Robotic injection gripper

Abstract

The utility model relates to a kind of robot injection molding gripper, it includes: bearing pedestal, the bearing pedestal has bearing base surface, with the first inclined surface of bearing base surface being connected and being obliquely arranged and the second inclined surface of bearing base surface being connected and being obliquely arranged, switching mechanism, the switching mechanism is installed on the bearing base surface, for being connected with six-axis robot;Nut flange transfer mechanism, the nut flange transfer mechanism includes the bearing disc installed on the first inclined surface or the second inclined surface, multiple pneumatic finger units installed at the surface edge of the bearing disc and the pneumatic chuck installed at the surface center of the bearing disc, the pneumatic chuck has multiple clamping jaws, L-shaped flange clamping block is installed on each clamping jaw.To realize the clamping of multiple nuts and flange plate to be transferred to corresponding mold to carry out injection molding, improve transfer efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical equipment technology, and relates to a gripper mechanism, specifically a robot injection molding gripper. Background Technology

[0002] Injection-molded flanges are key components used for pipe connections. They are typically round or square in appearance, offering reliable connectivity and excellent sealing. They come in a variety of diameters, allowing for flexible selection based on pipe size (e.g., DN15-DN300). Materials include plastics, alloys, or plastic-alloy composites. Plastics (such as PVC, PP, PE) offer strong corrosion resistance (suitable for environments with pH 1-14), while alloys (such as aluminum alloys and steel) provide high strength (tensile strength ≥200MPa) and wear resistance.

[0003] A flange gripping robot is an automated device specifically designed for gripping and transporting flanges. In existing flange production lines, flanges are typically processed on an assembly line consisting of multiple machine tools, with each machine tool responsible for one process. The flange gripping robot facilitates the transfer between multiple processes.

[0004] Chinese utility model patent application number 202510758699.6 discloses a flange gripping robot, belonging to the field of robot technology. This flange gripping robot includes a gripper and a flipping assembly. The gripper includes a fixed plate and two first clamping assemblies. Each first clamping assembly includes a first clamping plate with a receiving groove at its end away from the fixed plate. The flipping assembly includes a connecting block located within the receiving groove. The connecting block has mounting holes with axes extending along the length of a guide rod for mounting a rotating shaft. The connecting block also has two through slots corresponding to the two first sliding grooves. A ratchet mechanism for driving the rotating shaft to rotate unidirectionally is installed in the mounting holes. A first connecting rod and a second connecting rod are slidably sleeved in the two first sliding grooves, respectively. A synchronous toothed belt surrounds the outer wall of the ratchet mechanism, and its two ends pass through the two through slots and are fixedly connected to the first and second connecting rods. This flange gripping robot has a simple structure and limited function; it cannot be used when the flange to be gripped needs to be injection molded together with parts such as nuts. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robotic injection molding gripper.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a robot injection molding gripper, comprising:

[0007] The bearing base has a bearing surface, a first inclined surface connected to the bearing surface and inclined thereon, and a second inclined surface connected to the bearing surface and inclined thereon.

[0008] A transfer mechanism, mounted on the bearing base, is used to connect with a six-axis robot;

[0009] A nut flange transfer mechanism includes a bearing disc mounted on the first inclined surface or the second inclined surface, multiple pneumatic finger units mounted on the edge of the bearing disc surface, and a pneumatic chuck mounted at the center of the bearing disc surface. The pneumatic chuck has multiple jaws, and each jaw is equipped with an L-shaped flange clamping block.

[0010] Each of the pneumatic finger units includes a pneumatic finger, a base block mounted on the pneumatic finger, a nut guide rod mounted on the base block and perpendicular to it, and a spring sleeved on the nut guide rod. The pneumatic finger is a flat-type clamping finger.

[0011] Ideally, the first inclined plane and the second inclined plane extend at an angle toward each other.

[0012] Furthermore, the angle between the first inclined plane and the bearing base is 40-60°, and the angle between the second inclined plane and the bearing base is 40-60°.

[0013] Optimally, the adapter mechanism includes an adapter post mounted on the bearing base surface and an adapter flange mounted on the free end of the adapter post for connecting the six-axis robot.

[0014] Furthermore, it also includes:

[0015] A partition transfer assembly includes a limiting plate installed on the side of the support base, a cylinder passing through the adapter column and connected to the limiting plate, a support plate connected to the outer end of the piston rod of the cylinder, a guide rod with one end connected to the support plate and the other end passing through the adapter column, and a plurality of vacuum suction cups installed on the support plate.

[0016] The beneficial effects of this application are: the robot injection gripper of this utility model can grip a corresponding number of nuts through multiple pneumatic finger units, and at the same time, it can grip hollow flanges by using a pneumatic chuck in conjunction with an L-shaped flange clamping block, thereby realizing the gripping of multiple nuts and flanges and transferring them to the corresponding molds for injection molding, thus improving the transfer efficiency. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the robot injection gripper of this utility model;

[0018] Figure 2 This is a structural schematic diagram of the robot injection gripper of this utility model from another perspective. Detailed Implementation

[0019] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0020] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0021] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0022] like Figure 1 and Figure 2 The robot injection gripper shown mainly includes a supporting base 1, a transfer mechanism 2, and a nut flange transfer mechanism 3.

[0023] The bearing base 1 has a bearing base surface, a first inclined surface connected to the bearing base surface and inclined thereto, and a second inclined surface connected to the bearing base surface and inclined thereto, such that the first inclined surface and the second inclined surface extend inclined toward each other. The angle between the first inclined surface and the bearing base surface is preferably 40-60°, and the angle between the second inclined surface and the bearing base surface is preferably 40-60°. Specifically, the bearing base 1 is a block structure with parallel bearing base surface and non-bearing surface (the area of ​​the non-bearing surface is significantly smaller than the area of ​​the bearing base surface). Between the bearing base surface and the non-bearing surface are the first inclined surface and the second inclined surface, which are arranged opposite to each other. Simultaneously, between the bearing base surface and the non-bearing surface are two parallel side surfaces (the two side surfaces are trapezoidal).

[0024] The adapter mechanism 2 is mounted on the support base surface and is used to connect with the six-axis robot. The robot injection gripper is then mounted on the free end of the six-axis robot via the adapter mechanism 2, allowing the six-axis robot to move or perform actions on the robot injection gripper. In this embodiment, the adapter mechanism 2 includes an adapter post 21 mounted on the support base surface and an adapter flange 22 mounted on the free end of the adapter post 21 for connecting to the six-axis robot. If the free end of the six-axis robot also has a flange, the adapter flange 22 is installed together with the flange using conventional fasteners such as bolts, thus achieving the installation of the robot injection gripper.

[0025] The nut flange transfer mechanism 3 includes a bearing disc 31 mounted on a first inclined plane (or a second inclined plane), multiple pneumatic finger units 32 mounted on the edge of the surface of the bearing disc 31 (the specific number can be conventionally selected according to actual needs, and there are eight in this embodiment), and a pneumatic chuck 33 mounted at the center of the surface of the bearing disc 31 (the multiple pneumatic finger units 32 are arranged in a circle, thereby surrounding the pneumatic chuck 33 in the middle; at the same time, the pneumatic chuck 33 does not interfere with the multiple pneumatic finger units 32 when it is working). In this embodiment, the pneumatic chuck 33 has multiple jaws (the specific number can be conventionally selected according to actual needs, and there are four in this embodiment), and each jaw is equipped with an L-shaped flange clamping block 34, which moves synchronously with the jaw (the movement range of the L-shaped flange clamping block 34 does not need to be sensed by a sensor, and can be limited by the jaw stroke range of the pneumatic chuck 33; when the L-shaped flange clamping block 34 moves outward to the maximum distance, it can just abut against the inner diameter of the flange 1', realizing the clamping of the flange 1'). In use, the multiple pneumatic finger units 32 of the nut flange transfer mechanism 3 are used to clamp the nut 2' (arranged in advance by man or robot and placed in the set position). Then, the pneumatic chuck 33 is used in conjunction with the L-shaped flange clamp 34 to clamp the flange 1' (i.e. the flange element, the flange 1' has multiple equally spaced positioning through holes 11', which are placed in advance by man or robot).

