CN105731059A - Production line with robot for demolding and carrying washing machine door seal and method of production line - Google Patents
Production line with robot for demolding and carrying washing machine door seal and method of production line Download PDFInfo
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- CN105731059A CN105731059A CN201610206261.8A CN201610206261A CN105731059A CN 105731059 A CN105731059 A CN 105731059A CN 201610206261 A CN201610206261 A CN 201610206261A CN 105731059 A CN105731059 A CN 105731059A
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- robot
- demoulding
- forming machine
- door seal
- production line
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
Abstract
The invention discloses a production line with a robot for demolding and carrying a washing machine door seal and a method of the production line. The production line comprises a mobile robot system, a clamping claw device fixed on the robot system, a forming machine for producing the door seal, an electronic weighing device, a product conveying line, a robot electric control box for controlling a robot clamping system and a forming machine electric control box for controlling the forming machine. A mobile six-shaft robot mounted on a guide rail is adopted to replace manual work, so that the production line can be matched with four injection molding machines for work at the same time, and matched with the automatic weighing device and the product conveying line to complete five working procedures of injection molding, demolding, carrying, weighing and transportation at the same time; therefore, the production efficiency is greatly improved, and the automation degree is increased; meanwhile, the production line is simple in structure, convenient to maintain and low in comprehensive use cost.
Description
Technical field
The invention belongs to washing machine production field, be specifically related to a kind of robot production line for the washing machine door seal demoulding and carrying and method thereof, belong to automatic field.
Background technology
Along with roller washing machine is more and more universal, the market demand sustainable growth to roller washing machine.As the parts gasket that roller washing machine is important, there is the very big market space.Traditional gasket produces and produces mainly by forming machine manual operation, and production process belongs to high temperature high-risk operations and inefficiency, quality cannot ensure simultaneously, along with the continuous growth of cost of labor, under traditional mode of production, product cost rises violently, and increasingly can not meet the demand in market.Enterprise considers to promote working performance by automatic improving, but owing to manual work step is various and complicated, existing robot exists the shortcomings such as action linking has some setbacks, inefficiency, maintenance are complicated, it is impossible to real large-scale application.Enterprise considers to promote working performance by automatic improving, and owing to substituting the scheme of manual work by expensive automation equipment, owing to lacking economy, and improved efficiency is limited, and enterprise may not adopt.
Summary of the invention
For solving above-mentioned technical problem; the invention provides a kind of robot production line for the washing machine door seal demoulding and carrying and method thereof; artificial injection molding operation under high temperature high-risk environment can be simulated; operation process action linking is smooth and easy, efficiency is high, maintenance is simple; four injection moulding machine work can be coordinated simultaneously; increase substantially production efficiency, reduce use cost.
For reaching above-mentioned purpose, technical scheme is as follows: a kind of robot production line for the washing machine door seal demoulding and carrying and method thereof, including movable machine people's system, the clamping jaw device being fixed in described robot system, for produce the forming machine of door seal, electronic weighing device, product pipeline, for control described robot gripping system robot electric cabinet and for controlling the forming machine electric cabinet of described forming machine；
Described robot system includes six-joint robot, for carrying the guide rail that described robot moves, for capturing the clamping jaw device of door seal, electronic weighing device, described guide rail is provided with the installing plate for mounting robot, described installing plate is fixing with described slide block to be connected, described six-joint robot one end is fixed on described installing plate, the other end is fixing with described clamping jaw device to be connected, described installing plate is additionally provided with the 7th spindle motor, described 7th spindle motor rotor is fixed with gear, described gear be fixed on inside described guide rail and match with the tooth bar of described guide rail parallel, when described 7th spindle motor rotates, described installing plate and described six-joint robot can be driven to do rectilinear motion；
nullDescribed forming machine includes transmission track、Pedestal on the track is set、It is fixed on the mould on described pedestal、Rear end inflatable mouth for the demoulding、Front end inflatable mouth for the demoulding、Demoulding clamping device，Described track is vertical with described guide rail，Described pedestal can do rectilinear motion along described track，Move below to described forming machine dead ahead from described forming machine，It is relative with described front end inflatable mouth that described rear end inflatable mouth is arranged on described forming machine rear end，Opening points to described mould，It is relative with described rear end inflatable mouth that described front end inflatable mouth is arranged on described forming machine front，Opening points to described mould，Described mould both sides are provided with demoulding clamping device，Described demoulding clamping device has two jaws that relative can open or close that match with described mold profile，The retaining part for clamping material formed when described jaw closes mutually is outside the edge of described mould；
Described product pipeline is arranged between described transmission track and described forming machine, and is close to described electronic weighing device, and described product pipeline extends to the other end from described production line one end；
Described electronic weighing device is fixed on described installing plate and described six-joint robot is arranged parallel.A kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterized in that: described electronic weighing device is provided be close to described electronic weighing device upper surface push rod, described electronic weighing device side is provided with the first telescopic cylinder, and described push rod is fixing with described first telescopic cylinder expansion link to be connected；Also including of being flexibly connected with described push rod pass through push rod shaft, described push rod is provided with the hole of symmetry, described push rod shaft is vertical with described push rod through described hole, and described first telescopic cylinder drives described push rod to move in the horizontal direction, vertical with the described installing plate direction of motion；
In a preferred embodiment of the present invention, described product pipeline is radially concave structure, places door seal and drops in transmission process.
