Grabbing device of intelligent injection molding manipulator

Abstract

The utility model relates to the field of industrial automation, in particular to a gripping device of an intelligent injection molding manipulator, which comprises a hydraulic pipe, a first mounting seat and an adjusting component, the top of the adjusting component is connected with a mechanical arm, the bottom of the adjusting component is connected with the first mounting seat, and the bottom of the first mounting seat is rotatably connected with a connecting base. A gear motor is mounted on the side edge of the first mounting seat, an output shaft of the gear motor is connected with a rotating shaft of the connecting base, a hydraulic cylinder is mounted at the bottom of the connecting base, a plurality of clamping jaws are rotatably connected to the bottom of the hydraulic cylinder in a surrounding mode, and the clamping jaws are connected with the hydraulic cylinder through hydraulic pipes. The adjusting assembly is used for adjusting the position of the clamping jaw. Through cooperation of the adjusting assembly, the gear motor and the hydraulic cylinder, multi-degree-of-freedom intelligent adjustment is achieved, the clamping jaw can move up and down and can also rotate and incline, and therefore interference-free grabbing of injection molding parts of complex structures is achieved.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation, and in particular to a gripping device for an intelligent injection molding robot. Background Technology

[0002] In automated injection molding production, the gripping robot serves as the core actuator connecting mold opening and closing with product transfer, and its performance directly impacts production cycle time and product yield. In a typical application scenario, after the injection molding machine completes the mold opening action, the robot drives the end effector into the mold cavity area via a preset motion trajectory. It then grips the molded product using a clamping mechanism and transfers it to a conveyor belt or cooling station. During this process, the robot must maintain millimeter-level positioning accuracy under high-temperature and dusty conditions, while avoiding scratches or structural deformation on the product surface. This places stringent requirements on the motion control of the actuator and the design of the gripping system.

[0003] Current injection molding robots generally adopt a three-axis Cartesian coordinate structure. Their motion modes mainly include three basic degrees of freedom: horizontal movement along the X-axis for in-mold part positioning, vertical movement along the Z-axis for adjusting the gripping height, and extension / retraction along the Y-axis for controlling the distance the injection molded part moves out. When performing part-retrieving tasks, the gripper's position is usually fixed by a mechanical limiting device, and it can only perform gripping actions in a single vertical direction.

[0004] Currently, the single-dimensional vertical gripping path of the gripper cannot meet the gripping requirements of complex curved surface products. When the product has an undercut structure or asymmetrical geometric features, rigid linear motion can easily cause interference between the gripper and the mold. Secondly, traditional gripper systems lack online position compensation capabilities. When the mold positioning is off or the product demolding position is offset from the gripper, gripping failure or product drop is very likely to occur. Utility Model Content

[0005] To overcome the drawbacks of limited freedom of movement and fixed gripping position, this invention provides a gripping device for an intelligent injection molding robot, aiming to solve the above-mentioned shortcomings.

[0006] A gripping device for an intelligent injection molding robot includes a hydraulic pipe, a first mounting base, and an adjustment assembly. The top of the adjustment assembly is connected to the robot arm, and the bottom of the adjustment assembly is connected to the first mounting base. A connecting base is rotatably connected to the bottom of the first mounting base. A geared motor is mounted on the side of the first mounting base, and the output shaft of the geared motor is connected to the rotation shaft of the connecting base. A hydraulic cylinder is mounted on the bottom of the connecting base, and a plurality of grippers are rotatably connected to the bottom of the hydraulic cylinder. The grippers are connected to the hydraulic cylinder through the hydraulic pipe, and the adjustment assembly is used to adjust the position of the grippers.

[0007] As an improvement to the above solution, the adjustment component includes a third mounting base, the top of which is connected to the robotic arm, a stepper motor is installed inside the third mounting base, an electrical slip ring is provided at the bottom of the third mounting base, a second mounting base is connected to the bottom of the electrical slip ring, the second mounting base is fixedly connected to the first mounting base, the output shaft of the stepper motor passes through the electrical slip ring and is fixedly connected to the second mounting base, and the electrical slip ring is connected to an external circuit.

[0008] As an improvement to the above solution, the electrical slip ring is provided with different interfaces, and the electrical slip ring is connected to several identification cards.

[0009] As an improvement to the above solution, a sealing cover is provided at the electrical slip ring interface.

[0010] As an improvement to the above solution, a flexible and foldable protective sleeve is provided between the connecting base and the first mounting base.

[0011] As an improvement to the above solution, the third mounting base has heat dissipation holes.

[0012] As an improvement to the above solution, the electrical slip ring is composed of two mutually rotating rings that maintain an electrical connection.

