CN113580118A - Injection molding machine operation manipulator and telescoping device thereof - Google Patents
Injection molding machine operation manipulator and telescoping device thereof Download PDFInfo
- Publication number
- CN113580118A CN113580118A CN202110934814.2A CN202110934814A CN113580118A CN 113580118 A CN113580118 A CN 113580118A CN 202110934814 A CN202110934814 A CN 202110934814A CN 113580118 A CN113580118 A CN 113580118A
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- adjusting
- angle adjusting
- diameter
- telescopic
- diameter adjusting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an injection molding machine operation manipulator and a telescopic device thereof, relates to the technical field of injection molding processing, and solves the problems that the prior injection molding processing transfer manipulator cannot adjust the grabbing range in use and cannot adjust the grabbing angle, so that the application range of the manipulator is influenced; the telescopic arm is connected to the right side of the mechanical arm main body in a sliding mode; the telescopic driving structure is arranged on the right side of the front end face of the mechanical arm main body and drives the telescopic arm to stretch; the rotating shaft is rotatably connected to the rear end face of the telescopic arm. The manipulator provided by the invention realizes the adjustment of the installation angle of the manipulator sucker, realizes the grabbing of injection products with different diameters, can grab different positions of the injection products, ensures a good grabbing effect, is simple to adjust, and improves the application range of the manipulator.
Description
Technical Field
The invention relates to the technical field of injection molding processing, in particular to an injection molding machine operation manipulator and a telescopic device thereof.
Background
Injection molding is a processing method of making thermoplastic plastics or thermosetting materials into plastic products with various shapes by using a plastic forming mold, and is the most common plastic processing method, and auxiliary processing is often required to be carried out by operating a manipulator in the injection molding process.
For example, application No.: the invention relates to a CN201110355075.8 manipulator for an injection molding machine, which comprises a connecting plate, a rotary motor arranged at the end part of the connecting plate, a semi-finished product grabbing plate arranged on one plate surface of the connecting plate and a finished product grabbing plate arranged on the other plate surface of the connecting plate, wherein the finished product grabbing plate is connected with the rotary motor through a finished product mechanical arm, the semi-finished product grabbing plate is fixed on the other plate surface of the connecting plate through a mounting plate, a first air cylinder connected with the semi-finished product grabbing plate is arranged on the mounting plate, a second air cylinder is also arranged on the finished product mechanical arm, and the finished product mechanical arm is connected with the finished product grabbing plate through the second air cylinder. According to the invention, through arranging the semi-finished product grabbing plate and the finished product grabbing plate, manual operation is completely replaced by the mechanical arm in the product encapsulation and injection molding process, the production efficiency and the operation stability are improved, the product damage is avoided, the positioning precision is high, the operation is simple and convenient, the structure is simple, the safety and the reliability are high, and the safety and the reliability are improved.
Based on the above, the existing injection molding transfer manipulator cannot adjust the grabbing range and the grabbing angle in use, so that the manipulator is difficult to apply to the grasping actions of parts in different shapes, and the application range of the manipulator is influenced; therefore, the existing requirements are not met, and an injection molding machine operation manipulator and a telescopic device thereof are provided.
Disclosure of Invention
The invention aims to provide an injection molding machine operation manipulator and a telescopic device thereof, and aims to solve the problems that the prior injection molding machine operation manipulator in the background art cannot adjust the grabbing range and the grabbing angle in use, is difficult to adapt to the grabbing actions of parts in different forms, and influences the application range of the manipulator.
In order to achieve the purpose, the invention provides the following technical scheme: an injection molding machine operation manipulator and a telescopic device thereof comprise a manipulator main body;
the telescopic arm is connected to the right side of the mechanical arm main body in a sliding mode;
the telescopic driving structure is arranged on the right side of the front end face of the mechanical arm main body and drives the telescopic arm to stretch;
the rotating shaft is rotatably connected to the rear end face of the telescopic arm;
the corner driving mechanism is arranged inside the telescopic arm and drives the rotating shaft to rotate;
the diameter adjusting swing rods are arranged in pairs, and six pairs of diameter adjusting swing rods are arranged in a circumferential array manner and are connected to the outer side of the rotating shaft in a hinged manner;
the diameter adjusting swing arms are provided with six groups, and the outer sides of each pair of diameter adjusting swing rods are respectively hinged with a group of six groups of diameter adjusting swing arms;
the diameter adjusting mechanism is arranged in the front end face of the swinging rotating shaft of the diameter adjusting swinging arm driven by the diameter adjusting mechanism;
the mechanical arm suckers are arranged in six groups, and the outer side of the rear end face of each group of diameter adjusting swing arms is hinged with one group of mechanical arm suckers;
the angle adjusting mechanism is arranged in the front of the swing rotating shaft and the diameter adjusting swing arm and drives the mechanical arm sucker to swing.
Preferably, the telescopic driving structure further comprises:
the telescopic driven gear is fixedly connected to the inner side of the front part of the telescopic arm;
the telescopic driving piece is fixedly connected to the front part of the mechanical arm main body;
the telescopic driving gear is coaxially and fixedly connected to a rotating shaft of the telescopic driving piece, and the telescopic driven gear is meshed with the telescopic driving gear to jointly form a gear rack transmission mechanism.
Preferably, the angle drive mechanism further includes:
the corner driving piece is fixedly connected to the front end face of the telescopic arm;
the corner driving gear is coaxially and fixedly connected to the front end face of the corner driving piece;
and the corner driven gear is coaxially and fixedly connected to the front end surface of the rotating shaft, and the corner driving gear and the corner driven gear are meshed to form a gear transmission mechanism together.
Preferably, the diameter adjusting mechanism further comprises:
the diameter adjusting driving piece is fixedly connected inside the rotating shaft;
the diameter adjusting driving screw rod is coaxially and fixedly connected to a rotating shaft of the diameter adjusting driving piece;
the diameter adjusting sliding block is in threaded transmission connection with the diameter adjusting driving lead screw, the diameter adjusting sliding block is in sliding connection with the adjusting rotating shaft, and a lead screw nut transmission pair is formed between the diameter adjusting driving lead screw and the diameter adjusting sliding block.
Preferably, the diameter adjusting mechanism further comprises:
the diameter adjusting connecting rods are provided with six groups, the diameter adjusting connecting rods are arranged in a circumferential array mode and are connected to the outer sides of the diameter adjusting sliding blocks through hinges, the other ends of the diameter adjusting connecting rods are respectively connected with the middle portions of the rear group of diameter adjusting swinging rods through hinges, and a crank sliding block transmission mechanism is formed among the diameter adjusting sliding blocks, the diameter adjusting connecting rods, the diameter adjusting swinging rods and the adjusting rotating shaft.
Preferably, the two groups of diameter adjusting swing rods located at the same direction are arranged in parallel, and a double-rocker mechanism is formed by the diameter adjusting swing rods, the diameter adjusting swing rods and the adjusting rotating shaft.
Preferably, the angle adjusting mechanism further comprises:
the angle adjusting driving piece is fixedly connected inside the adjusting rotating shaft;
the angle adjusting sliding block is in threaded transmission connection with the rotating shaft of the angle adjusting driving piece, the angle adjusting sliding block is in sliding connection with the adjusting rotating shaft, and the angle adjusting sliding block and the angle adjusting driving piece jointly form a screw nut transmission pair.
Preferably, the angle adjusting mechanism further comprises:
the six pairs of angle adjusting swinging rods are arranged, and the six pairs of angle adjusting swinging rods are arranged in a circumferential array manner and are connected to the outer sides of the angle adjusting swinging rods through hinges;
the angle adjusting device comprises an angle adjusting sliding piece, six groups of angle adjusting sliding pieces are arranged on the angle adjusting sliding piece, the six groups of angle adjusting sliding pieces are respectively connected inside a diameter adjusting swing arm in a sliding mode, a group of angle adjusting sliding pieces are respectively hinged to the outer side of each pair of angle adjusting swing rods, each pair of angle adjusting swing rods are installed in parallel, the length of each angle adjusting swing rod is equal to that of each diameter adjusting swing rod, each angle adjusting swing rod and each diameter adjusting swing rod are installed in parallel, the angle adjusting sliding pieces, the angle adjusting swing rods and the angle adjusting sliding pieces jointly form a double-swing-rod transmission mechanism, and when the diameter adjusting swing arms are not moved, the angle adjusting sliding pieces, the angle adjusting swing rods, the angle adjusting sliding pieces and the adjusting rotating shafts jointly form a double-block mechanism.
Preferably, the angle adjusting mechanism further comprises:
the angle adjusting connecting rod is hinged to the rear part of the angle adjusting sliding part;
the other end of the angle adjusting connecting rod is hinged with the manipulator sucker, and a slider-crank mechanism is formed among the angle adjusting sliding piece, the angle adjusting connecting rod and the manipulator sucker.
Compared with the prior art, the invention has the beneficial effects that:
when the telescopic driving piece is used, the telescopic arm is driven by the telescopic driving piece to slide left and right through the gear rack transmission mechanism formed by the engagement of the telescopic driven gear and the telescopic driving gear, so that the telescopic arm is stretched, and articles at different distances can be grabbed.
When the invention is used, the corner driving piece drives the rotating shaft to rotate through the gear transmission mechanism which is formed by meshing the corner driving gear and the corner driven gear together, and the angle of the rotating shaft is adjusted.
When the diameter adjusting swing arm mechanism is used, the diameter adjusting driving piece drives the diameter adjusting slide block to slide back and forth through the screw nut transmission pair formed by the diameter adjusting driving screw rod and the diameter adjusting slide block together, the diameter adjusting slide block drives the rear group of diameter adjusting swing rods to swing through the crank slide block transmission mechanism formed by the diameter adjusting slide block, the diameter adjusting connecting rod, the diameter adjusting swing rods and the adjusting rotating shaft together, the rear diameter adjusting swing rod drives the diameter adjusting swing arms to swing through the double-rocker mechanism formed by the diameter adjusting swing arms, the diameter adjusting swing rods and the adjusting rotating shaft together, the installation diameter of the diameter adjusting swing arms is adjusted, and meanwhile, the diameter adjusting swing arms are ensured to be always kept in a horizontal state with the adjusting rotating shaft.
When the diameter adjusting swing arm swings, the diameter adjusting swing arm drives the angle adjusting swing rod and the angle adjusting slider to swing synchronously through a double-rocker transmission mechanism formed by the angle adjusting slider, the angle adjusting swing rod and the angle adjusting slider, meanwhile, when the diameter adjusting swing arm is not moved, the angle adjusting slider slides forwards and backwards, the angle adjusting slider drives the angle adjusting slider to slide forwards and backwards through a double-slider mechanism formed by the angle adjusting slider, the angle adjusting swing rod, the angle adjusting slider and the adjusting rotating shaft, the angle adjusting slider drives the manipulator sucker to swing through a crank slider mechanism formed by the angle adjusting slider, the angle adjusting connecting rod and the manipulator sucker, and the installation angle of the manipulator sucker is adjusted.
The manipulator provided by the invention realizes the stretching and the angle rotation of the manipulator, can also adjust the grabbing diameter, also realizes the adjustment of the installation angle of the manipulator sucker, realizes the grabbing of injection products with different diameters, can grab different positions of the injection products, ensures a good grabbing effect, is simple to adjust, and improves the application range of the manipulator.
Drawings
FIG. 1 is a schematic side view of the present invention;
FIG. 2 is a schematic side view of the telescopic driving structure of the present invention;
FIG. 3 is a schematic side view of the rotating shaft mounting shaft of the present invention;
FIG. 4 is a schematic side view of the corner driving mechanism of the present invention;
FIG. 5 is a schematic view of the diameter adjusting swing arm mounting shaft side structure of the present invention;
FIG. 6 is a schematic side view of the diameter adjusting swing arm drive shaft of the present invention;
FIG. 7 is a schematic side view of the angle adjustment mechanism mounting shaft of the present invention;
FIG. 8 is a schematic side view of the angle adjustment mechanism of the present invention;
in the figure: 1. a robot arm main body; 2. a telescopic arm; 201. a telescopic driven gear; 3. a telescopic driving member; 301. a telescopic driving gear; 4. a corner driving member; 401. a corner drive gear; 5. a rotating shaft; 501. a corner driven gear; 6. a diameter adjustment drive; 601. a diameter adjustment drive screw; 602. a diameter adjusting slider; 603. a diameter adjusting connecting rod; 7. a diameter-adjusting swing lever; 8. a diameter adjusting swing arm; 9. an angle adjustment drive; 901. an angle adjusting slider; 902. an angle-adjusting swing lever; 10. an angle adjustment slider; 1001. an angle adjustment link; 11. and a mechanical arm sucker.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 to 8, an embodiment of the present invention includes: an injection molding machine operation manipulator and a telescopic device thereof comprise a manipulator main body 1; the telescopic arm 2 is connected to the right side of the mechanical arm main body 1 in a sliding mode;
the telescopic driving structure is arranged on the right side of the front end face of the mechanical arm main body 1 and drives the telescopic arm 2 to stretch; as shown in fig. 2, the telescopic driving structure further includes: a telescopic driven gear 201, wherein the telescopic driven gear 201 is fixedly connected to the inner side of the front part of the telescopic arm 2; the telescopic driving piece 3 is fixedly connected to the front part of the mechanical arm main body 1; the telescopic driving gear 301 is coaxially and fixedly connected to a rotating shaft of the telescopic driving part 3, the telescopic driven gear 201 and the telescopic driving gear 301 are meshed to form a gear rack transmission mechanism together, in use, the telescopic driving part 3 drives the telescopic arm 2 to slide left and right through the gear rack transmission mechanism formed by the telescopic driven gear 201 and the telescopic driving gear 301 in a meshed mode, telescopic arm 2 is telescopic, and grabbing of articles at different distances is met;
the rotating shaft 5 is rotatably connected to the rear end face of the telescopic arm 2;
the corner driving mechanism is arranged inside the telescopic arm 2 and drives the rotating shaft 5 to rotate; as shown in fig. 4, the angle drive mechanism further includes: the corner driving piece 4 is fixedly connected to the front end face of the telescopic arm 2; the corner driving gear 401 is coaxially and fixedly connected to the front end face of the corner driving piece 4; the corner driven gear 501 is coaxially and fixedly connected to the front end face of the rotating shaft 5, the corner driving gear 401 and the corner driven gear 501 are meshed to form a gear transmission mechanism together, and in use, the corner driving piece 4 drives the rotating shaft 5 to rotate through the gear transmission mechanism formed by the meshing of the corner driving gear 401 and the corner driven gear 501, so that the angle of the rotating shaft 5 is adjusted;
the diameter adjusting swing rods 7 are arranged in pairs, and six pairs of diameter adjusting swing rods 7 are arranged in a circumferential array manner and are connected to the outer side of the rotating shaft 5 in a hinged manner; the diameter adjusting swing arms 8 are provided with six groups of diameter adjusting swing arms 8, and the outer sides of each pair of diameter adjusting swing rods 7 are respectively hinged with one group of six groups of diameter adjusting swing arms 8;
the diameter adjusting mechanism is arranged in the front end face of the swinging rotating shaft 5 of the diameter adjusting swinging arm 8 driven by the diameter adjusting mechanism; as shown in fig. 6, the diameter adjusting mechanism further includes: the diameter adjusting driving piece 6 is fixedly connected inside the rotating shaft 5; the diameter adjusting driving screw 601, the diameter adjusting driving screw 601 is coaxially and fixedly connected to the rotating shaft of the diameter adjusting driving piece 6; the diameter adjusting driving part 6 drives the diameter adjusting sliding block 602 to slide back and forth through a lead screw nut transmission pair formed by the diameter adjusting driving lead screw 601 and the diameter adjusting sliding block 602 together in use; the diameter adjusting connecting rods 603 are provided with six groups in total, the diameter adjusting connecting rods 603 are arranged in a circumferential array mode and are connected to the outer side of the diameter adjusting sliding block 602 in a hinged mode, the other end of the diameter adjusting connecting rod 603 is connected with the middle of a group of diameter adjusting swinging rods 7 behind the diameter adjusting connecting rods 603 in a hinged mode, the diameter adjusting sliding block 602, the diameter adjusting connecting rods 603, the diameter adjusting swinging rods 7 and the adjusting rotating shaft 5 form a crank sliding block transmission mechanism in common, and when the diameter adjusting sliding block 602 slides forwards and backwards in use, the diameter adjusting sliding block 602 drives the group of diameter adjusting swinging rods 7 behind the diameter adjusting sliding block to swing through the crank sliding block transmission mechanism formed by the diameter adjusting sliding block 602, the diameter adjusting connecting rods 603, the diameter adjusting swinging rods 7 and the adjusting rotating shaft 5 in common;
the mechanical arm suckers 11 are arranged, six groups of mechanical arm suckers 11 are arranged, and the outer side of the rear end face of each group of diameter adjusting swing arms 8 is hinged with one group of mechanical arm suckers 11;
the angle adjusting mechanism is arranged at the front parts of the swinging rotating shaft 5 and the diameter adjusting swinging arm 8 and drives the mechanical arm sucker 11 to swing; as seen from fig. 8, the angle adjusting mechanism further includes: the angle adjusting driving piece 9, the angle adjusting driving piece 9 is fixedly connected inside the adjusting rotating shaft 5; the angle adjusting slider 901, the angle adjusting slider 901 is in threaded transmission connection with the rotating shaft of the angle adjusting driving member 9, the angle adjusting slider 901 is in sliding connection with the adjusting rotating shaft 5, a screw nut transmission pair is formed between the angle adjusting slider 901 and the angle adjusting driving member 9, and in use, the angle adjusting driving member 9 drives the angle adjusting slider 901 to slide back and forth through the screw nut transmission pair formed between the angle adjusting slider 901 and the angle adjusting driving member 9; the angle adjusting swing rods 902 are arranged in six pairs, and the six pairs of angle adjusting swing rods 902 are arranged in a circumferential array manner and are hinged to the outer sides of the angle adjusting swing rods 902; the angle adjusting swing arm mechanism comprises an angle adjusting slider 10, the angle adjusting slider 10 is provided with six groups, the six groups are respectively connected inside a diameter adjusting swing arm 8 in a sliding manner, the outer side of each pair of angle adjusting swing rods 902 is respectively and jointly hinged with one group of angle adjusting sliders 10, each pair of angle adjusting swing rods 902 are mutually installed in parallel, the length of each angle adjusting swing rod 902 is equal to that of the diameter adjusting swing rod 7, the angle adjusting swing rods 902 and the diameter adjusting swing rods 7 are installed in parallel, a double-swing-rod transmission mechanism is formed among the angle adjusting sliders 10, the angle adjusting swing rods 902 and the angle adjusting sliders 901, when the diameter adjusting swing arm 8 is not moved, the angle adjusting sliders 901, the angle adjusting swing rods 902, the angle adjusting sliders 10 and the adjusting rotating shaft 5 form a double-slider mechanism, and when the diameter adjusting swing arm 8 swings in use, the diameter adjusting swing arm 8 drives the angle adjusting swing rod 902 and the angle adjusting slider 10 to swing synchronously through a double-rocker transmission mechanism formed by the angle adjusting slider 10, the angle adjusting swing rod 902 and the angle adjusting slider 901, meanwhile, when the diameter adjusting swing arm 8 is not moved, the angle adjusting slider 901 slides forwards and backwards, and the angle adjusting slider 901 drives the angle adjusting slider 10 to slide forwards and backwards through a double-slider mechanism formed by the angle adjusting slider 901, the angle adjusting swing rod 902, the angle adjusting slider 10 and the adjusting rotating shaft 5; an angle adjusting link 1001, the angle adjusting link 1001 being hinge-connected to a rear portion of the angle adjusting slider 10; the other end of the angle adjusting connecting rod 1001 is hinged to the manipulator sucker 11, a slider-crank mechanism is formed among the angle adjusting slider 10, the angle adjusting connecting rod 1001 and the manipulator sucker 11, when the angle adjusting slider 10 slides back and forth in use, the angle adjusting slider 10 drives the manipulator sucker 11 to swing through the slider-crank mechanism formed among the angle adjusting slider 10, the angle adjusting connecting rod 1001 and the manipulator sucker 11, and the installation angle of the manipulator sucker 11 is adjusted.
As shown in fig. 6, two sets of diameter-adjusting swing rods 7 located in the same direction are installed in parallel, a double-rocker mechanism is formed by the diameter-adjusting swing rods 8, the diameter-adjusting swing rods 7 and the adjusting rotating shaft 5, in use, when the rear set of diameter-adjusting swing rods 7 swings, the rear set of diameter-adjusting swing rods 7 drive the diameter-adjusting swing rods 8 to swing by the double-rocker mechanism formed by the diameter-adjusting swing rods 8, the diameter-adjusting swing rods 7 and the adjusting rotating shaft 5, the installation diameter of the diameter-adjusting swing rods 8 is adjusted, and meanwhile, the diameter-adjusting swing rods 8 are ensured to be always kept horizontal to the adjusting rotating shaft 5.
The working principle is as follows: when the telescopic driving piece 3 is used, the telescopic arm 2 is driven to slide left and right through a gear rack transmission mechanism formed by the engagement of the telescopic driven gear 201 and the telescopic driving gear 301, so that the telescopic arm 2 is stretched, and articles at different distances can be grabbed; the corner driving part 4 drives the rotating shaft 5 to rotate through a gear transmission mechanism formed by meshing the corner driving gear 401 and the corner driven gear 501 together, and adjusts the angle of the rotating shaft 5; the diameter adjusting driving part 6 drives the diameter adjusting sliding block 602 to slide back and forth through a lead screw nut transmission pair formed by the diameter adjusting driving lead screw 601 and the diameter adjusting sliding block 602 together, the diameter adjusting sliding block 602 drives a rear group of diameter adjusting swinging rods 7 to swing through a crank sliding block transmission mechanism formed by the diameter adjusting sliding block 602, the diameter adjusting connecting rod 603, the diameter adjusting swinging rods 7 and the adjusting rotating shaft 5 together, the rear diameter adjusting swinging rods 7 drive the diameter adjusting swinging rods 8 to swing through a double-rocker mechanism formed by the diameter adjusting swinging rods 8, the diameter adjusting swinging rods 7 and the adjusting rotating shaft 5 together, the installation diameter of the diameter adjusting swinging rods 8 is adjusted, and meanwhile, the diameter adjusting swinging rods 8 are ensured to be kept in a horizontal state with the adjusting rotating shaft 5 all the time; when the diameter adjusting swing arm 8 swings, the diameter adjusting swing arm 8 drives the angle adjusting swing rod 902 and the angle adjusting slider 10 to swing synchronously through a double-rocker transmission mechanism formed by the angle adjusting slider 10, the angle adjusting swing rod 902 and the angle adjusting slider 901, and when the diameter adjusting swing arm 8 is stationary, the angle adjusting slider 901 slides back and forth, the angle adjusting slider 901 drives the angle adjusting slider 10 to slide back and forth through a double-slider mechanism formed by the angle adjusting slider 901, the angle adjusting swing rod 902, the angle adjusting slider 10 and the adjusting rotating shaft 5, and the angle adjusting slider 10 drives the manipulator sucker 11 to swing through a crank-slider mechanism formed by the angle adjusting slider 10, the angle adjusting link 1001 and the manipulator sucker 11 to adjust the installation angle of the manipulator sucker 11.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides an injection molding machine operation manipulator and telescoping device thereof which characterized in that: comprises a mechanical arm main body (1);
the telescopic arm (2) is connected to the right side of the mechanical arm main body (1) in a sliding mode;
the telescopic driving structure is arranged on the right side of the front end face of the mechanical arm main body (1), and drives the telescopic arm (2) to stretch;
the rotating shaft (5) is rotatably connected to the rear end face of the telescopic arm (2);
the corner driving mechanism is arranged inside the telescopic arm (2) and drives the rotating shaft (5) to rotate;
the diameter adjusting swing rods (7) are arranged in pairs, and six pairs of diameter adjusting swing rods (7) are arranged in a circumferential array manner and are connected to the outer side of the rotating shaft (5) in a hinged manner;
the diameter adjusting swing arms (8) are provided with six groups, and the outer sides of each pair of diameter adjusting swing rods (7) are respectively hinged with one group of six groups of diameter adjusting swing arms (8);
the diameter adjusting mechanism is arranged in the front end face of the swing rotating shaft (5) of the diameter adjusting swing arm (8) driven by the diameter adjusting mechanism;
the manipulator sucker (11), the manipulator sucker (11) is provided with six groups, and the outer side of the rear end face of each group of diameter adjusting swing arm (8) is hinged with one group of manipulator suckers (11);
the angle adjusting mechanism is arranged in the front of the swing rotating shaft (5) and the diameter adjusting swing arm (8), and drives the mechanical arm sucker (11) to swing.
2. The manipulator and the telescopic device thereof as claimed in claim 1, wherein: the telescopic driving structure further comprises:
the telescopic driven gear (201), the telescopic driven gear (201) is fixedly connected to the inner side of the front part of the telescopic arm (2);
the telescopic driving piece (3), the telescopic driving piece (3) is fixedly connected to the front part of the mechanical arm main body (1);
the telescopic driving gear (301), telescopic driving gear (301) coaxial fixed connection is on the pivot of telescopic driving piece (3), and gear rack drive mechanism is constituteed jointly in telescopic driven gear (201) and telescopic driving gear (301) meshing.
3. The manipulator and the telescopic device thereof as claimed in claim 1, wherein: the corner driving mechanism further comprises:
the corner driving piece (4), the corner driving piece (4) is fixedly connected to the front end face of the telescopic arm (2);
the corner driving gear (401), the corner driving gear (401) is coaxially and fixedly connected to the front end face of the corner driving part (4);
the corner driven gear (501), the corner driven gear (501) is fixed and connected to the front end face of the rotating shaft (5) coaxially, and the corner driving gear (401) and the corner driven gear (501) are meshed to form a gear transmission mechanism together.
4. The manipulator and the telescopic device thereof as claimed in claim 1, wherein: the diameter adjusting mechanism further comprises:
the diameter adjusting driving piece (6), the diameter adjusting driving piece (6) is fixedly connected inside the rotating shaft (5);
the diameter adjusting driving screw rod (601), the diameter adjusting driving screw rod (601) is coaxially and fixedly connected to a rotating shaft of the diameter adjusting driving piece (6);
the diameter adjusting device comprises a diameter adjusting sliding block (602), the diameter adjusting sliding block (602) is in threaded transmission connection with a diameter adjusting driving lead screw (601), the diameter adjusting sliding block (602) is in sliding connection with an adjusting rotating shaft (5), and a lead screw nut transmission pair is formed between the diameter adjusting driving lead screw (601) and the diameter adjusting sliding block (602).
5. The manipulator and the telescopic device thereof as claimed in claim 4, wherein: the diameter adjusting mechanism further comprises:
the diameter adjusting connecting rod (603) is provided with six groups, the diameter adjusting connecting rod (603) is arranged in a circumferential array mode and is connected to the outer side of the diameter adjusting sliding block (602), the other end of the diameter adjusting connecting rod (603) is connected with the middle of a group of diameter adjusting swinging rods (7) at the rear through hinges, and a crank sliding block transmission mechanism is formed between the diameter adjusting sliding block (602), the diameter adjusting connecting rod (603), the diameter adjusting swinging rods (7) and the adjusting rotating shaft (5) together.
6. The manipulator and the telescopic device thereof as claimed in claim 1, wherein: two groups of diameter adjusting swing rods (7) positioned in the same direction are arranged in parallel, and a double-rocker mechanism is formed among the diameter adjusting swing rod (8), the diameter adjusting swing rod (7) and the adjusting rotating shaft (5).
7. The manipulator and the telescopic device thereof as claimed in claim 1, wherein: the angle adjusting mechanism further comprises:
the angle adjusting driving piece (9), the angle adjusting driving piece (9) is fixedly connected inside the adjusting rotating shaft (5);
the angle adjusting device comprises an angle adjusting slider (901), the angle adjusting slider (901) is in threaded transmission connection with a rotating shaft of an angle adjusting driving piece (9), the angle adjusting slider (901) is in sliding connection with an adjusting rotating shaft (5), and a lead screw nut transmission pair is formed between the angle adjusting slider (901) and the angle adjusting driving piece (9) together.
8. The manipulator and the telescopic device thereof as claimed in claim 7, wherein: the angle adjusting mechanism further comprises:
the angle adjusting swing rods (902) are arranged in six pairs, and the six pairs of angle adjusting swing rods (902) are arranged in a circumferential array mode and are connected to the outer sides of the angle adjusting swing rods (902) in a hinged mode;
the angle adjusting swing mechanism comprises angle adjusting sliding pieces (10), the angle adjusting sliding pieces (10) are provided with six groups, the six groups are respectively connected inside a diameter adjusting swing arm (8) in a sliding manner, the outer sides of each pair of angle adjusting swing rods (902) are respectively and jointly hinged with one group of angle adjusting sliding pieces (10), each pair of angle adjusting swing rods (902) are mutually installed in parallel, the length of each angle adjusting swing rod (902) is equal to that of each diameter adjusting swing rod (7), the angle adjusting swing rods (902) and the diameter adjusting swing rods (7) are installed in parallel, and a double-swing-rod transmission mechanism is formed among the angle adjusting sliding pieces (10), the angle adjusting swing rods (902) and the angle adjusting sliding pieces (901), when the diameter adjusting swing arm (8) is not moved, a double-slider mechanism is formed by the angle adjusting slider (901), the angle adjusting swing rod (902), the angle adjusting slider (10) and the adjusting rotating shaft (5).
9. The manipulator and the telescopic device thereof as claimed in claim 8, wherein: the angle adjusting mechanism further comprises:
an angle adjusting link (1001), the angle adjusting link (1001) being hinge-connected to a rear portion of the angle adjusting slider (10);
the manipulator comprises an angle adjusting connecting rod (1001), the other end of the angle adjusting connecting rod (1001) is hinged with a manipulator sucker (11), and a slider-crank mechanism is formed among an angle adjusting sliding part (10), the angle adjusting connecting rod (1001) and the manipulator sucker (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110934814.2A CN113580118A (en) | 2021-08-16 | 2021-08-16 | Injection molding machine operation manipulator and telescoping device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110934814.2A CN113580118A (en) | 2021-08-16 | 2021-08-16 | Injection molding machine operation manipulator and telescoping device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113580118A true CN113580118A (en) | 2021-11-02 |
Family
ID=78257986
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110934814.2A Withdrawn CN113580118A (en) | 2021-08-16 | 2021-08-16 | Injection molding machine operation manipulator and telescoping device thereof |
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| Country | Link |
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| CN (1) | CN113580118A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
| CN114750203A (en) * | 2022-04-21 | 2022-07-15 | 中山大学 | Rigid-driving mechanical arm with continuously adjustable diameter |
-
2021
- 2021-08-16 CN CN202110934814.2A patent/CN113580118A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114311008A (en) * | 2022-01-26 | 2022-04-12 | 上海电机学院 | Angle self-interacting sucking disc manipulator actuating mechanism |
| CN114750203A (en) * | 2022-04-21 | 2022-07-15 | 中山大学 | Rigid-driving mechanical arm with continuously adjustable diameter |
| CN114750203B (en) * | 2022-04-21 | 2023-05-23 | 中山大学 | Rigidity driven diameter continuously adjustable mechanical arm |
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Application publication date: 20211102 |
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| WW01 | Invention patent application withdrawn after publication |