CN106276247B - A kind of sucked type hose pipe drawing machine hand - Google Patents

Abstract

The invention discloses a sucker-type flexible pipe extubation manipulator. It includes a frame, a horizontal feeding mechanism, a vertical feeding mechanism, a manipulator, a suction cup grabbing mechanism and a control system; the horizontal feeding mechanism is a rack and pinion feeding mechanism, and the vertical feeding mechanism is a ball screw mechanism , the manipulator and the suction cup grabbing mechanism include a suction cup, a suction cup fixing plate, a horizontal fixing plate, a triangular connection plate and a U-shaped connection plate; the suction cup is connected with a vacuum pump through a trachea, and is arranged on the suction cup fixing plate; Below the horizontal fixing plate, two triangular connecting plates are fixed on both sides above the horizontal fixing plate. The triangular connecting plates are respectively connected to the two ends of the U-shaped connecting plate. The U-shaped connecting plate and the ball wire in the vertical feed mechanism connected by bars; the device of the invention can realize the precise extubation and delivery of the hose, and improve the production efficiency and automation level of the hose sealing production.

Description

A suction cup type hose extubation manipulator

technical field

The invention belongs to the technical field of packaging production, and relates to a sucker type hose extubation manipulator.

Background technique

With the advent of Industry 4.0, the development of industrial automation is becoming more and more rapid, especially manipulators. Manipulators are used to replace human beings in some harsh occasions for production, or for assembly line operations. Manipulators reciprocate to save human energy. In today's fast-paced society, time is money, and efficiency and quality come first. The manipulator just satisfies two of these points, so it becomes particularly important for the research and development of the manipulator.

In daily life, various daily necessities, cosmetics and medicines packaged in hoses are more and more popular, so the demand for packaging of various hoses for daily necessities and cosmetics has also increased significantly.

On the hose processing line, the hose is transferred to the next process basically by manual or clamping manipulators. Manually leads to an increase in the defective rate of the hose, which increases the cost of hose production. The labor intensity of the workers is high, and the production efficiency is low. high. Due to the soft material of the hose, the use of clamping manipulators will cause certain damage to the product, resulting in a decline in the yield rate, and the structure of the clamping manipulator is complex, and the failure rate is relatively high.

SUMMARY OF THE INVENTION

In view of the above-mentioned problems in the prior art, the object of the present invention is to provide a suction cup type hose extubation manipulator. This device is aimed at the extubation and conveying device used when the hose is transferred to the next process after the shoulder injection; it can replace the current method of manual transfer by the operator to achieve precise transfer; at the same time, it uses a pneumatic suction cup without causing The breakage of the hose speeds up the transfer speed, thereby improving production efficiency.

The present invention adopts the following technical solutions.

The invention provides a sucker-type hose extubation manipulator, which includes a frame, a horizontal feeding mechanism, a vertical feeding mechanism, a manipulator, a sucker grasping mechanism and a control system; The feeding mechanism and the vertical feeding mechanism are fixedly connected at 90 degrees; the manipulator and the suction cup grabbing mechanism are arranged outside the vertical feeding mechanism; wherein: the horizontal feeding mechanism is a rack and pinion feeding mechanism, and the vertical The feeding mechanism is a ball screw mechanism, and the manipulator and suction cup grabbing mechanism include a suction cup, a suction cup fixing plate, a horizontal fixing plate, a triangular connecting plate and a U-shaped connecting plate; The suction cup fixing plate is vertically arranged below the horizontal fixing plate, and two triangular connecting plates are fixedly arranged on both sides above the horizontal fixing plate, and the triangular connecting plates are respectively connected to the two ends of the U-shaped connecting plate, and the U-shaped connecting plate and The ball screw in the vertical feeding mechanism is connected; the control system controls the movement of the horizontal feeding mechanism and the vertical feeding mechanism, and controls the switch of the vacuum pump at the same time.

In the present invention, the frame is a cantilever beam structure, which includes a vertical beam, a cantilever beam, and a horizontal support beam. The cantilever beam and the horizontal support beam are on a horizontal plane. A triangular support plate is arranged between the cantilever beam and the vertical beam. The beam fixing plate; the horizontal feed mechanism is arranged on the beam fixing plate.

