CN214605566U - Double-manipulator automatic vision positioning insertion piece injection molding machine - Google Patents
Double-manipulator automatic vision positioning insertion piece injection molding machine Download PDFInfo
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- CN214605566U CN214605566U CN202120381032.6U CN202120381032U CN214605566U CN 214605566 U CN214605566 U CN 214605566U CN 202120381032 U CN202120381032 U CN 202120381032U CN 214605566 U CN214605566 U CN 214605566U
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Abstract
The utility model relates to an automatic vision positioning inserted sheet injection molding machine of duplex manipulator belongs to injection molding production facility technical field. The double-manipulator automatic visual positioning insertion piece injection molding machine comprises an injection molding machine, a workpiece arrangement component, a loading visual manipulator, a discharging manipulator, a finished product processing component and a PLC. The utility model discloses a work piece arrangement subassembly is according to injection moulding machine requirement neatly arranged back of moulding plastics with the work piece, take out the work piece from work piece arrangement subassembly through material loading vision manipulator again, then the manipulator is according to the inserted sheet shape, the last corresponding station of moulding plastics of automated inspection injection moulding machine, and insert the inserted sheet on the station of moulding plastics that corresponds, the product after the completion of moulding plastics is taken out the product by unloading manipulator, avoid the people to insert the work piece on the injection moulding machine station of moulding plastics or will mould plastics the product of completion and take out from injection moulding machine one by one, effectively improve the production efficiency of product, whole journey is accomplished by mechanical automation, reduce artificial use.
Description
Technical Field
The utility model belongs to the technical field of injection molding production facility, specific theory relates to an automatic vision positioning inserted sheet injection molding machine of two manipulators.
Background
In the production process of the insert, after a workpiece is manually inserted into a mold, the workpiece is manually controlled and matched with an injection molding machine to be subjected to injection molding, and then a finished product is taken out, and the operation is repeated in a repeated way. In current production facility, the plug-in components are carried out to multi-purpose manual work, need the manual work to insert corresponding mould hole site with the gold utensil one by one, because of the gold utensil is small and exquisite and the surface can not be stained with the sweat (prevent the sweat and corrode), the operator need wear gloves in whole journey at the during operation, operates slowly, and extremely inconvenient taking leads to product production efficiency low moreover. In addition, in the aspect of personnel configuration, 2-3 persons are needed to complete the whole production process, and the labor cost is high.
Disclosure of Invention
In order to solve the problem, the utility model provides an automatic vision positioning inserted sheet injection molding machine of two manipulators. The utility model discloses a work piece arrangement subassembly is according to injection moulding machine requirement neatly arranged back of moulding plastics with the work piece, take out the work piece from work piece arrangement subassembly through material loading vision manipulator again, then the manipulator is according to the inserted sheet shape, the last corresponding station of moulding plastics of automated inspection injection moulding machine, and insert the inserted sheet on the station of moulding plastics that corresponds, the product after the completion of moulding plastics is taken out the product by unloading manipulator, avoid the people to insert the work piece on the injection moulding machine station of moulding plastics or will mould plastics the product of completion and take out from injection moulding machine one by one, effectively improve the production efficiency of product, whole journey is accomplished by mechanical automation, reduce artificial use.
In order to achieve the above purpose, the utility model is implemented according to the following technical scheme:
the double-manipulator automatic visual positioning insert injection molding machine comprises an injection molding machine 1, a workpiece arranging component 2, a feeding visual manipulator 3, a discharging manipulator 4, a finished product processing component 5 and a PLC 6; the injection molding machine is characterized in that a workpiece arrangement component 2 for arranging disordered workpieces in order according to the injection molding requirement of the injection molding machine 1 is arranged on the front side of the injection molding machine 1, a feeding visual manipulator 3 for conveying the arranged workpieces to the injection molding machine 1 is arranged on the front side of the injection molding machine 1, and a finished product processing component 5 and a discharging manipulator 4 for conveying the injection molded workpieces to the finished product processing component 5 are arranged on the right side of the injection molding machine 1; the PLC6 is respectively and electrically connected with the injection molding machine 1, the workpiece arrangement component 2, the feeding vision manipulator 3 and the discharging manipulator 4.