In a preferred embodiment of the present invention, described clamping jaw device includes frame, the clip claw mechanism that is fixed in described frame, two grasping mechanisms being symmetricly set in described frame；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Described first substrate is fixing with described first gripper shoe one end to be connected, and the described first gripper shoe other end is fixing with described second substrate one end to be connected, and described second substrate is connected by described second gripper shoe with described connecting plate；Described clip claw mechanism includes jacking cylinder and jaw cylinder, described jacking cylinder is fixed on the first cylinder mounting plate, described first cylinder mounting plate is connected with described second substrate by adjustment plate, described jaw cylinder is fixed on the second cylinder mounting plate, described second cylinder mounting plate is connected with described jacking cylinder by fixing plate, and described jaw cylinder is provided with the Y type jaw for gripping gasket of symmetry；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on described connecting plate, is correspondingly arranged with described stationary jaw and also includes demoulding mat, and described demoulding mat is fixed on the second telescopic cylinder；Described second telescopic cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, and described cylinder adjustable plate is connected with described connecting plate；
In a preferred embodiment of the present invention, also include forming machine electric cabinet and robot electric cabinet, described forming machine electric cabinet is used for controlling described forming machine action, and action is completed signal send described robot electric cabinet to, state robot electric cabinet for receiving the signal of telecommunication that described forming machine electric cabinet transmits, and control described six-joint robot and described clamping jaw device action.
In one preferred embodiment of the place present invention, also including the safe light curtain being oppositely arranged, described safe light curtain one end is arranged on below described forming machine, and the other end is arranged on below described product conveyor line.
In a preferred embodiment of the present invention, also including safe fence, described safe fence is around described production line surrounding, and is provided with the safety door of locking.
In a preferred embodiment of the present invention, described production line is arranged on the ground with ground groove structure.
In a preferred embodiment of the present invention, also include cable drag chain and line chain bracket, described cable drag chain is arranged on described guide rail side, with described guide rail parallel, described cable drag chain one end is fixing with described installing plate to be connected, the other end is fixing with described electric cabinet to be connected, described line chain bracket at least has two, described line chain bracket includes U-shaped support and the rotating shaft that can rotate freely around axle center, described line chain bracket and described electric cabinet homonymy, it is set in qually spaced in described electric cabinet side, and with described line chain drag chain on same straight line.
In a preferred embodiment of the present invention, including a kind of washing machine door seal automatic manufacturing method, described production method step is as follows:
1) equipment starts, robot system resets, and product conveyor line operates, and forming machine electric cabinet controls to be fixed with the pedestal of mould and moves to forming machine, after forming machine preheating terminates, demoulding clamping device is opened, and press declines, and starts to produce, after end, demoulding clamping device closes, and pushes down gasket, press lifting；
2) pedestal moves to forming machine dead ahead along track, and forming machine electric cabinet will complete signal and forming machine numbering data send to robot electric cabinet, after robot electric cabinet receives data, control robot and moves to this forming machine dead ahead according to numbering data；
3) robot moves clamping jaw device to mould top position according to setting program, jaw cylinder action, Y type jaw clamps door seal plug, then jacking cylinder jacking, after making door seal shift up certain distance, the second telescopic cylinder action, demoulding mat coordinates stationary jaw to clamp edge under gasket, by front end inflatable mouth and rear end inflatable mouth, robot is lifting upwards, completes the door seal demoulding；
4) gasket after the demoulding is moved to setting position above electronic weighing device by robot, and demoulding mat is opened, and robot drives clamping jaw device to tilt, and makes door seal depart from stationary jaw；
5) robot is slowly drop down to gasket and touches electronic weighing device, then more slowly decline one end distance after, jaw cylinder is opened, and door seal is completely placed on electronic weighing device；
6) electronic weighing device measures the weight data of door seal in real time, if meeting requirement, then sending data to robot electric cabinet, robot electric cabinet controls push rod action, gasket pushes away electronic weighing device, and door seal falls to the product conveyor line being close to electronic-weighing naturally；
7) clamping jaw device resets, and completes cycle of operation, and robot system etc. is to be received new completes instruction.
The invention has the beneficial effects as follows:
1. it is arranged on guide rail moveable six-joint robot and replacement manual work owing to adopting, four injection moulding machine work can be coordinated simultaneously, coordinate automatic weighing device and product pipeline, injection moulding, the demoulding can be simultaneously completed, carry, weigh, transport five job steps, increase substantially production efficiency, improve percent of automatization.
2. owing to adopting the clamping jaw device simulating the artificial demoulding, action is simple, is connected smooth and easy, and demoulding efficiency can be greatly improved, simultaneously simple in construction, and easy to maintenance, comprehensive use cost is low.
3. owing to whole production line is made up of modularity, can simply change module therein, the automated production needs of products of different specifications can be met, further reduce enterprise's use cost.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, the accompanying drawing used required in the description of embodiment technology will be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is production line schematic diagram
Fig. 2 is robot system architecture's schematic diagram
Fig. 3 is electronic weighing device structure chart
Fig. 4 is jaw general assembly structural representation
nullWherein，1 is safe light curtain，2 is door seal，3 is six-joint robot，4 is forming machine，5 is rear end inflatable mouth，6 is mould，7 is demoulding clamping device，8 is front end inflatable mouth，9 is product pipeline，11 is the 7th spindle motor，12 is electronic weighing device，13 is forming machine electric cabinet，14 is safety door，15 is safety door latch，16 is transmission track，17 is pedestal，18 is safe fence，20 is rotating shaft，21 is guide rail，22 is line chain support，23 for adjusting base，24 is robot electric cabinet，25 is cable drag chain，26 is installing plate，27 is the 7th spindle motor，29 is limited block，211 is clamping jaw device，213 is the one the first telescopic cylinders，214 is push rod shaft，215 is push rod，216 is electronic scale，217 is linear bearing，219 is tooth bar，31 is adpting flange，32 is the first gripper shoe，33 is the second telescopic cylinder，34 is hinge handle，35 is jaw cylinder，36 is the second brace rod,37 is hinge，38 is cylinder adjustable plate，39 is demoulding mat，310 is stationary jaw，311 is jaw protective pad，312 is connecting plate，313 is Y type jaw，316 is the first brace rod，317 is second substrate，318 is first substrate，319 is fixing plate，320 is the second cylinder mounting plate，321 is jacking cylinder，322 is the first cylinder mounting plate；
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Embodiment
As Figure 1-4, a kind of robot production line for the washing machine door seal demoulding and carrying and method thereof disclosed in the present embodiment, including movable machine people's system, the clamping jaw device 211 being fixed in robot system, for produce the forming machine 4 of door seal, electronic weighing device 12, product pipeline 9, for controlling the robot electric cabinet 24 of robot gripping system and for controlling the forming machine electric cabinet of forming machine；
nullRobot system includes six-joint robot 3、For carrying the guide rail 21 that described robot moves、For capturing the clamping jaw device 211 of door seal、Electronic weighing device 12，Guide rail 211 is provided with the installing plate 26 for mounting robot，Installing plate 26 is fixing with the slide block on guide rail 21 to be connected，Six-joint robot 3 one end is fixed on installing plate 26，The other end is fixing with clamping jaw device to be connected，On installing plate, 26 are additionally provided with the 7th spindle motor 27，7th spindle motor 27 rotor is fixed with gear，Gear matches with being fixed on tooth bar 219 parallel with guide rail 21 inside guide rail 21，When 7th spindle motor 27 rotates，Rectilinear motion can be done by drive installation plate 26 with six-joint robot 27，Guide rail 21 is matrix mechanism，It is big that matrix guide rail 21 has Area of bearing，The advantage that bearing capacity is high，The structure that wheel and rack 219 matches，The 7th spindle motor 27 Bit andits control can be made more accurate，Reduce cumulative errors.