In the present invention, the horizontal feed mechanism includes a crossbeam, a V-shaped slide rail, a rack, a V-shaped bearing, a slide plate, a first servo motor and a shaft coupling; the crossbeam is arranged on the frame, and the V-shaped slide rail and the tooth Bar; the first servo motor is connected with the slide plate through a shaft coupling, the slide plate is fixedly connected with the V-shaped bearing, and the V-shaped bearing is matched with the rack.

In the present invention, the vertical feeding mechanism includes a ball screw, a linear guide rail, a bearing housing, a shaft coupling and a second servo motor; the linear guide rail is arranged on both sides of the ball screw screw in parallel, and a slider is arranged on the linear guide rail, and the slider and the The horizontal feeding mechanism is fixedly connected; when working, the second servo motor drives the ball screw to rotate through the shaft coupling.

In the present invention, there are two suction cup fixing plates, and there are more than eight suction cups.

In the present invention, when in use, two sets of sucker-type hose extubation manipulators are used, and another set of symmetrical frame, horizontal feed mechanism, vertical feed mechanism, manipulator, sucker grasping mechanism and control system are arranged to realize Automatic extubation and delivery of hoses on the left and right sides of the shoulder injection machine.

In the present invention, the control system is a PLC control system.

The working process and principle of the straw-type hose extubation manipulator provided by the present invention are as follows: After the previous procedure (shoulder injection machine for hose injection) is completed, the control system sends a signal to the second servo motor to make it rotate and drive the ball The screw mechanism rotates, thereby driving the manipulator to feed down to the side of the hose where the injection shoulder is completed. The control system sends an instruction to make the suction cup get negative pressure, and the suction cup sucks and fills the eight hoses. At this time, the control system sends pulses to the second servo motor again, so that the manipulator moves upwards and leaves the shoulder injection machine until it reaches the designated position. Afterwards, the first servo motor is commanded by the control system, and the rotation drives the rack and pinion mechanism to feed horizontally, sending the hose to the designated position. The action of the control system makes the suction cup lose the negative pressure, and the hose is sent to the next process for processing. The manipulator returns to its original position and repeats this action.

The supporting hose shoulder injection equipment involved in the present invention adopts a vertical shoulder injection method, that is, the mold and the hose are placed vertically. This type of equipment is widely used for various types of hose shoulder injection and sealing, and is aimed at automatic processing and transfer of hoses. Also do not have the device or the instrument of the automatic transfer hose that is matched with this type of shoulder injection machine on the domestic market at present.

Compared with the prior art, the advantages of the straw-type hose extubation manipulator in the present invention are as follows:

1. It can replace the manual extubation of the operator commonly used by the current hose production enterprises, which saves labor, reduces the labor intensity of workers, and improves production efficiency;

2. It can achieve precise extubation and delivery, and the suction cup will not cause damage to the hose, which improves the yield rate and reduces the production cost of the enterprise;

3. The production automation degree of the hose production enterprise is greatly improved, thereby improving the production efficiency and core competitiveness of the enterprise.

Description of drawings

Figure 1 is the overall structure diagram of the suction cup type hose extubation manipulator.

Fig. 2 is a structural diagram of the suction cup type hose extubation robot frame.

Fig. 3 is a structural diagram of the mechanical arm of the suction cup type hose extubation manipulator.

Fig. 4 is a structural diagram of a suction cup type hose extubation manipulator horizontal feeding device.

Fig. 5 is a structural diagram of the vertical feeding device of the suction cup type hose extubation manipulator.

Labels in the figure: 1-frame; 2-suction cup manipulator main body; 3-horizontal feed mechanism; 4-vertical feed mechanism; 5-anchor bolt fixing plate; 6-square steel bracket; 7-triangular support plate; 8 -beam fixing plate; 9-suction cup; 10-suction cup fixing plate; 11-horizontal fixing plate; 12-triangular connecting plate; 13-U-shaped connecting plate; 14-beam; V-shaped bearing; 17-skateboard; 18-coupling; 19-first servo motor; 20-ball screw; 21-linear guide; 22-bearing seat; 23-coupling; 24-second servo motor.

