CN103538059A - Blow-molding tray grabbing robot structure - Google Patents
Blow-molding tray grabbing robot structure Download PDFInfo
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- CN103538059A CN103538059A CN201310549846.6A CN201310549846A CN103538059A CN 103538059 A CN103538059 A CN 103538059A CN 201310549846 A CN201310549846 A CN 201310549846A CN 103538059 A CN103538059 A CN 103538059A
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Abstract
The invention provides a blow-molding tray grabbing robot structure and belongs to the technical field of industrial automatic mechanical arms. The blow-molding tray grabbing robot structure comprises a swing mechanism arranged on the floor, an upper arm lifting mechanism arranged on the swing mechanism and connected with the swing mechanism, an upper arm arranged on the upper arm lifting mechanism and matched with the upper arm lifting mechanism, a lower arm lifting mechanism arranged on the upper arm and located at the left end of the upper arm, a lower arm connected with the lower arm lifting mechanism and performing upward or downward motion during working of the lower arm lifting mechanism, a fixing frame horizontal displacement mechanism arranged at the left end of the lower arm, a fixing frame connected with the fixing frame horizontal displacement mechanism, a blow-molding tray grabbing stable swing mechanism arranged on the fixing frame, and a blow-molding tray grabbing stable connected with the blow-molding tray grabbing stable swing mechanism, wherein blow-molding tray clamping mechanisms are respectively arranged at the four corner portions of one side of the blow-molding tray grabbing stable turning the back to the blow-molding tray grabbing stable swing mechanism. Labor resources are saved, and the operation intensity of an operator is reduced. The adverse influence harmful to the operator body is not produced.
Description
Technical field
The invention belongs to industrial automation manipulator technical field, be specifically related to a kind of blow-molding tray and capture robot architecture, for the blow-molding tray by hollow plastic product molding machine blow molding being captured and is transferred to stacking station or blow-molding tray output station.
Background technology
" pallet " that " pallet " that " pallet " that the concept of above mentioned blow-molding tray and function thereof can be recommended by centering state invention patent mandate notification number CN102407967B and CN102009774B provide and publication No. CN103253422A introduce obtains detailed understanding.Above mentioned crawl robot can be referred to as manipulator, a kind of specific frock machinery, and so-called specific frock machinery refer in the manufacture of certain or certain series products and/or subsequent handling process to workpiece as the aforementioned blow-molding tray extract and shift, to meet the special equipment of certain technological requirement, and conventionally need to meet on manufacture course of products without interfering, extract the requirements such as accurate and convenient and reliable operation.
Although can be seen in a large number the technical information about manipulator in disclosed China and foreign countries patent documentation, Chinese invention patent Granted publication CN1197747C(taking feed from feed manipulator for example), CN10272886B(multi-joint manipulator, robot system and both arms multi-joint manipulator), publication No. CN103111540A(unit multi-station manipulator) and CN103112003A(multi-joint manipulator), etc., but for automatic capturing and shift aforementioned blow-molding tray without enlightenment effect.Because as aforementioned, capture machine Genus Homo in specific frock machinery, and because though specific frock machinery has automaticity high and can save the strong points such as human resources, but generalization degree is extremely low, be its shortcoming, thereby need in the mode of cutting the garment according to the figure, settle by oneself or entrust and manufacture and design by the manufacturer that manufactures certain product.
Just based on aforementioned factor, China blow-molding tray manufacturing enterprise is transferred to testing station in manual mode of lifting fortune from hollow plastic product molding machine by the blow-molding tray of hollow plastic product molding machine moulding by workman conventionally at present, by testing station, after visualize and deburring and then be transferred to stacking station or be transferred to blow-molding tray output station, for example, by conveying device (comprising waggon or conveyer belt etc.), transport to storage stacking place.With manual work mode, shift one of self-evident shortcoming of blow-molding tray, because the volume of blow-molding tray is larger, conventionally need two or above workman's cotransport, thereby cause the waste of human resources; Two, because workman need frequently shuttle back and forth between different station, thereby workman's labour intensity is large; Three, due to the direct moulding place in hollow plastic product molding machine of workman, thereby be inevitably subject to forming the HMW of blow-molding tray high density polyvinyl chloride (english abbreviation is: the HMWHDPE) molecules influence of volatilization, unfavorable to workman's health; Four, owing to lifting in using the process that shifts blow-molding tray manual the situation that unavoidably has collision, throws and so on, and it is relevant with mood with workman's accountability that the degree of this situation occurs, thereby easily to produce people be the defective product causing.
For above-mentioned prior art, the applicant has done repeatedly and useful design in long-term concern, finally formed technical scheme described below, and taked the laboratory of secrecy provision Xia the applicant plant area to carry out simulated test, it is practicable that result proves.
Summary of the invention
Task of the present invention is to provide a kind of and contributes in automation mode, the blow-molding tray that comes from the blow molding of hollow plastic product molding machine to be shifted and use and save valuable human resources, be conducive to significantly to alleviate operator's operation intensity and be of value to and avoid operator to be subject to the ambient influnence of workplace and use and ensure that operator is healthy and have the blow-molding tray of being convenient to prevent from undermining blow-molding tray in transport process and using ensure quality to capture robot architecture.
Task of the present invention completes like this, and a kind of blow-molding tray captures robot architecture, comprises single-revolution mechanism, and this slew gear is followed in hollow plastic product molding machine and is arranged at directly or indirectly on the terrace of field of employment under use state; One upper arm elevating mechanism, this upper arm elevating mechanism is provided on slew gear rotationally, and is in transmission connection with slew gear; One upper arm, this upper arm is arranged on described upper arm elevating mechanism with level, and the right-hand member of this upper arm coordinates with the transmission of upper arm elevating mechanism; One underarm elevating mechanism, this underarm elevating mechanism is arranged on described upper arm, and is positioned at the left end of upper arm; One underarm, the right-hand member of this underarm is connected with described underarm elevating mechanism below the left end corresponding to described upper arm, and motion up or down under the work of underarm elevating mechanism; One fixed mount horizontal displacement mechanism, this fixed mount horizontal displacement mechanism is arranged on the left end of described underarm; One fixed mount, this fixed mount is connected with described fixed mount horizontal displacement mechanism; One blow-molding tray catches gets platform slew gear, and this blow-molding tray catches to be got platform slew gear and be arranged on described fixed mount; One blow-molding tray catches gets platform, this blow-molding tray catches to be got platform and towards described blow-molding tray, catches the side of getting platform slew gear and blow-molding tray and catch and get platform slew gear and be connected, and this blow-molding tray catches and gets four bights that platform catches a side of getting platform slew gear back to blow-molding tray and be respectively provided with one and fold up mechanism for the blow-molding tray of blow-molding tray being clamped or discharge.
