CN110436008B - Label operation manipulator capable of quickly replacing pressure plate - Google Patents
Label operation manipulator capable of quickly replacing pressure plate Download PDFInfo
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- CN110436008B CN110436008B CN201910798242.2A CN201910798242A CN110436008B CN 110436008 B CN110436008 B CN 110436008B CN 201910798242 A CN201910798242 A CN 201910798242A CN 110436008 B CN110436008 B CN 110436008B
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- pressure plate
- guide cylinder
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- spring
- friction disc
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
- B65C9/36—Wipers; Pressers
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Abstract
Label operating arm of quick replacement pressure disk includes: the pneumatic air compressor comprises a connecting seat (1), an air pipe connector (2), an inner linear bearing (3), a spring seat (4), a guide clamping cylinder (5), an outer linear bearing (6), a pressure plate guide cylinder (7), a pressure plate friction disc fixing bolt (8), a pressure plate friction disc (9), a pressure plate (10), a pressure plate sponge (11), a suction disc (12), a suction disc hardware fitting (13), a suction disc guide cylinder (14), a ventilation rod (15), an outer spring (16), an inner spring (17) and a clamping ring (18). The invention has simple installation and convenient operation, and is convenient for daily maintenance and part replacement; the outer linear bearing is arranged outside the guide clamping cylinder, so that the outer diameter of the manipulator is reduced, and the unevenness of the workpieces can be increased when the workpieces are adhered; the application scope is wide, processes L shape spout on the pressure disk guide cylinder, can carry out quick replacement with the pressure disk of equidimension not in production.
Description
Technical Field
The invention relates to a manipulator, in particular to a sucker type label operating manipulator which can quickly replace pressure plates facing labels of different sizes.
Background
At present, a label operation manipulator is used for a work occasion needing to label the surface of a workpiece, and the manipulator is also used for compacting the labeled label in the labeling process. And when label operation manipulator carries out the label to the work piece surface in the industry, the label that adopts in the face of different work pieces also can be different to the pressure disk that carries out the compaction to the label just needs to take place corresponding change, and current label operation manipulator can not be applicable to and carries out compaction work to the label of different size specifications. Therefore, the label operating manipulator capable of quickly replacing the pressure plate has profound practical significance for labeling operation and other similar industrial application scenes.
Disclosure of Invention
In order to solve the problems, the label operating mechanical arm for rapidly replacing the pressure plate is arranged at the tail end of a general industrial robot and is mainly used for completing labeling and compacting of different workpiece surfaces.
The invention relates to a label operating manipulator capable of rapidly replacing a pressure plate, which comprises: the pneumatic connecting device comprises a connecting seat 1, a gas pipe connector 2, an inner linear bearing 3, a spring seat 4, a guide clamping cylinder 5, an outer linear bearing 6, a pressure plate guide cylinder 7, a pressure plate friction disc fixing bolt 8, a pressure plate friction disc 9, a pressure plate 10, a pressure plate sponge 11, a suction disc 12, a suction disc hardware fitting 13, a suction disc guide cylinder 14, a vent rod 15, an outer spring 16, an inner spring 17 and a clamping ring 18.
The left side of connecting seat 1 and general industrial robot's end cooperation and fixed connection, spring holder 4 is arranged on the right side of connecting seat 1, and direction card section of thick bamboo 5 is arranged on the right side of spring holder 4, and connecting seat 1, spring holder 4 and direction card section of thick bamboo 5 pass through bolt group fastening connection together. A guide groove is formed in the left side of the interior of the connecting seat 1, and a light hole is formed in the right side of the interior of the connecting seat. Linear bearing 3 in the unthreaded hole internally mounted of connecting seat 1, the degree of depth of unthreaded hole is the same with the length of interior linear bearing 3. The left end surface of the inner linear bearing 3 is positioned by a shoulder formed by a guide groove and a unthreaded hole of the connecting seat 1, and the right side of the inner linear bearing is positioned by the spring seat 4. The outer linear bearing 6 is arranged outside the guide clamping cylinder 5, and the outer linear bearing 6 is fixedly arranged together with the right end face of the guide clamping cylinder 5 through a bolt group. The inner part of the outer linear bearing 6 is provided with a pressure plate guide cylinder 7, and the outer linear bearing 6 and the pressure plate guide cylinder 7 form a rolling linear motion pair. The left side of the pressure plate guide cylinder 7 is thin, the right side of the pressure plate guide cylinder is thick, threaded holes are machined in the circumferential direction of the left side of the pressure plate guide cylinder, smooth holes are machined in the circumferential direction