CN214692096U

CN214692096U - Novel grab material loading manipulator

Info

Publication number: CN214692096U
Application number: CN202120175271.6U
Authority: CN
Inventors: 惠怀林
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2021-11-12
Anticipated expiration: 2031-01-22

Abstract

The utility model discloses a novel grab material loading manipulator, grab material loading manipulator includes grabbing material manipulator and loading manipulator, grab material manipulator and include steering device, grab material cylinder and two grab material fingers that are vice form, grab the material finger and all be connected with steering device through grabbing the material cylinder, steering device installs on the transfer pivot of level setting, the transfer pivot is rotated and installed on the transfer stand, the position department corresponding to transfer pivot on the transfer stand installs the transfer pivot motor, transfer pivot motor is connected with the transfer pivot; the feeding mechanical arm comprises a lifting transfer column, a feeding arm and a feeding clamping jaw, the feeding arm is installed at the upper end of the lifting transfer column, the feeding clamping jaw is installed at the tail end of the feeding arm, the feeding clamping jaw comprises a clamping jaw cylinder and two semicircular pincers, and the two semicircular pincers are connected with the clamping jaw cylinder. The material grabbing manipulator can save the gas consumption and avoid dropping the pipe; the feeding mechanical arm can avoid residual scraps from being accumulated in the feeding mechanical arm.

Description

Novel grab material loading manipulator

Technical Field

The utility model particularly relates to a novel grab material loading manipulator.

Background

At present, the automation degree of glass product processing is low, material transfer among different devices depends on manual operation, the glass products are in a high-temperature state during processing, certain safety risks exist for operators during manual material transfer, and meanwhile, the manual transfer efficiency is insufficient, so that the efficiency requirement of mass production cannot be met; in the prior art, the scheme of automatically transferring tubular glass products mainly comprises vacuum suction and cup container receiving, and the vacuum suction scheme has high air consumption and high power consumption, and is easy to cause the phenomenon of pipe falling due to insufficient suction caused by external factors such as impurities and the like; the scheme of cup dress container access, there is the leftover bits of material to pile up in the cup dress container, is difficult to clear up, needs the problem of shut down maintenance.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects of the prior art, the utility model provides a novel grabbing and feeding manipulator, which comprises a grabbing manipulator and a feeding manipulator, wherein the grabbing manipulator comprises a steering device, a grabbing cylinder and two vice-shaped grabbing fingers, the grabbing fingers are connected with the steering device through the grabbing cylinder, the steering device is arranged on a horizontally arranged shifting rotating shaft, the shifting rotating shaft is rotatably arranged on a shifting upright post, a shifting rotating shaft motor is arranged on the shifting upright post at a position corresponding to the shifting rotating shaft, and the shifting rotating shaft motor is connected with the shifting rotating shaft; the feeding manipulator comprises a lifting transfer column, a feeding arm and a feeding clamping jaw, the feeding arm is installed at the upper end of the lifting transfer column, the feeding clamping jaw is installed at the tail end of the feeding arm, the feeding clamping jaw comprises a clamping jaw cylinder and two semicircular pincers, and the two semicircular pincers are connected with the clamping jaw cylinder.

Furthermore, the material grabbing fingers are provided with rubber pads with arc grooves.

Furthermore, the material grabbing cylinder is a Y-shaped clamping finger.

Furthermore, the clamping jaw air cylinder is a parallel clamping finger.

Furthermore, the rotation angle of the transferring rotating shaft is +/-90 degrees.

Furthermore, the lifting transfer column is a hydraulic oil cylinder with a built-in rotary servo motor.

The operation principle is as follows: the material grabbing manipulator firstly clamps the material, then swings 180 degrees to the position of the material feeding manipulator under the driving of the transfer rotating shaft motor, and simultaneously rotates the material 90 degrees under the control of the steering device to enable the material to be vertical.

The material loading manipulator waits for to grab the material manipulator and puts into between two semicircle pincers with the material of vertical state at the assigned position, two semicircle clamps live the material under the drive of clamping jaw cylinder afterwards to rotatory loading arm makes the material arrive under the rotary fixture under the drive of lift transfer post, and the lift transfer post that goes up and down at last rises, and the position department is got to the clamp of rotary fixture is delivered to the material.

Has the advantages that: compared with the traditional vacuum suction mode, the material grabbing manipulator can protect materials to the maximum extent, save gas consumption, reduce energy consumption, avoid the phenomenon of pipe dropping to the maximum extent and improve the production rate;

the feeding mechanical arm adopts the structure of two semicircle pincers, has replaced traditional cup-shaped body structure, can effectively avoid piling up remaining angle material in the feeding mechanical arm, and at the back that the material loading finishes at every turn, the semicircle pincers are opened remaining angle material and are dropped automatically, and then reduce the maintenance frequency of equipment to improve production efficiency.

Drawings

FIG. 1 is a schematic perspective view of an automated production line for glassware;

FIG. 2 is a perspective view of the automatic tube feeding mechanism;

FIG. 3 is a top view of the automatic tube feeding mechanism;

FIG. 4 is a schematic perspective view of the autoloading mechanism;

FIG. 5 is a partial enlarged view of the automatic feed mechanism and the primary cutting mechanism;

FIG. 6 is a schematic illustration of the position of the horn mechanism;

FIG. 7 is a schematic perspective view of the horn digging mechanism;

fig. 8 is a perspective view of a grab loading robot;

FIG. 9 is a first schematic perspective view of a blow molding apparatus;

FIG. 10 is a second schematic perspective view of the blow molding apparatus;

FIG. 11 is a perspective view of a rotary clamp;

FIG. 12 is a front view of the rotary clamp;

FIG. 13 is a schematic perspective view of the ejection mechanism;

in the figure: the automatic pipe feeding device comprises an automatic pipe feeding mechanism 1, an automatic feeding mechanism 2, a primary cutting mechanism 3, a horn digging mechanism 4, a secondary cutting mechanism 5, a material grabbing and feeding manipulator 6 and a blowing forming device 7;

the device comprises a side plate 101, an L-shaped material clamping plate 102, a conveying motor 103, a bearing arm 104, a glass tube rack 105, a roller shaft 106, a roller 107, a material feeding groove 108, a glass tube material feeding rear position 109, a material feeding laser detector 110, a transverse feeding assembly 200, an upper roller set 201, a lower roller set 202, a roller driving shaft 203, a feeding motor 204, a feeding swing arm 205, a longitudinal feeding assembly 210, a feeding roller shaft 211, a feeding roller 212, a V-shaped notch 213, a fixing device 301, a first hot melting device 302, a first cutting device 303, a base 401, a support 402, a sliding shaft jacket 403, a sliding shaft 404, a transmission shaft 405, a horn digging mold 406, a horn digging motor 407, a guide groove 408, a guide rod 409, a guide rod bearing 410, an L-shaped lever 411, a U-shaped groove 412, a driving rod 413, a lever rotating shaft 414, a separating wheel group 501, a material grabbing manipulator 610, a steering device 611, a material grabbing air cylinder 612, a material grabbing finger 613, a material conveying wheel, a material conveying wheels 107, a conveying wheel 107, a feeding wheels 108, a feeding wheel 212, a feeding rollers 108, a feeding grooves 212, a feeding grooves 108, a feeding grooves 213, a V-shaped groove 213, a V-shaped notch groove, a V-shaped notch, a notch, a notch, a rubber pad 614, a transferring rotating shaft 615, a transferring upright column 616, a transferring rotating shaft motor 617, a feeding manipulator 620, a lifting transferring column 621, a feeding arm 622, a feeding clamping claw 623, a clamping claw cylinder 624, a jacking assembly 630, a jacking cylinder 631, a jacking bracket 632, a driven roller 633, a turntable 701, a main gear 702, a central shaft 703, a secondary gear 704, a lifting plate 705, a blow pipe passing cavity 706, a central shaft sleeve 707, an upper bearing 708 and a lower bearing 709, the device comprises a return spring 710, an adjusting plate 711, a rack 712, a clamping finger 713, an incomplete gear 714, a heating assembly 720, an air blowing assembly 730, an air blowing support 731, an elevating guide rail 732, an elevating slider 733, a projecting arm 734, an air blowing pipe 735, an air inlet hose 736, a rubber head 737, a mold core forming assembly 740, a first upright 741, a second upright 742, a mold core 743, a V-shaped rotating arm 744, a first rotating arm connecting rod 745, an adjusting frame 746 and a driving rotating arm 747.

Detailed Description

In order to deepen the understanding of the present invention, the present invention will be further described in detail with reference to the following embodiments and the attached drawings, and the embodiments are only used for explaining the present invention, and do not constitute the limitation to the protection scope of the present invention.

As shown in fig. 1-13, an automatic production line for glassware comprises an automatic tube feeding mechanism 1, an automatic feeding mechanism 2, a primary cutting mechanism 3, a horn digging mechanism 4, a secondary cutting mechanism 5, a material grabbing and feeding manipulator 6, a blowing forming device 7 and a blanking device (not shown in the figure);

the automatic pipe feeding mechanism 1 comprises a conveying frame and a roller assembly, wherein the conveying frame comprises two side plates 101 and a plurality of L-shaped material clamping plates 102, the plurality of L-shaped material clamping plates 102 are uniformly arranged on conveying chains in the two side plates 101, and the conveying chains are driven by a conveying motor 103; the two side plates 101 are both arranged on the rack through a bearing arm 104, and the bottoms of the two side plates 101 are both connected with a glass tube rack 105; the roller assembly comprises two roller shafts 106 and a plurality of rollers 107 sleeved on the roller shafts 106; two feeding grooves 108 are arranged between the upper part of the roller and the upper part of the conveying frame, the feeding grooves 108 are arranged in an inclined manner, and a glass tube feeding rear position 109 is arranged above the position between the two roller shafts 106.

In this embodiment, a feeding detection laser 110 is disposed at the bottom end of the feeding groove 108; the conveying motor 103 is connected with a feeding detection laser 110.

In this embodiment, the tail end of the glass tube rack 105 is bent upward.

In this embodiment, the two roller shafts 106 rotate in the same direction.

The automatic feeding mechanism 2 comprises a transverse feeding assembly 200 and a longitudinal feeding assembly 210, wherein the transverse feeding assembly 200 is composed of an upper roller set 201 and a lower roller set 202, the lower roller set 202 is connected with a feeding motor 204 through a lower roller driving shaft 203, and the upper roller set 201 is connected with the feeding motor 204 through a feeding swing arm 205; the upper roller set 201 and the lower roller set 202 are respectively positioned above and below the glass tube feeding rear position 109;

the longitudinal feeding assembly 210 comprises a plurality of feeding roller shafts 211 and feeding rollers 212, and the feeding rollers 212 are provided with V-shaped notches 213; the longitudinal feeding component 210 and the transverse feeding component 200 are vertically arranged in an L shape;

the primary cutting mechanism 3 comprises a fixing device 301, a first hot melting device 302 and a first cutting device 303, wherein the fixing device 301, the first hot melting device 302 and the first cutting device 303 are all arranged at the joint of the transverse feeding assembly 200 and the longitudinal feeding assembly 210 through a driving unit;

the horn digging mechanism 4 comprises a base 401, a support 402 and a sliding shaft outer sleeve 403, wherein the sliding shaft outer sleeve 403 is installed above the base through the support, the sliding shaft outer sleeve 403 is arranged horizontally, a coaxial sliding shaft 404 is arranged in the sliding shaft outer sleeve 403, a coaxial transmission shaft 405 is arranged in the sliding shaft 404, one end of the transmission shaft 405 is provided with a horn digging mold 406, the other end of the transmission shaft is connected with a driving shaft of a horn digging motor 407, and the horn digging motor 407 is installed at the tail end of the sliding shaft 404 through a coupler; a strip-shaped guide groove 408 is formed in the side wall of the sliding shaft outer sleeve 403, a guide rod 409 matched with the guide groove 408 is arranged on the side wall of the sliding shaft 404, a guide rod bearing 410 is sleeved on the outer side of the guide rod 409, the guide rod bearing 410 is arranged in an L-shaped lever 411, a U-shaped groove 412 matched with the guide rod bearing 410 is arranged at the upper end of the L-shaped lever 411, a driving rotating shaft hole is formed in the other end of the L-shaped lever 411 and connected with a driving rod 413 through the driving rotating shaft hole, and a lever rotating shaft hole is formed in the middle bending part of the L-shaped lever 411 and rotatably connected with the support 402 through a lever rotating shaft 414;

the secondary cutting mechanism 5 comprises a separation wheel blade group 501, a second hot melting device and a second cutting device, wherein the separation wheel blade group is composed of two wheel blades arranged in a splayed shape;

