Taking-out mechanism for medium borosilicate glass bottle processing

Abstract

The invention discloses a taking-out mechanism for medium borosilicate glass bottle processing. The taking-out mechanism comprises a base, a rotary supporting base, a first mechanical arm, a second mechanical arm and a clamping device. A rotary supporting seat is arranged on the base; the rotary supporting seat is rotationally connected with one end of a first mechanical arm; the other end of the first mechanical arm is rotationally connected with one end of the second mechanical arm; the other end of the second mechanical arm is connected with a clamping device in a penetrating mode, a linear module penetrating through the second mechanical arm is arranged at the upper end of the clamping device and comprises a sliding rod, a lead screw device and a driving motor, the sliding rod is connected with the lead screw device, a first transmission wheel is coaxially arranged at the lower end of the sliding rod, and the first transmission wheel is meshed with a second transmission wheel; the upper portion of the second transmission wheel is connected with an output shaft of a driving motor. The automatic glass bottle transferring device has the beneficial effects that through action arrangement of time sequence optimization, links such as clamping, lifting, transferring and releasing are seamlessly connected, the transferring efficiency is improved on the premise that the integrity of glass bottles is guaranteed, and a stable and reliable automatic solution is provided for pharmaceutical production.

Description

Technical Field

[0001] The invention relates to the field of glass bottle processing, and in particular to a taking-out mechanism for processing medium-borosilicate glass bottles. Background Art

[0002] In the automated production process of borosilicate glass bottles in the pharmaceutical industry, it is necessary to quickly transfer the high-temperature formed glass bottles to the annealing furnace or inspection station. Such glass bottles have the characteristics of thin walls, fragility, and high surface precision requirements. Existing transfer equipment mostly adopts a single-axis robotic arm with a simple gripper structure. When clamping, the bottle mouth or bottle body is directly grasped by rigid contact. Due to the lack of multi-dimensional motion compensation and precise positioning capabilities, the bottle body is often damaged by mechanical vibration or path deviation. At the same time, traditional grippers mostly use single-point clamping or symmetrical double-claw structures. It is difficult to accurately control the spacing between bottles when transferring multiple glass bottles simultaneously, which can easily cause misalignment or tipping of the arrangement, requiring manual secondary adjustment, which seriously affects the efficiency of the production line. In addition, existing equipment generally lacks a contact buffer mechanism, and the impact force at the moment of clamping can easily cause microcracks on the surface of the bottle body, which buries quality risks for subsequent cleaning, filling and other processes. How to achieve synchronous non-destructive clamping, high-precision positioning and standardized arrangement of multiple bottles has become a technical bottleneck restricting the automation upgrade of pharmaceutical equipment. Summary of the invention

[0003] The purpose of the present invention is to provide a removal mechanism for processing medium-borosilicate glass bottles to solve the above-mentioned technical problems of synchronous lossless clamping, high-precision positioning and standardized arrangement of multiple bottles.

[0004] In order to solve the above technical problems, the present invention provides a medium borosilicate glass bottle processing removal mechanism, which includes a base, a rotary support seat, a first mechanical arm, a second mechanical arm, and a clamping device;

[0005] A swivel support seat is fixedly arranged on the base;

[0006] The slewing support seat is rotatably connected to one end of the first mechanical arm;

[0007] The other end of the first mechanical arm is rotatably connected to one end of the second mechanical arm;

[0008] The other end of the second mechanical arm is connected through the clamping device, and the upper end of the clamping device is provided with a linear module that passes through the second mechanical arm, and the linear module includes a slide rod, a screw device and a drive motor. The slide rod is connected to the screw device, and the lower end of the slide rod is coaxially provided with a first transmission wheel, the first transmission wheel is meshed with the second transmission wheel, and the second transmission wheel is connected to the output shaft of the drive motor at the top.

[0009] Furthermore, a bottom plate is provided at the bottom of the base, and a plurality of reinforcing ribs are provided on the base.

[0010] Furthermore, an interface module is provided on one side of the slewing support seat.

[0011] Furthermore, a first bearing is provided at a connection between the first mechanical arm and the rotary support seat, and a second bearing is provided at a connection between the second mechanical arm and the first mechanical arm.

[0012] Furthermore, the clamping device includes a photoelectric sensor, a positioning plate, a driven plate, a telescopic device, a clamping claw, and a limit rod; a photoelectric sensor is arranged on the upper part of the side of the positioning plate close to the driven plate, and the photoelectric sensor is responsible for controlling the lifting distance of the linear module; a telescopic device is arranged on the upper part of the side of the positioning plate close to the driven plate, and the other end of the telescopic device is connected to the driven plate; and clamping claws are respectively arranged on the sides of the positioning plate and the driven plate close to each other.