In a specific embodiment of the present invention, described slew gear comprises robot base, panoramic table drive motors, panoramic table reduction box, deceleration block and panoramic table, robot base is followed in described hollow plastic product molding machine and is fixed on directly or indirectly on the terrace of field of employment, this robot base forms turntable driving motor installation cavity once, panoramic table drive motors is arranged in panoramic table drive motors installation cavity, and fix with the middle position of the roof of robot base, the panoramic table drive motors axle of this panoramic table drive motors is stretched over outside described panoramic table drive motors installation cavity after the motor shaft resigning hole on roof, deceleration block and described roof are fixed towards a upper side, on the outer wall of this deceleration block, be arranged with single-revolution platform bearing, panoramic table reduction box is arranged on deceleration block, the reduction box power input shaft of this reduction box is connected with described panoramic table drive motors through-drive, and the reduction box power output shaft of reduction box and the top flat key of panoramic table are connected, the bottom of panoramic table and described panoramic table bearing are rotatably assorted, and form and have a lead screw shaft bearing hole at the middle position of the panoramic table table top of panoramic table, described upper arm elevating mechanism is connected with described panoramic table table top.
In another specific embodiment of the present invention, on the sidewall of described robot base, be equipped with a motor inspection door, described panoramic table drive motors is the servomotor with rotating function.
In another specific embodiment of the present invention, on described panoramic table table top and at the position corresponding to below described lead screw shaft bearing hole, form turntable spindle nose Connection Block once, on this panoramic table spindle nose Connection Block, offer a flat key groove, on described reduction box power output shaft, form and have a surperficial flat key that is raised in reduction box power output shaft, this flat key is placed in flat key groove.
In another specific embodiment of the present invention, described upper arm elevating mechanism comprises a column, a pair of upper arm guide pillar, one column fixed disk, one spindle motor seat, one spindle motor and a leading screw, the lower end of one column and a pair of upper arm guide pillar and described panoramic table table top are fixed, and this column and a pair of upper arm guide pillar form criss-cross position relationship each other, column fixed disk is fixed with the end, upper end of a column and a pair of upper arm guide pillar simultaneously, spindle motor seat is fixed on column fixed disk towards a upper side, spindle motor is fixed on spindle motor seat, and the spindle motor axially downwardly extending of this spindle motor is opened up in the spindle motor seat chamber of spindle motor seat, the upper end of leading screw is bearing on column fixed disk rotationally, and be stretched in described spindle motor seat chamber and be connected with described spindle motor through-drive, the lower end of leading screw is bearing on described panoramic table table top rotationally in the position corresponding to described lead screw shaft bearing hole, at the right-hand member of described upper arm and be provided with a pair of upper arm guide pillar guide pin bushing in the position corresponding to described a pair of upper arm guide pillar, a pair of upper arm guide pillar is through this pair of upper arm guide pillar guide pin bushing, at the right-hand member of upper arm and be provided with a feed screw nut between a pair of upper arm guide pillar guide pin bushing, this feed screw nut coordinates with described lead screw transmission, wherein: described spindle motor is the motor with rotating function.
Of the present invention, also have in a specific embodiment, left end at described upper arm offers a underarm lift action cylinder installation resigning hole, described underarm elevating mechanism comprises underarm lift action cylinder and a pair of underarm guide post, underarm lift action cylinder is being fixed corresponding to the underarm lift action cylinder installation position of resigning hole and the left end of upper arm, and the underarm lift action cylinder post of this underarm lift action cylinder is connected with described underarm right-hand member through the bottom of upper arm, the lower end of a pair of underarm guide post is fixed at the position of both sides and the left end of underarm that correspond respectively to underarm lift action cylinder post, and the upper end of a pair of underarm guide post is respectively slidably matched by the left end of underarm guide post guide pin bushing and upper arm, wherein: described underarm lift action cylinder is cylinder or oil cylinder.
More of the present invention and in a specific embodiment, described fixed mount horizontal displacement mechanism comprises a horizontal displacement acting cylinder, a pair of guide pin bushing and a pair of guide pillar, horizontal displacement acting cylinder is fixed on the left end of described underarm with the horizontally-arranged state of level, and the horizontal displacement acting cylinder post of this horizontal displacement acting cylinder is being fixedly connected with described fixed mount through after the left end end face of underarm, a pair of guide pin bushing is fixed on the left end of underarm with level and corresponds respectively to the both sides of horizontal displacement acting cylinder, a pair of guide pillar is fixedly connected with fixed mount, and the wherein guide pillar in this pair of guide pillar and one of them guide pin bushing in a pair of guide pin bushing are slidably matched, and another root guide pillar in a pair of guide pillar and another guide pin bushing in a pair of guide pin bushing are slidably matched, wherein: described horizontal displacement acting cylinder is cylinder or oil cylinder.
In of the present invention and then a specific embodiment, described blow-molding tray catches to be got platform slew gear and comprises motor, reduction box, gyroaxis and blow-molding tray catch gets platform holder, motor and reduction box are fixed on described fixed mount, and this motor and reduction box are in transmission connection, one end of gyroaxis is bearing in rotationally on the first revolution axle bed and with the reduction gearbox output shaft of reduction box and is connected, and the other end of gyroaxis is bearing on the second revolution axle bed rotationally, first, the second revolution axle bed is fixed on described fixed mount, blow-molding tray catches gets the middle part that platform holder is fixed on gyroaxis, and catch and get platform and fix with described blow-molding tray, wherein: described motor is the servomotor with rotating function.
