CN203390937U - Turning-over type full-automatic manipulator applicable to glass ware pressing production line - Google Patents
Turning-over type full-automatic manipulator applicable to glass ware pressing production line Download PDFInfo
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- CN203390937U CN203390937U CN201320479987.0U CN201320479987U CN203390937U CN 203390937 U CN203390937 U CN 203390937U CN 201320479987 U CN201320479987 U CN 201320479987U CN 203390937 U CN203390937 U CN 203390937U
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- automatic mechanical
- swing arm
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Abstract
The utility model relates to a glass ware pressing production line and particularly relates to a turning-over type full-automatic manipulator applicable to glass ware pressing production line. According to the technical scheme, the manipulator comprises a mounting plate with supporting frames, a spindle in rotary connection with the supporting frame, a servo motor driving the spindle to rotate, a swing arm radially and fixedly connected with the spindle, a first rotation wheel arranged on the supporting frames and overlapping with the spindle in axis, a rotation shaft arranged at the free end of the swing arm, a second rotation wheel fixed at one end of the rotation shaft, a transmission chain connected between the first rotation wheel and the second rotation wheel, a picking mechanism arranged at the other end of the rotation shaft and an electric control unit for controlling action of the servo motor. According to the full-automatic manipulator, the accuracy and the reliability of conveying are improved, potential safety hazards are decreased, and improving of the production efficiency is facilitated.
Description
Technical field
The utility model relates to Production Line for Making Pressed Glassware, particularly a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware.
Background technology
Traditional glass vessel pressing production line all will solve glassware is transferred to type edge-melting machine from press, and is transferred to conveyer belt two product transportation problems from type edge-melting machine.Two kinds of methods of general employing solve, and a kind of is simple manual method, and a kind of employing is by the rectilinear manipulator of air cylinder driven.
Manual method is carried product by workman exactly, with a clamp, will after product clamping, move to the position of appointment, repetitive operation.
The rectilinear manipulator of air cylinder driven is a kind of automatic mechanism, by cylinder, drive grasping mechanism to do horizontal rectilinear motion, product is moved to from presser position and dry a mouthful station, or move to conveyer belt from drying a mouthful station, as disclosed a kind of for transmitting the highly effective and safe robot device of glassware in the utility model patent that Granted publication number is CN202781155U, comprise manipulator, support foot rest and the manipulator mounting bracket that is arranged on support foot rest top, manipulator comprises handgrip, lift cylinder and moving slider, the piston rod that lift cylinder is arranged on order lift cylinder on moving slider is connected with handgrip by connecting rod, manipulator mounting bracket comprises the crossbeam that is fixedly mounted on support foot rest upper end by fixed block, crossbeam two ends are respectively provided with an installing plate, between two installing plates, be provided with horizontal guide, moving slider is arranged in horizontal guide, one horizontal drive cylinder is also installed on an installing plate therein, the piston rod of horizontal drive cylinder is connected with moving slider.
The defect that above two kinds of situations exist is obvious, although the latter has certain automaticity, is subject to the impact of cylinder self character, its when action exist impact, velocity of displacement is uncontrollable, the reliability of product is extracted in impact, product often occurs and fall phenomenon, causes product loss or substandard products; More dangerous is if fallen in press die, will cause that press drift or mould damage, and even damage whole press; As for the former, because near temperature press is high, can reach 50 ℃-60 ℃ summer; Carry action dullness, machinery, the repetition of vessel, not work skill, workman is dull, there is no job enthusiasm; Labour intensity is large, within general about 2 hours, must change shifts, and cost of labor is high, and is the potential source that industrial accident occurs.
Utility model content
The purpose of this utility model is to provide a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware, adopt servomotor, improve precision and the reliability of carrying, reduce potential safety hazard, and be conducive to enhance productivity, alleviate labor strength, improve work situation, reduce costs, improve the quality of products and yield rate.
Above-mentioned technical purpose of the present utility model is achieved by the following technical programs: a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware, comprise the installing plate with bracing frame, be rotationally connected with the main shaft of support frame as described above, the servomotor that drives described main shaft to rotate, radially be fixedly connected on the swing arm of described main shaft, the runner one of being located at support frame as described above and overlapping with described main-shaft axis, be located at the free-ended rotating shaft of described swing arm, be fixed at described rotating shaft one end runner two, be connected in the transmission bar between described runner one and described runner two, be located at the mechanism for picking of the described rotating shaft other end, for controlling the electric control gear of described servomotor action.
Thereby adopt driven by servomotor swing arm rotation to realize workpiece in the conveying of two stations, and be conducive to accurately control the anglec of rotation of swing arm, thereby improve the reliability of carrying, reduce potential safety hazard; The setting of two runners and transmission bar, makes rotating shaft synchronous backward rotation with the rotation of swing arm, thereby the axis direction of mechanism for picking is remained unchanged, further to improve the reliability of conveying.
As of the present utility model preferred, the reductor between described main shaft and described servomotor.
As of the present utility model preferably, on support frame as described above, be also provided with for detection of described Spindle rotation angle degree and the sensor that is electrically connected to described electric control gear.
Improve the precision of swing arm rotation.
As of the present utility model preferred, described installing plate is provided with for limiting the position limiting structure of described swing arm rotational angle; Described position limiting structure comprise be fixedly connected on described installing plate gag lever post, be located at described gag lever post two ends and can contact at the limited post of described swing arm.
The limit anglec of rotation of restriction swing arm.
As of the present utility model preferred, described limited post is threaded with described gag lever post.
Be convenient to regulate the limit anglec of rotation of swing arm.
As of the present utility model preferred, described mechanism for picking is Pneumatic assembly; Described rotating shaft is inner, swing arm is inner and main shaft has between inner and interconnects so that provide the pipeline of power for described Pneumatic assembly; Support frame as described above is provided with and communicates with described pipeline and for being connected the rotary joint of vacuum source or high-pressure air source.
As of the present utility model preferred, described installing plate below is provided with supporting plate one; Described supporting plate one be provided with can lifting described in the cylinder of installing plate.
Realize mechanism for picking short square lifting in vertical direction, so that mechanism for picking obtains workpiece.
As of the present utility model preferred, described supporting plate one is provided with linear bearing one, a set of guide rod that has one end to be connected in described installing plate of described linear bearing.
As of the present utility model preferably, this kind of manipulator also comprises substrate, is located at the supporting plate two of described substrate one side, is located at the linear bearing two on described supporting plate two; Described guide rod extends into described linear bearing two; Described substrate is provided with the elevating mechanism for supporting plate described in lifting one.
Be conducive to accurately control the vertical height of mechanism for picking, guarantee accurate picking up work piece.
Preferably described substrate below is provided with base plate, on described substrate, has elongated slot as of the present utility model, is provided with the screw for described substrate and base plate are fastenedly connected in described elongated slot.
Be convenient to regulate mechanism for picking in the horizontal direction Shang position perpendicular on workpiece throughput direction, with accurate picking up work piece.
In sum, the utlity model has following beneficial effect: the utility model adopts driven by servomotor, improve controllability and the reliability of course of conveying; Mechanism for picking can be gas pawl or vacuum cups; Electric control gear adopts PLC programme-control, accurately controls corner and the speed of servomotor transposition; Thereby the action of electric control gear while control cylinder and mechanism for picking realizes obtaining of workpiece; Mechanism for picking obtains after workpiece, and in swing arm rotary course, mechanism for picking axis direction remains unchanged, and makes this manipulator can realize high-speed motion, adapts to the high machine speed requirement of press, and the highest machine speed of single manipulator can reach 45-60/minute; And owing to having adopted SERVO CONTROL, electric control gear adopts high accuracy code device, has realized reciprocal scope, the speed in 180 ° of radians is from main control, can realize slow-fast-slow rhythm,, after obtaining workpiece, accelerate fast, the angular speed of lifting spindle at short notice, to meet the requirement of fast machine speed, when the position of fast approaching release workpiece, slow down fast, when workpiece is put down, at a slow speed, steadily, entire exercise is soft, brisk; The utility model can configure plurality of pendulums arm, many mechanism for picking, thereby can be multiplied transporting velocity.
Accompanying drawing explanation
Fig. 1 is example structure schematic diagram;
Fig. 2 is cylinder location schematic diagram in embodiment.
In figure, 1, installing plate, 11, bracing frame, 12, expansion sleeve, 2, main shaft, 3, servomotor, 31, reductor, 4, swing arm, 5, rotating shaft, 52, runner two, 53, transmission bar, 6, mechanism for picking, 61, rotary joint, 71, gag lever post, 72, limited post, 8, supporting plate one, 81, cylinder, 82, linear bearing one, 83, guide rod, 9, substrate, 91, supporting plate two, 92, elevating mechanism, 93, linear bearing two, 94, elongated slot, 10, base plate, 101, screw.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
This specific embodiment is only to explanation of the present utility model; it is not to restriction of the present utility model; those skilled in the art can make to the present embodiment the modification that there is no creative contribution as required after reading this description, but as long as within the scope of claim of the present utility model, are all subject to the protection of Patent Law.
Embodiment: a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware, as shown in Figure 1-2, comprise base plate 10, base plate 10 upper surfaces are provided with substrate 9, on substrate 9, have elongated slot 94, in elongated slot 94, be provided with the screw 101 that is screwed into base plate 10, thereby can regulate substrate 9 position in the horizontal direction by unscrewing screw 101, and substrate 9 adjusting direction is in the horizontal direction generally perpendicular to the throughput direction of workpiece.
Side at substrate 9 is fixed with supporting plate 2 91, supporting plate 2 91 is provided with the linear bearing assembly two of the parallel and longitudinal setting of two row, every row linear bearing assembly two is all comprised of the linear bearing 2 93 of two deads in line, in two row linear bearing assemblies two, all overlaps and has a guide rod 83; On substrate 9, be also provided with elevating mechanism 92, this elevating mechanism of the present embodiment is screw elevator; Above supporting plate 2 91, be also provided with supporting plate 1, supporting plate 1 is provided with the linear bearing assembly one of the parallel and longitudinal setting of two row, and every row linear bearing assembly one is all comprised of the linear bearing 1 of two deads in line; Two guide rods 83 extend and run through corresponding linear bearing assembly one; And two guide rods 83 are fixedly connected with installing plate 1 through linear bearing assembly Yi one end by expansion sleeve 12; Between two row linear bearing assemblies one, be provided with cylinder 81 for lifting installing plate 1; Elevating mechanism 92 is for regulating the vertical height of supporting plate 1.
On installing plate 1, there are two bracing frames 11, on two bracing frames 11, be rotatably connected to main shaft 2, on a bracing frame 11, be fixedly connected with the reductor 31 being in transmission connection with main shaft 2 therein, reductor 31 is connected with servomotor 3, on main shaft 2, by key, be radially fixedly connected with swing arm 4, free end in swing arm 4 is arranged with rotating shaft 5, one end of rotating shaft 5 is connected with mechanism for picking 6, the other end is fixedly connected with runner 2 52, also be provided with runner one being provided with on the bracing frame 11 of reductor 31, between two runners, be connected with transmission bar 53, thereby the axis direction of realizing mechanism for picking 6 remains unchanged in swing arm 4 rotary courses, in the present embodiment, two runners are all sprocket wheel, transmission bar 53 is chain, runner one is not shown in the drawings.
On installing plate 1, be provided with for limiting the position limiting structure of swing arm 4 rotational angles; Position limiting structure comprise be fixedly connected on installing plate 1 gag lever post 71, be located at gag lever post 71 two ends and can contact at the limited post 72 of swing arm 4; Limited post 72 is threaded with gag lever post 71; Also the sensor of detection main shaft 2 anglecs of rotation can be set on bracing frame 11, sensor is not shown in the drawings.
Mechanism for picking 6 is generally Pneumatic assembly, or be vacuum cups or for gas pawl, thereby have between rotating shaft 5 inside, swing arm 4 inside and main shaft 2 inside, interconnect so that for Pneumatic assembly provides the pipeline of power, on bracing frame 11, be provided with and communicate with pipeline and for being connected the rotary joint 61 of vacuum source or high-pressure air source; Pipeline is not shown in the drawings.
The present embodiment also comprises an electric control gear, be electrically connected to sensor, cylinder 81, servomotor 3, to control the action of servomotor 3 and rotation direction, rotational angle, the action of control cylinder 81 and stroke, the collection signal of receiving sensor is to control more accurately servomotor 3; Electric control gear can adopt PLC programme-control, and electric control gear also has the panel of controlled staff's operation and parameters simultaneously; Electric control gear is not shown in the drawings.
Claims (10)
1. a convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware, it is characterized in that, comprise the there is bracing frame installing plate (1) of (11), be rotationally connected with the main shaft (2) of support frame as described above (11), the servomotor (3) that drives described main shaft (2) to rotate, radially be fixedly connected on the swing arm (4) of described main shaft (2), be located at support frame as described above (11) and with the runner one of described main shaft (2) dead in line, be located at the free-ended rotating shaft of described swing arm (4) (5), be fixed at described rotating shaft (5) one end runner two (52), be connected in the transmission bar (53) between described runner one and described runner two (52), be located at the mechanism for picking (6) of described rotating shaft (5) other end, be used for controlling the electric control gear of described servomotor (3) action.
2. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 1, is characterized in that the reductor (31) between described main shaft (2) and described servomotor (3).
3. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 1, it is characterized in that, on support frame as described above (11), be also provided with for detection of described main shaft (2) anglec of rotation and the sensor that is electrically connected to described electric control gear.
4. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 1, is characterized in that, described installing plate (1) is provided with for limiting the position limiting structure of described swing arm (4) rotational angle; Described position limiting structure comprise be fixedly connected on described installing plate (1) gag lever post (71), be located at described gag lever post (71) two ends and can contact at the limited post (72) of described swing arm (4).
5. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 4, is characterized in that, described limited post (72) is threaded with described gag lever post (71).
6. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 1, is characterized in that, described mechanism for picking (6) is Pneumatic assembly; Described rotating shaft (5) is inner, have between swing arm (4) inside and main shaft (2) inside and interconnect so that provide the pipeline of power for described Pneumatic assembly; Support frame as described above (11) is provided with and communicates with described pipeline and for being connected the rotary joint (61) of vacuum source or high-pressure air source.
7. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 1, is characterized in that, described installing plate (1) below is provided with supporting plate one (8); Described supporting plate one (8) be provided with can lifting described in the cylinder (81) of installing plate (1).
8. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 7, it is characterized in that, described supporting plate one (8) is provided with linear bearing one (82), and described linear bearing one (82) Tao You one end is connected in the guide rod (83) of described installing plate (1).
9. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 8, it is characterized in that, this kind of manipulator also comprises substrate (9), is located at the supporting plate two (91) of described substrate (9) one sides, is located at the linear bearing two (93) on described supporting plate two (91); Described guide rod (83) extends into described linear bearing two (93); Described substrate (9) is provided with the elevating mechanism (92) for supporting plate described in lifting one (8).
10. a kind of convertible full-automatic mechanical hand that is applicable to Production Line for Making Pressed Glassware according to claim 9, it is characterized in that, described substrate (9) below is provided with base plate (10), on described substrate (9), have elongated slot (94), in described elongated slot (94), be provided with the screw (101) for described substrate (9) and base plate (10) are fastenedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320479987.0U CN203390937U (en) | 2013-08-07 | 2013-08-07 | Turning-over type full-automatic manipulator applicable to glass ware pressing production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320479987.0U CN203390937U (en) | 2013-08-07 | 2013-08-07 | Turning-over type full-automatic manipulator applicable to glass ware pressing production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203390937U true CN203390937U (en) | 2014-01-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320479987.0U Expired - Lifetime CN203390937U (en) | 2013-08-07 | 2013-08-07 | Turning-over type full-automatic manipulator applicable to glass ware pressing production line |
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| Country | Link |
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| CN (1) | CN203390937U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395063A (en) * | 2013-08-07 | 2013-11-20 | 湖州和晟玻璃机械有限公司 | Overturning full-automation mechanical arm suitable for glassware pressing production line |
| CN104907954A (en) * | 2014-03-13 | 2015-09-16 | 协竑企业有限公司 | Clamping turnover device |
| TWI551391B (en) * | 2014-03-13 | 2016-10-01 | Phown Entpr Co Ltd Sa | Hold the flip device |
| CN108422137A (en) * | 2018-05-22 | 2018-08-21 | 快克智能装备股份有限公司 | Adsorb lifting rotating device |
| CN109454883A (en) * | 2018-07-18 | 2019-03-12 | 烟台维远科技有限公司 | A kind of snap-fitted equipment and its assembly method |
| CN110865620A (en) * | 2019-11-27 | 2020-03-06 | 郑州旭飞光电科技有限公司 | Online sampling inspection system and method for substrate glass and packaging system |
| CN112917420A (en) * | 2021-04-25 | 2021-06-08 | 深圳市高捷力科技有限公司 | Fork truck semi-axis assembly jig |
-
2013
- 2013-08-07 CN CN201320479987.0U patent/CN203390937U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395063A (en) * | 2013-08-07 | 2013-11-20 | 湖州和晟玻璃机械有限公司 | Overturning full-automation mechanical arm suitable for glassware pressing production line |
| CN103395063B (en) * | 2013-08-07 | 2016-01-13 | 湖州和晟玻璃机械有限公司 | A kind of convertible full-automatic mechanical hand being applicable to Production Line for Making Pressed Glassware |
| CN104907954A (en) * | 2014-03-13 | 2015-09-16 | 协竑企业有限公司 | Clamping turnover device |
| TWI551391B (en) * | 2014-03-13 | 2016-10-01 | Phown Entpr Co Ltd Sa | Hold the flip device |
| CN104907954B (en) * | 2014-03-13 | 2017-01-18 | 协竑企业有限公司 | Clamping turnover device |
| CN108422137A (en) * | 2018-05-22 | 2018-08-21 | 快克智能装备股份有限公司 | Adsorb lifting rotating device |
| CN109454883A (en) * | 2018-07-18 | 2019-03-12 | 烟台维远科技有限公司 | A kind of snap-fitted equipment and its assembly method |
| CN110865620A (en) * | 2019-11-27 | 2020-03-06 | 郑州旭飞光电科技有限公司 | Online sampling inspection system and method for substrate glass and packaging system |
| CN110865620B (en) * | 2019-11-27 | 2022-01-25 | 郑州旭飞光电科技有限公司 | Online sampling inspection system and method for substrate glass and packaging system |
| CN112917420A (en) * | 2021-04-25 | 2021-06-08 | 深圳市高捷力科技有限公司 | Fork truck semi-axis assembly jig |
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| GR01 | Patent grant |