CN110026970A - A kind of SCARA type bottle-making machine Qi Renyiping mechanism - Google Patents
A kind of SCARA type bottle-making machine Qi Renyiping mechanism Download PDFInfo
- Publication number
- CN110026970A CN110026970A CN201910452058.2A CN201910452058A CN110026970A CN 110026970 A CN110026970 A CN 110026970A CN 201910452058 A CN201910452058 A CN 201910452058A CN 110026970 A CN110026970 A CN 110026970A
- Authority
- CN
- China
- Prior art keywords
- bottle
- renyiping
- pincers
- lead screw
- making machine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B9/00—Blowing glass; Production of hollow glass articles
- C03B9/30—Details of blowing glass; Use of materials for the moulds
- C03B9/44—Means for discharging combined with glass-blowing machines, e.g. take-outs
- C03B9/447—Means for the removal of glass articles from the blow-mould, e.g. take-outs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of SCARA type bottle-making machine Qi Renyiping mechanisms, belong to vial manufacturing field.The mechanism includes pedestal, arm rotating mechanism, elevating mechanism and clip bottle mechanism, it is characterised in that: overall structure is SCARA humanoid robot structure；The arm rotating mechanism includes the waling stripe pivoted arm of two revolution connections, and a both ends all connect retarder, and a both ends are separately connected retarder and lead screw fixed plate, and the retarder is driven by servo motor；The elevating mechanism is mainly formed by lead screw and along the sliding block that lead screw moves back and forth；The clip bottle mechanism mainly includes the single reduction gear of servo motor driving and its ball-screw by shaft coupling connection, the affixed elevating lever of feed screw nut, the folding of elevating lever control pincers bottle gripper.The present invention is SCARA humanoid robot structure, and travel path and angle are all adjustable, and pincers bottle stable action is accurate, is conducive to production line structure optimization and improves production efficiency and qualification rate.
Description
Technical field
The invention belongs to vial manufacturing fields, and in particular to a kind of SCARA type bottle-making machine Qi Renyiping mechanism.
Background technique
To meet the increasingly increased glass bottle product demand of people, glass container industry is to vial bottle production equipment court
Advance, high efficiency, reliability, stability direction improve and optimize, wherein Yi Ping mechanism is transmitted as hot end
Important mechanism needs for vial after molding in shaping mould to be transported on dead plate, completes pincers bottle, pincers bottle is walked, put down
Surely put the vial clamped out from shaping mould to a series of actions such as dead plates is to have the vial that high temperature is spent 600 more,
Need clip bottle mechanism further cooling during clamping out.Traditional Yi Ping mechanism drives cam mechanism to do reciprocal fortune by driving device
It moves to realize vial transmitting function, but the time of small, the immutable movement of cam mechanism stroke and angle, transmit process cannot
It is flexibly adjustable, it is unfavorable for the adjustment and vial heat dissipation of production line, for optimization production cable architecture and improves the quality of production and effect
Rate needs to design a kind of adjustable Yi Ping mechanism to run smoothly of stroke.
Summary of the invention
The present invention is to propose that a kind of SCARA type bottle-making machine device people moves bottle in place of solving above-mentioned the shortcomings of the prior art
Mechanism can run smoothly, act precisely and travel path and stroke angles are all flexibly adjustable, optimize production cable architecture, mention
The high quality of production and efficiency.
The technical solution adopted for solving the technical problem of the present invention is:
A kind of SCARA type bottle-making machine Qi Renyiping mechanism, including pedestal, arm rotating mechanism, elevating mechanism and clip bottle mechanism,
Be characterized in that: overall structure is SCARA humanoid robot structure；The arm rotating mechanism includes that two the horizontal of revolution connection connect
Bar pivoted arm；The elevating mechanism is mainly formed by lead screw and along the sliding block that lead screw moves back and forth；The clip bottle mechanism mainly includes
The single reduction gear of servo motor driving and its ball screw assembly, connected by shaft coupling, and pincers take the pincers bottle hand of vial
Pawl.
Described two waling stripe pivoted arms are i-beam structure, and wherein large arm connecting rod two end is welded with two ring flanges, small
Arm link one end welding flange other end welds square connecting plate.
The large arm connecting rod two end ring flange is separately connected two harmonic speed reducers, and forearm connecting rod ring flange end connects harmonic wave
Retarder, square connecting plate end connect lead screw fixed plate.
The pincers bottle gripper is indirectly controlled by servo motor, clamps the lifting that control pincers bottle gripper folding is equipped on bottle gripper
Bar, elevating lever consolidates feed screw nut and elevating lever is equipped with constraint platform, and constraint elevating lever moves vertically.
High-temperaure coating is coated at the pincers bottle finger contacted in the pincers bottle gripper with vial.
Compared with prior art, of the invention to have the beneficial effect that
Travel path is all adjustable respectively with stroke angles when two pivoted arm of SCARA humanoid robot structure is run, and can adapt to each
Kind production cable architecture, when vising the transmission of high temp glass bottle, path can be planned.Pivoted arm rotation is using harmonic speed reducer as deceleration
Mechanism makes rotational action quick and stable, and transmission efficiency is high.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of clip bottle mechanism of the invention；
Marked in the figure: 1, pedestal, 2,4, harmonic speed reducer, 3, big arm link, 5,9,12, servo motor, 6, small arm link, 7, silk
Thick stick fixed plate, 8, lead screw, 10, sliding block, 11, single reduction gear, 13, ball-screw, 14, feed screw nut, 15, shaft coupling, 16, liter
Bar, 17, constraint platform, 18, pincers bottle gripper, 19, high-temperaure coating drop.
Specific embodiment
Pass through specific embodiment to further illustrate the technical scheme of the present invention with reference to the accompanying drawing.
Referring to figure 1 and figure 2, the present invention provides a kind of SCARA type bottle-making machine Qi Renyiping mechanism, including pedestal 1,
Arm rotating mechanism, elevating mechanism and clip bottle mechanism, it is characterised in that: overall structure is SCARA humanoid robot structure；The arm
Portion's rotating mechanism includes the waling stripe pivoted arm 3,6 of two revolution connections, and a both ends all connect retarder 2,4, a both ends
It is separately connected retarder 4 and lead screw fixed plate 7, the retarder 4 is driven by servo motor 5, and retarder 2 is by being built in pedestal 1
In servo motor driving；The elevating mechanism is mainly formed by lead screw 8 and along the sliding block 10 that lead screw 8 moves back and forth；The pincers
Bottle mechanism mainly includes the single reduction gear 11 that servo motor 12 drives and its ball-screw 13 connected by shaft coupling 15, silk
The affixed elevating lever 16 of thick stick nut 14, the folding of the control pincers bottle gripper 18 of elevating lever 16.
The course of work: waling stripe pivoted arm 3,6 is in 45 ° of angle states when initial position, and clip bottle mechanism hangs down positioned at vial
Straight top；Elevating mechanism drop: servo motor 9 drives lead screw 8 to rotate counterclockwise, and sliding block 10 moves downwardly to lower limit position, i.e.,
Clip bottle mechanism reaches pincers bottle position.
Pincers bottle rises: servo motor 12 drives ball-screw 13 to rotate clockwise by single reduction gear 11, feed screw nut
14 move upwards while elevating lever 16 being driven to rise, so that clamping a bottle gripper vises vial；Elevating mechanism liter: servo motor 9 drives
Dynamic lead screw 8 rotates clockwise, and sliding block 10 moves up to upper limit position.
Pincers bottle is walked: large arm, which rotates a certain angle, reaches the preliminary cooling position pause several seconds, and then forearm individually rotates one
Fixed angle is located at clip bottle mechanism above final position；Elevating mechanism drop: servo motor 9 drives lead screw 8 to rotate counterclockwise, sliding
Block 10 moves downwardly to lower limit position, i.e. vial is reached home position.
Pincers bottle is fallen: servo motor 12 drives ball-screw 13 to do rotation counterclockwise, feed screw nut by single reduction gear 11
14 move downward while driving and rise under elevating lever 16, so that clamping bottle gripper 18 unclamps vial；Elevating mechanism liter: servo motor 9
Driving lead screw 8 rotates clockwise, and sliding block 10 moves up to upper limit position.
Two pivoted arms 3,6 restore to initial position, and so circulation, which executes, moves bottle movement.
The present invention provides a kind of SCARA type bottle-making machine Qi Renyiping mechanism, structure novel, easy to operate, pincers bottle is dynamic
Make quick and stable, moving bottle path can plan, can satisfy various types production line needs, have in vial process industry very well
Application prospect.
Claims (5)
1. a kind of SCARA type bottle-making machine Qi Renyiping mechanism, including pedestal, arm rotating mechanism, elevating mechanism and clip bottle mechanism,
It is characterized by: overall structure is SCARA humanoid robot structure；The arm rotating mechanism includes the level of two revolution connections
Connecting rod pivoted arm；The elevating mechanism is mainly formed by lead screw and along the sliding block that lead screw moves back and forth；The clip bottle mechanism mainly wraps
The ball screw assembly, for including the single reduction gear of servo motor driving and its being connected by shaft coupling, and pincers take the pincers bottle of vial
Gripper.
2. a kind of SCARA type bottle-making machine Qi Renyiping mechanism according to claim 1, it is characterised in that: described two water
Flat connecting rod pivoted arm is i-beam structure, and wherein large arm connecting rod two end is welded with two ring flanges, small arm link one end welded flange
The disk other end welds square connecting plate.
3. a kind of SCARA type bottle-making machine Qi Renyiping mechanism according to claim 2, it is characterised in that: the large arm connects
Bar both ends ring flange is separately connected the harmonic speed reducer of two servo motors driving, and forearm connecting rod ring flange end connects servo motor
The harmonic speed reducer of driving, square connecting plate end connect lead screw fixed plate.
4. a kind of SCARA type bottle-making machine Qi Renyiping mechanism according to claim 1, it is characterised in that: the pincers bottle hand
Pawl is indirectly controlled by servo motor, clamps the elevating lever that control pincers bottle gripper folding is equipped on bottle gripper, and elevating lever consolidates lead screw
Nut and elevating lever are equipped with constraint platform, and constraint elevating lever moves vertically.
5. a kind of SCARA type bottle-making machine Qi Renyiping mechanism according to claim 1, it is characterised in that: the pincers bottle hand
High-temperaure coating is coated at the pincers bottle finger contacted in pawl with vial.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910452058.2A CN110026970A (en) | 2019-05-28 | 2019-05-28 | A kind of SCARA type bottle-making machine Qi Renyiping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910452058.2A CN110026970A (en) | 2019-05-28 | 2019-05-28 | A kind of SCARA type bottle-making machine Qi Renyiping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110026970A true CN110026970A (en) | 2019-07-19 |
Family
ID=67243673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910452058.2A Pending CN110026970A (en) | 2019-05-28 | 2019-05-28 | A kind of SCARA type bottle-making machine Qi Renyiping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110026970A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546322A (en) * | 2020-04-14 | 2020-08-18 | 深圳市卓博机器人有限公司 | SCARA robot with high positioning precision |
| CN112979150A (en) * | 2021-05-08 | 2021-06-18 | 隆昌县良工科技有限公司 | Servo bottle-pulling lifting mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395063A (en) * | 2013-08-07 | 2013-11-20 | 湖州和晟玻璃机械有限公司 | Overturning full-automation mechanical arm suitable for glassware pressing production line |
| CN203768211U (en) * | 2013-12-31 | 2014-08-13 | 安徽大巨工业机器人制造有限公司 | Elastic gripper of cylindrical component |
| CN206171898U (en) * | 2016-11-04 | 2017-05-17 | 武汉人天机器人工程有限公司 | Letter sorting arrangement vanning system of robot of bottle embryo |
| KR20180103612A (en) * | 2017-03-10 | 2018-09-19 | (주)디엠비에이치 | System and method for supplying replacing different kinds part of scara robot |
| JP2019072995A (en) * | 2017-10-18 | 2019-05-16 | 株式会社フロンティア | Blow molding apparatus |
| CN209868601U (en) * | 2019-05-28 | 2019-12-31 | 山东理工大学 | Bottle moving mechanism of SCARA type bottle-making robot |
-
2019
- 2019-05-28 CN CN201910452058.2A patent/CN110026970A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395063A (en) * | 2013-08-07 | 2013-11-20 | 湖州和晟玻璃机械有限公司 | Overturning full-automation mechanical arm suitable for glassware pressing production line |
| CN203768211U (en) * | 2013-12-31 | 2014-08-13 | 安徽大巨工业机器人制造有限公司 | Elastic gripper of cylindrical component |
| CN206171898U (en) * | 2016-11-04 | 2017-05-17 | 武汉人天机器人工程有限公司 | Letter sorting arrangement vanning system of robot of bottle embryo |
| KR20180103612A (en) * | 2017-03-10 | 2018-09-19 | (주)디엠비에이치 | System and method for supplying replacing different kinds part of scara robot |
| JP2019072995A (en) * | 2017-10-18 | 2019-05-16 | 株式会社フロンティア | Blow molding apparatus |
| CN209868601U (en) * | 2019-05-28 | 2019-12-31 | 山东理工大学 | Bottle moving mechanism of SCARA type bottle-making robot |
Non-Patent Citations (1)
| Title |
|---|
| 陈雪松，等: "关节式砖坯码垛机器人控制系统的设计", 《设计与研究》, no. 264, pages 37 - 39 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111546322A (en) * | 2020-04-14 | 2020-08-18 | 深圳市卓博机器人有限公司 | SCARA robot with high positioning precision |
| CN112979150A (en) * | 2021-05-08 | 2021-06-18 | 隆昌县良工科技有限公司 | Servo bottle-pulling lifting mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103010764B (en) | One parallel bar stacking machine robot | |
| CN204508205U (en) | A kind of two-way transfer robot of two bars based on parallel principle | |
| CN110026970A (en) | A kind of SCARA type bottle-making machine Qi Renyiping mechanism | |
| CN201778110U (en) | Plasma enhanced chemical vapor deposition (PECVD) automatic loading and unloading boat device | |
| CN103753523A (en) | Thermoformed loading and unloading mechanical arm | |
| CN203418638U (en) | Automatic blank feeding machine for domestic ceramics | |
| CN101862720B (en) | Intelligent spraying device for use in streamline production operation | |
| CN203390937U (en) | Turning-over type full-automatic manipulator applicable to glass ware pressing production line | |
| CN108161922B (en) | Feeding cam manipulator | |
| CN103395063A (en) | Overturning full-automation mechanical arm suitable for glassware pressing production line | |
| CN204819521U (en) | Parallelly connected mechanical hand with adjustable workstation angle | |
| CN209868601U (en) | Bottle moving mechanism of SCARA type bottle-making robot | |
| CN208614783U (en) | A kind of multi-functional carrying robot device | |
| CN110560839A (en) | Be used for welded biaxial adjusting device | |
| CN204779819U (en) | Pickling pretreatment of water heater inner bag automatic spray and automatic application of slip stoving system of burning till | |
| CN108406827A (en) | A kind of wallboard palletizing mechanical arm | |
| CN105798597B (en) | For bourdon tube in air-conditioning temperature-sensing valve and nut automatic assembling apparatus | |
| CN104988501A (en) | General type robot automatic enamelling system for mixed loading and production of water heater inner containers | |
| CN208759113U (en) | A kind of truss manipulator charging and discharging mechanism | |
| CN207534800U (en) | A kind of truss manipulator using mechanical synchronous tracking | |
| CN206718500U (en) | A kind of through-flow fan blade automatic welding machine | |
| CN102024867B (en) | Limiting device in solar module framing and angling device | |
| CN104985605A (en) | Water heater inner container mixed production type robot automatic and concentric grasping paw | |
| CN207155030U (en) | Laser cutting system | |
| CN210358262U (en) | Automatic cleaning device of welding gun head of welding robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |