A multi-axis apparatus for labeling and picking injection molded articles

Abstract

The utility model relates to the technical field of manipulator and discloses a multi-shaft equipment for labeling and taking out injection products, which comprises a manipulator support, a multi-shaft grabbing mechanism rotatably connected to one end of the manipulator support, a steering shaft support, a steering rudder shaft fixed to the top end of the steering shaft support, a main mechanical arm fixed to one side outer wall of the steering shaft support, and a secondary mechanical arm fixed to the other side outer wall of the steering shaft support. The utility model drives the main mechanical arm and the secondary mechanical arm on both sides to turn synchronously through the steering shaft support, and the claws connected to the main mechanical arm and the secondary mechanical arm can take out the injection products and then rotate and place them on the labeling line on the side during the turning process. The taking out and labeling can be completed alternately during the repeated turning process. The utility model has a simple structure, and the soft rubber pad on the inner wall of the claw can improve the friction after grabbing, so that the stability of grabbing is maintained while the turning is adjusted, and the production efficiency of the injection products is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a multi-axis device for labeling and picking up injection molded products. Background Technology

[0002] Injection molding robots are used to remove molded products and runner waste from the mold after injection molding production. Because the original manual material handling method was too inefficient and dangerous, many processing manufacturers have begun to use injection molding robots to handle the handling of injection molded products. In the current injection molding process, the finished product is usually removed by the injection molding robot and placed on a fixture for unloading, or directly placed on a material conveyor belt. Then, the finished product is moved to a pallet or fixture by hand or a transfer mechanism for unloading, and then placed into the production line for labeling. The process of transferring the material by hand or a transfer mechanism requires two operations, which is inefficient. Therefore, the application of robots in the turnover, gripping and labeling of injection molded products is becoming more and more frequent.

[0003] Multi-axis robotic arms, also known as multi-axis robots, are industrial automation devices based on the XYZ Cartesian coordinate system. They are mainly powered by servo motors or stepper motors, and achieve synchronous multi-axis movement through a controller. They use multi-point interpolation technology to generate straight or curved trajectories, support teach programming or coordinate positioning, and use sensors to detect position deviations in real time. The motion accuracy is adjusted by a PLC or computer, and then the drive system moves the robotic arm. Sensor feedback ensures accuracy. The gripper mounted on the robotic arm picks up the injection molded product and then places it on the labeling production line for labeling processing.

[0004] While the aforementioned existing technologies have significant beneficial effects, they still have shortcomings: The aforementioned robotic arm, through its multi-axis structure design, allows for multi-directional adjustment to pick up injection-molded products and transfer them to the labeling production line for labeling. However, the operation of this type of robotic arm still requires the displacement of the gripping part through a drive. Since the gripping structure of the robotic arm is only a single set, it can only pick up one product at a time during the picking up and transferring of injection-molded products for labeling before adjusting the direction and sending it to the labeling production line on the other side, resulting in insufficient efficiency. Therefore, a multi-axis device for labeling and picking up injection-molded products is proposed. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a multi-axis device for labeling and picking up injection molded products. The device uses a steering shaft to drive the main and auxiliary robotic arms on both sides to rotate synchronously. During the rotation process, the claws connected to the main and auxiliary robotic arms pick up the injection molded product and then rotate it to place it on the labeling line. By repeating the rotation process, picking up and labeling can be completed alternately. The structure is simple, and the soft rubber pads on the inner wall of the claws increase the friction after gripping, thus maintaining stable gripping during steering adjustments and improving the overall production efficiency of injection molded products.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a multi-axis device for labeling and picking up injection molded products, comprising a robotic arm support, one end of which is rotatably connected to a multi-axis gripping mechanism, the multi-axis gripping mechanism comprising a steering shaft frame, and a steering servo shaft fixed to the top of the steering shaft frame, a main robotic arm fixed to one outer wall of the steering shaft frame, and a secondary robotic arm fixed to the other outer wall of the steering shaft frame, gripping arms axially connected to the bottom ends of the main robotic arm and the secondary robotic arm, and gripping frames axially connected to the bottom ends of the gripping arms, a stepper motor fixed to one side of the gripping frame, claw shafts axially connected to both sides of the outer wall of the gripping frame, the claw shafts being connected to the gripping frame via servo motors, and a claw frame fixed to one side of the outer wall of the claw shafts, a soft rubber pad connected to the inner wall of the claw frame, and a friction block attached to the inner wall of the soft rubber pad.

[0007] Preferably, the main robotic arm and the auxiliary robotic arm are symmetrically distributed along both sides of the steering shaft frame, and the steering shaft frame forms a rotating structure with one end of the robotic arm support through the steering servo shaft.

[0008] Preferably, both the main robotic arm and the auxiliary robotic arm have gripping arms axially connected to their bottom ends, and the main robotic arm and the auxiliary robotic arm are of matching dimensions.

[0009] Preferably, the gripper frame forms a rotating structure with the gripper arm via a stepper motor, and the gripper arms are symmetrically distributed along one side of the gripper frame.

[0010] Preferably, the soft rubber pad is evenly attached to the inner wall of the claw holder, and the friction blocks are equidistantly arranged in a convex shape along the inner wall of the soft rubber pad.

[0011] Preferably, the robotic arm support includes a main support, and a mounting base is rotatably connected to the bottom end of the main support. A soft rubber layer is attached to the bottom surface of the mounting base. A first support arm is axially connected to the top end of the main support, and a second support arm is axially connected to the top end of the first support arm. A shaft seat is fixed to the end of the second support arm.

[0012] Preferably, the bearing seat forms a multi-segment rotating structure with the main bracket through the second support arm and the first support arm, and one side of the bearing seat is fixed to the end of the second support arm.

[0013] Compared with the prior art, the present invention has the following beneficial effects: This invention uses a steering shaft to drive the main and auxiliary robotic arms on both sides to rotate synchronously. During the rotation process, the claws connected to the main and auxiliary robotic arms pick up the injection molded product and then rotate it to place it on the labeling line on the side. With repeated rotation, picking up and labeling can be completed alternately. The structure is simple, and the soft rubber pads on the inner wall of the claws can increase the friction after gripping, thereby maintaining gripping stability while adjusting the direction and improving the overall production efficiency of injection molded products.

[0014] This multi-axis equipment uses the first and second support arms mounted on the main bracket to flexibly adjust the shaft seats at the ends, providing a steering adjustment function for the multi-axis gripping mechanism. This allows the overall multi-axis equipment to grip and label injection molded products more flexibly in the production line.

[0015] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures pointed out in the description, claims, and drawings. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the robotic arm support of this utility model; Figure 2 This is a three-dimensional structural diagram of the multi-axis gripping mechanism of this utility model; Figure 3 This is a schematic diagram of the three-dimensional structure of the gripping frame of this utility model; Figure 4 This is a top view of the internal structure of the claw frame of this utility model.

[0017] In the diagram: 1. Robotic arm support; 101. Main support; 102. Mounting base; 103. Soft rubber layer; 104. First support arm; 105. Second support arm; 106. Shaft seat; 2. Multi-axis gripping mechanism; 201. Steering shaft frame; 202. Steering servo shaft; 203. Main robotic arm; 204. Secondary robotic arm; 205. Gripping arm; 206. Gripping frame; 207. Stepper motor; 208. Claw shaft; 209. Servo motor; 210. Claw frame; 211. Soft rubber pad; 212. Friction block. Detailed Implementation

[0018] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figure 1-4 This embodiment of a multi-axis device for labeling and picking up injection molded products includes a robotic arm support 1. One end of the robotic arm support 1 is rotatably connected to a multi-axis gripping mechanism 2. The robotic arm support 1 includes a main support 101, and a mounting base 102 is rotatably connected to the bottom end of the main support 101. A soft rubber layer 103 is attached to the bottom surface of the mounting base 102. A first support arm 104 is axially connected to the top end of the main support 101, and a second support arm 105 is axially connected to the top end of the first support arm 104. A bearing seat 106 is fixed to the end of the second support arm 105.

[0020] like Figure 1-4 As shown, the robotic arm in this invention is similar in structure to existing robotic arms. The main improvement lies in the synchronous steering of the main robotic arms 203 and auxiliary robotic arms 204 on both sides via the steering shaft 201. During the steering process, the grippers 210 connected to the main robotic arms 203 and auxiliary robotic arms 204 respectively pick up the injection molded product and then rotate it onto the labeling line. With repeated steering, picking up and labeling can be completed alternately. The structure is simple, and the soft rubber pads 211 on the inner wall of the grippers 210 increase the friction after gripping, thus maintaining gripping stability during steering adjustments and improving the overall production efficiency of injection molded products. The steering servo shaft 202 and servo motor 209 in this invention are existing technologies. When using this multi-axis robotic arm, the main support 101 can be used to... Mounting base 102 is installed in the production line environment of injection molding products. The mounting base 102 is aligned with the holes in the installation environment through the screw holes around its perimeter. It can be fixed with fasteners such as bolts. At the same time, the soft rubber layer 103 on the bottom surface is kept in tight contact with the surface of the installation environment. During operation, the first support arm 104 at the top of the main bracket 101 drives the second support arm 105 to adjust its direction and angle. This drives the shaft seat 106 connected to the end of the second support arm 105 and the multi-axis gripping mechanism 2 to adjust as well. The equipment can be flexibly adjusted by the first support arm 104 and the second support arm 105 mounted on the main bracket 101. The shaft seat 106 at the end provides a steering adjustment function for the multi-axis gripping mechanism 2, so that the overall multi-axis equipment can grip and label injection molded products more flexibly in the production line.

