CN103538059B - Blow-molding tray grabbing robot structure - Google Patents
Blow-molding tray grabbing robot structure Download PDFInfo
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- CN103538059B CN103538059B CN201310549846.6A CN201310549846A CN103538059B CN 103538059 B CN103538059 B CN 103538059B CN 201310549846 A CN201310549846 A CN 201310549846A CN 103538059 B CN103538059 B CN 103538059B
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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 being transferred to stacking station or blow-molding tray output station.
Background technology
" pallet " that " pallet " that the concept of above mentioned blow-molding tray and function thereof can be provided by " pallet " recommended Chinese invention license notification number CN102407967B and CN102009774B and publication No. CN103253422A introduce obtains detailed understanding.Above mentioned crawl robot can referred to as manipulator, a kind of specific frock machinery, and so-called specific frock machinery refers to and to extract and transfer workpiece blow-molding tray as the aforementioned in the manufacture and/or subsequent handling process of certain or certain series products, to meet the special equipment of certain technological requirement, and demand fulfillment nothing on manufacture course of products is interfered, is extracted the requirements such as accurate and convenient and reliable operation usually.
Although the technical information about manipulator can be seen in disclosed China and foreign countries patent document in a large number, such as Chinese invention patent Authorization Notice No. CN1197747C(taking feed from feed manipulator), CN10272886B(multi-joint manipulator, robot system and both arms multi-joint manipulator), publication No. CN103111540A(one machine multistation manipulator) and CN103112003A(multi-joint manipulator), etc., but automatic capturing is shifted aforementioned blow-molding tray and acted on without enlightenment.Because as aforementioned, capture machine Genus Homo in specific frock machinery, though and have automaticity high and the strong points such as human resources can be saved due to specific frock machinery, but generalization degree is extremely low is its shortcoming, thus need settles by oneself or entrusts in the mode of cutting the garment according to the figure and manufacture and design by manufacturing the manufacturer of certain product.
Just based on preceding factors, blow-molding tray shaping for hollow plastic product molding machine is transferred to testing station in manual mode of lifting fortune from hollow plastic product molding machine by workman by current China blow-molding tray manufacturing enterprise usually, by testing station after visualize and deburring so that be transferred to stacking station or be transferred to blow-molding tray export station, such as by conveying device (comprising waggon or conveyer belt etc.) transport to storage stacking place.With one of self-evident shortcoming of manual work mode transfer blow-molding tray, because the volume of blow-molding tray is comparatively large, workman's cotransport of needs two or more, thus causes the waste of human resources usually; Two, because workman frequently need shuttle back and forth between different station, thus the labour intensity of workman is large; Three, because workman is directly in the shaping place of hollow plastic product molding machine, thus the molecules influence that the high density polyvinyl chloride (english abbreviation is: HMWHDPE) being inevitably subject to the HMW forming blow-molding tray volatilizees, unfavorable to the health of workman; Four, owing to lifting manual the situation used in the process of transfer blow-molding tray and unavoidably there is collision, to throw and so on, and it is relevant with mood to the accountability of workman that the degree of this situation occurs, and thus easily generation people is the defective product caused.
For above-mentioned prior art, the applicant has done useful design repeatedly while long-term concern, finally define technical scheme described below, and carried out simulated test in the laboratory of the applicant plant area taking under secrecy provision, result proves practicable.
Summary of the invention
Task of the present invention be to provide a kind of contribute to coming from an automated manner the blow molding of hollow plastic product molding machine blow-molding tray transfer and use and save valuable human resources, be conducive to significantly alleviating the operation intensity of operator 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 and be convenient to prevent from undermining blow-molding tray in transport process and use and guarantee that the blow-molding tray of quality captures robot architecture.