of the left side close to the large end of the pressure plate guide cylinder, and an L-shaped sliding groove is machined in the circumferential direction of the large end of the right side of the pressure plate guide cylinder. The pressure plate friction disk 9 is installed inside the right side of the pressure plate guide cylinder 7, the right side of the pressure plate friction disk 9 is in a disk shape, the left side of the pressure plate friction disk 9 is a polished rod, four threaded holes are circumferentially processed on the left side of the pressure plate friction disk, and the pressure plate guide cylinder 7 and the pressure plate friction disk 9 are connected together through a pressure plate friction disk fixing bolt 8. The pressure plate friction disc 9 moves left and right in the pressure plate guide cylinder, the left side is limited by the self disc surface of the pressure plate friction disc, and the right side is limited by the pressure plate friction disc fixing bolt 8. The pressure plate sponge 11 is arranged on the right side of the pressure plate 10, and the pressure plate sponge 11 is connected with the pressure plate 10 through the pressure-sensitive adhesive. A clamping ring 18 is arranged on the outer portion of the left side of the pressure plate guide cylinder 7, threaded holes are circumferentially processed in the clamping ring 18, and the clamping ring 18 is connected with the pressure plate guide cylinder 7 through a bolt group. The pressure plate guide cylinder 7 moves left and right in the outer linear bearing 6, the left side of the pressure plate guide cylinder is limited by the snap ring 18, the right side of the pressure plate guide cylinder is limited by the shaft shoulder of the pressure plate guide cylinder 7, and the moving range is the secondary compression stroke of the label operation manipulator for quickly replacing the pressure plate. The ventilation rod 15 is internally provided with a through hole for communicating compressed gas. The left end of the ventilation bar 15 is provided with external threads, the connecting part of the air pipe joint 2 is provided with internal threads, and the left end of the ventilation bar 15 is in threaded connection with the air pipe joint 2. The joint part of the air pipe joint 2 slides in the guide groove of the connecting seat 1. The right end of the ventilation bar 15 is externally and internally threaded. The inside of the sucking disc hardware fitting 13 is a through hole, the right side of the outside is a disc shape, and the left side is a screw rod. The right end of the suction cup fitting 13 is fitted with the clamping groove of the suction cup 12, and the external thread of the left end of the suction cup fitting 13 is in threaded connection with the internal thread of the right end of the ventilation rod 15. The whole sucker guide cylinder 14 is a cylinder, and internal threads are machined inside the sucker guide cylinder. The internal thread of the suction cup guide cylinder 14 and the external thread of the right end of the air vent rod 15 form a threaded connection. The outside of the ventilation bar 15 is mounted with an outer spring 16 and an inner spring 17, the diameter of the outer spring 16 being larger than the diameter of the inner spring 17. The outer diameter of the outer spring 16 is smaller than the inner diameter of the platen guide cylinder 7. The inner spring 17 has an inner diameter larger than the outer diameter of the air bar 15. Spring holder 4 left side is the disc, and the quotation processing has the bolted connection hole, and the middle processing has the hole of installation air pin 15, and the right side is cylindricly, and the cylindrical internal diameter of right side is greater than the diameter of its left side disc centre bore, and the cylindrical internal diameter of right side is greater than the diameter of inner spring 17, and the cylindrical external diameter of right side is less than the diameter of outer spring 16. Outer spring 16 installs in spring holder 4 cylinder outside, and inner spring 17 installs inside spring holder 4 cylinder, and outer spring 16 radial sliding is restricted to the cylinder of spring holder 4, has ensured the normal work of manipulator, but does not influence the label operation manipulator compression stroke of quick replacement pressure disk, and outer spring 16 and inner spring 17's left side are spacing by spring holder 4. The right side of the outer spring 16 is limited by the left end face of the pressure plate friction disc 9. The right side of the inner spring 17 is limited by the left end surface of the sucker guide cylinder 14. The inner hole of the pressure plate friction disc 9 and the cylindrical surface of the suction disc guide cylinder 14 form clearance fit to form a sliding linear motion pair. The ventilation rod 15 and the inner linear bearing 3 form a rolling linear motion pair, and the moving range is limited by the right end surface of the air pipe joint 2 and the left end surface of the sucker guide cylinder 14, namely the first-stage compression stroke of the label operation manipulator for quickly replacing the pressure plate.
The quick-change part of the label operating manipulator for quickly changing the pressure plate comprises: the pressure plate comprises a pressure plate guide cylinder 7, a pressure plate friction disc fixing bolt 8, a pressure plate friction disc 9, a pressure plate 10 and a pressure plate sponge 11. Wherein the platen 10 is composed of a platen body 10-1 and a platen guide post 10-2.
Thin end circumference equipartition in pressure disk guide cylinder 7 left side has four M2's screw hole, and the nearer circumference equipartition of 7 shoulders apart from pressure disk guide cylinder is processed and is had four diameters to be 5 mm's unthreaded hole, and pressure disk guide cylinder 7 right-hand member is processed and is had the spout of two L shapes. The pressure plate friction disk 9 is arranged inside the right side of the pressure plate guide cylinder 7, four threaded holes M2 are uniformly formed in the circumferential direction of the left end of the pressure plate friction disk 9, and the right end of the pressure plate friction disk is in a disk shape. The pressure plate 10 is arranged on the right side of the pressure plate friction disc 9, part of the pressure plate 10 is arranged inside the right side of the pressure plate guide cylinder 7, the right side of the pressure plate body 10-1 is in a disc shape, the left side of the pressure plate body is provided with a polished rod, two polished holes with the diameter of 3mm are circumferentially and symmetrically processed on the left side of the pressure plate body, the two pressure plate guide posts 10-2 are arranged in the polished holes of the pressure plate body 10-1, and the pressure plate 10 is formed by the pressure plate body 10-1 and the pressure plate guide posts 10-2 in a spot welding mode. Pressure disk friction disk 9 links together through pressure disk friction disk fixing bolt 8 and pressure disk guide cylinder 7, and the face of cylinder of pressure disk friction disk 9 forms clearance fit with the hole of pressure disk guide cylinder 7, and pressure disk friction disk 9 moves about in pressure disk guide cylinder 7, and it is spacing that the left side is passed through pressure disk friction disk 9 quotation self, and the right side is spacing through pressure disk friction disk fixing bolt 8 that sinks in pressure disk guide cylinder 7, has the gap between pressure disk friction disk 9 and the pressure disk guide cylinder 7. The cylindrical surface of the pressure plate body 10-1 and the inner hole at the right end of the pressure plate guide cylinder 7 form large clearance fit, and the pressure plate guide column 10-2 and the sliding groove at the right end of the pressure plate guide cylinder 7 form clearance fit, so that the pressure plate 10 can slide in the L-shaped sliding groove of the pressure plate guide cylinder 7. The left end face of the pressure plate 10 is contacted with the right end face of the pressure plate friction disc 9, and a gap exists between the pressure plate 10 and the right end face of the pressure plate guide cylinder 7. The pressure plate 10 slightly moves left and right in the pressure plate guide cylinder 7, and the left side and the right side are both limited by the bottom of an L-shaped sliding groove at the right end of the pressure plate guide cylinder 7.
The beneficial technical effects of the invention comprise:
(1) the installation is simple, the operation is convenient, and the daily maintenance and the replacement of parts are convenient;
(2) the outer linear bearing is arranged outside the guide clamping cylinder, so that the outer diameter of the manipulator is reduced, and the unevenness of the workpieces can be increased when the workpieces are adhered;
(3) the application scope is wide, processes L shape spout on the pressure disk guide cylinder, can carry out quick replacement with the pressure disk of equidimension not in production.
Drawings
FIG. 1 is an assembly view of a label handling robot for quick change platens of the present invention;
FIG. 2 is a schematic view of the quick change station connection of the label handling robot of the quick change platen of the present invention;
FIG. 3 is a three-dimensional view of a platen guide cylinder of the label manipulator of the present invention for quick platen change;
FIG. 4 is a platen assembly view of the label handling robot of the present invention rapidly exchanging platens;
FIG. 5 is a three-dimensional view of the platen of the label handling robot of the present invention rapidly exchanging platens;
fig. 6 is a schematic diagram of the spring seat structure of the label handling robot for quick change platen of the present invention.
Detailed Description
The contents and operation of the present invention will be described with reference to fig. 1-6.
The invention relates to a label operating manipulator capable of rapidly replacing a pressure plate, which comprises: the pneumatic connecting device comprises a connecting seat 1, a gas pipe connector 2, an inner linear bearing 3, a spring seat 4, a guide clamping cylinder 5, an outer linear bearing 6, a pressure plate guide cylinder 7, a pressure plate friction disc fixing bolt 8, a pressure plate friction disc 9, a pressure plate 10, a pressure plate sponge 11, a suction disc 12, a suction disc hardware fitting 13, a suction disc guide cylinder 14, a vent rod 15, an outer spring 16, an inner spring 17 and a clamping ring 18.