[0026] In this embodiment, each pneumatic finger unit 32 includes a pneumatic finger 321 (such as an HFC series parallel switch type gripper finger), a base block 322 mounted on the pneumatic finger 321, a nut guide rod 323 mounted on the base block 322 and perpendicular to it, and a spring (not shown in the figure) sleeved on the nut guide rod 323; the gripper of the pneumatic finger 321 has a snap-fit ​​groove that mates with the nut 2'. When the pneumatic finger unit 32 grips the nut 2' at a specific position, the spring is compressed, causing the nut 2' to be limited by the snap-fit ​​groove; then the L-shaped flange clamping block 34 grips the flange 1' so that the nut guide rod 323 corresponds one-to-one with the positioning through hole 11'. When the robot injection gripper transfers the flange 1' and the nut 2' to the corresponding position of the injection mold, the pneumatic chuck 33 and the pneumatic finger unit 32 reset, the flange 1' is released, and the nut 2' is pushed out by the spring and released.

[0027] In this embodiment, the robot injection gripper also includes a partition transfer assembly 4. The partition transfer assembly 4 includes a limiting plate 44 installed on the side of the support base 1, a cylinder 41 passing through the adapter post 21 and connected to the limiting plate 44, a support plate 42 connected to the outer end of the piston rod of the cylinder 41, a guide rod 43 with one end connected to the support plate 42 and the other end passing through the adapter post 21, and multiple vacuum suction cups 45 installed on the support plate 42 (for picking up partitions 3'). This also enables the robot injection gripper to have the function of transferring partitions 3'. The partitions 3' are used to separate stacked flanges 1' and / or multiple nuts 2'.

[0028] In this embodiment, the robotic injection gripper also includes an extension unit 5 mounted on another inclined plane. Specifically, the extension unit 5 and the nut flange transfer mechanism 3 are mounted on the first and second inclined planes, respectively. The specific structure of the extension unit 5 is not the focus of this invention. It may include a cylinder mounted on the corresponding inclined plane and a pneumatic chuck mounted on the end of the cylinder. This increases the outward travel of the pneumatic chuck, thus avoiding interference when clamping the injection-molded finished product for stacking, and effectively extending its length.

[0029] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A robotic injection-molding gripper, characterized in that it comprises include: The bearing base (1) has a bearing base surface, a first inclined surface connected to the bearing base surface and inclined thereon, and a second inclined surface connected to the bearing base surface and inclined thereon. A transfer mechanism (2) is mounted on the bearing base surface for connection with a six-axis robot; Nut flange transfer mechanism (3), the nut flange transfer mechanism (3) includes a bearing disc (31) installed on the first inclined surface or the second inclined surface, a plurality of pneumatic finger units (32) installed on the edge of the surface of the bearing disc (31), and a pneumatic chuck (33) installed at the center of the surface of the bearing disc (31). The pneumatic chuck (33) has a plurality of jaws, and each jaw is equipped with an L-shaped flange clamp (34). Each of the pneumatic finger units (32) includes a pneumatic finger (321), a base block (322) mounted on the pneumatic finger (321), a nut guide rod (323) mounted on the base block (322) and perpendicular to it, and a spring sleeved on the nut guide rod (323). The pneumatic finger (321) is a flat finger clamp.

2. The robotic injection-molding gripper of claim 1, wherein: The first inclined plane and the second inclined plane extend at an angle toward each other.

3. The robotic injection gripper of claim 1 or 2, wherein: The angle between the first inclined plane and the bearing base is 40-60°, and the angle between the second inclined plane and the bearing base is 40-60°.

4. The robotic injection gripper of claim 1, wherein: The adapter mechanism (2) includes an adapter post (21) mounted on the bearing base and an adapter flange (22) mounted on the free end of the adapter post (21) for connecting the six-axis robot.

5. The robotic injection gripper of claim 4, wherein, It also includes: The partition transfer assembly (4) includes a limiting plate (44) installed on the side of the bearing base (1), a cylinder (41) passing through the adapter post (21) and connected to the limiting plate (44), a bearing plate (42) connected to the outer end of the piston rod of the cylinder (41), a guide rod (43) with one end connected to the bearing plate (42) and the other end passing through the adapter post (21), and a plurality of vacuum suction cups (45) installed on the bearing plate (42).

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