CN106863722A - Injection machine oblique-arm type manipulator - Google Patents

Abstract

The invention discloses an oblique-arm manipulator for an injection molding machine, which includes a body for supporting, a main arm that can be turned horizontally relative to the body is arranged on the top of the body, and a main arm that can be positioned on the main arm The upper horizontally reciprocating auxiliary arm, the bottom of the auxiliary arm is detachably provided with a hand clamp that reciprocates up and down along the auxiliary arm and can be opened and closed to grab the workpiece. There is a wrist that connects the two and can drive the grip to rotate horizontally; the manipulator also includes a control system that is connected to the main arm, the auxiliary arm, the grip and the wrist respectively. The invention has a simple structure and consists of five parts: a fixedly installed body, a reversible main arm, a linearly movable sub-arm, an openable hand clip and a wrist that drives the hand clip to rotate, and can complete the injection molding machine according to the actual movement. The handling of products realizes automatic control of production, reduces labor intensity, improves production efficiency, and thus reduces production costs.

Description

Injection molding machine inclined arm manipulator

technical field

The invention relates to the technical field of automatic injection molding, more specifically, it relates to an inclined-arm type manipulator of an injection molding machine.

Background technique

A manipulator is a machine that moves workpieces from one place to another. At present, in developed countries, manipulators are widely used in various industries. However, in the injection molding industry, due to the softness and high temperature of injection molding products, ordinary manipulators cannot be widely used in automatic injection molding production lines. Therefore, in some injection molding production lines, the products produced by injection molding machines are generally cooled after demoulding Collecting or transporting to the next process for processing, this process greatly increases the labor force and reduces production efficiency, thus affecting the production efficiency of the enterprise.

Contents of the invention

The technical problem to be solved in the present invention is to provide a simple structure, convenient manufacture, and effectively improve production efficiency, which can automatically control the oblique arm type manipulator of the injection molding machine for grasping the injection molded parts.

The technical solution of the present invention is as follows: the oblique arm manipulator of the injection molding machine includes a body for support, a main arm that can be turned horizontally relative to the body is provided above the body, and a main arm that can be positioned on the main arm is provided The sub-arm that reciprocates horizontally on the main arm, the bottom of the sub-arm is detachably provided with a hand grip that reciprocates up and down along the sub-arm and can perform opening and closing movements to grab the workpiece. A wrist that connects the two and can drive the gripper to rotate horizontally is arranged between the auxiliary arms; the manipulator also includes a control system that is connected to the main arm, the auxiliary arm, the gripper and the wrist respectively.

As a further improvement, one side of the machine body is provided with a rocker mechanism that can drive the movement of the main arm, and one end of the main arm is provided with a first drive mechanism that can drive the movement of the auxiliary arm. The arm is provided with a second drive mechanism that can drive the hand clip to move up and down, and a third drive mechanism that can drive the hand clip to open and close is provided between the hand clip and the wrist.

Further, the rocker mechanism includes a swingable telescopic cylinder articulated on the body, a rocker movably connected to the telescopic cylinder, and a rocker fixedly connected to the rocker and passing through the body to the main body. One end of the arm is fixedly connected with a turning shaft, and the turning shaft is relatively rotatably arranged on the upper part of the body.

Further, the rocking plate is a triangular thin plate that can swing from 0° to 90° around the transverse axis of the body, and an arc-shaped guide hole is provided under the triangular thin plate to connect with the telescopic cylinder.

Further, the main arm includes a connecting frame connected to the rocker mechanism, a supporting frame located at the opposite end of the connecting frame for supporting the first driving mechanism, and a supporting frame located on both sides of the connecting frame and the supporting frame. A pair of main force plates connecting the two, a pair of guide rods located between the two main force plates, and a slide block for installing the auxiliary arm that can slide on the two guide rods.

Further, an intermediate frame that can prevent damage to the main arm due to overload movement is also provided between the two main plates near one end of the support frame, and the intermediate frame and the slide block are respectively provided with shock absorbers. buffer.

Further, the auxiliary arm and the slider are connected by balls to form a linear motion of the ball, and the second drive mechanism includes a mounting plate located at the bottom end of the auxiliary arm and installed between the mounting plate and the sliding block. linear cylinder.

Further, the gripper is a gripper type gripper, including a pair of nippers that can be opened and closed and a baffle that presses the two nippers, and the nippers are hinged on the The inner side of the baffle allows the nipper to complete the opening action in a natural state, and the end of the nipper located on the inner side of the baffle is also provided with a roller that can rotate relative to the nipper; the third drive The mechanism includes a conical pin that can be plugged into a pair of rollers at the end of the grip to close the nipper and a push cylinder that pushes the taper pin to move. Connectors connecting the two.

Further, the body is a fixed body installed on one side of the injection molding machine, including a mounting seat for mounting and fixing, a hollow cylinder for mounting the main arm, and connecting the mounting seat and the cylinder The connections for mounting the control system.

Further, the control system is a program-controlled PLC module, including a plurality of travel switches, photoelectric switches, operation buttons, working mode selection switches, electromagnets and indicator lights. Arm, jib, grip, and wrist movements.

Beneficial effect

Compared with the prior art, the present invention has the advantages that: the present invention is simple in structure and easy to manufacture. The rotating wrist is composed of five parts. The frictional resistance between each part is small, and no waste that pollutes the environment will be produced. It can complete the handling of injection molding machine products according to the actual movement; it can be controlled by PLC to realize automatic control of production. The labor intensity is greatly reduced, the production efficiency is improved, and thus the production cost is reduced; moreover, the gripper of the manipulator can be replaced, and is used for gripping workpieces of various shapes, so that the use of the manipulator is more diversified.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the enlarged schematic diagram of the structure of main arm in the present invention;

Fig. 3 is the enlarged schematic view of the local structure of the connection between the main arm and the auxiliary arm in the present invention;

Fig. 4 is the enlarged schematic view of the local structure of the connection between the wrist and the auxiliary arm in the present invention;

Fig. 5 is the enlarged schematic view of the structure of the rocker mechanism in the present invention;

Fig. 6 is the enlarged schematic diagram of the cross-sectional structure of the hand clip in the present invention;

Fig. 7 is the motion schematic diagram of manipulator among the present invention;

Fig. 8 is the wiring circuit diagram of control system among the present invention;

Fig. 9 is an action sequence diagram of the electromagnet in the present invention.

Among them: 1-body, 2-main arm, 3-secondary arm, 4-hand clip, 5-wrist, 6-control system, 7-rocker mechanism, 8-first driving mechanism, 9-second driving mechanism, 10-Third driving mechanism, 1a-mounting seat, 1b-cylinder, 1c-connecting part, 2a-connecting frame, 2b-supporting frame, 2c-main force plate, 2d-guide rod, 2e-slider, 2f-middle Frame, 2g-bumper, 4a-nipper, 4b-baffle, 4c-pin, 4d-roller, 7a-telescopic cylinder, 7b-rocking plate, 7c-turning shaft, 9a-installation plate, 9b-linear cylinder, 10a-taper pin, 10b-promote cylinder, 10c-connector.

detailed description

The present invention will be further described below in conjunction with the specific embodiments in the accompanying drawings.

Referring to Figures 1-9, the oblique-arm manipulator of the injection molding machine of the present invention is installed next to the injection molding machine or the injection molding machine, and is used for real-time gripping of the injection molded product for transport to the corresponding position, including the body 1 for support , on the top of the body 1 is provided a main arm 2 that can be turned horizontally relative to the body 1, and on the main arm 2 is provided a sub-arm 3 that can reciprocate horizontally on the main arm 2, and at the bottom of the sub-arm 3 There is a detachable hand clamp 4 that reciprocates up and down along the auxiliary arm 3 and can be opened and closed to grab the workpiece. Between the hand clamp 4 and the auxiliary arm 3, there is a hand clamp 4 that connects the two and can drive The horizontally rotating wrist 5, wherein the body 1 bears the weight of the entire manipulator and the workpiece. Since the manipulator is used in an injection molding machine, the objects to be grasped are light plastic parts. Therefore, the body 1 is made of aluminum profiles to meet the needs of use. Requirements, greatly reducing the weight and production cost of the body 1, the main arm 2 is one of the actuators of the manipulator, carrying the weight of the auxiliary arm 3, wrist 5, hand clamp 4 and workpiece, etc., and is responsible for driving the hand clamp 4 in the horizontal direction Turn over the gripper 4 to move away from the injection molding machine to ensure that the grasped workpiece moves to the designated position. Since the manipulator is dedicated to the production of the injection molding machine, the main arm 2 can be made of aluminum alloy to meet the requirements, which greatly reduces the The quality and production cost of the main arm 2 are easy to process and manufacture. The auxiliary arm 3 is responsible for driving the hand clip 4 to move up and down in the vertical direction. A single-blade rotary cylinder is responsible for driving the gripper 4 to reciprocate and rotate around the vertical direction to change the grabbing direction of the gripper 4. The manipulator of the present invention is specially used for injection molding machines to grab plastic parts with small shape and light weight. Clip 4 adopts the saliva clip of hand clip to meet the requirements; the manipulator of the present invention also includes the control system 6 connected with the main arm 2, the auxiliary arm 3, the hand clip 4 and the wrist 5 respectively, for controlling the main arm 2 to turn over, The up and down movement of the auxiliary arm 3, the rotation of the wrist 5 and the opening and closing of the hand clip 4 realize automatic control and are very convenient to operate. The present invention is simple in structure and easy to manufacture, and consists of five parts: a fixedly installed body 1, a reversible main arm 2, a sub-arm 3 that can move linearly, an openable hand grip 4, and a wrist 5 that drives the hand grip 4 to rotate. The frictional resistance between the various parts is small, no waste that pollutes the environment will be produced, and the product handling of the injection molding machine can be completed according to the actual movement; it can be controlled by PLC to realize automatic control of production, which greatly reduces labor intensity and improves production efficiency. production efficiency, thereby reducing the production cost; and, the gripper 4 of the manipulator can be replaced, and is used to clamp workpieces of various shapes, so that the use of the manipulator is more diversified.

In this embodiment, a rocker mechanism 7 that can drive the movement of the main arm 2 is also provided on one side of the body 1, and a first drive mechanism 8 that can drive the movement of the auxiliary arm 3 is provided at one end of the main arm 2. The arm 3 is provided with a second drive mechanism 9 that can drive the hand clip 4 to move up and down, and a third drive mechanism 10 that can drive the hand clip 4 to open and close is provided between the hand clip 4 and the wrist 5. The above-mentioned rocker The driving devices of the mechanism 7 , the first driving mechanism 8 , the second driving mechanism 9 and the third driving mechanism 10 are respectively connected to the control system 6 through wires to form a circuit loop.

Wherein, the rocker mechanism 7 includes a swingable telescopic cylinder 7a articulated on the body 1, a rocker 7b that is movably connected with the telescopic cylinder 7a, and a rocker 7b that is fixedly connected with the rocker 7b and passes through the body 1 and the main arm 2. One end is fixedly connected to the turning shaft 7c, which can be relatively rotatably arranged on the upper part of the body 1. The turning shaft 7c needs to bear greater pressure and be subject to greater torque and bending moment, so the turning shaft 7c is Shaft parts made of 45 steel, the rocking plate 7b is a triangular thin plate that can swing from 0° to 90° around the transverse axis of the body 1, and an arc-shaped guide hole and telescopic cylinder 7a are arranged below the triangular thin plate The push rods are connected, and the push rod of the telescopic cylinder 7a is extended or shortened to drive the bottom of the rocking plate 7b to swing around the top of the rocking plate 7b. Since the turning shaft 7c is fixedly connected to the top of the rocking plate 7b, the turning shaft 7c swings with the rocking plate 7b , thereby driving the main arm 2 to swing.

The main arm 2 includes a connecting frame 2a connected to the rocker mechanism 7, a support frame 2b positioned at the opposite end of the connecting frame 2a for supporting the first driving mechanism 8, and a support frame 2b positioned at both sides of the connecting frame 2a and the support frame 2b. A pair of connected main force plates 2c, a pair of guide rods 2d between the two main force plates 2c, and a slider 2e for installing the auxiliary arm 3 that can slide on the two guide rods 2d, that is, the main arm 2 is formed by the connecting frame 2a , the support frame 2b, the main force plate 2c, the guide rod 2d and the frame type cantilever composed of the slider 2e, while improving the stability and precision of the movement of the auxiliary arm 3, it also reduces the quality of the main arm 2, effectively saving production costs, The first driving mechanism 8 is a pneumatic cylinder installed on the support frame 2b. The push rod of the cylinder is connected with the slider 2e of the main arm 2. Through the expansion and contraction of the cylinder, the slider 2e is pushed to linear displacement, thereby driving the auxiliary arm 3 reciprocating motion in the horizontal direction. An intermediate frame 2f that can prevent damage to the main arm 2 due to overload movement is also provided between the two main force plates 2c near one end of the support frame 2b, and an oil pressure buffer that can reduce the impact force is respectively provided on the intermediate frame 2f and the slider 2e. The device 2g effectively protects the main arm 2 and the auxiliary arm 3 from damage, and improves the position accuracy of the hand grip 4.

The auxiliary arm 3 is a sliding rod that is compatible with the slider 2e on the main arm 2, and the auxiliary arm 3 and the slider 2e are connected by balls to form a linear motion of the balls to ensure the smooth sliding of the auxiliary arm 3 up and down. The positional accuracy of the grip 4 is effectively improved to prevent the grip 4 from shaking when grasping; the second drive mechanism 9 includes a mounting plate 9a located at the bottom of the auxiliary arm 3 and is installed between the mounting plate 9a and the slider 2e The linear cylinder 9b, the push rod of the linear cylinder 9b is fixedly connected with the mounting plate 9a, the cylinder body of the linear cylinder 9b is fixedly connected with the slider 2e on the main arm 2, and the reciprocating expansion and contraction of the linear cylinder 9b realizes pushing the hand clip 4 to reciprocate up and down displacement.

The hand clip 4 is a hand-clamped claw, including a pair of openable and closed nippers 4a and a baffle 4b that presses the two nippers 4a, and the nippers 4a are respectively hinged to the baffle 4b through pins 4c The inner side of the nipper 4a completes the action of opening under the natural state, that is, the pin 4c is a setting that deviates from the center of gravity of the nipper 4a, and an end that is positioned at the inner side of the baffle plate 4b on the nipper 4a is also provided with the nipper 4a that can be opposite to the nipper 4a. Rotating roller 4d, there is a gap between the two rollers 4d; the third drive mechanism 10 includes a conical pin 10a that can be inserted into the gap between a pair of rollers 4d at the end of the hand clamp 4 to close the nipper 4a and push the conical pin 10a The moving push cylinder 10b pushes the conical pin 10a to reciprocate by pushing the push rod of the cylinder 10b, and drives the nipper 4a of the hand clamp 4 to open and close, so as to realize grabbing and putting down the workpiece. Between the push cylinder 10b and the hand clamp 4 There is also a connecting piece 10c connecting the two to realize the smooth connection between the push cylinder 10b and the hand clip 4 .

The body 1 is a fixed body installed on the injection molding machine or on one side of the injection molding machine, including a mounting base 1a for mounting and fixing, a hollow cylindrical body 1b for mounting the main arm 2 and connecting the mounting base 1a and the cylindrical body 1b The connecting part 1c for installing the control system 6, the bottom of the mounting seat 1a is provided with a plurality of bolt holes and reinforcing ribs for installation, the connecting part 1c is a hollow structure, and the various wiring harnesses of the control system 6 are integrated with the connecting part In the inner cavity of 1c, the turning shaft 7c of the rocker mechanism 7 is inserted into the inner cavity of the cylinder 1b.

Control system 6 is a PLC module automatically controlled by the program, including a plurality of travel switches, photoelectric switches, operation buttons, working mode selection switches, electromagnets and indicator lights. Preferably, there are 6 travel switches, 1 photoelectric switch, and operation buttons 9, 2 working mode selector switches, 12 output points, including 8 electromagnets and 4 indicator lights, and the PLC module has 22 input points and 12 output points, which can be respectively input by inputting different program instructions Complete the movements of main arm 2, auxiliary arm 3, grip 4 and wrist 5.

The automatic control principle of the present invention is: before the motion starts, all parts are in the initial position; Translate, when the auxiliary arm 3 moves to the designated place, the electromagnet 4YA is disconnected, and the auxiliary arm 3 will stop moving; after the power is turned off, the electromagnet 2YA that controls the downward movement of the grip 4 is turned on, and the wrist 5 is controlled to rotate The electromagnet 8YA is also turned on at the same time, and the wrist 5 rotates 180° while the hand clip 4 moves downward through the guide rail on the auxiliary arm 3. When the hand clip 4 moves down to the designated position, the electromagnet 2YA is disconnected, and the wrist 5 The clamp 4 stops moving downward; the electromagnet 3YA controlling the closing of the nipper 4a is turned on, and the nipper 4a is closed to complete the workpiece clamping; when the nipper 4a clamps the workpiece firmly, the electromagnet 1YA controlling the upward movement of the hand clamp 4 is turned on , the hand grip 4 moves upward along the guide rail of the auxiliary arm 3, when the hand grip 4 rises to the specified height, 1YA is disconnected, and the hand grip 4 stops moving upward; the electromagnet 1YA controlling the horizontal movement of the auxiliary arm 3 is turned on, and the auxiliary When the arm 3 moves to the specified position, 6YA is disconnected, and the auxiliary arm 3 stops moving; the electromagnet 7YA controlling the rotation of the main arm 2 is connected, and after the main arm 2 rotates 45°, 7YA is disconnected, and the main arm 2 stops rotating; The electromagnet 2YA that moves the clip 4 downward is turned on, the hand clip 4 moves down to a place 10mm away from the stacking area platform, the electromagnet 2YA is disconnected, and the hand clip 4 stops moving; the electromagnet 4YA that controls the release of the nipper 4a is connected Through, the nipper 4a loosens the workpiece and falls in the stacking area, completing the loosening of the workpiece; after all the actions are completed, all the mechanisms have returned to their initial positions.

What is described above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, under the premise of not departing from the structure of the present invention, some deformations and improvements can also be made, and these will not affect the implementation of the present invention effect and utility of the patent.

Claims (10)

1. The oblique arm type manipulator of injection molding machine is characterized in that it includes a body (1) for support, and a main arm (2) that can be turned horizontally relative to the body (1) is arranged on the top of the body (1). The main arm (2) is provided with a secondary arm (3) that can reciprocate horizontally on the primary arm (2), and the bottom end of the secondary arm (3) is detachably provided along the secondary arm (3). ) reciprocates up and down and can perform opening and closing movement to grab the hand clamp (4) of the workpiece. There is a hand clamp (4) and the auxiliary arm (3) that connects the two and can drive the hand clamp (4) a wrist (5) that rotates horizontally; the manipulator also includes a control system (6) that is connected to the main arm (2), auxiliary arm (3), gripper (4) and wrist (5) respectively . 2. The oblique arm type manipulator for injection molding machine according to claim 1, characterized in that, one side of the body (1) is provided with a rocker mechanism (7) that can drive the movement of the main arm (2), so that One end of the main arm (2) is provided with a first driving mechanism (8) that can drive the movement of the auxiliary arm (3), and the auxiliary arm (3) is provided with a device that can drive the hand clamp (4) up and down. A second drive mechanism (9) for movement, a third drive mechanism (10) that can drive the hand clip (4) to open and close is provided between the hand clip (4) and the wrist (5). 3. The inclined-arm manipulator of injection molding machine according to claim 2, characterized in that, the rocker mechanism (7) includes a swingable telescopic cylinder (7a) that is articulated on the body (1), A rocking plate (7b) movably connected with the telescopic cylinder (7a) and a turning shaft ( 7c), the turning shaft (7c) is relatively rotatably arranged on the upper part of the body (1). 4. The oblique-arm manipulator of injection molding machine according to claim 3, characterized in that, the rocking plate (7b) is capable of swinging from 0° to 90° around the transverse axis of the machine body (1). A triangular thin plate is provided with an arc-shaped guide hole connected to the telescopic cylinder (7a) below the triangular thin plate. 5. The oblique arm type manipulator of injection molding machine according to claim 2, characterized in that, the main arm (2) includes a connecting frame (2a) connected to the rocker mechanism (7), and the connecting frame (2a) a support frame (2b) for supporting the first driving mechanism (8) at the opposite end, a pair of main forces that are located on both sides of the connecting frame (2a) and the support frame (2b) and connect the two A plate (2c), a pair of guide rods (2d) located between the two main force plates (2c), and a slider (2e) for installing the auxiliary arm (3) that can slide on the two guide rods (2d). 6. The oblique arm type manipulator of injection molding machine according to claim 5, characterized in that, between the two main force plates (2c) close to one end of the support frame (2b), there is also a device that can prevent overload movement from damaging the The intermediate frame (2f) of the main arm (2), the intermediate frame (2f) and the slide block (2e) are respectively provided with buffers (2g) capable of reducing impact force. 7. The oblique arm type manipulator of injection molding machine according to claim 5, characterized in that, the auxiliary arm (3) and the slider (2e) are connected by balls to form a linear motion of the balls, and the second drive The mechanism (9) includes a mounting plate (9a) located at the bottom end of the auxiliary arm (3) and a linear cylinder (9b) installed between the mounting plate (9a) and the slider (2e). 8. The oblique arm type manipulator of injection molding machine according to claim 2, characterized in that, said gripper (4) is a gripper type gripper, comprising a pair of openable and closable nippers (4a) and The baffle plate (4b) that the two nippers (4a) are compressed, and the nippers (4a) are hinged on the inside of the baffle (4b) through pins (4c) respectively so that the nippers (4a) ) completes the opening action in a natural state, and an end located inside the baffle (4b) on the nipper (4a) is also provided with a roller (4d) that can rotate relative to the nipper (4a); The third drive mechanism (10) includes a conical pin (10a) that can be inserted into a pair of rollers (4d) at the end of the gripper (4) to close the nipper (4a) and pushes the conical pin (10a) a moving push cylinder (10b), and a connecting piece (10c) connecting the two is provided between the push cylinder (10b) and the grip (4). 9. The oblique-arm manipulator for injection molding machine according to any one of claims 1-8, characterized in that, the body (1) is a fixed body installed on one side of the injection molding machine, including a The mounting base (1a) and the cylinder (1b) of the hollow structure used to install the main arm (2) and the cylinder (1b) connecting the mounting base (1a) and the cylinder (1b) are used to install the control system ( 6) the connection part (1c). 10. The oblique arm type manipulator of injection molding machine according to claim 9, characterized in that, the control system (6) is a PLC module automatically controlled by the program, including a plurality of travel switches, photoelectric switches, operation buttons, and working modes. A switch, an electromagnet and an indicator light are selected, and the actions of the main arm (2), the auxiliary arm (3), the gripper (4) and the wrist (5) are respectively completed by inputting different program instructions.