CN101712199B - Multi-dimensional robot traction controlled blow molding process and equipment thereof - Google Patents
Multi-dimensional robot traction controlled blow molding process and equipment thereof Download PDFInfo
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- CN101712199B CN101712199B CN2009101545419A CN200910154541A CN101712199B CN 101712199 B CN101712199 B CN 101712199B CN 2009101545419 A CN2009101545419 A CN 2009101545419A CN 200910154541 A CN200910154541 A CN 200910154541A CN 101712199 B CN101712199 B CN 101712199B
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Abstract
The invention discloses a multi-dimensional robot traction controlled blow molding process and equipment thereof. The process is characterized by mainly comprising the following steps: clamping an extruded hollow blank through an upper sealing device at the front end of a robot, then placing the hollow blank into a die cavity, and manufacturing the hollow blank into a finished product through steps of die shifting, die closing, die opening and the like. The equipment of the invention mainly comprises an extruding device, a die, a needle inserting device, a die shifting device, a die closing device, the robot, the upper sealing device and a lower sealing device. Compared with the prior art, the process and the equipment of the invention have the advantages of convenient operation and low labor intensity, mainly abandon the conventional mode of delivering the blank into the die through traction, but place the blank into the die by using the extremely precise position movement of the robot so as to have the advantage of precise placement; and the placement is not affected when the bending angle of a bent pipe is less than 90 degrees, so the application range is wider.
Description
Technical field
The present invention relates to blow molding process and equipment thereof that a kind of multi-dimensional robot traction is deployed to ensure effective monitoring and control of illegal activities, mainly be applicable to the manufacturing of seamless elastomeric hose body.
Background technology
At present; The seamless elastomeric hose body just extensively is used to automotive engine air intake system; For the production of seamless elastomeric hose body and to make present usual way be at first material extrusion, expect that then embryo vertically gets in the mould, charge into gases at high pressure behind the matched moulds and will expect that embryo propels the price of into the profile of finished product; Get final product after the demoulding, and relevant device is common and said method adapts.Like application number is that 94242569.3 Chinese utility model patent has disclosed tubular plastic automatic blow moulding make-up machine, and in this equipment, mould is installed on four chains in the clamping plate; Along with the rotation of chain, mould is accomplished matched moulds automatically, is divided the mould action, and high-pressure aerated pipe inserts die cavity through die head; Plastics are carried out inflation; Extension spring is through pressuring shaft, and clamping plate and sprocket wheel apply mold clamping force to mould, and the material embryo of this patent also is vertically to get in the mould; Because it is only applicable to vertical body, expect that therefore the traction of embryo is very simple; When the body of producing is crooked, then get in the process of mould importantly to effective traction ten minutes of material embryo at the material embryo, be the manufacturing process that 03104831.5 Chinese invention patent discloses a kind of air draft bend pipe blow-molded article like application number.It mainly is in the blowing process, and when the blank end vertically got in the mould knee, the special tool(s) made from iron wire (bar) stretches into pullled the blank end in the mould, and guiding blank end is to the mould port.This kind method is not owing to know the concrete condition of mould inside when traction, iron wire causes damage to blank easily in pullling process, influence product quality, and under the production efficiency, staff's labour intensity is big.Certainly, also have other traction method, such as the at present comparatively common method that the negative pressure traction is arranged, the method is through behind the horizontal matched moulds of mould, and negative pressure guiding material embryo seals back inflation in mould and accomplishes.
But the production of the angle of bend that above-mentioned various methodologies or equipment all are not suitable for bend pipe less than 90 degree or when having continuous bent section; Because when angle of bend is spent less than 90 or is had continuous bent section; Great resistance can be caused to the material embryo in the knee in distraction procedure, and above-mentioned various methodologies is all not enough so that the material embryo passes through this knee smoothly.
