Injection molding part discharging mechanical arm device and injection molding machine

Abstract

The application relates to the technical field of injection molding, and more specifically to an injection molding part discharging mechanical arm device and an injection molding machine, which comprises a first grabbing assembly for grabbing plastic parts, an X-axis moving assembly for driving the first grabbing assembly to move along a horizontal X-axis direction, a Y-axis moving assembly for driving the first grabbing assembly to move along a horizontal Y-axis direction, and a Z-axis moving assembly for driving the first grabbing assembly to move along a vertical Z-axis direction; the X-axis moving assembly is arranged on the Y-axis moving assembly, and the Z-axis moving assembly is arranged on the X-axis moving assembly; the first grabbing assembly comprises a suction cup part for sucking the plastic parts, a turnover part arranged on the Z-axis moving assembly and used for driving the suction cup part to turn over, and a detection part used for detecting whether the suction cup part sucks the plastic parts or not. The application can realize real-time detection of whether the suction cup part successfully grabs the injection molding parts or not, effectively avoids the empty clamping and missing taking phenomenon, and improves the discharging accuracy and production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of injection molding technology, and more specifically, to an injection molding part unloading robot device and an injection molding machine. Background Technology

[0002] In the production process of injection-molded parts such as the housing of home appliance controllers, after the injection molding machine completes the injection molding of the product, the product needs to be removed from the mold and transferred to a designated location by the unloading device for subsequent processing or packaging.

[0003] Currently, multi-axis robotic arms are widely used in the industry for material unloading operations, but existing robotic arms have many shortcomings: Firstly, the lack of detection function for gripping status makes it impossible to determine whether the injection molded part has been successfully gripped, which easily leads to empty gripping and missed grabbing, resulting in reduced production efficiency. Secondly, the gripping components are mostly rigid connections, which can easily cause scratches or pressure damage to the surface of the injection molded parts during gripping, affecting the product qualification rate. Third, the waste generated during the injection molding process requires additional equipment or manual processing, which cannot be integrated with the blanking process, thus increasing the production process and labor costs.

[0004] Therefore, it is necessary to design a manipulator device for unloading injection molded parts that is structurally sound, reliably grips, and functionally integrated, in order to solve the problems existing in the above-mentioned prior art. Utility Model Content

[0005] The main objective of this invention is to provide a robotic arm device for unloading injection molded parts and an injection molding machine to solve at least one of the technical problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model proposes a robotic arm device for unloading injection molded parts, comprising: The first gripping component is used to grip plastic parts; The X-axis moving component is used to drive the first gripping component to move along the horizontal X-axis direction; The Y-axis moving component is used to drive the first gripping component to move along the horizontal Y-axis direction; And a Z-axis moving component, used to drive the first gripping component to move along the vertical Z-axis direction; The X-axis moving component is disposed on the Y-axis moving component, and the Z-axis moving component is disposed on the X-axis moving component; The first crawling component includes: The suction cup section uses negative pressure to pick up plastic parts; A flipping part is provided on the Z-axis moving assembly and is used to drive the suction cup part to flip. And a detection unit, used to detect whether a plastic part has been picked up by the suction cup.

[0007] In the above technical solution, the detection unit is further defined as a pressure sensor.

[0008] In any of the above technical solutions, the suction cup portion further includes: The suction cup holder is disposed on one side of the flipping part; A pipe connector, which is a hollow structure, is located on the other side of the flipping part and is used to connect an external vacuum generator; A suction cup is provided on the suction cup, which has a negative pressure chamber inside, and a number of negative pressure adsorption holes connected to the negative pressure chamber are opened on its end face; And conduit; The suction cup base and the suction cup are both provided with through holes. The conduit passes through the pipe joint, the flipping part, and the suction cup base in sequence and leads to the negative pressure chamber of the suction cup. The pressure sensor is set on the through hole on the suction cup. The cable on the sensor passes through the negative pressure chamber of the suction cup, passes through the conduit, and extends out from the other end of the conduit.

[0009] In any of the above technical solutions, further, the flipping part has a connecting tube that extends through both ends of it, the tube joint is disposed at one end of the connecting tube, the suction cup seat is disposed at the other end of the connecting tube, and a sleeve is also disposed in the middle of the suction cup seat. The sleeve passes through and extends into the suction cup, and the suction cup and the sleeve are provided with a sliding seal. The connecting tube also passes through the sleeve and extends into the negative pressure chamber of the suction cup, and a pressure adjusting spring is also provided between the suction cup and the suction cup seat.