Task of the present invention has been come like this, a kind of blow-molding tray captures robot architecture, comprises single-revolution mechanism, and this slew gear is arranged on the terrace of field of employment directly or indirectly with hollow plastic product molding machine in a state of use; One upper arm elevating mechanism, this upper arm elevating mechanism is disposed 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 in the below of the left end corresponding to described upper arm, and moves up or down under the work of underarm elevating mechanism; One fixed mount horizontal displacement mechanism, this fixed mount horizontal displacement organization establishes is at 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 catches the side of getting platform slew gear and blow-molding tray towards described blow-molding tray and catch and get platform slew gear and be connected, and this blow-molding tray catches and gets platform catches the side of getting platform slew gear four bights back to blow-molding tray and be respectively provided with one and fold up mechanism for the blow-molding tray clamped by blow-molding tray 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 with described hollow plastic product molding machine and be fixed on directly or indirectly on the terrace of field of employment, this robot base is configured with single-revolution platform drive motors installation cavity, 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 upper side, the outer wall of this deceleration block is 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 is connected with the top flat key of panoramic table, bottom and the described panoramic table bearing of panoramic table are rotatably assorted, and a lead screw shaft bearing hole is configured with in 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, the sidewall of described robot base is equipped a motor inspection door, and described panoramic table drive motors is the servomotor with rotating function.
In another specific embodiment of the present invention, described panoramic table table top is configured with single-revolution platform spindle nose Connection Block at the position of below corresponding to described lead screw shaft bearing hole, this panoramic table spindle nose Connection Block offers a flat key groove, described reduction box power output shaft is configured with the flat key that is raised in the surface of reduction box power output shaft, and 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 upper arm guide pillar, one column fixed disk, one spindle motor seat, one spindle motor and a leading screw, lower end and the described panoramic table table top of one column and a pair upper arm guide pillar are fixed, and this column and a pair upper arm guide pillar form criss-cross position relationship each other, column fixed disk simultaneously with the upper end end winding support of a column and a pair upper arm guide pillar, spindle motor seat is fixed on column fixed disk towards 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 position that lower end is corresponding to described lead screw shaft bearing hole of leading screw is bearing on described panoramic table table top rotationally, described upper arm right-hand member and be provided with a pair upper arm guide pillar guide pin bushing corresponding to the position of described a pair upper arm guide pillar, a pair upper arm guide pillar is through this pair upper arm guide pillar guide pin bushing, upper arm right-hand member and between a pair upper arm guide pillar guide pin bushing, be provided with a feed screw nut, this feed screw nut coordinates with described lead screw transmission, wherein: described spindle motor is the motor with rotating function.
Also have in a specific embodiment of the present invention, offer a underarm lift action cylinder at the left end of described upper arm and resigning hole is installed, described underarm elevating mechanism comprises underarm lift action cylinder and a pair 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 position of both sides and the left end of underarm that lower end is corresponding respectively to underarm lift action cylinder post of a pair underarm guide post are fixed, and the upper end of a pair 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 guide pin bushing and a pair 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 fixedly connected with described fixed mount after through the left end end face of underarm, a pair 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 guide pillar is fixedly connected with fixed mount, and the wherein guide pillar in this pair guide pillar and one of them guide pin bushing in a pair guide pin bushing are slidably matched, and another root guide pillar in a pair guide pillar and another guide pin bushing in a pair guide pin bushing are slidably matched, wherein: described horizontal displacement acting cylinder is cylinder or oil cylinder.
In an of the present invention and then 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 to be bearing in rotationally on the first revolution axle bed and to be connected with the reduction gearbox output shaft of reduction box, and the other end of gyroaxis is bearing on the second revolution axle bed rotationally, first, 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 with described blow-molding tray and get platform and fix, wherein: described motor is the servomotor with rotating function.
Of the present invention again more and in a specific embodiment, described fixed mount is configured with one first stiffening plate and one second stiffening plate, first, second stiffening plate is parallel, and first, space between second stiffening plate is configured to blow-molding tray and catches and get platform holder and to step down chamber, 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, second gyroaxis resigning hole corresponds to each other, one end of described gyroaxis to be bearing in rotationally on described first revolution axle bed and to be 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 described second after the second gyroaxis resigning hole rotationally, and the middle part of gyroaxis corresponds to described blow-molding tray and catches and get platform holder and to step down chamber, 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 platform holder and to step down chamber.