Summary of the invention
Technical problem to be solved by this invention is the present situation to prior art, and a kind of blow moulding equipment of realizing above-mentioned blow molding process is provided.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: a kind of blow moulding equipment of realizing above-mentioned blow molding process, comprise the material extrusion device, and also comprise:
Mould, mould comprise that closing up inside, back is combined into the upper die and lower die of die cavity, and counterdie is placed with the patrix average level, and counterdie along with process below the discharging opening of material extrusion device and mobile between below the patrix;
The acupuncture treatment device, it is installed on patrix or the counterdie;
Mould shifting device, it has one and is used to that counterdie is installed and drives the shifting formwork plate that counterdie moves, and the downside of this shifting formwork plate has a linear guides;
Mold closing mechanism, it comprises that one is used to patrix is installed and driven the moving platen that patrix moves, moving platen is via Driven by Hydraulic Cylinder;
Robot comprises that one has the front end arm of 6DOF, and through prior programming, this arm can move according to setting track automatically;
Last closing device is installed on the front end of robot front end arm, and it comprises that one has first clamping device of cooling water channel, and this first clamping device comprises two first clamping grippers that can do relative motion;
The lower sealing device is installed on the shifting formwork plate of mould shifting device, matches with counterdie, and it comprises that one has second clamping device of cooling water channel, and this second clamping device comprises two second clamping grippers that can do relative motion.
Further improve:
The mould shifting device structure is: above-mentioned shifting formwork plate downside is equipped with the double-stranded bar sprocket wheel that is used to drive this shifting formwork plate, and double-stranded bar sprocket wheel is driven by the hydraulic rotating motor, wherein, a sprocket wheel fixed installation, another sprocket wheel is movable to be installed; The top of shifting formwork plate offers the T type groove that cooperatively interacts with counterdie; The side of shifting formwork plate has locating slot; The linear guides outside is equipped with the location lock pin that matches with locating slot; This location lock pin is connected with the location hydraulic jack, and the position of locating slot with below lock pin position of matching, location and counterdie are positioned at moving platen the time is corresponding.Use the hydraulic rotating motor as power source, use double-stranded bar sprocket wheel to drive the operation of shifting formwork base plate, dwindled the size of integral device greatly; Two one on sprocket wheels are fixing, and one can be carried out telescopic adjustment, reach the effect of adjustment sprocket wheel tensioning; Be set with T type groove on the shifting formwork plate, can realize the rapid adjustment of mould and fastening; Locating slot matches with the location lock pin can realize the accurate location to counterdie.
This equipment also comprises system integration device, and this system integration device is made up of programmable logic controller (PLC) and man-machine interface; On last closing device and the lower sealing device signal sensing device is installed all, is equiped with position sensor on the mould shifting device, hydraulic pressure signal of telecommunication Pressure gauge is installed on the mold closing mechanism; System integration device is used to gather the signal of each parts and carries out logic control.
Have at least one patrix bellows segment that complements each other to form a complete bellows segment on the patrix of above-mentioned mould and the counterdie respectively and loose core and loose core with the counterdie bellows segment, the patrix bellows segment is loosed core to loose core with the counterdie bellows segment and all is connected with driving oil cylinder.Be applicable to that flexible pipe has the situation of bellows segment because bellows segment is loosed core and the tubular body of moulding between have bigger frictional force, therefore, when using this mold releasability; At first the bellows segment on the counterdie is loosed core and return, in order to avoid counterdie forms tubular body and pulls in the patrix uphill process, counterdie moves back to original position then; At this moment, because the frictional force between patrix bellows segment and the tubular body, tubular body is positioned at patrix; Then the patrix bellows segment is loosed core and is return, and the frictional force between tubular body and the patrix reduces, and tubular body falls on the automatic blanking device automatically; And be transferred in the product frame, have and enhance productivity, reduce the advantage of labour intensity.
Shrink in the front end lateral of the above-mentioned upward first clamping gripper of closing device, and be shaped on the oblique angle face at the first clamping gripper and the contacted side of the hollow material embryo first clamping gripper.The first clamping gripper part is less, makes it can be in less space free movable; The oblique angle face can effectively reduce the heat transmission of material embryo, takes away the temperature on the anchor clamps through the backflow of cooling water, for cooling effect bigger lifting is arranged.
Above-mentioned lower sealing device comprises the big support that is installed on the shifting formwork plate; But this big support comprises the cross bar that two poles of vertically placing and slip are arranged at up-down adjustment between two poles; Be installed with small rack on the cross bar, small rack comprises the base plate that is fixed on the cross bar, vertically is installed in the side plate of base plate both sides and is set up in the fixed head between the side plate; Fixed head is connected through bearing with side sheet room, is connected with rotation adjustment device on the output shaft of fixed head; Second clamping device is fixed on the fixed head.Second clamping device can be along with cross bar up-down adjustment; Second clamping device is fixed on the rotatable fixed head; Both can realize horizontal clamping, and can realize the function of second clamping device upset again, whole second clamping device can carry out the adjustment of position up and down according to different moulds.
Further technical measures also comprise: this equipment comprises that also front end is positioned at the automatic blanking device under the moving platen; Automatic blanking device comprises base; The two ends of base are equiped with driving wheel and driven pulley respectively, also are provided with regulating wheel between the two, and driving wheel, driven pulley and the regulating wheel outside are coated with belt; Driving wheel is driven by reducing motor, and the width of automatic blanking device front end is than the narrow width at other positions; In addition, the bottom thread of base is connected with fang bolt.Its role is to cooperate other devices can realize automatic blanking, the function of seeing off automatically, front end is narrower to make it can be at little area of space installation and operation, and the fang bolt that the bottom thread of base connects can be regulated the height of automatic blanking device.Provide a kind of simple to operation, production efficiency is high, can produce angle of bend less than 90 degree or have the blow molding process that the multi-dimensional robot traction of the flexible pipe of continuous bent section is deployed to ensure effective monitoring and control of illegal activities.
Another object of the present invention provides the blow molding process that a kind of multi-dimensional robot traction is deployed to ensure effective monitoring and control of illegal activities, and may further comprise the steps:
A, raw material is extruded into the hollow material embryo of semi-molten state, reaches predefined length until hollow material embryo through the material extrusion device;
B, the last closing device closure that is installed on the robot front end arm clamp hollow material embryo upper end simultaneously, and robot is clamped to hollow material embryo in the lower sealing device then, and the lower sealing device is closed;
C, robot continue to move, and according to desired trajectory hollow material embryo are put to the die cavity of counterdie, put to finish, and last closing device is opened, and the home position is got back to by robot;
D, counterdie is moved to the position of matching with patrix, close and lock mould, the air tube of acupuncture treatment device penetrates in the hollow material embryo and charges into Compressed Gas, and the continuity certain hour makes hollow material embryo propel the price of the tubular body that is complementary with mold cavity;
E, open mould, counterdie moves back to original position, tubular body is taken out insert in the product frame;
Circulation successively then.
Because the present invention utilizes the split hair position of robot to move and the material embryo put to mould, had and put accurate advantage, and the angle of bend of bend pipe is spent less than 90 and continuous bent section has no influence for putting of it, and the scope of application is wider.And can produce different product through setting different parameters, have stronger versatility.
In order to obtain better technique effect, further technical measures also comprise:
Above-mentioned material extrusion device, robot, go up the startup of closing device, lower sealing device, counterdie, patrix and acupuncture treatment device and stop to cooperate man-machine interface to realize operation automatically through signals collecting and logic control to above-mentioned parts by programmable logic controller (PLC).Improve production efficiency greatly after adopting abovementioned technology, and greatly reduced staff's labour intensity.
In order further to improve automaticity of the present invention and production efficiency, when production had the flexible pipe of bellows segment, above-mentioned steps e specifically comprised following action: the counterdie bellows segment is loosed core and is return; Patrix is opened, and at this moment, tubular body is positioned at patrix; Counterdie moves back to original position then; Then the patrix bellows segment is loosed core and is return, and tubular body falls on the automatic blanking device automatically, and is transferred in the product frame.
Compared with prior art; Blow molding process of the present invention and blow moulding equipment need not the material embryo is drawn; But clamp hollow material embryo upper end simultaneously through the last closing device closure that is installed on the robot front end arm; Robot is clamped to hollow material embryo in the lower sealing device then, and the lower sealing device is closed; Robot continues to move, and according to desired trajectory hollow material embryo is put to the die cavity of counterdie, puts to finish, and last closing device is opened, and the home position is got back to by robot, thereby has accomplished the process of putting of material embryo.This technological operation is convenient; Labour intensity is low; Main is to have abandoned in the past will expecting that through traction embryo sends into the mode in the mould, but utilize the split hair position of robot to move the material embryo is put to mould, has and puts accurate advantage; And the angle of bend of bend pipe less than 90 the degree have no influence for putting of it, the scope of application is wider.