Of the present invention again more and in a specific embodiment, on described fixed mount, form and have one first stiffening plate and one second stiffening plate, first, the second stiffening plate is parallel, and first, space between the second stiffening plate is configured to blow-molding tray and catches and get the platform holder chamber of stepping down, wherein: on the first stiffening plate, offer one first gyroaxis resigning hole, and on the second stiffening plate, offer one second gyroaxis resigning hole, first, the second gyroaxis resigning hole corresponds to each other, one end of described gyroaxis is being bearing in rotationally on described the first revolution axle bed and is being connected with described reduction gearbox output shaft after the first gyroaxis resigning hole, the other end of gyroaxis is turning round on axle bed through being bearing in rotationally described second after the second gyroaxis resigning hole, and the middle part of gyroaxis is caught and is got the platform holder chamber of stepping down corresponding to described blow-molding tray, described blow-molding tray catches to be got the position of platform holder on gyroaxis and is positioned at blow-molding tray and catches and get the platform holder chamber of stepping down.
In again of the present invention and then a specific embodiment, described blow-molding tray folds up mechanism and comprises jaw action cylinder and jaw, jaw action cylinder is fixed on described blow-molding tray and catches the bight of getting platform, jaw is fixedly connected with the jaw action cylinder post of jaw action cylinder, and one end that connects a pair of jaw guide rod on this jaw, and the cylinder body of the other end of a pair of jaw guide rod and jaw action cylinder is slidably matched, the shape of cross section of described jaw is zigzag, wherein: described jaw action cylinder is cylinder or oil cylinder.
The blow-molding tray that technical scheme provided by the invention is caught four bights of getting platform by blow-molding tray folds up mechanism and jointly will be clamped by the blow-molding tray of hollow plastic product molding machine moulding, and drive upper arm and then drive lower revolution of arm by upper arm by upper arm elevating mechanism by slew gear, by underarm, drive fixed mount revolution and make clamping have the blow-molding tray of blow-molding tray to catch to get platform to turn to blow-molding tray to discharge station, simultaneously by blow-molding tray, catch and get platform slew gear blow-molding tray is caught and gets platform and turn to level together with folded up the blow-molding tray that mechanism clamps by blow-molding tray, by overturning again after on-line operation personnel visualize, discharge and be stacked and placed on release station, by upper arm elevating mechanism, met the variation of blow-molding tray stack height, thereby be to lift running to move the operation intensity of being saved valuable human resources and significantly alleviating operator without people, because operator is without directly contacting with blow-molding tray, thereby can not produce the adverse effect that diminishes health to operator.
Accompanying drawing explanation
Fig. 1 is embodiments of the invention structure chart.
The specific embodiment
For the auditor that the makes Patent Office especially public can be expressly understood technical spirit of the present invention and beneficial effect more, applicant elaborates the mode with embodiment below, but to the description of embodiment, be not all the restriction to the present invention program, any according to the present invention design, done only for pro forma but not substantial equivalent transformation all should be considered as technical scheme category of the present invention.
Every directionality concept that relates to up, down, left, right, before and after and so on is all for illustrated location status in the following description, thereby can not be understood as the particular determination to the present invention program.
Refer to Fig. 1, provided a slew gear 1, this slew gear 1 comprises robot base 11, panoramic table drive motors 12, panoramic table reduction box 13, deceleration block 14 and panoramic table 15, robot base 11 is followed in hollow plastic product molding machine and is fixed on directly or indirectly on the terrace of field of employment, here the alleged mounting means that directly or indirectly refers to robot base 11 has two kinds at least, take that to be directly fixed on the terrace of field of employment be example, adopt the position of the flange fixing hole 1141 of one group of pedestal set bolt on the flange 114 of the bottom corresponding to robot base 11 robot base 11 is fixed on terrace or be formed in basis on terrace as concrete block of wood on, take and be indirectly fixed on the terrace of field of employment to be example, first aforementioned flange 114 and the support being equipped with in addition to be fixed, then be fixed on the terrace of field of employment together with robot base 11 supportings by support.Shown in figure, the global shape of robot base 11 is cylinder structure, and form and have a circular turntable drive motors installation cavity 111, on the roof 112 of this robot base 11 and the middle position that is positioned at roof 112 offer a motor shaft resigning hole 1121 communicating with aforementioned panoramic table drive motors installation cavity 111, at the sidepiece of robot base 11, be equipped with motor inspection door 113.Panoramic table drive motors 12 is arranged in panoramic table drive motors installation cavity 111, specifically by one group of panoramic table drive motors hold-down screw 122 and in the position corresponding to motor shaft resigning hole 1121 and aforementioned roof 112, towards a side of panoramic table drive motors installation cavity 111, fix, the motor shaft resigning hole 1121 of the panoramic table drive motors axle 121 of this panoramic table drive motors 12 on roof 112 is stretched over outside panoramic table drive motors installation cavity 111, and panoramic table drive motors axle 121 leans out the top of roof 112.Deceleration block 14 is the structure of cylinder, and form and have a deceleration block mounting flange 142 in the bottom of deceleration block 14, with one group of flange hold-down screw 1421, deceleration block mounting flange 142 and aforesaid roof 112 are fixed towards a upper side, on the outer wall of deceleration block 14 and be positioned at top and be embedded with single-revolution platform bearing 141.Panoramic table reduction box 13 is arranged on deceleration block 14, reduction box power input shaft 131 and the aforesaid panoramic table drive motors axle 121 of this reduction box 13 are in transmission connection, specifically: at the end of panoramic table drive motors axle 121, expand and establish and form and have a motor shaft terminal pad 1211, and establish to form in the end expansion of reduction box power input shaft 131, there is a power input shaft terminal pad 1311, adopt terminal pad screw that motor shaft terminal pad 1211 is fixedly connected with power input shaft terminal pad 1311, thereby make being in transmission connection between 13 realizations of panoramic table reduction box and panoramic table drive motors 12, the reduction box power output shaft 132 of panoramic table reduction box 13 is connected with the top flat key of panoramic table 15.In figure, illustrated panoramic table reduction box 13 by the fixing situation in one group of reduction box hold-down screw 133 and the top of deceleration block 14.The bottom of panoramic table 15 is nested with the top at deceleration block 14, and be rotatably assorted with aforesaid panoramic table bearing 141, at the middle position of the panoramic table table top 15 of panoramic table 15, form and have a lead screw shaft bearing hole 1511, the upper arm elevating mechanism 2 that will describe is below connected with panoramic table table top 151.
