Plastic water gap shearing manipulator

Abstract

A multi-shaft mechanical arm is fixedly installed on an assembly seat, a base plate is fixedly installed at the tail end of the multi-shaft mechanical arm, a telescopic air cylinder and a water gap shearing air cylinder are fixedly installed on the base plate, the telescopic air cylinder is fixedly connected with a rotating air cylinder, the rotating air cylinder is fixedly connected with an adsorption plate, and a suction cup is fixedly installed on the adsorption plate. The water gap shearing air cylinder is fixedly connected with a pressing plate, and the pressing plate is fixedly provided with a cutter. During operation, the multi-axis mechanical arm adjusts the position of the base plate, the adsorption plate moves to the position of a product to be machined and adsorbs and grabs the product to be machined, the multi-axis mechanical arm moves the product to be machined to the stacking position, in the process, the rotating air cylinder rotates by 180 degrees, the product to be machined is aligned with the pressing plate, the water gap shearing air cylinder drives the pressing plate, the cutter cuts the product to be machined on the adsorption plate, and the product to be machined is stacked. After cutting is completed, the rotary air cylinder rotates reversely by 180 degrees, the products face outwards, stacking and stacking are facilitated, the water gap is cut synchronously in the process of transferring the products to be machined, and production efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical processing technology, specifically relating to a plastic sprue cutting robot. Background Technology

[0002] In the manufacturing process of plastic products, finished products often have sprue marks that need to be cut off to ensure the product's appearance and quality. Currently, traditional sprue cutting methods have many problems. Robotic arms cannot directly cut the sprue marks at the molding location; instead, the product must first be moved to a specialized sprue cutting device before the cutting operation. This process not only increases the product handling steps but also makes the entire production process cumbersome and inefficient. Utility Model Content

[0003] The purpose of this invention is to provide a plastic sprue cutting robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a plastic sprue cutting robot, comprising an assembly base and a multi-axis robotic arm. The assembly base is fixedly mounted with the multi-axis robotic arm, and a base plate is fixedly mounted at the end of the multi-axis robotic arm. A telescopic cylinder and a sprue cutting cylinder are fixedly mounted on the base plate. A rotary cylinder is fixedly connected to the telescopic cylinder, and an adsorption plate is fixedly connected to the rotary cylinder. A suction cup is fixedly mounted on the adsorption plate, and a pressure plate is fixedly connected to the sprue cutting cylinder. A cutter is fixedly mounted on the pressure plate.

[0005] Preferably, the rotation angle of the rotary cylinder is 180°.

[0006] Preferably, a buffer rubber is fixedly installed at the bottom of the pressure plate, and the buffer rubber is made of silicone rubber.

[0007] Preferably, the assembly base includes a base and a lifting base. The lifting base is fixedly mounted on the multi-axis robotic arm. The base is movably mounted on the lifting base via a slide rail. The base is fixedly mounted with a lifting mechanism, which drives and connects to the lifting base.

[0008] Preferably, the lifting mechanism includes a drive motor, a lead screw, and a guide column, wherein the drive motor drives and connects to the lead screw, and the guide column is movably mounted on the lead screw.

[0009] Compared with the prior art, the beneficial effects of this utility model are:

[0010] This invention utilizes a multi-axis robotic arm to adjust the position of a substrate. A telescopic cylinder and a sprue-cutting cylinder are fixedly mounted on the substrate. The telescopic cylinder is fixedly connected to a rotary cylinder, which in turn is fixedly connected to an adsorption plate. The sprue-cutting cylinder is fixedly connected to a pressure plate with a cutter. During operation, the multi-axis robotic arm adjusts the position of the substrate, moving the adsorption plate to the product to be processed and adsorbing it. The robotic arm then moves the product to a stacking position. During this process, the rotary cylinder rotates 180° to align the product with the pressure plate. The sprue-cutting cylinder drives the pressure plate, causing the cutter to cut the product on the adsorption plate. After cutting, the rotary cylinder reverses 180° to turn the product outwards for easier stacking. This invention simultaneously sprues the product during the transfer process, improving production efficiency. Attached Figure Description

[0011] Figure 1 This is a structural view of the present invention.

