plate lifting seat 35. The motor is mounted on a motor support, and the motor support is connected with the workbench by welding or bolts, so as to ensure the accurate installation position of the motor and prevent loosening during work. During work, the electric drive mold opening lifting motor 371 is started to drive the electric drive mold opening reducer to rotate, so that the cam and the swing arm drive the top plate lifting seat 35 to move. When the top plate lifting seat rises upward, the top plate can open the upper mold front rod to an acute angle, so that the subsequent mold opening mechanism can completely open the upper mold.

[0076] In order to cooperate with the stable lifting of the top plate lifting seat 35, lifting linear rails 38 are arranged on both sides of the top plate lifting seat 35. Lifting linear slides 39 are arranged on the lifting linear rails 38 and can slide thereon. Fixed plates 390 are arranged on the lifting linear slides 39 and are fixedly connected with the workbench 1.

[0077] In addition, the transverse driving mechanism 33 comprises a moving frame 330 for fixing the straight push rod 32, a straight push clamping cylinder 331 for pushing the moving frame 330 to reciprocate, a base plate 310 fixed on the workbench 1, the straight push clamping cylinder 331 is installed on the base plate 310, the base plate 310 is provided with side plates 311 located on both sides of the straight push clamping cylinder 331, a supporting plate 312 is connected between the two side plates 311, and each side plate 311 is provided with a straight push rail 332, the straight push rail 332 is provided with a straight push sliding block 333 which can slide thereon, the straight push sliding block 333 is fixedly connected with the moving frame 330, and the base plate 310 is further provided with a through hole 313 through which the top plate lifting seat 35 passes, and the top plate 34 is located above the through hole 313 and is connected with the top plate lifting seat 35.

[0078] In order to facilitate the taking out and storage of the soles in the mold, a finished product placing area 314 is further arranged on one side of the workbench 1, and the finished product placing area 314 is located on one side of the workbench 1.

[0079] The height adjusting foot cup 315 is arranged at the bottom of the workbench 1, is made of high-strength metal material, can accurately adjust the overall height of the mechanism by rotating, ensures that the mold opening mechanism is in a horizontal state, provides stable support for the mold opening work, prevents the mold opening deviation caused by uneven ground, and guarantees the accurate mold opening action.

[0080] As a preferred mode of the utility model, the mold opening mechanism 5 comprises a first transverse plate 51 connected with the X-direction moving mechanism 8, the first transverse plate 51 is provided with an open upper mold mechanism 52 and an open middle frame mechanism 53, and the sole pressing mechanism 50 is arranged on the first transverse plate 51.

[0081] As a preferred mode of the utility model, the open upper mold mechanism 52 comprises a first lifting seat 520, a first driving motor 521 for driving the first transverse plate 51 to reciprocate along the Z direction, an upper mold hook 522 capable of hooking the turnover rod of the side surface of the upper mold is arranged at the lower end of the first lifting seat 520, the first lifting seat 520 is provided with a first rack, the output end of the first driving motor 521 is provided with a first driving gear meshing with the first rack, the first lifting seat 520 is further provided with a first linear rail 523, and the first transverse plate 51 is provided with a first linear sliding block 524 slidingly combined with the first linear rail 523. In working, the first lifting seat 520 is driven to lift by the first driving motor 521, so that the upper mold hook 522 can hook the turnover rod of the side surface of the upper mold, and the upper mold hook can completely open the upper mold under the movement of the X-direction moving mechanism. That is, the upper mold is completely opened in a turnover state, so that the material taking mechanism can clamp the soles in the mold.

[0082] As a preferred mode of the utility model, the open middle frame mechanism 53 includes middle frame hook 530, the middle frame lifting cylinder 531 for driving the reciprocating motion of the middle frame hook 530 along Z direction, the piston rod of middle frame lifting cylinder 531 is connected with middle frame hook 530, second linear track A 532 is equipped on the first horizontal moving plate 51, and the middle frame hook 530 is equipped with the second linear slider A 533 that slides with second linear track A 532.

[0083] As a preferred mode of the utility model, the shoe sole down-pressing mechanism 50 includes the press rod 500 for the shoe sole is pressed tightly fixed, the shoe sole down-pressing cylinder 501 for driving the reciprocating motion of the press rod 500 along Z direction, the shoe sole down-pressing cylinder 501 is fixed on the first horizontal moving plate 51, the press rod connecting plate 503 is equipped on the shoe sole down-pressing cylinder 501, and the press rod connecting plate 503 is connected with the piston rod of shoe sole down-pressing cylinder 501.

[0084] As a preferred mode of the utility model, the press rod 500 one end is connected with the piston rod of shoe sole down-pressing cylinder 501, and the other end of press rod 500 is equipped with pressure head 504, and the shoe sole can be better pressed tightly fixed through pressure head 504.

[0085] In addition, the material taking mechanism 6 includes the second horizontal moving plate 60 connected with X direction moving mechanism 8, the second lifting seat 61 that can reciprocate along Z direction in second horizontal moving plate 60, the second drive motor A 62 for driving the reciprocating motion of second lifting seat 61 along Z direction, the gripper mechanism 9 for clamping the shoe sole in mould, the Y direction driving mechanism 63 connected with second lifting seat 61, the Y direction driving mechanism 63 is used for driving the reciprocating motion of gripper mechanism 9 along Y direction, the material taking lifting rack 610 is equipped on second lifting seat 61, the output end of second drive motor A 62 is equipped with the second driving gear A 620 that meshes with material taking lifting rack 610, the material taking lifting linear track 611 is further equipped on second lifting seat 61, and the material taking lifting linear slider 600 that slides with material taking lifting linear track 611 is equipped on second horizontal moving plate 60.

[0086] The Y-direction driving mechanism 63 comprises a motor mounting plate 630 connected with the second lifting seat 61, a second driving motor B631 and a second linear track B632 arranged on the motor mounting plate 630, a second rack 633 connected with the clamping jaw mechanism 9, the second rack 633 is provided with a second linear slider B634 in sliding fit with the second linear track B632, and the output end of the second driving motor B631 is provided with a second driving gear A635 in mesh with the second rack 633.

[0087] As a preferred mode of the utility model, the clamping jaw mechanism 9 comprises a clamping jaw support 91, clamping jaws 92, a clamping jaw transmission mechanism and an adjusting bolt 93, the clamping jaw support 91 is fixedly connected with the second rack 633, the clamping jaws 92 are used for clamping the shoe sole in the mold, the clamping jaws 92 are two, the two clamping jaws 92 are oppositely arranged, the clamping jaw transmission mechanism is used for driving the two clamping jaws 92 to open and close, so that the two clamping jaws 92 can clamp or loosen the shoe sole in the mold, and the adjusting bolt 93 is used for adjusting the initial opening and closing size between the two clamping jaws 92, so that the clamping of the shoe sole of different widths can be achieved, and the smooth opening and closing of the clamping jaws is ensured.

[0088] In order to realize that the clamping jaw transmission mechanism can drive the two clamping jaws 92 to open and close, the clamping jaw transmission mechanism adopts the following specific structure; specifically, the clamping jaw transmission mechanism comprises a gear shaft 94 installed on the clamping jaw support 91, a third driving gear 95 and a third driven gear 96 installed on the gear shaft 94, a shoe pushing cylinder B97 used for driving the gear shaft 94 to rotate, two clamping jaw opening and closing tooth rows 98 meshed with the third driven gear 96 on both sides of the third driven gear 96, a clamping jaw mounting plate 980 used for fixing the clamping jaw 95 is arranged on each clamping jaw opening and closing tooth row 98, and each clamping jaw opening and closing tooth row 98 is further connected with the clamping jaw support 91 through a sliding assembly, wherein the sliding assembly comprises a clamping jaw opening and closing linear track 914 installed on the transverse plate 910 and a clamping jaw opening and closing linear slider 915 in sliding fit with the clamping jaw opening and closing linear track 914, and the clamping jaw opening and closing tooth row 98 is fixedly connected with the clamping jaw opening and closing linear slider 915.

[0089] More specifically, the jaw support 91 comprises at least two spaced apart transverse plates 910, a cavity 911 being formed between the two transverse plates 910, and vertical plates 912 being provided at both ends of the transverse plates 910, wherein one side vertical plate 912 is provided with the shoe pressing and pushing cylinder B97, a piston rod of the shoe pressing and pushing cylinder B97 is engaged with the third driving gear 95 through the third rack 99, the other side vertical plate 912 is provided with a bolt hole 913 through which the adjusting bolt 93 passes, the adjusting bolt 93 passes through the bolt hole 913 to adjust the movement distance between the third rack 99 and the adjusting bolt 93, so that the initial opening and closing size between the two jaws 92 can be adjusted, and the gear shaft 94 is rotatably arranged between the two transverse plates 910 and connected with the third driven gear 96 through one of the transverse plates 910.

[0090] In this way, when the shoe pressing and pushing cylinder B97 is started by air, the piston rod of the shoe pressing and pushing cylinder B97 drives the third rack 99 to move linearly, the third rack 99 drives the third driving gear 95 to rotate, the gear shaft 94 rotates synchronously with the third driven gear 96, and when the third driven gear 96 rotates, the gear rack 98 moves, because the gear racks 98 are arranged on opposite sides of the third driven gear 96, the two gear racks 98 move in opposite directions, the gear rack 98 drives the jaw mounting plate 980 to move, and the gear rack 99 moves more smoothly under the action of the sliding assembly, so that the two jaws 92 can clamp or release the sole, when the initial opening and closing size between the two jaws 92 is not enough, the adjusting bolt 93 can be adjusted to control the movement distance between the third rack and the adjusting bolt 93, that is, when the end of the third rack 99 after movement reaches the limit position, it will abut against the end of the adjusting bolt 93, so that the initial opening and closing size between the two jaws 92 can be adjusted.

[0091] In order to increase the friction between the jaws 92 and the sole, prevent the jaws from slipping, and the like, the anti-skid structure 920 is arranged on the contact surfaces of the two jaws 92.

[0092] As a preferred mode of the utility model, the anti-skid structure 920 is arranged on the contact surfaces of the jaws 92 in the form of a plurality of particles; of course, the anti-skid structure 920 can also be formed in other structures, as long as the friction between the jaws and the sole can be met, and the utility model is not further limited in this regard.

[0093] The utility model discloses a working principle: first, start pre-opening mechanism 3 and open the mould to certain acute angle, then, X to moving mechanism 8 drive opening mechanism 5 to mould close, make opening mechanism 5 go forward to the upper of mould, then first drive motor 521 drive first lifting seat 520 drive upper die hook 522 lift, when upper die hook 522 descend to the turnover lever of upper die side, because upper die hook 522 rotatable setting, make the turnover lever of upper die side be stuck in upper die hook 522, first drive motor 521 continue to start to the upper die completely open. Then, start the shoe pressing front push air cylinder A502 and advance the pressure rod to the upper of mould, by the sole down pressure air cylinder 501 of sole down pressure mechanism 50 drive pressure rod 500 down pressure mould inside sole, then middle frame lifting air cylinder 531 drive middle frame hook 530 descend to the turnover lever of middle frame side, make middle frame hook 530 hook the turnover lever of middle frame side, and pull up the middle frame to acute angle position. After that, sole down pressure air cylinder 501 and the shoe pressing front push air cylinder A502 retreat, middle frame lifting air cylinder 531 continue to start to the middle frame completely open, then take out mechanism 6 start to the preset position, second drive motor A62 drive second lifting seat 61 drive jaw mechanism 9 to the sole in mould clamping, after clamping, sole is retreated to the designated shoe position by taking out mechanism 6, can release the sole on jaw mechanism 9, then opening mechanism 5 retreat, in this process, middle frame descend to certain angle. When opening mechanism 5 continues to retreat to the opening position, middle frame lifting air cylinder 531 descend to the lowest position, after opening mechanism reaches the specified position of closing, first drive motor 521 drive first lifting seat 520 descend and make upper die hook 522 descend and close the upper die. Then opening mechanism 5 retreat to the water gap waste position, waste taking out mechanism 7 descend and clamp the waste in mould, after completing operation, waste taking out mechanism 7 rise and retreat to the waste placement area, finally, opening mechanism 5 returns to the standby position and waits for next execution.

[0094] Although the embodiments of the utility model have been shown and described, those skilled in the art can understand that: can carry out multiple changes, modification, replacement and variation to these embodiments without departing from the principles and purposes of the utility model, and the scope of the utility model is defined by the claims and its equivalents.

Claims

1. A mechanical hand for a disc sole injection molding machine, characterized by: The utility model relates to a shoe sole mould opening and closing device, including workbench (1), be equipped with riser (2) and pre-opening mechanism (3) that can reciprocate along X direction on workbench (1), be equipped with crossbeam (4) on riser (2), be equipped with open mould mechanism (5), material taking mechanism (6) and waste material taking mechanism (7) that can reciprocate along X direction on crossbeam (4), open mould mechanism (5) still include the shoe sole lower pressure mechanism (50) for the shoe sole is pressed tightly fixed, be equipped with X direction moving mechanism (8) for driving open mould mechanism (5), material taking mechanism (6) and waste material taking mechanism (7) do away with or close to shoe mould reciprocating motion on crossbeam (4).

2. The special mechanical hand for the disc sole injection molding machine according to claim 1, characterized in that: Pre-opening mechanism includes the straight push rod (32) that can reciprocate along X direction on workbench (1), the transverse drive mechanism (33) for driving straight push rod (32) card bit mould or away from mould, the jacking plate (34) for jacking up upper mould front rod and open upper mould to acute angle, the jacking plate lifting seat (35) for driving jacking plate (34) to push and lift, the pneumatic lifting auxiliary cylinder (36) and vertical drive mechanism (37) for driving jacking plate lifting seat (35) to lift, jacking plate lifting seat (35) upper end with jacking plate (34) fixed connection, jacking plate lifting seat (35) lower end with pneumatic lifting auxiliary cylinder (36) piston rod connection; Vertical drive mechanism (37) includes electric drive open mould speed reducer (370) and the electric drive open mould lifting motor (371) for driving electric drive open mould speed reducer (370) transmission, the output end of electric drive open mould speed reducer (370) is connected with cam (372), cam (372) is connected with jacking plate lifting seat (35) through swing arm (373), swing arm (373) one end with cam (372) fixed connection, swing arm other end with jacking plate lifting seat (35) fixed connection, jacking plate lifting seat (35) both sides are equipped with lifting linear track (38), be equipped with lifting linear slider (39) on lifting linear track (38) can slide thereon, lifting linear slider (39) on be equipped with with workbench (1) fixed connection fixed plate (390). The transverse driving mechanism (33) comprises a moving frame (330) for fixing a straight push rod (32), a straight push clamping air cylinder (331) for pushing the moving frame (330) to reciprocate, a base plate (310) fixed on the workbench (1), the straight push clamping air cylinder (331) is installed on the base plate (310), the base plate (310) is provided with side plates (311) located on both sides of the straight push clamping air cylinder (331), a supporting plate (312) is connected between the two side plates (311), and a straight push rail (332) is arranged on each side plate (311), a straight push sliding block (333) capable of sliding on the straight push rail (332) is arranged on the straight push rail (332), the straight push sliding block (333) is fixedly connected with the moving frame (330), and the base plate (310) is further provided with a through hole (313) through which the top plate lifting seat (35) passes, the top plate (34) is located above the through hole (313) and is connected with the top plate lifting seat (35), and the straight push rod (32) is provided with a clamping position (320) at the front end for clamping a mold sliding rod.

3. The special mechanical hand for the disc sole injection molding machine according to claim 1, characterized in that: The mold opening mechanism (5) comprises a first transverse plate (51) connected with the X-direction moving mechanism (8), the first transverse plate (51) is provided with an upper mold opening mechanism (52) and a middle frame opening mechanism (53), and the sole pressing mechanism (50) is arranged on the first transverse plate (51).

4. The special mechanical hand for the disc sole injection molding machine according to claim 3, characterized in that: The upper mold opening mechanism (52) comprises a first lifting seat (520), a first driving motor (521) for driving the first transverse plate (51) to reciprocate along the Z direction, an upper mold hook (522) capable of hooking a turnover rod on the side surface of the upper mold is arranged at the lower end of the first lifting seat (520), the first lifting seat (520) is provided with a first rack, the output end of the first driving motor (521) is provided with a first driving gear meshing with the first rack, and the first lifting seat (520) is further provided with a first linear rail (523), and the first transverse plate (51) is provided with a first linear sliding block (524) slidingly combined with the first linear rail (523); The middle frame opening mechanism (53) comprises a middle frame hook (530) and a middle frame lifting air cylinder (531) for driving the middle frame hook (530) to reciprocate along the Z direction, the piston rod of the middle frame lifting air cylinder (531) is connected with the middle frame hook (530), the first transverse plate (51) is provided with a second linear rail A (532), and the middle frame hook (530) is provided with a second linear sliding block A (533) slidingly combined with the second linear rail A (532). The shoe sole pressing mechanism (50) comprises a pressing rod (500) for pressing and fixing the shoe sole, a shoe sole pressing cylinder (501) for driving the pressing rod (500) to reciprocate along the Z direction, and a shoe pressing forward cylinder A (502) for driving the shoe sole pressing cylinder (501) to reciprocate along the X direction, wherein the shoe pressing forward cylinder A (502) is fixed on the first transverse moving plate (51), the shoe sole pressing cylinder (501) is provided with a pressing rod connecting plate (503), the pressing rod connecting plate (503) is connected with the piston rod of the shoe pressing forward cylinder A (502), one end of the pressing rod (500) is connected with the piston rod of the shoe sole pressing cylinder (501), and the other end of the pressing rod (500) is provided with a pressing head (504).

5. The special mechanical hand for a disc sole injection molding machine according to claim 1, characterized in that: The material taking mechanism (6) comprises a second transverse moving plate (60) connected with the X direction moving mechanism (8), a second lifting seat (61) capable of reciprocating along the Z direction on the second transverse moving plate (60), a second driving motor A (62) for driving the second lifting seat (61) to reciprocate along the Z direction, a clamping jaw mechanism (9) for clamping the shoe sole in the mold, and a Y direction driving mechanism (63) connected with the second lifting seat (61), wherein the Y direction driving mechanism (63) is used for driving the clamping jaw mechanism (9) to reciprocate along the Y direction. The Y direction driving mechanism (63) comprises a motor mounting plate (630) connected with the second lifting seat (61), a second driving motor B (631) and a second linear track B (632) provided on the motor mounting plate (630), and a second rack (633) connected with the clamping jaw mechanism (9), wherein the second rack (633) is provided with a second linear slider B (634) in sliding fit with the second linear track B (632), and the output end of the second driving motor B (631) is provided with a second driving gear A (635) in mesh with the second rack (633).

6. A special mechanical hand for a disc sole injection molding machine according to claim 5, characterized in that: The second lifting seat (61) is provided with a material taking lifting rack (610), the output end of the second driving motor A (62) is provided with a second driving gear B (620) in mesh with the material taking lifting rack (610), and the second lifting seat (61) is further provided with a material taking lifting linear track (611), and the second transverse moving plate (60) is provided with a material taking lifting linear slider (600) in sliding fit with the material taking lifting linear track (611).

7. A special mechanical hand for a disc sole injection molding machine according to claim 5, characterized in that: The clamping jaw mechanism (9) comprises a clamping jaw support (91) connected with the second rack (633) and clamping jaws (92) for clamping the shoe sole in the mold, wherein the clamping jaws (92) are at least two and oppositely arranged. A clamping jaw transmission mechanism is used for controlling the opening and closing of the two clamping jaws (92) so that the two clamping jaws (92) can clamp or release the shoe sole. An adjusting bolt (93) is used for adjusting the initial opening and closing size between the two clamping jaws (92).

8. The special mechanical hand for a disc sole injection molding machine according to claim 7, characterized in that: The jaw transmission mechanism comprises a gear shaft (94) mounted on a jaw support (91), a third driving gear (95) and a third driven gear (96) mounted on the gear shaft (94), and a shoe pushing cylinder B (97) for driving the gear shaft (94) to rotate, two jaw opening and closing gear racks (98) are arranged on both sides of the third driven gear (96) and engaged with the third driven gear (96), a jaw mounting plate (980) for fixing the jaw (92) is arranged on each jaw opening and closing gear rack (98), and each jaw opening and closing gear rack (98) is connected with the jaw support (91) through a sliding assembly, the sliding assembly comprises a jaw opening and closing linear track (914) mounted on a transverse plate (910) and a jaw opening and closing linear slider (915) matched with the jaw opening and closing linear track (914) and sliding with the jaw opening and closing linear track (914), and the jaw opening and closing gear rack (98) is fixedly connected with the jaw opening and closing linear slider (915).

9. A special mechanical hand for a disc sole injection molding machine according to claim 8, characterized in that: The opposite contact surfaces of the two jaws (92) are provided with anti-skid structures (920).

10. The special mechanical hand for a disc sole injection molding machine according to claim 9, characterized in that: The anti-skid structures (920) are arranged in the form of a plurality of particles protruding towards the contact surfaces of the jaws (92).

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