Injection molding machine take-out robot

Abstract

The utility model discloses an injection molding machine takes out mechanical arm relates to injection molding machine automatic taking out technical field, aims at solving the poor compatibility of taking out mechanism to different injection molding parts in prior art, the cumbersome problem of replacing taking out mechanism, adopts the technical scheme, and the turnover mechanism is detachably connected with the grabbing mechanism, the slide is on the grabbing mechanism, and the slide is slidably connected with the sliding block in the slide, and the sliding block is provided with the locking mechanism, and the sliding block is provided with the grabbing unit, and the position of grabbing unit can be adjusted through the sliding block sliding in the slide, and locking can be carried out through the locking mechanism, and the grabbing unit can be locked after moving to the corresponding position. The utility model can adjust the position of each grabbing unit, make it can be compatible with different shape injection molding parts, make the grabbing unit obtain more dimensional position adjustment through the rotation of connecting plate, thereby cover more adjustment node position. When replacing the mould, the production line adjustment time can be shortened, and the cost of production line adjustment is reduced.

Description

Technical Field

[0001] This utility model relates to the field of automatic part removal technology for injection molding machines, specifically a part removal robotic arm for injection molding machines. Background Technology

[0002] During the demolding process after injection molding, the injection molding machine will produce harmful gases. If the parts are removed manually, it will be harmful to the health of the workers. Therefore, a robotic arm that can automatically remove the parts is needed.

[0003] Chinese patent CN222135831U discloses a robotic arm for retrieving injection-molded automotive air conditioning ventilation ducts. It features a three-axis movement system and a flipping mechanism, enabling it to retrieve parts using suction cups or clamping components as needed. However, this prior art suffers from a fixed retrieving mechanism, making it inconvenient to replace or adjust the suction cups and clamping components when changing the injection mold. Utility Model Content

[0004] The technical problem to be solved by this utility model is to overcome the existing defects and provide a robotic arm for picking up parts from an injection molding machine, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, this utility model discloses a robotic arm for picking up parts in an injection molding machine. The technical solution adopted includes a base, on which a three-axis moving system is mounted. The three-axis moving system includes a lifting mechanism. The moving part of the lifting mechanism includes a lifting plate. The lower end of the lifting plate is connected to a connecting frame. A linear motion pair is mounted inside the connecting frame. A flip plate is also hinged to the connecting frame. A connecting piece is hinged between the moving part of the linear motion pair and the flip plate. A gripping mechanism is detachably connected to the flip plate. The gripping mechanism has a slide rail, and a slider is slidably connected inside the slide rail. The slider has a locking mechanism, and a gripping unit is mounted on the slider. By sliding the slider inside the slide rail, the position of the gripping unit can be adjusted. By locking the gripping unit through the locking mechanism, the gripping unit can be moved to the corresponding position and locked.

[0006] In a preferred embodiment of this invention, the linear motion pair is a cylinder, with both ends of the connecting member hinged to the telescopic end of the cylinder and the tilting plate, respectively; the cylinder is connected to a first air circuit control system. The tilting plate is driven to move by the cylinder. Other commonly used linear motion pairs include hydraulic cylinders, electric cylinders, and electric push rods.

[0007] As a preferred embodiment of this utility model, the flip plate is a right-angle plate, and the connecting piece is hinged to the inner side of the flip plate; the gripping mechanism is detachably connected to the outer side of the flip plate.

[0008] In a preferred embodiment of this invention, the outer side of the flip plate has a insertion position, where the gripping mechanism is inserted. A first bolt is present at the insertion position, and the first bolt slides in contact with the gripping mechanism. The first bolt secures the gripping mechanism to the insertion position.

[0009] As a preferred embodiment of this utility model, the slider makes slidable contact with a connecting plate, the connecting plate and the slider are connected by a second bolt, and the connecting plate has a gripping unit.

[0010] As a preferred embodiment of this utility model, the gripping unit is one or more of a suction cup, a gripper, and a cylinder shear.

