CN113562455B - Vacuum cup processing equipment with picking and placing mechanical arm and working method thereof - Google Patents
Vacuum cup processing equipment with picking and placing mechanical arm and working method thereof Download PDFInfo
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- CN113562455B CN113562455B CN202110848007.9A CN202110848007A CN113562455B CN 113562455 B CN113562455 B CN 113562455B CN 202110848007 A CN202110848007 A CN 202110848007A CN 113562455 B CN113562455 B CN 113562455B
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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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
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Abstract
The invention discloses a vacuum cup processing device with a picking and placing mechanical arm and a working method thereof, and the vacuum cup processing device comprises a rack, a processing main shaft, a processing mold, a mold top, a picking and placing mechanical arm and a feeding transfer mechanism, wherein the picking and placing mechanical arm comprises a base, a cup placing gripper and a cup taking gripper; the feeding transfer mechanism is provided with a thermos cup transposition and a manipulator grabbing position. The invention has the advantages of small occupied area, safe and reliable use, flexible rotation of the cup placing gripper and the cup taking gripper, free switching of processing procedures, convenient replacement of a mold top, better connection of the taking and placing manipulator and the previous procedure, low use cost and high production efficiency.
Description
Technical Field
The invention relates to vacuum cup processing equipment, in particular to vacuum cup processing equipment with a pick-and-place manipulator and a working method thereof.
Background
The vacuum cup processing equipment is usually provided with a mechanical arm in order to reduce labor, the traditional vacuum cup processing equipment usually adopts an external mechanical arm, the cost is higher, the occupied area is large, the potential safety hazard is high, the processing procedures cannot be freely switched, and the production line can only produce products similar to the processing procedures; and external manipulator installs in the dead ahead of thermos cup processing equipment usually, leads to the equipment retooling inconvenient and influence production efficiency, and often the productivity can only reach about 60% of manual operation.
Disclosure of Invention
In order to solve the defects and shortcomings in the prior art, the invention provides the vacuum cup processing equipment with the pick-and-place manipulator which is directly arranged on the vacuum cup processing equipment and is matched with the mold ejector head for use, the pick-and-place manipulator can move up and down along with the mold ejector head and can lift up and down independently relative to the mold ejector head, the occupied area is small, the use is safe and reliable, the cup pick-and-place manipulator and the cup pick-and-place manipulator are flexible in rotation, the processing procedures can be switched freely, the mold ejector head is convenient to replace, and meanwhile, the pick-and-place manipulator can be better connected with the previous procedure by being provided with the feeding transfer mechanism, the use cost is low, and the production efficiency is high.
The technical scheme of the invention is as follows: a vacuum cup processing device with a picking and placing manipulator comprises a rack, a processing main shaft, a processing mould, a mould top, a picking and placing manipulator and a feeding transfer mechanism, wherein the processing main shaft is installed on the rack, the processing mould is matched with the processing main shaft, the mould top is matched with the processing mould, the picking and placing manipulator moves up and down along with the mould top, the feeding transfer mechanism is installed on one side of the rack, the picking and placing manipulator comprises a base, a cup placing gripper and a cup picking gripper, the base is used for installing the mould top, the mould top is connected to the base in a lifting mode through a top lifting frame, the cup placing gripper and the cup picking gripper are connected to a top lifting frame in a lifting mode through grippers, the cup placing gripper is connected to one side of the gripper lifting frame in a rotating mode, the cup picking gripper is connected to the other side of the gripper lifting frame in a rotating mode, a top lifting driving motor for driving the top lifting frame to lift the grippers is arranged at the top of the base, a gripper lifting driving motor for driving the gripper lifting frame to lift is arranged on the top lifting frame, and a gripper lifting driving motor for driving the grippers to lift is arranged on the lifting frame, and a cup placing gripper rotating driving gripper to rotate a cup placing gripper driving motor and a gripper rotating driving gripper to rotate the gripper to rotate; the feeding transfer mechanism is provided with a thermos cup transposition matched with the previous procedure and a manipulator grabbing position matched with the picking and placing manipulator.