nullIn addition，There are four forming machines 4 in robot system side，Forming machine 4 is parallel with guide rail 21 and spaced set，Robot system simultaneously completes the demoulding and the weighing operation of the door seal that four forming machines 4 produce，Forming machine 4 includes transmission track 16、It is arranged on the pedestal 17 on track 16、It is fixed on the mould 6 on pedestal 17、Rear end inflatable mouth 5 for the demoulding、Front end inflatable mouth 8 for the demoulding、Demoulding clamping device 7，Track 16 is vertical with guide rail 21，Pedestal 17 can do rectilinear motion along track 16，Can move at forming ends and demoulding end，Move below to forming machine 4 dead ahead from forming machine 4，It is relative with front end inflatable mouth 8 that rear end inflatable mouth 5 is arranged on forming machine 4 rear end，Opening points to mould 6，It is relative with rear end inflatable mouth 5 that front end inflatable mouth 8 is arranged on forming machine 4 front，Opening points to mould 6，Mould 6 both sides are provided with demoulding clamping device 7，Demoulding clamping device 7 has two jaws that relative can open with the conjunction of mould 6 match profiles or close，The retaining part for clamping material formed when jaw closes mutually is outside the edge of mould 6；
Product pipeline 9 is arranged between transmission track 16 and forming machine 4, and is close to electronic weighing device 12, and product pipeline 9 extends to the other end from production line one end, and product pipeline 9 is radially concave structure, it is prevented that door seal 2 drops in transmission process.
Electronic weighing device 12 is fixed on installing plate 26 and six-joint robot 3 is arranged parallel.
Additionally, electronic weighing device 12 is provided be close to electronic weighing device 12 upper surface push rod 215, electronic weighing device 12 side is provided with the first telescopic cylinder 213, and push rod 215 is fixing with the first telescopic cylinder 213 expansion link to be connected；What be flexibly connected with push rod 215 also includes by push rod shaft 214, and push rod 215 is provided with the hole of symmetry, and push rod shaft 214 is vertical with push rod 215 through hole, and the first telescopic cylinder 213 drives push rod 215 to move in the horizontal direction, vertical with installing plate 26 direction of motion；
As shown in Figure 4, clamping jaw device 211 include frame, the clip claw mechanism that is fixed in frame, two grasping mechanisms being symmetricly set in frame；Frame includes first substrate 318, second substrate the 317, first gripper shoe the 32, second gripper shoe 322, connecting plate 312；First substrate 318 is fixing with first gripper shoe 32 one end to be connected, and first gripper shoe 32 other end is fixing with second substrate 317 one end to be connected, and second substrate 317 is connected by the second gripper shoe 317 with connecting plate 312；Clip claw mechanism includes jacking cylinder 321 and jaw cylinder 35, jacking cylinder 321 is fixed on the first cylinder mounting plate 322, first cylinder mounting plate 322 is connected with second substrate 317 by adjustment plate, jaw cylinder 35 is fixed on the second cylinder mounting plate 320, second cylinder mounting plate 320 is connected with jacking cylinder 321 by fixing plate 319, and jaw cylinder 35 is provided with the Y type jaw for gripping gasket of symmetry；Grasping mechanism includes stationary jaw 310, and stationary jaw 310 is fixed on connecting plate 312, is correspondingly arranged with stationary jaw 310 and also includes demoulding mat 39, and demoulding mat 39 is fixed on the second telescopic cylinder 33；Second telescopic cylinder 33 is fixed on hinge 37；Hinge 37 other end is connected with cylinder adjustable plate 38, and cylinder adjustable plate 38 is connected with connecting plate 312；Connecting plate 312 is curved, and matches with injection moulding machine mould 6 outline, and grasping mechanism is symmetricly set on arc both sides, be more conducive to grasping mechanism fully in contact with clamping door seal 2.
Forming machine 4 periphery is provided with forming machine electric cabinet 13, forming machine electric cabinet 13 is used for controlling forming machine action, and action is completed signal send robot electric cabinet 24 to, then robot electric cabinet 24 receives the signal of telecommunication that forming machine electric cabinet 13 transmits, and controls six-joint robot 3 and clamping jaw device 211 action.Being relatively set with safe light curtain 1 between forming machine 3 and product pipeline 9, safe light curtain 1 one end is arranged on below forming machine 4, and the other end is arranged on below product conveyor line 9.Production line surrounding is surrounded with safe fence 18, it is prevented that personnel are strayed into production line and occur unexpected, and safe fence 18 is provided with the safety door 14 of locking, and safety door 14 is provided with safety door latch 15, enters production line region for attendant and safeguards.Whole production line is arranged on the ground with ground groove structure, regularly can guarantee production line levelness by adjustably groove.
Another side at robot electric cabinet 24 is additionally provided with the line chain bracket 22 for carrying cable drag chain 25, line chain bracket 22 at least has two, line chain bracket 22 includes U-shaped support and the rotating shaft 20 that can rotate freely around axle center, line chain bracket 22 and robot electric cabinet 24 homonymy, it is set in qually spaced in robot electric cabinet 24 side, and with line chain drag chain 25 on same straight line.When installing plate 26 moves to guide rail 21 opposite side, cable drag chain 25 is due to gravity, installing plate 26 can be produced drag, after warp chain bracket 22 supports, this drag can be reduced, owing to line chain bracket 22 has the rotating shaft 20 that can rotate around axle center, maximize the resistance reducing cable drag chain 25 horizontal movement.
Washing machine door seal automatic manufacturing method step is as follows:
1) equipment starts, robot system resets, and product conveyor line 9 operates, and forming machine electric cabinet 13 controls to be fixed with the pedestal 17 of mould 6 and moves to forming machine 4, after forming machine 4 preheating terminates, demoulding clamping device 7 is opened, and press declines, and starts to produce, after end, demoulding clamping device 7 closes, and pushes down gasket 2, press lifting；
2) pedestal 17 moves to forming machine 4 dead ahead along track 16, forming machine electric cabinet 13 will complete signal and forming machine 4 numbering data send to robot electric cabinet 24, after robot electric cabinet 24 receives data, control robot and move to this forming machine 4 dead ahead according to numbering data；
3) robot moves clamping jaw device 211 to mould 6 top position according to setting program, jaw cylinder 35 action, Y type jaw 313 clamps door seal 2 plug, then jacking cylinder 321 jacking, after making door seal shift up certain distance, the second telescopic cylinder 33 action, demoulding mat 39 coordinates stationary jaw 310 to clamp edge under door seal 2, by front end inflatable mouth 8 and rear end inflatable mouth 5, robot is lifting upwards, completes the door seal demoulding；
4) gasket after the demoulding is moved to setting position above electronic weighing device 12 by robot, and demoulding mat 39 is opened, and robot drives clamping jaw device 211 to tilt, and makes door seal depart from stationary jaw 310；
5) robot is slowly drop down to gasket and touches electronic weighing device 12, then more slowly decline one end distance after, jaw cylinder 35 is opened, and door seal is completely placed on electronic weighing device 12；
6) electronic weighing device 12 measures the weight data of door seal in real time, if meeting requirement, then send data to robot electric cabinet 24, robot electric cabinet 24 controls push rod 215 action, gasket pushes away electronic weighing device 12, and door seal falls to the product conveyor line 9 being close to electronic weighing device 12 naturally；
7) clamping jaw device 211 resets, and completes cycle of operation, and robot system etc. is to be received new completes instruction.
It is arranged on guide rail moveable six-joint robot and replacement manual work owing to adopting, four injection moulding machine work can be coordinated simultaneously, coordinate automatic weighing device and product pipeline, injection moulding, the demoulding can be simultaneously completed, carry, weigh, transport five job steps, increase substantially production efficiency, improve percent of automatization.
Owing to adopting the clamping jaw device simulating the artificial demoulding, action is simple, is connected smooth and easy, and demoulding efficiency can be greatly improved, simultaneously simple in construction, and easy to maintenance, comprehensive use cost is low.
Owing to whole production line is made up of modularity, can simply change module therein, the automated production needs of products of different specifications can be met, further reduce enterprise's use cost.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.The multiple amendment of these embodiments be will be apparent from for those skilled in the art, and generic principles defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein, and is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. the robot production line for the washing machine door seal demoulding and carrying and method thereof, it is characterised in that: include movable machine people's system, the clamping jaw device being fixed in described robot system, for produce the forming machine of door seal, electronic weighing device, product pipeline, for controlling the robot electric cabinet of described robot gripping system and for controlling the forming machine electric cabinet of described forming machine；
Described robot system includes six-joint robot, for carrying the guide rail that described robot moves, electronic weighing device, described guide rail is provided with the installing plate for mounting robot, described installing plate is fixing with described slide block to be connected, described six-joint robot one end is fixed on described installing plate, the other end is fixing with described clamping jaw device to be connected, described installing plate is additionally provided with the 7th spindle motor, described 7th spindle motor rotor is fixed with gear, described gear be fixed on inside described guide rail and match with the tooth bar of described guide rail parallel, when described 7th spindle motor rotates, described installing plate and described six-joint robot can be driven to do rectilinear motion；
nullDescribed forming machine includes transmission track、Pedestal on the track is set、It is fixed on the mould on described pedestal、Rear end inflatable mouth for the demoulding、Front end inflatable mouth for the demoulding、Demoulding clamping device，Described track is vertical with described guide rail，Described pedestal can do rectilinear motion along described track，Move below to described forming machine dead ahead from described forming machine，It is relative with described front end inflatable mouth that described rear end inflatable mouth is arranged on described forming machine rear end，Opening points to described mould，It is relative with described rear end inflatable mouth that described front end inflatable mouth is arranged on described forming machine front，Opening points to described mould，Described mould both sides are provided with demoulding clamping device，Described demoulding clamping device has two jaws that relative can open or close that match with described mold profile，The retaining part for clamping material formed when described jaw closes mutually is outside the edge of described mould；
Described electronic weighing device is fixed on described installing plate and described six-joint robot is arranged parallel.
Described product pipeline is arranged between described transmission track and described forming machine, and is close to described electronic weighing device, and described product pipeline extends to the other end from described production line one end.
2. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterized in that: described electronic weighing device is provided be close to described electronic weighing device upper surface push rod, described electronic weighing device side is provided with the first telescopic cylinder, and described push rod is fixing with described first telescopic cylinder expansion link to be connected；Also including of being flexibly connected with described push rod pass through push rod shaft, described push rod is provided with the hole of symmetry, described push rod shaft is vertical with described push rod through described hole, and described first telescopic cylinder drives described push rod to move in the horizontal direction, vertical with the described installing plate direction of motion.
3. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 2 and method thereof, it is characterised in that: described product pipeline is radially concave structure.
4. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterised in that: described clamping jaw device includes frame, the clip claw mechanism that is fixed in described frame, two grasping mechanisms being symmetricly set in described frame；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Described first substrate is fixing with described first gripper shoe one end to be connected, and the described first gripper shoe other end is fixing with described second substrate one end to be connected, and described second substrate is connected by described second gripper shoe with described connecting plate；Described clip claw mechanism includes jacking cylinder and jaw cylinder, described jacking cylinder is fixed on the first cylinder mounting plate, described first cylinder mounting plate is connected with described second substrate by adjustment plate, described jaw cylinder is fixed on the second cylinder mounting plate, described second cylinder mounting plate is connected with described jacking cylinder by fixing plate, and described jaw cylinder is provided with the Y type jaw for gripping gasket of symmetry；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on described connecting plate, is correspondingly arranged with described stationary jaw and also includes demoulding mat, and described demoulding mat is fixed on the second telescopic cylinder；Described second telescopic cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, and described cylinder adjustable plate is connected with described connecting plate.
5. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterized in that: also include forming machine electric cabinet and robot electric cabinet, described forming machine electric cabinet is used for controlling described forming machine action, and action is completed signal send described robot electric cabinet to, described robot electric cabinet is for receiving the signal of telecommunication that described forming machine electric cabinet transmits, and controls described six-joint robot and described clamping jaw device action.
6. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterized in that: also include the safe light curtain being oppositely arranged, described safe light curtain one end is arranged on below described forming machine, and the other end is arranged on below described product conveyor line.
7. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterised in that: also including safe fence, described safe fence is around described production line surrounding, and is provided with the safety door of locking.
8. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterised in that: described production line is arranged on the ground with ground groove structure.
9. a kind of robot production line for the washing machine door seal demoulding and carrying according to claim 1 and method thereof, it is characterized in that: also include cable drag chain and line chain bracket, described cable drag chain is arranged on described guide rail side, with described guide rail parallel, described cable drag chain one end is fixing with described installing plate to be connected, the other end is fixing with described electric cabinet to be connected, described line chain bracket at least has two, described line chain bracket includes U-shaped support and the rotating shaft that can rotate freely around axle center, described line chain bracket and described electric cabinet homonymy, it is set in qually spaced in described electric cabinet side, and with described line chain drag chain on same straight line.
10. a washing machine door seal automatic manufacturing method, uses a kind of robot production line for the washing machine door seal demoulding and carrying described in claim described in claim 1-9 any one and method thereof, it is characterised in that: described production method step is as follows:
1) equipment starts, robot system resets, and product conveyor line operates, and forming machine electric cabinet controls to be fixed with the pedestal of mould and moves to forming machine, after forming machine preheating terminates, demoulding clamping device is opened, and press declines, and starts to produce, after end, demoulding clamping device closes, and pushes down gasket, press lifting；
2) pedestal moves to forming machine dead ahead along track, and forming machine electric cabinet will complete signal and forming machine numbering data send to robot electric cabinet, after robot electric cabinet receives data, control robot and moves to this forming machine dead ahead according to numbering data；
3) robot moves clamping jaw device 211 to mould 6 top position according to setting program, jaw cylinder 35 action, Y type jaw clamps door seal plug, then jacking cylinder jacking, after making door seal shift up certain distance, the second telescopic cylinder action, demoulding mat coordinates stationary jaw to clamp edge under gasket, by front end inflatable mouth and rear end inflatable mouth, robot is lifting upwards, completes the door seal demoulding；
4) gasket after the demoulding is moved to setting position above electronic weighing device by robot, and demoulding mat is opened, and robot drives clamping jaw device to tilt, and makes door seal depart from stationary jaw；
5) robot is slowly drop down to gasket and touches electronic weighing device, then more slowly decline one end distance after, jaw cylinder is opened, and door seal is completely placed on electronic weighing device；
6) electronic weighing device measures the weight data of door seal in real time, if meeting requirement, then sending data to robot electric cabinet, robot electric cabinet controls push rod action, gasket pushes away electronic weighing device, and door seal falls to the product conveyor line being close to electronic-weighing naturally；
7) clamping jaw device resets, and completes cycle of operation, and robot system etc. is to be received new completes instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206261.8A CN105731059B (en) | 2016-04-05 | 2016-04-05 | A kind of robot production line and its method for demoulding and carrying for washing machine door seal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610206261.8A CN105731059B (en) | 2016-04-05 | 2016-04-05 | A kind of robot production line and its method for demoulding and carrying for washing machine door seal |
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| Publication Number | Publication Date |
|---|---|
| CN105731059A true CN105731059A (en) | 2016-07-06 |
| CN105731059B CN105731059B (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610206261.8A Active CN105731059B (en) | 2016-04-05 | 2016-04-05 | A kind of robot production line and its method for demoulding and carrying for washing machine door seal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109279305A (en) * | 2018-08-27 | 2019-01-29 | 河北卓达建材研究院有限公司 | A kind of turning machine for the conveying of wallboard production line mold |
| CN109335712A (en) * | 2018-12-06 | 2019-02-15 | 中山德立洁具有限公司 | A kind of stacking machine |
| CN110000913A (en) * | 2019-04-29 | 2019-07-12 | 北京好运达智创科技有限公司 | A kind of well block mold transfer track |
| CN114179279A (en) * | 2020-09-15 | 2022-03-15 | 相信制动系统株式会社 | Brake pad forming device for automobile |
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| JPS6236219A (en) * | 1985-08-08 | 1987-02-17 | Natl House Ind Co Ltd | Device for translocating work |
| CN201436177U (en) * | 2009-05-20 | 2010-04-07 | 东毓(宁波)油压工业有限公司 | Demoulding mechanism of multi-layer mould |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109279305A (en) * | 2018-08-27 | 2019-01-29 | 河北卓达建材研究院有限公司 | A kind of turning machine for the conveying of wallboard production line mold |
| CN109335712A (en) * | 2018-12-06 | 2019-02-15 | 中山德立洁具有限公司 | A kind of stacking machine |
| CN109335712B (en) * | 2018-12-06 | 2024-04-19 | 中山德立洁具有限公司 | Stacker crane |
| CN110000913A (en) * | 2019-04-29 | 2019-07-12 | 北京好运达智创科技有限公司 | A kind of well block mold transfer track |
| CN114179279A (en) * | 2020-09-15 | 2022-03-15 | 相信制动系统株式会社 | Brake pad forming device for automobile |
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| CN105731059B (en) | 2018-12-25 |
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