[0011] In a preferred embodiment of this invention, the gripping unit is a vacuum suction cup connected to a vacuum pumping device. The connecting plate has a first through hole and a second through hole, and the slider has a first threaded hole (a through hole). A second bolt passes through the second through hole and engages with the first threaded hole, making sliding contact with the slide rail. A sliding rod is connected to the vacuum suction cup, with a threaded rod at its upper end. The threaded rod passes through the first through hole and engages with a nut, which makes sliding contact with the connecting plate. The sliding rod also makes sliding contact with the first through hole. A spring is fitted onto the sliding rod. The nut allows the vacuum suction cup to hang on the connecting plate, and the sliding rod and spring provide cushioning when the suction cup contacts the injection molded part, protecting the surface of the injection molded part.

[0012] In a preferred embodiment of this invention, the slide is a straight, bidirectional slide. If the gripping mechanism is assembled using aluminum profiles, the sliding groove of the aluminum profile can serve as the slide.

[0013] As a preferred technical solution of this utility model, the gripping mechanism includes a gripping disk, and a slide rail is set on the disk body of the gripping disk. The slide rail includes an annular groove, and the inner ring of the annular groove is connected to a longitudinal groove and a transverse groove. The transverse groove is connected to at least one of the annular groove and the longitudinal groove, and the connection is a T-shaped groove structure. The slider is a square slider, and the connection is a T-shaped groove structure, which can ensure that at least one plane is in contact with the slider and prevent the slider from rotating when it is locked.

[0014] As a preferred technical solution of this utility model, one end of the transverse groove is connected to a connecting groove, which is an L-shaped groove and is connected to the longitudinal groove.

[0015] Compared with existing technologies, the advantages of this invention are as follows: This invention features a detachable gripping mechanism on a flip plate, with slide rails on the mechanism. Gripping units slide within these rails via sliders and are locked in place by a locking mechanism. This allows for adjustment of the position of each gripping unit, making it compatible with injection molded parts of different shapes. Furthermore, by placing the gripping units on a connecting plate, the rotation of the connecting plate enables more dimensional positional adjustments, covering a wider range of adjustment points. This invention allows for rapid adjustment of the gripping unit position according to the shape of the injection molded part, thus shortening production line adjustment time when changing molds. Moreover, since new gripping units are not required, production line adjustment costs are reduced. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure 2 ; Figure 3 This is an enlarged structural diagram of section A in the first embodiment of this utility model; Figure 4 This is an enlarged structural diagram of section B in the first embodiment of this utility model; Figure 5 This is a schematic diagram of the structure of the first embodiment of the present utility model. Figure 3 ; Figure 6 This is a schematic diagram of the gripping disc structure according to the second embodiment of this utility model. Figure 1 ; Figure 7 This is a schematic diagram of the gripping disc structure according to the second embodiment of this utility model. Figure 2 ; Figure 8 This is a schematic diagram of the gripping disc slide structure according to the second embodiment of this utility model; Figure 9 This is an enlarged structural diagram of section C in the second embodiment of this utility model; Figure 10 This is a schematic diagram of the slider sliding within the slide rail according to the second embodiment of the present invention; Figure 11 This is a schematic diagram of the slider structure according to the second embodiment of this utility model.

[0017] In the diagram: 1. Base; 2. X-axis seat; 3. Y-axis seat; 4. Lifting mechanism; 401. Z-axis rail; 402. Lifting plate; 403. Lifting synchronous belt system; 404. Lifting motor; 405. Connecting frame; 406. Cylinder; 407. Tilting plate; 408. Connector; 409. Positioning groove; 410. First bolt; 5. Gripping mechanism; 6. X-axis rail; 7. First motor; 8. First housing; 9. Y-axis rail; 10. 11. Y-axis synchronous belt; 12. Moving platform; 13. Lifting box; 14. Connecting plate; 15. First through hole; 16. Second through hole; 17. Vacuum suction cup; 18. Second bolt; 19. Gripping disc; 10. Disc body; 11. Insertion rod; 12. Slide groove; 13. Circular groove; 14. Longitudinal groove; 15. Transverse groove; 16. Communicating groove; 17. Slider; 18. First threaded hole. 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example 1