According to the invention, the taking and placing mechanical arm is directly arranged on the vacuum cup processing equipment and is matched with the mold top for use, the taking and placing mechanical arm can move up and down along with the mold top and can independently lift relative to the mold top, the occupied area is small, the use is safe and reliable, the cup placing gripper and the cup taking gripper can flexibly rotate, the processing procedures can be freely switched, the mold top is convenient to replace, and meanwhile, the feeding transfer mechanism is matched, so that the taking and placing mechanical arm can be better connected with the previous procedure, the use cost is low, and the production efficiency is high.
Preferably, the feeding transfer mechanism comprises a base, a rotating plate rotationally connected to the base, a rotating plate rotating cylinder for driving the rotating plate to rotate, a rotating plate lifting lead screw for driving the rotating plate to lift and a hand wheel for matching with the rotating plate lifting lead screw, the top of the rotating plate lifting lead screw is fixed on the base through a fixing plate, a plurality of rotating plate lifting guide rods are arranged at the bottom of the base, the rotating plate lifting lead screw is connected with the rack through a supporting plate, linear bearings for matching with the rotating plate lifting guide rods and a rotating plate lifting lead screw nut for matching with the rotating plate lifting lead screw are arranged on the supporting plate, and the manipulator gripping positions and the rotating positions in the thermos cups are switched with each other through rotation of the rotating plate.
The structure facilitates the switching between the mechanical hand grasping position and the transposition in the thermos cup, and further ensures the connection stability and reliability of the picking and placing mechanical hand and the previous working procedure.
Preferably, the top lifting driving motor is connected with a top lifting gear, the top lifting rack matched with the top lifting gear is arranged on the top lifting frame, the base is provided with two top lifting guide rails, and the top lifting frame is provided with a top lifting slide block matched with the top lifting guide rails.
The structure ensures that the lifting of the jacking head lifting frame driven by the jacking head lifting driving motor is more stable and reliable.
Preferably, the gripper lifting driving motor is connected with a gripper lifting screw rod, the gripper lifting frame is provided with a gripper lifting screw rod nut matched with the gripper lifting screw rod, the top lifting frame is provided with two gripper lifting guide rails, and the gripper lifting frame is provided with a gripper lifting slide block matched with the gripper lifting guide rails.
The structure ensures that the lifting of the gripper lifting driving motor for driving the cup placing gripper and the cup taking gripper is more stable and reliable.
Preferably, the cup placing gripper is connected with the cup placing gripper rotation driving motor through the cup placing gripper swing arm, and the cup taking gripper is connected with the cup taking gripper rotation driving motor through the cup taking gripper swing arm.
The structure ensures that the cup placing gripper is driven by the cup placing gripper rotation driving motor to rotate more stably and reliably; the cup taking gripper is ensured to rotate more stably and reliably under the drive of the cup taking gripper rotation driving motor.
Preferably, the cup placing gripper is connected to the cup placing gripper swing arm through a cup placing gripper rotating shaft, and the top of the cup placing gripper rotating shaft penetrates through the cup placing gripper swing arm and then is connected with a cup placing gripper rotation driving motor through a cup placing gripper rotation synchronization belt structure; the cup taking gripper is connected to the cup taking gripper swing arm through the cup taking gripper rotating shaft, and the top of the cup taking gripper rotating shaft penetrates through the cup taking gripper swing arm and then is connected with a cup taking gripper rotation driving motor through a cup taking gripper rotation synchronization belt structure.
The structure ensures that the cup placing gripper and the cup placing gripper swing arm always keep the same direction through the cup placing gripper rotation synchronous belt structure when the cup placing gripper swing arm rotates; and meanwhile, when the cup taking gripper swing arm is ensured to rotate, the cup taking gripper and the cup taking gripper swing arm are kept in the same direction forever through the cup taking gripper rotation synchronization belt structure.
Preferably, the cup placing gripper rotating synchronous belt structure comprises a cup placing gripper rotating main synchronous belt wheel connected to a cup placing gripper rotating driving motor, a cup placing gripper rotating secondary synchronous belt wheel connected to a cup placing gripper rotating shaft, and a cup placing gripper rotating synchronous belt connected between the cup placing gripper rotating main synchronous belt wheel and the cup placing gripper rotating secondary synchronous belt wheel; the structure of the rotary synchronous belt of the cup taking gripper comprises a cup taking gripper rotary main synchronous belt wheel connected to a cup taking gripper rotary driving motor, a cup taking gripper rotary secondary synchronous belt wheel connected to a cup taking gripper rotary shaft, and a cup taking gripper rotary synchronous belt connected between the cup taking gripper rotary main synchronous belt wheel and the cup taking gripper rotary secondary synchronous belt wheel.
The structure ensures that the cup placing gripper rotation driving motor drives the cup placing gripper swing arm and the cup placing gripper to rotate more stably and reliably; and meanwhile, the cup taking gripper rotation driving motor is ensured to drive the cup taking gripper swing arm and the cup taking gripper to rotate more stably and reliably.
Preferably, the top of the base is provided with a first drag chain matched with the ejector lifting driving motor and the gripper lifting driving motor, a second drag chain matched with the cup placing gripper rotating driving motor and a third drag chain matched with the cup taking gripper rotating driving motor.
The structure ensures that cables of the jacking head lifting driving motor, the gripper lifting driving motor, the cup placing gripper rotating driving motor and the cup taking gripper rotating driving motor are wired, and the cables can be well protected.
Preferably, the frame includes frame and lower frame, processing main shaft and feed transfer mechanism install in the lower frame, mold processing, mould top and get put the manipulator and all be located the frame, one side of going up the frame is equipped with lubricating oil pump and manometer, the bottom of lower frame is equipped with the ground rail guide beam of the altitude mixture control stabilizer blade of gyro wheel, cooperation gyro wheel and cooperation location ground rail, the top of going up the frame is equipped with status indicator.
The structure has firm and compact structure, beautiful and elegant appearance, convenient movement and flexible and reliable use; the positions of different processing devices can be changed according to different processing technologies of the vacuum cups.
A working method of vacuum cup processing equipment with a pick-and-place manipulator comprises the following steps:
1) The thermos cup processing equipment in the previous process places the thermos cup on a thermos cup rotating mechanism in the thermos cup rotating mechanism for rotating, and the thermos cup rotating mechanism sends the thermos cup to a mechanical hand gripping position;
2) The vacuum cup is grabbed onto the processing mold from the grabbing position of the manipulator by the picking and placing manipulator, and the vacuum cup is jacked by the mold jacking head;
3) The processing main shaft processes the vacuum cup;
4) After the processing is finished, the vacuum cup is grabbed to the position of the vacuum cup in the next process from the processing mould by the picking and placing manipulator.
According to the invention, the taking and placing manipulator is directly arranged on the vacuum cup processing equipment and is matched with the mold ejector for use, the taking and placing manipulator can move up and down along with the mold ejector and can lift up and down independently relative to the mold ejector, the occupied area is small, the use is safe and reliable, the cup placing gripper and the cup taking gripper are flexible to rotate, the processing procedures can be switched freely, the mold ejector is convenient to replace, and meanwhile, the feeding transfer mechanism is matched, so that the taking and placing manipulator can be better connected with the previous procedure, the use cost is low, the production efficiency is high, and the productivity can reach more than 90% of manual operation.
Drawings
FIG. 1 is a schematic view of one of the angles of the present invention;
FIG. 2 is a schematic view of another embodiment of the present invention;
FIG. 3 is a schematic front view of the present invention;
FIG. 4 is a schematic structural view of a pick-and-place manipulator according to the present invention;
FIG. 5 is a schematic front view of a pick-and-place robot of the present invention;
FIG. 6 is a side view of the pick-and-place robot of the present invention;
FIG. 7 is a schematic top view of the pick-and-place robot of the present invention;
in the drawing, 1, a base, 2, a mould top, 3, a cup placing gripper, 4, a cup taking gripper, 5, a top lifting frame, 6, a gripper lifting frame, 7, a top lifting driving motor, 8, a gripper lifting driving motor, 9, a cup placing gripper rotating driving motor, 10, a cup taking gripper rotating driving motor, 11, a top lifting gear, 12, a top lifting rack, 13, a top lifting guide rail, 14, a top lifting slider, 15, a gripper lifting lead screw, 16, a gripper lifting lead screw nut, 17, a gripper lifting guide rail, 18, a gripper lifting slider, 19, a cup placing gripper swinging arm, 20, a cup taking gripper swinging arm, 21, a first drag chain, 22, a second drag chain, 23, a third drag chain, 24, a cup placing gripper rotating shaft, 25, a cup taking gripper rotating shaft, 26, a cup placing gripper rotating main synchronous belt wheel, 27, a cup placing gripper rotates a secondary synchronous belt wheel, 28, a cup placing gripper rotates a synchronous belt, 29, a cup taking gripper rotates a primary synchronous belt wheel, 30, a cup taking gripper rotates a secondary synchronous belt wheel, 31, a cup taking gripper rotates a synchronous belt, 32, a status indicator light, 33, a processing spindle, 34, a processing mold, 35, a heat preservation cup transposition, 36, a manipulator grabbing position, 37, a base, 38, a rotating plate, 39, a rotating plate rotating cylinder, 40, a rotating plate lifting screw rod, 41, a hand wheel, 42, a rotating plate lifting screw rod nut, 43, a fixing plate, 44, a supporting plate, 45, a rotating plate lifting guide rod, 46, a linear bearing, 47, an upper rack, 48, a lower rack, 49, a roller, 50, a height adjusting support leg, 51, a lubricating oil pump, 52, a pressure gauge, 53, a ground rail guide beam and 54, and a picking and placing manipulator.
Detailed Description
The present invention will be described in further detail below, but the present invention is not limited thereto.
As shown in fig. 1-7, a vacuum cup processing device with a pick-and-place manipulator comprises a frame, a processing spindle 33 mounted on the frame, a processing mold 34 matched with the processing spindle 33, a mold top 2 matched with the processing mold 34, a pick-and-place manipulator 54 moving up and down along with the mold top 2, and a feeding transfer mechanism mounted on one side of the frame. The taking and placing mechanical arm 54 comprises a base 1 for mounting a mold top 2, a cup placing hand grip 3 and a cup taking hand grip 4 which are mounted on the base 1, the mold top 2 is connected to the base 1 in a lifting mode through a top lifting frame 5, the cup placing hand grip 3 and the cup taking hand grip 4 are connected to the top lifting frame 5 in a lifting mode through a hand lifting frame 6, the cup placing hand grip 3 is connected to one side of the hand lifting frame 6 in a rotating mode, the cup taking hand grip 4 is connected to the other side of the hand lifting frame 6 in a rotating mode, a top lifting driving motor 7 for driving the top lifting frame 5 to lift is arranged on the top of the base 1, a hand grip lifting driving motor 8 for driving the hand grip 6 to lift is arranged on the top lifting frame 5, and a cup placing hand grip rotating driving motor 9 for driving the cup placing hand grip 3 to rotate and a cup taking hand grip rotating driving motor 10 for driving the cup taking hand grip 4 to rotate are arranged on the hand grip lifting frame 6. The material supply transfer mechanism is provided with a thermos cup transposition 35 matched with the previous procedure and a manipulator gripping position 36 matched with the pick-and-place manipulator 54. The feeding transfer mechanism comprises a base 37, a rotating plate 38 rotationally connected to the base 37, a rotating plate rotating cylinder 39 driving the rotating plate 38 to rotate, a rotating plate lifting screw rod 40 driving the rotating plate 38 to lift and a hand wheel 41 matched with the rotating plate lifting screw rod 40, wherein the top of the rotating plate lifting screw rod 40 is fixed on the base 37 through a fixing plate 43, four rotating plate lifting guide rods 45 are arranged at the bottom of the base 43, the rotating plate lifting screw rod 40 is connected with the rack through a supporting plate 44, a linear bearing 46 matched with the rotating plate lifting guide rod 45 and a rotating plate lifting screw rod nut 42 matched with the rotating plate lifting screw rod 40 are arranged on the supporting plate 44, and the mechanical hand grabbing position 36 and the rotating position 35 in the heat preservation cup are switched with each other through rotation of the rotating plate 38.
The top lifting driving motor 7 is connected with a top lifting gear 11, the top lifting rack 5 is provided with a top lifting rack 12 matched with the top lifting gear 11, the base 1 is provided with two top lifting guide rails 13, and the top lifting rack 5 is provided with a top lifting slide block 14 matched with the top lifting guide rails 13. The gripper lifting driving motor 8 is connected with a gripper lifting screw rod 15, the gripper lifting frame 6 is provided with a gripper lifting screw rod nut 16 matched with the gripper lifting screw rod 15, the ejector lifting frame 5 is provided with two gripper lifting guide rails 17, and the gripper lifting frame 6 is provided with a gripper lifting slide block 18 matched with the gripper lifting guide rails 17. The cup placing gripper 3 is connected with the cup placing gripper rotation driving motor 9 through the cup placing gripper swing arm 19, and the cup taking gripper 4 is connected with the cup taking gripper rotation driving motor 10 through the cup taking gripper swing arm 20. The cup placing gripper 3 is connected to the cup placing gripper swing arm 19 through a cup placing gripper rotating shaft 24, and the top of the cup placing gripper rotating shaft 24 penetrates through the cup placing gripper swing arm 19 and then is connected with a cup placing gripper rotation driving motor 9 through a cup placing gripper rotation synchronization belt structure; the cup taking gripper 4 is connected to the cup taking gripper swing arm 20 through a cup taking gripper rotating shaft 25, and the top of the cup taking gripper rotating shaft 25 penetrates through the cup taking gripper swing arm 20 and then is connected with the cup taking gripper rotation driving motor 10 through a cup taking gripper rotation synchronization belt structure. The cup placing gripper rotating synchronous belt structure comprises a cup placing gripper rotating main synchronous belt wheel 26 connected to a cup placing gripper rotating driving motor 9, a cup placing gripper rotating secondary synchronous belt wheel 27 connected to a cup placing gripper rotating shaft 24, and a cup placing gripper rotating synchronous belt 28 connected between the cup placing gripper rotating main synchronous belt wheel 27 and the cup placing gripper rotating secondary synchronous belt wheel 27; the cup taking gripper rotating synchronous belt structure comprises a cup taking gripper rotating main synchronous belt wheel 29 connected to the cup taking gripper rotating driving motor 10, a cup taking gripper rotating auxiliary synchronous belt wheel 30 connected to the cup taking gripper rotating shaft 25, and a cup taking gripper rotating synchronous belt 31 connected between the cup taking gripper rotating main synchronous belt wheel 29 and the cup taking gripper rotating auxiliary synchronous belt wheel 30. The top of the base 1 is provided with a first drag chain 21 matched with the ejector lifting driving motor 7 and the gripper lifting driving motor 8, a second drag chain 22 matched with the cup placing gripper rotating driving motor 9 and a third drag chain 23 matched with the cup taking gripper rotating driving motor 10.
The machine frame comprises an upper machine frame 47 and a lower machine frame 48, the processing main shaft 33 and the feeding transfer mechanism are installed on the lower machine frame 48, the processing die 34, the die top 2 and the picking and placing manipulator 54 are all located on the upper machine frame 47, a lubricating oil pump 51 and a pressure gauge 52 are arranged on one side of the upper machine frame 47, a roller 49, a height adjusting support leg 50 matched with the roller 49 and a ground rail guide beam 53 matched with a positioning ground rail are arranged at the bottom of the lower machine frame 48, and a state indicator lamp 32 is arranged at the top of the upper machine frame 47.
A working method of vacuum cup processing equipment with a pick-and-place manipulator comprises the following steps:
1) The vacuum cup processing equipment of the previous procedure puts the vacuum cup on the cup rotating position of the cup rotating mechanism, and the cup rotating mechanism sends the vacuum cup to the mechanical hand grasping position;
2) The vacuum cup is grabbed onto the processing mold from the grabbing position of the manipulator by the picking and placing manipulator, and the vacuum cup is jacked by the mold jacking head;
3) The processing main shaft processes the vacuum cup;
4) And after the processing is finished, the vacuum cup is grabbed to the position of the vacuum cup in the next procedure from the processing mould by the picking and placing manipulator.
When the picking and placing mechanical arm acts, the whole picking and placing mechanical arm moves up and down along with the mold ejector, when the ejector lifting driving motor drives the mold ejector to descend, the whole picking and placing mechanical arm descends simultaneously, after the cup placing gripper grabs a vacuum cup on the transposition position in the vacuum cup, the vacuum cup is lifted to a height higher than that of a processing mold, the cup placing gripper rotates 180 degrees with the vacuum cup, then the vacuum cup descends to be placed in the processing mold and is jacked by the mold ejector, after the processing of the vacuum cup is finished, the cup taking gripper grabs the vacuum cup which is processed on the processing mold and then ascends along with the mold ejector, and after the vacuum cup ascends to a height which is separated from the processing mold, the cup taking gripper rotates 180 degrees and descends to place the vacuum cup into a next workbench.
The cup placing gripper, the cup taking gripper and the rotating cylinder of the rotating plate are all conventional components purchased in the market, and the specific structure and the working principle of the cup placing gripper and the cup taking gripper are conventional means, so detailed description is omitted.
According to the invention, the taking and placing manipulator is directly arranged on the vacuum cup processing equipment and is matched with the mold ejector for use, the taking and placing manipulator can move up and down along with the mold ejector and can lift up and down independently relative to the mold ejector, the occupied area is small, the use is safe and reliable, the cup placing gripper and the cup taking gripper are flexible to rotate, the processing procedures can be switched freely, the mold ejector is convenient to replace, and meanwhile, the feeding transfer mechanism is matched, so that the taking and placing manipulator can be better connected with the previous procedure, the use cost is low, and the production efficiency is high.
Claims (10)
1. The utility model provides a thermos cup processing equipment of manipulator is put in area which characterized in that: the automatic cup taking and placing device comprises a rack, a machining main shaft, a machining die, a die top, a taking and placing mechanical hand and a feeding transfer mechanism, wherein the machining main shaft is installed on the rack, the machining die is matched with the machining main shaft, the die top is matched with the machining die, the taking and placing mechanical hand moves up and down along with the die top, the feeding transfer mechanism is installed on one side of the rack, the taking and placing mechanical hand comprises a base, a cup placing gripper and a cup taking gripper, the base is used for installing the die top, the cup placing gripper and the cup taking gripper are installed on the base, the cup placing gripper and the cup taking gripper are connected to the top lifting frame through the gripper lifting frame in a lifting mode, the cup placing gripper is connected to one side of the gripper lifting frame in a rotating mode, the cup taking gripper is connected to the other side of the gripper lifting frame in a rotating mode, a top lifting driving motor for driving the top lifting frame to lift the gripper is arranged at the top of the base, a gripper lifting driving motor for driving the gripper lifting frame to lift is arranged on the top of the top lifting frame, and a gripper lifting frame is provided with a gripper lifting driving motor for driving the gripper lifting frame to drive the gripper lifting frame to rotate a cup placing gripper, and a gripper lifting driving gripper lifting motor for driving the gripper lifting frame to rotate a taking gripper to rotate the gripper, and a taking gripper lifting frame to drive a taking gripper lifting motor for driving the gripper to rotate the gripper lifting frame to rotate the gripper; the feeding transfer mechanism is provided with a thermos cup transposition matched with the previous procedure and a manipulator grabbing position matched with the picking and placing manipulator.
2. A thermos cup processing equipment with pick-and-place manipulator according to claim 1, characterized in that: the feed transfer mechanism comprises a base, a rotating plate rotating cylinder, a rotating plate lifting lead screw and a hand wheel, wherein the rotating plate is connected to the base in a rotating mode, the rotating plate rotating cylinder drives the rotating plate to rotate, the rotating plate lifting lead screw drives the rotating plate to lift, the hand wheel is matched with the rotating plate lifting lead screw, the top of the rotating plate lifting lead screw is fixed to the base through a fixing plate, a plurality of rotating plate lifting guide rods are arranged at the bottom of the base, the rotating plate lifting lead screw is connected with the rack through a supporting plate, a linear bearing matched with the rotating plate lifting guide rods and a rotating plate lifting lead screw nut matched with the rotating plate lifting lead screw are arranged on the supporting plate, and the mutual switching between the grabbing position and the transposition in the heat preservation cup is realized through the rotation of the rotating plate.
3. A thermos cup processing equipment with pick-and-place manipulator according to claim 1, characterized in that: the top lifting driving motor is connected with a top lifting gear, the top lifting rack matched with the top lifting gear is arranged on the top lifting frame, the base is provided with two top lifting guide rails, and the top lifting frame is provided with a top lifting slide block matched with the top lifting guide rails.
4. A thermos cup processing equipment with pick-and-place manipulator according to claim 1, characterized in that: the gripper lifting driving motor is connected with a gripper lifting lead screw, the gripper lifting frame is provided with a gripper lifting lead screw nut matched with the gripper lifting lead screw, the ejector lifting frame is provided with two gripper lifting guide rails, and the gripper lifting frame is provided with a gripper lifting slide block matched with the gripper lifting guide rails.
