Automatic mold opening robot device

Abstract

The utility model discloses an automatic lower mould mechanical hand device, include: base, X axle linear module, mobile unit, rotating mechanism and snatch mechanism, the snatch mechanism sets up in the rotating portion and is away from the one end of mobile unit, the snatch mechanism includes snatch unit and support, support with the one end fixed connection of rotating portion away from mobile unit, snatch unit and support and the one end of rotating portion away from the interpenetration connection, snatch unit is used for grabbing mould, the utility model discloses have snatch mechanism through being provided with in rotating mechanism bottom, through the drive motor and drive main gear rotation, through the main gear and drive pinion rotation, through pinion and drive rotating column rotation, and then through rotating column to snatch unit angle is adjusted, when the suction cup is damaged, can through pressing lock block, through the lock block movement and make connecting rod and suction cup and fixed frame separate, and then replace the suction cup, improve flexibility.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to an automatic mold unloading robot device. Background Technology

[0002] Injection molding machines, also known as injection molding machines or injection molding machines, are indispensable key equipment in the plastics processing industry. They transform thermoplastic or thermosetting plastics into various shapes and sizes using plastic molds, making them a core tool in plastic product molding. After the injection molding process is complete, a robotic arm is needed to retrieve the finished product to ensure the smooth operation of subsequent processes. Most existing robotic arms have suction cups installed at their bottoms to adhere to the material and prevent it from falling off during movement. However, these suction cups are prone to aging over time and require periodic replacement. The suction cups are usually fixed to the robotic arm with bolts, making replacement cumbersome and inflexible. Therefore, this solution proposes an automatic mold-removing robotic arm device to address these problems. Utility Model Content

[0003] The purpose of this invention is to provide an automatic mold unloading robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an automatic mold unloading robot device, comprising:

[0005] Base;

[0006] X-axis linear module, wherein the X-axis linear module is disposed on the top of the base;

[0007] A movable part is connected to the top of an X-axis linear module, and the X-axis linear module is used to drive the movable part to move.

[0008] A rotating mechanism is provided at one end of the moving part away from the X-axis linear module. The rotating mechanism includes a rotating part and a driving part. The rotating part is fixedly connected to one end of the moving part away from the X-axis linear module, and the driving part is fixedly connected to one side of the moving part. The driving part is used to drive the rotating part to rotate.

[0009] A gripping mechanism is provided at the end of the rotating part and away from the moving part. The gripping mechanism includes a gripping part and a supporting part. The supporting part is fixedly connected to the end of the rotating part away from the moving part. The gripping part is inserted into the end of the supporting part away from the rotating part. The gripping part is used to grip the mold.

[0010] Preferably, the moving part includes:

[0011] The Z-axis linear module is fixedly connected to the output end of the X-axis linear module;

[0012] The Y-axis linear module is fixedly connected to the output end of the Z-axis linear module;

[0013] A movable frame, one end of which is fixedly connected to the output end of the Y-axis linear module, and the other end of which is away from the Y-axis linear module is rotatably interlocked with the rotating part.

[0014] Preferably, the rotating part includes:

[0015] A rotating column, one end of which is rotatably connected to the end of the movable frame away from the Y-axis linear module, and the end of the rotating column away from the Y-axis linear module is fixedly connected to the support part;

[0016] A secondary gear is sleeved on the outer wall of one end of the rotating column near the moving frame, and the outer wall of the secondary gear is meshed with the drive unit.

[0017] Preferably, the driving unit includes:

[0018] An integrated stepper motor is fixedly mounted on the outer wall of one end of the movable frame near the rotating column;

[0019] The main gear is fixedly connected to the output end of the integrated stepper motor, and the outer wall of the main gear meshes with the outer wall of the auxiliary gear.

[0020] Preferably, the support part includes a support rod, which is fixedly installed at one end of the rotating column away from the Y-axis linear module, and both ends of the support rod are inserted and connected to the gripping part.

[0021] Preferably, the gripping unit includes:

[0022] A cylinder is fixedly installed on the outer wall of the end of the rotating column near the support rod, and the top of the rotating rod at the end of the cylinder away from the rotating column is hinged.

