CN205674203U - A kind of robot system for the washing machine door seal demoulding and carrying - Google Patents
A kind of robot system for the washing machine door seal demoulding and carrying Download PDFInfo
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- CN205674203U CN205674203U CN201620273827.4U CN201620273827U CN205674203U CN 205674203 U CN205674203 U CN 205674203U CN 201620273827 U CN201620273827 U CN 201620273827U CN 205674203 U CN205674203 U CN 205674203U
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Abstract
The utility model discloses a kind of robot system for the washing machine door seal demoulding and carrying, including horizontally disposed matrix guide rail, six-joint robot, clamping jaw device, electronic weighing device, described six-joint robot is arranged on described guide rail by installing plate, clamping jaw device is fixing with described six-joint robot to be connected, and electronic weighing device is arranged on and arranges parallel with described six-joint robot on described installing plate.Coordinating clamping jaw device to replace manual work owing to employing is arranged on guide rail moveable six-joint robot, can coordinating four injection moulding machines work simultaneously, action is simple, it is connected smooth and easy, demoulding efficiency, simultaneously simple in construction can be greatly improved, easy to maintenance, comprehensive use cost is low.
Description
Technical field
The utility model belongs to washing machine production field, is specifically related to a kind of machine for the washing machine door seal demoulding and carrying
Device people's system, belongs to automatic field.
Background technology
As roller washing machine is more and more universal, the demand sustainable growth to roller washing machine for the market.As laundry drum
The important parts of machine--gasket, has the very big market space.Traditional gasket produces mainly by being molded into
Type machine manual operation produces, and production process belongs to high temperature high-risk operations, and inefficiency, and quality cannot ensure simultaneously, Sui Zheren
The continuous growth of work cost, under traditional mode of production, product cost rises violently, and increasingly can not meet the demand in market.Enterprise
Consider to promote operating efficiency by automatic improving, owing to substituting the scheme of manual work by expensive automation equipment, by
In shortage economy, and improved efficiency is limited, and enterprise may not adopt.
Utility model content
For solving above-mentioned technical problem, the utility model provides a kind of six-joint robot being arranged on removable guide rail
And the clamping jaw device of replacement manual work, four injection moulding machines work can be coordinated simultaneously, increase substantially production efficiency, fall
Low use cost.
For reaching above-mentioned purpose, the technical solution of the utility model is as follows: a kind of for the washing machine door seal demoulding and carrying
Robot system, including horizontally disposed be embedded with slide block matrix guide rail, six-joint robot, for capture door seal jaw fill
Put, electronic weighing device, electric cabinet, described guide rail is provided with the installing plate for mounting robot, described installing plate and institute
Stating the fixing connection of slide block, described six-joint robot one end is fixed on described installing plate, and the other end is fixed with described clamping jaw device
Connecting, described installing plate is additionally provided with the 7th spindle motor, and described 7th spindle motor rotor is fixed with gear, described gear with solid
It is scheduled on and matches with the tooth bar of described guide rail parallel inside described guide rail, when described 7th spindle motor rotates, described peace can be driven
Dress plate moves along a straight line with described six-joint robot；Link with described six-joint robot and also include described electric cabinet, described automatically controlled
Case is arranged in the middle of outside described guide rail；
Described electronic weighing device is fixed on described installing plate by bracing frame, sets parallel with described six-joint robot
Put, described electronic weighing device is provided with close to described electronic weighing device upper surface push rod, described electronic weighing
Putting side and being provided with the first telescopic cylinder, described push rod is fixing with described first telescopic cylinder expansion link to be connected；With described push rod
Be flexibly connected also includes by push rod shaft, and described push rod is provided with the hole of symmetry, and described push rod shaft passes through described hole and institute
Stating push rod vertical, described first telescopic cylinder drives described push rod to move in the horizontal direction, hangs down with the described installing plate direction of motion
Directly；
Described clamping jaw device includes frame, the clip claw mechanism being fixed in described frame, is symmetricly set in described frame
Two grasping mechanisms；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Institute
Stating first substrate to be connected by described first gripper shoe Z-type is fixing with described second substrate, described connecting plate is arcuate structure, institute
