CN103552230B - Multifunctional manipulator for plastic product molding - Google Patents

Abstract

The invention discloses a multifunctional manipulator for plastic product molding, belonging to the technical field of industrial automatic mechanical devices. The multifunctional manipulator comprises a parison supporting and releasing mechanism, a wrist joint mechanism and a wrist joint horizontal displacement driving mechanism, wherein the parison support and releasing mechanism is used for supporting or releasing a parison, the wrist joint mechanism is used for enabling the parison supporting and releasing mechanism to alternately rotate between a parison extrusion station and a parison huffing and molding station and is connected with the parison supporting and releasing mechanism, and the wrist joint horizontal displacement driving mechanism is fixed on a hollow plastic product molding machine in a used state and is also connected with the wrist joint mechanism. The multifunctional manipulator has the advantages that the extracted parison can be immediately introduced into a left half mold and a right half mold and can be immediately returned to the parison extrusion station for parison extraction, so that the operation continuity of the parison extrusion mechanism, a huffing and molding mechanism and a mold opening and closing mechanism can be embodied, and the molding efficiency of a plastic product can be improved; the molding efficiency is high, so that the used amount of equipment can be reduced, the equipment cost can be saved, the working amount of equipment maintenance is alleviated, the labor is saved, and the energy saving is realized.

Description

Multifunctional Manipulator for Plastic Products Molding

technical field

The invention belongs to the technical field of industrial automation machinery, and in particular relates to a multifunctional manipulator for plastic product molding, which is used as an auxiliary device of a plastic product molding machine to extrude a parison extruded by a parison extrusion mechanism of a plastic product molding machine Transfer to the inflation molding station for inflation molding by the inflation molding mechanism.

Background technique

With the continuous improvement of the development level of polymer materials, on the one hand, the application fields of plastic products have been significantly expanded, and on the other hand, the automation of equipment used to produce plastic products has been effectively promoted. In order to meet the high-precision, high-quality and high-efficiency production requirements for plastic products, various auxiliary equipment are widely used in the automatic production of plastic machinery.

In the process of making plastic products, the known plastic product molding machine usually extrudes the parison from the parison extrusion mechanism, and the parison (also called blank) enters the opening and closing mold mechanism located under the parison extrusion mechanism. , followed by inflation molding by the inflation molding mechanism. After inflation molding, the mold opening and closing mechanism opens the mold, so that the left and right mold frames that are arranged facing each other are repelled, and at the same time, the left and right mold frames that are respectively arranged on the left and right mold frames are separated. The right and left molds repel each other, and the inflation-molded plastic products come out from the left and right molds; then the left and right mold bases are closed to each other, so that the left and right molds on the left and right mold bases are closed to each other, that is, mold clamping , while the mold is closed, the parison extruded by the parison extrusion mechanism is held again in the left and right half molds, and then blown and formed by the inflation molding mechanism, and so on. The aforementioned opening and closing mechanism can refer to Chinese patents CN2705301Y (mold clamping and locking mechanism of plastic hollow molding machine), CN201784086U (large and medium-sized hollow plastic mold clamping mechanism) and CN101031405B (mold clamping device), etc.

The method of molding plastic products by the above-mentioned known plastic product molding machines has been generally accepted by the industry for a long time, and there has never been any report questioning its deficiency. However, after careful observation and objective analysis by the applicant, it is believed that this molding The method has the following disadvantages: First, because the parison extrusion mechanism is in a standby state during the process of blowing and molding the parison located in the left and right half molds by the inflation mechanism, it seriously affects the molding efficiency of plastic products. Second, in order to meet the production capacity requirements, plastic product manufacturers usually make up for it by increasing the number of plastic product molding machines, which results in an increase in equipment investment costs, and at the same time increases the workload of management, maintenance and maintenance of equipment, and invests manpower. The increase in quantity will eventually lead to the loss of cheap plastic products; third, because there is a standby process in the parison extrusion mechanism and the inflation molding mechanism, it is not conducive to saving the energy consumption to support the operation of these mechanisms.

In view of the above-mentioned existing technical conditions, there is a great need for improvement. For this reason, the applicant has made long-term and beneficial explorations and attempts, and finally formed the technical field to be introduced below, and has taken confidentiality measures in the applicant's factory area. The simulation test was carried out in the laboratory, and the results surprisingly showed the ideal technical effect.

Contents of the invention

The task of the present invention is to provide a method that can significantly improve the molding efficiency of plastic products, help to reduce the number of complete machines invested in hollow plastic product molding machines, thereby saving equipment costs, reducing the workload of equipment management and maintenance, and saving Manpower input and multifunctional manipulators for plastic product molding are beneficial to significantly save energy consumption and embody the energy-saving and energy-saving economic spirit advocated by the whole society.

The task of the present invention is accomplished in this way. A multifunctional manipulator for plastic product molding includes a parison supporting and releasing mechanism for supporting or releasing the parison; A wrist joint mechanism that rotates alternately between the parison extrusion station and the parison inflation molding station, the wrist joint mechanism is connected with the parison support release mechanism; one is used to drive the wrist joint mechanism together with the mold The wrist joint horizontal displacement drive mechanism for the horizontal displacement of the billet support release mechanism, the wrist joint horizontal displacement drive mechanism is fixed on the hollow plastic product molding machine in use and is also connected with the wrist joint mechanism.

In a specific embodiment of the present invention, the parison support release mechanism includes left and right clamp arms, a pair of left and right suction devices, a left fixed suction block, a right fixed suction block, and a clamp arm opening and closing device, The left and right clamping arms form a parallel relationship with each other, a pair of left suction devices are arranged at one end of the left clamping arm and toward one side of the right clamping arm, and a pair of right suction devices are arranged on the right clamping device at a position corresponding to the pair of left suction devices. One end of the arm and towards the side of the left clamp arm, the left fixed suction block is fixed on the side of the left clamp arm facing the right clamp arm and is located between the pair of left suction devices, and the right fixed suction block corresponds to the The position of the left fixed suction block is fixed on the side of the right clamp arm facing the left clamp arm, and is located between the pair of right suction devices, and the clamp arm opening and closing device is arranged between the left and right clamp arms and is located on the left clamp arm. The other end of the arm and the right clamp arm, the wrist joint mechanism is connected with the clamp arm opening and closing device together with the wrist joint horizontal displacement drive mechanism.