[0012] Figure 2 This is a structural view of the end effector module of the robotic arm of this utility model.

[0013] Figure 3 This is an exploded structural view of the assembly base of this utility model.

[0014] The diagram is labeled as follows: Assembly base 1, multi-axis robotic arm 2, base plate 3, telescopic cylinder 4, sprue cylinder 5, rotary cylinder 6, adsorption plate 7, suction cup 8, pressure plate 9, cutter 10, buffer rubber 11, base 12, lifting base 13, slide rail 14, lifting mechanism 15, drive motor 16, lead screw 17, guide column 18. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Example 1:

[0017] This utility model provides a plastic sprue-cutting robot, comprising an assembly base 1 and a multi-axis robotic arm 2. The assembly base 1 is fixedly mounted with the multi-axis robotic arm 2, and a base plate 3 is fixedly mounted at the end of the multi-axis robotic arm 2. A telescopic cylinder 4 and a sprue-cutting cylinder 5 are fixedly mounted on the base plate 3. A rotary cylinder 6 is fixedly connected to the telescopic cylinder 4, and an adsorption plate 7 is fixedly connected to the rotary cylinder 6. A suction cup 8 is fixedly mounted on the adsorption plate 7. A pressure plate 9 is fixedly connected to the sprue-cutting cylinder 5, and a cutter 10 is fixedly mounted on the pressure plate 9. The rotary cylinder 6 has a rotation angle of 180°. A buffer rubber 11, made of silicone rubber, is fixedly mounted on the bottom of the pressure plate 9. The assembly base 1 includes a base 12 and a lifting seat 13. The multi-axis robotic arm 2 is fixedly mounted on the lifting seat 13, and the lifting seat 13 is movably mounted on the base 12 via a slide rail 14. A lifting mechanism 15 is fixedly mounted on the base 12, and the lifting mechanism 15 drives the lifting seat 13. The lifting mechanism 15 includes a drive motor 16, a lead screw 17, and a guide column 18. The drive motor 16 drives and connects to the lead screw 17, and the guide column 18 is movably mounted on the lead screw 17.

[0018] Through the above technical solution, this utility model uses a multi-axis robotic arm 2 to adjust the position of the substrate 3. A telescopic cylinder 4 and a sprue-cutting cylinder 5 are fixedly installed on the substrate 3. The telescopic cylinder 4 is fixedly connected to a rotary cylinder 6, and the rotary cylinder 6 is fixedly connected to an adsorption plate 7. The sprue-cutting cylinder 5 is fixedly connected to a pressure plate 9 with a cutter 10. During operation, the multi-axis robotic arm 2 adjusts the position of the substrate 3, causing the adsorption plate 7 to move to the product to be processed and adsorb and grab it. The multi-axis robotic arm 2 moves the product to be processed to the stacking position. During this process, the rotary cylinder 6 rotates 180° to align the product to be processed with the pressure plate 9. The sprue-cutting cylinder 5 drives the pressure plate 9, causing the cutter 10 to cut the product to be processed on the adsorption plate 7. After cutting, the rotary cylinder 6 reverses 180° to make the product face outward, which is convenient for stacking. This utility model simultaneously cuts sprues during the transfer of the product to be processed, improving production efficiency.

[0019] Example 2:

[0020] In this embodiment, the mounting base 1 serves as the foundation for the entire robotic arm and is fixedly installed at an appropriate location on the production line. The multi-axis robotic arm 2 is fixed to the mounting base 1 via a flange connection, enabling multi-degree-of-freedom spatial movement. The base plate 3 serves as the mounting platform for the end effector and is fixedly connected to the end flange of the multi-axis robotic arm 2.

[0021] Two actuators, a telescopic cylinder 4 and a sprue-cutting cylinder 5, are simultaneously mounted on the base plate 3. The piston rod end of the telescopic cylinder 4 is connected to a rotary cylinder 6 via a flange, and the output shaft of the rotary cylinder 6 is fixedly mounted on an adsorption plate 7 via a connector. Multiple suction cups 8 are evenly arranged on the adsorption plate 7 for adsorbing and gripping plastic products. The piston rod end of the sprue-cutting cylinder 5 is fixedly mounted on a pressure plate 9 via a connector, and a sharp cutter 10 is mounted on the front end of the pressure plate 9 for cutting the sprue of plastic products.

[0022] During operation, the multi-axis robotic arm 2 first moves the substrate 3 to the part-removing position of the injection molding machine. The telescopic cylinder 4 extends, bringing the suction plate 7 close to the plastic product, and the suction cup 8 firmly adheres to the product under vacuum. Subsequently, the telescopic cylinder 4 retracts, and the multi-axis robotic arm 2 removes the adhered product from the mold. During this movement, the rotary cylinder 6 rotates 180 degrees, aligning the sprue of the product with the pressure plate 9. When the robotic arm moves the product to the stacking position, the sprue-cutting cylinder 5 drives the pressure plate 9 forward, and the cutter 10 accurately cuts off the sprue of the product. After cutting, the rotary cylinder 6 rotates 180 degrees in the opposite direction, restoring the product to the correct orientation for subsequent stacking.

[0023] The key to this robotic arm lies in integrating gripping, transferring, and shearing functions into a single end effector. Precise positioning by the multi-axis robotic arm 2, combined with the forward and backward movement of the telescopic cylinder 4, ensures reliable gripping of the workpiece. The bidirectional rotation of the rotary cylinder 6 ensures that the workpiece's orientation can be adjusted during transfer, keeping the sprue aligned with the cutter 10. The linear motion of the sprue-cutting cylinder 5 drives the cutter 10 to perform precise shearing. The entire process is synchronized with the workpiece transfer, significantly improving production efficiency.

[0024] The robotic arm's structural design fully considers the coordination of its movements. The base plate 3, serving as the mounting platform, rationally arranges the positional relationships of each actuator, ensuring no interference occurs during the movement of any component. The stroke of the telescopic cylinder 4 is precisely calculated to guarantee reliable gripping without overextending and affecting overall stability. The rotation angle of the rotary cylinder 6 is strictly controlled to ensure the product maintains the correct orientation before and after shearing. The installation position and angle of the cutter 10 are optimized to ensure shearing quality while avoiding damage to the product body.

[0025] This robotic arm, through the flexible movement of its multi-axis robotic arm 2 and the coordinated action of its end effector, achieves fully automated operation of plastic products from mold removal and sprue shearing to stacking. The entire process is continuous and smooth, eliminating the need for intermediate transfer links and significantly shortening the production cycle. The modular design of the robotic arm also facilitates maintenance and adjustment, allowing for the replacement of appropriate end effectors according to the needs of different products, demonstrating good versatility and adaptability.

[0026] Example 3:

[0027] During operation, the multi-axis robotic arm 2 first moves the substrate 3 to the part-removing position of the injection molding machine. At this time, the telescopic cylinder 4 is in the retracted state, the rotary cylinder 6 remains at the initial 0° position, and the suction cup 8 on the suction plate 7 maintains an appropriate distance from the product to be processed. Once the robotic arm is accurately positioned, the telescopic cylinder 4 begins to extend, pushing the rotary cylinder 6 and the suction plate 7 towards the product until the suction cup 8 is in complete contact with the product surface and generates a stable suction force.

[0028] After product adsorption is complete, the telescopic cylinder 4 remains extended, and the multi-axis robotic arm 2 begins to move the entire device towards the stacking area. During the movement, the rotary cylinder 6 initiates a 180° rotation, which is achieved using precision servo control to ensure accurate 180° rotation. During rotation, the adsorption plate 7 rotates synchronously with the product, precisely aligning the product's sprue with the cutter 10 on the pressure plate 9. The rotary cylinder 6 incorporates a high-precision angle sensor to monitor the rotation angle in real time, and a closed-loop control system ensures the accuracy of the rotation stop position.

[0029] After the rotary cylinder 6 completes a 180° rotation, the sprue-cutting cylinder 5 immediately actuates, pushing the pressure plate 9 towards the suction plate 7. The cutter 10 on the pressure plate 9 contacts the product sprue and applies shearing force, completing the sprue shearing as the robotic arm continues to move. After shearing, the sprue-cutting cylinder 5 resets, and the pressure plate 9 returns to its initial position. At this time, the rotary cylinder 6 begins to rotate 180° in the opposite direction, restoring the sheared product to its original orientation for easy subsequent stacking. The reverse rotation also maintains precise 180° angle control to ensure consistent product orientation.

[0030] The entire rotation process employs a buffer design, implementing speed control at the start and end of rotation to prevent product displacement or vibration due to inertia. The middle stroke of rotary cylinder 6 operates at a constant speed, ensuring precise angle adjustments are completed within the limited time of the robotic arm's movement. The rotational motion coordinates with the robotic arm's movement and shearing actions, achieving a highly efficient operation mode of simultaneous movement and shearing.

[0031] During continuous operation, the rotary cylinder 6 cycles through 180° forward and reverse rotations, with each cycle undergoing angle calibration to ensure long-term stability. The rotating mechanism employs wear-resistant bearings and precision gear transmission to maintain rotational accuracy even under high-frequency use. When a rotational angle deviation is detected, the system automatically performs fine-tuning compensation to ensure the alignment accuracy between the product and the cutter 10 after each rotation.

[0032] This embodiment achieves automatic steering and precise positioning of the product during transfer by precisely controlling the 180° rotation of the rotary cylinder 6, perfectly integrating the sprue shearing process with the product transfer process. Precise control of the rotation angle ensures the stability of the shearing quality, while optimized rotation speed guarantees overall operational efficiency. The entire system, through the coordinated operation of its various actuators, achieves a high degree of automation and intelligence in the sprue shearing of plastic products.

[0033] Example 4:

[0034] During operation, the multi-axis robotic arm 2 first moves the substrate 3 to the injection molding machine mold position. The suction plate 7, pushed by the telescopic cylinder 4, approaches the plastic product, and the suction cup 8 generates negative pressure to firmly adhere the product. At this time, the sprue section of the product faces the pressure plate 9. The multi-axis robotic arm 2 then moves the adhered product to the stacking station. During this process, the rotary cylinder 6 starts working, rotating the suction plate 7 and the product on it 180 degrees, so that the sprue section faces the cutter 10 on the pressure plate 9.

[0035] When the robotic arm moves to the predetermined shearing position, the shearing cylinder 5 drives the pressure plate 9 to move downwards. Because a silicone rubber buffer 11 is fixedly installed at the bottom of the pressure plate 9, the buffer 11 first contacts the surface of the adsorption plate 7 and undergoes elastic deformation before the cutter 10 contacts the sprue. This buffer structure effectively avoids rigid collisions between the metal pressure plate 9 and the metal adsorption plate 7, protecting the mechanical components and reducing noise. As the shearing cylinder 5 continues to apply pressure, the cutter 10, supported by the elasticity of the buffer 11, smoothly cuts into the sprue, completing the shearing action.

[0036] After shearing, the shearing nozzle cylinder 5 retracts, causing the pressure plate 9 to rise. The elastic recovery of the buffer rubber 11 helps the pressure plate 9 to return to its original position smoothly. Simultaneously, the rotary cylinder 6 rotates 180 degrees in the opposite direction, restoring the sheared product to its original orientation for easier subsequent stacking. Throughout the shearing process, the elastic properties of the buffer rubber 11 ensure stable shearing by the cutter 10 while preventing direct metal-to-metal contact between the pressure plate 9 and the adsorption plate 7, thus extending the equipment's service life.