[0023] A grasping unit, wherein multiple grasping units are interleaved and connected to both ends of the support rod;

[0024] The adsorption section is located at the bottom of both ends of the support rod. The adsorption section includes an adsorption element and a fixing element. The fixing element is fixedly connected to the bottom of both ends of the support rod, and the adsorption element is inserted into the bottom of the fixing element.

[0025] Preferably, the fastener includes:

[0026] A fixing platform, wherein multiple fixing platforms are respectively fixedly installed at the bottom of both ends of the support rod;

[0027] A plurality of fixing frames are fixedly installed on the end of the fixing platform away from the support rod, and fixing holes are provided on the outer wall of the plurality of fixing frames. The end of the plurality of fixing frames away from the fixing platform is inserted and connected to the adsorption element.

[0028] Preferably, the adsorption element comprises:

[0029] A connecting rod, one end of which is inserted into the end of the fixing frame away from the fixing platform, and an installation groove is provided at the end of the connecting rod near the fixing frame;

[0030] A suction cup, which is fixedly installed on the end of the connecting rod away from the fixing frame;

[0031] A limiting plate is provided in the mounting groove, and the outer wall of the limiting plate is slidably inserted into the inner wall of the mounting groove.

[0032] A locking block is fixedly installed on one end of a limiting plate near a fixing hole, and the other end of the locking block away from the limiting plate extends out of the mounting groove and is inserted into the fixing groove.

[0033] A spring is disposed in the mounting groove, one end of the spring is fixedly connected to the end of the limiting plate away from the locking block, and the other end of the spring is fixedly connected to the inner wall of the mounting groove.

[0034] The technical effects and advantages of this utility model are as follows:

[0035] This invention features a gripping mechanism at the bottom of a rotating mechanism. A drive motor rotates the main gear, which in turn rotates the secondary gear, which in turn rotates the rotating column. The rotating column then adjusts the angle of the gripping unit. When the suction cup is damaged, pressing the locking block moves the connecting rod and the suction cup to separate it from the fixed frame, allowing the suction cup to be replaced and improving flexibility. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0037] Figure 2 This is a cross-sectional view of the adsorption mechanism of this utility model.

[0038] Figure 3 This is a cross-sectional view of the fastener of this utility model.

[0039] Figure 4 This is a cross-sectional view of the adsorption component of this utility model.

[0040] Figure 5 This is a cross-sectional view of the locking block of this utility model.

[0041] In the diagram: 1. Base; 2. X-axis linear module; 3. Z-axis linear module; 4. Y-axis linear module; 5. Moving frame; 6. Integrated stepper motor; 7. Main gear; 8. Secondary gear; 9. Rotating column; 10. Cylinder; 11. Support rod; 12. Gripping unit; 13. Fixed platform; 14. Suction cup; 15. Connecting rod; 16. Locking block; 17. Fixed frame; 18. Limiting plate; 19. Spring. Detailed Implementation

[0042] 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.

[0043] refer to Figure 1-5 As shown:

[0044] This utility model provides an automatic mold unloading robot device, comprising:

[0045] Base 1;

[0046] X-axis linear module 2, which is located on the top of base 1;

[0047] The moving part is connected to the top of the X-axis linear module 2, and the X-axis linear module 2 is used to drive the moving part to move.

[0048] Specifically, the mobile division includes:

[0049] Z-axis linear module 3 is fixedly connected to the output end of X-axis linear module 2;

[0050] Y-axis linear module 4 is fixedly connected to the output end of Z-axis linear module 3;

[0051] The movable frame 5 has one end fixedly connected to the output end of the Y-axis linear module 4, and the end of the movable frame 5 away from the Y-axis linear module 4 is rotatably connected to the rotating part.