The left side of connecting seat 1 and general industrial robot's end cooperation and fixed connection, spring holder 4 is arranged on the right side of connecting seat 1, and direction card section of thick bamboo 5 is arranged on the right side of spring holder 4, and connecting seat 1, spring holder 4 and direction card section of thick bamboo 5 pass through bolt group fastening connection together. A guide groove is formed in the left side of the interior of the connecting seat 1, and a light hole is formed in the right side of the interior of the connecting seat. Linear bearing 3 in the unthreaded hole internally mounted of connecting seat 1, the degree of depth of unthreaded hole is the same with the length of interior linear bearing 3. The left end surface of the inner linear bearing 3 is positioned by a shoulder formed by a guide groove and a unthreaded hole of the connecting seat 1, and the right side of the inner linear bearing is positioned by the spring seat 4. The outer linear bearing 6 is arranged outside the guide clamping cylinder 5, and the outer linear bearing 6 is fixedly arranged together with the right end face of the guide clamping cylinder 5 through a bolt group. The inner part of the outer linear bearing 6 is provided with a pressure plate guide cylinder 7, and the outer linear bearing 6 and the pressure plate guide cylinder 7 form a rolling linear motion pair. The left side of the pressure plate guide cylinder 7 is thin, the right side of the pressure plate guide cylinder is thick, threaded holes are machined in the circumferential direction of the left side of the pressure plate guide cylinder, smooth holes are machined in the circumferential direction of the left side close to the large end of the pressure plate guide cylinder, and an L-shaped sliding groove is machined in the circumferential direction of the large end of the right side of the pressure plate guide cylinder. The pressure plate friction disk 9 is installed inside the right side of the pressure plate guide cylinder 7, the right side of the pressure plate friction disk 9 is in a disk shape, the left side of the pressure plate friction disk 9 is a polished rod, four threaded holes are circumferentially processed on the left side of the pressure plate friction disk, and the pressure plate guide cylinder 7 and the pressure plate friction disk 9 are connected together through a pressure plate friction disk fixing bolt 8. The pressure plate friction disc 9 moves left and right in the pressure plate guide cylinder, the left side is limited by the self disc surface of the pressure plate friction disc, and the right side is limited by the pressure plate friction disc fixing bolt 8. The pressure plate sponge 11 is arranged on the right side of the pressure plate 10, and the pressure plate sponge 11 is connected with the pressure plate 10 through the pressure-sensitive adhesive. A clamping ring 18 is arranged on the outer portion of the left side of the pressure plate guide cylinder 7, threaded holes are circumferentially processed in the clamping ring 18, and the clamping ring 18 is connected with the pressure plate guide cylinder 7 through a bolt group. The pressure plate guide cylinder 7 moves left and right in the outer linear bearing 6, the left side of the pressure plate guide cylinder is limited by the snap ring 18, the right side of the pressure plate guide cylinder is limited by the shaft shoulder of the pressure plate guide cylinder 7, and the moving range is the secondary compression stroke of the label operation manipulator for quickly replacing the pressure plate. The ventilation rod 15 is internally provided with a through hole for communicating compressed gas. The left end of the ventilation bar 15 is provided with external threads, the connecting part of the air pipe joint 2 is provided with internal threads, and the left end of the ventilation bar 15 is in threaded connection with the air pipe joint 2. The joint part of the air pipe joint 2 slides in the guide groove of the connecting seat 1. The right end of the ventilation bar 15 is externally and internally threaded. The inside of the sucking disc hardware fitting 13 is a through hole, the right side of the outside is a disc shape, and the left side is a screw rod. The right end of the suction cup fitting 13 is fitted with the clamping groove of the suction cup 12, and the external thread of the left end of the suction cup fitting 13 is in threaded connection with the internal thread of the right end of the ventilation rod 15. The whole sucker guide cylinder 14 is a cylinder, and internal threads are machined inside the sucker guide cylinder. The internal thread of the suction cup guide cylinder 14 and the external thread of the right end of the air vent rod 15 form a threaded connection. The outside of the ventilation bar 15 is mounted with an outer spring 16 and an inner spring 17, the diameter of the outer spring 16 being larger than the diameter of the inner spring 17. The outer diameter of the outer spring 16 is smaller than the inner diameter of the platen guide cylinder 7. The inner spring 17 has an inner diameter larger than the outer diameter of the air bar 15. Spring holder 4 left side is the disc, and the quotation processing has the bolted connection hole, and the middle processing has the hole of installation air pin 15, and the right side is cylindricly, and the cylindrical internal diameter of right side is greater than the diameter of its left side disc centre bore, and the cylindrical internal diameter of right side is greater than the diameter of inner spring 17, and the cylindrical external diameter of right side is less than the diameter of outer spring 16. Outer spring 16 installs in spring holder 4 cylinder outside, and inner spring 17 installs inside spring holder 4 cylinder, and outer spring 16 radial sliding is restricted to the cylinder of spring holder 4, has ensured the normal work of manipulator, but does not influence the label operation manipulator compression stroke of quick replacement pressure disk, and outer spring 16 and inner spring 17's left side are spacing by spring holder 4. The right side of the outer spring 16 is limited by the left end face of the pressure plate friction disc 9. The right side of the inner spring 17 is limited by the left end surface of the sucker guide cylinder 14. The inner hole of the pressure plate friction disc 9 and the cylindrical surface of the suction disc guide cylinder 14 form clearance fit to form a sliding linear motion pair. The ventilation rod 15 and the inner linear bearing 3 form a rolling linear motion pair, and the moving range is limited by the right end surface of the air pipe joint 2 and the left end surface of the sucker guide cylinder 14, namely the first-stage compression stroke of the label operation manipulator for quickly replacing the pressure plate.
The quick-change part of the label operating manipulator for quickly changing the pressure plate comprises: the pressure plate comprises a pressure plate guide cylinder 7, a pressure plate friction disc fixing bolt 8, a pressure plate friction disc 9, a pressure plate 10 and a pressure plate sponge 11. Wherein the platen 10 is composed of a platen body 10-1 and a platen guide post 10-2.
Thin end circumference equipartition in pressure disk guide cylinder 7 left side has four M2's screw hole, and the nearer circumference equipartition of 7 shoulders apart from pressure disk guide cylinder is processed and is had four diameters to be 5 mm's unthreaded hole, and pressure disk guide cylinder 7 right-hand member is processed and is had the spout of two L shapes. The pressure plate friction disk 9 is arranged inside the right side of the pressure plate guide cylinder 7, four threaded holes M2 are uniformly formed in the circumferential direction of the left end of the pressure plate friction disk 9, and the right end of the pressure plate friction disk is in a disk shape. The pressure plate 10 is arranged on the right side of the pressure plate friction disc 9, part of the pressure plate 10 is arranged inside the right side of the pressure plate guide cylinder 7, the right side of the pressure plate body 10-1 is in a disc shape, the left side of the pressure plate body is provided with a polished rod, two polished holes with the diameter of 3mm are circumferentially and symmetrically processed on the left side of the pressure plate body, the two pressure plate guide posts 10-2 are arranged in the polished holes of the pressure plate body 10-1, and the pressure plate 10 is formed by the pressure plate body 10-1 and the pressure plate guide posts 10-2 in a spot welding mode. Pressure disk friction disk 9 links together through pressure disk friction disk fixing bolt 8 and pressure disk guide cylinder 7, and the face of cylinder of pressure disk friction disk 9 forms clearance fit with the hole of pressure disk guide cylinder 7, and pressure disk friction disk 9 moves about in pressure disk guide cylinder 7, and it is spacing that the left side is passed through pressure disk friction disk 9 quotation self, and the right side is spacing through pressure disk friction disk fixing bolt 8 that sinks in pressure disk guide cylinder 7, has the gap between pressure disk friction disk 9 and the pressure disk guide cylinder 7. The cylindrical surface of the pressure plate body 10-1 and the inner hole at the right end of the pressure plate guide cylinder 7 form large clearance fit, and the pressure plate guide column 10-2 and the sliding groove at the right end of the pressure plate guide cylinder 7 form clearance fit, so that the pressure plate 10 can slide in the L-shaped sliding groove of the pressure plate guide cylinder 7. The left end face of the pressure plate 10 is contacted with the right end face of the pressure plate friction disc 9, and a gap exists between the pressure plate 10 and the right end face of the pressure plate guide cylinder 7. The pressure plate 10 slightly moves left and right in the pressure plate guide cylinder 7, and the left side and the right side are both limited by the bottom of an L-shaped sliding groove at the right end of the pressure plate guide cylinder 7.
The specific operation process comprises the following steps:
the left side of the connecting base 1 is matched and fixedly connected with the tail end of the universal industrial robot, and the air pipe joint 2 is connected with an air source through an air pipe.
When the size of the label on the surface of the workpiece is changed, the pressure plate can be replaced by a pressure plate which is suitable for the size of the label by a worker. When the pressure plate is replaced, a worker rotates the pressure plate guide post 10-2 leftwards along the bottom of the L-shaped sliding groove in the right side of the pressure plate guide cylinder 7, then takes out the pressure plate, selects the pressure plate suitable for compacting the label, and installs the label along the L-shaped sliding groove. During the replacement of the pressure plate 10, the fixing bolt 8 comes into contact with the pressure plate guide cylinder 7, preventing the pressure plate friction plates 9 from ejecting under the action of the external spring 16. Under the state that a label operating manipulator for quickly replacing the pressure plate does not compact labels, the outer spring 16 always acts on the pressure plate friction disc 9 forcefully, so that the pressure plate friction disc 9 and the pressure plate 10 move rightwards together, and a friction force is formed between the pressure plate guide post 10-2 and the bottom of the L-shaped sliding groove on the right side of the pressure plate guide cylinder 7, and the pressure plate 10 is limited to rotate and fall off from the pressure plate guide cylinder 7.
The sucking disc carries out label and snatchs, and the label operation manipulator of quick replacement pressure disk carries out the compaction to the label. When the label is marked, the tail end of the universal industrial robot is moved to enable the sucker 15 on the manipulator to tightly press the workpiece, the first-stage compression stroke is started, the inner spring 17 starts to compress, the pressure plate body 10-1 gradually approaches the workpiece, and meanwhile, the air source stops outputting negative pressure. When the pressure plate body 10-1 is contacted with the surface of a workpiece, the pressure plate guide column 10-2 is contacted with the pressure plate guide cylinder 7 and moves leftwards at the same time, so that the pressure plate body 10-1 and the pressure plate friction disc are driven to move leftwards, a secondary compression stroke begins, the outer spring 16 and the inner spring 17 are compressed at the same time, the tail end of the general industrial robot is controlled to move for a certain stroke to finish workpiece compaction, then the mechanical arm is far away from the surface of the workpiece by moving the tail end of the general industrial robot, the sucking disc 12 and the pressure plate 10 are reset by the outer spring 16 and the inner spring 17, and the whole mechanical arm returns to a waiting station.
If a plurality of workpieces need to be labeled, adsorbed, grabbed and compacted, the tail end of the movable joint of the universal industrial robot is moved, so that the label operating manipulator capable of quickly replacing the pressure plate repeats the actions until all the operations are completed.
Claims (3)
1. A quick change platen label manipulator comprising: the air pipe joint comprises a connecting seat (1), an air pipe joint (2), an inner linear bearing (3), a spring seat (4), a guide clamping cylinder (5), an outer linear bearing (6), a pressure plate guide cylinder (7), a pressure plate friction disc fixing bolt (8), a pressure plate friction disc (9), a pressure plate (10), a pressure plate sponge (11), a suction disc (12), a suction disc hardware fitting (13), a suction disc guide cylinder (14), a ventilation rod (15), an outer spring (16), an inner spring (17) and a clamping ring (18), and is characterized in that the left side of the connecting seat (1) is matched and fixedly connected with the tail end of a universal industrial robot, the spring seat (4) is arranged on the right side of the connecting seat (1), the guide clamping cylinder (5) is arranged on the right side of the spring seat (4), the connecting seat (1), the spring seat (4) and the guide clamping cylinder (5) are fixedly connected together through a bolt group, a guide groove is formed in the left side of the inside of the connecting seat (1), A unthreaded hole is formed on the right side, an inner linear bearing (3) is arranged inside the unthreaded hole of a connecting seat (1), the depth of the unthreaded hole is the same as the length of the inner linear bearing (3), the left end surface of the inner linear bearing (3) is positioned by a shoulder formed by a guide groove and the unthreaded hole of the connecting seat (1), the right side is positioned by a spring seat (4), an outer linear bearing (6) is arranged outside a guide clamping cylinder (5), the outer linear bearing (6) is fixedly arranged with the right end surface of the guide clamping cylinder (5) through a bolt group, a pressure plate guide cylinder (7) is arranged inside the outer linear bearing (6), the outer linear bearing (6) and the pressure plate guide cylinder (7) form a rolling linear motion pair, the left side of the pressure plate guide cylinder (7) is thinner, the right side is thicker, a threaded hole is circumferentially processed on the left side, the unthreaded hole is circumferentially processed on the left side close to a big end, an L-shaped sliding groove is circumferentially processed on the right big end, a friction plate (9) is arranged inside the right side of the pressure plate guide cylinder (7), the right side of a pressure plate friction disc (9) is disc-shaped, the left side is a polished rod, a plurality of threaded holes are circumferentially processed on the left side, a pressure plate guide cylinder (7) and the pressure plate friction disc (9) are connected together through pressure plate friction disc fixing bolts (8), the pressure plate friction disc (9) moves left and right in the pressure plate guide cylinder, the left side is limited by the self disc surface of the pressure plate friction disc, the right side is limited by the pressure plate friction disc fixing bolts (8), pressure plate sponge (11) is installed on the right side of a pressure plate (10), the pressure plate sponge (11) is connected with the pressure plate (10) through non-setting adhesive, a clamping ring (18) is installed outside the left side of the pressure plate guide cylinder (7), the threaded holes are circumferentially processed on the clamping ring (18), the clamping ring (18) is connected with the pressure plate guide cylinder (7) through a bolt group, the pressure plate guide cylinder (7) moves left and right in an outer linear bearing (6), the left side is limited by the clamping ring (18), the right side is limited by a shaft shoulder of the pressure plate guide cylinder (7), the moving range is the secondary compression stroke of the label operating manipulator capable of quickly replacing the pressure plate, the inside of the ventilation rod (15) is a through hole and is used for communicating compressed gas, the left end part of the ventilation rod (15) is processed with an external thread, the connecting part of the air pipe joint (2) is an internal thread, the left end of the ventilation rod (15) and the air pipe joint (2) form threaded connection, the joint part of the air pipe joint (2) slides in the guide groove of the connecting seat (1), the right end part of the ventilation rod (15) is processed with an external thread and an internal thread, the inside of the sucker fitting (13) is a through hole, the outside right side is a disc shape, the left side is a screw rod, the right end part of the sucker fitting (13) and the clamping groove of the sucker (12) are installed together in a matching manner, the external thread at the left end part of the sucker fitting (13) and the internal thread at the right end part of the ventilation rod (15) form threaded connection, and the sucker guide cylinder (14) is a cylinder integrally, the inner part is processed with an internal thread, the internal thread of the sucker guide cylinder (14) and the external thread of the right end part of the vent rod (15) form threaded connection, an outer spring (16) and an inner spring (17) are arranged outside the vent rod (15), the diameter of the outer spring (16) is larger than that of the inner spring (17), the outer diameter of the outer spring (16) is smaller than the inner diameter of the pressure plate guide cylinder (7), the inner diameter of the inner spring (17) is larger than that of the vent rod (15), the left side of the spring seat (4) is disc-shaped, a bolt connecting hole is processed on the disc surface, a hole for installing the vent rod (15) is processed in the middle, the right side is cylindrical, the inner diameter of the right side cylinder is larger than that of the left disc-shaped center hole, the inner diameter of the right side cylinder is larger than that of the inner spring (17), the outer diameter of the right side cylinder is smaller than that of the outer spring (16), the outer spring (16) is arranged outside the cylinder of the spring seat (4), the inner spring (17) is arranged inside the cylinder of the spring seat (4), the cylinder of the spring seat (4) limits the radial sliding of the outer spring (16), the normal work of the manipulator is ensured, but the compression stroke of the label operation manipulator for quickly replacing the pressure plate is not influenced, the left sides of the outer spring (16) and the inner spring (17) are both limited by the spring seat (4), the right side of the outer spring (16) is limited by the left end surface of a pressure plate friction disc (9), the right side of the inner spring (17) is limited by the left end surface of a sucker guide cylinder (14), an inner hole of the pressure plate (9) and the cylindrical surface of the sucker guide cylinder (14) form clearance fit to form a sliding linear motion pair, the vent rod (15) and the inner linear bearing (3) form a rolling linear motion pair, the moving range is limited by the right end surface of the air pipe joint (2) and the left end surface of the sucker guide cylinder (14), namely, the first-stage compression stroke of the label operation manipulator for quickly replacing is obtained, the quick-change part comprises: the pressure plate comprises a pressure plate guide cylinder (7), pressure plate friction disc fixing bolts (8), a pressure plate friction disc (9), a pressure plate (10) and a pressure plate sponge (11), wherein a plurality of threaded holes are uniformly formed in the thin end of the left side of the pressure plate guide cylinder (7) in the circumferential direction, a plurality of unthreaded holes are uniformly formed in the circumferential direction close to the shaft shoulder of the pressure plate guide cylinder (7), two L-shaped sliding grooves are formed in the right end of the pressure plate guide cylinder (7), the pressure plate friction disc (9) is arranged inside the right side of the pressure plate guide cylinder (7), a plurality of threaded holes are uniformly formed in the left end of the pressure plate friction disc (9) in the circumferential direction, the right end is disc-shaped, the pressure plate (10) is arranged on the right side of the pressure plate friction disc (9), part of the pressure plate friction disc (9) is arranged inside the right side of the pressure plate guide cylinder (7), the pressure plate friction disc (9) is connected with the pressure plate guide cylinder (7) through the pressure plate friction disc fixing bolts (8), and the pressure plate friction disc (9) and the inner hole of the guide cylinder forms clearance fit with the guide cylinder (7), the pressure plate friction disc (9) moves left and right in the pressure plate guide cylinder (7), the left side is limited by the disc surface of the pressure plate friction disc (9), the right side is limited by a pressure plate friction disc fixing bolt (8) sunk into the pressure plate guide cylinder (7), a gap exists between the pressure plate friction disc (9) and the pressure plate guide cylinder (7), the left end surface of the pressure plate (10) is contacted with the right end surface of the pressure plate friction disc (9), a gap exists between the pressure plate (10) and the right end surface of the pressure plate guide cylinder (7), the pressure plate (10) slightly moves left and right in the pressure plate guide cylinder (7), the left side and the right side are limited by the bottom of an L-shaped sliding groove at the right end of the pressure plate guide cylinder (7), the pressure plate (10) consists of a pressure plate body (10-1) and a pressure plate guide column (10-2), the right side of the pressure plate body (10-1) is disc-shaped, the left side is provided with polished rods, and two unthreaded holes are symmetrically processed on the circumferential direction of the left side, the two pressure plate guide posts (10-2) are fixedly connected in the two unthreaded holes of the pressure plate body (10-1), the cylindrical surface of the pressure plate body (10-1) and the inner hole at the right end of the pressure plate guide cylinder (7) form large clearance fit, the pressure plate guide posts (10-2) and the sliding chute at the right end of the pressure plate guide cylinder (7) form clearance fit, and the pressure plate (10) is favorable for sliding in the L-shaped sliding chute of the pressure plate guide cylinder (7); the use method of the label operating manipulator capable of rapidly replacing the pressure plate comprises the following steps:
matching and fixedly connecting the left side of the connecting seat with the tail end of a general industrial robot, wherein an air pipe joint is connected with an air source through an air pipe; when the size of a label on the surface of a workpiece is changed, a pressure plate guide column rotates leftwards along the bottom of an L-shaped sliding groove on the right side of a pressure plate guide cylinder, then the pressure plate is taken out, a pressure plate suitable for compacting a label is selected and installed along the L-shaped sliding groove, in the process of replacing the pressure plate, a fixing bolt is in contact with the pressure plate guide cylinder to prevent a pressure plate friction disc from popping out under the action of an outer spring, the outer spring always acts on the pressure plate friction disc under the state that a label operation manipulator for rapidly replacing the pressure plate does not compact the label, so that the pressure plate friction disc and the pressure plate move rightwards together, a friction force is formed between the pressure plate guide column and the bottom of the L-shaped sliding groove on the right side of the pressure plate guide cylinder, and the pressure plate is limited to rotate and fall off from the pressure plate guide cylinder (7);
the method comprises the following steps that a sucker grabs a label, a label operation manipulator for quickly replacing a pressure plate compacts the label, the tail end of a universal industrial robot is moved to enable the sucker on the manipulator to compress a workpiece, a first-stage compression stroke is started, an inner spring starts to compress, the pressure plate body gradually approaches the workpiece, and meanwhile, an air source stops outputting negative pressure;
and (3) labeling, adsorbing, grabbing and compacting a plurality of workpieces, and moving the tail end of the movable joint of the universal industrial robot to enable the label operating manipulator capable of quickly replacing the pressure plate to repeat the steps until all operations are finished.
2. The label manipulator for rapidly replacing a platen according to claim 1, wherein a teflon friction reducing sheet is adhered to the surface of the guide groove of the connecting seat (1).
3. The platen quick change label manipulator of claim 1, wherein the chuck guide cylinder (14) comprises copper on its cylindrical outer surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910798242.2A CN110436008B (en) | 2019-08-27 | 2019-08-27 | Label operation manipulator capable of quickly replacing pressure plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910798242.2A CN110436008B (en) | 2019-08-27 | 2019-08-27 | Label operation manipulator capable of quickly replacing pressure plate |
Publications (2)
| Publication Number | Publication Date |
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| CN110436008A CN110436008A (en) | 2019-11-12 |
| CN110436008B true CN110436008B (en) | 2021-12-14 |
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| CN201910798242.2A Active CN110436008B (en) | 2019-08-27 | 2019-08-27 | Label operation manipulator capable of quickly replacing pressure plate |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3354016A (en) * | 1963-10-01 | 1967-11-21 | Meyer Geo J Mfg Co | Rotary-type labeling machine |
| US8066044B2 (en) * | 2008-04-17 | 2011-11-29 | Hurst International, Llc | Method and apparatus for high speed produce labeling |
| CN204627252U (en) * | 2015-05-20 | 2015-09-09 | 楼海光 | A kind of door and window uses type leading wheel framework |
| CN108161970B (en) * | 2018-03-07 | 2024-01-19 | 河北科技大学 | Sucker type manipulator with two-stage compression stroke |
| CN108927819A (en) * | 2018-06-28 | 2018-12-04 | 河北科技大学 | The cleaning of round steel end face and labelling machines people end-effector |
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