In an again of the present invention and then 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 on this jaw, connect one end of a pair jaw guide rod, and the cylinder body of the other end of a pair 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.
Technical scheme provided by the invention is caught four bights of getting platform blow-molding tray by blow-molding tray folds up mechanism and is jointly clamped by the blow-molding tray shaping by hollow plastic product molding machine, and drive upper arm and then revolution of arm under being driven by upper arm by slew gear by upper arm elevating mechanism, drive fixed mount to turn round by underarm and the blow-molding tray being clamped with blow-molding tray caught get platform to turn to blow-molding tray to discharge station, caught by blow-molding tray simultaneously and get platform slew gear and blow-molding tray caught get platform and turn to level together with being folded up the blow-molding tray that mechanism clamps by blow-molding tray, discharge by overturning again after on-line operation personnel visualize and be stacked and placed on release station, the change of blow-molding tray stack height is met by upper arm elevating mechanism, thus be lift running move the human resources of being saved preciousness and significantly alleviate the operation intensity of operator without the need to people, because operator is without the need to directly contacting with blow-molding tray, thus can not produce to operator the adverse effect damaging health.
Accompanying drawing explanation
Fig. 1 is embodiments of the invention structure chart.
Detailed description of the invention
In order to enable the auditor of Patent Office especially the public clearly understand technical spirit of the present invention and beneficial effect, applicant will elaborate below by way of example, but be not all the restriction to the present invention program to the description of embodiment, any conceive according to the present invention done be only pro forma but not substantial equivalent transformation and all should be considered as technical scheme category of the present invention.
Every directionality concept relating to up, down, left, right, before and after and so on is all for illustrated location status in the following description, thus can not be understood as the particular determination to the present invention program.
Refer to Fig. 1, give 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 also fixed on the terrace of field of employment directly or indirectly with hollow plastic product molding machine, here allegedly directly or indirectly refer to that the mounting means of robot base 11 has two kinds at least, to be directly fixed on the terrace of field of employment, the basis adopting the position of the flange fixing hole 1141 of one group of Foundation anchor bolts on the flange 114 of bottom corresponding to robot base 11 to be fixed on terrace by robot base 11 or to be formed on terrace is as on concrete block of wood, to be indirectly fixed on the terrace of field of employment, first foregoing flange limit 114 and the support be equipped with in addition are fixed, then by support together with robot base 11 supporting and fixing on the terrace of field of employment.Shown in figure, the global shape of robot base 11 is cylinder structure, and be configured with a circular turntable drive motors installation cavity 111, on the roof 112 of this robot base 11 and the middle position being positioned at roof 112 offers a motor shaft resigning hole 1121 communicated with aforementioned panoramic table drive motors installation cavity 111, be equipped with motor inspection door 113 at the sidepiece of robot base 11.Panoramic table drive motors 12 is arranged in panoramic table drive motors installation cavity 111, the position of motor shaft resigning hole 1121 is being corresponded to and aforementioned roof 112 is fixed towards the side of panoramic table drive motors installation cavity 111 particular by one group of panoramic table drive motors hold-down screw 122, the motor shaft resigning hole 1121 of panoramic table drive motors axle 121 on roof 112 of this panoramic table drive motors 12 is stretched over outside panoramic table drive motors installation cavity 111, and namely panoramic table drive motors axle 121 leans out the top of roof 112.The structure of deceleration block 14 in cylinder, and a deceleration block mounting flange 142 is configured with 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 upper side, the outer wall of deceleration block 14 is positioned at top and is 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: establish in the end expansion of panoramic table drive motors axle 121 and be configured with a motor shaft terminal pad 1211, and expand at the end of reduction box power input shaft 131 and establish and be configured with a power input shaft terminal pad 1311, terminal pad screw is adopted to be fixedly connected with power input shaft terminal pad 1311 by motor shaft terminal pad 1211, thus make panoramic table reduction box 13 realize being in transmission connection between 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.The situation that panoramic table reduction box 13 is fixed with the top of deceleration block 14 by one group of reduction box hold-down screw 133 is illustrated in figure.The bottom of panoramic table 15 is nested with on the top of deceleration block 14, and be rotatably assorted with aforesaid panoramic table bearing 141, be configured with a lead screw shaft bearing hole 1511 in the middle position of the panoramic table table top 15 of panoramic table 15, the upper arm elevating mechanism 2 that will describe below is connected with panoramic table table top 151.
As shown in Figure 1, single-revolution platform spindle nose Connection Block 1512 is formed on aforesaid panoramic table table top 151 and at the position of the below corresponding to aforementioned lead screw shaft bearing hole 1511, this panoramic table spindle nose Connection Block 1512 offers a flat key groove 15121, and on aforesaid reduction box power output shaft 132, is configured with the flat key 1321 that is raised in the surface of the power output shaft 132 of reduction box.Because the position of flat key groove 15121 is corresponding with flat key 1321, therefore when flat key 1321 insert (embedding) in flat key groove 15121 after panoramic table 15 and reduction box power output shaft 132 are in transmission connection.
Aforesaid panoramic table drive motors 12 is for having the servomotor of rotating function, (comprise when panoramic table drive motors 12 works and rotating and reverse, rotating forward refers to rotate clockwise, reversion refers to rotate counterclockwise), because the motor shaft terminal pad 1211 of panoramic table drive motors axle 121 end is connected with the power input shaft terminal pad 1311 of reduction box power input shaft end, thus by panoramic table drive motors axle 121 by power transmission to panoramic table reduction box 13, after panoramic table reduction box 13 slows down, panoramic table 15 is driven to rotate by reduction box power output shaft 132 by flat key 1321.
Above mentioned upper arm elevating mechanism 2 preferably but not the structure be definitely limited to is as follows: comprise a column 21, a pair upper arm guide pillar 22, column fixed disk 23, spindle motor seat 24, spindle motor 25 and a leading screw 26, one column 21 is longitudinally parallel, and the lower end of this column 21 is fixed by column hold-down screw 211 and aforesaid panoramic table table top 151, a pair upper arm guide pillar 22 is longitudinally parallel, and the lower end of this pair upper arm guide pillar 22 is fixed by upper arm guide pillar hold-down screw 221 and panoramic table table top 151.Due to column 21 and upper arm guide pillar 22 in one every one position relationship, therefore a column 21 and a pair upper arm guide pillar 22 form criss-cross position relationship each other.Column fixed disk 23 adopts column fixed disk screw 231 to fix with the upper end (also can claim top) of a column 21 and a pair upper arm guide pillar 22 simultaneously.Spindle motor seat 24 adopts spindle motor seat hold-down screw 242 and column fixed disk 23 to fix towards 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 aforementioned spindle motor seat 24.Shown in figure, expand at the end of spindle motor axle 251 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, expand in the end, upper end of leading screw 26 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 rotationally by the position that leading screw lower bearing 263 is corresponding to aforementioned lead screw shaft bearing hole 1511.From the signal in figure, leading screw lower bearing 263 is arranged in lead screw shaft bearing hole 1511.
Give a upper arm 3, at the right-hand member of this upper arm 3 (for location status shown in Fig. 1, as follows) and the position corresponding to a pair upper arm guide pillar 22 is provided with a pair upper arm guide pillar guide pin bushing 31, a wherein upper arm guide pillar in a pair upper arm guide pillar 22 is through one of them the upper arm guide pillar guide pin bushing in a pair upper arm guide pillar guide pin bushing 31, and another root upper arm guide pillar in a pair upper arm guide pillar 22 is through another upper arm guide pillar guide pin bushing in a pair upper arm guide pillar guide pin bushing 31, it can thus be appreciated that a pair upper arm guide pillar 22 and a pair upper arm guide pillar guide pin bushing 31 are slidably matched.Upper arm 3 right-hand member and the position between a pair upper arm guide pillar guide pin bushing 31 is provided with a feed screw nut 32, this feed screw nut 32 coordinates with the transmission of aforesaid leading screw 26.