Stating and being fixed with described second gripper shoe on connecting plate axis, described second gripper shoe is fixing with described second substrate to be connected；Described
Clip claw mechanism includes jacking cylinder and jaw cylinder, and described jacking cylinder is fixed on the first cylinder mounting plate, described first gas
Cylinder installing plate is connected with described second substrate by adjustment plate, and described jaw cylinder is fixed on the second cylinder mounting plate, described
Second cylinder mounting plate is connected with described jacking cylinder by fixed plate, described jaw cylinder is provided with symmetrical for gripping
The Y type jaw of gasket；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on described connecting plate, with institute
Stating stationary jaw to be correspondingly arranged and also include demoulding mat, described demoulding mat is fixed on the second telescopic cylinder；Described second stretches
Contracting cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, described cylinder adjustable plate and described company
Fishplate bar connects；
In a preferred embodiment of the present utility model, also including adjusting base, described adjustment base is arranged on described
Being used for supporting described guide rail below guide rail, described adjustment base equidistantly extends to the other end from described guide rail one end.Adjust the end
Seat can be adjusted flexibly the horizontal-shift that guide rail produces because of surface subsidence.
In a preferred embodiment of the present utility model, also including cable drag chain, described cable drag chain is arranged on described
Guide rail side, with described guide rail parallel, described cable drag chain one end is fixing with described installing plate to be connected, and the other end is automatically controlled with described
Case is fixing to be connected.When robot moves, cable drag chain is used for protecting electric wiring.
In a preferred embodiment of the present utility model, also include the line chain bracket for carrying described cable drag chain,
Described line chain bracket at least has two, and described line chain bracket includes U-shaped support and the rotating shaft that can rotate freely around axle center, described
Line chain bracket and described electric cabinet homonymy, be set in qually spaced in described electric cabinet side, and with described line chain drag chain at same
On straight line.Described line chain bracket can carry the cable drag chain of movement, reduces drag chain to the drag of six-joint robot and resistance.
It in a preferred embodiment of the present utility model, is nested with between described push rod and described push rod shaft and pushes away with described
The linear bearing that bar axle matches.Linear bearing can reduce push rod moving resistance, improves the moving stability.
The beneficial effects of the utility model are:
1., owing to employing is arranged on guide rail moveable six-joint robot and replaces manual work, four can be coordinated simultaneously
Platform injection moulding machine works, and increases substantially production efficiency, reduces use cost.
2. owing to using the clamping jaw device of the artificial demoulding of simulation, action is simple, is connected smooth and easy, and demoulding effect can be greatly improved
Rate, simultaneously simple in construction, easy to maintenance, comprehensive use cost is low.
3. owing to whole Work robot is made up of modularization, can simply change module therein, different rule can be met
The automated production of lattice product needs, and further reduces enterprise's use cost.
Brief description
For the technical scheme being illustrated more clearly that in the utility model embodiment technology, embodiment technology will be retouched below
In stating, the accompanying drawing of required use is briefly described, it should be apparent that, the accompanying drawing in describing below is only the utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
These accompanying drawings obtain other accompanying drawing.
Fig. 1 is the utility model structure chart
Fig. 2 is electronic weighing device structure chart
Fig. 3 is clip claw mechanism structure chart
Wherein, 1 is guide rail, and 2 is line chain support, and 3 for adjusting base, and 4 is electric cabinet, and 5 is cable drag chain, and 6 is installing plate,
7 is the 7th spindle motor, and 8 is electronic weighing device, and 9 is limited block, and 10 is door seal, and 11 is clamping jaw device, and 12 is six-joint robot,
13 is the first telescopic cylinder, and 14 is push rod shaft, and 15 is push rod, and 16 claim for electronic-weighing, and 17 is linear bearing, and 31 is connection method
Orchid, 32 is the first gripper shoe, and 33 is the second telescopic cylinder, and 34 is hinge handle, and 35 is jaw cylinder, and 36 is the second brace rod,
37 is hinge, and 38 is cylinder adjustable plate, and 39 is demoulding mat, and 310 is stationary jaw, and 311 is jaw protective pad, and 312 for connecting
Plate, 316 is the first brace rod, and 317 is second substrate, and 318 is first substrate, and 319 is fixed plate, and 320 is that the second cylinder is installed
Plate, 321 is jacking cylinder, and 322 is the first cylinder mounting plate；
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of making creative work
The every other embodiment being obtained, broadly falls into the scope of the utility model protection.