[0013] As an improvement to the above solution, the geared motor has the characteristics of low speed and high torque, and the stepper motor has the characteristic of preset rotation angle.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] 1. By adjusting the coordinated operation of components, geared motors, and hydraulic cylinders, multi-degree-of-freedom intelligent adjustment is achieved, enabling the gripper to not only move up and down but also rotate and tilt, thereby achieving interference-free gripping of complex injection molded parts.

[0016] 2. The rotatable connecting base and multi-angle adjustable grippers make the gripping position no longer fixed, making the gripping process safer and more reliable. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 This is a schematic diagram of the mounting structure of the first mounting base and the geared motor of this utility model.

[0019] Figure 3 This is an exploded view showing the connection relationship between the electrical slip ring and the third mounting base of this utility model.

[0020] The labels in the diagram are as follows: 1-Hydraulic cylinder, 2-Hydraulic pipe, 3-Gripper, 4-Connecting base, 5-First mounting seat, 6-Gear motor, 7-Second mounting seat, 8-Electric slip ring, 9-Third mounting seat, 10-Stepper motor, 11-Identification card, 12-Sealing cover, 13-Protective sleeve, 14-Heat dissipation hole. Detailed Implementation

[0021] The technical solution will be further described below with reference to specific embodiments. It should be noted that the terms "up," "down," "left," and "right" used herein refer only to the position of the illustrated structure in the corresponding drawings. The component numbers used herein, such as "first," "second," etc., are merely for distinguishing the described objects and have no sequential or technical meaning. Furthermore, terms such as "connection" and "linkage," unless otherwise specified, include both direct and indirect connections.

[0022] Example: A gripping device for an intelligent injection molding robot, such as... Figures 1-3 As shown, the system includes a hydraulic cylinder 1, a hydraulic pipe 2, grippers 3, a connecting base 4, a first mounting base 5, a geared motor 6, and an adjustment assembly. The top of the adjustment assembly is connected to the robotic arm, and the bottom of the adjustment assembly is connected to the first mounting base 5. The bottom of the first mounting base 5 is rotatably connected to the connecting base 4. The geared motor 6 is horizontally mounted on the side of the first mounting base 5. The output shaft of the geared motor 6 is connected to the rotation shaft of the connecting base 4. The hydraulic cylinder 1 is mounted on the bottom of the connecting base 4. Several grippers 3 are rotatably connected around the bottom of the hydraulic cylinder 1. The grippers 3 and the hydraulic cylinder 1 are connected through the hydraulic pipe 2. During operation, the geared motor 6 drives the connecting base 4 to rotate around the transverse axis at low speed and high torque, so that the hydraulic cylinder 1 and the grippers 3 can adjust their pitch angle to adapt to injection molded parts of different shapes. The adjustment assembly realizes multi-angle position adjustment of the grippers 3 through the synergistic action of the stepper motor 10 and the geared motor 6.

[0023] like Figure 1 and Figure 3 As shown, the adjustment assembly includes a second mounting base 7, an electrical slip ring 8, a third mounting base 9, and a stepper motor 10. The top of the third mounting base 9 is connected to the robotic arm, and the stepper motor 10 is vertically mounted inside the third mounting base 9. The third mounting base 9 has heat dissipation holes 14 for cooling the stepper motor 10 to prevent overheating from affecting accuracy. An electrical slip ring 8 is located at the bottom of the third mounting base 9, and the bottom of the electrical slip ring 8 is connected to the second mounting base 7. The second mounting base 7 is fixedly connected to the first mounting base 5 by several bolts. The output shaft of the stepper motor 10 passes through the electrical slip ring 8 and is fixedly connected to the second mounting base 7. The electrical slip ring 8 consists of two mutually rotating rings that maintain electrical connection, ensuring a continuous power supply while preventing cable tangling. The electrical slip ring 8 is connected to an external circuit. During operation, the stepper motor 10 rotates at a preset angle, causing the second mounting base 7, the first mounting base 5, and the connecting base 4 to rotate as a whole, changing the orientation of the gripper 3.

[0024] like Figure 1 and Figure 3 As shown, it also includes identification cards 11. The electrical slip ring 8 is provided with different interfaces. Several identification cards 11 are connected to the electrical slip ring 8 to mark the purpose of the interface of the electrical slip ring 8, so as to facilitate the staff to quickly connect the wires or change the configuration.

[0025] like Figure 1 and Figure 3 As shown, it also includes a sealing cover 12. A sealing cover 12 is provided at the interface of the electrical slip ring 8. The sealing cover 12 covers the unused interface of the electrical slip ring 8 to prevent dust or liquid from entering and to ensure circuit safety.

[0026] It also includes a protective sleeve 13. A flexible and foldable protective sleeve 13 is provided between the connecting base 4 and the first mounting base 5. The protective sleeve 13 extends and retracts synchronously when the connecting base 4 rotates to prevent dust or foreign objects from entering the rotating shaft area.

[0027] The robotic arm moves the entire gripping device above the injection mold. The initial angle of the gripper 3 is controlled by the stepper motor 10 and the electric slip ring 8 to align it with the predetermined gripping position of the injection molded part. If the injection molded part has a complex shape, such as an undercut or curved surface, the reduction motor 6 drives the connecting base 4 to rotate, so that the hydraulic cylinder 1 and the gripper 3 are finely adjusted around the horizontal axis to optimize the gripping angle. The stepper motor 10 drives the second mounting base 7 to rotate through the electric slip ring 8, which in turn causes the first mounting base 5, the connecting base 4 and the hydraulic cylinder 1 to rotate as a whole, changing the circumferential angle of the gripper 3. For example, initially, the gripper 3 contacts the top corner of the injection molded part. After adjustment, it can be switched to side gripping to avoid stress concentration and deformation. The geared motor 6 provides low-speed, high-torque output, allowing the connecting base 4 to rotate smoothly and ensuring the precise positioning of the hydraulic cylinder 1 and the gripper 3. The hydraulic cylinder 1 controls the extension and retraction of the gripper 3 through the hydraulic pipe 2, so that it fits against the surface of the injection molded part and applies appropriate clamping force to avoid scratches or deformation. If the injection molded part needs to be flipped or its posture adjusted, the stepper motor 10 and the geared motor 6 can work together to adjust the angle of the gripper 3 to ensure stable transfer. After the robotic arm moves the injection molded part to the conveyor belt or cooling station, the hydraulic cylinder 1 releases the gripper 3 to complete the release. If it is necessary to continuously grip products of different specifications, the operator can quickly identify the interface configuration of the electrical slip ring 8 through the identification card 11 and change the clamping scheme.

[0028] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that variations may be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gripping device for an intelligent injection molding robot, characterized in that, The system includes a hydraulic pipe (2), a first mounting base (5), and an adjustment assembly. The top of the adjustment assembly is connected to the robotic arm, and the bottom of the adjustment assembly is connected to the first mounting base (5). The bottom of the first mounting base (5) is rotatably connected to a connecting base (4). A reduction motor (6) is mounted on the side of the first mounting base (5). The output shaft of the reduction motor (6) is connected to the rotation shaft of the connecting base (4). A hydraulic cylinder (1) is mounted on the bottom of the connecting base (4). Several grippers (3) are rotatably connected around the bottom of the hydraulic cylinder (1). The grippers (3) are connected to the hydraulic cylinder (1) through the hydraulic pipe (2). The adjustment assembly is used to adjust the position of the grippers (3).

2. The gripping device of an intelligent injection molding robot as described in claim 1, characterized in that, The adjustment assembly includes a third mounting base (9), the top of which is connected to the robotic arm. A stepper motor (10) is installed inside the third mounting base (9). An electrical slip ring (8) is provided at the bottom of the third mounting base (9). A second mounting base (7) is connected to the bottom of the electrical slip ring (8). The second mounting base (7) is fixedly connected to the first mounting base (5). The output shaft of the stepper motor (10) passes through the electrical slip ring (8) and is fixedly connected to the second mounting base (7). The electrical slip ring (8) is connected to an external circuit.

3. The gripping device of an intelligent injection molding robot as described in claim 2, characterized in that, The electrical slip ring (8) is provided with different interfaces, and the electrical slip ring (8) is connected to several identification cards (11).

4. The gripping device of an intelligent injection molding robot as described in claim 3, characterized in that, A sealing cap (12) is provided at the interface of the electrical slip ring (8).

5. The gripping device of an intelligent injection molding robot as described in claim 4, characterized in that, A flexible protective sleeve (13) is provided between the connecting base (4) and the first mounting base (5).

6. The gripping device of an intelligent injection molding robot as described in claim 5, characterized in that, The third mounting base (9) has heat dissipation holes (14).

7. The gripping device of an intelligent injection molding robot as described in claim 2, characterized in that, The electrical slip ring (8) consists of two mutually rotating rings that are electrically connected.

8. The gripping device of an intelligent injection molding robot as described in claim 2, characterized in that, The geared motor (6) has the characteristics of low speed and high torque, and the stepper motor (10) has the characteristic of preset rotation angle.

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