5. A thermos cup processing equipment with pick-and-place manipulator according to claim 1, characterized in that: the cup placing gripper is connected with the cup placing gripper rotation driving motor through the cup placing gripper swing arm, and the cup taking gripper is connected with the cup taking gripper rotation driving motor through the cup taking gripper swing arm.
6. A thermos cup processing equipment with pick-and-place manipulator according to claim 5, characterized in that: the cup placing grippers are connected to the cup placing gripper swing arms through cup placing gripper rotating shafts, and the tops of the cup placing gripper rotating shafts penetrate through the cup placing gripper swing arms and then are connected with a cup placing gripper rotation driving motor through a cup placing gripper rotation synchronization belt structure; get the cup tongs and connect on getting cup tongs swing arm through getting cup tongs pivot, get the top of cup tongs pivot and pass and get cup tongs swing arm after through getting the rotatory synchronization band structure of cup tongs and be connected with getting cup tongs rotation driving motor.
7. A thermos cup processing equipment with pick-and-place manipulator according to claim 6, characterized in that: the cup placing gripper rotating synchronous belt structure comprises a cup placing gripper rotating main synchronous belt wheel connected to a cup placing gripper rotating driving motor, a cup placing gripper rotating secondary synchronous belt wheel connected to a cup placing gripper rotating shaft, and a cup placing gripper rotating synchronous belt connected between the cup placing gripper rotating main synchronous belt wheel and the cup placing gripper rotating secondary synchronous belt wheel; get cup tongs rotation synchronous belt structure including connect get cup tongs rotation primary synchronization pulley on getting cup tongs rotation driving motor, connect and get the rotatory slave synchronization pulley of cup tongs on getting cup tongs pivot and connect and get the rotatory slave synchronization pulley of cup tongs between cup tongs rotation primary synchronization pulley and the rotation slave synchronization pulley of cup tongs.
8. A thermos cup processing equipment with pick-and-place manipulator according to claim 1, characterized in that: the top of the base is provided with a first drag chain matched with the ejector head lifting driving motor and the gripper lifting driving motor, a second drag chain matched with the cup placing gripper rotating driving motor and a third drag chain matched with the cup taking gripper rotating driving motor.
9. A thermos cup processing equipment with pick-and-place manipulator according to claim 1, characterized in that: the frame includes frame and lower frame, processing main shaft and feed transfer mechanism install in the lower frame, mold processing, mould top and getting are put the manipulator and all are located the frame, one side of going up the frame is equipped with lubricating oil pump and manometer, the bottom of lower frame is equipped with the ground rail guide beam of the altitude mixture control stabilizer blade of gyro wheel, cooperation gyro wheel and cooperation location ground rail, the top of going up the frame is equipped with status indicator lamp.
10. A working method of a vacuum cup processing device with a pick-and-place manipulator as claimed in claim 1, characterized in that: the method comprises the following steps:
1) The vacuum cup processing equipment of the previous procedure puts the vacuum cup on the cup rotating position of the cup rotating mechanism, and the cup rotating mechanism sends the vacuum cup to the mechanical hand grasping position;
2) The vacuum cup is grabbed onto the processing mold from the grabbing position of the manipulator by the picking and placing manipulator, and the vacuum cup is jacked by the mold jacking head;
3) The processing main shaft processes the vacuum cup;
4) And after the processing is finished, the vacuum cup is grabbed to the position of the vacuum cup in the next procedure from the processing mould by the picking and placing manipulator.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110848007.9A CN113562455B (en) | 2021-07-27 | 2021-07-27 | Vacuum cup processing equipment with picking and placing mechanical arm and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110848007.9A CN113562455B (en) | 2021-07-27 | 2021-07-27 | Vacuum cup processing equipment with picking and placing mechanical arm and working method thereof |
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| CN113562455A CN113562455A (en) | 2021-10-29 |
| CN113562455B true CN113562455B (en) | 2022-10-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114798945A (en) * | 2022-04-29 | 2022-07-29 | 永康中奥自动化科技有限公司 | Hydraulic stretching equipment with manipulator |
| CN114772264A (en) * | 2022-04-29 | 2022-07-22 | 永康中奥自动化科技有限公司 | Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm |
| CN114906608A (en) * | 2022-05-31 | 2022-08-16 | 永康市定捷自动化设备有限公司 | Processing equipment and processing method of modular full-automatic vacuum cup |
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