[0013] Furthermore, the clamping device also includes a limiting rod, and the limiting rods are arranged at equal intervals below the positioning plate and the driven plate.

[0014] Furthermore, buffer pads are arranged on the clamping jaws on the driven plate at equal intervals.

[0015] Furthermore, the linear module also includes a slider, a limit block and a limit groove. The slider is movably connected to the slide rod, the slider is connected to the screw device, a limit block is coaxially arranged on the slide rod below the slider, and the limit groove completes the limitation of the first transmission wheel.

[0016] The beneficial effects of the present invention are as follows: Compared with the prior art, the automatic transfer device for medium-borosilicate glass bottles provided by the removal mechanism for processing medium-borosilicate glass bottles realizes the lossless and efficient transfer of high-temperature glass bottles through the coordinated control of a multi-degree-of-freedom robotic arm and a precision linear module. The clamping device can accurately position in a complex spatial path; the clamping device with an integrated photoelectric sensor adopts non-contact detection technology to adjust the descending speed and the end position in real time during the approach to the glass bottle, avoiding the positioning impact caused by traditional rigid contact; the clamping claw design forms a flexible-rigid graded clamping mechanism through a limit groove with a differentiated radius and an elastic buffer pad. After the buffer pad preferentially absorbs the contact kinetic energy, the limit groove accurately constrains the posture of the bottle body, preventing both surface scratches and clamping deviation. The forced spacing control function of the limit rod enables the standard arrangement to be automatically maintained during the transfer of multiple bottles, eliminating the need for manual secondary adjustment. The transmission system meshes with the second transmission wheel through the first transmission wheel to achieve high-precision control of vertical lifting.

[0017] The overall device uses time-optimized action choreography to seamlessly connect the gripping, lifting, transfer, and release processes, significantly improving transfer efficiency while ensuring the integrity of glass bottles, providing a stable and reliable automation solution for pharmaceutical production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a first stereoscopic structural schematic diagram of a taking-out mechanism for processing medium-borosilicate glass bottles.

[0019] Figure 2 It is a second stereoscopic structural schematic diagram of a taking-out mechanism for processing medium-borosilicate glass bottles.

[0020] Figure 3 The figure is a top view structural schematic diagram of a take-out mechanism for processing medium-borosilicate glass bottles.

[0021] Figure 4 It is a schematic diagram of the BB-section structure of a take-out mechanism for processing medium-borosilicate glass bottles, viewed from above.

[0022] Among them: 1. base; 11. bottom plate; 12. reinforcing ribs; 2. slewing support seat; 21. interface module; 3. first robot arm; 31. first bearing; 4. second robot arm; 41. second bearing; 42. linear module; 421. screw device; 422. slider; 423. slide bar; 4231. first transmission wheel; 4232. limit groove; 424. limit block; 5. drive motor; 51. second transmission wheel; 6. clamping device; 61. photoelectric sensor; 62. positioning plate; 63. driven plate; 64. telescopic device; 65. clamping claw; 651. buffer pad; 66. limit rod. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiment is only one embodiment of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0024] In order to make the objectives, technical solutions and advantages of the present application more clear, the present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0025] In the following description, references to "one embodiment", "an embodiment", "an example", "an example", etc. indicate that the embodiment or example described in this way may include specific features, structures, characteristics, properties, elements or limitations, but not every embodiment or example necessarily includes the specific features, structures, characteristics, properties, elements or limitations. In addition, repeated use of the phrase "according to one embodiment of the present application" may refer to the same embodiment, but does not necessarily refer to the same embodiment.

[0026] In this embodiment: Figure 1As shown, it includes a base 1, a rotary support base 2, a first mechanical arm 3, a second mechanical arm 4, and a clamping device 6; provides stable mechanical support to ensure the overall rigidity of the system; realizes the matrix construction of a multi-degree-of-freedom motion chain,

[0027] A swivel support seat 2 is fixedly arranged on the base 1; the swivel support seat 2 is rotatably connected to one end of a first mechanical arm 3; the other end of the first mechanical arm 3 is rotatably connected to one end of a second mechanical arm 4;

[0028] The other end of the second robot arm 4 is connected to the clamping device 6, and the upper end of the clamping device 6 is provided with a linear module 42 that penetrates the second robot arm 4 to achieve precise lifting of the Z axis and integrate power transmission and motion guiding functions; the linear module 42 includes a slide bar 423, a screw device 421 and a drive motor 5, the slide bar 423 is connected to the screw device 421, and a first transmission wheel 4231 is coaxially arranged at the lower end of the slide bar 423, the first transmission wheel 4231 is meshed with the second transmission wheel 51, and the upper part of the second transmission wheel 51 is connected to the output shaft of the drive motor 5 to convert the rotational motion into linear motion, thereby achieving power transmission and speed matching.