Aforesaid spindle motor 25, for having the motor of rotating function, namely has the servomotor of rotating function.Because whole upper arm elevating mechanism 2 is connected on panoramic table 15, therefore when panoramic table 15 is to clockwise or rotate counterclockwise into just driving upper arm elevating mechanism 2 to do corresponding rotation by panoramic table 151.
When spindle motor 25 rotates (comprise and rotating and reverse), drive the corresponding rotation of leading screw 26 by the spindle motor axle 251 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 that leading screw 26 rotates, drive aforesaid upper arm 3 to move up or down under the guiding of a pair upper arm guide pillar 22 by feed screw nut 32.
Shown in figure, offer a underarm lift action cylinder at the left end of aforementioned upper arm 3 and the underarm elevating mechanism 4 shown in resigning hole 33, figure to be installed on upper arm 3 left end in the position corresponding to this underarm lift action cylinder and install resigning hole 33 is installed.
Aforesaid underarm elevating mechanism 4 comprises a underarm lift action cylinder 41 and a pair 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 position of both sides and the left end of underarm 5 that lower end is corresponding respectively to underarm lift action cylinder post 411 of a pair underarm guide post 42 are fixed, and the upper end of a pair underarm guide post 42 is respectively slidably matched by the left end of underarm guide post guide pin bushing 421 with 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, a transition connecting plate 51 is set up at the right-hand member of aforementioned underarm 5, this transition connecting plate 51 adopts transition connecting plate screw 511 to fix 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 underarm guide post 42 is same and transition connecting plate 51 is fixed.
Aforesaid underarm lift action cylinder 41 uses cylinder in the present embodiment, if but replace cylinder with oil cylinder, so should be considered as form and immaterial equivalence change.
Underarm 5 corresponding sports is driven by underarm elevating mechanism 4 in the process of aforesaid upper arm 3 displacement up or down, and such as underarm 5 can be made to bottom offset when underarm lift action cylinder post 411 stretches out and stretches by shown position outside cylinder body downwards when underarm lift action cylinder 41 works, otherwise with example.And then, by the superincumbent description of applicant, when slew gear 1 works and drives panoramic table 15 to rotate, whole upper arm elevating mechanism 2 is driven to rotate by panoramic table 15, and driving upper arm 3 to rotate when upper arm elevating mechanism 2 rotates, upper arm 3 drives the corresponding rotation of underarm 5 by underarm elevating mechanism 4.
Figure 1 illustrates the fixed mount horizontal displacement mechanism 6 being arranged at aforementioned underarm 5 left end, this fixed mount horizontal displacement mechanism 6 comprises a horizontal displacement acting cylinder 61, one guide pin bushing 62 and a pair 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 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, position and underarm 5 that one of them guide pin bushing in a pair guide pin bushing 62 is corresponding to the side of horizontal displacement acting cylinder 61 (diagram upside) are fixed, and another guide pin bushing in a pair guide pin bushing 62 is fixed in the position of the opposite side (diagram downside) corresponding to horizontal displacement acting cylinder 61 and underarm 5.A pair guide pillar 63 is fixedly connected with fixed mount 7, and the wherein guide pillar in this pair guide pillar 63 and one of them guide pin bushing in a pair guide pin bushing 62 are slidably matched, and another root guide pillar in a pair guide pillar 63 and another guide pin bushing in a pair 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 works, such as, when its horizontal displacement acting cylinder post 611 stretches out outside cylinder body, then promote fixed mount 7 to left dislocation, vice versa.In addition, when aforementioned underarm 5 turns round together with upper arm 3, then 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, then fixed mount 7 can be made also to produce the motion of following in sb's footsteps.
Above mentioned fixed mount 7 is provided with a blow-molding tray catch and get platform slew gear 8, this blow-molding tray catch get platform slew gear 8 preferably but not the structure be 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, 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 adopting 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 catch the right side of getting platform 9 with illustrated blow-molding tray and fix.
Preferably, aforesaid fixed mount 7 is configured with 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 platform holder and to step down chamber 73, 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 on aforementioned first revolution axle bed 831 rotationally, and be configured with single-revolution axle terminal pad 833, this gyroaxis terminal pad 833 is fixedly connected with the reduction gearbox output shaft terminal pad 8211 being formed in reduction gearbox output shaft 821 end, the other end of gyroaxis 83 is being bearing on the second revolution axle bed 832 through after the second gyroaxis resigning hole 721 rotationally, the middle part of gyroaxis 83 corresponds to aforesaid blow-molding tray and catches and get platform holder and to step down chamber 73, 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 platform holder and to step down chamber 73.
(comprise clockwise and work counterclockwise when blow-molding tray catches when the motor 81 getting platform slew gear 8 works, namely comprise and rotating and reverse), reduction box 82 is driven to work by motor shaft 811 through the reduction box input shaft of reduction box 82, gyroaxis 83 is driven by the reduction gearbox output shaft 821 of reduction box 82, drive blow-molding tray to catch by gyroaxis 83 and get platform holder 84, finally caught by blow-molding tray and get platform holder 84 and drive aforesaid blow-molding tray to catch to get platform 9 and overturn.
Shown in figure, catch at blow-molding tray and get platform 9 and catch the side and illustrated left side of getting platform slew gear 8 back to aforementioned blow-molding tray and be positioned at four bights and be respectively provided with a blow-molding tray and fold up mechanism 91, for the ease of the understanding of the public, applicant shows one in the drawings by the shaping blow-molding tray 10 of hollow plastic product molding machine, and the blow-molding tray by 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 is completely plate body, and is 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 and catches the bight of getting platform 9 at blow-molding tray, 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 on this jaw 912, connect one end of a pair jaw guide rod 9121, and the cylinder body of the other end of a pair 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, and that is 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, worked by the horizontal displacement acting cylinder 61 of fixed mount horizontal displacement mechanism 6, horizontal displacement acting cylinder post 611 is stretched outside cylinder body namely stretch to the left side of shown position, drive fixed mount 7 to left dislocation by horizontal displacement acting cylinder post 611, because blow-molding tray catches, to get platform 9 be catch the blow-molding tray getting platform slew gear 8 to catch and get platform holder 84 with the blow-molding tray be arranged on fixed mount 7 and be fixedly connected with, therefore platform 9 is got to left dislocation at fixed mount 7 to driving blow-molding tray to catch during left dislocation, until make blow-molding tray catch to 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 the jaw action cylinder 911 that four blow-molding trays that blow-molding tray catches four bights of getting platform 9 fold up mechanism 91 and work, jaw action cylinder post 9111 is moved in cylinder body, by jaw 912, blow-molding tray 10 is clamped (clamping), then, aforesaid horizontal displacement acting cylinder post 611 counteragent, 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, catch by aforementioned blow-molding tray the blow-molding tray getting platform slew gear 8 by fixed mount 7 and catch and get platform holder 84 and drive the blow-molding tray clamping blow-molding tray 10 to catch to get platform 9 displacement to the right simultaneously, again then, blow-molding tray catches to be got platform slew gear 8 and works, namely motor 81 clockwise work rotates forward, above, blow-molding tray is caught to the description of getting platform slew gear 8 by applicant, gyroaxis 83 is driven to rotate clockwise by the reduction gearbox output shaft 821 of reduction box 82, drive blow-molding tray to catch by gyroaxis 83 and get platform holder 84 to rotating clockwise, caught from blow-molding tray and get platform holder 84 and drive blow-molding tray to catch to get platform 9 and become level from previous vertical state, in this condition, blow-molding tray 10 is towards upper, after reaching this state, motor 81 quits work, again then, the spindle motor 25 of upper arm elevating mechanism 2 works, leading screw 26 is driven to rotate, because upper arm 3 is coordinated with leading screw 26 transmission by feed screw nut 32, therefore drive upper arm 3 descending when leading screw 26 moves (rotation), when upper arm 3 comes downwards to by program or claims the lower position set by programmable controller (PLC), spindle motor 25 quits work, by online assignment personnel blow-molding tray 10 detected in range estimation mode in this condition and the overlap at marginal position that will leave in blow-molding process in blow-molding tray 10, the removals such as burr, after this repaiies overlap and deburring process terminates, spindle motor 25 reverse operation, leading screw 26 reversely rotates, upper arm 3 is up, arrive spindle motor 25 behind upper limit position until upper arm 3 to quit work, more and then, the panoramic table drive motors 12 of slew gear 1 works, and by applicant above to the description of this slew gear 1, panoramic table 15 is rotated, when panoramic table 7 rotates to after technique initialization position such as arrives right limit position, panoramic table drive motors 12 quits work, and then then, aforesaid motor 81 reverse operation, torque is increased by reduction box 82, and drive blow-molding tray to catch to get platform holder 84(through gyroaxis 83 and also can be described as wrist) rotate, until make aforesaid blow-molding tray 10 from previous towards on become towards under, motor 81 quits work in this condition, also then, the underarm lift action cylinder 41 of underarm elevating mechanism 4 works, and underarm lift action cylinder post 411 stretches outside cylinder body, drives underarm 5 descending, after underarm 5 arrives descending lower position, spindle motor 25 works, and makes upper arm 3 descending, and go downwards to after the degree corresponding with blow-molding tray 10 off-position until upper arm 3, spindle motor 25 quits work, finally, worked by jaw action cylinder 911, jaw action cylinder post 9111 stretches outside cylinder body, and jaw 912 pairs of blow-molding trays 10 are discharged, and namely removes to clamp state to blow-molding tray 10.After blow-molding tray 10 discharges, underarm lift action cylinder 41 works, underarm lift action cylinder post 411 is upwards namely to cylinder body intrinsic displacement, make underarm 5 up, after underarm 5 is up to upper limit position, spindle motor 25 reverse operation, make upper arm 3 to top offset, after upper arm 3 arrives upper limit position, spindle motor 25 quits work, panoramic table drive motors 12 reverse operation, drives panoramic table 15 to turn round, until make blow-molding tray catch to get platform 9 again to correspond to need blow-molding tray 10 place extracted, namely blow-molding tray catches and gets platform 9 and be back to origin-location.
In sum, technical scheme provided by the invention overcomes the shortcoming in prior art, completes invention task, embodies the technique effect described in the superincumbent technique effect hurdle of applicant.
Claims (10)
1.
a kind of blow-molding tray captures robot architecture, it is characterized in that comprising single-revolution mechanism (1), this slew gear (1) is arranged on the terrace of field of employment directly or indirectly with hollow plastic product molding machine in a state of use; One upper arm elevating mechanism (2), this upper arm elevating mechanism (2) is disposed on slew gear (1) rotationally, and is in transmission connection with slew gear (1); One upper arm (3), 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), this underarm elevating mechanism (4) is arranged on described upper arm (3), and is 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 moves 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 catches the side of getting platform slew gear (8) and blow-molding tray towards described blow-molding tray and catch and get platform slew gear (8) and be connected, and this blow-molding tray catches and gets platform (9) catches the side of getting platform slew gear (8) four bights back to blow-molding tray and be respectively provided with one and fold up mechanism (91) for the blow-molding tray clamped by blow-molding tray 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 with described hollow plastic product molding machine and be fixed on directly or indirectly on the terrace of field of employment, this robot base (11) is configured with single-revolution platform drive motors installation cavity (111), 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 described panoramic table drive motors installation cavity (111) outward after the motor shaft resigning hole (1121) on roof (112), deceleration block (14) and described roof (112) are fixed towards upper side, the outer wall of this deceleration block (14) is arranged 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 described panoramic table drive motors axle (121) of this reduction box (13) are in transmission connection, and the reduction box power output shaft (132) of reduction box (13) is connected with the top flat key of panoramic table (15), bottom and the described panoramic table bearing (141) of panoramic table (15) are rotatably assorted, and a lead screw shaft bearing hole (1511) is configured with in 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 going up at described panoramic table table top (151) and being configured with single-revolution platform spindle nose Connection Block (1512) at the position of the below corresponding to described lead screw shaft bearing hole (1511), this panoramic table spindle nose Connection Block (1512) offers a flat key groove (15121), described reduction box power output shaft (132) is configured with the flat key (1321) that is raised in the surface