Description of drawings
Fig. 1 is the overall structure sketch map of the embodiment of the invention;
Fig. 2 is counterdie and the cooperation sketch map of lower sealing device on mould shifting device;
Fig. 3 is the structural representation of mould shifting device;
Fig. 4 is the overall structure sketch map of mould;
Fig. 5 is the structural representation of patrix;
Fig. 6 is the structural representation of counterdie;
Fig. 7 is acupuncture treatment Unit Installation sketch map;
Fig. 8 is the structural representation of last closing device;
Fig. 9 is the side view of Fig. 8;
Figure 10 is the generalized section of A-A position among Fig. 9;
Figure 11 is the structural representation of lower sealing device;
Figure 12 is the structural representation of automatic blanking device;
Figure 13 is the Drive Structure sketch map of automatic blanking device.
The specific embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
Embodiment shown in Figure 1, figure grade explanation: material extrusion device 1, discharging opening 11, robot 2, arm 21, last closing device 3, the first clamping devices 31, the first clamping grippers 311; Oblique angle face 311a, lower sealing device 4, the second clamping devices 41, the second clamping grippers 411, big support 42, pole 421, cross bar 422; Small rack 43, base plate 431, side plate 432, fixed head 433, bearing 434, output shaft 435, rotation adjustment device 436; Mould 5, die cavity 5a, counterdie 51, the counterdie bellows segment looses core 511, patrix 52, the patrix bellows segment looses core 521, driving oil cylinder 53; Acupuncture treatment device 6, air tube 61, automatic blanking device 7, base 71, driving wheel 72, driven pulley 73, regulating wheel 74; Belt 75, fang bolt 76, mould shifting device 8, shifting formwork plate 81, T type groove 81a, locating slot 81b, linear guides 82; Hydraulic rotating motor 83, location lock pin 84, location hydraulic jack 85, double-stranded bar sprocket wheel 86, mold closing mechanism 9, moving platen 91, hydraulic cylinder 92.
Present embodiment is applicable to produces angle of bend less than 90 degree or have the seamless elastomeric hose body of continuous bent section.
With reference to figure 1, a kind of blow moulding equipment of realizing embodiment 1 said blow molding process comprises material extrusion device 1, also comprises:
Mould 5 (with reference to figure 4, Fig. 5 and Fig. 6); Said mould 5 comprises and closes up the patrix 52 and counterdie 51 that inside, back is combined into die cavity 5a; Said counterdie 51 is placed with patrix 52 average levels, and said counterdie 51 is along with process is moving below the discharging opening 11 of said material extrusion device 1 and between below the said patrix 52; Have at least one patrix bellows segment that complements each other to form a complete bellows segment on the patrix 52 of mould 5 and the counterdie 51 respectively and loose core and 521 loose core 511 with the counterdie bellows segment, the patrix bellows segment is loosed core and 521 is loosed core with the counterdie bellows segment and 511 all to be connected with driving oil cylinder 53;
Acupuncture treatment device 6 (with reference to figure 7), it is installed on said patrix 52 or the counterdie 51, and air tube 61 penetrates and can fine control penetrate the degree of depth from the vertical direction in material embryo cross section, makes the validity of moulding and efficient that significantly lifting arranged;
Mould shifting device 8 (referring to figs. 2 and 3), it has one and is used to install said counterdie 51 and drives the shifting formwork plate 81 that said counterdie 51 moves, and the downside of this shifting formwork plate 81 has a linear guides 82; Shifting formwork plate 81 downsides are equipped with the double-stranded bar sprocket wheel 86 that is used to drive this shifting formwork plate 81, and double-stranded bar sprocket wheel 86 is driven by hydraulic rotating motor 83, wherein, a sprocket wheel fixed installation, another sprocket wheel is movable to be installed; The top of said shifting formwork plate 81 offers the T type groove 81a that cooperatively interacts with said counterdie 51; The side of said shifting formwork plate 81 has locating slot 81b; Said linear guides 82 outsides are equipped with the location lock pin 84 that matches