Embodiment
As it is shown in figure 1, the present embodiment discloses a kind of robot system for the washing machine door seal demoulding and carrying, bag
Including horizontally disposed matrix guide rail 1, it is big that matrix guide rail 1 has Area of bearing, and bearing capacity high advantage is provided with below guide rail 1
Adjust base 3 be used for supporting guide 1 and adjust guide rail 1 levelness, adjust base 3 and equidistantly extend to another from guide rail 1 one end
End.Be embedded with some slide blocks 18 on guide rail 1, guide rail 1 be provided with the installing plate 6 for installing six-joint robot 12, installing plate 6 with
Slide block 18 is fixing to be connected, and six-joint robot 12 one end is fixed on installing plate 6, and the other end is fixed with clamping jaw device 11, installing plate 6
Being additionally provided with the 7th spindle motor 7, the 7th spindle motor 7 rotor being fixed with gear, gear is put down with guide rail with being fixed on inside guide rail
The tooth bar 19 of row matches, and when the 7th spindle motor 7 rotates, can drive installation plate 6 move along a straight line with six-joint robot 12, gear
With the combination of tooth bar 19, the 7th spindle motor 7 Bit andits control can be made more accurate, reduce cumulative errors.Guide rail 1 side interposition installs
It is equipped with electric cabinet 4, connect for controlling the motion of installing plate the 6th, six-joint robot the 12nd, clamping jaw device 11 and corresponding Electric Wires & Cables
Connect.
The electric wiring that electric cabinet 4 and installing plate 6 connect is protected by cable drag chain 5, and cable drag chain 5 is arranged on guide rail 1
Side, parallel with guide rail 1, cable drag chain 5 one end is fixed with installing plate 6, and the other end is fixed with electric cabinet 4, and installing plate 6 is moved through
Cheng Zhong, while cable drag chain 5 one end is moved with installing plate 6, drags drag chain horizontal movement, and electric wiring cable uniformly bends,
Reduce cable abrasion.
Another side at electric cabinet 4 is additionally provided with the line chain bracket 2 for carrying cable drag chain 5, and line chain bracket 2 at least has
Having two, line chain bracket 2 includes U-shaped support and the rotating shaft 20 that can rotate freely, line chain bracket 2 and electric cabinet 4 homonymy around axle center,
It is set in qually spaced in electric cabinet 4 side, and with line chain drag chain 5 on same straight line.When installing plate 6 move to guide rail 1 another
During side, cable drag chain 5, due to gravity, can produce drag to installing plate 6, after warp chain bracket 2 supports, can reduce this towing
Power, owing to line chain bracket 2 has the rotating shaft 20 that can rotate around axle center, maximizes the resistance reducing cable drag chain 5 horizontal movement.
As in figure 2 it is shown, electronic weighing device 8 is fixed on installing plate 6 by bracing frame, set parallel with six-joint robot 12
Put, electronic weighing device 8 is provided with close to electronic weighing device upper surface push rod 15, electronic weighing device 8 side sets
Being equipped with the first telescopic cylinder 13, push rod 15 is fixing with the first telescopic cylinder 13 expansion link to be connected；Be flexibly connected with push rod 15 goes back
Including by push rod shaft 14, push rod is provided with the hole of symmetry, it is vertical with push rod 15 that push rod shaft 14 passes through hole, and first stretches gas
Cylinder 13 drives push rod 15 to move in the horizontal direction, vertical with installing plate 6 direction of motion；When door seal is placed into electricity by clamping jaw device 11
On sub-weighing device 8, electronic weighing device 8 records the weight of door seal, satisfactory, and the first telescopic cylinder 13 drives push rod 15
Door seal is shifted onto with on the conveyer belt on electronic-weighing side.