In another specific embodiment of the present invention, each of the pair of left adsorption devices includes a left pivotal adsorption block, a left negative pressure suction pipe and a left pivotal adsorption block actuation cylinder, and the left pivotal adsorption block One end of the left clamping arm is hingedly connected to the side of the right clamping arm, while the other end of the left pivoting adsorption block is formed as a free end, and the side of the left pivoting adsorption block facing the right clamping arm is formed with a The air intake grille of the left adsorption block communicated with the left pivoting adsorption block chamber of the left pivoting adsorption block, one end of the left negative pressure suction pipe extends into the left pivoting adsorption block cavity, while the other end of the left negative pressure suction pipe One end is connected with the negative pressure generating device, and the left pivoting adsorption block actuating cylinder is fixed on the side of the left clamping arm facing away from the right clamping arm in a horizontal cantilever state, and the left pivoting of the left pivoting adsorption block actuating cylinder The actuating cylinder column of the adsorption block is hingedly connected with the left pivotal adsorption block after passing through the left jig arm; the structure of the pair of right adsorption devices is the same as that of the pair of left adsorption devices; the left The side of the fixed adsorption block facing the right jig arm is formed with a left fixed adsorption block grid that communicates with the left fixed adsorption block chamber of the left fixed adsorption block, and a left fixed adsorption block suction is introduced into the left fixed adsorption block cavity. One end of the pipe, and the other end of the suction pipe of the left fixed adsorption block is connected to the negative pressure generating device; the structure of the right fixed adsorption block is the same as that of the left fixed adsorption block.

In yet another specific embodiment of the present invention, the clamp arm opening and closing device includes left and right sliding plates, first and second guide rods, a guide rod seat fixing plate, a rack gear box, first and second Two gear racks and sliding plates open and act cylinder, the left sliding plate is fixed on the other end of the left jig arm, the right sliding plate is fixed on the other end of the right jig arm, and the left and right sliding plates are parallel to each other, the first 1. The second guide rod is connected between the left and right sliding plates in a state parallel to each other, and a first guide rod seat is fixed in the middle part of the length direction of the first guide rod, and a first guide rod seat is fixed in the middle part of the length direction of the second guide rod And a second guide rod seat is fixed at a position corresponding to the first guide rod seat, one end of the guide rod seat fixing plate is fixed with the bottom of the first guide rod seat, the other end is fixed with the bottom of the second guide rod seat, and the rack The gear box is fixed on the guide bar seat fixing plate and corresponds to the space between the first and second guide bar seats. A rack mating gear is pivotally arranged in the rack gear box. One end of the first rack is connected to the left slide On the plate, the other end extends into the rack gear box and meshes with one side of the rack mating gear, one end of the second rack is connected to the right slide plate, and the other end extends into the rack gear box and cooperates with the rack The other side of the gear is meshed, the sliding plate opening cylinder is set in a lying state, and one end of the sliding plate opening cylinder is fixed on the guide rod fixing plate through the opening cylinder fixing seat, and the other end is extended to the Outside the right sliding plate, and the sliding plate opening cylinder column of the sliding plate opening cylinder is connected with the left sliding plate, under the operation of the sliding plate opening cylinder, the left and right sliding plates repel each other or move towards each other At the same time, the left and right clamping arms also move away from each other or move towards each other at the same time, and the wrist joint mechanism is connected to the first guide rod seat and the second guide rod seat together with the wrist joint horizontal displacement drive mechanism. Between the rod seats and located on the upper part of the first and second guide rod seats.

In yet another specific embodiment of the present invention, the wrist joint mechanism includes a connecting disc seat fixing plate, a connecting disc seat, a connecting disc, a double-ended screw rotating shaft, a rotary gear box, a rotary gear actuating rack, and a transmission belt. The connection plate and the rack action cylinder, one end of the connecting disc seat fixing plate is fixed to the upper part of the first guide rod seat, the other end of the connecting disc seat fixing plate is fixed to the upper part of the second guide rod seat, and connected The disk seat is fixed on the side facing upward of the connection disk seat fixing plate and is located in the middle of the connection disk seat fixing plate. A nut relief cavity is formed in the center of the connection disk seat. The connection disk is fixed on the connection disk seat, and the rack acts on the cylinder. It is fixed on the side of the transmission belt connecting plate facing the rotary gear box in a horizontal state. One end of the rotary gear actuating rack is fixedly connected with the rack action cylinder column of the rack action cylinder, and the other end extends into the rotary gear box, while the rotary gear The box is fixed on the downward side of the connecting plate of the transmission belt. A rotary gear is rotatably arranged in the rotary gear box. The rotary gear is engaged with the actuating rack of the rotary gear. On the plate, the middle part is connected with the flat key of the rotary gear, and the lower end of the double-ended screw rotary shaft is fixed on the connecting plate, and the horizontal displacement driving mechanism of the wrist joint is connected on the connecting plate of the transmission belt.

In yet another specific embodiment of the present invention, a bearing hole is provided on the drive belt connecting plate at a position corresponding to the rotary gear, the upper end of the double-start screw rotary shaft protrudes from the rotary gear and A double-ended screw bearing seat is formed, and a bearing is arranged on the double-ended screw bearing seat, and the bearing cooperates with the bearing hole.

In a further specific embodiment of the present invention, a pair of first roller seats and a pair of second roller seats are arranged on the side of the drive belt connecting plate facing upward, and the pair of first roller seats face each other The state is fixed on one end of the transmission belt connection plate, and a first roller is pivotally arranged on the facing side of the pair of first roller seats, and a pair of second roller seats are fixed on the transmission belt connection plate in the state of facing each other. The other end, and each pivot is provided with a second roller on the side facing each other of the pair of second roller seats, wherein: the pair of first rollers and the pair of second rollers are horizontally displaced with the wrist joint The drive mechanism is a rolling fit.

In a further specific embodiment of the present invention, the wrist joint horizontal displacement driving mechanism includes a cross frame, a motor, a reduction box, first and second transmission pulleys and a transmission belt, and on one side in the length direction of the cross frame and The other side each forms a roller guide groove. The first transmission pulley is rotatably supported on one end of the horizontal frame, and the second transmission pulley is rotatably supported on the other end of the horizontal frame. The position corresponding to the first transmission pulley or the second transmission pulley is fixed to the cross frame, the output shaft of the reduction box of the reduction box is connected to the first transmission pulley or the second transmission pulley, and one end of the transmission belt is sleeved on the first transmission pulley , the other end is sleeved on the second transmission pulley, and the middle part of the transmission belt is fixed to the transmission belt connecting plate, and the pair of first rollers and the second roller and the roller guide groove form a rolling pair.

In yet another specific embodiment of the present invention, the first drive pulley and the second drive pulley are synchronous pulleys, the transmission belt is a synchronous belt, and the motor has the function of forward and reverse rotation of servo motors.

In yet another specific embodiment of the present invention, a transmission belt upper clamp block is arranged in the middle of the transmission belt, and a pair of upper clamp screws are arranged on the transmission belt upper clamp block, and on the transmission belt connecting plate And a lower clamping block of the transmission belt is fixed at the position corresponding to the upper clamping block of the transmission belt, and the transmission belt is clamped between the upper and lower clamping blocks of the transmission belt by screwing a pair of upper clamping block screws into the lower clamping block of the transmission belt.

The technical effect of the technical solution provided by the present invention is that: when the present invention is in the process of extracting the parison extruded by the parison extruding mechanism, the blowing mechanism is in the mold of the left and right half molds of the split mold closing mechanism. The working state of the billet inflation molding, and when the extracted parison is transferred from the station of the parison extrusion mechanism to the inflation molding station, because the inflation mechanism has completed the alignment of the previous one in the left and right half molds. Inflation molding of the parison, so that the extracted parison can be introduced into the left and right half molds in time, and returned to the parison extrusion station in time to extract the mold, so that the parison extrusion mechanism and inflation molding mechanism can be reflected And the consistency of the action of the opening and closing mechanism can improve the molding efficiency of plastic products; due to the high molding efficiency, it can reduce the amount of equipment investment, save equipment costs, reduce the workload of equipment maintenance, save manpower and reflect energy conservation.

Description of drawings

Fig. 1 is a structural diagram of an embodiment of the present invention.

Fig. 2 is a schematic view of the parison supporting mechanism shown in Fig. 1 in a state of supporting the parison.

Fig. 3 is a schematic diagram of an application example of the present invention.

Detailed ways

In order to enable the examiners of the patent office, especially the public, to understand the technical essence and beneficial effects of the present invention more clearly, the applicant will describe in detail the following in the form of examples, but none of the descriptions to the examples is an explanation of the solutions of the present invention. Any equivalent transformation made according to the concept of the present invention which is merely formal but not substantive shall be regarded as the scope of the technical solution of the present invention.

In the following description, all directional concepts such as up, down, left, and right refer to the position state of the picture being described, and should not be understood as a special limitation of the present invention.

Example:

Referring to Fig. 1 and Fig. 2, a parison support release mechanism 1 is provided, the parison 4 shown in the figure is supported by the parison support release mechanism 1, and transferred to the opening and closing mold mechanism 5 (Fig. 3), it is blown and formed by an inflation mechanism, and the parison 4 is extruded by the parison extrusion mechanism 61 of the hollow plastic product molding machine 6 shown in FIG. 3 . The mold opening and closing mechanism 5 mentioned here can also be called a plastic product molding mechanism (hereinafter the same).

The preferred structure of the above-mentioned parison support release mechanism 1 is as follows: including left and right clamping arms 11,12, a pair of left suction devices 13, a pair of right suction devices 14, left and right fixed suction blocks 15,16 and clips The arm opening and closing device 17, the left and right clamping arms 11, 12 form a parallel relationship with each other, and each is preferably made of U-shaped channel steel with a cross-sectional shape. A pair of left suction devices 13 are arranged at one end of the left clamp arm 11 (the front end of the position shown in the figure), and towards the side of the right clamp arm 12, and a pair of right suction devices 14 are at a position corresponding to the pair of left suction devices 13 It is arranged at one end of the right clamping arm 12 (the front end of the position shown in the figure), and faces one side of the left clamping arm 11 . The left fixed suction block 15 is fixed on the side of the left clamp arm 11 towards the right clamp arm 12 and is located between a pair of left suction devices 13, and the right fixed suction block 16 is fixed on the right clamp at a position corresponding to the left fixed suction block 15. The arm 12 faces one side of the left clip arm 11 and is located between the aforementioned pair of right suction devices 14 . The clip arm opening and closing device 17 is arranged between the left and right clip arms 11 , 12 and is located at the other end of the left clip arm 11 and the right clip arm 12 (the rear end of the position shown in the figure).

Because the structure, installation method, function and working principle of the aforementioned pair of right adsorption devices 14 are exactly the same as the pair of left adsorption devices 13, and the structure, installation method, function and working principle of the aforementioned right fixed adsorption block 16 are the same as The left fixed suction block 15 is exactly the same, so although the applicant will only describe in detail the pair of left suction devices 13 and the left fixed suction block 15 below, he will not make a detailed description of the pair of right suction devices 14 and the right suction device by analogy. The understanding of fixing the suction block 16 is confusing.

A pair of left adsorption devices 13 mentioned above each include a left pivoting adsorption block 131, a left negative pressure suction pipe 132 and a left pivoting adsorption block actuation cylinder 133, and one end of the left pivoting adsorption block 131 passes through the adsorption block pin The shaft 1313 is hingedly connected to the side of the left clamping arm 11 facing the right clamping arm 12. As shown in the figure, the left clamping arm 11 is provided with an adsorption block pin seat 111, and the left pivoting adsorption block 131 is provided with an adsorption block. Block pin hole 1314, by inserting the adsorption block pin shaft 1313 into the adsorption block pin seat hole 1111 and the adsorption block pin hole 1314 on the adsorption block pin seat 111 in sequence, one end of the left pivoting adsorption block 131 is hingedly connected to the On the left clamping arm 11, the other end of the left pivoting adsorption block 131 is formed as a free end, and on the side of the left pivoting adsorption block 131 facing the right clamping arm 12, a left pivoting adsorption with the left pivoting adsorption block 131 is formed. The block cavity 1311 communicates with the left adsorption block air intake grille 1312, and the left adsorption block air intake grille 1312 is like a shutter structure. One end of the left negative pressure suction pipe 132 extends into the left pivoting suction block cavity 1311, and the other end of the left negative pressure suction pipe 132 is connected with a negative pressure generating device such as a vacuum pump or similar devices. The left pivoting adsorption block actuating cylinder 133 is fixed on the side of the left clamp arm 11 facing away from the right clamp arm 12 in a horizontal cantilever state, and the left pivoting adsorption block actuating cylinder 133 of the left pivoting adsorption block actuating action The end of the cylinder column 1331 is hingedly connected with the left pivoting adsorption block 131 through the cylinder column connecting pin 13311 .

The above-mentioned left fixed suction block 15 is formed with the left fixed suction block grid 152 communicating with the left fixed suction block cavity 151 of the left fixed suction block 15 towards the side of the right clamp arm 12, and the left fixed suction block cavity 151 is connected to the left fixed suction block cavity 151. One end of a left fixed suction block suction pipe 153 is introduced inside, and the other end of the left fixed suction block suction pipe 153 is connected with the aforementioned negative pressure generating device such as a vacuum pump or similar devices.

When the parison 4 shown in the figure enters between the left and right clamp arms 11 and 12, the left and right clamp arms 11 and 12 are moved towards each other under the work of the clamp arm opening and closing device 17 until one side of the parison 4 is in contact with the other. A pair of left suction devices 13 on the left clamp arm 11 and a left fixed suction block 15 correspond to each other, while the other end of the parison 4 corresponds to a pair of right suction devices 14 on the right clamp arm 12 and a right fixed suction block 16. correspond. At this time, under the work of the aforementioned negative pressure generating device, taking a pair of left adsorption devices 13 and a left fixed adsorption block 15 as an example, the left pivoting adsorption block actuating cylinder 133 works to make the left pivoting adsorption block actuate. Use the cylinder column 1331 to extend out of the cylinder, push the free end of the left pivoting adsorption block 131 to lean against the parison 4, and the air intake grille 1312 of the left pivoting adsorption block is in a state of contact and non-contact with the parison 4 Since the left negative pressure suction pipe 132 draws air to the left pivoting adsorption block cavity 1311, the surface of the parison 4 and the left adsorption block are moved along with the introduction of the outside air from the left pivoting adsorption block intake grille 1312. The air grille 1312 touches, and the left fixed suction block 15, a pair of right suction devices 14 and the right fixed suction block 16 also adsorb the parison 4 at the same time. Since the supporting method for the parison 4 is embodied by negative pressure suction, the parison 4 will not be damaged, for example, the surface of the parison 4 will not be pinched or even dirty.

Preferably, the actuating cylinder 133 of the left pivoting adsorption block is an air cylinder, but if an oil cylinder is used, it should be regarded as an equivalent replacement and still belongs to the scope of the technical content disclosed in the present invention.

The preferred but not absolutely limited structure of the clamp arm opening and closing device 17 mentioned above is as follows: including left and right sliding plates 171, 172, first and second guide rods 173, 174, guide rod seat fixing plate 175, rack and pinion Box 176, first and second tooth racks 177, 178 and sliding plate opening and working cylinder 179, left sliding plate 171 is fixed on the other end of aforementioned left jig arm 11 by a group of left sliding plate fixing screws 1711 (shown in Fig. 1 rear end), and a first guide sleeve 1712 and a second guide sleeve 1713 are arranged on the side of the left sliding plate 171 facing away from the right sliding plate 172, and the right sliding plate 172 is fixed on the right sliding plate 172 by a set of right sliding plate fixing screws 1721 The other end (rear end shown in FIG. 1 ) of the aforementioned right clamping arm 12 is provided with a third guide sleeve 1722 and a fourth guide sleeve 1723 on the side of the right slide plate 172 facing away from the left slide plate 171 . As shown in FIG. 1, the left and right sliding plates 171, 172 are parallel to each other. The first guide rod 173 and the second guide rod 174 are connected between the left and right slide plates 171 and 172 in a state parallel to each other, specifically: one end of the first guide rod 173 is connected to the first slide plate 171 after passing through the left slide plate 171. The guide sleeve 1712 is slidably fitted, and the other end is slidably fitted with the third guide sleeve 1722 after passing through the right sliding plate 172, and a first retaining ring 1732 is respectively provided at one end of the first guide rod 173 and the end of the other end. The middle part of the length direction of the first guide rod 173 is fixed with a first guide rod seat 1731 with the first guide rod seat fixing screw 17311; one end of the second guide rod 174 slides with the second guide sleeve 1713 after passing through the left slide plate 171 Cooperate, the other end slides and fits with the fourth guide sleeve 1723 after passing through the right slide plate 172, and a second stop ring 1742 is respectively arranged at one end of the second guide rod 174 and the end of the other end. The middle part of the longitudinal direction of 174 is fixed with a second guide rod seat 1741 with the second guide rod seat fixing screw 17411. One end of the guide rod base fixing plate 175 is fixed to the bottom of the first guide rod base 1731 , and the other end is fixed to the bottom of the second guide rod base 1741 . The rack gear box 176 is fixed on the guide bar base fixing plate 175 and corresponds to between the first and second guide bar bases 1731, 1741, and a rack gear box is pivotally arranged in the rack gear box 176, that is, a rack fit Gear 1761. One end of the first rack 177 is connected on the left slide plate 171 by the first rack limit nut 1771 after passing through the left slide plate 171, and the other end of the first rack 177 extends into the rack gear case 176 and is connected with the rack gear case 176. The aforesaid rack is meshed with one side of the gear 1761 . One end of the second rack 178 is connected on the right slide plate 172 by the second rack limit nut 1781 after passing through the right slide plate 172, and the other end of the second rack 178 extends into the rack gear case 176 and is connected with the rack gear case 176. The rack is engaged with the other side of the gear 1761 . The sliding plate opening cylinder 179 is set in a lying state, and one end (i.e. the head) of the cylinder body of the sliding plate opening cylinder 179 is fixed on the aforementioned guide rod fixing plate 175 through the opening cylinder fixing seat 1792, and The other end (i.e. the tail) of the cylinder extends out of the right slide plate 172 at a position corresponding to the cylinder relief hole 1724 provided on the right slide plate 172, and the slide plate is opened and closed by the slide plate of the cylinder 179. Connect with the left slide plate 171 with cylinder column 1791.