[0052] It should be noted that the base 1 is fixedly connected to the top of the injection molding equipment by bolts or welding. The X-axis linear module 2 is set on the top of the base 1. The Z-axis linear module 3 is fixedly connected to the output end of the X-axis linear module 2. The output end of the X-axis linear module 2 drives the Z-axis linear module 3 to move along the X-axis direction. The Y-axis linear module 4 is fixedly connected to the output end of the Z-axis linear module 3. The output end of the Z-axis linear module 3 drives the Y-axis linear module 4 to move along the Z-axis direction. One end of the moving frame 5 is fixedly connected to the output end of the Y-axis linear module 4. The output end of the Y-axis linear module 4 drives the moving frame 5 to move along the Y-axis direction. Thus, the cooperation of the X-axis linear module 2, Z-axis linear module 3, Y-axis linear module 4 and moving frame 5 enables the rotating part to achieve precise positioning in the X / Y / Z-axis directions, improving flexibility.

[0053] A rotating mechanism is provided at one end of the moving part away from the X-axis linear module 2. The rotating mechanism includes a rotating part and a driving part. The rotating part is fixedly connected to one end of the moving part away from the X-axis linear module 2, and the driving part is fixedly connected to one side of the moving part. The driving part is used to drive the rotating part to rotate.

[0054] Specifically, the rotating part includes:

[0055] Rotating column 9, one end of rotating column 9 is rotatably inserted and connected to the end of moving frame 5 away from Y-axis linear module 4, and the end of rotating column 9 away from Y-axis linear module 4 is fixedly connected to support part;

[0056] A secondary gear 8 is sleeved on the outer wall of one end of the rotating column 9 near the movable frame 5, and the outer wall of the secondary gear 8 is meshed with the drive unit.

[0057] Specifically, the drive unit includes:

[0058] An integrated stepper motor 6 is fixedly installed on the outer wall of one end of the movable frame 5 near the rotating column 9.

[0059] The main gear 7 is fixedly connected to the output end of the integrated stepper motor 6, and the outer wall of the main gear 7 meshes with the outer wall of the auxiliary gear 8.

[0060] It should be noted that the rotating column 9 is rotatably connected to the linear module 4 away from the Y-axis of the moving frame 5. A secondary gear 8 is sleeved on the outer wall of the rotating column 9. An integrated stepper motor 6 is fixedly installed at one end of the moving frame 5 near the rotating column 9. The output end of the integrated stepper motor 6 is fixedly connected to the main gear 7. The main gear 7 and the secondary gear 8 are hinged. The output end of the integrated stepper motor 6 drives the main gear 7 to rotate. The rotation of the main gear 7 drives the secondary gear 8 to rotate. The rotation of the secondary gear 8 drives the rotating column 9 to rotate. In turn, the rotating column 9 drives the gripping mechanism to rotate. The angle of the gripping mechanism can be adjusted to improve flexibility.

[0061] A gripping mechanism is provided at the end of the rotating part and the end away from the moving part. The gripping mechanism includes a gripping part and a supporting part. The supporting part is fixedly connected to the end of the rotating part away from the moving part, and the gripping part is inserted into the end of the supporting part away from the rotating part. The gripping part is used to grip the mold.

[0062] Specifically, the support part includes a support rod 11, which is fixedly installed on one end of the rotating column 9 away from the Y-axis linear module 4, and the two ends of the support rod 11 are inserted and connected to the gripping part.

[0063] Specifically, the crawling unit includes:

[0064] Cylinder 10 is fixedly installed on the outer wall of the end of the rotating column 9 near the support rod 11, and the top of the rotating rod at the end of the cylinder 10 away from the rotating column 9 is hinged.

[0065] A gripping unit 12, multiple gripping units 12 are interleaved and connected to both ends of the support rod 11;

[0066] The adsorption part is located at the bottom of both ends of the support rod 11. The adsorption part includes an adsorption component and a fixing component. The fixing component is fixedly connected to the bottom of both ends of the support rod 11, and the adsorption component is inserted into the bottom of the fixing component.