[0010] In any of the above technical solutions, further, the suction cup is provided with a guide rod, and the suction cup base is provided with a guide hole for the guide rod to be slidably inserted; or the suction cup base is provided with a guide rod, and the suction cup is provided with a guide hole for the guide rod to be slidably inserted. The pressure adjusting spring is sleeved on the guide rod, and its two ends are respectively pressed against the suction cup seat and the suction cup.

[0011] In any of the above technical solutions, further comprising: The control unit is electrically connected to the pressure sensor and is used to receive the signal detected by the sensor and control the operating status of the X-axis moving component, Y-axis moving component, Z-axis moving component and the first gripping component.

[0012] In any of the above technical solutions, a second gripping component is further included for gripping injection molding waste edges.

[0013] In any of the above technical solutions, the second gripping component is further described as a pneumatic gripper.

[0014] In any of the above technical solutions, the X-axis moving component, Y-axis moving component, and Z-axis moving component are either belt linear modules or ball screw modules.

[0015] On the other hand, an injection molding machine is also proposed, which uses the injection part unloading robot device in any of the above technical solutions to unload the injection molded parts.

[0016] Beneficial effects: Compared with existing technologies, 1. By setting up a detection unit (pressure sensor), it is possible to detect in real time whether the suction cup part has successfully gripped the injection molded part, effectively avoiding empty gripping and missed picking, and improving the accuracy of material feeding and production efficiency.

[0017] 2. The suction cup adopts a negative pressure adsorption method, combined with a pressure adjustment spring and a sliding sealing structure, to achieve flexible gripping, which can buffer the impact force of gripping, avoid scratching or damaging the surface of the injection molded parts, and improve the product qualification rate.

[0018] 3. The control unit is linked with the pressure sensor, which can automatically control the operating status of each moving component and gripping component, realize the automated control of the feeding process, and reduce manual intervention.

[0019] 4. Adding a second gripping component (pneumatic gripper) can simultaneously handle injection molding waste while gripping the injection molded parts, realizing the integration of material feeding and waste edge processing, simplifying the production process and reducing labor costs. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 is a schematic diagram of the overall structure of the injection molding part unloading robot device of this utility model; Figure 2 is a schematic diagram of the structure of the injection molding part unloading robot device of this utility model after removing the Y-axis moving component; Figure 3 is a schematic diagram of the structure of the first gripping component of this utility model on the Z-axis moving component; Figure 4 is a schematic diagram of the internal structure of the first gripping component of this utility model after it is flipped on the Z-axis moving component.

[0022] Explanation of reference numerals in the attached drawings: 1. First gripping assembly; 11. Suction cup part; 111. Suction cup base; 112. Pipe connector; 113. Suction cup; 1131. Negative pressure chamber; 1132. Negative pressure adsorption hole; 114. Conduit; 115. Sleeve; 116. Pressure adjusting spring; 117. Guide rod; 118. Guide hole; 12. Flipping part; 121. Connecting pipe; 13. Detection part; 2. X-axis moving assembly; 3. Y-axis moving assembly; 4. Z-axis moving assembly; 5. Second gripping assembly. Detailed Implementation

[0023] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely a part of the embodiments of this application, and not all of the embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0024] It should be noted that, as shown in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, and these steps and elements do not constitute an exclusive list; the method or apparatus may also include other steps or elements.

[0025] If the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] The following embodiments will be used to describe in detail the injection molding part unloading robot device and injection molding machine of this application.

[0029] Example 1:

[0030] like Figures 1-4 As shown, this embodiment proposes a robotic arm device for unloading injection molded parts, including: a first gripping component 1, an X-axis moving component 2, a Y-axis moving component 3, and a Z-axis moving component 4. The X-axis moving component 2 is mounted on the Y-axis moving component 3, the Z-axis moving component 4 is mounted on the X-axis moving component 2, and the first gripping component 1 is mounted on the Z-axis moving component 4. The three moving components can drive the first gripping component 1 to move in three-dimensional space, realizing the gripping and transfer of injection molded parts.

[0031] The first gripping component 1 includes a suction cup part 11, a flipping part 12, and a detection part 13. The suction cup part 11 uses negative pressure adsorption to grip the plastic part. Compared with mechanical clamping, negative pressure adsorption has a more uniform force and can reduce damage to the surface of the injection molded part. The flipping part 12 is installed on the Z-axis moving component 4. It consists of a flipping plate and a flipping cylinder. The flipping plate is hinged to the sliding seat of the Z-axis moving component 4. By extending and retracting the cylinder, the flipping plate is driven to flip. The placement angle of the injection molded part can be adjusted according to the material unloading requirements to adapt to different collection containers or subsequent processing stations. The detection part 13 is used to detect whether the suction cup part 11 has successfully gripped the injection molded part to avoid production interruption caused by empty clamping operation.