Further, the workpiece arrangement component 2 comprises a vibration disc 2-1, a jacking separation mechanism 2-3, a workpiece placing linear module 2-7, a workpiece carrying linear module 2-4 and a cylinder clamping jaw 2-6; the tail end of a discharging guide rail of the vibration disc 2-1 is provided with a jacking separation mechanism 2-3, the side of the jacking separation mechanism 2-3 is provided with a workpiece placing linear module 2-7, a driving motor of the workpiece placing linear module 2-7 is connected with a PLC6 through a servo driver, a slider of the workpiece placing linear module 2-7 is provided with a workpiece placing clamp 2-2, the workpiece placing clamp 2-2 is provided with a correlation optical fiber sensor 2-2-1, the correlation optical fiber sensor 2-2-1 is connected with a PLC6, a workpiece carrying linear module 2-4 is arranged above the workpiece placing linear module 2-7, a driving motor of the workpiece carrying linear module 2-4 is connected with a PLC6 through the servo driver, and a slider of the workpiece carrying linear module 2-4 is provided with a vertical movement driving cylinder 2-5, the vertical moving driving cylinder 2-5 is connected with the PLC6 through an electromagnetic valve, a piston slide block of the vertical moving driving cylinder 2-5 is provided with a cylinder clamping jaw 2-6 which can carry a workpiece ejected by the jacking separation mechanism 2-3 to the workpiece placing clamp 2-2, and the cylinder clamping jaw 2-6 is connected with the PLC6 through an electromagnetic valve.
Preferably, the jacking separation mechanism 2-3 comprises a mounting frame 2-3-1 and a positioning block 2-3-2; the top of the mounting frame 2-3-1 is provided with a positioning block 2-3-2, the positioning block 2-3-2 is provided with a positioning groove 2-3-3 matched with the shape of a workpiece, the positioning groove 2-3-3 is in butt joint with a discharge guide rail of the vibration disc 2-1, a push rod 2-3-4 capable of moving up and down is arranged in the positioning groove 2-3-3, the push rod 2-3-4 is installed on a piston slide block of the jacking cylinder 2-3-5, and the jacking cylinder 2-3-5 is connected with a PLC6 through an electromagnetic valve.
Preferably, the mounting rack 2-3-1 is slidably mounted on the sliding rail 2-3-7, the mounting rack 2-3-1 is connected with a piston slider of the moving cylinder 2-3-6, the moving cylinder 2-3-6 is connected with the PLC6 through an electromagnetic valve, two positioning blocks 2-3-2 are arranged on the mounting rack 2-3-1, and positioning grooves 2-3-3 on the two positioning blocks 2-3-2 are respectively matched with workpieces in different shapes.
Further, the feeding visual manipulator 3 comprises a mechanical arm 3-1, a CCD camera 3-2 for detecting an injection molding station of the injection molding machine 1 and a mechanical claw 3-3 for clamping a workpiece; the CCD camera 3-2 and the mechanical claw 3-3 are both arranged at the tail end of the mechanical arm 3-1, the CCD camera 3-2 is connected with the PLC6, and a control module of the mechanical arm 3-1 is connected with the PLC 6.
Preferably, the mechanical claw 3-3 comprises a base 3-3-1, a left clamping plate 3-3-2, a right clamping plate 3-3-3 and a clamping cylinder 3-3-4; the base 3-3-1 is internally provided with a sliding chute, a sliding rod I3-3-5 and a sliding rod II 3-3-6 which can move left and right are arranged in the sliding chute, the sliding rod I3-3-5 and the sliding rod II 3-3-6 are driven to move by a clamping cylinder 3-3-4 which is arranged on the base 3-3-1 respectively, the clamping cylinder 3-3-4 is connected with a PLC6 through an electromagnetic valve, a left clamping plate 3-3-2 is arranged on the sliding rod I3-3-5, and a right clamping plate 3-3-3 is correspondingly arranged on the sliding rod II 3-3-6.
Preferably, a yielding gap 3-3-7 is arranged between the left splint 3-3-2 and the right splint 3-3-3, a detection rod 3-3-8 is arranged in the yielding gap 3-3-7, the detection rod 3-3-8 is connected with the base 3-3-1 in a sliding way through a sliding rod III 3-3-9, a sliding rod IV 3-3-13 is clamped on the sliding rod III 3-3-9, a spring 3-3-12 is arranged between the sliding rod III 3-3-9 and the sliding rod IV 3-3-13, a detection cylinder 3-3-10 for driving the sliding rod IV 3-3-13 to move downwards is arranged on the base 3-3-1, the detection cylinder 3-3-10 is connected with a PLC6 through an electromagnetic valve, photoelectric sensors 3-3-11 corresponding to the slide bars III 3-3-9 one by one are arranged on the base 3-3-1, and the photoelectric sensors 3-3-11 are connected with a PLC 6.
