Adaptive precision positioning type injection embedding mechanical hand gripper

Abstract

The utility model relates to the field of clamping jaw especially is self -adaptation precision positioning formula injection moulding burying mechanical hand clamping jaw. The clamping jaw includes frame, base plate, material head pressure rod linear moving mechanism, floating block, positioning mechanism, suction sheet mechanism, suction nozzle, suction nozzle linear moving mechanism, material head pressure rod, the frame is slidably connected with base plate, the cylinder body of material head pressure rod linear moving mechanism is fixed on the frame, the moving part end of material head pressure rod linear moving mechanism is connected with material head pressure rod, the cylinder body of suction nozzle linear moving mechanism is fixed on the base plate, the moving part of suction nozzle linear moving mechanism is fixed with suction nozzle, the sliding slot of base plate is slidably connected with floating block, and the positioning mechanism and suction sheet mechanism are installed on floating block. The utility model discloses through material head pressure rod and material head pressure rod linear moving mechanism press down the material head when taking product. Through positioning mechanism cooperation floating block, can realize in a certain range automatic adjustment and aim at the mould in injection molding machine, to accurate put into sheet.

Description

Technical Field

[0001] This utility model relates to the field of grippers, and in particular to adaptive precision positioning grippers for injection molding embedded robotic arms. Background Technology

[0002] During product manufacturing, a circular sheet needs to be embedded inside the injection molding machine. After injection molding is complete, the molded product is removed from the machine. However, existing grippers cannot precisely align with the mold inside the injection molding machine, thus hindering the accurate and efficient feeding of the sheet into the machine. Utility Model Content

[0003] The technical problem this invention aims to solve is: to address the technical problems described in the background art, this invention provides an adaptive precision positioning injection molding robot gripper. The sprue head is held down during product handling by a sprue head pressure rod and a linear movement mechanism for the sprue head pressure rod. Through a positioning mechanism in conjunction with a floating block, it can automatically adjust and align with the mold inside the injection molding machine within a certain range, thereby accurately inserting the sheet metal.

[0004] The technical solution adopted by this utility model to solve its technical problem is:

[0005] An adaptive precision positioning injection molding embedded robot gripper includes a frame, a base plate, a material head pressure rod linear movement mechanism, a floating block, a positioning mechanism, a sheet suction mechanism, a suction nozzle, a suction nozzle linear movement mechanism, and a material head pressure rod. The base plate is slidably connected to the frame, and the frame is fixed to a multi-axis robot. The cylinder of the material head pressure rod linear movement mechanism is fixed to the frame, and the moving part of the material head pressure rod linear movement mechanism is connected to the material head pressure rod, which passes through the base plate. The cylinder of the suction nozzle linear movement mechanism is fixed to the base plate, and a suction nozzle is fixed to the moving part of the suction nozzle linear movement mechanism. The floating block is slidably connected to a groove in the base plate, and the positioning mechanism and the sheet suction mechanism are installed on the floating block.

[0006] Specifically, the thin film suction mechanism includes a suction tube and a single-rod cylinder. The cylinder body of the single-rod cylinder is fixed together with a floating block. The piston rod of the single-rod cylinder is connected to the tail end of the suction tube. The suction tube passes through the floating block. The side of the suction tube body is provided with a waist-shaped hole. The side of the floating block is provided with an air hole for connecting the waist-shaped hole of the suction tube. The air hole is connected to a vacuum pump.

[0007] Specifically, the positioning mechanism includes a positioning pin and a single-rod cylinder. The cylinder body of the single-rod cylinder is fixed together with the floating block. The piston rod of the single-rod cylinder is connected to the tail end of the positioning pin. The positioning pin passes through the guide hole on the floating block, and the top end of the positioning pin is conical.

[0008] Specifically, a conduit is vertically connected to the frame, and a guide rod is vertically connected to the substrate. The guide rod cooperates with the inner cavity of the conduit, and a spring is provided between the frame and the substrate, through which the guide rod passes.

[0009] Specifically, the front end of the floating block is provided with a waist-shaped protrusion, and the waist-shaped protrusion is provided with two circular grooves for fitting the thin sheet, through which the straw passes.

[0010] Specifically, a waist-shaped block is fixed on the moving part of the linear movement mechanism of the suction nozzle, and a waist-shaped hole is provided on the base plate for cooperating with the waist-shaped block. Two suction nozzles are fixed on the waist-shaped block.

[0011] Specifically, the linear movement mechanism of the material head pressure rod is a single-rod cylinder, and the linear movement mechanism of the suction nozzle is a slide table cylinder.

[0012] Specifically, the substrate has steel balls in its groove, which are attached to the floating block.

[0013] The beneficial effects of this utility model are as follows: This utility model provides an adaptive precision positioning injection molding robot gripper. The material head is held down during product handling by a material head pressure rod and a linear movement mechanism for the material head pressure rod. Through a positioning mechanism in conjunction with a floating block, it can automatically adjust and align with the mold inside the injection molding machine within a certain range, thereby accurately inserting the sheet metal. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0016] Figure 2 This is a structural schematic diagram of the present invention from a second perspective;

[0017] Figure 3 This is a structural schematic diagram of the floating block, positioning mechanism, and sheet suction mechanism of this utility model;

[0018] In the diagram: 1. Frame, 2. Base plate, 3. Linear movement mechanism of the feed head pressure bar, 4. Floating block, 5. Positioning mechanism.

[0019] 6. Sheet suction mechanism, 7. Suction nozzle, 8. Suction nozzle linear movement mechanism, 9. Guide tube, 10. Guide rod, 11.

[0020] 12. Waist-shaped block, 41. Material head pressure bar, 42. Waist-shaped protrusion block, 51. Circular groove, 52. Positioning pin, 53. Single rod cylinder two, 64. Suction pipe, 65. Single rod cylinder one, 66. Air hole. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0022] Figure 1 This is a first-view structural schematic diagram of the present invention; Figure 2 This is a structural schematic diagram of the present invention from a second perspective; Figure 3 This is a structural schematic diagram of the floating block, positioning mechanism, and sheet suction mechanism of this utility model.

[0023] Combined with appendix Figure 1 and attached Figure 2 As shown, an adaptive precision positioning injection molding embedded robot gripper includes a frame 1, a base plate 2, a material head pressure rod linear movement mechanism 3, a floating block 4, a positioning mechanism 5, a sheet suction mechanism 6, a suction nozzle 7, a suction nozzle linear movement mechanism 8, and a material head pressure rod 12. The base plate 2 is slidably connected to the frame 1, and the frame 1 is fixed to a multi-axis robot. The cylinder of the material head pressure rod linear movement mechanism 3 is fixed to the frame 1, and the moving part of the material head pressure rod linear movement mechanism 3 is connected to the material head pressure rod 12, which passes through the base plate 2. The cylinder of the suction nozzle linear movement mechanism 8 is fixed to the base plate 2, and the suction nozzle 7 is fixed to the moving part of the suction nozzle linear movement mechanism 8. The floating block 4 is slidably connected to the slide groove of the base plate 2, and the positioning mechanism 5 and the sheet suction mechanism 6 are installed on the floating block 4.

[0024] As attached Figure 3 As shown, the thin film suction mechanism 6 includes a suction tube 61 and a single-rod cylinder 62. The cylinder body of the single-rod cylinder 62 is fixed together with the floating block 4. The piston rod of the single-rod cylinder 62 is connected to the tail end of the suction tube 61. The suction tube 61 passes through the floating block 4. The side of the tube body of the suction tube 61 is provided with a waist-shaped hole. The side of the floating block 4 is provided with an air hole 63 for connecting with the waist-shaped hole of the suction tube 61. The air hole 63 is connected to a vacuum pump.

[0025] The front end of the floating block 4 is provided with a waist-shaped protrusion 41, and the waist-shaped protrusion 41 is provided with two circular grooves 42 for cooperating with the thin sheet, through which the straw 61 passes.

[0026] When the air hole 63 aligns with the oblong hole of the suction tube 61, the tip of the suction tube 61 does not extend beyond the circular groove 42. Activating the vacuum pump allows the opening at the tip of the suction tube 61 to generate suction, which can be used to adhere the sheet to the circular groove 42. When the oblong protrusion 41 is placed inside the injection molding machine's mold, the single-rod cylinder 62 drives the suction tube 61 forward. At this point, the air hole 63 and the oblong hole of the suction tube 61 are misaligned, causing the suction tube 61 to lose its suction. Simultaneously, the tip of the suction tube 61 extends beyond the circular groove 42, pushing the sheet out of the groove 42 and into the mold.

[0027] The positioning mechanism 5 includes a positioning pin 51 and a single-rod cylinder 52. The cylinder body of the single-rod cylinder 52 is fixed together with the floating block 4. The piston rod of the single-rod cylinder 52 is connected to the tail end of the positioning pin 51. The positioning pin 51 passes through the guide hole on the floating block 4, and the top end of the positioning pin 51 is conical.

[0028] When the gripper moves to the front of the mold, the single-rod cylinder 52 drives the positioning pin 51 to move forward in a straight line into the positioning hole of the mold. The tapered end of the positioning pin 51 allows it to be inserted into the positioning hole within a limited tolerance range. Since the floating block 4 can move linearly in the left-right direction, the position of the floating block 4 is corrected as the positioning pin 51 inserts into the positioning hole, ensuring that the sheet adsorbed on the floating block 4 is precisely aligned with the sheet placement position on the mold. When the gripper places the sheet into the mold, the positioning pin 51 retracts and resets.

[0029] A conduit 9 is vertically connected to the frame 1, and a guide rod 10 is vertically connected to the substrate 2. The guide rod 10 is engaged with the inner cavity of the conduit 9. A spring is provided between the frame 1 and the substrate 2, and the guide rod 10 passes through the spring.

[0030] When the substrate 2 is attached to the injection molding machine, the guide rod 10 moves along the substrate 2, using the compression of the spring to provide cushioning and avoid hard contact.

[0031] A waist-shaped block 11 is fixed on the moving part of the nozzle linear moving mechanism 8. The base plate 2 is provided with a waist-shaped hole for fitting the waist-shaped block 11. Two nozzles 7 are fixed on the waist-shaped block 11.

