High-speed five-axis dual-arm manipulator for taking injection molded products

Abstract

The utility model relates to technical field of manipulator, and disclose a kind of high-speed five-axis double-arm manipulator of taking injection molding product, including mainframe, the top side of mainframe is carried with double-arm grabbing mechanism, double-arm grabbing mechanism includes horizontal shaft support, and the lateral wall of one side of horizontal shaft support is fixed with horizontal guide rail, and horizontal guide rail slidingly connected with horizontal adjusting frame.The utility model is combined by horizontal shaft support cooperation horizontal adjusting frame, and the main mechanical arm and auxiliary mechanical arm are carried out, the first clamping seat of the symmetrical distribution of the bottom of main mechanical arm and auxiliary mechanical arm can be formed to the clamping structure of bulky product, the friction force stability of the clamping after is kept by anti-skid groove, and the second clamping seat connected by first clamping seat can also cooperate with gripper to grab small volume injection molding product, realize flexible adjustment, and also can be grabbed and discharged according to the injection molding product demand of different volume, to improve the adaptation range of overall manipulator.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a high-speed five-axis dual-arm robotic arm for picking up injection-molded products. Background Technology

[0002] Injection molding robots are used to remove the molded product and runner waste from the mold after injection molding. Because manual material handling was previously inefficient and dangerous, many manufacturers have begun using injection molding robots to handle finished product removal. In current injection molding processes, the robot typically removes the finished product and places it on a fixture for unloading, or directly on a conveyor belt, then manually or via a transfer mechanism, moves the finished product to a tray or fixture for unloading. Manual or transfer methods require a second operation and are less efficient; therefore, the use of robots in injection molding is becoming increasingly frequent.

[0003] Existing technology, such as the patent with publication number CN210525692U, discloses a material handling robot for injection molding machines to improve yield. It includes a fixed base with a protective sleeve fixedly mounted on it. A first driving device has a fixed work box, which is rotatably mounted with a threaded shaft. The threaded shaft is threaded with a connecting plate. The connecting plate is symmetrically mounted with lifting rods. Two lifting rods are fixedly mounted with fixed plates. The fixed plates are fixedly mounted with support seats. The support seats are symmetrically fitted with moving shafts. Two moving shafts are fixedly mounted with baffles. An electric telescopic rod is fixedly mounted between the baffles and the support seats. A clamping seat slidably mounts a clamping plate.

[0004] While the aforementioned existing technologies have significant beneficial effects, they still have shortcomings: The aforementioned robotic arm, by incorporating protective and friction rubber, can protect the finished product during loading and unloading after injection molding, preventing damage due to improper operation and improving the yield rate. However, the single-arm gripping structure is limited in its gripping capabilities, only able to grip products of conventional shapes. When the injection molded product is too large or too small, it cannot be gripped effectively, and the adjustable angle is limited, resulting in insufficient adaptability when gripping different injection molded products. Therefore, a high-speed five-axis dual-arm robotic arm for gripping injection molded products is proposed. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a high-speed five-axis dual-arm robotic arm for picking up injection molded products. The main robotic arm and the auxiliary robotic arm form a gripping structure for large-volume products by symmetrically distributing first gripping seats at their bottom ends. Anti-slip grooves maintain stable friction after gripping. The second gripping seats connected to each of the first gripping seats can also work with the grippers to pick up small-volume injection molded products. This allows for flexible adjustment and can also pick up and unload injection molded products according to the needs of different sizes.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a high-speed five-axis dual-arm manipulator for picking up injection-molded products, comprising a main body base, a dual-arm gripping mechanism mounted on one side of the top of the main body base, the dual-arm gripping mechanism comprising a transverse shaft frame, a transverse guide rail fixed to one side of the outer wall of the transverse shaft frame, a transverse adjustment frame slidably connected to the transverse guide rail, a main manipulator slidably connected inside the transverse adjustment frame, a vertical guide rail fixed to one side of the main manipulator, a secondary manipulator symmetrically located on the other side of the main manipulator, a connecting frame fixed to the bottom of both the main manipulator and the secondary manipulator, a first clamping seat fixed to the bottom of the connecting frame, an anti-slip groove formed on the inner wall of the clamping seat, a second clamping seat axially connected to the bottom of the clamping seat, a servo shaft fixed to the top of the second clamping seat, grippers connected to both sides of the bottom of the second clamping seat, and soft rubber pads attached to the inner walls of the grippers.

[0007] Preferably, the lateral adjustment frame is configured as a sliding structure with the lateral guide rail and the lateral axis.

[0008] Preferably, both the main robotic arm and the auxiliary robotic arm are fixed with vertical guide rails on one side, and the main robotic arm and the auxiliary robotic arm form a lifting structure with the horizontal adjustment frame through the vertical guide rails.

[0009] Preferably, the top of the connecting frame is fixedly connected to the bottom of the main robotic arm and the auxiliary robotic arm, and the first clamping seats are symmetrically distributed along the bottom of the main robotic arm and the auxiliary robotic arm.

[0010] Preferably, the second clamping seat forms a rotating structure with one side of the bottom end of the first clamping seat via a servo shaft.

[0011] Preferably, the main unit includes a main bracket, and the bottom end of the main bracket is fixed with a screw hole mounting seat. A longitudinal shaft is fixed on the top surface of the main bracket, and a longitudinal guide rail is fixed on the top surface of the longitudinal shaft. An infrared sensor is fixed at the end of the longitudinal guide rail. A longitudinal sliding frame is slidably connected to the top surface of the longitudinal guide rail, and a transverse housing is fixed at the top of the longitudinal sliding frame. A transverse shaft is fixed on one side of the transverse housing.

[0012] Preferably, the transverse shaft frame is slidably engaged with the longitudinal shaft frame via a longitudinal sliding frame and a longitudinal guide rail.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. This utility model uses a horizontal shaft frame combined with a horizontal adjustment frame to mount the main robotic arm and the auxiliary robotic arm. It can form a clamping structure for large-volume products with the first clamping seats symmetrically distributed at the bottom of the main robotic arm and the auxiliary robotic arm. The anti-slip groove keeps the friction stable after clamping. The second clamping seats connected to each of the first clamping seats can also be used with the grippers to grab small-volume injection molded products. While achieving flexible adjustment, it can also grab and unload injection molded products according to the needs of different sizes, thereby improving the adaptability of the overall robotic arm.

[0014] 2. This robotic arm can be mounted on the screw hole mounting base fixed at the bottom of the main support, providing structural stability. The longitudinal guide rail mounted on the top surface of the longitudinal axis can provide stable longitudinal sliding adjustment for the transverse axis during the driving process of this robotic arm, improving the overall angle adjustability of the robotic arm under operation.

[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 main unit base of this utility model; Figure 2 This is a three-dimensional structural diagram of the dual-arm gripping mechanism of this utility model; Figure 3 This is a three-dimensional structural diagram of the first clamping seat of this utility model; Figure 4 This is a three-dimensional structural diagram of the second clamping seat of this utility model.

[0017] In the diagram: 1. Main unit base; 101. Main bracket; 102. Screw hole mounting base; 103. Longitudinal shaft frame; 104. Longitudinal guide rail; 105. Infrared sensor; 106. Longitudinal sliding frame; 107. Horizontal chassis; 2. Dual-arm gripping mechanism; 201. Horizontal shaft frame; 202. Horizontal guide rail; 203. Horizontal adjustment frame; 204. Main robotic arm; 205. Vertical guide rail; 206. Secondary robotic arm; 207. Connecting frame; 208. First gripping seat; 209. Anti-slip groove; 210. Second gripping seat; 211. Servo shaft; 212. Gripper; 213. Soft rubber pad. 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 high-speed five-axis dual-arm robot for picking up injection molded products includes a main base 1, the main base 1 includes a main support 101, and a screw hole mounting seat 102 is fixed at the bottom end of the main support 101. A longitudinal shaft frame 103 is fixed on the top surface of the main support 101, and a longitudinal guide rail 104 is fixed on the top surface of the longitudinal shaft frame 103. An infrared sensor 105 is fixed at the end of the longitudinal guide rail 104. A longitudinal sliding frame 106 is slidably connected to the top surface of the longitudinal guide rail 104, and a transverse housing 107 is fixed at the top end of the longitudinal sliding frame 106. A transverse shaft frame 201 is fixed on one side of the transverse housing 107.

[0020] like Figure 1-2 As shown, the robotic arm in this utility model is similar in structure to existing robotic arms, such as the loading and unloading robotic arm for injection molding machines with improved yield published in CN210525692U. The main improvement of this utility model lies in the fact that the first gripping seats 208 symmetrically distributed at the bottom of the main robotic arm 204 and the auxiliary robotic arm 206 form a gripping structure for large-volume products. The anti-slip groove 209 keeps the friction after gripping stable. The second gripping seats 210 connected to each of the first gripping seats 208 can also cooperate with the grippers 212 to grasp small-volume injection molded products, achieving flexible adjustment while also being able to handle different sizes of injection molded products. For injection molded parts of the same volume, gripping and unloading is required. In this utility model, the transverse guide rail 202 and the servo shaft 211 are both existing technologies. When using this robot, it can be mounted on the production environment through the screw hole mounting seat 102 fixed at the bottom of the main bracket 101 and fixed with screws to provide structural stability. The longitudinal guide rail 104 mounted on the top surface of the longitudinal shaft frame 103 can provide stable longitudinal sliding adjustment for the transverse shaft frame 201 during the robot's drive process. At the same time, the overall device has a small footprint at the bottom, and while maintaining the multi-axis adjustment drive of the overall structure, it is also easy to install and use.

[0021] like Figure 2-4As shown, the dual-arm gripping mechanism 2 includes a horizontal shaft frame 201, and a horizontal guide rail 202 is fixed to one outer wall of the horizontal shaft frame 201. A horizontal adjustment frame 203 is slidably connected to the horizontal guide rail 202. A main robotic arm 204 is slidably connected inside the horizontal adjustment frame 203. A vertical guide rail 205 is fixed to one side of the main robotic arm 204. A secondary robotic arm 206 is symmetrically located on the other side of the main robotic arm 204. A connecting frame 207 is fixed to the bottom end of both the main robotic arm 204 and the secondary robotic arm 206. A first clamping seat 208 is fixed to the bottom end of the frame 207. The inner wall of the clamping seat 208 has an anti-slip groove 209. A second clamping seat 210 is axially connected to the bottom end of the clamping seat 208, and a servo shaft 211 is fixed to the top end of the second clamping seat 210. Grippers 212 are connected to both sides of the bottom end of the second clamping seat 210, and soft rubber pads 213 are attached to the inner walls of the grippers 212. During the injection molding process, this five-axis dual-arm robot can adjust the horizontal frame 203 along the horizontal guide rail 202 and the horizontal axis frame. 201 is slidably adjusted so that the main robotic arm 204 and the auxiliary robotic arm 206 mounted on the horizontal adjustment frame 203 slide and adjust synchronously. Then, the main robotic arm 204 and the auxiliary robotic arm 206 can be raised and lowered along the vertical axis of the vertical guide rail 205 by their own cylinder structure, so that the gripper 212 connected to the second gripper 210 at the bottom can grasp and unload the injection molded product. This five-axis dual-arm robot arm, through the combination of the horizontal axis frame 201 and the horizontal adjustment frame 203, controls the main robotic arm 204 and the auxiliary robotic arm 206. The auxiliary robotic arm 206 is mounted and can work with the main robotic arm 204 and the first gripper 208 symmetrically distributed at the bottom of the auxiliary robotic arm 206 to form a gripping structure for large-volume products. The anti-slip groove 209 keeps the friction stable after gripping. The second gripper 210 connected to each of the first gripper 208 can also work with the gripper 212 to grab small-volume injection molded products. This allows for flexible adjustment and can also be used to grab and unload injection molded products of different sizes, thereby improving the overall adaptability of the robotic arm.

[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 high-speed five-axis dual-arm robotic arm for picking up injection-molded products, comprising a main unit (1), characterized in that, The top side of the main unit (1) is equipped with a dual-arm gripping mechanism (2). The dual-arm gripping mechanism (2) includes a horizontal shaft frame (201), and a horizontal guide rail (202) is fixed to the outer wall of one side of the horizontal shaft frame (201). A horizontal adjustment frame (203) is slidably connected to the horizontal guide rail (202). A main robotic arm (204) is slidably connected inside the horizontal adjustment frame (203). A vertical guide rail (205) is fixed to one side of the main robotic arm (204). A secondary robotic arm (206) is symmetrically located on the other side of the main robotic arm (204). Both the main robotic arm (204) and the auxiliary robotic arm (206) have a connecting frame (207) fixed at their bottom ends, and a first clamping seat (208) is fixed at the bottom end of the connecting frame (207). The inner wall of the clamping seat (208) is provided with an anti-slip groove (209). The bottom end of the clamping seat (208) is axially connected to a second clamping seat (210), and a servo shaft (211) is fixed at the top end of the second clamping seat (210). The two sides of the bottom end of the second clamping seat (210) are connected with grippers (212), and the inner wall of the grippers (212) is fitted with a soft rubber pad (213).

2. The high-speed five-axis dual-arm robotic arm for picking up injection-molded products according to claim 1, characterized in that, The transverse adjustment frame (203) forms a sliding structure with the transverse guide rail (202) and the transverse shaft frame (201).

3. The high-speed five-axis dual-arm robotic arm for picking up injection-molded products according to claim 1, characterized in that, The main robotic arm (204) and the auxiliary robotic arm (206) are each fixed with a vertical guide rail (205) on one side, and the main robotic arm (204) and the auxiliary robotic arm (206) form a lifting structure with the horizontal adjustment frame (203) through the vertical guide rail (205).

4. The high-speed five-axis dual-arm robotic arm for picking up injection-molded products according to claim 1, characterized in that, The top of the connecting frame (207) is fixedly connected to the bottom of the main robotic arm (204) and the auxiliary robotic arm (206), and the first clamping seat (208) is symmetrically distributed along the bottom of the main robotic arm (204) and the auxiliary robotic arm (206).

5. A high-speed five-axis dual-arm robotic arm for picking up injection-molded products according to claim 1, characterized in that, The second clamping seat (210) forms a rotating structure with the bottom side of the first clamping seat (208) via the servo shaft (211).

6. A high-speed five-axis dual-arm robotic arm for picking up injection-molded products according to claim 1, characterized in that, The main unit (1) includes a main bracket (101), and a screw hole mounting seat (102) is fixed at the bottom of the main bracket (101). A longitudinal shaft frame (103) is fixed on the top surface of the main bracket (101), and a longitudinal guide rail (104) is fixed on the top surface of the longitudinal shaft frame (103). An infrared sensor (105) is fixed at the end of the longitudinal guide rail (104). A longitudinal sliding frame (106) is slidably connected to the top surface of the longitudinal guide rail (104), and a transverse housing (107) is fixed at the top of the longitudinal sliding frame (106). A transverse shaft frame (201) is fixed on one side of the transverse housing (107).

7. A high-speed five-axis dual-arm robotic arm for picking up injection-molded products according to claim 6, characterized in that, The transverse shaft bracket (201) slides with the longitudinal shaft bracket (103) through the longitudinal sliding bracket (106) and the longitudinal guide rail (104).

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