The applicant needs to explain that: the sliding plate opening cylinder 179 can also be turned 180°. In this case, the sliding plate opening cylinder column 1791 is connected with the right sliding plate 172 . In addition, the sliding plate opening and closing cylinder 179 uses an air cylinder in this embodiment, but an oil cylinder can also be used, specifically as the description of the left pivoting adsorption block opening and closing cylinder 133 .

When the sliding plate opening cylinder 179 works, for example, the sliding plate opening cylinder column 1791 is displaced in the cylinder, and the sliding plate opening cylinder column 1791 drives the left sliding plate 171 to move in the direction of the right sliding plate 172, And under the cooperation of the first rack 177 and the second rack 178 and the rack mating gear 1761 , the right sliding plate 172 is displaced in the direction of the left sliding plate 171 . Since the left and right sliding plates 171, 172 are respectively connected with the aforementioned left and right clamping arms 11, 12, the left and right clamping arms 11, 12 are driven to operate when the left and right sliding plates 171, 172 move toward each other, that is, when they are folded together. Corresponding movement, and vice versa.

Please focus on Fig. 1, which provides an alternate rotation (or The wrist joint mechanism 2, which is called alternating movement, is connected with the parison support release mechanism 1.

The preferred but not absolutely limited structure of the above-mentioned wrist joint mechanism 2 is as follows: comprise a connecting disc seat fixing plate 21, a connecting disc seat 22, a connecting disc 23, a double-ended screw rotating shaft 24, a rotary gear box 25, and a rotary gear mechanism. Moving rack 26, transmission belt connecting plate 27 and rack action cylinder 28, one end of connecting disc seat fixing plate 21 is fixed with the top (top) of the aforementioned first guide rod seat 1731 with the first fixing plate screw 211, and connecting disc seat The other end of the fixing plate 21 is fixed to the upper part (top) of the aforementioned second guide rod seat 1741 by the second fixing plate screw 212 . The connecting disk seat 22 is fixed to the upward side of the connecting disk seat fixing plate 21 by the connecting disk seat fixing screw 222, and is located at the center position in the length direction of the connecting disk seat fixing plate 21. In the center of the connecting disk seat 22, a The nut gives way to cavity 221 . The connection plate 23 is fixed to the flange screw holes 2231 formed on the mating flange 223 on the top of the connection plate seat 22 through a set of connection plate screws 231 . The rack action cylinder 28 is fixed on the downward side of the transmission belt connecting plate 27 (i.e. towards the side of the rotary gear box 25) in a horizontal lying state through the rack action cylinder seat 281, and one end of the rotary gear actuating rack 26 is connected to the The rack action cylinder column of the rack action cylinder 28 is fixedly connected, and the rotary gear actuation rack 26 can also be directly formed on the rack action cylinder column of the rack action cylinder 28, that is to say, the rotary gear actuation rack 26 and the rack action cylinder column are combined into one part, and the other end of the rotary gear actuating rack 26 extends into the rotary gearbox 25, and the rotary gearbox 25 is fixed on the transmission belt connecting plate 27 with a set of gearbox fixing screws 252 facing On the lower side, a rotary gear 251 is rotatably arranged in the rotary gear box 25 , and the rotary gear 251 is engaged with the rotary gear actuating rack 26 . The upper end of the double-ended screw rotating shaft 24 is rotatably supported on the transmission belt connecting plate 27, and the middle part is connected with the rotary gear 251 with a flat key, while the lower end of the double-ended screw rotating shaft 24 is fixed on the connecting plate 23 by a lock nut 242, which lock nut 242 corresponds to the aforementioned nut relief chamber 221 .

As shown in Figure 1, a bearing hole 271 is provided on the aforementioned transmission belt connecting plate 27 and at a central position corresponding to the aforementioned rotary gear 251, and the upper end of the aforementioned double-ended screw rotary shaft 24 sticks out of the central hole 2511 of the rotary gear 251 , and form a double-ended screw bearing seat 241, on which a double-ended screw bearing seat 241 is equipped with a bearing 2411, the bearing 2411 matches the aforementioned bearing hole 271, that is, it is arranged in the bearing hole 271, and is screwed in The bearing limit nut 2412 on the double-ended screw bearing seat 241 of the double-ended screw rotating shaft 24 limits the position of the bearing 2411 . A flat key 243 is formed in the middle of the double-ended screw rotating shaft 24 and at a position corresponding to the aforementioned central hole 2511 , and the flat key 243 is key-fitted with a flat keyway 25111 provided on the wall of the central hole 2511 .

A pair of first roller seats 272 and a pair of second roller seats 273 are provided on the aforementioned transmission belt connecting plate 27 and toward the upper side. It is fixed on one end of the transmission belt connecting plate 27 , and a first roller 2721 is pivotally arranged on the opposite sides of the pair of first roller seats 272 . A pair of second roller seats 273 are fixed on the other end of the transmission belt connecting plate 27 with the second roller seat screws 2732 in the state facing each other, and each pivot is provided with a first roller seat on the facing side of the pair of second roller seats 273. Two rollers 2731, wherein: a pair of first rollers 2721 and a pair of second rollers 2731 are rollingly matched with the wrist joint horizontal displacement drive mechanism 3 to be described below.

The aforesaid rack action cylinder 28 selects an air cylinder in this embodiment, but does not refuse to use an oil cylinder, specifically as the description of the left pivoting adsorption block actuation action cylinder 133 . When the rack action cylinder 28 works, for example, when the rack action cylinder column stretches to the outside of the cylinder, the rack action cylinder column drives the rotary gear actuation rack 26, because the rotary gear actuation rack 26 and the rotary gear 251 Therefore, the rotary gear actuates the rack 26 to rotate the rotary gear 251, and because the double-ended screw rotary shaft 24 is keyed to the rotary gear 251 (the flat key 243 cooperates with the flat key groove 25111), it is driven by the rotary gear 251. The double-ended screw rotating shaft 24 rotates, and because the double-ended screw rotating shaft 24 is fixedly connected with the connecting disc 23 by the lock nut 242, the double-ended screw rotating shaft 24 drives the connecting disc 23 to rotate, and then the connecting disc 23 and the connecting disc seat 22 are fixed. Connect and connect the disk seat 22 to the fixed connection of the disk seat fixed plate 21 and connect the disk seat fixed plate 21 to the first and second guide rods 173, 174 of the clamp arm opening and closing device 17 of the parison support release mechanism 1. 1. The second guide rod base 1731, 1741 is fixedly connected, so the connecting disc base 22 is driven to rotate by the connecting disc 23, and the connecting disc base fixing plate 21 is driven by the connecting disc base 22 to rotate, and finally the connecting disc base fixing plate 21 passes through the first The guide rod seat 1731 and the second guide rod seat 1741 drive the clamp arm opening and closing device 17 to rotate, so that the entire parison support release mechanism 1 rotates. When the rack action cylinder 28 works in the reverse direction, for example, when its rack action cylinder column is displaced into the cylinder, the rotation direction of the aforementioned components is opposite, so that the parison supporting release mechanism 1 moves alternately between the two stations. , the two stations mentioned here are the parison extrusion station of the aforementioned parison extrusion mechanism 61 and the station of the opening and closing mold mechanism 5, that is, the plastic product molding station (that is, the inflation molding station) Alternate between movements.

Please still refer to Fig. 1, which shows the wrist joint horizontal displacement driving mechanism 3 used to drive the aforementioned wrist joint mechanism 2 together with the parison supporting release mechanism 1 horizontal displacement, and the wrist joint horizontal displacement driving mechanism 3 is fixed on the On the hollow plastic product forming machine 6, and connected with the wrist joint mechanism 2.

The preferred but not absolutely limited structure of the aforesaid wrist joint horizontal displacement drive mechanism 3 is as follows: comprise cross frame 31, motor 32, reduction box 33, first, second driving pulley 34,35 and transmission belt 36, on cross frame 31 One side and the other side of the length direction each form a roller guide groove 311, the first transmission pulley 34 is rotatably supported on one end (the left end of the state shown in the figure) of the cross frame 31 through the first pulley shaft seat 341, and the second transmission pulley 35 is rotatably supported on the other end of the horizontal frame 31 (the right end of the state shown in the figure) through the second pulley shaft seat 351, the motor 32 is in transmission cooperation with the reduction box 33, and the reduction box 33 together with the motor 32 is in the position corresponding to the second transmission pulley The position of 35 is fixed with the cross frame 31, and the reduction box output shaft of the reduction box 33 is connected with the first transmission pulley 34 or the second transmission pulley 35, and one end of the transmission belt 36 is sleeved on the first transmission pulley 34, and the other end is sleeved On the second transmission pulley 35, the middle part of the transmission belt 36 is fixed to the aforementioned transmission belt connecting plate 27, and the aforementioned pair of first rollers 2721 and pair of second rollers 2731 form a rolling pair with the described roller guide groove 311. The aforementioned reduction box 33 can also be transferred to the left end of the cross frame 31 together with the motor 32 , that is, it is fixed with the cross frame 31 at a position corresponding to the first transmission pulley 34 and is connected in transmission with the first transmission pulley 34 .

Preferably, the first transmission pulley 34 and the second transmission pulley 35 are synchronous pulleys, the aforementioned transmission belt 36 is a synchronous belt, and the aforementioned motor 32 is a servo motor with forward and reverse functions.

As shown in Fig. 1, a transmission belt clamp 361 is arranged in the middle part of the aforementioned transmission belt 36, and a pair of upper clamp screws 3611 are arranged on the transmission belt upper clamp 361, on the aforementioned transmission belt connecting plate 27 and corresponding to The position of the upper clamping block 361 of the transmission belt is fixed with a lower clamping block 274 of the transmission belt, and the transmission belt 36 is clamped between the upper and lower clamping blocks 361, 274 by a pair of upper clamping screws 3611 screwed into the lower clamping block 274 of the transmission belt.

In order to avoid interference with the transmission belt 36 , a transmission belt relief groove 312 is formed at the lower part of the horizontal frame 31 in the longitudinal direction.

When the motor 32 works, for example, when the motor 32 rotates clockwise, the reduction box 33 is driven by the motor 32, the second transmission pulley 35 is driven by the reduction box 33, and the transmission belt 36 is driven by the second transmission pulley 35, so that the transmission belt 36 The horizontal frame chamber 313 of the horizontal frame 31 moves around the first and second transmission pulleys 34 and 35, and the transmission belt connecting plate 27 is driven to shift to the right by the transmission belt 36 . When the motor 32 reverses and works counterclockwise, the aforementioned direction of motion is opposite, and the transmission belt connecting plate 27 is displaced to the left, thereby making the wrist joint mechanism 2 and the parison supporting release mechanism 1 move alternately to the right or to the left.

Application example:

Please refer to FIG. 3 and in conjunction with FIG. 1 and FIG. 2 , a pair (not limited to a pair) of rack mounts 314 (shown in FIG. 1 and FIG. 3 ) is fixed on the above-mentioned horizontal frame 31 and facing upward. The pair of frame fixing seats 314 are fixed to the frame of the above-mentioned hollow plastic product molding machine 6 (shown in Figure 3), and are located on one side of the frame, that is, on the right side of the state shown in Figure 3, in Figure 3 The opening and closing mold mechanism 5 is also shown. When the parison extruding mechanism 61 of the hollow plastic product molding machine 6 extrudes the parison 4, since the parison supporting release mechanism 1 of the present invention corresponds to the bottom of the parison extruding mechanism 61, then the parison extruding mechanism 61 The extruded parison 4 enters between the left and right clamp arms 11, 12, when the length of the parison 4 meets the process requirements, the left and right clamp arms 11, 12 move toward each other by the operation of the clamp arm opening and closing device 17 , followed by a pair of left suction devices 13, a pair of right suction devices 14, a left fixed suction block 15 and a right fixed suction block 16 working at the same time to suck the parison 4. For details, please refer to the applicant's support for the parison above. Description of release mechanism 1. During this process, the mold opening and closing mechanism 5 is just in the state of blowing and molding the previously introduced parison 4 by the inflation molding mechanism. Then the wrist joint mechanism 2 works, and the parison support and release mechanism 1 is rotated from the parison extruding station to the station of the opening and closing mold mechanism 5 according to the description of the applicant on the working process of the wrist joint mechanism 2, At the same time, the wrist joint water clip displacement driving mechanism 3 is in working condition, so that the wrist joint mechanism 2 and the parison supporting release mechanism 1 are displaced from the left end to the right end of the cross frame 31, specifically indicated by the solid line and the dashed line in FIG. 3 . When the parison 4 held between the left and right clamping arms 11, 12 arrives at the station of the mold opening and closing mechanism 5, since the mold opening and closing mechanism 5 has completed the molding of the previous parison 4, it is in the mold opening position. state, the next parison 4 can be introduced between the left and right half molds of the opening and closing mold mechanism 5, at this time, the aforementioned left and right suction devices 13, 14, left and right fixed suction blocks 15, 16 stop working, That is, the negative pressure generating device suspends its work, and under the work of the clamp arm opening and closing device 17, the left and right clamp arms 11, 12 are repelled, so that the parison 4 is released to the mold opening and closing mechanism 5. At this time, the parison extruding mechanism 61 is in the state that the next parison 4 tends to be extruded, and in this state, the parison is supported due to the reverse operation of the wrist joint horizontal displacement drive mechanism 3 and the wrist joint mechanism 2. The release mechanism 1 has returned to the parison extrusion station, and the left and right clamp arms 11, 12 are moved towards each other by the work of the clamp arm opening and closing device 17, and the aforementioned pair of left and right adsorption devices 13, 14, left , Right fixed suction block 15,16 enters working state again and parison 4 is held hostage. The high-efficiency production of hollow plastic products can be reflected through such repetition, because the present invention is configured on the hollow plastic product molding machine 6, thereby effectively utilizing the working time difference of the parison extrusion mechanism 61 and the opening and closing mold mechanism 5. In addition, if a multifunctional manipulator of the present invention is equipped on both sides of the frame of the hollow plastic product molding machine 6, and the parison extrusion speed of the parison extrusion mechanism 61 is increased and the left side of the hollow plastic product molding machine 6 Side is equipped with an opening and closing mold mechanism 5 again, so and then can improve work efficiency.

In summary, the technical solution provided by the present invention overcomes the deficiencies in the prior art, completes the task of the invention, and objectively embodies the technical effect described above by the applicant.

Claims (8)