of 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 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 upper arm guide pillar (22) and described panoramic table table top (151) are fixed, and this column (21) and a pair upper arm guide pillar (22) form criss-cross position relationship each other, column fixed disk (23) simultaneously with the upper end end winding support of a column (21) and a pair upper arm guide pillar (22), spindle motor seat (24) is fixed on column fixed disk (23) towards 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 in the spindle motor seat chamber (241) of spindle motor seat (24) downwards, 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 position that lower end is corresponding to described lead screw shaft bearing hole (1511) of leading screw (26) is bearing on described panoramic table table top (151) rotationally, described upper arm (3) right-hand member and be provided with a pair upper arm guide pillar guide pin bushing (31) corresponding to the position of described a pair upper arm guide pillar (22), a pair upper arm guide pillar (22) is through this pair upper arm guide pillar guide pin bushing (31), upper arm (3) right-hand member and be positioned between a pair upper arm guide pillar guide pin bushing (31) and be provided with a feed screw nut (32), 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 at the left end of described upper arm (3) installs resigning hole (33), described underarm elevating mechanism (4) comprises underarm lift action cylinder (41) and a pair underarm guide post (42), the left end that underarm lift action cylinder (41) is corresponding to the position and upper arm (3) that resigning hole (33) installed by underarm lift action cylinder is fixed, and 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 position of both sides and the left end of underarm (5) that lower end is corresponding respectively to underarm lift action cylinder post (411) of a pair underarm guide post (42) are fixed, and the upper end of a pair underarm guide post (42) is respectively slidably matched by the left end of underarm guide post guide pin bushing (421) with 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 guide pin bushing (62) and a pair 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 fixedly connected with described fixed mount (7) after through the left end end face of underarm (5), a pair 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 guide pillar (63) is fixedly connected with fixed mount (7), and the wherein guide pillar in this pair guide pillar (63) and one of them guide pin bushing in a pair guide pin bushing (62) are slidably matched, and another root guide pillar in a pair guide pillar (63) and another guide pin bushing in a pair guide pin bushing (62) 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 to get platform slew gear (8) and comprise 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) and reduction box (82) are in transmission connection, one end of gyroaxis (83) is bearing in the first revolution axle bed (831) rotationally and goes up 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, first, 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 with described blow-molding tray catch get platform (9) fix, 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 on described fixed mount (7), be configured with one first stiffening plate (71) and one second stiffening plate (72), first, second stiffening plate (71, 72) parallel, and first, second stiffening plate (71, 72) space between is configured to blow-molding tray and catches and get platform holder and to step down chamber (73), 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, second gyroaxis resigning hole (711, 721) correspond to each other, one end of described gyroaxis (83) is to be bearing in described first revolution axle bed (831) after the first gyroaxis resigning hole (711) rotationally upper and be connected with described reduction gearbox output shaft (821), the other end of gyroaxis (83) is turning round on axle bed (832) through being bearing in described second after the second gyroaxis resigning hole (721) rotationally, and the middle part of gyroaxis (83) corresponds to described blow-molding tray and catches and get platform holder and to step down chamber (73), 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 platform holder and to step down chamber (73).
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 one end of the upper connection a pair jaw guide rod (9121) of this jaw (912), and the cylinder body of the other end of a pair 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150218B (en) * | 2015-09-28 | 2017-01-25 | 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 |
| CN109895074B (en) * | 2017-12-08 | 2021-09-21 | 中国科学院沈阳自动化研究所 | Linear unit type double-arm cooperative robot |
| CN108971975B (en) * | 2018-09-04 | 2024-01-26 | 常熟市天银机电股份有限公司 | Automatic starter assembling device with function of detecting retained workpieces |
| CN109175406B (en) * | 2018-10-16 | 2024-01-30 | 常熟建华模具科技股份有限公司 | Clamp for transferring glass mold station |
| 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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