As shown in Figure 1, on aforesaid panoramic table table top 151 and at the position corresponding to below aforementioned lead screw shaft bearing hole 1511, form single-revolution platform spindle nose Connection Block 1512, on this panoramic table spindle nose Connection Block 1512, offer a flat key groove 15121, and form, have a surperficial flat key 1321 that is raised in the power output shaft 132 of reduction box on aforesaid reduction box power output shaft 132.Because the position of flat key groove 15121 is corresponding with flat key 1321, therefore when flat key 1321, insert (embedding) and after flat key groove 15121 is interior, obtain so that panoramic table 15 is in transmission connection with reduction box power output shaft 132.
Aforesaid panoramic table drive motors 12 is for having the servomotor of rotating function, when 12 work of panoramic table drive motors, (comprise and rotating and reverse, forward refers to clockwise rotate, reversion refers to rotate counterclockwise), because the motor shaft terminal pad 1211 of panoramic table drive motors axle 121 ends is connected with the power input shaft terminal pad 1311 of reduction box power input shaft end, thereby by panoramic table drive motors axle 121 by transmission of power to panoramic table reduction box 13, after panoramic table reduction box 13 slows down, by reduction box power output shaft 132, by flat key 1321, drive panoramic table 15 to rotate.
Above mentioned upper arm elevating mechanism 2 preferably but not the structure being definitely limited to is as follows: comprise a column 21, a pair of upper arm guide pillar 22, a column fixed disk 23, a spindle motor seat 24, a spindle motor 25 and a leading screw 26, one column 21 is longitudinally parallel, and the lower end of this column 21 is fixing with aforesaid panoramic table table top 151 by column hold-down screw 211, a pair of upper arm guide pillar 22 is longitudinally parallel, and the lower end of this pair of upper arm guide pillar 22 is fixing with panoramic table table top 151 by upper arm guide pillar hold-down screw 221.Because column 21 and upper arm guide pillar 22 are one every one position relationship, therefore a column 21 forms criss-cross position relationship each other with a pair of upper arm guide pillar 22.Column fixed disk 23 adopts column fixed disk screw 231 simultaneously fixing with the upper end (also can claim top) of a column 21 and a pair of upper arm guide pillar 22.Spindle motor seat 24 adopts spindle motor seat hold-down screw 242 to fix towards a upper side with column fixed disk 23.Spindle motor 25 is fixed on spindle motor seat 24, and the spindle motor axle 251 of this spindle motor 25 is stretched over downwards in the spindle motor seat chamber 241 of aforementioned spindle motor seat 24.Shown in figure, at the end of spindle motor axle 251, expand and be provided with a spindle motor axle terminal pad 2511.The upper end of leading screw 26 is bearing on column fixed disk 23 rotationally by leading screw upper bearing (metal) 261, and is stretched in aforementioned spindle motor seat chamber 241 and is in transmission connection with spindle motor axle 251.Shown in figure, in the end, upper end of leading screw 26, expand and be provided with a leading screw terminal pad 262, this leading screw terminal pad 262 adopts screw to be connected with aforesaid spindle motor axle terminal pad 2511.The lower end of leading screw 26 is bearing on panoramic table table top 151 in the position corresponding to aforementioned lead screw shaft bearing hole 1511 rotationally by leading screw lower bearing 263.Signal in figure is known, and leading screw lower bearing 263 is arranged in lead screw shaft bearing hole 1511.
Provided a upper arm 3, right-hand member at this upper arm 3 (be take location status shown in Fig. 1 as example, as follows) and in the position corresponding to a pair of upper arm guide pillar 22, be provided with a pair of upper arm guide pillar guide pin bushing 31, a wherein upper arm guide pillar in a pair of upper arm guide pillar 22 is through one of them the upper arm guide pillar guide pin bushing in a pair of upper arm guide pillar guide pin bushing 31, and another root upper arm guide pillar in a pair of upper arm guide pillar 22 is through another upper arm guide pillar guide pin bushing in a pair of upper arm guide pillar guide pin bushing 31, hence one can see that, and a pair of upper arm guide pillar 22 is slidably matched with a pair of upper arm guide pillar guide pin bushing 311.At the right-hand member of upper arm 3 and be provided with a feed screw nut 32 in the position between a pair of upper arm guide pillar guide pin bushing 31, this feed screw nut 32 coordinates with aforesaid leading screw 26 transmissions.
Aforesaid spindle motor 25, for having the motor of rotating function, has the servomotor of rotating function.Therefore because whole upper arm elevating mechanism 2 is connected on panoramic table 15, when panoramic table 15 is to clockwise or rotate counterclockwise into just driving upper arm elevating mechanisms 2 to do corresponding rotation by panoramic table 151.
When spindle motor 25 rotates (comprise and rotating and reverse), by the corresponding rotation of spindle motor axle 251 drive leading screw 26 of spindle motor 25, because the spindle motor axle terminal pad 2511 on spindle motor axle 251 is connected with the leading screw terminal pad 262 on leading screw 26.In the process of rotating at leading screw 26, by feed screw nut 32, drive aforesaid upper arm 3 to move up or down under the guiding of a pair of upper arm guide pillar 22.
Shown in figure, at the left end of aforementioned upper arm 3, offer a underarm lift action cylinder resigning hole 33 is installed, the underarm elevating mechanism 4 shown in figure is installed on the left end of upper arm 3 in the position that resigning hole 33 is installed corresponding to this underarm lift action cylinder.
Aforesaid underarm elevating mechanism 4 comprises a underarm lift action cylinder 41 and a pair of underarm guide post 42, underarm lift action cylinder 41 is being fixed corresponding to the underarm lift action cylinder installation position of resigning hole 33 and the left end of upper arm 3, and the underarm lift action cylinder post 411 of this underarm lift action cylinder 41 is fixedly connected with the right-hand member of the underarm 5 shown in figure through the bottom of upper arm 3, the lower end of a pair of underarm guide post 42 is fixed at the position of both sides and the left end of underarm 5 that correspond respectively to underarm lift action cylinder post 411, and the upper end of a pair of underarm guide post 42 is respectively slidably matched by underarm guide post guide pin bushing 421 and the left end of upper arm 3.Shown in figure, underarm guide post guide pin bushing 421 is arranged on the left end of upper arm 3 and corresponds respectively to the both sides of underarm lift action cylinder 41.
Preferably, at the right-hand member of aforementioned underarm 5, set up a transition connecting plate 51, this transition connecting plate 51 adopts transition connecting plate screw 511 fixing with underarm 5, aforesaid underarm lift action cylinder post 411 is fixedly connected with transition connecting plate 51, and the lower end of aforesaid a pair of underarm guide post 42 is same and transition connecting plate 51 is fixing.
Aforesaid underarm lift action cylinder 41 is used cylinder in the present embodiment, yet if replace cylinder with oil cylinder, should be considered as form so and immaterial equivalence variation.
In the process of aforesaid upper arm 3 displacement up or down, by underarm elevating mechanism 4, drive underarm 5 corresponding sports, and for example can make underarm 5 to bottom offset when underarm lift action cylinder post 411 stretches out while stretching by shown position outside cylinder body downwards when underarm lift action cylinder 41 work, otherwise with routine.And then, by the superincumbent description of applicant, while driving panoramic table 15 to rotate when slew gear 1 work, by panoramic table 15, drive whole upper arm elevating mechanism 2 to rotate, and when upper arm elevating mechanism 2 rotates, driving upper arm 3 to rotate, upper arm 3 drives the corresponding rotation of underarm 5 by underarm elevating mechanism 4.
Figure 1 illustrates a fixed mount horizontal displacement mechanism 6 that is arranged at aforementioned underarm 5 left ends, this fixed mount horizontal displacement mechanism 6 comprises a horizontal displacement acting cylinder 61, one guide pin bushing 62 and a pair of guide pillar 63, horizontal displacement acting cylinder 61 is fixed on the left end of underarm 5 with the horizontally-arranged state of level, and the horizontal displacement acting cylinder post 611 of this horizontal displacement acting cylinder 61 is being fixedly connected with illustrated fixed mount 7 at the left end end face through underarm 5, a pair of guide pin bushing 62 is fixed on the left end of underarm 5 with the horizontally-arranged state of level and corresponds respectively to the both sides of horizontal displacement acting cylinder 61, specifically, one of them guide pin bushing in a pair of guide pin bushing 62 is fixing at position and the underarm 5 of the side corresponding to horizontal displacement acting cylinder 61 (diagram upside), and another guide pin bushing in a pair of guide pin bushing 62 is fixing at position and the underarm 5 of the opposite side corresponding to horizontal displacement acting cylinder 61 (diagram downside).A pair of guide pillar 63 is fixedly connected with fixed mount 7, and the wherein guide pillar in this pair of guide pillar 63 and one of them guide pin bushing in a pair of guide pin bushing 62 be slidably matched, and another root guide pillar in a pair of guide pillar 63 and another guide pin bushing in a pair of guide pin bushing 62 are slidably matched.
Preferably, aforesaid horizontal displacement acting cylinder 61 adopts cylinder, but does not refuse to use oil cylinder, specifically as the description to underarm lift action cylinder 41.
When aforementioned horizontal displacement acting cylinder 61 work, for example, when its horizontal displacement acting cylinder post 611 stretches out outside cylinder body, promote fixed mount 7 to left dislocation, vice versa.In addition, when aforementioned underarm 5 turns round together with upper arm 3, make fixed mount 7 turn round simultaneously, when the underarm lift action cylinder 41 of aforementioned underarm elevating mechanism 4 makes underarm 5 displacement up or down, can make fixed mount 7 also produce the motion of following in sb's footsteps.
On the fixed mount 7 of mentioning, being provided with a blow-molding tray in the above catches and gets platform slew gear 8, this blow-molding tray catch get platform slew gear 8 preferably but not the structure being definitely limited to is as follows: comprise motor 81, reduction box 82, gyroaxis 83 and blow-molding tray catch gets platform holder 84, motor 81 is for having the servomotor of rotating function, be fixed on aforesaid fixed mount 7, the motor shaft 811 of this motor 81 is in transmission connection with the reduction box input shaft of reduction box 82, reduction box 82 is fixed on fixed mount 7 equally, one end of gyroaxis 83 is bearing on the first revolution axle bed 831 rotationally, and be connected with the reduction gearbox output shaft 821 of reduction box 82, and the other end of gyroaxis 83 is bearing on the second revolution axle bed 832 rotationally, the first revolution axle bed 831 and the second revolution axle bed 832 are respectively screwed on fixed mount 7, blow-molding tray catches gets the preferred middle part that adopts flat key fixed form to be fixed on gyroaxis 83 of platform holder 84, and this blow-molding tray catches to be got platform holder 84 and adopts to catch and get platform hold-down screw 841 and illustrated blow-molding tray and catch the right side of getting platform 9 and fix.
Preferably, on aforesaid fixed mount 7, form and have one first stiffening plate 71 and one second stiffening plate 72, this first, second stiffening plate 71,72 parallel (also can claim mutual correspondence), the space in the space between first, second stiffening plate 71,72 is configured to blow-molding tray and catches and get the platform holder chamber 73 of stepping down, wherein: on the first stiffening plate 71, offer one first gyroaxis resigning hole 711, and on the second stiffening plate 72, offering one second gyroaxis resigning hole 721, first, second gyroaxis resigning hole 711,721 corresponds to each other.One end of aforementioned gyroaxis 83 leans out the first gyroaxis resigning hole 711 and is bearing in rotationally on aforementioned the first revolution axle bed 831, and form rotating shaft terminal pad 833 once, this gyroaxis terminal pad 833 is fixedly connected with the reduction gearbox output shaft terminal pad 8211 that is formed in reduction gearbox output shaft 821 ends, the other end of gyroaxis 83 is being bearing on the second revolution axle bed 832 rotationally through after the second gyroaxis resigning hole 721, the middle part of gyroaxis 83 is caught and is got the platform holder chamber 73 of stepping down corresponding to aforesaid blow-molding tray, aforesaid blow-molding tray catches to be got the position of platform holder 84 on gyroaxis 83 and is positioned at blow-molding tray and catches and get the platform holder chamber 73 of stepping down.
When catching motor 81 work of getting platform slew gear 8, blow-molding tray (comprises clockwise and work counterclockwise, comprise and rotating and reverse), by motor shaft 811, through the reduction box input shaft of reduction box 82, driven reduction box 82 work, reduction gearbox output shaft 821 by reduction box 82 drives gyroaxis 83, by gyroaxis 83, drive blow-molding trays to catch and get platform holder 84, finally by blow-molding tray, catch and get platform holder 84 and drive aforesaid blow-molding tray to catch to get platform 9 upsets.
Shown in figure, at blow-molding tray, catch and get platform 9 to catch a side of getting platform slew gear 8 be illustrated left side and be positioned at four bights and be respectively provided with a blow-molding tray and fold up mechanism 91 back to aforementioned blow-molding tray, understanding for the ease of the public, applicant shows a blow-molding tray 10 by hollow plastic product molding machine moulding in the drawings, by the blow-molding tray of four angles, folds up the synergy of mechanism 91 and makes blow-molding tray 10 clamp or discharge.In addition,, according to the superincumbent description of applicant and in conjunction with schematic structure, can know that blow-molding tray catches the geometry of getting platform 9 and is plate body completely, and be the plate body of rectangle.
Aforesaid blow-molding tray folds up mechanism 91 and comprises jaw action cylinder 911 and jaw 912, jaw action cylinder 911 is screwed at blow-molding tray and catches the bight of getting platform 9, and be positioned at blow-molding tray and catch the left side of getting platform 9, jaw 912 is fixedly connected with the jaw action cylinder post 9111 of jaw action cylinder 911, and the one end that connects a pair of jaw guide rod 9121 on this jaw 912, and the cylinder body of the other end of a pair of jaw guide rod 9121 and jaw action cylinder 911 is slidably matched (cylinder body is provided with guide rod guide pin bushing).
Shown in figure, the shape of cross section of aforesaid jaw 912 is zigzag, that is to say that the global shape of jaw 912 is the zigzag of Chinese character.
Preferably, aforesaid jaw action cylinder 911 adopts cylinder, but does not repel use oil cylinder, specifically as the description to underarm lift action cylinder 41.
Please still see Fig. 1, applicant describes operation principle of the present invention, first, horizontal displacement acting cylinder 61 work by fixed mount horizontal displacement mechanism 6, horizontal displacement acting cylinder post 611 is stretched outside cylinder body stretches to the left side of shown position, by horizontal displacement acting cylinder post 611, drive fixed mount 7 to left dislocation, because blow-molding tray catches, get platform 9 and be and be arranged on blow-molding tray on fixed mount 7 and catch the blow-molding tray of getting platform slew gear 8 and catch and get platform holder 84 and be fixedly connected with, therefore at fixed mount 7, drive blow-molding tray to catch during to left dislocation and get platform 9 to left dislocation, until blow-molding tray is caught get the left side of platform 9 to contact with blow-molding tray 10, now horizontal force cylinder 61 quits work, then, be positioned at jaw action cylinder 911 work that four blow-molding trays that blow-molding tray catches four bights of getting platform 9 fold up mechanism 91, jaw action cylinder post 9111 is moved in cylinder body, by jaw 912, blow-molding tray 10 is clamped to (clamping), then, aforesaid horizontal displacement acting cylinder post 611 counteragents, namely make horizontal displacement acting cylinder post 611 to the cylinder body intrinsic displacement of horizontal displacement acting cylinder 61, drive fixed mount 7 displacement to the right, by fixed mount 7, by aforementioned blow-molding tray, catch the blow-molding tray of getting platform slew gear 8 and catch and get platform holder 84 and drive the blow-molding tray of clamping blow-molding tray 10 to catch to get platform 9 displacements to the right simultaneously, follow again, blow-molding tray catches platform slew gear 8 work of getting, motor 81 clockwise work is forward, by applicant, blow-molding tray is caught to the description of getting platform slew gear 8 in the above, reduction gearbox output shaft 821 by reduction box 82 drives gyroaxis 83 to clockwise rotate, by gyroaxis 83, drive blow-molding tray to catch and get platform holder 84 to clockwise rotating, from blow-molding tray, catch and get platform holder 84 and drive blow-molding trays to catch to get platform 9 and become level from previous vertical state, under this state, blow-molding tray 10 is towards upper, reach after this state, motor 81 quits work, follow again, spindle motor 25 work of upper arm elevating mechanism 2, drive leading screw 26 rotations, because upper arm 3 coordinates with leading screw 26 transmissions by feed screw nut 32, therefore when leading screw 26 motion (rotation), drive upper arm 3 descending, when upper arm 3 comes downwards to the lower position of being set by programmable controller (PLC) by program or title, spindle motor 25 quits work, under this state, by online assignment personnel, blow-molding tray 10 detected in range estimation mode and will in blowing process, leave in the overlap at the marginal position of blow-molding tray 10, the removals such as burr, until this, repair after overlap and deburring process finish, spindle motor 25 reverse operations, leading screw 26 reverse rotations, upper arm 3 is up, after upper arm 3 arrives upper limit position, spindle motor 25 quits work, more follow, panoramic table drive motors 12 work of slew gear 1, by applicant's description to this slew gear 1 in the above, rotate panoramic table 15, when panoramic table 7 rotates to technique initialization position, for example arrive behind right limit position, panoramic table drive motors 12 quits work, and then then, aforesaid motor 81 reverse operations, by reduction box 82, increase torque, and through gyroaxis 83, drive blow-molding trays to catch to get platform holder 84(and also can be described as wrist) rotate, until make aforesaid blow-molding tray 10 from previous towards on become towards under, under this state, motor 81 quits work, also follow, underarm lift action cylinder 41 work of underarm elevating mechanism 4, underarm lift action cylinder post 411 stretches outside cylinder body, drives underarm 5 descending, at underarm 5, arrive behind descending lower position, spindle motor 25 work, make upper arm 3 descending, and after upper arm 3 goes downwards to the degree corresponding with blow-molding tray 10 off-positions, spindle motor 25 quits work, finally, by 911 work of jaw action cylinder, jaw action cylinder post 9111 stretches outside cylinder body, and 912 pairs of blow-molding trays of jaw 10 are discharged, and removes the state of clamping to blow-molding tray 10.After blow-molding tray 10 discharges, 41 work of underarm lift action cylinder, underarm lift action cylinder post 411 is upwards to cylinder body intrinsic displacement, make underarm 5 up, when underarm 5 is up to after upper limit position, spindle motor 25 reverse operations, make upper arm 3 to top offset, when upper arm 3 arrives after upper limit position, spindle motor 25 quits work, and panoramic table drive motors 12 reverse operations drive panoramic table 15 revolutions, until blow-molding tray is caught get platform 9 again to correspond to need blow-molding tray 10 places that extract, blow-molding tray catches and gets platform 9 and be back to origin-location.
In sum, technical scheme provided by the invention has overcome the shortcoming in prior art, has completed invention task, has embodied the technique effect described in the superincumbent technique effect of applicant hurdle.
Claims (10)
1.
capture a robot architecture, it is characterized in that comprising single-revolution mechanism (1), this slew gear (1) is followed in hollow plastic product molding machine and is arranged at directly or indirectly on the terrace of field of employment under use state; One upper arm elevating mechanism (2), it is upper that this upper arm elevating mechanism (2) is provided in slew gear (1) rotationally, and be in transmission connection with slew gear (1); One upper arm (3), it is upper that this upper arm (3) is arranged on described upper arm elevating mechanism (2) with level, and the right-hand member of this upper arm (3) coordinates with upper arm elevating mechanism (2) transmission; One underarm elevating mechanism (4), it is upper that this underarm elevating mechanism (4) is arranged on described upper arm (3), and be positioned at the left end of upper arm (3); One underarm (5), the right-hand member of this underarm (5) is connected with described underarm elevating mechanism (4) in the below of the left end corresponding to described upper arm (3), and motion up or down under the work of underarm elevating mechanism (4); One fixed mount horizontal displacement mechanism (6), this fixed mount horizontal displacement mechanism (6) is arranged on the left end of described underarm (5); One fixed mount (7), this fixed mount (7) is connected with described fixed mount horizontal displacement mechanism (6); One blow-molding tray catches gets platform slew gear (8), and this blow-molding tray catches to be got platform slew gear (8) and be arranged on described fixed mount (7); One blow-molding tray catches gets platform (9), this blow-molding tray catches to be got platform (9) and towards described blow-molding tray, catches the side of getting platform slew gear (8) and blow-molding tray and catch and get platform slew gear (8) and be connected, and this blow-molding tray catches and gets four bights that platform (9) catches a side of getting platform slew gear (8) back to blow-molding tray and be respectively provided with one and fold up mechanism (91) for the blow-molding tray of blow-molding tray being clamped or discharge.
2.
blow-molding tray according to claim 1 captures robot architecture, it is characterized in that described slew gear (1) comprises robot base (11), panoramic table drive motors (12), panoramic table reduction box (13), deceleration block (14) and panoramic table (15), robot base (11) is followed in described hollow plastic product molding machine and is fixed on directly or indirectly on the terrace of field of employment, this robot base (11) forms turntable driving motor installation cavity (111) once, panoramic table drive motors (12) is arranged in panoramic table drive motors installation cavity (111), and fix with the middle position of the roof (112) of robot base (11), the panoramic table drive motors axle (121) of this panoramic table drive motors (12) is stretched over outside described panoramic table drive motors installation cavity (111) after the motor shaft resigning hole (1121) on roof (112), deceleration block (14) is fixed towards a upper side with described roof (112), on the outer wall of this deceleration block (14), be arranged with single-revolution platform bearing (141), panoramic table reduction box (13) is arranged on deceleration block (14), the reduction box power input shaft (131) of this reduction box (13) is in transmission connection with described panoramic table drive motors axle (12), and the reduction box power output shaft (132) of reduction box (13) is connected with the top flat key of panoramic table (15), the bottom of panoramic table (15) and described panoramic table bearing (141) are rotatably assorted, and form and have a lead screw shaft bearing hole (1511) at the middle position of the panoramic table table top (151) of panoramic table (15), described upper arm elevating mechanism (2) is connected with described panoramic table table top (115).
3.
blow-molding tray according to claim 2 captures robot architecture, it is characterized in that being equipped with a motor inspection door (113) on the sidewall of described robot base (11), described panoramic table drive motors (12) is for having the servomotor of rotating function.
4.
blow-molding tray according to claim 2 captures robot architecture, it is characterized in that on described panoramic table table top (151) and at the position of the below corresponding to described lead screw shaft bearing hole (1511), form turntable spindle nose Connection Block (1512) once, on this panoramic table spindle nose Connection Block (1512), offer a flat key groove (15121), described reduction box power output shaft (132) upper form have a surperficial flat key (1321) that is raised in reduction box power output shaft (132), this flat key (1321) is placed in flat key groove (15121).
5.
blow-molding tray according to claim 2 captures robot architecture, it is characterized in that described upper arm elevating mechanism (2) comprises a column (21), a pair of upper arm guide pillar (22), one column fixed disk (23), one spindle motor seat (24), one spindle motor (25) and a leading screw (26), the lower end of one column (21) and a pair of upper arm guide pillar (22) and described panoramic table table top (151) are fixing, and this column (21) forms criss-cross position relationship each other with a pair of upper arm guide pillar (22), column fixed disk (23) is fixed with the end, upper end of a column (21) and a pair of upper arm guide pillar (22) simultaneously, spindle motor seat (24) is fixed on column fixed disk (23) towards a upper side, spindle motor (25) is fixed on spindle motor seat (24), and the spindle motor axle (251) of this spindle motor (25) is stretched over downwards in the spindle motor seat chamber (241) of spindle motor seat (24), the upper end of leading screw (26) is bearing on column fixed disk (23) rotationally, and be stretched in described spindle motor seat chamber (241) and be in transmission connection with described spindle motor axle (251), the lower end of leading screw (26) is bearing on described panoramic table table top (151) rotationally in the position corresponding to described lead screw shaft bearing hole (1511), at the right-hand member of described upper arm (3) and be provided with a pair of upper arm guide pillar guide pin bushing (31) in the position corresponding to described a pair of upper arm guide pillar (22), a pair of upper arm guide pillar (22) is through this pair of upper arm guide pillar guide pin bushing (31), at the right-hand member of upper arm (3) and be positioned at and be provided with a feed screw nut (32) between a pair of upper arm guide pillar guide pin bushing (31), this feed screw nut (32) coordinates with described leading screw (26) transmission, wherein: described spindle motor (25) is for having the motor of rotating function.
6.
blow-molding tray according to claim 1 captures robot architecture, it is characterized in that offering a underarm lift action cylinder installation resigning hole (33) at the left end of described upper arm (3), described underarm elevating mechanism (4) comprises underarm lift action cylinder (41) and a pair of underarm guide post (42), underarm lift action cylinder (41) is fixed in the position corresponding to underarm lift action cylinder installation resigning hole (33) and the left end of upper arm (3), and the underarm lift action cylinder post (411) of this underarm lift action cylinder (41) is connected with described underarm (5) right-hand member through the bottom of upper arm (3), the lower end of a pair of underarm guide post (42) is fixed at the position of both sides and the left end of underarm (5) that correspond respectively to underarm lift action cylinder post (411), and the upper end of a pair of underarm guide post (42) is respectively slidably matched by underarm guide post guide pin bushing (421) and the left end of upper arm (3), wherein: described underarm lift action cylinder (41) is cylinder or oil cylinder.
7.
blow-molding tray according to claim 1 captures robot architecture, it is characterized in that described fixed mount horizontal displacement mechanism (6) comprises a horizontal displacement acting cylinder (61), a pair of guide pin bushing (62) and a pair of guide pillar (63), horizontal displacement acting cylinder (61) is fixed on the left end of described underarm (5) with the horizontally-arranged state of level, and the horizontal displacement acting cylinder post (611) of this horizontal displacement acting cylinder (61) is being fixedly connected with described fixed mount (7) through after the left end end face of underarm (5), a pair of guide pin bushing (62) is fixed on the left end of underarm (5) with level and corresponds respectively to the both sides of horizontal displacement acting cylinder (61), a pair of guide pillar (63) is fixedly connected with fixed mount (7), and the wherein guide pillar in this pair of guide pillar (63) and one of them guide pin bushing in a pair of guide pin bushing (62) are slidably matched, and another root guide pillar in a pair of guide pillar (63) and another guide pin bushing in a pair of guide pin bushing (63) are slidably matched, wherein: described horizontal displacement acting cylinder (61) is cylinder or oil cylinder.
8.
blow-molding tray according to claim 1 captures robot architecture, it is characterized in that described blow-molding tray catches gets platform slew gear (8) and comprises motor (81), reduction box (82), gyroaxis (83) and blow-molding tray catch gets platform holder (84), motor (81) and reduction box (82) are fixed on described fixed mount (7), and this motor (81) is in transmission connection with reduction box (82), one end of gyroaxis (83) is bearing in rotationally the first revolution axle bed (831) above and is connected with the reduction gearbox output shaft (821) of reduction box (82), and the other end of gyroaxis (83) is bearing on the second revolution axle bed (832) rotationally, first, the second revolution axle bed (831, 832) be fixed on described fixed mount (7), blow-molding tray catches gets the middle part that platform holder (84) is fixed on gyroaxis (83), and catch with described blow-molding tray that to get platform (9) fixing, wherein: described motor (81) is for having the servomotor of rotating function.
9.
blow-molding tray according to claim 8 captures robot architecture, it is characterized in that having one first stiffening plate (71) and one second stiffening plate (72) in the upper formation of described fixed mount (7), first, the second stiffening plate (71, 72) parallel, and first, the second stiffening plate (71, 72) space between is configured to blow-molding tray and catches and get the platform holder chamber (73) of stepping down, wherein: on the first stiffening plate (71), offer one first gyroaxis resigning hole (711), and on the second stiffening plate (72), offer one second gyroaxis resigning hole (721), first, the second gyroaxis resigning hole (711, 721) correspond to each other, one end of described gyroaxis (83) is being bearing in rotationally described the first revolution axle bed (831) above and is being connected with described reduction gearbox output shaft (821) after the first gyroaxis resigning hole (711), the other end of gyroaxis (83) is turning round on axle bed (832) through being bearing in rotationally described second after the second gyroaxis resigning hole (721), and the middle part of gyroaxis (83) is caught and is got the platform holder chamber (73) of stepping down corresponding to described blow-molding tray, described blow-molding tray catches to be got the position of platform holder (84) on gyroaxis (83) and is positioned at blow-molding tray and catches and get the platform holder chamber (73) of stepping down.
10.
blow-molding tray according to claim 1 captures robot architecture, it is characterized in that described blow-molding tray folds up mechanism (91) and comprises jaw action cylinder (911) and jaw (912), jaw action cylinder (911) is fixed on described blow-molding tray and catches the bight of getting platform (9), jaw (912) is fixedly connected with the jaw action cylinder post (9111) of jaw action cylinder (911), and in the upper one end that connects a pair of jaw guide rod (9121) of this jaw (912), and the cylinder body of the other end of a pair of jaw guide rod (9121) and jaw action cylinder (911) is slidably matched, the shape of cross section of described jaw (912) is zigzag, wherein: described jaw action cylinder (911) is cylinder or oil cylinder.
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| CN201310549846.6A CN103538059B (en) | 2013-11-08 | 2013-11-08 | Blow-molding tray grabbing robot structure |
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| CN201310549846.6A CN103538059B (en) | 2013-11-08 | 2013-11-08 | Blow-molding tray grabbing robot structure |
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| CN105150218A (en) * | 2015-09-28 | 2015-12-16 | 苏州同大机械有限公司 | Mechanical arm for blow molding machine of hollow plastic products |
| CN106141608A (en) * | 2016-06-30 | 2016-11-23 | 苏州博众精工科技有限公司 | A kind of rotation carrying mechanism |
| CN108971975A (en) * | 2018-09-04 | 2018-12-11 | 常熟市天银机电股份有限公司 | With to the starter automatic assembling apparatus for being detained workpiece test function |
| CN109175406A (en) * | 2018-10-16 | 2019-01-11 | 常熟建华模具科技股份有限公司 | Fixture is used in the transfer of glass mold station |
| CN109895074A (en) * | 2017-12-08 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of straight line units type both arms cooperation robot |
| CN115847412A (en) * | 2022-12-06 | 2023-03-28 | 秦皇岛燕大滨沅科技发展有限公司 | Anti-collision motion planning method for different-rail stacker-reclaimer based on separation frame |
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| CN115847412A (en) * | 2022-12-06 | 2023-03-28 | 秦皇岛燕大滨沅科技发展有限公司 | Anti-collision motion planning method for different-rail stacker-reclaimer based on separation frame |
| CN115847412B (en) * | 2022-12-06 | 2023-09-19 | 秦皇岛燕大滨沅科技发展有限公司 | Different-track pile and reclaimer anti-collision motion planning method based on separation frame |
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