1. A multifunctional manipulator for molding plastic products, characterized in that it includes a parison support release mechanism (1) for supporting or releasing the parison; a parison support release mechanism (1) for making the parison support or release A wrist joint mechanism (2) that rotates alternately between the parison extrusion station and the parison inflation molding station, the wrist joint mechanism (2) is connected with the parison support release mechanism (1); one is used to drive the The wrist joint mechanism (2) described above together with the wrist joint horizontal displacement drive mechanism (3) for the horizontal displacement of the parison support release mechanism (1), the wrist joint horizontal displacement drive mechanism (3) is fixed in the hollow On the plastic product molding machine and also connected with the wrist joint mechanism (2), the parison support release mechanism (1) includes left and right clamping arms (11, 12), a pair of left and right suction devices (13 , 14), the left fixed suction block (15), the right fixed suction block (16) and the clamp arm opening and closing device (17), the left and right clamp arms (11, 12) form a parallel relationship with each other, and a pair of left suction devices ( 13) Set at one end of the left jig arm (11) and towards the side of the right jig arm (12), a pair of right suction devices (14) are set on the right jig arm at positions corresponding to the pair of left jig devices (13) (12) and towards the side of the left jig arm (11), the left fixed suction block (15) is fixed on the side of the left jig arm (11) towards the right jig arm (12) and is located on the pair of left Between the suction devices (13), the right fixed suction block (16) is fixed on the side of the right clamp arm (12) facing the left clamp arm (11) at a position corresponding to the left fixed suction block (15), and is located at Between the pair of right adsorption devices (14), the clamp arm opening and closing device (17) is arranged between the left and right clamp arms (11, 12) and is located between the left clamp arm (11) and the right clamp arm (12). ), the wrist joint mechanism (2) together with the wrist joint horizontal displacement drive mechanism (3) is connected to the clamp arm opening and closing device (17), and each of the pair of left adsorption devices (13) It includes a left pivoting adsorption block (131), a left negative pressure suction pipe (132) and a left pivoting adsorption block actuation cylinder (133), and one end of the left pivoting adsorption block (131) is hingedly connected to the left clip The arm (11) faces one side of the right clamping arm (12), while the other end of the left pivoting suction block (131) is formed as a free end, and the left pivoting suction block (131) faces the right clamping arm (12). ) is formed with a left suction block air intake grille (1312) communicated with the left pivot suction block chamber (1311) of the left pivot suction block (131), and one end of the left negative pressure suction pipe (132) is extended into the left pivoting adsorption block cavity (1311), while the other end of the left negative pressure suction pipe (132) is connected with the negative pressure generating device, and the left pivoting adsorption block actuating cylinder (133) is fixed on the horizontal cantilever state. The left clamping arm (11) faces away from the side of the right clamping arm (12), and the left pivoting adsorption block actuating cylinder post (1331) of the left pivoting adsorption block actuating cylinder (133) passes through the left The clamp arm (11) pivots with the left The suction block (131) is hingedly connected; the structure of the pair of right suction devices (14) is the same as that of the pair of left suction devices (13); the left fixed suction block (15) faces toward the right folder One side of the arm (12) forms a left fixed suction block grid (152) communicated with the left fixed suction block cavity (151) of the left fixed suction block (15), and is introduced into the left fixed suction block cavity (151). There is an end of the left fixed suction block suction pipe (153), and the other end of the left fixed suction block suction pipe (153) is connected with the negative pressure generating device; the structure of the right fixed suction block (16) is consistent with the Described left fixed suction block (15) is identical. 2. The multifunctional manipulator for molding plastic products according to claim 1, characterized in that the opening and closing device (17) of the clamp arm comprises left and right slide plates (171, 172), first and second guides Rods (173, 174), guide rod seat fixing plate (175), rack gear box (176), first and second racks (177, 178) and sliding plate opening and working cylinder (179), left sliding plate (171) is fixed on the other end of the left jig arm (11), the right slide plate (172) is fixed on the other end of the right jig arm (12), and the left and right slide plates (171, 172) are parallel to each other , the first and second guide rods (173, 174) are connected between the left and right sliding plates (171, 172) in a parallel state, and a first guide rod (173) is fixed in the middle of the length direction of the first guide rod (173). A guide rod seat (1731), and a second guide rod seat (1741) is fixed in the middle part of the length direction of the second guide rod (174) and at a position corresponding to the first guide rod seat (1731), the guide rod seat One end of the fixed plate (175) is fixed with the bottom of the first guide rod base (1731), the other end is fixed with the bottom of the second guide rod base (1741), and the rack gear box (176) is fixed on the guide rod base fixed plate ( 175) and corresponding to between the first and second guide rod seats (1731, 1741), a rack matching gear (1761) is pivotally arranged in the rack gear box (176), and the first rack (177 ) is connected to the left sliding plate (171), the other end extends into the rack gear case (176) and meshes with one side of the rack mating gear (1761), and one end of the second rack (178) is connected to On the right sliding plate (172), the other end extends into the rack gear box (176) and meshes with the other side of the rack mating gear (1761), and the sliding plate opening and acting cylinder (179) is set in a lying state. And one end of the sliding plate opening cylinder (179) is fixed on the guide rod fixing plate (175) by the opening cylinder fixing seat (1792), while the other end extends to the outside of the right sliding plate (172), and the The sliding plate opening cylinder post (1791) of the sliding plate opening cylinder (179) is connected with the left sliding plate (171), and the left and right sliding plates (171) are made under the work of the sliding plate opening cylinder (179). , 172) when repelling each other or moving toward each other, the left and right clamp arms (11, 12) also repel each other or move toward each other simultaneously, and the wrist joint mechanism (2) together with the wrist joint The horizontal displacement drive mechanism (3) is connected between the first guide rod base (1731) and the second guide rod base (1741) and is located on the upper part of the first and second guide rod bases (1731, 1741). 3. The multifunctional manipulator for molding plastic products according to claim 2, characterized in that said wrist joint mechanism (2) comprises a connecting disc seat fixing plate (21), a connecting disc seat (22), a connecting disc ( 23), double-headed screw rotary shaft (24), rotary gear box (25), rotary gear actuating tooth rack (26), transmission belt connecting plate (27) and rack action cylinder (28), connecting disc seat fixing plate ( One end of 21) is fixed to the upper part of the first guide rod seat (1731), the other end of the connecting disc seat fixing plate (21) is fixed to the upper part of the second guide rod seat (1741), and the connecting disc seat (22) be fixed on the side facing upwards of the connection disc seat fixing plate (21) and be positioned at the middle part of the connection disc seat fixing plate (21), the center of the connection disc seat (22) forms a nut relief chamber (221), The connection plate (23) is fixed on the connection plate seat (22), and the rack action cylinder (28) is fixed on the side of the transmission belt connection plate (27) facing the rotary gear box (25) in a horizontal state, and the rotary gear actuates the rack One end of (26) is fixedly connected with the rack action cylinder column of the rack action cylinder (28), and the other end extends into the rotary gear box (25), and the rotary gear box (25) is fixed on the transmission belt connecting plate (27) toward On the lower side, a rotary gear (251) is rotatably arranged in the rotary gear box (25), and the rotary gear (251) is engaged with the rotary gear actuating rack (26). The upper end of the shaft is rotatably supported on the transmission belt connecting plate (27), the middle part is connected with the flat key of the rotary gear (251), and the lower end of the double-ended screw rotary shaft (24) is fixed on the connecting plate (23). The wrist joint horizontal displacement driving mechanism (3) is connected to the transmission belt connecting plate (27). 4. The multifunctional manipulator for molding plastic products according to claim 3, characterized in that a bearing hole ( 271), the upper end of the double-ended screw shaft (24) protrudes from the rotary gear (251) and forms a double-ended screw bearing seat (241), and a bearing ( 2411), the bearing (2411) is matched with the bearing hole (271). 5. The multifunctional manipulator for molding plastic products according to claim 3, characterized in that a pair of first roller seats (272) and a pair of The second roller seat (273), a pair of first roller seats (272) are fixed on one end of the transmission belt connecting plate (27) in a state facing each other, and on the facing side of the pair of first roller seats (272) Each pivot is provided with a first roller (2721), and a pair of second roller seats (273) are fixed on the other end of the transmission belt connecting plate (27) in a state facing each other, and on the pair of second roller seats (273) A second roller (2731) is arranged on each pivot on the side facing each other, wherein: the pair of first rollers (2721) and the pair of second rollers (2731) are connected with the wrist joint horizontal displacement driving mechanism ( 3) Roll fit. 6. The multifunctional manipulator for molding plastic products according to claim 3, characterized in that the horizontal displacement drive mechanism (3) of the wrist joint comprises a horizontal frame (31), a motor (32), and a reduction box (33) 1, the first, the second transmission pulley (34,35) and transmission belt (36), respectively form a roller guide groove (311) on one side and the other side of the lengthwise direction of cross frame (31), the first transmission pulley ( 34) It is rotatably supported on one end of the cross frame (31), and the second transmission pulley (35) is rotatably supported on the other end of the cross frame (31). Case (33) is fixed with cross frame (31) at the position corresponding to the first drive pulley (34) or the second drive pulley (35) together with motor (32), the reduction box output shaft of reduction box (33) is connected with the first Transmission pulley (34) or second transmission pulley (35) transmission connection, one end of transmission belt (36) is sleeved on the first transmission pulley (34), and the other end is sleeved on the second transmission pulley (35), and transmission belt The middle part of (36) is fixed with the transmission belt connecting plate (27), and the pair of first rollers (2721) and the second rollers (2731) and the roller guide groove (311) constitute a rolling pair . 7. The multifunctional manipulator for plastic product molding according to claim 6, characterized in that said first transmission pulley (34) and second transmission pulley (35) are synchronous pulleys, and said transmission belt ( 36) is a synchronous belt, and the described motor (32) is a servo motor with forward and reverse functions. 8. The multifunctional manipulator for molding plastic products according to claim 6, characterized in that a transmission belt upper clamp (361) is arranged in the middle of the transmission belt (36), and on the transmission belt upper clamp (361) A pair of upper clamping screws (3611) are provided, and a transmission belt lower clamping block (274) is fixed on the transmission belt connecting plate (27) at a position corresponding to the transmission belt upper clamping block (361). The upper clamping block screw (3611) is screwed into the lower clamping block (274) of the transmission belt and the transmission belt (36) is clamped between the upper and lower clamping blocks (361, 274) of the transmission belt.