A plastic product production pulling mechanical hand

Abstract

The utility model discloses a kind of material pulling manipulators for plastic product production, including support, three-axis moving mechanism, turnover mechanism, mounting plate, first jaw assembly, profiling suction cup assembly and second jaw assembly;The three-axis moving mechanism is connected with turnover mechanism, and turnover mechanism is used to drive mounting plate to carry out angle turnover;First jaw assembly and second jaw assembly are used to clamp the upper and lower ends of plastic product;Profiling suction cup assembly is used to adsorb and fix plastic product;CCD camera is used to obtain the image position of plastic product.The utility model's material pulling manipulator carries out position switching between mould cavity and conveying belt by three-axis moving mechanism, and turnover mechanism can adjust the angle of grabbing plastic product, first jaw assembly, second jaw assembly and profiling suction cup assembly can be collectively clamped plastic product, effectively improve clamping stability, the setting of CCD camera and light source module can accurately obtain plastic product position information, to improve the accuracy of material pulling process.

Description

Technical Field

[0001] This utility model relates to the field of robotic arms, and in particular to a material pulling robotic arm for the production of plastic products. Background Technology

[0002] In the production process of plastic products, the molded plastic products need to be taken out of the mold cavity by a material pulling robot and placed on the conveyor belt to realize the product unloading operation.

[0003] In existing technologies, traditional material pulling robots are usually equipped with only a single clamping mechanism, and the clamping method is relatively simple. When clamping and pulling products with complex shapes, problems such as unstable clamping, product slippage or positional deviation are likely to occur, which affects the reliability of product pulling and may even cause the product to fall and be damaged, thereby affecting the production efficiency and product yield of plastic products.

[0004] Therefore, existing technologies have shortcomings and need to be improved. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a plastic product pulling robot that provides stable clamping and improves production efficiency.

[0006] To achieve this objective, the present invention adopts the following technical solution: a material pulling robot for producing plastic products, comprising a support, a three-axis moving mechanism, a flipping mechanism, a mounting plate, a first gripper assembly, a contour suction cup assembly, and a second gripper assembly;

[0007] The support is located on the top of the injection molding machine, the three-axis moving mechanism is located on the support, the three-axis moving mechanism is connected to the flipping mechanism, the flipping mechanism is connected to the mounting plate, and the flipping mechanism is used to drive the mounting plate to flip at an angle.

[0008] The first gripper assembly is located at the bottom of the mounting plate, and the second gripper assembly is located at the top of the mounting plate. The first gripper assembly and the second gripper assembly are used to clamp the upper and lower ends of the plastic product.

[0009] The contouring suction cup assembly is disposed between the first gripper assembly and the second gripper assembly, and the contouring suction cup assembly is used to adsorb and fix plastic products.

[0010] The mounting plate is equipped with a light source module and a CCD camera. The CCD camera is used to acquire the image position of the plastic product, and the light source module is used to provide illumination for the CCD camera.

[0011] Using the above technical solution, in the plastic product manufacturing material pulling robot, the first gripper assembly includes a finger cylinder and a gripper arm;

[0012] The finger cylinder is mounted on the mounting plate with its movable end facing downwards. The two movable ends of the finger cylinder are respectively connected to the clamping arms. The clamping arms have a bent structure and an arc-shaped clamping groove at the bottom. The finger cylinder is used to drive the two clamping arms to move closer together or separate.

[0013] Using the above technical solution, the first gripper assembly in the plastic product manufacturing pulling robot is in the form of two sets.

[0014] Using the above technical solution, in the plastic product manufacturing material pulling robot, the second gripper assembly includes an opening and closing cylinder, an upper clamping plate, and a lower clamping plate;

[0015] The opening and closing cylinder is located on the top of the mounting plate. The upper clamping plate is connected to the upper movable end of the opening and closing cylinder, and the lower clamping plate is connected to the lower movable end of the opening and closing cylinder. The opening and closing cylinder is used to drive the upper clamping plate and the lower clamping plate to move closer to each other or separate.

[0016] Using the above technical solution, in the plastic product manufacturing material pulling machine, the contour suction cup assembly includes a support frame, a contour clamp, and an suction cup;

[0017] The support frame is mounted on the mounting plate, the contour clamp is mounted on the support frame, the contour clamp is provided with a contour clamp groove adapted to the shape of the plastic product, the adsorption plate is located in the contour clamp groove, and the adsorption plate is used to adsorb and fix the plastic product in the contour clamp groove.

[0018] Using the above technical solution, in the plastic product manufacturing material pulling machine, the flipping mechanism includes a fixed base, a telescopic cylinder, a flipping base, and a connecting rod assembly;

[0019] The fixed base is connected to the three-axis moving mechanism. The flipping base is rotatably connected to the fixed base via a pin. The flipping base is connected to the mounting plate. The telescopic cylinder is located on the fixed base with its movable end facing downwards. It is connected to the flipping base via the connecting rod assembly. The telescopic cylinder is used to push the flipping base to flip around the pin.

[0020] Using the above technical solution, in the plastic product manufacturing material pulling robot, the three-axis moving mechanism includes a longitudinal moving module, a transverse moving module, and a lifting moving module;

[0021] The longitudinal moving module is mounted on the support. The movable end of the longitudinal moving module is connected to the lateral moving module. The movable end of the lateral moving module is connected to the lifting moving module. The movable end of the lifting moving module is connected to the flipping mechanism.

[0022] Using the above technical solution, in the plastic product manufacturing material pulling machine, the mounting plate is provided with a clearance groove for avoiding the installation of a CCD camera.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The material pulling robot of this utility model can realize the positional movement between the mold cavity and the unloading conveyor belt through a three-axis moving mechanism. The flipping mechanism can drive the mounting plate to adjust the angle to match the part picking angle of the mold. Through the combined action of the first gripper assembly, the second gripper assembly and the contour suction cup assembly, the plastic product can be clamped at the top and bottom and adsorbed and fixed in the middle, effectively improving the clamping stability of the plastic product. A CCD camera and a light source module are provided on the mounting plate. The CCD camera can acquire the positional information of the plastic product, and the light source module can improve the image recognition accuracy of the CCD camera, thereby improving the movement accuracy of the material pulling process. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0027] Figure 1 This is a schematic diagram of the installation structure of the material pulling robot of this utility model;

[0028] Figure 2 This is a schematic diagram of the overall structure of this utility model;

[0029] Figure 3 This is a schematic diagram of the overall structure of this utility model from another perspective;

[0030] Figure 4 This is a schematic diagram of the structure of the first gripper assembly and the second gripper assembly of this utility model;

[0031] Figure 5 This is a schematic diagram of the contour suction cup assembly of this utility model. Detailed Implementation

[0032] To make the utility model's objectives, features, and advantages more apparent and understandable, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below 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 skilled in the art without creative effort are within the scope of protection of the present utility model.

[0033] In the description of this utility model, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component centrally located at the same time.

[0034] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1 to 5As shown, this utility model embodiment provides a material pulling robot for plastic product manufacturing, including a support 1, a three-axis moving mechanism 2, a flipping mechanism 3, a mounting plate 4, a first gripper assembly 5, a contour suction cup assembly 6, and a second gripper assembly 7. The support 1 is located on the top of an injection molding machine. The three-axis moving mechanism 2 is mounted on the support 1 and connected to the flipping mechanism 3. The flipping mechanism 3 is connected to the mounting plate 4. The flipping mechanism 3 is used to drive the mounting plate 4 to flip at an angle. The first gripper assembly 5 is located at the bottom of the mounting plate 4, and the second gripper assembly 7 is located at the top of the mounting plate 4. The first gripper assembly 5 and the second gripper assembly 7 are used to clamp the upper and lower ends of the plastic product. The contour suction cup assembly... The first gripper assembly 5 and the second gripper assembly 7 are positioned between the first gripper assembly 5 and the second gripper assembly 7. The contour suction cup assembly 6 is used to adsorb and fix the plastic product. The pulling robot moves its position through the three-axis moving mechanism 2 to switch between the injection molding machine cavity position and the unloading position. The flipping mechanism 3 can drive the mounting plate 4 to adjust its angle to adapt to the opening and closing part-picking position of the injection molding machine mold. During the material picking process, the second gripper assembly 7 first clamps the upper end of the plastic product, and then the first gripper assembly 5 clamps the lower end of the plastic product from below. The contour suction cup assembly 6 is adapted to the shape of the plastic product and stably adsorbs it through negative pressure suction to prevent slippage or position displacement during the material pulling and transfer process, avoid product drop and damage, and improve the material picking and transfer efficiency and product yield.