with said locating slot 81a; This location lock pin 84 is connected with location hydraulic jack 85, and the position when position that said locating slot 81b and said location lock pin 84 match and said counterdie 51 are positioned at said moving platen 91 belows is corresponding; The mould shifting device of present embodiment be provided with anteposition stop, anteposition at a slow speed near switch, back position stop and position, back at a slow speed near switch; Hydraulic rotating motor 83 is through receiving the signal of telecommunication of above-mentioned position; Hydraulic rotating motor 83 adopts the flow-control means; Fast implementation is controlled at a slow speed, reaches to realize starting steadily, moves function fast;
Mold closing mechanism 9 (with reference to figure 1), it comprises that one is used to install said patrix 52 and drives the moving platen 91 that said patrix 52 moves, said moving platen 91 drives via hydraulic cylinder 92; Moving platen 91 is set with soon matched moulds function at a slow speed, through the adjustment stroke switch, changes soon switching point at a slow speed;
Robot 2 (with reference to figure 1) comprises that one has the front end arm 21 of 6DOF, and through prior programming, this arm 21 can move according to setting track automatically;
Last closing device 3 (with reference to figure 8 to Figure 10) is installed on the front end of said robot 2 front end arms 21, and it comprises that one has first clamping device 31 of cooling water channel, and this first clamping device 31 comprises two first clamping grippers 311 that can do relative motion; Shrink in the front end lateral of the said first clamping gripper 311 of last closing device 3, and be shaped on oblique angle face 311a with the said first clamping gripper 511 of the contacted side of said hollow material embryo at the said first clamping gripper 311;
Lower sealing device 4 (with reference to Figure 11); Be installed on the said shifting formwork plate 81 of said mould shifting device 8; Match with said counterdie 51, it comprises that one has second clamping device 41 of cooling water channel, and this second clamping device 41 comprises two second clamping grippers 411 that can do relative motion; Lower sealing device 4 also comprises the big support 42 that is installed on the said shifting formwork plate; But this big support 42 comprises two poles 421 of vertically placing and slip and is arranged at the cross bar 422 of 421 up-down adjustment of said two poles; Be installed with small rack 43 on the said cross bar 422; Said small rack 43 comprises the base plate 431 that is fixed on the said cross bar 422; Vertically be installed in the side plate 432 of said base plate 431 both sides and be set up in the fixed head 433 between the said side plate 432,432 of said fixed head 433 and said side plates are connected through bearing 434, are connected with rotation adjustment device 436 on the output shaft 435 of said fixed head 433; Said second clamping device 41 is fixed on the said fixed head 433.
Present embodiment also comprises system integration device, and this system integration device is made up of programmable logic controller (PLC) and man-machine interface; Said going up on closing device 3 and the said lower sealing device 4 all is equipped with the signal sensing device, is equiped with position sensor on the said mould shifting device 8, and hydraulic pressure signal of telecommunication Pressure gauge is installed on the said mold closing mechanism 9; Said system integration device is used to gather the signal of each parts and carries out logic control.
Present embodiment comprises that also front end is positioned at the automatic blanking device 7 (with reference to Figure 12 and Figure 13) under the said moving platen 91; Said automatic blanking device 7 comprises base 71; The two ends of said base 71 are equiped with driving wheel 72 and driven pulley 73 respectively, also are provided with regulating wheel 74 between the two, and said driving wheel 72, driven pulley 73 and regulating wheel 74 outsides are coated with belt 75; Said driving wheel 72 is driven by reducing motor, and the width of said automatic blanking device 7 front ends is than the narrow width at other positions; In addition, the bottom thread of said base 71 is connected with fang bolt 76.
The concrete running of present embodiment: material extrusion device extruded stock embryo, last closing device are positioned at material extrusion device below, and mould shifting device is positioned at material extrusion device below, and lower mould is positioned on the mould shifting device base plate, and all controls are controlled by the system integration device that man-machine interface and PLC form; After pressing start button, when the material embryo reached predefined length, last closing device was closed, clamped and expected embryo, and send signal; The material extrusion device is received signal sealing crowded material mouth, and the track of robot through realizing configuring is clamped to the material embryo in the lower sealing device on the mould shifting device simultaneously, the sealing of lower sealing device; And sending signal, signal is received by robot, continues according to track, will expect that embryo puts to the counterdie die cavity; When put finish after, last closing device is opened, original point is got back to by robot, sends the signal that is finished simultaneously; Mould shifting device begins action, and mould shifting device starts with screen at a slow speed earlier, and rapid movement then is to shifting formwork during stop; Send the signal that puts in place, shift finger is stretched out in the fine positioning clamping apparatus, and the locking template is also accurately located, and clamping apparatus puts in place and sends signal; Mold closing mechanism is to come downwards to the slow-motion point fast, and mould is closed at a slow speed, and produces the clamping pressure signal, when the clamping pressure signal arrives; Mold closing mechanism fuel cut-off and closing valve pressurize, mould side acupuncture treatment device penetrates in the material embryo, and charges into compressed air, the continuity certain hour; Material embryo cooling forming is adsorbed to patrix for guaranteeing product, and counterdie is loosed core and return earlier, and mold closing mechanism is opened; At this moment, product is positioned at the mold closing mechanism patrix, and after signal arrived on the mold closing mechanism, mould shifting device was retracted into the back stop; Upper mould is taken out type and is return, and product falls on the automatic blanking device, and circulates to the product basket, accomplishes whole production.
Present embodiment is used to produce angle of bend less than 90 degree or have the seamless elastomeric hose body of continuous bent section.The blow molding process that a kind of multi-dimensional robot traction is deployed to ensure effective monitoring and control of illegal activities may further comprise the steps:
A, raw material is extruded into the hollow material embryo of semi-molten state, reaches predefined length until said hollow material embryo through material extrusion device 1;
B, last closing device 3 closures that are installed on the robot 2 front end arms 21 clamp said hollow material embryo upper end simultaneously, and robot 2 is clamped to said hollow material embryo in the lower sealing device 4 then, lower sealing device 4 closures;
C, robot 2 continue to move, and according to desired trajectory said hollow material embryo are put to the die cavity 5a of counterdie 51, put to finish, and the said closing device 3 of going up is opened, and the home position is got back to by robot 2;
D, said counterdie 51 is moved to the position of matching with patrix 52; Close and lock mould 5; The air tube 61 of acupuncture treatment device 6 penetrates in the said hollow material embryo and charges into Compressed Gas, and the continuity certain hour makes said hollow material embryo propel the price of the tubular body that is complementary with mold cavity 5a;
E, counterdie bellows segment are loosed core and 511 are return, and patrix 52 is opened, at this moment; Said tubular body is positioned at said patrix 52, and counterdie 51 moves back to original position then, and then the patrix bellows segment is loosed core and 521 return; Said tubular body falls on the automatic blanking device 7 automatically, and is transferred in the product frame;
Circulation successively then.
Above-mentioned material extrusion device 1, robot 2, go up the startup of closing device 3, lower sealing device 4, counterdie 51, patrix 52 and acupuncture treatment device 6 and stop to cooperate man-machine interface to realize operation automatically through signals collecting and logic control to above-mentioned parts by programmable logic controller (PLC).
Claims (10)
1. a blow moulding equipment comprises material extrusion device (1), it is characterized in that also comprising:
Mould (5); Said mould (5) comprises that closing up inside, back is combined into patrix (52) and the counterdie (51) of die cavity (5a); Said counterdie (51) and patrix (52) average level are placed, and said counterdie (51) is along with process is moving below the discharging opening (11) of said material extrusion device (1) and between said patrix (52) below;
Acupuncture treatment device (6), it is installed on said patrix (52) or the counterdie (51);
Mould shifting device (8), it has one and is used to that said counterdie (51) is installed and drives the shifting formwork plate (81) that said counterdie (51) moves, and the downside of this shifting formwork plate (81) has a linear guides (82);
Mold closing mechanism (9), it comprises that one is used to that said patrix (52) is installed and drives the moving platen (91) that said patrix (52) moves, said moving platen (91) drives via hydraulic cylinder (92);
Robot (2) comprises that one has the front end arm (21) of 6DOF, and through prior programming, this arm (21) can move according to setting track automatically;
Last closing device (3) is installed on the front end of said robot (2) front end arm (21), and it comprises that one has first clamping device (31) of cooling water channel, and this first clamping device (31) comprises two first clamping grippers (311) that can do relative motion;
Lower sealing device (4); Be installed on the said shifting formwork plate (81) of said mould shifting device (8); Match with said counterdie (51), it comprises that one has second clamping device (41) of cooling water channel, and this second clamping device (41) comprises two second clamping grippers (411) that can do relative motion.