[0019] like Figures 1 to 5The first embodiment of this utility model is shown below. The technical solution includes a base 1, an X-axis seat 2 for a three-axis moving system mounted on its top surface, an X-axis track 6 laid on the top surface of the X-axis seat 2, an X-axis synchronous belt system installed inside the X-axis seat 2, a first housing 8 mounted on the X-axis seat 2, a first motor 7 mounted on the first housing 8, a first reducer inside the first housing 8, the output shaft of the first motor 7 connected to the input end of the reducer, and the output end of the reducer connected to the X-axis synchronous belt system. A Y-axis seat 3 is mounted on the X-axis track 6 and connected to the X-axis synchronous belt system. The Y-axis seat 3 includes a housing connected to a track seat, a Y-axis track 9 laid on the track seat, a Y-axis synchronous conveying system inside the housing, a second motor and a second reducer connected to the Y-axis synchronous conveying system, a moving platform 11 mounted on the Y-axis track 9, and the moving platform 11 connected to the Y-axis synchronous belt 10 of the Y-axis synchronous conveying system. The mobile platform 11 has a lifting mechanism 4, which includes a lifting housing 12. The lifting housing 12 is connected to the Z-axis rail 401. The lifting housing 12 contains a lifting motor 404 and a third reducer. The lifting motor 404 is connected to the third reducer, which is connected to the lifting synchronous belt system 403. The lifting synchronous belt system 403 is mounted on the Z-axis rail 401. The Z-axis rail 401 is also equipped with a lifting rail. A lifting plate 402 slides on the lifting rail and is connected to the lifting synchronous belt system 403.

[0020] It also includes a PLC control system, which is electrically connected to the first motor 7, the second motor, and the lifting motor 404. The PLC control system is also electrically connected to a host computer.

[0021] The lower end of the lifting plate 402 is connected to a connecting frame 405, such as... Figure 3 As shown, the fixed end of the cylinder 406 is fixedly installed inside the connecting frame 405. The telescopic end of the cylinder 406 is vertically downward and connected to the first hinge joint. A flip plate 407 is also hinged on the connecting frame 405. The flip plate 407 is a right-angle plate with a second hinge joint on its inner wall. A connector 408 is hinged between the first hinge joint and the second hinge joint. The telescopic movement of the cylinder 406 can cause the flip plate 407 to rotate around the hinge joint under the linkage of the connector 408.

[0022] like Figure 4 As shown, the outer wall of the flip plate 407 is also fitted with a positioning groove 409. The opening of the positioning groove 409 on the flip plate 407 can form a rectangular tubular insertion hole together with the outer wall of the flip plate 407. The bottom surface of the positioning groove 409 has a second threaded hole, and a first bolt 410 is engaged in the second threaded hole.

[0023] A gripping mechanism 5 is inserted into the insertion hole. The gripping mechanism 5 is a gripping disc 16 assembled from aluminum profiles and corner brackets. One section of the aluminum profile is inserted into the insertion hole. The end face of the first bolt 410 is in contact with the surface of the aluminum profile inserted into the insertion hole and is locked by friction.

[0024] A slider 17, which is a T-nut, is slidably connected in the slide rail of the aluminum profile. The gripping mechanism 5 also includes a connecting plate 13, on which a first through hole 1301 and a second through hole 1302 are formed (see the structure of the connecting plate 13 for details). Figure 11 The second bolt 15 passes through the second through hole 1302 and engages with the slider 17. The first through hole 1301 slides in contact with the slide rod. The lower end of the slide rod is connected to the vacuum suction cup 14, and the upper end is connected to a screw. The screw is located above the first through hole 1301 and engages with a hexagonal nut. The hexagonal nut slides in contact with the top surface of the connecting plate 13, allowing the vacuum suction cup 14 to hang on the connecting plate 13. A spring is fitted on the slide rod, located between the vacuum suction cup 14 and the connecting plate 13. The vacuum suction cup 14 is connected to a vacuum system, which is electrically connected to the PLC system.