Detailed ways

Embodiments of the present invention will be described in detail below, and the embodiments described below by referring to the accompanying drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.

In addition, it should be noted that the terms used in the description of the present invention and terms related to positional relationship are only for the convenience of the description of the present invention, and should not be construed as limiting the present invention.

The present invention will be described in detail below in conjunction with the accompanying drawings.

Figure 1 shows the overall assembly drawing of the suction cup type hose extubation manipulator. This manipulator is used for extubation conveying when the hose is pulled out of the mold and transferred to the next process after the hose is injected into the shoulder. device. After the hose is finished filling and sealing on the shoulder injection machine, the device can pull out the hose at one time and transport it to the next process, realizing the automatic connection between the shoulder injection process and the capping process. It includes a frame 1, a suction cup manipulator main body 2, a horizontal feed mechanism 3, a vertical feed mechanism 4 and a control system. In this embodiment, the control system adopts a PLC control system, which is respectively connected to the first servo motor 19, the second servo motor 24, limit switches and buttons.

The structure of the frame 1 is shown in FIG. 2 , including an anchor bolt fixing plate 5 , a square steel bracket 6 , a triangular support plate 7 and a beam fixing plate 8 . The frame is welded by square steel to form a cantilever beam structure, and is fixed to the ground with anchor bolts. The triangular support plate 7 is used to strengthen the support of the horizontal beam. The cross beam fixing plate 8 is connected with the horizontal beam by bolts, and is used for fixing and aligning the cross beam 14 .

The structure of the suction cup manipulator main body 2 is shown in FIG. 3 , and is fixed on the ball screw 20 . It mainly includes a suction cup 9 , two suction cup fixing plates 10 , a horizontal fixing plate 11 , two triangular connecting plates 12 and a U-shaped connecting plate 13 . This part is the key part. The suction cup 9 is used for the suction of the hose. It is installed on the suction cup fixing plate 10 according to the size requirements, and then connected with the horizontal fixing plate 11, the triangular connecting plate 12 and the U-shaped connecting plate 13 in sequence, and finally the U-shaped connecting plate The connecting plate 13 is connected with the ball screw 20.

The structure of the horizontal feed mechanism 3 is shown in Figure 4, using a rack and pinion feed mechanism, including a beam 14, two V-shaped slide rails and a rack 15, four V-shaped bearings 16, a slide plate 17, a coupling 18 and the first servo motor 19. The entire feeding system is fixed on the support of the frame through the beam fixing plate 8, which is responsible for the horizontal movement of the mechanism. When in action, the PLC sends pulses to the first servo motor 19, the motor rotates through the coupling 18, and drives the gear to rotate. The four V-shaped bearings 16 are fixed on the horizontal slide 17. When the gear rotates, the slide 17 is driven to move horizontally, thereby driving The robot moves.

The structure of the vertical feed mechanism 4 is shown in Figure 5, using a ball screw feed mechanism, including a ball screw 20, two linear guide rails 21, two bearing housings 22, a coupling 23 and a second servo motor 24 . The entire feeding system is fixed on a slide plate 17, which is responsible for the vertical movement of the manipulator. When in action, the PLC sends pulses to the second servo motor 24, the motor rotates through the shaft coupling part 23, and the ball screw 20 rotates, thereby driving the manipulator to move. When moving to the specified position, the second servo motor 24 stops working.

In the embodiment, the process of using the sucker-type hose extubation manipulator is as follows: after the hose shoulder injection is completed, the vertical feed mechanism 4 drives the main body 2 of the sucker manipulator to move down to the side of the hose, and the sucker 9 sucks the hose. , the vertical feed mechanism 4 drives the main body 2 of the suction cup manipulator to move upward to a designated position. The horizontal feed mechanism 3 drives the manipulator to move horizontally to a specified position, and the vertical feed mechanism 4 drives the suction cup manipulator main body 2 to move down to the specified position of the next process. The system returns to the origin and repeats the work.

Obviously, as long as it does not depart from the scope of protection defined in the claims, the working process and holding method of the suction-cup type hose extubation manipulator described and identified herein can be changed.

The present invention is mainly applicable to extubation of flexible pipes, and is also applicable to objects of other materials.

Claims (7)

1. a kind of sucked type hose pipe drawing machine hand, it is characterised in that: it includes rack, horizontal feed mechanism, vertical feed machine Structure, manipulator and sucker grasping mechanism and control system；In the rack be arranged horizontal feed mechanism, horizontal feed mechanism and hang down It is fixedly connected between straight-in feed mechanism in 90 degree；Manipulator and sucker grasping mechanism are set to the outside of vertical feeding mechanism；Its In: the horizontal feed mechanism is rack-and-pinion feed mechanism, and the vertical feeding mechanism is ball screw framework, the machinery Hand and sucker grasping mechanism include sucker, sucker fixed plate, horizontal fixed plate, triangular connecting plate and U-shaped connecting plate；Sucker passes through Tracheae is connected with vacuum pump, is arranged in sucker fixed plate；Sucker fixed plate is vertically arranged at the lower section of horizontal fixed plate, sucker Fixed plate is two, and the top two sides of horizontal fixed plate are fixedly installed two triangular connecting plates upwards, and triangular connecting plate is respectively and U The both ends of type connecting plate are connected, and U-shaped connecting plate is connected with the ball-screw in vertical feeding mechanism；Control system controlled level The movement of feed mechanism and vertical feeding mechanism, while controlling the switch of vacuum pump；The sucked type hose pipe drawing machine hand benefit With rack, horizontal feed mechanism, vertical feeding mechanism, manipulator, control system and sucker grasping mechanism to soft on shoulder-injection machine Automatic tube drawing and conveying are managed, mold and hose are disposed vertically, and the manipulator is fed down, and reach the hose side that note shoulder is completed Face, control system, which issues instruction, makes sucker obtain negative pressure, and sucker sticking is poured in the hose of shoulder, hose is pulled out from the mold last time Out.

2. sucked type hose pipe drawing machine hand according to claim 1, it is characterised in that: rack is cantilever beam structure, Including vertical beam, cantilever beam and horizontal shore, cantilever beam and horizontal shore are on a horizontal plane, cantilever beam and vertical beam Between gusseted plate is set, crossbeam fixed plate is set on cantilever beam；Horizontal feed mechanism is set in crossbeam fixed plate.

3. sucked type hose pipe drawing machine hand according to claim 1, it is characterised in that: horizontal feed mechanism includes cross Beam, V-type sliding rail, rack gear, V-type bearing, slide plate, first servo motor and shaft coupling；Crossbeam is arranged on the rack, and is set above crossbeam Set V-type sliding rail and rack gear；First servo motor is connected by shaft coupling with slide plate, and slide plate is fixedly connected with V-type bearing, V-type axis It holds and is matched with rack gear.

4. sucked type hose pipe drawing machine hand according to claim 1, it is characterised in that: the vertical feeding mechanism includes Ball-screw, linear guide, bearing block, shaft coupling and the second servo motor；Linear guide is arranged in parallel in the two of ball-screw Sliding block is arranged in linear guide in side, and sliding block is fixedly connected with horizontal feed mechanism；When work, the second servo motor passes through shaft coupling Device drives ball-screw to be rotated.

5. sucked type hose pipe drawing machine hand according to claim 1, which is characterized in that sucker fixed plate is 2, sucker It is 8 or more.

6. sucked type hose pipe drawing machine hand according to claim 1, which is characterized in that in use, using two sets of suckers Formula hose pipe drawing machine hand, arrange another set of rack symmetrical therewith, horizontal feed mechanism, vertical feeding mechanism, manipulator and Sucker grasping mechanism and control system realize the automatic tube drawing to hose at left and right sides of shoulder-injection machine and conveying.

7. sucked type hose pipe drawing machine hand according to claim 1, which is characterized in that control system is PLC control system System.