[0029] A bottom plate 11 is provided at the bottom of the base 1, and a plurality of reinforcing ribs 12 are provided on the base 1. The bottom plate 11 and the reinforcing ribs 12 enhance the stability of the base 1, reduce the vibration amplitude, and improve the anti-overturning ability.

[0030] An interface module 21 is provided on one side of the slewing support seat 2. The interface module 21 is provided with a plurality of power supply and signal interfaces to achieve stable energy / signal transmission during continuous operation.

[0031] A first bearing 31 is provided at the connection between the first robotic arm 3 and the rotary support seat 2, and a second bearing 41 is provided at the connection between the second robotic arm 4 and the first robotic arm 3. The first bearing 31 and the second bearing 41 are used to realize the free rotation of the first robotic arm 3 and the second robotic arm 4, reduce friction loss, and withstand radial / axial composite loads.

[0032] The clamping device 6 includes a photoelectric sensor 61, a positioning plate 62, a driven plate 63, a telescopic device 64, a clamping claw 65, and a limit rod 66; a photoelectric sensor 61 is arranged on the upper part of one side of the positioning plate 62 close to the driven plate 63, and the distance between the borosilicate glass bottle and the clamping device is determined by an infrared beam. When the borosilicate glass bottle enters the infrared beam area, the photoelectric sensor 61 transmits a signal to the screw device 421 of the linear module 42, the screw device 421 stops rotating, and the clamping device stops descending, thereby realizing non-contact positioning;

[0033] When all the photoelectric sensors 61 receive the signal that the borosilicate glass bottle enters the infrared beam area, the drive motor 5 stops rotating, the clamping device stops rotating, and the photoelectric sensor 61 is responsible for controlling the lifting distance of the linear module 42. A telescopic device 64 is provided on the upper part of the side of the positioning plate 62 close to the driven plate 63. The other end of the telescopic device 64 is connected to the driven plate 63. The positioning plate 62 and the driven plate 63 are close to each other. Clamps 65 are respectively provided on the side, and 8 semicircular grooves are arranged at equal intervals on the clamping claw 65. The radius of the semicircular groove of the clamping claw 65 of the driven plate 63 is larger than the semicircular groove of the clamping claw 65 of the positioning plate 62, so as to achieve synchronous clamping of 8 bottles and prevent the bottle body from rolling and deviating.

[0034] The clamping device 6 also includes a limit rod 66. The limit rods 66 are arranged at equal intervals below the positioning plate 62 and the driven plate 63. When the clamping device 6 clamps 8 medium-borosilicate glass bottles, the limit rods 66 control the intervals between the medium-borosilicate glass bottles, making it convenient for the medium-borosilicate glass bottles to be arranged at standard intervals so that the medium-borosilicate glass bottles can be smoothly placed on the corresponding device.

[0035] A buffer pad 651 is provided in the middle of the semicircular groove of the clamping jaw 65 of the driven plate 63. The buffer pad 651 is made of rubber, and the front end of the buffer pad 651 protrudes out of the bottom of the semicircular groove. When clamping, the upper end of the borosilicate glass bottle first hits the buffer pad 651, and then the buffer pad 651 is squeezed and pressed against the semicircular groove of the clamping jaw 65, so that the buffer pad 651 absorbs impact energy.

[0036] The linear module 42 also includes a slider 422, a limit block 424 and a limit groove 4232. The slider 422 is movably connected to the slide rod 423. The slider 422 is slidably connected to the screw of the screw device 421. A limit block 424 is coaxially arranged on the slide rod 423 below the slider 422. The limit block 424 prevents the slide rod 423 from detaching from the second robotic arm 4. The limit groove 4232 completes the limitation of the first transmission wheel 4231. The first transmission wheel 4231 and the limit groove 4232 are clearance-matched.

[0037] Working process: The slewing support seat 2 drives the first mechanical arm 3 to perform horizontal position adjustment through the precise rotation of the built-in bearing. The connection between the first mechanical arm 3 and the base 1 is rotated through the first bearing 31. The second mechanical arm 4 forms a horizontal linkage with the first mechanical arm 3 through the second bearing 41.

[0038] The linear module 42 passes through the end of the second robotic arm 4, and the lead screw device 421 inside it drives the slider 422 to vertically rise and fall along the guide of the slide rod 423; the first transmission wheel 4231 at the bottom of the slide rod 423 and the second transmission wheel 51 at the shaft end of the drive motor 5 transmit power through gear meshing, and the cooperation between the limit block 424 and the second robotic arm 4 constrains the travel of the slide rod 423 to prevent over-limit movement.

[0039] When the gripping device 6 descends with the slide bar 423, the photoelectric sensor 61 feeds back an infrared detection signal to the interface module 21. When it detects that the borosilicate glass bottle enters the preset area, the signal triggers the linear module 42 to stop lifting and the drive motor 5 stops running.

[0040] The driven plate 63 is synchronously closed under the push of the telescopic device 64, and the semicircular groove of the clamping claw 65 on one side of the driven plate 63 contacts the bottle body under the elastic buffering action of the buffer pad 651: the buffer pad 651 first deforms to absorb the impact, and then the semicircular groove is rigidly clamped, and the differentiated radius design ensures that the bottle body transitions from flexibility to precise positioning;

[0041] The limit rod 66 constrains the spacing between multiple bottles to prevent the arrangement from shifting. After the clamping is completed, the slide bar 423 is lifted to drive the clamping device 6 to move upward, and the first mechanical arm 3 and the second mechanical arm 4 are linked through the first bearing 31 and the second bearing 41 to transfer the bottle group to the target station. In the release stage, the telescopic device 64 retracts the separation claw 65, and the buffer pad 651 elastically resets and detaches from the surface of the bottle body. The limit rod 66 maintains a short contact to ensure the stability of the bottle body, and all components are reset to the initial state. Each component realizes efficient and lossless automated operation through precise coordination of timing and spatial actions.

[0042] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A take-out mechanism for processing medium borosilicate glass bottles, characterized in that: It includes a base, a rotary support base, a first mechanical arm, a second mechanical arm, and a clamping device; A swivel support seat is fixedly arranged on the base; The slewing support seat is rotatably connected to one end of the first mechanical arm; The other end of the first mechanical arm is rotatably connected to one end of the second mechanical arm; The other end of the second mechanical arm is connected through the clamping device, and the upper end of the clamping device is provided with a linear module that passes through the second mechanical arm, and the linear module includes a slide rod, a screw device and a drive motor. The slide rod is connected to the screw device, and the lower end of the slide rod is coaxially provided with a first transmission wheel, the first transmission wheel is meshed with the second transmission wheel, and the second transmission wheel is connected to the output shaft of the drive motor at the top.

2. A medium borosilicate glass bottle processing removal mechanism according to claim 1, characterized in that: A bottom plate is arranged at the bottom of the base, and a plurality of reinforcing ribs are arranged on the base.

3. A medium borosilicate glass bottle processing removal mechanism according to claim 1, characterized in that: An interface module is arranged on one side of the slewing support seat.

4. A medium borosilicate glass bottle processing removal mechanism according to claim 1, characterized in that: A first bearing is provided at the connection between the first mechanical arm and the rotary support seat, and a second bearing is provided at the connection between the second mechanical arm and the first mechanical arm.

5. The taking-out mechanism for processing medium borosilicate glass bottles according to claim 1, characterized in that: The clamping device includes a photoelectric sensor, a positioning plate, a driven plate, a telescopic device, a clamping claw, and a limit rod; a photoelectric sensor is arranged on the upper part of one side of the positioning plate close to the driven plate, and the photoelectric sensor is responsible for controlling the lifting distance of the linear module; a telescopic device is arranged on the upper part of one side of the positioning plate close to the driven plate, and the other end of the telescopic device is connected to the driven plate; and clamping claws are respectively arranged on the sides of the positioning plate and the driven plate close to each other.

6. A medium borosilicate glass bottle processing removal mechanism according to claim 5, characterized in that: The clamping device further comprises a limiting rod, and the limiting rods are arranged at equal intervals below the positioning plate and the driven plate.

7. The taking-out mechanism for processing medium borosilicate glass bottles according to claim 1, characterized in that: Buffer pads are arranged on the clamping jaws on the driven plate at equal intervals.

8. The taking-out mechanism for processing medium borosilicate glass bottles according to claim 1, characterized in that: The linear module also includes a slider, a limit block and a limit groove. The slider is movably connected to the slide rod, and the slider is connected to the lead screw device. A limit block is coaxially arranged on the slide rod below the slider, and the limit groove completes the limitation of the first transmission wheel.

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