[0067] It should be noted that the support rod 11 is fixedly installed at the end of the rotating column 9 away from the rotating column 9. The two ends of the support rod 11 are inserted and connected to the gripping unit 12. The cylinder 10 is fixedly installed on the outer wall of the end of the rotating column 9 near the support rod 11. The top of the rotating rod at the end of the cylinder 10 away from the rotating column 9 is hinged. The opening and closing action of the gripping unit 12 is realized by the air pressure drive of the cylinder 10. The gripping unit 12 grips the injection molded product. The gripping unit 12 at both ends of the support rod 11 can realize synchronous picking and placing, improving efficiency. The suction part adsorbs the top of the injection molded product, improving the stability of the gripping unit 12 when gripping.

[0068] Specifically, the fasteners include:

[0069] Fixed platform 13, multiple fixed platforms 13 are respectively fixedly installed at the bottom of both ends of the support rod 11;

[0070] A fixing bracket 17 is fixedly installed on the end of the fixing platform 13 away from the support rod 11. Fixing holes are provided on the outer wall of the fixing bracket 17. The end of the fixing bracket 17 away from the fixing platform 13 is interlocked with the adsorption component.

[0071] Specifically, the adsorption components include:

[0072] The connecting rod 15 has one end inserted into the end of the fixing frame 17 away from the fixing platform 13, and the end of the connecting rod 15 near the fixing frame 17 has an installation groove.

[0073] Suction cup 14 is fixedly installed on the end of connecting rod 15 away from the fixing frame 17;

[0074] A limiting plate 18 is disposed in the mounting groove, and the outer wall of the limiting plate 18 is slidably inserted into the inner wall of the mounting groove.

[0075] Locking block 16 is fixedly installed on one end of the limiting plate 18 near the fixing hole, and the other end of the locking block 16 away from the limiting plate 18 extends out of the mounting groove and is inserted and connected to the fixing groove.

[0076] Spring 19 is disposed in the mounting groove. One end of spring 19 is fixedly connected to the end of the limiting plate 18 away from the locking block 16, and the other end of spring 19 is fixedly connected to the inner wall of the mounting groove.

[0077] It should be noted that the fixed platform 13 is fixedly installed at both ends of the support rod 11. The bottom of the fixed platform 13 is fixedly connected to the fixed frame 17. The end of the fixed frame 17 away from the fixed platform 13 is inserted and connected to the connecting rod 15. The end of the connecting rod 15 away from the fixed frame 17 is fixedly connected to the suction cup 14. The outer wall of the limiting plate 18 is slidably inserted and connected to the inner wall of the mounting groove. The end of the limiting plate 18 near the fixed groove is fixedly connected to the locking block 16. The end of the locking block 16 away from the limiting plate 18 protrudes from the mounting groove and is inserted and connected to the fixed groove. The spring 19 is set in the mounting groove. One end of the spring 19 is fixedly connected to the end of the limiting plate 18 away from the locking block 16. The other end of the spring 19 is fixedly connected to the inner wall of the mounting groove. If the suction cup 14 is damaged, it can be repaired by... By pressing the locking block 16, the locking block 16 is moved into the mounting groove. Pulling the suction cup 14 causes the connecting rod 15 to move, separating the connecting rod 15 from the fixing frame 17. The suction cup 14 is then replaced. The replaced suction cup 14 is moved to the bottom of the fixing frame 17. Pushing the suction cup 14 causes the connecting rod 15 to move, interlocking with the bottom of the fixing frame 17. The spring 19 pushes the limiting plate 18 to move, causing the locking block 16 to move out of the mounting groove and interlock with the fixing groove. The locking block 16 fixes the connecting rod 15 to the fixing frame 17. This allows for quick disassembly and installation of the suction cup 14, improving flexibility.

[0078] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic mold unloading robot device, characterized in that, include: Base (1); X-axis linear module (2), the X-axis linear module (2) is disposed on the top of the base (1); The moving part is connected to the top of the X-axis linear module (2), and the X-axis linear module (2) is used to drive the moving part to move. A rotating mechanism is provided at one end of the moving part away from the X-axis linear module (2). The rotating mechanism includes a rotating part and a driving part. The rotating part is fixedly connected to one end of the moving part away from the X-axis linear module (2). The driving part is fixedly connected to one side of the moving part. The driving part is used to drive the rotating part to rotate. A gripping mechanism is provided at the end of the rotating part and away from the moving part. The gripping mechanism includes a gripping part and a supporting part. The supporting part is fixedly connected to the end of the rotating part away from the moving part. The gripping part is inserted into the end of the supporting part away from the rotating part. The gripping part is used to grip the mold.