[0032] This embodiment achieves precise transfer of injection molded parts through three sets of moving components. The flipping part 12 improves the flexibility of material unloading, and the detection part 13 avoids missing parts due to empty clamping. The basic structure is simple and reliable, and it is suitable for the unloading requirements of conventional injection molded parts.

[0033] Example 2:

[0034] This embodiment is a further improvement based on Embodiment 1.

[0035] like Figure 3 and Figure 4 As shown, in this embodiment, a control unit is also included.

[0036] The detection unit 13 employs a pressure sensor, which is installed at the through hole of the suction cup base 111. This through hole extends into the negative pressure chamber 1131 of the suction cup 113, enabling real-time detection of pressure changes within the negative pressure chamber 1131. When the suction cup 113 adheres to the injection molded part and forms a sealed negative pressure environment, the pressure sensor detects the pressure signal change and transmits it to the control unit. If the injection molded part is not gripped, the negative pressure chamber 1131 cannot form an effective negative pressure, and the pressure sensor does not output a corresponding signal.

[0037] The control unit is electrically connected to the pressure sensor, and also electrically connected to the X-axis moving assembly 2, Y-axis moving assembly 3, Z-axis moving assembly 4, and the first gripping assembly 1. After receiving the detection signal from the pressure sensor, the control unit determines whether the injection molded part has been successfully gripped: if a valid pressure signal is detected, the control unit controls each moving assembly to start, moving the injection molded part to the designated position; if no valid pressure signal is detected, the control unit controls the first gripping assembly 1 to re-execute the gripping action, or issues an alarm signal to prompt the staff to troubleshoot the problem.

[0038] This embodiment uses a pressure sensor to accurately detect the gripping status, and the control unit achieves automated closed-loop control. There is no need for manual judgment on whether the gripping is successful, which significantly improves the accuracy of material feeding and production efficiency, and reduces the cost of manual intervention.

[0039] Example 3:

[0040] This embodiment is a further improvement based on any of the above embodiments.

[0041] like Figure 3 and Figure 4 As shown, in this embodiment, the suction cup part 11 includes a suction cup base 111, a pipe connector 112, a suction cup 113, and a conduit 114. The suction cup base 111 is installed on one side of the flip-up part 12, and the pipe connector 112 is a hollow structure installed on the other side of the flip-up part 12 for connecting an external vacuum generator. The suction cup 113 is installed on the suction cup base 111, and the suction cup 113 has a negative pressure chamber 1131 inside. Multiple negative pressure adsorption holes 1132 communicating with the negative pressure chamber 1131 are opened on the end face. The vacuum generator provides negative pressure to the negative pressure chamber 1131 through the pipe connector 112 and the conduit 114, and adsorbs the injection molded part through the negative pressure adsorption holes 1132. The conduit 114 is used to pass through the cable of the pressure sensor to avoid the cable from getting tangled or damaged.

[0042] The flipping part 12 is provided with a connecting pipe 121 that passes through both ends of it. The pipe joint 112 is installed at one end of the connecting pipe 121, and the suction cup seat 111 is installed at the other end of the connecting pipe 121. The suction cup seat 111 is provided with a sleeve 115 in the middle. The sleeve 115 passes through and extends into the suction cup 113. The suction cup 113 and the sleeve 115 are provided with a sliding seal to ensure the sealing of the negative pressure chamber 1131. A pressure adjusting spring 116 is provided between the suction cup 113 and the suction cup seat 111, and the structure of the guide rod 117 and the guide hole 118 is coordinated with it. The structure can be "the suction cup 113 is provided with the guide rod 117 and the suction cup seat 111 is provided with the guide hole 118" or "the suction cup seat 111 is provided with the guide rod 117 and the suction cup 113 is provided with the guide hole 118". The guide rod 117 is slidably embedded in the guide hole 118, and the pressure adjusting spring 116 is sleeved on the guide rod 117, with its two ends abutting against the suction cup seat 111 and the suction cup 113 respectively.