2. a kind of blow moulding equipment according to claim 1; It is characterized in that: said shifting formwork plate (81) downside is equipped with the double-stranded bar sprocket wheel (86) that is used to drive this shifting formwork plate (81); Said double-stranded bar sprocket wheel (86) is driven by hydraulic rotating motor (83); Wherein, a sprocket wheel fixed installation, another sprocket wheel is movable to be installed; The top of said shifting formwork plate (81) offers the T type groove (81a) that cooperatively interacts with said counterdie (51); The side of said shifting formwork plate (81) has locating slot (81b); Said linear guides (82) outside is equipped with the location lock pin (84) that matches with said locating slot (81b); This location lock pin (84) is connected with location hydraulic jack (85), and the position when position that said locating slot (81b) and said location lock pin (84) match and said counterdie (51) are positioned at below the said moving platen (91) is corresponding.
3. a kind of blow moulding equipment according to claim 2 is characterized in that also comprising system integration device, and this system integration device is made up of programmable logic controller (PLC) and man-machine interface; Said going up on closing device (3) and the said lower sealing device (4) all is equipped with the signal sensing device, and said mould shifting device is equiped with position sensor on (8), and hydraulic pressure signal of telecommunication Pressure gauge is installed on the said mold closing mechanism (9); Said system integration device is used to gather the signal of each parts and carries out logic control.
4. a kind of blow moulding equipment according to claim 3; It is characterized in that: have respectively on the patrix (52) of said mould (5) and the counterdie (51) that at least one patrix bellows segment that complements each other to form a complete bellows segment is loosed core (521) and the counterdie bellows segment is loosed core (511), said patrix bellows segment is loosed core (521) and the counterdie bellows segment is loosed core, and (511) all are connected with driving oil cylinder (53).
5. a kind of blow moulding equipment according to claim 4; It is characterized in that: shrink in the front end lateral of the said upward said first clamping gripper (311) of closing device (3), and be shaped on oblique angle face (311a) at said first clamping gripper (311) and the said first clamping gripper (311) of the contacted side of said hollow material embryo.
6. a kind of blow moulding equipment according to claim 3; It is characterized in that: said lower sealing device (4) comprises the big support (42) that is installed on the said shifting formwork plate; This big support (42) comprise two poles (421) of vertically placing and slide be arranged at said two poles (421) but between the cross bar (422) of up-down adjustment; Be installed with small rack (43) on the said cross bar (422); Said small rack (43) comprises the base plate (431) that is fixed on the said cross bar (422); Vertically be installed in the side plate (432) of said base plate (431) both sides and be set up in the fixed head (433) between the said side plate (432), be connected through bearing (434) between said fixed head (433) and said side plate (432), be connected with rotation adjustment device (436) on the output shaft (435) of said fixed head (433); Said second clamping device (41) is fixed on the said fixed head (433).
7. a kind of blow moulding equipment according to claim 6; It is characterized in that: comprise that also front end is positioned at the automatic blanking device (7) under the said moving platen (91); Said automatic blanking device (7) comprises base (71); The two ends of said base (71) are equiped with driving wheel (72) and driven pulley (73) respectively, also are provided with regulating wheel (74) between the two, and said driving wheel (72), driven pulley (73) and regulating wheel (74) outside are coated with belt (75); Said driving wheel (72) is driven by reducing motor, and the width of said automatic blanking device (7) front end is than the narrow width at other positions; In addition, the bottom thread of said base (71) is connected with fang bolt (76).