[0037] In this embodiment, the application of silicone rubber buffer 11 solves the impact problem caused by traditional sprue cutting robots during high-speed shearing. Its excellent elasticity and wear resistance ensure a cushioning effect during long-term use without damaging the surface of plastic products. The buffer 11 is installed using a fixed connection to ensure that it will not shift or fall off during frequent shearing operations, maintaining stable working performance.

[0038] The robotic arm's entire workflow synchronizes product transfer and sprue shearing, significantly improving production efficiency. The introduction of buffer adhesive 11 makes the shearing process smoother and more reliable, making it particularly suitable for high-speed, continuous production environments. This design retains the robotic arm's original high-efficiency shearing function while optimizing the equipment's operational stability and lifespan through a buffer structure.

[0039] Example 5:

[0040] In this embodiment, the lifting seat 13 is movably mounted on the base 12 via a slide rail 14, forming a structure that can move along the Z-axis. A sturdy mounting flange is provided at the bottom of the base 12 to secure the entire robotic arm to the worktable. The lifting seat 13 is made of high-strength aluminum alloy, and its top surface is precision-machined to ensure the installation accuracy of the multi-axis robotic arm 2. The base 12 integrates a lifting mechanism 15, which uses a servo motor-driven ball screw structure. A coupling converts the rotational motion of the servo motor into the linear motion of the ball screw. The nut of the ball screw is fixedly connected to the lifting seat 13. When the servo motor operates, it drives the lifting seat 13 to smoothly rise and fall along the slide rail 14.

[0041] The lifting mechanism 15 is equipped with a high-precision encoder, which can monitor the displacement of the lifting seat 13 in real time and achieve precise Z-axis positioning in conjunction with the control system. The slide rail 14 adopts a linear guide structure, symmetrically arranged on both sides, to ensure stability and load-bearing capacity during the lifting process. A dust cover is installed between the lifting seat 13 and the base 12 to prevent plastic debris generated during processing from entering the slide rail 14 and the lead screw transmission parts. The lifting stroke is designed according to actual application requirements, typically reaching 300-500mm, effectively expanding the working range of the multi-axis robotic arm 2.

[0042] In practical operation, when handling plastic products of varying heights, the control system first drives the lifting mechanism 15 to adjust the height of the lifting seat 13. The multi-axis robotic arm 2 moves along with the lifting seat 13, ensuring its end effector accurately reaches the predetermined working height. This structural design allows the robotic arm to adapt to various injection molding machines and molds of different heights, greatly improving the equipment's versatility. Simultaneously, the independent movement of the Z-axis reduces the motion load on the joints of the multi-axis robotic arm 2, extending the equipment's service life.

[0043] The lifting mechanism 15 employs a closed-loop control system, using a force sensor to monitor load changes in real time. It immediately stops movement and issues an alarm when encountering abnormal resistance. The base 12 has an internal buffer device that provides flexible stopping at the upper and lower limits of the lifting stroke. The guiding system of the lifting platform 13 uses a pre-tensioned design, eliminating movement backlash and ensuring stability even during high-speed movement of the multi-axis robotic arm 2. The entire lifting system has a self-locking function, maintaining its current position in the event of a power outage to prevent accidental falls.

[0044] The assembly base 1 structure in this embodiment significantly improves the operational flexibility of the robotic arm through an independent Z-axis lifting mechanism 15. The lifting motion coordinates with the other axial movements of the multi-axis robotic arm 2, enabling motion control of complex spatial trajectories. In practical applications, operators can preset multiple height positions through the human-machine interface, and the robotic arm automatically calls the corresponding height parameters according to different products, achieving rapid switching.

[0045] Example 6:

[0046] In this embodiment, the drive motor 16 is coaxially connected to the lead screw 17 via a coupling. The lead screw 17 adopts a precision ball screw structure, and its thread lead has been optimized to ensure the smoothness of the lifting motion and the positioning accuracy. The guide post 18 adopts a linear guide rail structure, arranged parallel to both sides of the lead screw 17, and forms a sliding fit with the lifting seat 13. After receiving the command from the control system, the drive motor 16 drives the lead screw 17 to rotate through a precision reduction device, converting the rotational motion into the linear motion of the lifting seat 13.