[0043] When the suction cup 113 presses against the injection molded part, the injection molded part generates a reverse force on the suction cup 113, and the pressure regulating spring 116 is compressed. Through the elastic buffer of the spring, the impact force during gripping can be offset, and the injection molded part is prevented from being scratched due to rigid contact. The cooperation between the guide rod 117 and the guide hole 118 ensures that the suction cup 113 moves in a straight line during the buffering process, and prevents the pressure regulating spring 116 from deviating and causing adsorption failure.

[0044] This embodiment ensures the reliability of negative pressure adsorption through a sliding sealing structure, achieves flexible gripping with the pressure regulating spring 116 to avoid product damage, enhances structural stability with the guide rod 117 and guide hole 118, and accurately detects the adsorption state with a pressure sensor. After overall structural optimization, the gripping success rate and product qualification rate are significantly improved.

[0045] Example 4:

[0046] This embodiment is a further improvement based on any of the above embodiments.

[0047] like Figure 1 and Figure 2 As shown, in this embodiment, a second grasping component 5 is also included.

[0048] The second gripping component 5 uses a pneumatic gripper and is installed in a suitable position on the robotic arm device. It can be installed side by side with the first gripping component 1 on the Z-axis moving component 4 to grip the waste edges generated during the injection molding process. After the injection molding machine opens the mold, the first gripping component 1 grips the molded injection part, and the second gripping component 5 simultaneously grips the waste edges inside the mold. While transferring the injection part to the collection position, the waste edges are transferred to the waste edge collection container, realizing the integrated operation of material unloading and waste edge processing.

[0049] This embodiment eliminates the need for additional waste edge processing equipment or manual waste edge cleaning, simplifying the production process, shortening the production cycle, reducing labor and equipment investment costs, and improving the automation level of the production line.

[0050] Example 5:

[0051] This embodiment is a further improvement based on any of the above embodiments.

[0052] like Figure 1 and Figure 2 As shown, in this embodiment, the X-axis moving component 2, Y-axis moving component 3, and Z-axis moving component 4 can be either a belt linear module or a ball screw module: the belt linear module has the characteristics of fast running speed, low noise, and moderate cost, and is suitable for scenarios with high moving speed and moderate accuracy requirements; the ball screw module has the characteristics of high moving accuracy, strong rigidity, and good repeatability, and is suitable for scenarios with high transfer accuracy requirements, such as the blanking of thin-walled injection molded parts and high-precision shell parts.

[0053] Users can select the appropriate type of mobile module based on the precision requirements of injection molded parts, production rhythm and other actual needs to improve the adaptability of the device.

[0054] The mobile component in this embodiment is flexibly selected and can be adapted to production needs of different precision and pace, thereby improving the versatility and practicality of the device.

[0055] Example 6:

[0056] This embodiment proposes an injection molding machine, which includes a machine body and a robotic arm for unloading injection molded parts, as described in any of the above embodiments. The robotic arm is linked to the control system of the machine body. After the injection molding machine completes injection molding and opens the mold, the control system sends an unloading signal to the robotic arm. The robotic arm performs actions such as gripping, transferring, and waste edge processing according to a preset program. After unloading, it sends a feedback signal to the machine body, and the machine body proceeds to the next injection molding cycle.

[0057] The operating conditions of the injection molding machine are as follows: After the injection molding machine is started, it completes the molding process of the injection molded parts according to the preset parameters; The injection molding machine opens the mold and sends a material unloading trigger signal to the robotic arm device; After receiving the signal, the control unit of the robotic arm device controls the X-axis, Y-axis, and Z-axis moving components to work together, driving the first gripping component 1 to move to the location of the injection molded part; The vacuum generator is started, providing negative pressure to the negative pressure chamber 1131 of the suction cup section 11. The suction cup 113 adheres to the injection molded part and adsorbs the injection molded part through the negative pressure adsorption hole 1132. The pressure sensor detects the pressure change in the negative pressure chamber 1131 and transmits the detection signal to the control unit. After the control unit confirms that the gripping is successful, it controls the flipping unit 12 to adjust the angle of the injection molded part as required. While the first gripping component 1 is adsorbing the injection molded part, the second gripping component 5 is activated to grip the waste edge inside the mold; The control unit controls the coordinated action of each moving component, driving the first gripping component 1 to transfer the injection molded part to the designated collection position, and simultaneously driving the second gripping component 5 to transfer the waste edge to the waste edge collection container; Upon reaching the designated position, the vacuum generator stops working, the negative pressure chamber 1131 is depressurized, and the first gripping assembly 1 releases the injection molded part; the pneumatic grippers of the second gripping assembly 5 release the waste edge. The control unit resets each component, waiting for the material feeding signal for the next injection molding cycle; If the pressure sensor does not detect a valid pressure signal (no part is captured), the control unit will reset all components and issue an alarm signal to prompt staff to check the mold status or the position of the part.

[0058] Through the above control, the fully automated feeding of injection molded parts is achieved, ensuring reliable gripping and precise transfer. The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robotic arm device for unloading injection molded parts, characterized in that, include: The first gripping component (1) is used to grip the plastic part; X-axis moving component (2) is used to drive the first gripping component (1) to move along the horizontal X-axis direction; Y-axis moving component (3) is used to drive the first gripping component (1) to move along the horizontal Y-axis direction; And a Z-axis moving component (4) for driving the first gripping component (1) to move along the vertical Z-axis direction; The X-axis moving component (2) is disposed on the Y-axis moving component (3), and the Z-axis moving component (4) is disposed on the X-axis moving component (2). The first crawling component (1) includes: The suction cup (11) uses negative pressure to pick up plastic parts; A flipping part (12) is disposed on the Z-axis moving assembly (4) and is used to drive the suction cup part (11) to flip. And a detection unit (13) for detecting whether a plastic part has been picked up on the suction cup unit (11).

2. The injection molding part unloading robot device as described in claim 1, characterized in that, The detection unit (13) is a pressure sensor.

3. The injection molding part unloading robot device as described in claim 2, characterized in that, The suction cup portion (11) includes: A suction cup base (111) is disposed on one side of the flipping part (12); Pipe connector (112), which is a hollow structure, is located on the other side of the flip-up part (12) and is used to connect an external vacuum generator; A suction cup (113) is provided on the suction cup (113), which has a negative pressure chamber (1131) inside, and a plurality of negative pressure adsorption holes (1132) connected to the negative pressure chamber (1131) are opened on its end face. And conduit (114); The suction cup base (111) and the suction cup (113) are both provided with through holes in the middle. The conduit (114) passes through the pipe joint (112), the flipping part (12), and the suction cup base (111) in sequence and then leads to the negative pressure chamber (1131) of the suction cup (113). The pressure sensor is set on the through hole on the suction cup (113). The cable on it passes through the negative pressure chamber (1131) of the suction cup (113), passes through the conduit (114), and extends out from the other end of the conduit (114).

4. The injection molding part unloading robot device as described in claim 3, characterized in that, The flipping part (12) has a connecting tube (121) that runs through both ends of it. The pipe joint (112) is located at one end of the connecting tube (121), and the suction cup seat (111) is located at the other end of the connecting tube (121). A sleeve (115) is also provided in the middle of the suction cup seat (111). The sleeve (115) passes through and extends into the suction cup (113). The suction cup (113) and the sleeve (115) are provided with a sliding seal. The connecting tube (121) passes through the sleeve (115) and extends into the negative pressure chamber (1131) of the suction cup (113). A pressure regulating spring (116) is also provided between the suction cup (113) and the suction cup seat (111).

5. The injection molding part unloading robot device as described in claim 4, characterized in that, The suction cup (113) is provided with a guide rod (117), and the suction cup base (111) is provided with a guide hole (118) for the guide rod (117) to slide into; or the suction cup base (111) is provided with a guide rod (117), and the suction cup (113) is provided with a guide hole (118) for the guide rod (117) to slide into. The pressure adjusting spring (116) is sleeved on the guide rod (117), and its two ends are respectively pressed against the suction cup seat (111) and the suction cup (113).

6. The injection molding part unloading robot device as described in claim 3, characterized in that, Also includes: The control unit is electrically connected to the pressure sensor and is used to receive the signal detected by the sensor and control the operating status of the X-axis moving component (2), Y-axis moving component (3), Z-axis moving component (4) and the first gripping component (1).

7. The injection molding part unloading robot device as described in claim 1, characterized in that, Also includes: The second gripping component (5) is used to grip the injection molding waste edge.

8. The injection molding part unloading robot device as described in claim 7, characterized in that, The second gripping component (5) is a pneumatic gripper.

9. The injection molding part unloading robot device as described in any one of claims 1-8, characterized in that, The X-axis moving component (2), Y-axis moving component and Z-axis moving component (4) are either belt linear modules or ball screw modules.

10. An injection molding machine, characterized in that, The injection-molded parts are unloaded using the injection-molded part unloading robot device as described in any one of claims 1-9.

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