Further, the finished product processing assembly 5 comprises a crusher 5-1 and a discharge chute 5-2.
Further, the blanking manipulator 4 comprises a blanking mechanical arm 4-1, a workpiece blanking cylinder clamping jaw 4-2 and a nozzle material blanking cylinder clamping jaw 4-3; the tail end of the blanking mechanical arm 4-1 is provided with a workpiece blanking cylinder clamping jaw 4-2 used for grabbing a workpiece and a nozzle material blanking cylinder clamping jaw 4-3 used for grabbing a nozzle material, and the blanking mechanical arm 4-1, the workpiece blanking cylinder clamping jaw 4-2 and the nozzle material blanking cylinder clamping jaw 4-3 are respectively connected with a PLC 6.
The utility model has the advantages that:
the utility model discloses a work piece arrangement subassembly is according to injection moulding machine requirement neatly arranged back of moulding plastics with the work piece, take out the work piece from work piece arrangement subassembly through material loading vision manipulator again, then the manipulator is according to the inserted sheet shape, the last corresponding station of moulding plastics of automated inspection injection moulding machine, and insert the inserted sheet on the station of moulding plastics that corresponds, the product after the completion of moulding plastics is taken out the product by unloading manipulator, avoid the people to insert the work piece on the injection moulding machine station of moulding plastics or will mould plastics the product of completion and take out from injection moulding machine one by one, effectively improve the production efficiency of product, whole journey is accomplished by mechanical automation, reduce artificial use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the three-dimensional structure of the workpiece arranging mechanism of the present invention;
fig. 3 is a schematic view of a three-dimensional structure of the jacking separation mechanism of the utility model;
fig. 4 is a sectional view of the positioning block of the present invention;
FIG. 5 is a schematic view of the three-dimensional structure of the feeding vision manipulator of the present invention;
FIG. 6 is a schematic view of the three-dimensional structure of the gripper of the present invention;
FIG. 7 is a schematic view of the three-dimensional structure of the gripper of the present invention;
FIG. 8 is a schematic view of the installation of the left and right clamping plates of the present invention;
FIG. 9 is a schematic view of the three-dimensional structure of the detecting rod of the present invention;
fig. 10 is a schematic view of the installation of the blanking assembly of the present invention;
fig. 11 is a schematic view of the three-dimensional structure of the feeding manipulator of the present invention;
fig. 12 is a control block diagram of the present invention;
in the figure 1-12, 1-an injection molding machine, 2-a workpiece arrangement component, 2-1 a vibration disc, 2-2 a workpiece placing clamp, 2-2-1 a correlation optical fiber sensor, 2-3 a jacking separation mechanism, 2-3-1 a mounting rack, 2-3-2 a positioning block, 2-3-3 a positioning groove, 2-3-4 a jacking rod, 2-3-5 a jacking cylinder, 2-3-6 a moving cylinder, 2-3-7 a sliding rail, 2-4 a workpiece carrying linear module, 2-5 a vertical moving driving cylinder, 2-6 a cylinder clamping jaw, 2-7 a workpiece placing linear module, 3-a loading visual manipulator, 3-1 a mechanical arm, 3-2 a CCD camera, 3-3 a mechanical jaw, 2-2 a workpiece placing clamp, 2-3 a workpiece placing visual manipulator, 3-1 a mechanical arm, 3-2 a CCD camera, 3-3 a mechanical jaw, 2-3 a vibration disc, 2-2 a workpiece placing clamp, 2-3 a workpiece placing cylinder, 2 a lifting cylinder, 2-3 a lifting cylinder, 2-6 a lifting cylinder, 2 vertical moving cylinder, 2-6 a vertical moving cylinder, 2 vertical moving cylinder, a vertical moving mechanism, a vertical mechanism, 3-3-1 base, 3-3-2 left splint, 3-3-3 right splint, 3-3-4 clamping cylinder, 3-3-5 slide bar I, 3-3-6 slide bar II, 3-3-7 yielding gap, 3-3-8 detection bar, 3-3-9 slide bar III, 3-3-10 detection cylinder, 3-3-11 photoelectric sensor, 3-3-13 slide bars IV, 3-3-12 springs, 4-blanking manipulators, 4-1 blanking mechanical arm, 4-2 workpiece blanking cylinder clamping jaws, 4-3 water gap material blanking cylinder clamping jaws, 5-finished product processing assembly, 5-1 pulverizer, 5-2 discharging chutes and 6-PLC.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the following will explain in detail a preferred embodiment of the present invention with reference to the accompanying drawings to facilitate understanding of the skilled person.
As shown in fig. 1, the double-manipulator automatic visual positioning insert injection molding machine comprises an injection molding machine 1, a workpiece arrangement component 2, a feeding visual manipulator 3, a discharging manipulator 4, a finished product processing component 5 and a PLC 6; the injection molding machine is characterized in that a workpiece arrangement component 2 for arranging disordered workpieces in order according to the injection molding requirement of the injection molding machine 1 is arranged on the front side of the injection molding machine 1, a feeding visual manipulator 3 for conveying the arranged workpieces to the injection molding machine 1 is arranged on the front side of the injection molding machine 1, and a finished product processing component 5 and a discharging manipulator 4 for conveying the injection molded workpieces to the finished product processing component 5 are arranged on the right side of the injection molding machine 1; the PLC6 is respectively and electrically connected with the injection molding machine 1, the workpiece arrangement component 2, the feeding vision manipulator 3 and the discharging manipulator 4. During operation, a workpiece needing injection molding is placed into the workpiece arrangement component 2 manually, the workpiece arrangement component 2 arranges disordered workpieces orderly according to the injection molding requirement of the injection molding machine 1, then the feeding visual manipulator 3 grabs the workpieces and automatically detects injection molding stations on the injection molding machine 1, the workpieces are accurately placed on the injection molding stations of the injection molding machine 1, then the injection molding machine 1 performs injection molding on the workpieces, and the injection molded workpieces are taken out by the discharging manipulator 4 and placed into the finished product processing component 5.
As shown in fig. 2, the workpiece arrangement component 2 comprises a vibration disc 2-1, a jacking separation mechanism 2-3, a workpiece placing linear module 2-7, a workpiece carrying linear module 2-4 and a cylinder clamping jaw 2-6; the tail end of a discharging guide rail 6 of the vibration disc 2-1 is provided with a jacking separation mechanism 2-3, the vibration disc 2-1 is obtained by commercial purchase, the vibration disc 2-1 is in a normally open state during work, and workpieces are continuously output from the discharging guide rail according to a specific placing form; as shown in fig. 3, the jacking separation mechanism 2-3 comprises a mounting frame 2-3-1 and a positioning block 2-3-2; the top of the mounting frame 2-3-1 is provided with a positioning block 2-3-2, the positioning block 2-3-2 is provided with a positioning groove 2-3-3 matched with the shape of a workpiece, the positioning groove 2-3-3 is butted with a discharge guide rail of the vibration disc 2-1, a mandril 2-3-4 capable of moving up and down is arranged in the positioning groove 2-3-3, the mandril 2-3-4 is arranged on a piston slide block of a jacking cylinder 2-3-5, the jacking cylinder 2-3-5 is connected with a PLC6 through an electromagnetic valve, when the mounting frame works, the workpiece is separated from the discharge guide rail 6 and then enters the positioning block 2-3-2 along the positioning groove 2-3-3, and the innermost workpiece is just positioned on the mandril 2-3-4, the PLC6 controls the jacking cylinder 2-3-5 to extend through the electromagnetic valve to drive the ejector rod 2-3-4 to lift upwards, so that the workpiece on the ejector rod 2-3-4 is lifted, and the workpieces led out side by side are separated. Preferably, the mounting rack 2-3-1 is slidably mounted on a sliding rail 2-3-7, the mounting rack 2-3-1 is connected with a piston slider of a moving cylinder 2-3-6, the moving cylinder 2-3-6 is connected with a PLC6 through an electromagnetic valve, two positioning blocks 2-3-2 are arranged on the mounting rack 2-3-1, positioning grooves 2-3-3 on the two positioning blocks 2-3-2 are respectively matched with workpieces with different shapes, the mounting rack 2-3-1 moves along the sliding rail 2-3-7 through the moving cylinder 2-3-6, when the moving cylinder 2-3-6 extends, the positioning groove 2-3-3 of the positioning block 2-3-2 on the left side is butted with a discharge guide rail of the vibrating disk 2-1, when the movable cylinder 2-3-6 is shortened, the positioning groove 2-3-3 of the positioning block 2-3-2 on the right side is butted with the discharging guide rail of the vibrating disc 2-1, so that the device can be suitable for workpieces of different shapes and is more convenient to use. A workpiece placing linear module 2-7 is arranged on the side of the jacking separation mechanism 2-3, a driving motor of the workpiece placing linear module 2-7 is connected with a PLC6 through a servo driver, a workpiece placing clamp 2-2 is arranged on a slide block of the workpiece placing linear module 2-7, a correlation optical fiber sensor 2-2-1 is arranged on the workpiece placing clamp 2-2, the correlation optical fiber sensor 2-2-1 is connected with a PLC6, a workpiece carrying linear module 2-4 is arranged above the workpiece placing linear module 2-7, a driving motor of the workpiece carrying linear module 2-4 is connected with the PLC6 through the servo driver, a vertical moving driving cylinder 2-5 is arranged on the slide block of the workpiece carrying linear module 2-4, and the vertical moving driving cylinder 2-5 is connected with the PLC6 through an electromagnetic valve, a piston slide block of the vertical moving driving cylinder 2-5 is provided with a cylinder clamping jaw 2-6 which can carry a workpiece ejected by the jacking separation mechanism 2-3 to the workpiece placing clamp 2-2, the cylinder clamping jaw 2-6 is connected with a PLC6 through an electromagnetic valve, when the vertical moving driving cylinder 2-5 works, the PLC6 controls the workpiece carrying linear module 2-4 to drive the cylinder clamping jaw 2-6 to move right above the workpiece ejected by the jacking separation mechanism 2-3, then the PLC6 controls the vertical moving driving cylinder 2-5 to drive the cylinder clamping jaw 2-6 to move downwards so that the cylinder clamping jaw 2-6 can clamp the workpiece, the PLC6 controls the cylinder clamping jaw 2-6 to act to clamp the workpiece, then controls the vertical moving driving cylinder 2-5 to drive the cylinder clamping jaw 2-6 to move upwards so as to take the workpiece out from the positioning block 2-3-2, then controlling the workpiece carrying linear module 2-4 to drive the cylinder clamping jaws 2-6 to move right above the workpiece placing clamp 2-2, detecting blank stations on the workpiece placing clamp 2-2 by the corresponding opposite optical fiber sensor 2-2-1 and transmitting the blank stations to the PLC6, controlling the workpiece placing linear module 2-7 to drive the workpiece placing clamp 2-2 to move according to input signals by the PLC6 so that the blank stations on the workpiece placing clamp 2-2 are right opposite to the workpieces transported by the cylinder clamping jaws 2-6, controlling the vertical movement driving cylinder 2-5 to drive the cylinder clamping jaws 2-6 to move downwards by the PLC6, placing the workpieces on the blank stations on the workpiece placing clamp 2-2, repeating the actions continuously until the workpiece placing clamp 2-2 has no blank stations, and controlling the workpiece carrying linear module 2-4 to drive the workpiece placing clamp 2-2 to move to be convenient to move by the PLC6 And stopping at the position where the feeding vision manipulator 3 grabs the workpiece, and driving the workpiece placing clamp 2-2 to move and reset by the workpiece carrying linear module 2-4 after the workpiece is taken by the feeding vision manipulator 3.
As shown in fig. 5, the feeding visual manipulator 3 comprises a mechanical arm 3-1, a CCD camera 3-2 for detecting an injection molding station of the injection molding machine 1, and a gripper 3-3 for gripping a workpiece; the CCD camera 3-2 and the gripper 3-3 are both installed at the tail end of the mechanical arm 3-1, the CCD camera 3-2 is connected with a PLC6, a control module of the mechanical arm 3-1 is connected with a PLC6, the CCD camera 3-2 is provided with picture analysis software, the PLC6 controls the mechanical arm 3-1 to move the gripper 3-3 to a corresponding position to clamp a workpiece, then the mechanical arm 3-1 is controlled to move the gripper 3-3 to the upper side of the injection molding machine 1, the CCD camera 3-2 takes pictures of an injection molding station of the injection molding machine 1 and transmits the pictures to the PLC6 after analysis, the PLC6 controls the mechanical arm 3-1 to accurately move the gripper 3-3 to the corresponding position according to an input signal, and the gripper 3-3 acts to place the workpiece on the corresponding station of the injection molding machine 1 to perform injection molding.
As shown in fig. 6, the gripper 3-3 comprises a base 3-3-1, a left clamp plate 3-3-2, a right clamp plate 3-3-3, and a clamping cylinder 3-3-4; a sliding groove is arranged in the base 3-3-1, a sliding rod I3-3-5 and a sliding rod II 3-3-6 which can move left and right are arranged in the sliding groove, the sliding rod I3-3-5 and the sliding rod II 3-3-6 are driven to move by a clamping cylinder 3-3-4 which is arranged on the base 3-3-1 respectively, the clamping cylinder 3-3-4 is connected with a PLC6 through an electromagnetic valve, a left clamping plate 3-3-2 is arranged on the sliding rod I3-3-5, a right clamping plate 3-3-3 is correspondingly arranged on the sliding rod II 3-3-6, the clamping cylinder 3-3-4 is arranged on the front side surface of the base 3-3-1, and when the two clamping cylinders 3-3-4 are extended, the slide bar I3-3-5 and the slide bar II 3-3-6 are respectively driven to move leftwards and rightwards, so that the left clamping plate 3-3-2 and the right clamping plate 3-3-3 are driven to be separated from each other, and when the clamping cylinder 3-3-4 is shortened, the slide bar I3-3-5 and the slide bar II 3-3-6 drive the left clamping plate 3-3-2 and the right clamping plate 3-3-3 to be close to each other to clamp a workpiece. Preferably, a yielding gap 3-3-7 is arranged between the left splint 3-3-2 and the right splint 3-3-3, a detection rod 3-3-8 is arranged in the yielding gap 3-3-7, the detection rod 3-3-8 is connected with the base 3-3-1 in a sliding way through a sliding rod III 3-3-9, a sliding rod IV 3-3-13 is clamped on the sliding rod III 3-3-9, a spring 3-3-12 is arranged between the sliding rod III 3-3-9 and the sliding rod IV 3-3-13, a detection cylinder 3-3-10 for driving the sliding rod IV 3-3-13 to move downwards is arranged on the base 3-3-1, the detection cylinder 3-3-10 is connected with the PLC6 through an electromagnetic valve, photoelectric sensors 3-3-11 corresponding to the sliding rods III 3-3-9 one by one are arranged on the base 3-3-1, the photoelectric sensors 3-3-11 are connected with a PLC6, after a workpiece is clamped by the mechanical claw 3-3, the PLC6 controls the detection cylinders 3-3-10 to extend, the sliding rods III 3-3-9 and IV 3-3-13 drive the detection rods 3-3-8 to move downwards, in the downward movement process, after the detection rods 3-3-8 push against the workpiece, the detection rods 3-3-8 and III 3-3-9 stop moving downwards, at the moment, the sliding rods III-3-9 can be detected by the photoelectric sensors 3-3-11, under the action of springs 3-3-12, the sliding rods IV 3-3-13 can move downwards for a certain distance, if the workpiece is missing, the sliding rod III 3-3-9, the sliding rod IV 3-3-13 and the detection rod 3-3-8 move downwards to the limit position at the same time, the photoelectric sensor 3-3-11 cannot detect the sliding rod III 3-3-9, the photoelectric sensor 3-3-11 transmits a signal to the PLC6, and the PLC6 sends an emergency stop instruction.
The finished product processing assembly 5 comprises a crusher 5-1 and a discharge chute 5-2, the injection-molded workpiece is taken out by a discharging manipulator 4, then the discharging manipulator 4 places the product on the discharge chute 5-2 for output, and places the nozzle material in the crusher 5-1 for crushing.
As shown in fig. 11, the blanking manipulator 4 comprises a blanking mechanical arm 4-1, a workpiece blanking cylinder clamping jaw 4-2 and a nozzle material blanking cylinder clamping jaw 4-3; the tail end of the blanking mechanical arm 4-1 is provided with a workpiece blanking cylinder clamping jaw 4-2 for grabbing a workpiece and a nozzle material blanking cylinder clamping jaw 4-3 for grabbing a nozzle material, the blanking mechanical arm 4-1, the workpiece blanking cylinder clamping jaw 4-2 and the nozzle material blanking cylinder clamping jaw 4-3 are respectively connected with a PLC6, 4 workpiece blanking cylinder clamping jaws 4-2 are arranged at the tail end of the blanking mechanical arm 4-1 in parallel and are matched with a workpiece during injection molding at intervals, the nozzle material blanking cylinder clamping jaw 4-3 is arranged on the side surface of the workpiece blanking cylinder clamping jaw 4-2, the nozzle material can be grabbed when the workpiece blanking cylinder clamping jaw 4-2 is closed, so that the workpiece and the nozzle material can be taken out together, and during work, the workpiece blanking cylinder clamping jaw 4-2 and the nozzle material blanking cylinder clamping jaw 4-3 are moved to the corresponding position of the injection molding machine 1 through the blanking mechanical arm 4-1, then the workpiece and the nozzle material are closed at the same time, the workpiece and the nozzle material are grabbed, the blanking mechanical arm 4-1 acts to transport the workpiece and the nozzle material to the position above the finished product processing assembly 5, when the workpiece and the nozzle material are positioned above the crusher 5-1, the nozzle material blanking cylinder clamping jaw 4-3 is opened, the nozzle material is placed into the crusher 5-1 to be crushed, when the workpiece and the nozzle material are positioned above the discharging chute 5-2, the workpiece blanking cylinder clamping jaw 4-2 is opened, and the workpiece is led out of the device from the discharging chute 5-2.
The utility model discloses a work piece arrangement subassembly is according to injection moulding machine requirement neatly arranged back of moulding plastics with the work piece, take out the work piece from work piece arrangement subassembly through material loading vision manipulator again, then the manipulator is according to the inserted sheet shape, the last corresponding station of moulding plastics of automated inspection injection moulding machine, and insert the inserted sheet on the station of moulding plastics that corresponds, the product after the completion of moulding plastics is taken out the product by unloading manipulator, avoid the people to insert the work piece on the injection moulding machine station of moulding plastics or will mould plastics the product of completion and take out from injection moulding machine one by one, effectively improve the production efficiency of product, whole journey is accomplished by mechanical automation, reduce artificial use.
Finally, it is noted that the above preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims; the size of the attached figure is irrelevant to the specific real object, and the size of the real object can be changed at will.
Claims (9)
1. The utility model provides an automatic vision positioning inserted sheet injection molding machine of duplex manipulator which characterized in that: the double-manipulator automatic visual positioning insert injection molding machine comprises an injection molding machine (1), a workpiece arranging component (2), a feeding visual manipulator (3), a discharging manipulator (4), a finished product processing component (5) and a PLC (6); the injection molding machine is characterized in that a workpiece arrangement component (2) for arranging disordered workpieces in order according to the injection molding requirement of the injection molding machine (1) is arranged on the front side of the injection molding machine (1), a feeding visual manipulator (3) for conveying the arranged workpieces to the injection molding machine (1) is arranged on the right side of the injection molding machine (1), and a finished product processing component (5) and a discharging manipulator (4) for conveying the injection molded workpieces to the finished product processing component (5) are arranged on the right side of the injection molding machine (1); the PLC (6) is respectively and electrically connected with the injection molding machine (1), the workpiece arrangement component (2), the feeding vision manipulator (3) and the discharging manipulator (4).
2. The double-manipulator automatic vision positioning insert injection molding machine according to claim 1, characterized in that: the workpiece arrangement component (2) comprises a vibration disc (2-1), a jacking separation mechanism (2-3), a workpiece placing linear module (2-7), a workpiece carrying linear module (2-4) and a cylinder clamping jaw (2-6); the tail end of a discharge guide rail of the vibration disc (2-1) is provided with a jacking separation mechanism (2-3), a workpiece placing linear module (2-7) is arranged on the side of the jacking separation mechanism (2-3), a driving motor of the workpiece placing linear module (2-7) is connected with a PLC (6) through a servo driver, a workpiece placing clamp (2-2) is arranged on a sliding block of the workpiece placing linear module (2-7), a correlation optical fiber sensor (2-2-1) is arranged on the workpiece placing clamp (2-2), the correlation optical fiber sensor (2-2-1) is connected with the PLC (6), a workpiece carrying linear module (2-4) is arranged above the workpiece placing linear module (2-7), a driving motor of the workpiece carrying linear module (2-4) is connected with the PLC (6) through the servo driver, the vertical movement driving air cylinder (2-5) is installed on a sliding block of the workpiece carrying linear module (2-4), the vertical movement driving air cylinder (2-5) is connected with the PLC (6) through an electromagnetic valve, an air cylinder clamping jaw (2-6) capable of carrying a workpiece ejected by the jacking separation mechanism (2-3) to the workpiece placing clamp (2-2) is installed on a piston sliding block of the vertical movement driving air cylinder (2-5), and the air cylinder clamping jaw (2-6) is connected with the PLC (6) through the electromagnetic valve.
3. The double-manipulator automatic vision positioning insert injection molding machine according to claim 2, characterized in that: the jacking separation mechanism (2-3) comprises a mounting frame (2-3-1) and a positioning block (2-3-2); the top of the mounting rack (2-3-1) is provided with a positioning block (2-3-2), the positioning block (2-3-2) is provided with a positioning groove (2-3-3) matched with the shape of a workpiece, the positioning groove (2-3-3) is in butt joint with a discharge guide rail of the vibration disk (2-1), a push rod (2-3-4) capable of moving up and down is arranged in the positioning groove (2-3-3), the push rod (2-3-4) is installed on a piston slide block of the jacking cylinder (2-3-5), and the jacking cylinder (2-3-5) is connected with the PLC (6) through an electromagnetic valve.
4. The double-manipulator automatic vision positioning insert injection molding machine according to claim 3, characterized in that: the mounting rack (2-3-1) is slidably mounted on the sliding rail (2-3-7), the mounting rack (2-3-1) is connected with a piston slider of the moving cylinder (2-3-6), the moving cylinder (2-3-6) is connected with the PLC (6) through an electromagnetic valve, two positioning blocks (2-3-2) are arranged on the mounting rack (2-3-1), and positioning grooves (2-3-3) on the two positioning blocks (2-3-2) are respectively matched with workpieces in different shapes.
5. The double-manipulator automatic visual positioning insert injection molding machine according to claim 1, 2, 3 or 4, characterized in that: the feeding visual manipulator (3) comprises a mechanical arm (3-1), a CCD camera (3-2) for detecting an injection molding station of the injection molding machine (1), and a mechanical claw (3-3) for clamping a workpiece; the CCD camera (3-2) and the mechanical claw (3-3) are both installed at the tail end of the mechanical arm (3-1), the CCD camera (3-2) is connected with the PLC (6), and a control module of the mechanical arm (3-1) is connected with the PLC (6).
6. The double-manipulator automatic vision positioning insert injection molding machine according to claim 5, characterized in that: the mechanical claw (3-3) comprises a base (3-3-1), a left clamping plate (3-3-2), a right clamping plate (3-3-3) and a clamping cylinder (3-3-4); the base (3-3-1) is internally provided with a sliding chute, a sliding rod I (3-3-5) and a sliding rod II (3-3-6) which can move left and right are arranged in the sliding chute, the sliding rod I (3-3-5) and the sliding rod II (3-3-6) are driven to move through a clamping cylinder (3-3-4) arranged on the base (3-3-1), the clamping cylinder (3-3-4) is connected with the PLC (6) through an electromagnetic valve, a left clamping plate (3-3-2) is arranged on the sliding rod I (3-3-5), and a right clamping plate (3-3-3) is correspondingly arranged on the sliding rod II (3-3-6).
7. The double-manipulator automatic vision positioning insert injection molding machine according to claim 6, characterized in that: a yielding gap (3-3-7) is arranged between the left splint (3-3-2) and the right splint (3-3-3), a detection rod (3-3-8) is arranged in the yielding gap (3-3-7), the detection rod (3-3-8) is connected with the base (3-3-1) in a sliding way through a slide rod III (3-3-9), a slide rod IV (3-3-13) is clamped on the slide rod III (3-3-9), a spring (3-3-12) is arranged between the slide rod III (3-3-9) and the slide rod IV (3-3-13), a detection cylinder (3-3-10) for driving the slide rod IV (3-3-13) to move downwards is arranged on the base (3-3-1), the detection cylinder (3-3-10) is connected with the PLC (6) through an electromagnetic valve, the base (3-3-1) is provided with photoelectric sensors (3-3-11) which correspond to the slide bars III (3-3-9) one by one, and the photoelectric sensors (3-3-11) are connected with the PLC (6).
8. The dual-manipulator automatic vision-positioning insert injection molding machine according to claim 1, 2, 3, 4, 6 or 7, wherein: the finished product processing assembly (5) comprises a crusher (5-1) and a discharging chute (5-2).
9. The double-manipulator automatic vision positioning insert injection molding machine according to claim 8, characterized in that: the blanking manipulator (4) comprises a blanking mechanical arm (4-1), a workpiece blanking cylinder clamping jaw (4-2) and a nozzle material blanking cylinder clamping jaw (4-3); the tail end of the blanking mechanical arm (4-1) is provided with a workpiece blanking cylinder clamping jaw (4-2) used for grabbing a workpiece and a water gap material blanking cylinder clamping jaw (4-3) used for grabbing a water gap material, and the blanking mechanical arm (4-1), the workpiece blanking cylinder clamping jaw (4-2) and the water gap material blanking cylinder clamping jaw (4-3) are respectively connected with a PLC (6).
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| CN112848058A (en) * | 2021-02-20 | 2021-05-28 | 中山牛耳智能科技有限公司 | Double-manipulator automatic vision positioning insertion piece injection molding machine |
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| CN112848058A (en) * | 2021-02-20 | 2021-05-28 | 中山牛耳智能科技有限公司 | Double-manipulator automatic vision positioning insertion piece injection molding machine |
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