[0047] The working principle of the lifting mechanism 15 is as follows: When the height position of the multi-axis robotic arm 2 needs to be adjusted, the control system sends a pulse signal to the drive motor 16. The drive motor 16 drives the lead screw 17 to rotate according to the preset speed and direction. The rotational motion of the lead screw 17 is converted into the vertical displacement of the lifting seat 13 through the threaded pair. At the same time, the guide column 18 precisely guides the movement trajectory of the lifting seat 13 to prevent radial wobble of the lead screw 17 during extension. The guide column 18 and the lifting seat 13 are connected by a self-lubricating bearing, which effectively reduces movement resistance and improves the service life of the mechanism.

[0048] The motion control of the lifting mechanism 15 adopts a closed-loop feedback system. A high-precision encoder is installed at the end of the lead screw 17 to monitor the rotation angle and position of the lead screw 17 in real time and feed the signal back to the control system. Based on the deviation between the feedback signal and the preset position, the control system dynamically adjusts the speed and direction of the drive motor 16 to ensure that the lifting seat 13 can stop precisely at the target position. This closed-loop control method effectively eliminates the accumulated error in the transmission process of the lead screw 17 and improves the repeatability of the robot.

[0049] The collaborative working process of the lifting mechanism 15 and the multi-axis robotic arm 2 is as follows: When the plastic product needs to be removed from the mold, the lifting mechanism 15 first raises the multi-axis robotic arm 2 to an appropriate height so that the suction cup 8 can accurately align with the product. After the product is suctioned, the lifting mechanism 15 drives the multi-axis robotic arm 2 to descend to the shearing station. At this time, the sprue-cutting cylinder 5 drives the cutter 10 to complete the sprue removal operation. The entire lifting process is synchronized and coordinated with the movements of other axes of the robotic arm to ensure the continuity and stability of product transfer and sprue removal.

[0050] The mechanical structure design of the lifting mechanism 15 takes into account load balance and rigidity requirements. The diameter of the lead screw 17 and the cross-sectional dimensions of the guide column 18 are optimized according to the maximum load of the robotic arm, ensuring sufficient rigidity and motion accuracy under full load conditions. The lifting base 13 is cast from high-strength aluminum alloy and has an internal reinforcing rib structure, which reduces the overall weight while ensuring structural strength. The connection between the guide column 18 and the base 12 adopts a pre-tightening installation, effectively eliminating the influence of fit clearance on motion accuracy.

[0051] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0052] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A plastic sprue cutting robot, comprising an assembly base and a multi-axis robotic arm, wherein the assembly base is fixedly mounted with the multi-axis robotic arm, characterized in that, The multi-axis robotic arm has a base plate fixedly mounted at its end. The base plate has a telescopic cylinder and a sprue-cutting cylinder fixedly mounted on it. The telescopic cylinder is fixedly connected to a rotary cylinder. The rotary cylinder is fixedly connected to an adsorption plate. The adsorption plate has a suction cup fixedly mounted on it. The sprue-cutting cylinder is fixedly connected to a pressure plate. The pressure plate has a cutter fixedly mounted on it.

2. The plastic sprue cutting robot according to claim 1, characterized in that, The rotation angle of the rotary cylinder is 180°.

3. The plastic sprue cutting robot according to claim 1, characterized in that, A buffer rubber, made of silicone rubber, is fixedly installed at the bottom of the pressure plate.

4. The plastic sprue cutting robot according to claim 1, characterized in that, The assembly base includes a base and a lifting base. The lifting base is fixedly mounted on the multi-axis robotic arm. The base is movably mounted on the lifting base via a slide rail. The base is fixedly mounted with a lifting mechanism, which drives and connects to the lifting base.

5. A plastic sprue cutting robot according to claim 4, characterized in that, The lifting mechanism includes a drive motor, a lead screw, and a guide column. The drive motor drives and connects to the lead screw, and the guide column is movably mounted on the lead screw.

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