[0021] like Figure 2-4As shown, the multi-axis gripping mechanism 2 includes a steering shaft frame 201, with a steering servo shaft 202 fixed to the top of the steering shaft frame 201. A main robotic arm 203 is fixed to one outer wall of the steering shaft frame 201, and a secondary robotic arm 204 is fixed to the other outer wall of the steering shaft frame 201. A gripping arm 205 is axially connected to the bottom of the main robotic arm 203 and the secondary robotic arm 204, and a gripping frame 206 is axially connected to the bottom of the gripping arm 205. One side of the gripping frame 206 is fixed... A stepper motor 207 is provided. Claw shafts 208 are shaft-connected to both sides of the outer wall of the gripping frame 206. The claw shafts 208 are connected to the gripping frame 206 via a servo motor 209. A claw holder 210 is fixed to one side of the outer wall of the claw shaft 208. A soft rubber pad 211 is connected to the inner wall of the claw holder 210, and a friction block 212 is attached to the inner wall of the soft rubber pad 211. When gripping the injection-molded product, the second support arm 105 adjusts the position of the end-head steering shaft 201, and then the product is turned... The main robotic arm 203 and auxiliary robotic arm 204, fixed on both sides of the shaft frame 201, adjust their rotation. The servo motor 209 mounted on the main robotic arm 203 drives the gripper 210 to grasp the injection molded product. After the rotation, the injection molded product is placed on the labeling processing line. At this time, the auxiliary robotic arm 204 rotates synchronously to the original position of the injection molded product and grasps it at the same time. After the rotation again, the material picking and labeling operation process is repeated. This multi-axis equipment is driven by the steering shaft frame 201 to rotate synchronously on both sides of the main robotic arm 203 and auxiliary robotic arm 204. During the rotation process, the gripper 210 connected to the main robotic arm 203 and auxiliary robotic arm 204 picks up the injection molded product and then rotates it to place it on the labeling line. With the repeated rotation process, the material picking and labeling can be completed alternately. The structure is simple, and the soft rubber pad 211 on the inner wall of the gripper 210 can increase the friction after grasping, thereby maintaining the gripping stability while adjusting the rotation and improving the overall production efficiency of injection molded products.

[0022] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A multi-axis device for labeling and picking up injection molded products, comprising a robotic arm support (1), characterized in that, One end of the robotic arm support (1) is rotatably connected to a multi-axis gripping mechanism (2). The multi-axis gripping mechanism (2) includes a steering shaft frame (201), and a steering servo shaft (202) is fixed to the top of the steering shaft frame (201). A main robotic arm (203) is fixed to one outer wall of the steering shaft frame (201), and a secondary robotic arm (204) is fixed to the other outer wall of the steering shaft frame (201). A gripping arm (205) is axially connected to the bottom ends of the main robotic arm (203) and the secondary robotic arm (204). (205) has a gripping frame (206) shaft connected to its bottom end. A stepper motor (207) is fixed on one side of the gripping frame (206). A claw shaft (208) is shaft connected to both sides of the outer wall of the gripping frame (206). The claw shaft (208) is connected to the gripping frame (206) through a servo motor (209). A claw frame (210) is fixed on one side of the outer wall of the claw shaft (208). A soft rubber pad (211) is connected to the inner wall of the claw frame (210). A friction block (212) is attached to the inner wall of the soft rubber pad (211).

2. The multi-axis equipment for labeling and unloading injection molded products according to claim 1, characterized in that, The main robotic arm (203) and the auxiliary robotic arm (204) are symmetrically distributed along both sides of the steering shaft frame (201), and the steering shaft frame (201) forms a rotating structure with one end of the robotic arm support (1) through the steering servo shaft (202).

3. The multi-axis equipment for labeling and unloading injection molded products according to claim 1, characterized in that, Both the main robotic arm (203) and the auxiliary robotic arm (204) have gripping arms (205) axially connected to their bottom ends, and the main robotic arm (203) and the auxiliary robotic arm (204) are of matching size.

4. The multi-axis equipment for labeling and unloading injection molded products according to claim 1, characterized in that, The gripper (206) forms a rotating structure with the gripper arm (205) via a stepper motor (207), and the claw frame (210) is symmetrically distributed along one side of the gripper (206).

5. A multi-axis device for labeling and unloading injection molded products according to claim 1, characterized in that, The soft rubber pad (211) is evenly attached to the inner wall of the claw frame (210), and the friction blocks (212) are equidistantly arranged in a convex shape along the inner wall of the soft rubber pad (211).

6. A multi-axis device for labeling and unloading injection molded products according to claim 1, characterized in that, The robotic arm support (1) includes a main support (101), and a mounting base (102) is rotatably connected to the bottom end of the main support (101). A soft rubber layer (103) is attached to the bottom surface of the mounting base (102). A first support arm (104) is axially connected to the top end of the main support (101), and a second support arm (105) is axially connected to the top end of the first support arm (104). A shaft seat (106) is fixed to the end of the second support arm (105).

7. A multi-axis device for labeling and unloading injection molded products according to claim 6, characterized in that, The bearing seat (106) forms a multi-segment rotating structure with the main bracket (101) through the second support arm (105) and the first support arm (104), and one side of the bearing seat (106) is fixed to the end of the second support arm (105).

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