the material grabbing and feeding manipulator 6 comprises a material grabbing manipulator 610 and a material feeding manipulator 620, wherein the material grabbing manipulator 610 comprises a steering device 611, a material grabbing cylinder 612 and two material grabbing fingers 613 in a vice shape, the material grabbing fingers 613 are connected with the steering device 611 through the material grabbing cylinder 612, the steering device 611 is mounted on a horizontally arranged transfer rotating shaft 615, the transfer rotating shaft 615 is rotatably mounted on a transfer upright column 616, a transfer rotating shaft motor 617 is mounted on the transfer upright column 616 at a position corresponding to the transfer rotating shaft 615, and the transfer rotating shaft motor 617 is connected with the transfer rotating shaft 615; the feeding manipulator 620 comprises a lifting transfer column 621, a feeding arm 622 and a feeding clamping jaw 623, the feeding arm 622 is installed at the upper end of the lifting transfer column 621, the feeding clamping jaw 623 is installed at the tail end of the feeding arm 622, the feeding clamping jaw 623 comprises a clamping jaw cylinder 624 and two semicircular pincers, and the two semicircular pincers are connected with the clamping jaw cylinder.

In this embodiment, the material grabbing fingers 613 are all provided with rubber pads 614 with arc grooves.

In this embodiment, the material grabbing cylinder is a Y-shaped clamping finger.

In this embodiment, the clamping jaw cylinder is a parallel clamping finger.

In this embodiment, the rotation angle of the transferring rotating shaft is ± 90 °.

In this embodiment, the lifting/lowering transfer column is a hydraulic cylinder having a built-in rotary servo motor.

The material grabbing mechanical arm firstly clamps the short glass tube, then swings 180 degrees to the material feeding mechanical arm under the driving of the transfer rotating shaft motor, and simultaneously rotates 90 degrees the short glass tube under the control of the steering device to enable the short glass tube to be vertical.

The material loading manipulator waits for the material grabbing manipulator to put the short glass tube in a vertical state into two semicircular pincers at the assigned position, then the two semicircular pincers clamp the short glass tube under the drive of the clamping jaw cylinder, and the material loading arm is rotated under the drive of the lifting transfer column to enable the short glass tube to reach under the rotary fixture, and finally the lifting transfer column rises to send the short glass tube to the clamping position of the rotary fixture.

The blowing forming device 7 comprises a turntable assembly, a plurality of rotary clamps, a heating assembly, a blowing assembly and a die core assembly; the rotary disc assembly comprises a rotary disc 701 and a main gear 702 arranged on the rotary disc 701, the rotary clamps are uniformly distributed on the rotary disc 701 in a circumferential shape and comprise a central shaft 703, a pinion 704 and a lifting plate 705, an air blowing pipe passing cavity 706 which is through up and down is arranged in the central shaft 703, a central shaft sleeve 707 is sleeved at the top end of the central shaft 703 and is rotatably connected with the central shaft sleeve 707 through an upper bearing 708, a lower bearing 709 is arranged at the contact position of the central shaft 703 and the rotary disc 701 and is rotatably connected with the rotary disc 701 through the lower bearing 709, the central shaft sleeve 707 is in a semi-closed shape, the pinion 704 is arranged at the position of the central shaft 703 in the central shaft sleeve 707, and the pinion 704 is meshed with the main gear 702 on the rotary disc 701; the central shaft 703 is sleeved with a return spring 710, the upper end of the return spring 710 abuts against the lower surface of the adjusting plate 711, the adjusting plate 711 is sleeved on the central shaft 703, and the upper end of the return spring 710 abuts against the upper surface of the lifting plate 706; the lower surface of the lifting plate 706 is connected with three vertically arranged racks 712, the bottom of the central shaft is rotatably connected with three clamping fingers 713, the lower ends of the clamping fingers 713 are L-shaped, the upper ends of the clamping fingers 713 are connected with incomplete gears 714, and the incomplete gears 714 are meshed with the racks 712; the heating components 720 are uniformly arranged on the periphery of the turntable in a circumferential shape, and the heating nozzles of the heating components 720 face the lower parts of the corresponding rotary clamps; the blowing assembly 730 comprises a blowing support 731, a lifting guide rail 732, a lifting slider 733 and a projecting arm 734, the lifting guide rail 732 is mounted on the side wall of the blowing support 731, the lifting slider 733 is mounted on the lifting guide rail 732, one end of the projecting arm 734 is connected with the lifting slider 733, the other end is provided with a blowing pipe 735, the upper end of the blowing pipe 735 is connected with an air inlet hose 736, the bottom end of the blowing pipe 735 is provided with a hollow rubber head 737, and the blowing pipe of the central shaft is matched with the rubber head 737 through a cavity 706; the mold insert molding assembly 740 comprises a first upright post 741, a second upright post 742 and two semicircular mold inserts 743, wherein the two mold inserts are connected with V-shaped rotating arms, the rear portions of the V-shaped rotating arms 744 are sleeved on the first upright post 741 and rotatably connected with the first upright post 741, the middle portions of the V-shaped rotating arms 744 are rotatably connected with a first rotating arm connecting rod 745, the first rotating arm connecting rod 745 is connected with an adjusting frame 746, and the adjusting frame 746 is connected with an L-shaped driving rotating arm 747.

In this embodiment, the material grabbing and feeding manipulator 6 further comprises a jacking assembly 630, the jacking assembly 630 comprises a jacking cylinder 631, the top end of the jacking cylinder 631 is connected with a jacking frame 632, the jacking frame 632 is in a C shape, two sets of passive rollers 633 are arranged on the inner wall, and the jacking frame 632 is arranged below one rotary fixture.

In this example, the glass product was produced as follows:

the long glass tube is stacked on a glass tube material rack of the automatic tube feeding mechanism, the long glass tube is conveyed to a feeding groove under the action of a feeding laser detector and a conveying motor through an L-shaped material clamping plate of the automatic tube feeding mechanism, enters a transverse feeding device through the feeding groove, is conveyed to a longitudinal feeding component through a transverse feeding component after the feeding laser detector detects that the last glass tube is completely cut, a middle glass tube which is subjected to primary cutting under the action of a primary cutting mechanism is conveyed to a horn digging mechanism through the longitudinal feeding component, the horn digging mechanism continuously transfers the middle glass tube to a secondary cutting mechanism through the longitudinal feeding component after the horn digging procedure is carried out on two ends of the glass tube, the middle glass tube is divided into two short glass tubes through the secondary cutting mechanism, the two short glass tubes are placed into a clamping position of a rotary clamp through a material grabbing and feeding manipulator, and the rotary clamp is under the upward action of an ejection mechanism, the relative motion of the incomplete gear and the rack automatically opens the clamping fingers, after the ejection mechanism sinks, the clamping fingers automatically fold to clamp the material, the material is preheated under the combined action of the rotary clamp and the heating assembly, the short glass tube is processed and formed through the blowing assembly and the mold core assembly, and finally the blanking is completed through the blanking mechanism.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A novel material grabbing and feeding manipulator is characterized by comprising a material grabbing manipulator and a material feeding manipulator, wherein the material grabbing manipulator comprises a steering device, a material grabbing cylinder and two vice-shaped material grabbing fingers, the material grabbing fingers are connected with the steering device through the material grabbing cylinder, the steering device is installed on a horizontally arranged transfer rotating shaft, the transfer rotating shaft is rotatably installed on a transfer upright post, a transfer rotating shaft motor is installed on the transfer upright post at a position corresponding to the transfer rotating shaft, and the transfer rotating shaft motor is connected with the transfer rotating shaft; the feeding manipulator comprises a lifting transfer column, a feeding arm and a feeding clamping jaw, the feeding arm is installed at the upper end of the lifting transfer column, the feeding clamping jaw is installed at the tail end of the feeding arm, the feeding clamping jaw comprises a clamping jaw cylinder and two semicircular pincers, and the two semicircular pincers are connected with the clamping jaw cylinder.

2. The novel grabbing and feeding manipulator as claimed in claim 1, wherein the grabbing fingers are provided with rubber pads with arc-shaped grooves.

3. The novel material grabbing and feeding manipulator as claimed in claim 1, wherein the material grabbing cylinder is a Y-shaped clamping finger.

4. The novel grabbing and feeding manipulator as claimed in claim 1, wherein the clamping jaw cylinder is a parallel clamping finger.

5. The novel grabbing and feeding manipulator as claimed in claim 1, wherein the rotation angle of the transfer rotating shaft is ± 90 °.

6. The novel grabbing and feeding manipulator as claimed in claim 1, wherein the lifting and transferring column is a hydraulic cylinder with a built-in rotary servo motor.