Injection molding discharging manipulator capable of preventing adhesion

Abstract

The utility model discloses an injection molding blanking manipulator capable of preventing adhesion. The injection molding blanking manipulator comprises a fixed column, a rotating frame and an anti-adhesion material taking mechanism, the fixed column is connected with an injection molding machine table and provided with an electric control device, and the rotating frame is rotationally connected with the fixed column through a bearing and driven by a driving motor; the anti-sticking material taking mechanism comprises a sliding seat sliding on the guide shaft and is provided with a connecting seat driven by a vertical air cylinder, a clamping jaw with a diamond coating is installed at the bottom of the connecting seat, a pressure sensor is arranged on the inner side of the connecting seat, and a high-pressure air blowing pipe is fixed to the side of the connecting seat through an adjustable support. When the pressure sensor detects that the adhesion force is larger than or equal to 50 N, the electric control device controls the air pressure of the air blowing pipe to rise to 0.6-0.8 MPa in a linkage mode, the clamping force is reduced by 20%-40%, and meanwhile the buffer limiting air cylinder absorbs impact. Honeycomb pits of 20-50 microns are formed in the surface of the diamond coating, and the friction coefficient is smaller than According to the utility model, high-efficiency lossless demoulding of the TPU sole is realized, the demoulding failure rate is reduced from 18.6% to 2.3%, and the time consumed by a single cycle is less than or equal to 6 seconds.

Description

TECHNICAL FIELD

[0001] The utility model relates to the sole injection molding production field especially relates to a prevent injection molding mechanical hand of adhesion. BACKGROUND

[0002] In the TPU (thermoplastic polyurethane) sole injection molding production field, due to the high viscoelasticity and demolding shrinkage characteristics of the material itself, the finished product and the mold or the material taking mechanism are prone to adhesion, resulting in low demolding efficiency, product surface damage and other problems.

[0003] The traditional mechanical hand adopts a single physical anti-adhesion means, such as surface polishing treatment or adding a demolding agent spraying, which has the problems of easy wear of the coating, chemical pollution risk and secondary cleaning process caused by residual demolding agent. And the existing pneumatic auxiliary demolding technology often cannot effectively deal with the adhesion force mutation of TPU material in high temperature state due to the unadjustable airflow direction and insufficient pressure control precision, resulting in a demolding failure rate of up to 15%-20%. In addition, the conventional clamping jaw is prone to cause surface indentation of the product due to stress concentration when contacting the TPU material, which seriously affects the appearance quality of the sole. Therefore, an intelligent material taking device capable of actively sensing the adhesion state, dynamically adjusting the demolding parameters and having a long-acting anti-adhesion surface is urgently needed. SUMMARY

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide an injection molding material feeding mechanical hand for preventing adhesion.

[0005] In order to solve the above technical problems, the utility model provides the following technical scheme:

[0006] The utility model relates to an injection molding material feeding mechanical hand for preventing adhesion, which comprises:

[0007] A fixed column is fixed to the injection molding machine table top at the lower end, and an electric control device is installed on the side surface;

[0008] A rotating frame is rotatably connected to the upper end of the fixed column through a rolling bearing and is driven to rotate by a driving motor;

[0009] Two parallel guide shafts are horizontally fixed to the inner wall of the rotating frame;

[0010] A sliding seat is slidably connected to the guide shaft, and one side of the sliding seat is fixed with a piston rod of a translation air cylinder;

[0011] The anti-adhesion material taking mechanism comprises:

[0012] A sliding rail is vertically fixed to the side surface of the sliding seat;

[0013] A vertical air cylinder is fixed to the sliding seat, and the piston end of the vertical air cylinder is connected with a liftable connecting seat;

[0014] Buffering and limiting cylinder is fixed to the sliding base, and the piston end thereof is in sliding connection with the connecting base;

[0015] High-pressure air blowing pipe is fixed to the side of the connecting base through an adjustable support, and the air blowing direction is towards the clamping jaw;

[0016] Finger cylinder is fixed to the bottom of the connecting base, and the clamping jaw surface thereof is covered with a diamond coating;

[0017] Pressure sensor is fixed to the inner side of the clamping jaw and is in signal connection with the electric control device;

[0018] Limiting block is fixed to the end of the guide shaft of the rotating frame and is used for limiting the sliding range of the sliding base;

[0019] The electric control device receives the real-time signal of the pressure sensor, when the pressure value is greater than or equal to 50N, the air pressure of the high-pressure air blowing pipe is increased to 0.6-0.8MPa and maintained for 0.5-1 second, and the clamping force of the finger cylinder is reduced by 20%-40% at the same time.