[0036] The mounting plate 4 is equipped with a light source module 81 and a CCD camera 82. The CCD camera 82 is used to acquire the image position of the plastic product, and the light source module 81 is used to provide illumination for the CCD camera 82. The CCD camera 82 can collect image information of the plastic product and identify its specific position, posture, and picking angle in the mold cavity through image processing algorithms. The control system can adjust the gripping path of the pulling robot based on the identification results, thereby achieving stable clamping of the plastic product. The light source module 81 can provide a good lighting environment for the plastic product, thereby improving the image acquisition accuracy of the CCD camera 82. In this embodiment, the mounting plate 4 is provided with a clearance groove 40 for avoiding the mounting of the CCD camera 82.

[0037] like Figure 4As shown, further, the first gripper assembly 5 includes a finger cylinder 51 and a gripping arm 52. The finger cylinder 51 is mounted on the mounting plate 4, with its movable end facing downwards. Both movable ends of the finger cylinder 51 are connected to the gripping arm 52. The gripping arm 52 has a bent structure, and its bottom is provided with an arc-shaped clamping groove 520. The finger cylinder 51 is used to drive the two gripping arms 52 to move closer together or separate, thereby clamping or releasing the plastic product. Specifically, after the pulling robot completes positioning, the finger cylinder 51 can drive the gripping arm 52 to slowly close, and the lower part of the plastic product is covered and clamped through the arc-shaped clamping groove 520, thereby improving the stability of the clamping. In this embodiment, the number of the first gripper assemblies 5 is two sets.

[0038] like Figure 4 As shown, the second gripper assembly 7 further includes an opening / closing cylinder 71, an upper clamping plate 72, and a lower clamping plate 73. The opening / closing cylinder 71 is located on the top of the mounting plate 4. The upper clamping plate 72 is connected to the upper movable end of the opening / closing cylinder 71, and the lower clamping plate 73 is connected to the lower movable end of the opening / closing cylinder 71. The opening / closing cylinder 71 is used to drive the upper clamping plate 72 and the lower clamping plate 73 to move closer together or separate. When the material handling robot moves to the material picking position, the opening / closing cylinder 71 can drive the upper clamping plate 72 and the lower clamping plate 73 to move closer together in the vertical direction, thereby clamping and fixing the upper end of the plastic product. When releasing the workpiece, the reverse action is used to separate them, thereby releasing the plastic product.

[0039] like Figure 4 and Figure 5 As shown, the contour suction cup assembly 6 further includes a support frame 61, a contour clamping seat 62, and an adsorption plate 63. The support frame 61 is mounted on the mounting plate 4, and the contour clamping seat 62 is mounted on the support frame 61. The contour clamping seat 62 has a contour clamping groove 620 adapted to the shape of the plastic product. The adsorption plate 63 is located within the contour clamping groove 620 and is used to adsorb and fix the plastic product within the contour clamping groove 620. The contour clamping seat 62 has a contour clamping groove 620 that matches the shape of the plastic product, so that the plastic product can fit tightly against the contour of the contour clamping groove 620 during clamping. The adsorption plate 63 can adsorb and fix the plastic product through vacuum negative pressure, thereby stably positioning the plastic product in the contour clamping groove 620. In this way, it can effectively prevent the plastic product from shifting or slipping during material transfer.

[0040] like Figure 2 and Figure 3As shown, the flipping mechanism 3 further includes a fixed base 31, a telescopic cylinder 32, a flipping base 33, and a connecting rod assembly 34. The fixed base 31 is connected to the three-axis moving mechanism 2. The flipping base 33 is rotatably connected to the fixed base 31 via a pin. The flipping base 33 is connected to the mounting plate 4. The telescopic cylinder 32 is mounted on the fixed base 31 with its movable end facing downwards and is connected to the flipping base 33 via the connecting rod assembly 34. The telescopic cylinder 32 is used to push the flipping base 33 to flip around the pin, so that when the material pulling robot approaches the mold cavity or performs unloading, it can flexibly adjust the clamping angle according to the spatial position and the direction of the plastic product.

[0041] like Figure 1 and Figure 2 As shown, the three-axis moving mechanism 2 further includes a longitudinal moving module 21, a transverse moving module 22, and a lifting moving module 23. The longitudinal moving module 21 is mounted on the support 1. The movable end of the longitudinal moving module 21 is connected to the transverse moving module 22. The movable end of the transverse moving module 22 is connected to the lifting moving module 23. The movable end of the lifting moving module 23 is connected to the flipping mechanism 3. This configuration allows the material pulling robot to adjust its position in the longitudinal, transverse, and vertical directions, thereby flexibly switching its working position between the injection molding machine cavity area and the unloading area.

[0042] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A material pulling robot for manufacturing plastic products, characterized in that, It includes a support, a three-axis moving mechanism, a flipping mechanism, a mounting plate, a first gripper assembly, a contour suction cup assembly, and a second gripper assembly; The support is located on the top of the injection molding machine, the three-axis moving mechanism is located on the support, the three-axis moving mechanism is connected to the flipping mechanism, the flipping mechanism is connected to the mounting plate, and the flipping mechanism is used to drive the mounting plate to flip at an angle. The first gripper assembly is located at the bottom of the mounting plate, and the second gripper assembly is located at the top of the mounting plate. The first gripper assembly and the second gripper assembly are used to clamp the upper and lower ends of the plastic product. The contouring suction cup assembly is disposed between the first gripper assembly and the second gripper assembly, and the contouring suction cup assembly is used to adsorb and fix plastic products. The mounting plate is equipped with a light source module and a CCD camera. The CCD camera is used to acquire the image position of the plastic product, and the light source module is used to provide illumination for the CCD camera.

2. The material pulling robot for producing plastic products according to claim 1, characterized in that, The first gripper assembly includes a finger cylinder and a gripper arm; The finger cylinder is mounted on the mounting plate with its movable end facing downwards. The two movable ends of the finger cylinder are respectively connected to the clamping arms. The clamping arms have a bent structure and an arc-shaped clamping groove at the bottom. The finger cylinder is used to drive the two clamping arms to move closer together or separate.

3. The material pulling robot for plastic product manufacturing according to claim 1, characterized in that, The number of the first gripper assembly is two sets.

4. The material pulling robot for producing plastic products according to claim 1, characterized in that, The second gripper assembly includes an opening and closing cylinder, an upper gripper plate, and a lower gripper plate; The opening and closing cylinder is located on the top of the mounting plate. The upper clamping plate is connected to the upper movable end of the opening and closing cylinder, and the lower clamping plate is connected to the lower movable end of the opening and closing cylinder. The opening and closing cylinder is used to drive the upper clamping plate and the lower clamping plate to move closer to each other or separate.

5. The material pulling robot for producing plastic products according to claim 1, characterized in that, The contour suction cup assembly includes a support frame, a contour clamp, and an suction cup. The support frame is mounted on the mounting plate, the contour clamp is mounted on the support frame, the contour clamp is provided with a contour clamp groove adapted to the shape of the plastic product, the adsorption plate is located in the contour clamp groove, and the adsorption plate is used to adsorb and fix the plastic product in the contour clamp groove.

6. The material pulling robot for producing plastic products according to claim 1, characterized in that, The flipping mechanism includes a fixed base, a telescopic cylinder, a flipping base, and a connecting rod assembly; The fixed base is connected to the three-axis moving mechanism. The flipping base is rotatably connected to the fixed base via a pin. The flipping base is connected to the mounting plate. The telescopic cylinder is located on the fixed base with its movable end facing downwards. It is connected to the flipping base via the connecting rod assembly. The telescopic cylinder is used to push the flipping base to flip around the pin.

7. The material pulling robot for producing plastic products according to claim 1, characterized in that, The three-axis moving mechanism includes a longitudinal moving module, a lateral moving module, and a lifting moving module; The longitudinal moving module is mounted on the support. The movable end of the longitudinal moving module is connected to the lateral moving module. The movable end of the lateral moving module is connected to the lifting moving module. The movable end of the lifting moving module is connected to the flipping mechanism.

8. The material pulling robot for producing plastic products according to claim 1, characterized in that, The mounting plate is provided with a clearance groove for avoiding the mounting of a CCD camera.

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