2. The automatic mold unloading robot device according to claim 1, characterized in that, The moving part includes: Z-axis linear module (3), the output end of which is fixedly connected to X-axis linear module (2); Y-axis linear module (4), the output end of which is fixedly connected to Z-axis linear module (3); The movable frame (5) is fixedly connected at one end to the output end of the Y-axis linear module (4), and the end of the movable frame (5) away from the Y-axis linear module (4) is rotatably interlocked with the rotating part.

3. The automatic mold unloading robot device according to claim 2, characterized in that, The rotating part includes: Rotating column (9), one end of the rotating column (9) is rotatably inserted and connected to the end of the movable frame (5) away from the Y-axis linear module (4), and the end of the rotating column (9) away from the Y-axis linear module (4) is fixedly connected to the support part; A secondary gear (8) is sleeved on the outer wall of one end of the rotating column (9) near the moving frame (5), and the outer wall of the secondary gear (8) is meshed with the drive unit.

4. The automatic mold unloading robot device according to claim 3, characterized in that, The drive unit includes: An integrated stepper motor (6) is fixedly installed on the outer wall of one end of the movable frame (5) near the rotating column (9); The main gear (7) is fixedly connected to the output end of the integrated stepper motor (6), and the outer wall of the main gear (7) meshes with the outer wall of the auxiliary gear (8).

5. The automatic mold unloading robot device according to claim 3, characterized in that, The support part includes a support rod (11), which is fixedly installed at one end of the rotating column (9) away from the Y-axis linear module (4), and the two ends of the support rod (11) are interlocked with the gripping part.

6. The automatic mold unloading robot device according to claim 5, characterized in that, The gripping unit includes: Cylinder (10), the cylinder (10) is fixedly installed on the outer wall of one end of the rotating column (9) near the support rod (11), and the top of the rotating rod of the other end of the cylinder (10) away from the rotating column (9) is hinged. A grasping unit (12), multiple grasping units (12) are interlocked at both ends of the support rod (11); The adsorption part is located at the bottom of both ends of the support rod (11). The adsorption part includes an adsorption component and a fixing component. The fixing component is fixedly connected to the bottom of both ends of the support rod (11), and the adsorption component is inserted into the bottom of the fixing component.

7. An automatic mold unloading robot according to claim 6, characterized in that, The fastener includes: Fixed platforms (13), a plurality of the fixed platforms (13) are respectively fixedly installed at the bottom of both ends of the support rod (11); The fixing frame (17) is fixedly installed on the end of the fixing platform (13) away from the support rod (11). The outer wall of the fixing frame (17) is provided with fixing holes. The end of the fixing frame (17) away from the fixing platform (13) is inserted and connected to the adsorption element.

8. The automatic mold unloading robot device according to claim 7, characterized in that, The adsorption element includes: A connecting rod (15) is provided, one end of which is inserted into the end of the fixing frame (17) away from the fixing platform (13), and an installation groove is provided at the end of the connecting rod (15) near the fixing frame (17). A suction cup (14) is fixedly installed at the end of the connecting rod (15) away from the fixing frame (17); A limiting plate (18) is provided in the mounting groove, and the outer wall of the limiting plate (18) is slidably inserted into the inner wall of the mounting groove. Locking block (16), the locking block (16) is fixedly installed on one end of the limiting plate (18) near the fixing hole, and the other end of the locking block (16) away from the limiting plate (18) passes through the mounting groove and is inserted and connected to the fixing groove. Spring (19) is provided in the mounting groove. One end of the spring (19) is fixedly connected to the end of the limiting plate (18) away from the locking block (16), and the other end of the spring (19) is fixedly connected to the inner wall of the mounting groove.

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