CN114772264A - Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm - Google Patents
Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm Download PDFInfo
- Publication number
- CN114772264A CN114772264A CN202210472335.8A CN202210472335A CN114772264A CN 114772264 A CN114772264 A CN 114772264A CN 202210472335 A CN202210472335 A CN 202210472335A CN 114772264 A CN114772264 A CN 114772264A
- Authority
- CN
- China
- Prior art keywords
- vacuum cup
- lifting
- platform
- clamping jaw
- servo motor
- 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
- 238000007493 shaping process Methods 0.000 title claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims description 41
- 238000009434 installation Methods 0.000 claims description 9
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D26/00—Shaping without cutting otherwise than using rigid devices or tools or yieldable or resilient pads, i.e. applying fluid pressure or magnetic forces
- B21D26/02—Shaping without cutting otherwise than using rigid devices or tools or yieldable or resilient pads, i.e. applying fluid pressure or magnetic forces by applying fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
Abstract
The invention discloses a vacuum cup processing hydraulic stretching and shaping device with a taking and placing mechanical arm, which comprises a rack, a vacuum cup stretching and shaping upper mold, a vacuum cup stretching and shaping lower mold, a vacuum cup grabbing mechanical arm, a main oil cylinder for driving the vacuum cup stretching and shaping upper mold to move up and down, a lower oil cylinder for driving the vacuum cup stretching and shaping lower mold to move up and down, an operation box and a vacuum cup transfer table, wherein the vacuum cup stretching and shaping upper mold, the vacuum cup stretching and shaping lower mold, the vacuum cup grabbing mechanical arm, the main oil cylinder and the lower oil cylinder are arranged in the rack. The vacuum cup gripping manipulator integrates the vacuum cup gripping manipulator which can be integrally assembled, can be lifted and can rotate independently, and meanwhile, the manipulator adopts the synchronous belt transmission assembly to ensure that the gripping direction of the vacuum cup gripping clamping jaw is consistent with the rotating direction, so that the vacuum cup gripping manipulator is simple and compact in structure, the cost is reduced, the occupied area is reduced, the potential safety hazard is reduced, the mould change of processing equipment is not influenced, and the productivity is ensured to reach more than 90% of manual operation; the vacuum cup transfer table is matched, so that the stability and reliability of the position transfer of the vacuum cup are ensured, and the transfer of the vacuum cup is ensured to be stable and reliable.
Description
Technical Field
The invention relates to vacuum cup processing equipment, in particular to vacuum cup processing hydraulic stretching and shaping equipment with a pick-and-place manipulator.
Background
When the vacuum cup is processed by vacuum cup processing equipment (such as vacuum cup processing hydraulic stretching and shaping equipment and the like), the vacuum cup needs to be transferred, rotated, lifted and the like; in order to reduce manpower, the traditional vacuum cup processing equipment needs an external manipulator, so that the cost is higher, the occupied area is large, the potential safety hazard is high, an operating system is complex, the processing procedures cannot be freely switched, the production line can only produce products similar to the processing procedures, the manipulator is arranged right in front of the vacuum cup processing equipment, the mould changing is inconvenient, and the productivity can only reach 60% of that of manual operation;
in addition, in the processing process of the vacuum cup, due to the fact that multiple processing steps are required, each processing step uses processing equipment, and due to the structure and orientation relation of processing stations, a manipulator is difficult to directly grab the vacuum cup from the position where the previous processing equipment is placed to the processing station of the next processing equipment; consequently, need the transfer platform to carry out the transfer, and the transfer in-process need carry out translation or lift equipotential shift usually, because thermos cup structure reason, needs special clamping jaw to grab steadily, consequently, the transfer demand of thermos cup can't be satisfied basically to conventional transfer platform.
Disclosure of Invention
In order to solve the defects and shortcomings in the prior art, the invention provides the vacuum cup grabbing mechanical arm which integrates the functions of integrated assembly, lifting, rotation and independent motion, and meanwhile, the mechanical arm adopts a synchronous belt transmission assembly to ensure that the grabbing direction and the rotation direction of the vacuum cup grabbing clamping jaw are kept consistent, the structure is simple and compact, the cost is reduced, the floor area is reduced, the potential safety hazard is reduced, the mold change of processing equipment cannot be influenced, and the productivity is ensured to reach more than 90% of manual operation; in addition, a vacuum cup middle rotating table which is rotated and lifted by a platform rotation driving mechanism and a platform lifting driving mechanism is arranged, not only can the vacuum cup be subjected to position transfer such as fine translation and lifting, but also the vacuum cup can be clamped by a clamping jaw in the vacuum cup, the vacuum cup can be clamped stably when the position transfer is carried out, the stability and the reliability of the position transfer of the vacuum cup are ensured, and therefore the vacuum cup processing hydraulic stretching and shaping equipment with the manipulator taking and placing functions can be stably and reliably transferred in the vacuum cup.
