A glass bottle automatic grabbing and conveying device

Abstract

An automatic grasping and conveying device for glass bottles, comprising a manipulator, a translation mechanism, a lifting mechanism, a flipping mechanism and a bracket; the lower end of the bracket is fixedly mounted on a horizontal ground, and the translation mechanism is mounted on the upper end of the bracket; the translation mechanism comprises a support plate, a slider, a guide rail and a translation drive assembly, the slider is assembled with the guide rail and the translation drive assembly, the guide rail is mounted on the support plate, and the support plate is fixed on the upper end of the bracket; the lifting mechanism comprises a lifting drive assembly and a lifting seat, the lifting seat is mounted on the lower end of the lifting drive assembly; the flipping mechanism is mounted on the lifting seat, comprising a flipping drive assembly and a flipping shaft, the flipping shaft is assembled with the manipulator; the manipulator is provided with a clamping claw, and the glass bottle workpiece is grasped by the clamping claw. The present invention solves the problem of damage to the glass bottle body and inconsistent bottle mouth direction during the transmission process, and achieves the purpose of improving product quality and reducing production costs.

Description

Technical Field

[0001] The invention relates to a glass bottle production line equipment, in particular to an automatic workpiece grabbing and transmission device suitable for a glass bottle production line. Background Art

[0002] In the production process of controlled injection bottles, the glass bottle workpiece is sent to the annealing furnace for heat stress treatment after the bottom of the bottle is formed at the bottle making machine. Generally, the glass bottle workpiece is grasped by a cylinder-controlled gripper and moved to the designated position. As the gripper is released, the bottle body in free fall slides onto the mesh belt at the entrance of the annealing furnace through the transmission track.

[0003] The above-mentioned glass bottle grabbing and transmission method will cause damage to the bottle body of the glass bottle due to the large clamping force of the gripper controlled by the cylinder. In addition, the problem of inconsistent bottle mouth direction will occur during the glass bottle transmission process, which will bring inconvenience to the subsequent quality inspection and packaging. At the same time, the collision between glass bottles and the collision between bottles and metal tracks will cause quality problems such as scratches or cracks on the glass bottles, which greatly reduces the qualified rate of products. Summary of the invention

[0004] The invention provides an automatic glass bottle grabbing and conveying device to avoid the problems of bottle body damage and bottle mouth direction inconsistency during the conveying process, thereby achieving the purpose of improving product quality and reducing production costs.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A device for automatically grasping and conveying glass bottles comprises a manipulator, a translation mechanism, a lifting mechanism, a flipping mechanism and a bracket; the lower end of the bracket is fixedly mounted on a horizontal ground, and the translation mechanism is mounted on the upper end of the bracket; the translation mechanism comprises a support plate, a slider, a guide rail and a translation drive assembly, the slider is assembled with the guide rail and the translation drive assembly, the guide rail is mounted on the support plate, and the support plate is fixed to the upper end of the bracket; the lifting mechanism comprises a lifting drive assembly and a lifting seat, the lifting drive assembly is assembled with the translation mechanism, and the lifting seat is mounted at the lower end of the lifting drive assembly; the flipping mechanism is mounted on the lifting seat, and comprises a flipping drive assembly and a flipping shaft, and the flipping shaft is assembled with the manipulator; the manipulator is provided with a clamping claw, and the glass bottle workpiece is grasped by the clamping claw.

[0007] The above-mentioned automatic grasping and conveying device for glass bottles, the manipulator is also provided with an arm, an arm module, a fixed seat, a tension spring, a module separation top plate and a top plate driving cylinder; the arm and the arm module are arranged in two groups on the left and right, one end of the arm is fixedly mounted on the arm module, and a clamp is arranged on the other end of the arm; the arm module is mounted on the fixed seat, and a tension spring is installed between the arm module and the fixed seat; the fixed seat is fixedly assembled with the flip axis in the flip mechanism, and the top plate driving cylinder is installed on the fixed seat; the module separation top plate is installed on the telescopic arm of the top plate driving cylinder, and is arranged opposite to the two groups of arm modules.

[0008] In the above-mentioned automatic glass bottle grabbing and conveying device, the module separation top plate is a conical top plate.

[0009] The above-mentioned automatic grasping and conveying device for glass bottles, the lifting drive assembly in the lifting mechanism includes a lifting cylinder, a rocker-type connecting rod, a swing arm-type connecting rod, a roller and a blocking plate; the lifting cylinder is installed on the slider through a cylinder bracket, the lifting cylinder and the cylinder bracket are hingedly assembled, and the telescopic arm of the lifting cylinder is hingedly assembled with the active arm of the rocker-type connecting rod; the rocker shaft of the rocker-type connecting rod is installed on the slider, and the driven arm of the rocker-type connecting rod is hingedly assembled with the lifting seat; the swing arm-type connecting rod is arranged in parallel with the rocker-type connecting rod, one end of which is hingedly assembled with the slider, and the other end is hingedly assembled with the lifting seat; the roller is installed at one end of the lifting seat and arranged opposite to the blocking plate; the blocking plate is installed on the support plate of the translation mechanism, and an arc guide rail is provided on the side of the blocking plate opposite to the roller.

[0010] In the above-mentioned automatic glass bottle grabbing and conveying device, the flipping drive component in the flipping mechanism is a flipping cylinder, one end of the flipping cylinder is hingedly assembled with the lifting seat, and the other end is hingedly assembled with the fixed seat of the manipulator.

[0011] The above-mentioned automatic glass bottle grabbing and conveying device, the translation drive assembly in the translation mechanism includes a motor and a sprocket chain transmission unit, the motor is installed at one end of the support plate, and the motor output shaft is connected to the sprocket chain transmission unit; the sprocket chain transmission unit is arranged on the support plate, and the middle part of the chain is fixedly connected to the slider.

[0012] The above-mentioned automatic glass bottle grabbing and conveying device, the motor is a servo motor.

[0013] In the above-mentioned automatic glass bottle grabbing and conveying device, the manipulator cooperates with the rotary chuck arranged at the B part of the bottle making machine to complete the directional grabbing of the glass bottle workpiece.

[0014] The present invention is an automatic grabbing and conveying device for glass bottles, which grabs the glass bottles from the B part of the bottle making machine through a flexible controlled manipulator. The clamping action of the manipulator is realized by the elastic force of the tension spring, and the glass bottles will not be damaged due to the moderate force. The present invention also horizontally places the glass bottles grabbed from the rotating chuck of the B part of the bottle making machine on the mesh belt at the entrance of the annealing furnace through the cooperation of the translation mechanism, the lifting mechanism, and the flipping mechanism. The glass bottles are in a state of being clamped by the manipulator during the entire operation process, which not only avoids the quality problems such as scratches or cracks on the glass bottles caused by the collision between the glass bottles and the collision between the bottles and the metal rails, but also makes the glass bottles arranged neatly and orderly, which is more convenient for the subsequent quality inspection and packaging process operation. It can be seen that the present invention solves the problems of bottle body damage and inconsistent bottle mouth direction during the transmission of glass bottles, and achieves the purpose of improving product quality and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the automatic glass bottle grabbing and conveying device of the present invention;

[0016] Figure 2 Schematic diagram of the lifting mechanism of the automatic glass bottle grabbing and conveying device of the present invention;

[0017] Figures 3 to 5 It is a schematic diagram of the working process of the lifting mechanism of the automatic glass bottle grabbing and conveying device;

[0018] Figure 6 yes Figure 1 The schematic diagram of the flipping mechanism shown in ;

[0019] Figure 7 yes Figure 6 Rear view of

[0020] Figure 8 It is a schematic diagram of the working principle of the flip mechanism;

[0021] Fig. 9 It is a schematic diagram of the flipping mechanism and the manipulator structure.

[0022] The list of reference numbers in the figure is:

[0023] 1. Manipulator, 1-1. Gripper, 1-2. Arm, 1-3. Arm module, 1-4. Tension spring, 1-5. Fixed seat, 1-6. Top plate driving cylinder, 1-7. Module separation top plate;

[0024] 2. Lifting mechanism, 2-1. Lifting cylinder, 2-2. Rocker connecting rod, 2-3. Swing arm connecting rod, 2-4. Roller, 2-5. Cylinder bracket, 2-6. Blocking plate, 2-6-1. Arc guide rail, 2-7. Lifting seat;

[0025] 3. Turning mechanism, 3-1. Turning cylinder, 3-2. Turning axis;

[0026] 4. Translation mechanism, 4-1. Motor, 4-2. Sprocket chain transmission unit, 4-3. Guide rail, 4-4. Slider, 4-5. Support plate;

[0027] 5. Bracket;

[0028] 6. Mesh belt;

[0029] 7. Rotating chuck;

[0030] 8. Glass bottle workpiece. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] 1 , the automatic glass bottle grabbing and conveying device of the present invention comprises a manipulator 1, a translation mechanism 4, a lifting mechanism 2, a flipping mechanism 3 and a bracket 5; the lower end of the bracket 5 is fixedly mounted on a horizontal ground, and the translation mechanism 4 is mounted on the upper end of the bracket 5; the translation mechanism 4 comprises a support plate 4-5, a slider 4-4, a guide rail 4-3 and a translation drive assembly, the guide rail 4-3 is mounted on the support plate 4-5, the support plate 4-5 is fixed on the upper end of the bracket 5, the slider 4-4 is mounted with the guide rail 4-3 and the translation drive assembly, the translation drive assembly comprises a motor 4-1 and a sprocket chain transmission unit 4-2, the motor 4-1 is mounted at one end of the support plate 4-5, the motor output shaft is connected to the sprocket chain transmission unit 4-2, the sprocket chain transmission unit 4-2 is arranged on the support plate 4-5, the middle part of the chain is fixedly connected to the slider 4-4, the sprocket chain transmission unit operates under the drive of the motor, and the slider 4-4 is driven by the chain to move horizontally along the guide rail 4-3.

[0033] See also Figure 1 , Figure 2The automatic grasping and conveying device for glass bottles of the present invention has a lifting mechanism 2 including a lifting drive assembly and a lifting seat 2-7; the lifting seat 2-7 is installed at the lower end of the lifting drive assembly; the lifting drive assembly is equipped with a translation mechanism 4, including a lifting cylinder 2-1, a rocker arm connecting rod 2-2, a swing arm connecting rod 2-3, a roller 2-4 and a blocking plate 2-6; the lifting cylinder 2-1 is installed on the slider 4-4 through a cylinder bracket 2-5, the lifting cylinder 2-1 is hingedly assembled with the cylinder bracket 2-5, the telescopic arm of the lifting cylinder 2-1 is hingedly assembled with the active arm of the rocker arm connecting rod 2-2; the rocker arm shaft of the rocker arm connecting rod 2-2 Installed on the slider 4-4, the driven arm of the rocker arm connecting rod 4-4 is hingedly assembled with the lifting seat 2-7; the swing arm connecting rod 2-3 is arranged in parallel with the rocker arm connecting rod 2-2, one end of which is hingedly assembled with the slider 4-4, and the other end is hingedly assembled with the lifting seat 2-7, and a four-link structure is composed of the slider 4-4, the rocker arm connecting rod 2-2, the swing arm connecting rod 2-3 and the lifting seat 2-7; the roller 2-4 is installed at one end of the lifting seat 2-7 and is arranged opposite to the blocking plate 2-6; the blocking plate 2-6 is installed on the supporting plate 4-5 of the translation mechanism 4, and an arc guide rail 2-6-1 is provided on the side of the blocking plate 2-6 opposite to the roller 2-4.

[0034] See also Figure 3 , Figure 4 , Figure 5 The automatic glass bottle grabbing and conveying device of the present invention has the following working process: when the lifting cylinder 2-1 is in the extended state, the slider 4-4 and the lifting mechanism 2 are driven by the motor 4-1 and the sprocket chain transmission unit 4-2 in the translation mechanism 4 to move toward the blocking plate 2-6 (as shown in the attached figure). Figure 3 When the roller 2-4 in the lifting mechanism 2 contacts the blocking plate 2-6, the lifting mechanism 2 moves down along the arc guide rail 2-6-1 under the driving force of the motor under the cooperation of the roller 2-4 and the blocking plate 2-6 (as shown in the attached figure); Figure 4 As shown in the figure), during this process, the telescopic arm of the lifting cylinder 2-1 retracts, the rocker arm connecting rod 2-2 and the swing arm connecting rod 2-3 in the four-link structure rotate counterclockwise around the hinge point, and the lifting seat 2-7 and the manipulator 1 descend to the bottom dead center position (as shown in the figure). Figure 5 Then the robot 1 performs a flipping action, grabs the glass bottle workpiece 8 on the rotating chuck 7 of the bottle making machine B by the gripper, and then conveys the glass bottle workpiece 8 to the top of the mesh belt 6 at the entrance of the annealing furnace equipment in the reverse process of the above steps.

[0035] See also Figure 6 , Figure 7 , Figure 8The automatic glass bottle grabbing and conveying device described in the present invention has a flip mechanism 3 installed on the lifting seat 2-7 of the lifting mechanism 2, including a flip drive assembly and a flip shaft 3-2. The flip drive assembly is a flip cylinder 3-1, one end of the flip cylinder 3-1 is hingedly assembled with the lifting seat 2-7, and the other end is hingedly assembled with the fixed seat 1-5 of the manipulator 1; the flip shaft 3-2 is hingedly assembled with the manipulator 1, and the manipulator 1 can be driven to rotate around the flip shaft 3-2 through the action of the flip cylinder 3-1.

[0036] See also Figure 8 , Fig. 9 The automatic grasping and conveying device for glass bottles of the present invention comprises a manipulator 1 provided with a clamping claw 1-1, an arm 1-2, an arm module 1-3, a fixing seat 1-5, a tension spring 1-4, a module separation top plate 1-7 and a top plate driving cylinder 1-6; the arm 1-2 and the arm module 1-3 are arranged in two groups on the left and right, one end of the arm 1-2 is fixedly mounted on the arm module 1-3, and the clamping claw 1-1 is mounted on the other end of the arm 1-2; the arm module 1-3 is mounted on the fixing seat 1-5, and a tension spring 1-4 is arranged between the arm module 1-3 and the fixing seat 1-5, and the two clamping claws 1-1 are arranged under the action of the tension spring 1-4. The arm modules 1-3 and the clamps 1-1 on the two groups of arms 1-2 are in a fitted state, and the manipulator 1 clamps the glass bottle workpiece 8; the fixed seat is fixedly assembled with the flip axis 3-2 in the flip mechanism 3, and the top plate driving cylinder 1-6 is installed on the fixed seat; the module separation top plate 1-7 is a conical top plate, which is installed on the telescopic arm of the top plate driving cylinder 1-6, and can be driven by the top plate driving cylinder 1-6. The module separation top plate 1-7 can be inserted between the two groups of arm modules 1-3, so that the two groups of arm modules 1-3, the arms 1-2, and the clamps 1-1 are separated, and the manipulator 1 is in a released state.

Claims

1. A glass bottle automatic grabbing and conveying device, characterized in that: It comprises a manipulator (1), a translation mechanism (4), a lifting mechanism (2), a flip mechanism (3) and a bracket (5); the lower end of the bracket (5) is fixedly mounted on a horizontal ground, and the translation mechanism (4) is mounted on the upper end of the bracket (5); the translation mechanism (4) comprises a support plate (4-5), a slider (4-4), a guide rail (4-3) and a translation drive assembly; the slider (4-4) is mounted on the guide rail (4-3) and the translation drive assembly; the guide rail (4-3) is mounted on the support plate (4-5); the support plate (4-5) is fixedly mounted on the support plate (4-5); The lifting mechanism (2) is fixed at the upper end of the bracket (5); the lifting mechanism (2) comprises a lifting drive assembly and a lifting seat (2-7); the lifting drive assembly is matched with the translation mechanism (4); the lifting seat (2-7) is installed at the lower end of the lifting drive assembly; the flip mechanism (3) is installed on the lifting seat (2-7), comprises a flip drive assembly and a flip shaft (3-2); the flip shaft (3-2) is matched with the manipulator (1); the manipulator (1) is provided with a clamping claw (1-1), and the glass bottle workpiece (8) is grasped by the clamping claw (1-1); The manipulator (1) is further provided with an arm (1-2), an arm module (1-3), a fixing seat (1-5), a tension spring (1-4), a module separation top plate (1-7) and a top plate driving cylinder (1-6); the arm (1-2) and the arm module (1-3) are arranged in two groups on the left and right, one end of the arm (1-2) is fixedly mounted on the arm module (1-3), and a clamping claw (1-1) is mounted on the other end of the arm (1-2); the arm module (1-3) is mounted on the fixing seat (1-5), and a tension spring (1-4) is mounted between the arm module (1-3) and the fixing seat (1-5); the fixing seat is fixedly assembled with the turning shaft (3-2) in the turning mechanism (3), and the top plate driving cylinder (1-6) is mounted on the fixing seat; the module separation top plate (1-7) is mounted on the telescopic arm of the top plate driving cylinder (1-6), and is arranged opposite to the two groups of arm modules; The lifting drive assembly in the lifting mechanism (2) comprises a lifting cylinder (2-1), a rocker arm connecting rod (2-2), a swing arm connecting rod (2-3), a roller (2-4) and a blocking plate (2-6); the lifting cylinder (2-1) is mounted on a slider (4-4) via a cylinder bracket (2-5); the lifting cylinder (2-1) and the cylinder bracket (2-5) are hingedly assembled; the telescopic arm of the lifting cylinder (2-1) and the active arm of the rocker arm connecting rod (2-2) are hingedly assembled; the rocker arm shaft of the rocker arm connecting rod (2-2) is mounted on the slider (4-4); The driven arm of the connecting rod (2-2) is hingedly assembled with the lifting seat (2-7); the swing arm type connecting rod (2-3) is arranged in parallel with the rocker arm type connecting rod (2-2), one end of which is hingedly assembled with the slider (4-4) and the other end of which is hingedly assembled with the lifting seat (2-7); the roller (2-4) is installed on one end of the lifting seat (2-7) and arranged opposite to the blocking plate (2-6); the blocking plate (2-6) is installed on the support plate (4-5) of the translation mechanism (4), and an arc guide rail (2-6-1) is provided on the side of the blocking plate (2-6) opposite to the roller (2-4).

2. The automatic glass bottle grabbing and conveying device according to claim 1 is characterized in that: The manipulator (1) is further provided with an arm (1-2), an arm module (1-3), a fixing seat (1-5), a tension spring (1-4), a module separation top plate (1-7) and a top plate driving cylinder (1-6); the arm (1-2) and the arm module (1-3) are arranged in two groups on the left and right, one end of the arm (1-2) is fixedly mounted on the arm module (1-3), and a clamping claw (1-1) is mounted on the other end of the arm (1-2); the arm module (1-3) is mounted on the fixing seat (1-5), and a tension spring (1-4) is arranged between the arm module (1-3) and the fixing seat (1-5); the fixing seat is fixedly assembled with a turning shaft (3-2) in a turning mechanism (3), and a top plate driving cylinder (1-6) is mounted on the fixing seat; the module separation top plate (1-7) is mounted on the telescopic arm of the top plate driving cylinder (1-6), and is arranged opposite to the two groups of arm modules.

3. The automatic glass bottle grabbing and conveying device according to claim 2 is characterized in that: The module separation top plate (1-7) is a conical top plate.

4. The automatic glass bottle grabbing and conveying device according to claim 1 is characterized in that: The turning drive component in the turning mechanism (3) is a turning cylinder (3-1), one end of the turning cylinder (3-1) is hingedly assembled with the lifting seat (2-7), and the other end is hingedly assembled with the fixed seat (1-5) of the manipulator (1).

5. The automatic glass bottle grabbing and conveying device according to claim 1 is characterized in that: The translation drive assembly in the translation mechanism (4) comprises a motor (4-1) and a sprocket chain transmission unit (4-2); the motor (4-1) is mounted on one end of a support plate (4-5), and the motor output shaft is connected to the sprocket chain transmission unit (4-2); the sprocket chain transmission unit (4-2) is arranged on the support plate (4-5), and the middle part of the chain is fixedly connected to the slider (4-4).

6. The automatic glass bottle grabbing and conveying device according to claim 5 is characterized in that: The motor (4-1) is a servo motor.

7. The automatic glass bottle grabbing and conveying device according to claim 1 is characterized in that: The robot (1) cooperates with a rotary chuck (7) arranged at part B of the bottle making machine to complete the directional grasping of the glass bottle workpiece (8).

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