[0025] Working principle: Construct a gripping plate 16 using aluminum profiles and corner brackets according to the shape and size of the injection molded part. Install a slider 17 inside the slide rail of the aluminum profile. Slide the slider 17 to the appropriate position. Use a second bolt 15 to pass through the second through hole 1302 of the connecting plate 13 and screw it into the first threaded hole 1701 of the slider 17. After adjusting the connecting plate 13 to the appropriate angle, tighten the second bolt 15. After fitting a spring onto the slide rod of the vacuum suction cup 14, pass the screw through the first through hole 1301 and tighten the hexagonal nut to install the vacuum suction cup 14 onto the connecting plate 13.

[0026] After injection molding is completed, the injection molding machine opens the upper mold, exposing the injection molded part. The PLC control system drives the three-axis moving system to move the gripping mechanism 5 below. At this time, the cylinder 406 is in the retracted state, and the gripping mechanism 5 is in the vertical state. The three-axis moving system is driven to make the vacuum suction cup 14 contact the injection molded part, and then the vacuum system is driven to draw a vacuum so that the vacuum suction cup 14 can hold the injection molded part. The three-axis moving system is lifted to remove the injection molded part from the injection molding machine. After the injection molded part leaves the injection molding machine, the cylinder 406 extends and pushes the flip plate 407 to flip through the connecting piece 408. The gripping plate 16 of the gripping mechanism 5 turns to the horizontal. The three-axis moving system moves and transfers the injection molded part to the temporary storage area. Then, the vacuum system blows air to make the injection molded part detach from the vacuum suction cup 14, and the three-axis moving system resets. Example 2

[0027] like Figures 6 to 11As shown, the difference between this embodiment and Embodiment 1 is that the second threaded hole is located on the side of the positioning groove 409; the gripping disk 16 of the gripping mechanism 5 is an integrally formed part, with an L-shaped insertion rod 1602 on the top surface of the disk body 1601 and a sliding groove 1603 on the bottom surface, and the insertion rod 1602 can be inserted into the insertion hole and connected to the positioning groove 409; as Figures 7 to 9 As shown, the slide groove 1603 includes an annular groove 16031, a longitudinal groove 16032, and a transverse groove 16033, so as to... Figure 8 The directions shown are for reference. The annular groove 16031 is a square annular groove. The longitudinal groove 16032 is longitudinally arranged inside the annular groove 16031, and both its upper and lower ends are connected to the annular groove 16031. The transverse groove 16033 is transversely arranged inside the annular groove 16031. The leftmost transverse groove 16033 is connected to the annular groove 16031 at its left end, and its right end is connected to the longitudinal groove 16032 through an L-shaped connecting groove 16034. The right ends of the transverse grooves 16033 on both the left and right sides are connected to the annular groove 16031. The left end is directly connected to the longitudinal groove 16032. The left end of the transverse groove 16033 in the middle is directly connected to the longitudinal groove 16032 on its left side. The right end is connected to the longitudinal groove 16032 on its right side through the L-shaped connecting groove 16034. The connecting groove 16034 can connect the transverse groove 16033 with the annular grooves 16031 or the longitudinal grooves 16032 on both sides, while maintaining the connection point as a T-shaped groove structure. This connection effect can also be achieved by making the adjacent transverse grooves 16033 staggered vertically.

[0028] like Figure 10 , Figure 11 As shown, the slide groove 1603 is a T-shaped groove, and the slider 17 is a T-shaped block with a square cross-section. The slider 17 can slide within the slide groove 1603. A first threaded hole 1701 is provided on the slider 17 for connecting to the connecting plate 13. When the slider 17 of this shape slides to the intersection of the transverse groove 16033 and the longitudinal groove 16032, the closed side of the T-shaped groove can hold the slider 17 in place, thereby preventing the slider 17 from rotating when the second bolt 15 is tightened at the intersection.

[0029] Working principle: The working principle of this embodiment differs from that of Embodiment 1 in that: according to the shape and size of the injection molded part, slide the slider 17 along the slide groove 1603 to the appropriate position, use the second bolt 15 to pass through the second through hole 1302 of the connecting plate 13 and screw it into the first threaded hole 1701 of the slider 17, adjust the connecting plate 13 to the appropriate angle and then tighten the second bolt 15.

[0030] The circuits and mechanical connections involved in this utility model are common practices used by those skilled in the art, and technical inspiration can be obtained through a limited number of experiments. They are common knowledge.

[0031] Components not described in detail in this article are existing technologies.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for picking up parts for an injection molding machine, comprising a base (1), a three-axis moving system mounted on the base (1), the three-axis moving system including a lifting mechanism (4), characterized in that: The lifting mechanism (4) includes a lifting plate (402), a connecting frame (405) connected to the lower end of the lifting plate (402), a linear motion pair installed inside the connecting frame (405), a flip plate (407) hinged on the connecting frame (405), a connecting piece (408) hinged between the moving part of the linear motion pair and the flip plate (407), and a gripping mechanism (5) detachably connected to the flip plate (407); the gripping mechanism (5) has a slide rail, a slider (17) is slidably connected inside the slide rail, the slider (17) has a locking mechanism, and a gripping unit is installed on the slider (17).

2. The injection molding machine part-removing robotic arm according to claim 1, characterized in that: The linear motion pair is a cylinder (406), and the two ends of the connecting piece (408) are respectively hinged to the telescopic end of the cylinder (406) and the flip plate (407); the cylinder (406) is connected to a first air circuit control system.

3. The injection molding machine part-removing robotic arm according to claim 2, characterized in that: The flip plate (407) is a right-angle plate, and the connector (408) is hinged to the inside of the flip plate (407); the gripping mechanism (5) is detachably connected to the outside of the flip plate (407).

4. The injection molding machine part-removing robotic arm according to claim 3, characterized in that: The flip plate (407) has a plug-in position on the outside. The gripping mechanism (5) is plugged into the plug-in position, and there is a first bolt (410) on the plug-in position. The first bolt (410) slides in contact with the gripping mechanism (5).

5. The injection molding machine part-removing robotic arm according to claim 1, characterized in that: The slider (17) slides in contact with the connecting plate (13), and the connecting plate (13) is connected to the slider (17) by the second bolt (15). The connecting plate (13) has a gripping unit.

6. The injection molding machine part-removing robotic arm according to claim 5, characterized in that: The gripping unit is one or more of a suction cup, a gripper, and a cylinder shear.

7. The injection molding machine part-removing robotic arm according to claim 6, characterized in that: The gripping unit is a vacuum suction cup (14), which is connected to a vacuum pumping device; the connecting plate (13) has a first through hole (1301) and a second through hole (1302), the slider (17) has a first threaded hole (1701), the first threaded hole (1701) is a through hole, the second bolt (15) passes through the second through hole (1302) and engages in the first threaded hole (1701), the second bolt (15) slides in contact with the slide rail; the vacuum suction cup (14) is connected to a slide rod, the upper end of the slide rod has a threaded rod, the threaded rod passes through the first through hole (1301) and engages with a nut, the nut slides in contact with the connecting plate (13), the slide rod slides in contact with the first through hole (1301), and a spring is fitted on the slide rod.

8. The injection molding machine part-removing robotic arm according to claim 1, characterized in that: The slide is a straight, two-way slide.

9. The injection molding machine part-removing robotic arm according to claim 1, characterized in that: The gripping mechanism (5) includes a gripping disk (16), and a slide is provided on the disk body (1601) of the gripping disk (16). The slide includes an annular groove (16031). The inner ring of the annular groove (16031) is connected to a longitudinal groove (16032) and a transverse groove (16033). The transverse groove (16033) is connected to at least one of the annular groove (16031) and the longitudinal groove (16032). The connection is a T-shaped groove structure. The slider (17) is a square slider.

10. The injection molding machine part-removing robotic arm according to claim 9, characterized in that: One end of the transverse groove (16033) is connected to a connecting groove (16034), which is an L-shaped groove and is connected to the longitudinal groove (16032).

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