The technical scheme of the invention is as follows: a vacuum cup processing hydraulic stretching and shaping device with a taking and placing mechanical arm comprises a machine frame, a vacuum cup stretching and shaping upper mold, a vacuum cup stretching and shaping lower mold, a vacuum cup grabbing mechanical arm, a main oil cylinder for driving the vacuum cup stretching and shaping upper mold to move up and down, a lower oil cylinder for driving the vacuum cup stretching and shaping lower mold to move up and down, an operation box and a vacuum cup transfer table arranged on one side of the machine frame, wherein the vacuum cup grabbing mechanical arm comprises a cup placing-in mold mechanical arm and a cup taking mechanical arm from the mold, the cup placing-in mold mechanical arm and the cup taking mechanical arm from the mold both comprise a vacuum cup grabbing clamping jaw for grabbing a vacuum cup, a supporting vertical plate for supporting the vacuum cup grabbing clamping jaw, a clamping jaw rotating and driving mechanism for driving the vacuum cup grabbing clamping jaw to rotate and a clamping jaw lifting and driving mechanism for driving the vacuum cup grabbing clamping jaw to lift, the clamping jaw rotation driving mechanism is connected with the vacuum cup grabbing clamping jaw through a synchronous belt transmission component; revolving stage in the thermos cup includes the installation base, installs rotary platform, the rotatory platform rotary driving mechanism of drive rotary platform and the platform lift actuating mechanism that drive rotary platform goes up and down on the installation base, rotary platform's both ends all are equipped with the thermos cup and center the clamping jaw and cooperate the thermos cup to center the product of clamping jaw have or not to detect the sensor.
The vacuum cup gripping manipulator integrates the vacuum cup gripping manipulator which can be integrally assembled, can be lifted and can rotate independently, and meanwhile, the manipulator adopts the synchronous belt transmission assembly to ensure that the gripping direction of the vacuum cup gripping clamping jaw is consistent with the rotating direction, so that the vacuum cup gripping manipulator is simple and compact in structure, the cost is reduced, the occupied area is reduced, the potential safety hazard is reduced, the mould change of processing equipment is not influenced, and the productivity is ensured to reach more than 90% of manual operation; in addition, a vacuum cup transfer platform which is rotated and lifted by adopting a platform rotation driving mechanism and a platform lifting driving mechanism to drive a rotation platform is arranged, position transfer such as fine translation and lifting can be carried out on the vacuum cup, the vacuum cup can be firmly clamped by a clamping jaw in the vacuum cup, the vacuum cup can be stably clamped when the position transfer is carried out on the vacuum cup, the stability and the reliability of the position transfer of the vacuum cup are ensured, and the transfer in the vacuum cup is stable and reliable.
Preferably, the supporting vertical plate is fixed on the rack, the main oil cylinder is fixed at the top of the rack, a piston rod of the main oil cylinder faces downwards, the lower oil cylinder is fixed at the bottom of the rack, a piston rod of the lower oil cylinder faces upwards, the upper mold for stretching and shaping the heat preservation cup is connected with the piston rod of the main oil cylinder through a lifting beam plate, and the lower mold for stretching and shaping the heat preservation cup is connected with the piston rod of the lower oil cylinder through a mold frame.
The structure ensures the stability and reliability of the up-and-down movement of the upper die for stretching and shaping the vacuum cup driven by the main oil cylinder, and simultaneously ensures the stability and reliability of the up-and-down movement of the lower die for stretching and shaping the vacuum cup driven by the lower oil cylinder.
Preferably, a plurality of beam plate lifting guide linear bearings and beam plate lifting guide rods which are matched with the lifting beam plates to slide up and down are arranged in the rack, a main cylinder lifting position acquisition encoder is connected to the main cylinder, a lower cylinder lifting position acquisition encoder is connected to the lower cylinder, and an equipment positioning ground rail and a plurality of supporting legs are arranged at the bottom of the rack.
According to the invention, the feedback of the action position of the oil cylinder is controlled by the encoder, equipment processing operation parameter systems of different products can be filed, when products are switched, only product information is called by software, action data switching is automatically completed, the time for changing and adjusting the mold is greatly prompted, and the position of a sensor needs to be manually adjusted when the original equipment switches the products; the equipment positioning ground rail can be used for exchanging the positions of different processing equipment according to different processing technologies of the vacuum cup through ground rail positioning equipment arranged on the ground.
Preferably, the clamping jaw lifting driving mechanism comprises a clamping jaw lifting servo motor arranged at the top of the supporting vertical plate, a lifting sliding plate connected to the supporting vertical plate in a vertical sliding mode, a lifting rack fixed on the lifting sliding plate and a lifting gear connected to the clamping jaw lifting servo motor, the lifting rack and the lifting gear are meshed with each other, and the vacuum cup grabbing clamping jaw is connected to the lifting sliding plate.
This kind of structure ensures that clamping jaw lift actuating mechanism drive thermos cup snatchs the steady reliable of lift of clamping jaw.
Preferably, the supporting vertical plate is provided with two lifting guide rails matched with the lifting sliding plate, the back surface of the lifting sliding plate is provided with two lifting slide blocks matched with the lifting guide rails, the lifting rack is fixed on the front surface of the lifting sliding plate and is positioned between the two lifting slide blocks, and the supporting vertical plate is provided with a guide rail groove matched with the lifting guide rails; the clamping jaw rotary driving mechanism comprises a rotary swing arm for driving the vacuum cup to grab the clamping jaw and a rotary swing arm rotary servo motor for driving the rotary swing arm to rotate, and the rotary swing arm servo motor is installed on the lifting sliding plate.
The structure further ensures that the clamping jaw lifting driving mechanism drives the vacuum cup to grab the clamping jaw to stably and reliably lift; ensure that the clamping jaw rotary driving mechanism drives the thermos cup to grab the rotation of the clamping jaw steadily and reliably.
Preferably, the synchronous belt drive assembly includes the drive wheel of connection on the rotatory servo motor of swing arm, connect the synchronizing shaft on the thermos cup snatchs the clamping jaw, connect the follow driving wheel on the synchronizing shaft and connect the hold-in range of drive wheel and follow driving wheel, the drive wheel is all installed on rotatory swing arm with following the driving wheel.
This kind of structure ensures that rotatory swing arm drives the thermos cup and snatchs the clamping jaw when rotatory, and the thermos cup snatchs the direction of snatching and the same direction of rotation that the clamping jaw keeps forever.
Preferably, the swing arm rotating servo motor is connected with a swing arm rotating speed reducer, and the rotating swing arm is also provided with a tension pulley matched with the synchronous belt; the clamping jaw lifting servo motor is installed at the top of the supporting vertical plate through a first motor base, and the swing arm rotating servo motor is installed on one side of the lifting sliding plate through a second motor base.
The structure ensures that the rotation of the rotary swing arm is more stable and reliable, and simultaneously, the synchronous belt can be well tensioned, so that the gripping direction and the rotating direction of the gripping clamping jaw of the vacuum cup are further ensured to be consistent; the firm and reliable installation of clamping jaw upgrading servo motor and swing arm rotation servo motor is ensured.
Preferably, the platform rotation driving mechanism comprises a platform rotation servo motor fixed on the mounting base, a platform rotating shaft mounted at the bottom of the rotating platform and a gear transmission assembly connecting the platform rotating shaft and the platform rotation servo motor; the platform lifting driving mechanism comprises a platform lifting servo motor fixed on the mounting base, a lifting seat connected to the platform rotating shaft and a lead screw transmission assembly connected with the lifting seat and the platform lifting servo motor, and the platform rotating shaft is connected with the lifting seat through a rotating bearing.
The structure ensures that the platform rotation driving mechanism drives the rotating platform to rotate more stably and reliably, so that the horizontal position of the vacuum cup is stably and reliably converted; the lifting of the rotary platform driven by the platform lifting driving mechanism is more stable and reliable, so that the vacuum cup can be lifted stably and reliably.
Preferably, the screw rod transmission assembly comprises a transmission screw rod and a screw rod nut, the upper end of the transmission screw rod is fixed on one side of the lifting seat through a screw rod mounting plate, the screw rod nut is mounted on the mounting base, the platform lifting servo motor is in transmission connection with the screw rod nut, and the lifting seat is connected with the mounting base through a plurality of platform lifting guide linear bearings and platform lifting guide rods.
The structure ensures that the lifting of the lifting seat driven by the screw rod transmission assembly is more stable and reliable.
Preferably, the platform lifting servo motor is connected with a platform lifting screw rod speed reducer matched with a transmission screw rod nut, and the bottom of the mounting base is provided with a screw rod guide sleeve matched with a transmission screw rod; the gear transmission assembly comprises a large gear and a small gear which are mutually meshed, the large gear is connected to the bottom of the platform rotating shaft, the small gear is connected to a motor shaft of the platform rotating servo motor, and the platform rotating servo motor is connected with the lifting seat through a reinforcing seat; platform lift servo motor passes through the third motor cabinet to be fixed in one side bottom of installation base, the rotatory servo motor of platform is located the opposite side of installation base.
The structure further ensures the motion stability and reliability of the screw rod transmission assembly; further ensuring the stable and reliable rotation of the rotary platform driven by the platform rotary servo motor; the structure layout is reasonable, and the action is stable and reliable.