[0032] The linear movement mechanism 3 of the material head pressure bar is a single-bar cylinder, and the linear movement mechanism 8 of the suction nozzle is a slide table cylinder.

[0033] The slide groove of the substrate 2 is equipped with steel balls, which are attached to the floating block 4. When the floating block 4 moves within the slide groove, the rotatable steel balls reduce the friction of the floating block 4.

[0034] The working principle of this application is as follows: First, the multi-axis robot moves the gripper to the front of the injection molding machine. Then, the linear movement mechanism 3 of the sprue pressure bar drives the sprue pressure bar 12 to move forward linearly and press down on the sprue. The linear movement mechanism 8 of the suction nozzle drives the suction nozzle 7 to move forward and suck up the product being molded inside the injection molding machine, so that the product can be removed from the injection molding machine. After the product is removed, it can be separated from the sprue that is pressed into the mold.

[0035] The multi-axis robot drives the gripper to move onto the straight flow channel, placing the sheet on the discharge end of the straight flow channel into the circular groove 42, and then sucking the sheet into the circular groove 42 through the suction tube 61. The gripper is then moved to the front of the injection molding machine, and the position of the floating block 4 carrying the sheet is corrected by the positioning mechanism 5. Finally, the gripper moves forward, causing the protrusion 41 to be inserted into the mold, while the suction tube 61 extends out of the circular groove 42, thereby pushing the sheet into the mold.

[0036] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An adaptive precision positioning injection molding embedded robotic gripper, characterized in that, The system includes a frame (1), a base plate (2), a material head pressure rod linear movement mechanism (3), a floating block (4), a positioning mechanism (5), a sheet suction mechanism (6), a suction nozzle (7), a suction nozzle linear movement mechanism (8), and a material head pressure rod (12). The base plate (2) is slidably connected to the frame (1), and the frame (1) is fixed on a multi-axis robot. The cylinder of the material head pressure rod linear movement mechanism (3) is fixed on the frame (1), and the moving part of the material head pressure rod linear movement mechanism (3) is connected to the material head pressure rod (12). The material head pressure rod (12) passes through the base plate (2). The cylinder of the suction nozzle linear movement mechanism (8) is fixed on the base plate (2), and the suction nozzle (7) is fixed on the moving part of the suction nozzle linear movement mechanism (8). The floating block (4) is slidably connected in the groove of the base plate (2), and the positioning mechanism (5) and the sheet suction mechanism (6) are installed on the floating block (4).

2. The adaptive precision positioning injection molding embedded robotic gripper according to claim 1, characterized in that: The thin film suction mechanism (6) includes a suction tube (61) and a single-rod cylinder (62). The cylinder body of the single-rod cylinder (62) is fixed together with the floating block (4). The piston rod of the single-rod cylinder (62) is connected to the tail end of the suction tube (61). The suction tube (61) passes through the floating block (4). The side of the tube body of the suction tube (61) is provided with a waist-shaped hole. The side of the floating block (4) is provided with an air hole (63) for connecting to the waist-shaped hole of the suction tube (61). The air hole (63) is connected to a vacuum pump.

3. The adaptive precision positioning injection molding embedded robotic gripper according to claim 1, characterized in that: The positioning mechanism (5) includes a positioning pin (51) and a single-rod cylinder (52). The cylinder body of the single-rod cylinder (52) is fixed together with the floating block (4). The piston rod of the single-rod cylinder (52) is connected to the tail end of the positioning pin (51). The positioning pin (51) passes through the guide hole on the floating block (4). The top end of the positioning pin (51) is conical.

4. The adaptive precision positioning injection molding embedded robotic gripper according to claim 1, characterized in that: A conduit (9) is vertically connected to the frame (1), and a guide rod (10) is vertically connected to the base plate (2). The guide rod (10) is engaged with the inner cavity of the conduit (9). A spring is provided between the frame (1) and the base plate (2), and the guide rod (10) passes through the spring.

5. The adaptive precision positioning injection molding embedded robotic gripper according to claim 2, characterized in that: The front end of the floating block (4) is provided with a waist-shaped protrusion (41), and the waist-shaped protrusion (41) is provided with two circular grooves (42) for fitting the thin sheet, and the straw (61) passes through the circular grooves (42).

6. The adaptive precision positioning injection molding embedded robotic gripper according to claim 1, characterized in that: The moving part of the suction nozzle linear moving mechanism (8) is fixed with a waist-shaped block (11), and the base plate (2) is provided with a waist-shaped hole for cooperating with the waist-shaped block (11). Two suction nozzles (7) are fixed on the waist-shaped block (11).

7. The adaptive precision positioning injection molding embedded robotic gripper according to claim 1, characterized in that: The material head pressure rod linear movement mechanism (3) is a single rod cylinder, and the suction nozzle linear movement mechanism (8) is a slide table cylinder.

8. The adaptive precision positioning injection molding embedded robotic gripper according to claim 1, characterized in that: The substrate (2) has a groove with steel balls attached to the floating block (4).

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