8. blow molding process that the multi-dimensional robot traction that uses blow moulding equipment as claimed in claim 1 is deployed to ensure effective monitoring and control of illegal activities is characterized in that may further comprise the steps:
A, raw material is extruded into the hollow material embryo of semi-molten state, reaches predefined length until said hollow material embryo through said material extrusion device (1);
B, said closing device (3) closure that goes up that is installed on the said arm of said robot (2) front end (21) clamp said hollow material embryo upper end simultaneously; Said then robot (2) is clamped to said hollow material embryo in the said lower sealing device (4), said lower sealing device (4) closure;
C, said robot (2) continue to move, and according to desired trajectory said hollow material embryo are put to the said die cavity (5a) of said counterdie (51), put to finish, and the said closing device (3) of going up is opened, and the home position is got back to by said robot (2);
D, said counterdie (51) moved to the position of matching with said patrix (52); Close and lock said mould (5); The said air tube (61) of said acupuncture treatment device (6) penetrates in the said hollow material embryo and charges into Compressed Gas; The continuity certain hour makes said hollow material embryo propel the price of the tubular body that is complementary with said mold cavity (5a);
E, open said mould (5), said counterdie (51) moves back to original position, said tubular body is taken out insert in the product frame;
Circulation successively then.
9. the blow molding process that a kind of multi-dimensional robot traction according to claim 8 is deployed to ensure effective monitoring and control of illegal activities is characterized in that: said material extrusion device (1), robot (2), go up the startup of closing device (3), lower sealing device (4), counterdie (51), patrix (52) and acupuncture treatment device (6) and stop to cooperate man-machine interface to realize operation automatically through signals collecting and logic control to above-mentioned parts by programmable logic controller (PLC).
10. according to Claim 8 or 9 described a kind of multi-dimensional robot tractions blow molding process of deploying to ensure effective monitoring and control of illegal activities, it is characterized in that said step e specifically comprises following action: the counterdie bellows segment loose core (511) return, patrix (52) is opened; At this moment; Said tubular body is positioned at said patrix (52), and counterdie (51) moves back to original position then, then the patrix bellows segment loose core (521) return; Said tubular body falls on the automatic blanking device (7) automatically, and is transferred in the product frame.
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| CN2009101545419A CN101712199B (en) | 2009-11-11 | 2009-11-11 | Multi-dimensional robot traction controlled blow molding process and equipment thereof |
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| CN101712199A CN101712199A (en) | 2010-05-26 |
| CN101712199B true CN101712199B (en) | 2012-07-04 |
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| US11827500B2 (en) | 2018-12-27 | 2023-11-28 | Toyota Research Institute, Inc. | Assistive robot systems for transporting containers |
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| CN104635779B (en) * | 2013-11-13 | 2017-04-05 | 沈阳新松机器人自动化股份有限公司 | Closed loop Force control system and method based on hydraulic control mode |
| CN105599276A (en) * | 2016-02-23 | 2016-05-25 | 安徽工程大学 | Medical PP infusion bottle blow molding equipment and operating method thereof |
| CN108971848B (en) * | 2018-04-25 | 2023-12-01 | 江苏博俊工业科技股份有限公司 | Positioning device for full-automatic welding of automobile tray |
| US11148696B2 (en) | 2018-12-27 | 2021-10-19 | Toyota Research Institute, Inc. | Assistive robots including assemblies for accommodating obstacles and methods for using the same |
| US11597098B2 (en) | 2018-12-27 | 2023-03-07 | Toyota Research Institute, Inc. | Assistive robot systems for container lifting |
| US11505017B2 (en) | 2018-12-27 | 2022-11-22 | Toyota Research Institute, Inc. | Devices including deployable hitch assemblies and autonomous engagement systems incorporating the same |
| CN114454464B (en) * | 2021-12-27 | 2023-10-24 | 安徽中鼎橡塑制品有限公司 | Corner blow molding pipe and production device of corner blow molding product |
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| CN101712199A (en) | 2010-05-26 |
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Address after: 315000 building 4, No. 99, Qingyi Road, high tech Zone, Ningbo City, Zhejiang Province Patentee after: Ningbo Junpu Intelligent Manufacturing Co., Ltd Address before: 315000 building 025, no.1266, Juxian Road, hi tech Zone, Ningbo City, Zhejiang Province Patentee before: NINGBO PIA AUTOMATION Co.,Ltd. |