The vacuum cup grabbing mechanical arm capable of being integrally assembled, lifted and rotated to independently move is integrated, meanwhile, the mechanical arm adopts a synchronous belt transmission assembly to ensure that the grabbing direction of a vacuum cup grabbing clamping jaw is consistent with the rotating direction, the structure is simple and compact, the cost is reduced, the occupied area is reduced, the potential safety hazard is reduced, the mold change of processing equipment is not influenced, and the productivity is ensured to reach more than 90% of manual operation; in addition, the vacuum cup transfer platform is matched with the vacuum cup transfer platform which adopts the platform rotation driving mechanism and the platform lifting driving mechanism to drive the rotation platform to rotate and lift, so that the vacuum cup can be subjected to position transfer such as fine translation and lifting, the vacuum cup can be clamped by the clamping jaw in the vacuum cup, the vacuum cup can be clamped stably when the position transfer is carried out on the vacuum cup, the stability and the reliability of the position transfer of the vacuum cup are ensured, and the transfer in the vacuum cup is stable and reliable.
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 view of the present invention with a portion of the side panel removed;
FIG. 4 is a schematic structural view of a gripping manipulator of the vacuum cup in the present invention;
FIG. 5 is a schematic front view of a vacuum cup gripping robot according to the present invention;
FIG. 6 is a side view of the gripping robot of the present invention;
FIG. 7 is a schematic structural view of a turntable in the vacuum cup of the present invention;
FIG. 8 is a front view of a turntable in the vacuum cup of the present invention;
FIG. 9 is a side view of a turntable in the vacuum cup of the present invention;
in the figure, 1, a frame, 2, a vacuum cup transfer table, 3, a vacuum cup stretching and shaping upper die, 4, a vacuum cup stretching and shaping lower die, 5, a cup placing and placing die manipulator, 6, a cup taking manipulator from a die, 7, a main oil cylinder, 8, a lower oil cylinder, 9, a lifting beam plate, 10, a die frame, 11, a vacuum cup grabbing clamping jaw, 12, an operation box, 13, a supporting vertical plate, 14, a clamping jaw upgrading servo motor, 15, a lifting sliding plate, 16, a lifting rack, 17, a lifting gear, 18, a lifting guide rail, 19, a lifting sliding block, 20, a guide rail groove, 21, a rotating swing arm, 22, a swing arm rotating servo motor, 23, a driving wheel, 24, a synchronous shaft, 25, a driven wheel, 26, a synchronous belt, 27, a swing arm rotating servo motor, 28, a tension wheel, 29, a first motor base, 30, a second motor base, 31, a rotating platform, 32, a mounting base, 33, 34. the vacuum cup centering clamping jaw comprises a vacuum cup centering clamping jaw 35, a product existence detection sensor 36, a platform rotating servo motor 37, a platform rotating shaft 38, a platform lifting servo motor 39, a lifting seat 40, a transmission screw rod 41, a large gear 42, a small gear 43, a screw rod mounting plate 44, a platform lifting guide linear bearing 45, a platform lifting screw rod speed reducer 46, a screw rod guide sleeve 47, a reinforcing seat 48, a third motor seat 49, a main cylinder lifting position acquisition encoder 50, a lower cylinder lifting position acquisition encoder 51, a beam plate lifting guide linear bearing 52, an equipment positioning ground rail 53 and supporting legs.
Detailed Description
The present invention will be described in further detail with reference to the attached drawings, but the present invention is not limited thereto.
As shown in figures 1-3, the hydraulic stretching and shaping equipment with the picking and placing mechanical arm for the vacuum cup processing comprises a rack 1, a vacuum cup stretching and shaping upper mold 3 installed in the rack 1, a vacuum cup stretching and shaping lower mold 4, a vacuum cup grabbing mechanical arm, a main oil cylinder 7 driving the vacuum cup stretching and shaping upper mold 3 to move up and down, a lower oil cylinder 8 driving the vacuum cup stretching and shaping lower mold 4 to move up and down, an operation box 12 arranged on one side of the rack 1 and a vacuum cup transfer table 2, wherein the vacuum cup grabbing mechanical arm comprises a cup placing mechanical arm 5 and a cup taking mechanical arm 6 from a mold. The master cylinder 7 is fixed at the top of the frame 1, a piston rod of the master cylinder is downward, the lower cylinder 8 is fixed at the bottom of the frame 1, the piston rod of the lower cylinder is upward, the upper mold 3 for stretching and shaping the vacuum cup is connected with the piston rod of the master cylinder 7 through a lifting beam plate 9, and the lower mold 4 for stretching and shaping the vacuum cup is connected with the piston rod of the lower cylinder 8 through a mold frame 10. Four beam plate lifting guide linear bearings 51 and beam plate lifting guide rods which are matched with the lifting beam plates 9 to slide up and down are arranged in the rack 1, a master cylinder lifting position acquisition encoder 49 is connected to the master cylinder 7, a lower cylinder lifting position acquisition encoder 50 is connected to the lower cylinder 8, and an equipment positioning ground rail 52 and six supporting legs 53 are arranged at the bottom of the rack 1.
As shown in fig. 4-6, the manipulator for placing the cup into the mold and the manipulator for taking the cup from the mold both comprise a vacuum cup grabbing clamping jaw 11 for grabbing a vacuum cup 33, a supporting vertical plate 13 for supporting the vacuum cup grabbing clamping jaw 11, a clamping jaw rotating driving mechanism for driving the vacuum cup grabbing clamping jaw 11 to rotate and a clamping jaw lifting driving mechanism for driving the vacuum cup grabbing clamping jaw 11 to lift, and the clamping jaw rotating driving mechanism and the vacuum cup grabbing clamping jaw are connected through a synchronous belt transmission component. Clamping jaw lift actuating mechanism is including installing clamping jaw lift servo motor 14 at support riser 13 top, sliding connection is from top to bottom at the lift slide 15 that supports riser 13, fixing at lift rack 16 on lift slide 15 and connecting the lifting gear 17 on clamping jaw lift servo motor 14, and lifting rack 16 and lifting gear 17 intermeshing, the thermos cup snatchs clamping jaw 11 and connects on lift slide 15. Two lifting guide rails 18 matched with the lifting sliding plate 15 are arranged on the supporting vertical plate 13, two lifting slide blocks 19 matched with the lifting guide rails are arranged on the back surface of the lifting sliding plate 15, the lifting rack 16 is fixed on the front surface of the lifting sliding plate 15 and is positioned between the two lifting slide blocks, and a guide rail groove 20 matched with the lifting guide rails 18 is arranged on the supporting vertical plate 13. The clamping jaw rotary driving mechanism comprises a rotary swing arm 21 for driving the vacuum cup to grab the clamping jaw 11 to rotate and a rotary swing arm rotary servo motor 22 for driving the rotary swing arm 21 to rotate, and the rotary swing arm servo motor 22 is installed on the lifting sliding plate 15. The synchronous belt transmission assembly comprises a driving wheel 23 connected to a swing arm rotating servo motor 22, a synchronizing shaft 24 connected to the vacuum cup grabbing clamping jaw 11, a driven wheel 25 connected to the synchronizing shaft 23 and a synchronous belt 26 connected with the driving wheel 23 and the driven wheel 25, and the driving wheel 23 and the driven wheel 25 are both installed on the rotating swing arm 21. The swing arm rotary servo motor 22 is connected with a swing arm rotary speed reducer 27, and the rotary swing arm 21 is also provided with a tension pulley 28 matched with the synchronous belt 26. The clamping jaw lifting servo motor 14 is installed on the top of the supporting vertical plate 13 through a first motor base 29, and the swing arm rotating servo motor 22 is installed on one side of the lifting sliding plate 15 through a second motor base 30.
As shown in fig. 7-9, the thermos cup centering table comprises a mounting base 32, a rotating platform 31 mounted on the mounting base 32, a platform rotation driving mechanism for driving the rotating platform 31 to rotate, and a platform lifting driving mechanism for driving the rotating platform 31 to lift, wherein both ends of the rotating platform 31 are provided with a thermos cup centering clamping jaw 34 for clamping the thermos cup 33, and a product presence detection sensor 35 matched with the thermos cup centering clamping jaw 34. The platform rotation driving mechanism comprises a platform rotation servo motor 36 fixed on the mounting base 32, a platform rotating shaft 37 mounted at the bottom of the rotating platform 31, and a gear transmission assembly connecting the platform rotating shaft 37 and the platform rotation servo motor 36. The platform lifting driving mechanism comprises a platform lifting servo motor 38 fixed on the mounting base 32, a lifting seat 39 connected on a platform rotating shaft 37 and a screw rod transmission assembly connecting the lifting seat 39 and the platform lifting servo motor 38, and the platform rotating shaft 37 is connected with the lifting seat 39 through a rotating bearing. The screw rod transmission assembly comprises a transmission screw rod 40 and a screw rod nut, the upper end of the transmission screw rod 40 is fixed on one side of the lifting seat 39 through a screw rod mounting plate 43, the screw rod nut is mounted on the mounting base 32, the platform lifting servo motor 38 is in transmission connection with the screw rod nut, and the lifting seat 39 is connected with the mounting base 32 through a plurality of platform lifting guide linear bearings 44 and a platform lifting guide rod. The platform lifting servo motor 38 is connected with a platform lifting screw rod speed reducer 45 matched with the transmission screw rod nut, and the bottom of the mounting base 32 is provided with a screw rod guide sleeve 46 matched with the transmission screw rod 40. The gear transmission assembly comprises a large gear 41 and a small gear 42 which are meshed with each other, the large gear 41 is connected to the bottom of the platform rotating shaft 37, the small gear 42 is connected to a motor shaft of the platform rotating servo motor 36, and the platform rotating servo motor 36 is connected with the lifting seat 39 through a reinforcing seat 47. The platform lifting servo motor 38 is fixed at the bottom of one side of the mounting base 32 through a motor base 48, and the platform rotating servo motor 36 is positioned at the other side of the mounting base 32.
The invention can be freely combined into a full-automatic unmanned operation production line and can also be operated by a single machine. When the vacuum cup centering clamping jaw is used, the manipulator of the previous processing device places the vacuum cup on the lower position of the previous processing device of the turntable in the vacuum cup, and when the product existence detection sensor detects that the vacuum cup is sent into the vacuum cup centering clamping jaw from the previous processing device (the product of the previous processing device is placed at the lower position), the vacuum cup centering clamping jaw is controlled to clamp; then the rotatory servo motor action of platform drives the rotation platform rotatory, when with the thermos cup horizontal rotation to assigned position (the grabbing position of the processing equipment of the next back), the product has or not to detect the thermos cup position, the clamping jaw is loosened in the control thermos cup is well fixed, put the cup and go into the mould manipulator and grab the thermos cup and get on the thermos cup stretches plastic bed die, then the action of master cylinder and lower cylinder, drive the action of mould on the thermos cup stretches plastic and the action of the thermos cup stretches plastic bed die and processes the thermos cup under the plastic respectively, after processing, grab the thermos cup from the mould and get on the well revolving stage or other conveying equipment of the processing equipment of the next time with the thermos cup.
In the process, the vacuum cup on the previous processing equipment is also conveyed to the vacuum cup centering clamping jaw of the vacuum cup transfer table again to be clamped; and then the platform rotating servo motor acts to drive the rotating platform to rotate again, and the steps are sequentially circulated until all the vacuum cups are transferred.
The principle of the vacuum cup transfer platform is as follows: the vacuum cup is placed on the lower position (one end of the rotary platform) of the previous processing equipment by the manipulator of the previous processing equipment, the vacuum cup is conveyed to the grabbing position (the other end of the rotary platform) of the next processing equipment by the rotation of the rotary platform, and the vacuum cup is grabbed to the processing station of the processing equipment by the manipulator of the next processing equipment conveniently.
The vacuum cup transfer table adopts the platform lifting driving mechanism, so that the height of the rotating platform can be automatically adjusted according to different product heights, and the vacuum cup transfer table is convenient to be matched with a manipulator of two processing devices.
The operation box, the upper mold for stretching and shaping the vacuum cup, the lower mold for stretching and shaping the vacuum cup, the clamping jaw for grabbing the vacuum cup, the clamping jaw for centering the vacuum cup and the product presence detection sensor are conventional products purchased in the market, and the structure and the action process are conventional means, so detailed description is omitted.
The vacuum cup grabbing mechanical arm capable of being integrally assembled, lifted and rotated to independently move is integrated, meanwhile, the mechanical arm adopts a synchronous belt transmission assembly to ensure that the grabbing direction of a vacuum cup grabbing clamping jaw is consistent with the rotating direction, the structure is simple and compact, the cost is reduced, the occupied area is reduced, the potential safety hazard is reduced, the mold change of processing equipment is not influenced, and the productivity is ensured to reach more than 90% of manual operation; in addition, the vacuum cup transfer platform is matched with the vacuum cup transfer platform which adopts the platform rotation driving mechanism and the platform lifting driving mechanism to drive the rotation platform to rotate and lift, so that the vacuum cup can be subjected to position transfer such as fine translation and lifting, the vacuum cup can be clamped by the clamping jaw in the vacuum cup, the vacuum cup can be clamped stably when the position transfer is carried out on the vacuum cup, the stability and the reliability of the position transfer of the vacuum cup are ensured, and the transfer in the vacuum cup is stable and reliable.
Claims (10)
1. The utility model provides a thermos cup processing hydraulic pressure that manipulator was got in area is tensile plastic equipment which characterized in that: which comprises a frame, a vacuum cup stretching and shaping upper die, a vacuum cup stretching and shaping lower die, a vacuum cup grabbing mechanical arm, a main oil cylinder for driving the vacuum cup stretching and shaping upper die to move up and down, a lower oil cylinder for driving the vacuum cup stretching and shaping lower die to move up and down, an operation box arranged on one side of the frame and a vacuum cup transfer table, the vacuum cup gripping manipulator comprises a cup placing-in mould manipulator and a cup taking-out manipulator, the cup placing-in mould manipulator and the cup taking-out manipulator both comprise a vacuum cup gripping clamping jaw for gripping a vacuum cup, a supporting vertical plate for supporting the vacuum cup gripping clamping jaw, a clamping jaw rotation driving mechanism for driving the vacuum cup gripping clamping jaw to rotate and a clamping jaw lifting driving mechanism for driving the vacuum cup gripping clamping jaw to lift, the clamping jaw rotation driving mechanism is connected with the vacuum cup grabbing clamping jaw through a synchronous belt transmission assembly; revolving stage in the thermos cup includes the installation base, installs rotary platform, the rotatory platform rotary driving mechanism of drive rotary platform and the platform lift actuating mechanism that drive rotary platform goes up and down on the installation base, rotary platform's both ends all are equipped with the thermos cup and center the clamping jaw and cooperate the thermos cup to center the product of clamping jaw have or not to detect the sensor.
2. A vacuum cup processing hydraulic stretching and shaping device with a pick-and-place manipulator according to claim 1, which is characterized in that: the support vertical plate is fixed on the rack, the main oil cylinder is fixed at the top of the rack, a piston rod of the main oil cylinder faces downwards, the lower oil cylinder is fixed at the bottom of the rack, the piston rod of the lower oil cylinder faces upwards, the upper mold for stretching and shaping the vacuum cup is connected with the piston rod of the main oil cylinder through a lifting beam plate, and the lower mold for stretching and shaping the vacuum cup is connected with the piston rod of the lower oil cylinder through a mold frame.
3. The vacuum cup processing hydraulic stretching shaping equipment with the pick-and-place manipulator according to claim 2, characterized in that: the lifting device is characterized in that a plurality of beam plate lifting guide linear bearings and beam plate lifting guide rods which are matched with the lifting beam plates to slide up and down are arranged in the rack, a main cylinder lifting position acquisition encoder is connected to the main cylinder, a lower cylinder lifting position acquisition encoder is connected to the lower cylinder, and an equipment positioning ground rail and a plurality of supporting legs are arranged at the bottom of the rack.
4. The vacuum cup processing hydraulic stretching and shaping equipment with the pick-and-place manipulator of claim 1, is characterized in that: the clamping jaw lifting driving mechanism comprises a clamping jaw lifting servo motor arranged at the top of the supporting vertical plate, a lifting sliding plate connected to the supporting vertical plate in a vertical sliding mode, a lifting rack fixed on the lifting sliding plate and a lifting gear connected to the clamping jaw lifting servo motor, the lifting rack and the lifting gear are meshed with each other, and the vacuum cup grabbing clamping jaws are connected to the lifting sliding plate.
5. A thermos cup processing hydraulic stretching shaping device with a pick-and-place manipulator according to claim 4, characterized in that: the lifting rack is fixed on the front side of the lifting sliding plate and positioned between the two lifting sliding blocks, and the supporting vertical plate is provided with a guide rail groove matched with the lifting guide rail; the clamping jaw rotary driving mechanism comprises a rotary swing arm for driving the vacuum cup to grab the clamping jaw and a rotary swing arm rotary servo motor for driving the rotary swing arm to rotate, and the rotary servo motor for the swing arm is installed on the lifting sliding plate.
6. A vacuum cup processing hydraulic stretching and shaping device with a pick-and-place manipulator according to claim 4, which is characterized in that: the synchronous belt drive assembly comprises a drive wheel connected to a rotary servo motor of the swing arm, a synchronous shaft connected to the gripping clamping jaw of the vacuum cup, a driven wheel connected to the synchronous shaft, and a synchronous belt connected with the drive wheel and the driven wheel, wherein the drive wheel and the driven wheel are both mounted on the rotary swing arm.
7. A thermos cup processing hydraulic stretching shaping device with a pick-and-place manipulator according to claim 5, characterized in that: the swing arm rotating servo motor is connected with a swing arm rotating speed reducer, and the rotating swing arm is also provided with a tension pulley matched with the synchronous belt; the clamping jaw lifting servo motor is installed at the top of the supporting vertical plate through a first motor base, and the swing arm rotating servo motor is installed on one side of the lifting sliding plate through a second motor base.
8. The vacuum cup processing hydraulic stretching and shaping equipment with the pick-and-place manipulator of claim 1, is characterized in that: the platform rotation driving mechanism comprises a platform rotation servo motor fixed on the mounting base, a platform rotating shaft mounted at the bottom of the rotating platform and a gear transmission assembly connecting the platform rotating shaft and the platform rotation servo motor; the platform lifting driving mechanism comprises a platform lifting servo motor fixed on the mounting base, a lifting seat connected to the platform rotating shaft and a lead screw transmission assembly connected with the lifting seat and the platform lifting servo motor, and the platform rotating shaft is connected with the lifting seat through a rotating bearing.
9. The vacuum cup processing hydraulic stretching shaping equipment with the pick-and-place manipulator according to claim 8, characterized in that: the lead screw transmission assembly comprises a transmission lead screw and a lead screw nut, the upper end of the transmission lead screw is fixed on one side of the lifting seat through a lead screw mounting plate, the lead screw nut is mounted on the mounting base, the platform lifting servo motor is in transmission connection with the lead screw nut, and the lifting seat is connected with the mounting base through a plurality of platform lifting guide linear bearings and platform lifting guide rods.
10. The vacuum cup processing hydraulic stretching and shaping equipment with the pick-and-place manipulator of claim 9, is characterized in that: the platform lifting servo motor is connected with a platform lifting screw rod speed reducer matched with a transmission screw rod nut, and the bottom of the mounting base is provided with a screw rod guide sleeve matched with a transmission screw rod; the gear transmission assembly comprises a large gear and a small gear which are mutually meshed, the large gear is connected to the bottom of the platform rotating shaft, the small gear is connected to a motor shaft of the platform rotating servo motor, and the platform rotating servo motor is connected with the lifting seat through a reinforcing seat; platform lift servo motor passes through the third motor cabinet to be fixed in one side bottom of installation base, the rotatory servo motor of platform is located the opposite side of installation base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210472335.8A CN114772264A (en) | 2022-04-29 | 2022-04-29 | Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210472335.8A CN114772264A (en) | 2022-04-29 | 2022-04-29 | Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114772264A true CN114772264A (en) | 2022-07-22 |
Family
ID=82434681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210472335.8A Pending CN114772264A (en) | 2022-04-29 | 2022-04-29 | Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114772264A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090297654A1 (en) * | 2008-05-29 | 2009-12-03 | Tsai-Shun Chang | Injection stretch blow molding system with rotating and linear conveying functions |
| CN105414349A (en) * | 2015-12-25 | 2016-03-23 | 镇江泛美汽车零部件有限公司(中外合资) | Cylindrical drawn part production and machining equipment |
| CN111994628A (en) * | 2020-09-29 | 2020-11-27 | 浙江平川智能装备股份有限公司 | Go up two manipulators that snatch of unloading |
| US20210053771A1 (en) * | 2019-08-20 | 2021-02-25 | Tbs Engineering Limited | Unloading Apparatus |
| CN113562455A (en) * | 2021-07-27 | 2021-10-29 | 永康中奥自动化科技有限公司 | Vacuum cup processing equipment with pick-and-place manipulator and working method thereof |
-
2022
- 2022-04-29 CN CN202210472335.8A patent/CN114772264A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090297654A1 (en) * | 2008-05-29 | 2009-12-03 | Tsai-Shun Chang | Injection stretch blow molding system with rotating and linear conveying functions |
| CN105414349A (en) * | 2015-12-25 | 2016-03-23 | 镇江泛美汽车零部件有限公司(中外合资) | Cylindrical drawn part production and machining equipment |
| US20210053771A1 (en) * | 2019-08-20 | 2021-02-25 | Tbs Engineering Limited | Unloading Apparatus |
| CN111994628A (en) * | 2020-09-29 | 2020-11-27 | 浙江平川智能装备股份有限公司 | Go up two manipulators that snatch of unloading |
| CN113562455A (en) * | 2021-07-27 | 2021-10-29 | 永康中奥自动化科技有限公司 | Vacuum cup processing equipment with pick-and-place manipulator and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105836481B (en) | A kind of setting machine and code blank technology | |
| CN109987395B (en) | Automatic feeding device for mobile phone frame | |
| CN109748104A (en) | A kind of double-station poly-lithium battery charging method | |
| CN113562455B (en) | Vacuum cup processing equipment with picking and placing mechanical arm and working method thereof | |
| CN109941765A (en) | A kind of multiduty feeding device and charging method | |
| CN109941766A (en) | A kind of feeding device and charging method | |
| CN113601462A (en) | Sand mold assembly workbench suitable for non-mold composite forming process | |
| CN114772264A (en) | Vacuum cup processing hydraulic stretching and shaping equipment with taking and placing mechanical arm | |
| CN211444147U (en) | 3 axle of thermos cup are got and are put device | |
| CN114798945A (en) | Hydraulic stretching equipment with manipulator | |
| CN211889811U (en) | Full-automatic key assembling machine | |
| CN211150532U (en) | Mould transfer device | |
| CN211439102U (en) | Automatic material clamping and processing device with liftable platform | |
| CN114102514A (en) | Automatic assembly equipment for plastic nuts | |
| CN112837923A (en) | Inductance coil flattens and cuts sticky tin full automatization equipment based on two carousels | |
| CN217200714U (en) | Self-adaptive height transfer manipulator | |
| CN211938788U (en) | Multi-station mechanical arm | |
| CN218253458U (en) | Full-automatic cup separating machine | |
| CN214734128U (en) | A lifting machine for transporting part | |
| CN216658407U (en) | Automatic blank taking equipment for hand mold grouting | |
| CN219358574U (en) | Switch panel kludge | |
| CN217192162U (en) | Automatic stamping forming production system for automobile transmission suspension support parts | |
| CN111846958B (en) | 3C product rotating stand equipment and rotating stand method | |
| CN210001081U (en) | Conveying positioning blank moving machine | |
| CN220411152U (en) | Protective film label transfer machine |
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 |