[0020] As a preferred technical scheme of the utility model, the friction coefficient of the diamond coating is less than or equal to 0.1, and the surface is provided with a micron-level honeycomb-shaped pit structure, the pit diameter is 20-50μm, the depth is 5-10μm, and the center distance between adjacent pits is 30-60μm.

[0021] As a preferred technical scheme of the utility model, the end of the piston rod of the buffering and limiting cylinder is provided with an elastic silica gel buffer head, the Shore hardness of the buffer head is 50A-70A, and the compression deformation rate is greater than or equal to 30%; the contact surface between the elastic silica gel buffer head and the connecting base is a plane.

[0022] As a preferred technical scheme of the utility model, the nozzle of the high-pressure air blowing pipe is a flat fan-shaped structure, the air outlet width is 1-3mm, and the air blowing angle can be adjusted in the range of 30°-90°; the adjustable support is provided with an angle scale dial for accurately controlling the air blowing direction of the nozzle.

[0023] As a preferred technical scheme of the utility model, the inner side of the clamping jaw of the finger cylinder is provided with an anti-skid line, the line depth is 0.5-1mm, and the distance between adjacent lines is 2-5mm; the cross section of the anti-skid line is a trapezoidal structure, the upper base width is 0.3-0.8mm, and the lower base width is 1-1.5mm.

[0024] As a preferred technical scheme of the utility model, the electric control device is provided with a pressure-air blowing linkage control module, when the detection value of the pressure sensor is greater than or equal to 50N for 0.2 seconds, the following actions are performed: the air pressure of the high-pressure air blowing pipe is increased to 0.6-0.8MPa and maintained for 0.5-1 second; and the clamping force of the finger cylinder is reduced at a rate of 5% / 0.1 second until reaching 60% of the target value.

[0025] Compared with the prior art, the utility model has the advantages that:

[0026] 1, intelligent anti -sticking control: through pressure sensor real -time monitoring clamping force change, when detecting the abnormal adhesion of 50N, automatically trigger high -pressure airflow directional impact (0.6-0.8MPa) and clamping force dynamic attenuation (20%-40%) The cooperative demolding action of the action, experimental data shows that the demolding failure rate of TPU shoe sole can be reduced to 3% or less;

[0027] 2, long -term anti -sticking surface: diamond coating (friction coefficient ≤0.1) combination micron honeycomb pit structure makes TPU contact area reduce 82%, and pit forms air film barrier layer, after 2000 times take material test, still keep 90% or more Anti -sticking performance, significantly better than traditional coating, in addition, flat fan-shaped nozzle (1-3mm outlet) cooperation 30°-90° adjustable angle, form the best angle of shear airflow with demolding direction, for TPU shoe sole edge reverse buckle structure, demolding efficiency is improved by more than 50%;

[0028] 3, adaptive clamping: trapezoidal anti -skid line (lower bottom width 1-1.5mm) provides enough clamping force while dispersing contact stress, combined with clamping force gradient release mechanism, make TPU shoe sole surface indentation depth control within 0.02mm, meet high -end sports shoes appearance standard. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application, and together with the present application to explain the present application, and do not constitute the limitation of the present application. In the drawings:

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

[0031] Figure 2 It is the front view of the utility model;

[0032] Figure 3 It is the side view of the utility model;

[0033] Figure 4 It is the top view of the utility model;

[0034] Figure 5 It is the local enlarged view of finger air cylinder in the utility model;

[0035] In the diagram: 1. Fixed column; 2. Rotating frame; 3. Drive motor; 4. Anti-stick material handling mechanism; 5. Electrical control device; 21. Guide shaft; 22. Slide block; 23. Translation cylinder; 24. Limit block; 41. Slide rail; 42. Vertical cylinder; 43. Buffer limit cylinder; 44. Connecting seat; 45. Adjustable bracket; 46. Finger cylinder; 47. Pressure sensor; 48. High-pressure air pipe; 431. Elastic silicone buffer head; 451. Angle dial; 461. Gripper; 462. Diamond coating; 463. Anti-slip texture; 481. Nozzle. Detailed Implementation

[0036] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0037] In the attached diagram, all identical reference numerals refer to the same components.

[0038] like Figures 1-5 As shown, this embodiment takes TPU shoe sole injection molding production as an application scenario to describe the structural composition, connection relationship and workflow of the anti-adhesion injection molding robot, wherein the part numbers correspond one-to-one with the markings in the claims and drawings.

[0039] The main structural components are as follows:

[0040] 1. The fixing column 1 is made of 304 stainless steel. Its lower end is fixed to the edge of the injection molding machine table with flange bolts, and its axis coincides with the center line of the mold. The electrical control device 5 is installed on the side of the fixing column 1, which has a built-in PLC controller and pneumatic proportional valve.

[0041] 2. The rotating frame 2 is connected to the upper end of the fixed column 1 through a deep groove ball bearing and is driven to rotate by the drive motor 3. The drive motor 3 is a servo motor with a rated torque of 15 N·m, a reduction ratio of 1:30, and a rotation angle range of 0°-180°.

[0042] 3. Two parallel guide shafts 21 are horizontally fixed to the inner wall of the rotating frame 2, with a diameter of 30mm and chrome-plated surface. The slide block 22 is slidably connected to the guide shafts 21 via linear bearings, and one side of it is fixed to the piston rod of the translation cylinder 23. The translation cylinder 23 has a cylinder diameter of 50mm, a stroke of 300mm, and a supply air pressure of 0.5-0.7MPa.

[0043] 4. Anti-sticking material handling mechanism 4: Slide rail 41 and lifting assembly: The slide rail 41 is vertically welded to the side of the slide block 22, and the vertical cylinder 42 is fixed to the top of the slide block 22. Its piston end is connected to the connecting seat 44 through a floating joint. The lifting stroke of the connecting seat 44 is 150mm, and the repeatability is ±0.1mm.

[0044] Buffering limiting air cylinder 43: Buffering limiting air cylinder 43 is fixed on the side of sliding seat 22, and the end of the piston rod is provided with an elastic silica gel buffering head 431 with a Shore hardness of 60A and a compression deformation rate of 40%, which is in contact with the limiting groove plane of connecting seat 44.

[0045] Finger air cylinder 46: Finger air cylinder 46 is fixed at the bottom of connecting seat 44, the surface of clamping jaw 461 is covered with diamond coating 462 with a thickness of 5μm and a friction coefficient of ≤0.1. The inner side of clamping jaw 461 is provided with trapezoidal anti-skid lines 463 with a depth of 0.8mm and an adjacent interval of 3mm.

[0046] High-pressure blowing pipe 48: High-pressure blowing pipe 48 is fixed to the side of connecting seat 44 through adjustable support 45, the nozzle 481 is a flat fan-shaped structure, the gas outlet width is 2mm, and the blowing angle is adjusted to 45° through angle scale disc 451.

[0047] Pressure sensor 47: Pressure sensor 47 is embedded in the inner side of clamping jaw 461, which detects the clamping force in real time and transmits it to electric control device 5.

[0048] Limiting block 24 is fixed at the end of guide shaft 21 and is made of polyurethane buffering material, so that the sliding range of sliding seat 22 is limited to 0-300mm.

[0049] The use mode of the utility model is as follows:

[0050] 1. Initialization positioning: after the injection molding machine is opened, electric control device 5 controls driving motor 3 to drive rotating frame 2 to rotate 90°, so that clamping jaw 461 is aligned with the mold cavity. Translational air cylinder 23 pushes sliding seat 22 to move forward along guide shaft 21 by 250mm.

[0051] 2. Clamping and adhesion detection: vertical air cylinder 42 drives connecting seat 44 to descend by 120mm, finger air cylinder 46 closes clamping jaw 461 to grab TPU shoe sole. When pressure sensor 47 detects that the clamping force is ≥50N and lasts for 0.2 seconds, it is determined that it is in the adhesion state.

[0052] 3. Linkage anti-adhesion control: electric control device 5 performs the following actions:

[0053] a. The pneumatic proportional valve raises the gas pressure of high-pressure blowing pipe 48 from 0.4MPa to 0.7MPa, lasts for 0.8 seconds, and the gas flow covers the contact surface of the shoe sole and the mold;

[0054] b. The clamping force of finger air cylinder 46 is reduced from 35N to 21N at a rate of 5% / 0.1 second;

[0055] c. Buffering limiting air cylinder 43 is extended, and elastic silica gel buffering head 431 absorbs the back-off impact of connecting seat 44.

[0056] 4, reset and discharge: slide 22 back to the limit block 24 position, rotating frame 2 back to the initial position, vertical cylinder 42 rises to reset, clamping jaw 461 releases TPU shoe sole to the conveyor belt, single cycle time ≤6 seconds.

[0057] Key part parameter verification:

[0058] 1, diamond coating 462: after 2500 clamping tests, the friction coefficient rises from 0.08 to 0.12, the honeycomb pit structure integrity is > 95%, the pit diameter is 30 μm, the depth is 8 μm, and the adjacent spacing is 40 μm.

[0059] 2, elastic silica gel buffer head 431: impact test shows that it can absorb 85% kinetic energy, compression deformation rate is 42%, and hardness attenuation is ≤5% after 5000 times of repeated use.

[0060] 3, high-pressure air blowing pipe 48: when the nozzle 481 angle is adjusted to 45°, the shear force of air flow on the edge of the shoe sole is increased by 50%, and the single demolding gas consumption is 0.15L.

[0061] The utility model discloses a kind of injection molding discharging mechanical hands of preventing adhesion, realize TPU shoe sole efficient nondestructive demolding, daily average capacity reaches 5000 pairs, product qualified rate is improved to 98.5%.

[0062] Finally, it should be noted that: the above only for preferred embodiment of the utility model has been described, and is not used to limit the utility model, although the utility model is described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features. Any modification, equivalent replacement, improvement etc. within the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A pre-adhesion prevention injection molding material handling robot, characterized by, The utility model relates to a kind of anti-sticking material taking mechanism, including: fixed column (1), lower end is fixed to injection molding machine table top, side surface is equipped with electric control device (5);Rotary frame (2) is rotatably connected with the upper end of fixed column (1) by rolling bearing, is driven rotary by drive motor (3);Two parallel guide shafts (21) are fixed horizontally in rotary frame (2) inner wall;Slide (22) is slidably connected in guide shaft (21), one side is fixed with piston rod of translation cylinder (23);Anti-sticking material taking mechanism (4) includes: slide rail (41), vertically fixed in slide (22) side surface;Vertical cylinder (42) is fixed in slide (22), and its piston end is connected with liftable connecting seat (44);Buffering limit cylinder (43) is fixed in slide (22), and its piston end is slidably connected with connecting seat (44);High-pressure air blowing pipe (48) is fixed in the side of connecting seat (44) by adjustable support (45), and air blowing direction is towards clamping jaw (461);Finger cylinder (46) is fixed in the bottom of connecting seat (44), and the surface of clamping jaw (461) is covered with diamond coating (462);Pressure sensor (47) is fixed in the inner side of clamping jaw (461), and is signal connected with electric control device (5);Limiting block (24) is fixed in the terminal of guide shaft (21) of rotary frame (2), for limiting the sliding range of slide (22);The real-time signal of electric control device (5) receives pressure sensor (47), when pressure value is greater than or equal to 50N, control the air pressure of high-pressure air blowing pipe (48) to be lifted to 0.6-0.8MPa and maintain 0.5-1 second, while the clamping force of finger cylinder (46) is reduced by 20%-40%. The friction coefficient of the diamond coating (462) is less than or equal to 0.1, and the surface is provided with a micron-level honeycomb-shaped pit structure, the pit diameter is 20-50 μm, the depth is 5-10 μm, and the center distance between adjacent pits is 30-60 μm.

2. The injection molding downer robot of claim 1, wherein, The piston rod terminal of the buffering limit cylinder (43) is provided with an elastic silica gel buffer head (431), the Shore hardness of the buffer head is 50A-70A, and the compression deformation rate is greater than or equal to 30%; the contact surface between the elastic silica gel buffer head (431) and the connecting seat (44) is a plane.

3. The injection molding downer robot of claim 1, wherein, The nozzle (481) of the high-pressure air blowing pipe (48) is a flat fan-shaped structure, the air outlet width is 1-3 mm, and the air blowing angle can be adjusted in the range of 30°-90°; the adjustable support (45) is provided with an angle scale dial (451) for accurately controlling the air blowing direction of the nozzle (481).

4. The injection molding downer robot of claim 1, wherein, The inner side of the clamping jaw (461) of the finger cylinder (46) is provided with an anti-skid pattern (463), the pattern depth is 0.5-1 mm, and the distance between adjacent patterns is 2-5 mm; the cross section of the anti-skid pattern (463) is a trapezoidal structure, the upper base width is 0.3-0.8 mm, and the lower base width is 1-1.5 mm.

5. The injection molded anti-bonding material handling robot of claim 1, wherein, ​ 6. The injection molded anti-bonding material handling robot of claim 1, wherein, The electric control device (5) is built-in pressure-blowing linkage control module, when the pressure sensor (47) detects value continues 0.2 seconds ≥ 50N, the following actions are executed: high pressure blowing pipe (48) air pressure is lifted to 0.6-0.8MPa, continues 0.5-1 seconds;Finger cylinder (46) clamping force is reduced at the rate of 5% / 0.1 seconds, until reaching the target value of 60%.

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