As it is shown on figure 3, clamping jaw device 11 includes frame, the clip claw mechanism being fixed in frame, is symmetricly set in frame
Two grasping mechanisms；Frame includes first substrate the 318th, second substrate the 317th, the first gripper shoe the 32nd, the second gripper shoe the 322nd, even
Fishplate bar 312；First substrate 318 is fixing with first gripper shoe 32 one end to be connected, first gripper shoe 32 other end and second substrate 317
One end is fixing to be connected, and second substrate 317 is connected by the second gripper shoe 317 with connecting plate 312；Clip claw mechanism includes jacking cylinder
321 and jaw cylinder 35, jacking cylinder 321 is fixed on the first cylinder mounting plate 322, and the first cylinder mounting plate 322 is by adjusting
Whole plate is connected with second substrate 317, and jaw cylinder 35 is fixed on the second cylinder mounting plate 320, and the second cylinder mounting plate 320 leads to
Cross fixed plate 319 to be connected with jacking cylinder 321, jaw cylinder 35 is provided with the Y type jaw for gripping gasket of symmetry；
Grasping mechanism includes stationary jaw 310, and stationary jaw 310 is fixed on connecting plate 312, is correspondingly arranged also with stationary jaw 310
Including demoulding mat 39, demoulding mat 39 is fixed on the second telescopic cylinder 33；Second telescopic cylinder 33 is fixed on hinge 37；
Hinge 37 other end is connected with cylinder adjustable plate 38, and cylinder adjustable plate 38 is connected with connecting plate 312；Connecting plate 312 is curved, and
Matching with injection moulding machine mould outline, grasping mechanism is symmetricly set on arc both sides, and more conducively grasping mechanism connects completely
Touch and step up door seal.
It is arranged on guide rail moveable six-joint robot owing to using and replaces manual work, four can be coordinated simultaneously
Injection moulding machine works, and increases substantially production efficiency, reduces use cost.
Further owing to using the clamping jaw device of the artificial demoulding of simulation, action is simple, is connected smooth and easy, can be greatly improved de-
Imitating rate, simultaneously simple in construction, easy to maintenance, comprehensive use cost is low.
Owing to whole Work robot is made up of modularization, can simply change module therein, different size can be met
The automated production of product needs, and reduces enterprise's use cost further.Described above to the disclosed embodiments, makes ability
Territory professional and technical personnel is capable of or uses the utility model.Multiple professional skills changed to this area to these embodiments
Will be apparent from for art personnel, generic principles defined herein can without departing from spirit of the present utility model or
In the case of scope, realize in other embodiments.Therefore, the utility model is not intended to be limited to these realities shown in this article
Execute example, and be to fit to the wide scope consistent with principles disclosed herein and features of novelty.
Claims (5)
1. the robot system being used for the washing machine door seal demoulding and carrying, it is characterised in that: include horizontally disposed being embedded with
The matrix guide rail of slide block, six-joint robot, for capturing the clamping jaw device of door seal, electronic weighing device, electric cabinet, described guide rail
On be provided with the installing plate for mounting robot, described installing plate is fixing with described slide block to be connected, described six-joint robot one
End is fixed on described installing plate, and the other end is fixing with described clamping jaw device to be connected, and described installing plate is additionally provided with the 7th axle electricity
Machine, described 7th spindle motor rotor is fixed with gear, described gear be fixed on inside described guide rail with described guide rail parallel
Tooth bar match, described 7th spindle motor rotate when, described installing plate can be driven to move along a straight line with described six-joint robot；
Linking with described six-joint robot and also including described electric cabinet, described electric cabinet is arranged in the middle of outside described guide rail；
Described electronic weighing device is fixed on described installing plate by bracing frame, arranges parallel with described six-joint robot, institute
Stating and being provided with push rod on electronic weighing device, described electronic weighing device side is provided with the first telescopic cylinder, described push rod with
Described first telescopic cylinder expansion link is fixing to be connected；Be flexibly connected with described push rod also includes by push rod shaft, described push rod
On be provided with symmetry hole, described push rod shaft pass through described hole vertical with described push rod, described first telescopic cylinder driving described in
Push rod moves in the horizontal direction, vertical with the described installing plate direction of motion；
Described clamping jaw device include frame, the clip claw mechanism being fixed in described frame, be symmetricly set in described frame two
Individual grasping mechanism；Described frame includes first substrate, second substrate, the first gripper shoe, the second gripper shoe, connecting plate；Described
One substrate is connected by described first gripper shoe Z-type is fixing with described second substrate, and described connecting plate is arcuate structure, described company
Being fixed with described second gripper shoe on fishplate bar axis, described second gripper shoe is fixing with described second substrate to be connected；Described jaw
Mechanism includes jacking cylinder and jaw cylinder, and described jacking cylinder is fixed on the first cylinder mounting plate, described first cylinder peace
Dress plate is connected with described second substrate by adjustment plate, and described jaw cylinder is fixed on the second cylinder mounting plate, and described second
Cylinder mounting plate is connected with described jacking cylinder by fixed plate, described jaw cylinder is provided with symmetrical for gripping door seal
The Y type jaw of bar；Described grasping mechanism includes stationary jaw, and described stationary jaw is fixed on described connecting plate, solid with described
Clamp pawl is correspondingly arranged and also includes demoulding mat, and described demoulding mat is fixed on the second telescopic cylinder；Described second stretches gas
Cylinder is fixed on hinge；The described hinge other end is connected with described cylinder adjustable plate, described cylinder adjustable plate and described connecting plate
Connect.
2. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterised in that:
Also include adjust base, described adjustment base is arranged on for supporting described guide rail below described guide rail, described adjustment base from
Described guide rail one end equidistantly extends to the other end.
3. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterised in that:
Also including cable drag chain, described cable drag chain is arranged on described guide rail side, with described guide rail parallel, described cable drag chain one end
Fixing with described installing plate and being connected, the other end is fixing with described electric cabinet to be connected.
4. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 3, it is characterised in that:
Also including the line chain bracket for carrying described cable drag chain, described line chain bracket at least has two, described line chain bracket bag
Include U-shaped support and the rotating shaft that can rotate freely around axle center, described line chain bracket and described electric cabinet homonymy, be set in qually spaced in institute
State electric cabinet side, and with described line chain drag chain on same straight line.
5. a kind of robot system for the washing machine door seal demoulding and carrying according to claim 1, it is characterised in that:
It is nested with the linear bearing matching with described push rod shaft between described push rod with described push rod shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273827.4U CN205674203U (en) | 2016-04-05 | 2016-04-05 | A kind of robot system for the washing machine door seal demoulding and carrying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620273827.4U CN205674203U (en) | 2016-04-05 | 2016-04-05 | A kind of robot system for the washing machine door seal demoulding and carrying |
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| Publication Number | Publication Date |
|---|---|
| CN205674203U true CN205674203U (en) | 2016-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620273827.4U Active CN205674203U (en) | 2016-04-05 | 2016-04-05 | A kind of robot system for the washing machine door seal demoulding and carrying |
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| CN (1) | CN205674203U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648047A (en) * | 2017-09-30 | 2018-02-02 | 无锡康柏斯机械科技有限公司 | A kind of mechanical arm for being used to capture rotating cylinder |
-
2016
- 2016-04-05 CN CN201620273827.4U patent/CN205674203U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648047A (en) * | 2017-09-30 | 2018-02-02 | 无锡康柏斯机械科技有限公司 | A kind of mechanical arm for being used to capture rotating cylinder |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |