Feeding and discharging manipulator for plastic mold production

Abstract

The invention relates to the field of plastic mold production, in particular to a feeding and discharging manipulator for plastic mold production. Comprising a mechanical arm and a carrying table fixedly connected with the movable end of the mechanical arm, a plurality of top tables are arranged on the carrying table, and each top table is provided with a double-locking mechanism and a wiping mechanism. The double-locking mechanism comprises an air pipe, a suction cup, a pressing ring and an air leakage mechanism, when the plastic mold is grabbed, the pressing ring moves and is tightly buckled to the outer portion of the suction cup, double guarantees of mechanical locking and vacuum adsorption are formed, and the stability of a workpiece in the feeding and discharging process is improved. The wiping mechanism comprises a rotary table and a cotton cylinder, before the suction cup and the workpiece are fastened, the rotary table drives the cotton cylinder to wipe the surface of the workpiece, impurities on the surface of the workpiece are removed, and the adsorption capacity of the suction cup is enhanced. And when the workpiece is released, the air release mechanism can quickly release air from the suction cup. The feeding and discharging device is reasonable in structure, high in working efficiency, high in stability and capable of effectively meeting the feeding and discharging requirements in plastic mold production.

Description

Technical Field

[0001] The invention relates to the field of plastic mold production, in particular to a loading and unloading manipulator for plastic mold production. Background Art

[0002] In the field of plastic mold production, loading and unloading robots are commonly used automated equipment for performing operations such as grabbing, transferring, and placing plastic molds, thereby improving production efficiency and reducing labor intensity. However, existing loading and unloading robots for plastic mold production have some defects in practical applications, which affect their efficiency and reliability.

[0003] Traditional loading and unloading robots typically utilize a single vacuum cup gripping method, which has certain limitations. When the plastic mold surface is uneven or contains minor imperfections, the seal between the vacuum cup and the workpiece surface can be compromised, resulting in insufficient grip. During loading and unloading, the workpiece can easily fall, damaging it and potentially posing a safety hazard to the equipment and operators. Furthermore, air leaks or pressure fluctuations in the vacuum system can lead to unstable gripping, impacting the robot's proper operation.

[0004] Furthermore, existing loading and unloading robots typically lack the ability to clean the workpiece surface before gripping it. During the production process, impurities such as dust and oil may accumulate on the surface of plastic molds, further reducing the suction effect of the vacuum cups. Furthermore, during the gripping process, these impurities can enter the cups, causing blockage or damage, shortening their service life.

[0005] Secondly, the current vacuum suction cup cannot quickly deflate when loading and unloading workpieces, which means that the vacuum suction cup needs to be equipped with an electric deflation mechanism. However, the electric deflation mechanism will increase costs and energy consumption, and during the frequent start-stop process, it cannot adapt to the fast-paced loading and unloading process in plastic mold production.

[0006] Therefore, it is necessary for us to design a loading and unloading robot for plastic mold production. Summary of the Invention

[0007] Based on this, it is necessary to provide a loading and unloading robot for plastic mold production in response to the existing technical problems.

[0008] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0009] A loading and unloading robot for plastic mold production, comprising a robot arm and a carrier platform fixedly connected to a movable end of the robot arm and loaded with an air source, and further comprising:

[0010] The end of the carrier away from the robotic arm is fixedly connected to multiple top platforms, each of which is provided with a double locking mechanism for adsorbing the workpiece;

[0011] The double locking mechanism includes an air pipe connected to the air source and a suction cup coaxially connected to the air pipe. A pressure ring is coaxially sleeved on the outside of the air pipe. After the pressure ring moves, it is fastened to the outside of the suction cup. A degassing mechanism connected to the air pipe is provided above the pressure ring.

[0012] A wiping mechanism connected to the top platform is provided on the side of the air pipe. The wiping mechanism includes a turntable with a water storage cavity and multiple cotton cylinders arranged on the side of the turntable. The turntable is arranged on the side of the suction cup. The turntable drives the cotton cylinder to wipe the surface of the workpiece before the suction cup is fastened to the workpiece.

[0013] Furthermore, a rubber ring is sleeved on one side of the pressure ring close to the suction cup.

[0014] The double locking mechanism further includes a motor fixedly connected to the top platform, the output end of the motor is fixedly connected to the main gear, and the main ring gear is rotatably arranged beside the main gear and meshes with the main gear;

[0015] The inner ring of the main gear is coaxially connected to the auxiliary gear ring, and auxiliary gears are arranged in an equal-angle array on the side of the auxiliary gear ring close to the center of the circle. The lower end of the auxiliary gear is coaxially connected to the screw sleeve, and the lower end of the screw sleeve is threadedly connected to the screw, and the lower end of the screw is fixed to the upper end of the pressure ring.

[0016] Furthermore, a plurality of limit sleeves are arranged in an equal angle array along the circumferential direction on one side of the top platform close to the pressure ring. One end of the limit roller close to the pressure ring is key-connected to the limit roller, and the lower end of the limit roller is fixedly connected to the pressure ring.

[0017] The wiping mechanism further includes a fixed tube arranged beside the air pipe and fixedly connected to the top platform, the fixed tube is coaxially keyed to a moving tube, and the lower end of the moving tube is fixedly connected to the turntable;

[0018] The upper end of the turntable is fixedly connected with a ring rail, the upper end of the ring rail is slidably connected with a slide, the upper end of the slide is fixedly connected with a rack, the upper end of the rack is provided with a guide rail, and the guide rail is fixedly connected to the top platform;

[0019] A wheel frame fixedly connected to the top platform is provided on the side of the guide rail, and the lower end of the wheel frame is rotatably connected to the main pulley, and the main pulley is coaxially fixedly connected to the secondary gear meshing with the rack. The upper end of the top platform is rotatably provided with a secondary bevel gear coaxially connected to the fixed tube, and the side of the secondary bevel gear is rotatably provided with a main bevel gear meshing with it, and the main bevel gear is coaxially fixedly connected to the secondary pulley, and the secondary pulley is connected to the main pulley through a belt drive.

[0020] Furthermore, a clamping ring is fixedly connected to the lower end of the fixed tube coaxially, and a chuck coaxially arranged with the moving tube is rotatably connected to the upper end of the turntable;

[0021] A first spring is sleeved on the outer coaxial line of the moving tube. One end of the first spring abuts against the clamping ring, and the other end abuts against the chuck.

[0022] Furthermore, a ball is provided in the middle of the turntable on the side away from the top platform.

[0023] Furthermore, a cannula is coaxially inserted into the cotton cylinder and connected to the turntable for rotation, and the cannula is provided with water holes in an array with equal angles along the circumferential direction;

[0024] The middle part of the cannula is fixedly connected with a cotton core, and one end of the cotton core extends into the water storage cavity.

[0025] The further deflation mechanism includes a first oblique rod connected to the trachea dynamic seal and a second oblique rod fixedly connected to the upper end of the pressure ring, and an inclined surface is formed on the end of the first oblique rod and the second oblique rod adjacent to each other;

[0026] When the pressure ring moves upward, the first oblique rod is driven to move toward the direction close to the axis of the trachea through the second oblique rod.

[0027] Furthermore, a vent hole is formed in the middle of the first oblique rod, a holder is fixedly connected to the inner wall of the air pipe, a clamping shaft is fixedly connected in the middle of the holder and is slidably connected to the first oblique rod, and the clamping shaft is dynamically sealed to the first oblique rod;

[0028] A second spring is sleeved on the outer coaxial line of the clamping shaft, one end of the second spring is fixedly connected to the first oblique rod, and the other end is fixedly connected to the clamping seat;

[0029] An air relief groove is formed on the upper end of the clamping shaft, and the air relief groove is communicated with the air relief hole after the first oblique rod moves toward the direction close to the axis of the trachea.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] First, the present invention's loading and unloading robot for plastic mold production adopts a dual-security method of "mechanical locking + vacuum adsorption". The pressure ring is pressed against the outside of the suction cup to form a physical clamp, and combined with the vacuum suction of the suction cup, it greatly improves the stability of the workpiece during loading and unloading. Compared with the traditional single vacuum suction cup grasping method, the present invention can effectively solve the problem of insufficient adsorption force caused by factors such as uneven workpiece surface and fluctuations in the vacuum system, reduce the risk of workpiece falling, and improve production efficiency and product quality.

[0032] Secondly, the present invention provides a wiping mechanism to wipe the surface of the workpiece before the suction cup contacts the workpiece. By wiping the workpiece surface with a cotton tube, dust, oil and other impurities on the surface of the plastic mold (i.e., the workpiece) can be effectively removed, thereby improving the contact quality between the suction cup and the workpiece surface, thereby enhancing the adsorption capacity of the suction cup. At the same time, it prevents impurities from entering the suction cup, reduces the probability of clogging and damage of the suction cup, extends the service life of the suction cup, and reduces the maintenance cost of the equipment. In addition, in the process of the top table approaching the plastic mold, the turntable can automatically rotate to complete the wiping of the workpiece surface without the need for an additional power source, thereby improving the energy utilization efficiency of the equipment.

[0033] Third: The present invention adopts a mechanical structure type air-deflation mechanism to deflate the trachea. The air-deflation mechanism can be triggered by making the pressure ring excessively displace upward during the resetting process of the pressure ring, so that the gas between the suction cup and the workpiece is quickly released, and the suction cup and the workpiece are quickly separated. Compared with the traditional air-deflation mechanism, the air-deflation speed of the present invention is faster, which can effectively improve the work efficiency. At the same time, the air-deflation mechanism has a simple structure and high reliability, and is not prone to air leakage, thereby ensuring the normal adsorption function of the suction cup. In addition, the resetting process of the air-deflation mechanism is automatically completed by the spring, and no additional power drive is required, which simplifies the structure of the equipment and reduces energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment;

[0035] Figure 2 is a front view of an embodiment;

[0036] Figure 3 Schematic diagram of the three-dimensional structure of the trachea and the suction cup in the embodiment;

[0037] Figure 4 yes Figure 3 A magnified view of the structure at center A;

[0038] Figure 5 is a schematic diagram of the three-dimensional structure of the trachea and the suction cup from another angle in the embodiment;

[0039] Figure 6 is a half-section view of the three-dimensional structure of the trachea and the suction cup in the embodiment;

[0040] Figure 7 yes Figure 6 A magnified view of the structure at point B in the middle;

[0041] Figure 8 Schematic diagram of the three-dimensional structure of the cotton tube and the cannula in the embodiment.

[0042] The numbers in the figure are:

[0043] 1. Workpiece; 2. Robotic arm; 3. Carrier; 4. Top platform; 5. Motor; 6. Main gear; 7. Main ring gear; 8. Secondary ring gear; 9. Secondary gear; 10. Screw sleeve; 11. Screw; 12. Limit roller; 13. Limit sleeve; 14. Press ring; 15. Rubber ring; 16. Air pipe; 17. Suction cup; 18. Fixed pipe; 19. Rack; 20. Guide rail; 21. Secondary gear; 22. Wheel frame; 23. Main pulley; 24. Secondary pulley; 25. Main bevel gear; 26, secondary bevel gear; 27, moving tube; 28, retaining ring; 29, first spring; 30, chuck; 31, turntable; 32, water storage chamber; 33, ring rail; 34, slide; 35, ball bearing; 36, insert tube; 37, water hole; 38, cotton core; 39, cotton tube; 40, first oblique rod; 41, bleed hole; 42, second spring; 43, holder; 44, clamping shaft; 45, bleed groove; 46, second oblique rod; 47, inclined surface. DETAILED DESCRIPTION

[0044] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] refer to Figures 1 to 8 A loading and unloading robot for plastic mold production includes a robot arm 2 and a carrier 3 fixedly connected to the movable end of the robot arm 2 and loaded with an air source, and further includes:

[0046] The end of the carrier 3 away from the robot arm 2 is fixedly connected to a plurality of top platforms 4, each of which is provided with a double locking mechanism for adsorbing the workpiece 1;

[0047] The double locking mechanism includes an air pipe 16 connected to the air source and a suction cup 17 coaxially connected to the air pipe 16. A pressure ring 14 is coaxially sleeved on the outside of the air pipe 16. When the workpiece 1 is grasped, the pressure ring 14 moves and fastens to the outside of the suction cup 17. A degassing mechanism connected to the air pipe 16 is provided above the pressure ring 14.

[0048] A wiping mechanism connected to the top platform 4 is provided on the side of the air pipe 16. The wiping mechanism includes a turntable 31 with a water storage chamber 32 and a plurality of cotton tubes 39 provided on the side of the turntable 31. The turntable 31 is provided on the side of the suction cup 17. The turntable 31 drives the cotton tubes 39 to wipe the surface of the workpiece 1 before the suction cup 17 is fastened to the workpiece 1.

[0049] When the device is in operation, the robotic arm 2 drives the carrier 3 to move to the side of the workpiece 1 , and then drives the carrier 3 close to the workpiece 1 until the cotton tube 39 contacts the surface of the workpiece 1 .

[0050] When grabbing the workpiece 1, as the carrier 3 moves toward the workpiece 1, the turntable 31 will first drive the cotton tube 39 to wipe the surface of the workpiece 1. After wiping, the turntable 31 drives the cotton tube 39 to deflect to the side of the suction cup 17 to facilitate contact between the suction cup 17 and the surface of the workpiece 1. Then, the suction cup 17 is fastened to the surface of the workpiece 1 under the drive of the carrier 3. At this time, the air source loaded in the carrier 3 is started and the air between the suction cup 17 and the workpiece 1 is extracted.

[0051] When the air between the suction cup 17 and the workpiece 1 is extracted, the pressure ring 14 moves toward the suction cup 17 and presses against the outside of the suction cup 17. At this time, the pressure ring 14 presses the suction cup 17 tightly against the outside of the workpiece 1 through mechanical pressure, forming a physical clamp, and combined with the vacuum suction force of the suction cup 17, the dual protection of "mechanical locking + vacuum adsorption" is achieved, thereby improving the stability of the workpiece 1 during the loading and unloading process.

[0052] After the workpiece 1 is transferred to the corresponding position, the pressure ring 14 will separate from the suction cup 17, and during the resetting process, the excessive displacement will trigger the air release mechanism to quickly separate the suction cup 17 and the workpiece 1, and then move to the initial position to prepare for the next grasping task.

[0053] In order to buffer the mechanical forces generated during the mechanical locking process and protect the suction cup 17, the following features are also provided:

[0054] like Figure 3 As shown, a rubber ring 15 is sleeved on the side of the pressure ring 14 near the suction cup 17. When the pressure ring 14 moves toward the suction cup 17 and presses against the outside of the suction cup 17, the rubber ring 15 first contacts the suction cup 17. The elastic material of the rubber ring 15 can effectively buffer the mechanical impact between the pressure ring 14 and the suction cup 17, preventing damage to the suction cup 17 caused by rigid contact.

[0055] In order to drive the pressure ring 14 to move, the following features are also specifically provided:

[0056] like Figure 6 As shown, the double locking mechanism further includes a motor 5 fixedly connected to the top platform 4, the output end of the motor 5 is fixedly connected to the main gear 6, and the main gear ring 7 is rotatably arranged beside the main gear 6 and meshes with the main gear 6;

[0057] The inner ring of the main gear 6 is coaxially fixedly connected to the auxiliary ring gear 8, and auxiliary gears 9 are arranged in an equiangular array on the side of the auxiliary ring gear 8 close to the center of the circle. The lower end of the auxiliary gear 9 is coaxially fixedly connected to the screw sleeve 10, and the lower end of the screw sleeve 10 is threadedly connected to the screw rod 11, and the lower end of the screw rod 11 is fixedly connected to the upper end of the pressure ring 14.

[0058] When the pressure ring 14 needs to be moved, the motor 5 is started and drives the main gear 6 to rotate, which in turn drives the main ring gear 7 to rotate. The rotation of the main ring gear 7 drives the auxiliary ring gear 8, which is fixed to it, to rotate synchronously. The auxiliary ring gear 8 then drives the auxiliary gear 9 to rotate through meshing transmission with the auxiliary gear 9. The rotation of the auxiliary gear 9 drives the screw sleeve 10, which is fixed to it, to rotate. Because the screw sleeve 10 is threadedly connected to the screw rod 11, and the lower end of the screw rod 11 is fixed to the pressure ring 14, the rotation of the screw sleeve 10 is converted into linear motion of the screw rod 11 (the detailed limit structure is described later), thereby driving the pressure ring 14 to move toward or away from the suction cup 17.

[0059] In order to limit the movement of the pressure ring 14 and prevent the screw sleeve 10 from being unable to drive the pressure ring 14 to move when rotating, the following features are specifically provided:

[0060] like Figure 6 As shown, a plurality of limiting sleeves 13 are arranged in an equiangular array along the circumferential direction on one side of the top platform 4 near the pressure ring 14. One end of the limiting roller 12 near the pressure ring 14 is keyed to the limiting roller 12, and the lower end of the limiting roller 12 is fixedly connected to the pressure ring 14. When the screw sleeve 10 rotates to drive the screw 11 to move linearly, the limiting roller 12 moves linearly within the limiting sleeve 13, limiting the movement of the pressure ring 14, ensuring that the pressure ring 14 can move smoothly in the linear direction, preventing the screw sleeve 10 from failing to drive the pressure ring 14 to move or the pressure ring 14 from deviating when the screw sleeve 10 rotates, ensuring the coaxiality of the pressure ring 14 and the suction cup 17, thereby ensuring that the pressure ring 14 can accurately press against the outside of the suction cup 17.

[0061] In order to realize that when the top platform 4 approaches the workpiece 1, the turntable 31 will rotate so as to drive the cotton tube 39 to wipe the surface of the workpiece 1, the following features are also provided:

[0062] like Figure 6 As shown, the wiping mechanism further includes a fixed tube 18 disposed beside the air pipe 16 and fixedly connected to the top platform 4. The fixed tube 18 is coaxially keyed to a movable tube 27, and the lower end of the movable tube 27 is fixedly connected to the turntable 31.

[0063] The upper end of the turntable 31 is fixedly connected to a ring rail 33, the upper end of the ring rail 33 is slidably connected to a slide 34, the upper end of the slide 34 is fixedly connected to a rack 19, and the upper end of the rack 19 is provided with a guide rail 20 (such as Figure 3 As shown), the guide rail 20 is fixedly connected to the top platform 4;

[0064] A wheel frame 22 fixedly connected to the top platform 4 is provided on the side of the guide rail 20, and the lower end of the wheel frame 22 is rotatably connected to the main pulley 23, and the main pulley 23 is coaxially fixedly connected to the secondary gear 21 meshing with the rack 19. The upper end of the top platform 4 is rotatably provided with a secondary bevel gear 26 coaxially connected to the fixed tube 18, and a main bevel gear 25 meshing with the secondary bevel gear 26 is rotatably provided on the side of the secondary bevel gear 26. The main bevel gear 25 is coaxially fixedly connected to the secondary pulley 24, and the secondary pulley 24 is connected to the main pulley 23 through a belt drive.

[0065] As the top platform 4 approaches the workpiece 1, the turntable 31 moves along with the top platform 4 in the direction of approaching the workpiece 1. At this time, the slide 34 slides on the ring rail 33, and the rack 19 moves along the guide rail 20. The movement of the rack 19 drives the secondary gear 21 meshing with it to rotate, and the rotation of the secondary gear 21 drives the primary pulley 23 to rotate. The primary pulley 23 drives the secondary pulley 24 to rotate through the belt transmission. The rotation of the secondary pulley 24 drives the primary bevel gear 25 connected to it to rotate. The primary bevel gear 25 drives the secondary bevel gear 26 to rotate through the meshing transmission with the secondary bevel gear 26. The rotation of the secondary bevel gear 26 drives the fixed tube 18 fixed to it to rotate. The fixed tube 18 drives the movable tube 27 to rotate through the key connection. The rotation of the movable tube 27 drives the turntable 31 to rotate, thereby realizing that the turntable 31 rotates in the process of moving closer to the workpiece 1, so as to drive the cotton tube 39 to wipe the surface of the workpiece 1.

[0066] When the suction cup 17 and the surface of the workpiece 1 are attracted to each other, the rack 19 needs to move along the guide rail 20, that is, the turntable 31 moves toward the top platform 4. In order to ensure that the turntable 31 moves away from the top platform 4 after the suction cup 17 and the workpiece 1 are separated, the following features are also provided:

[0067] like Figure 6 As shown, the lower end of the fixed tube 18 is coaxially fixed with a clamping ring 28, and the upper end of the turntable 31 is rotatably connected to a chuck 30 coaxially arranged with the movable tube 27;

[0068] A first spring 29 is coaxially sleeved around the outer surface of the movable tube 27. One end of the first spring 29 abuts against the retaining ring 28, and the other end abuts against the chuck 30. When the suction cup 17 and the surface of the workpiece 1 attract each other, the rack 19 moves along the guide rail 20, causing the turntable 31 to move toward the top platform 4. At this point, the first spring 29 is compressed. When the suction cup 17 and the workpiece 1 separate, the elastic restoring force of the first spring 29 pushes the turntable 31 away from the top platform 4, returning it to its initial position and preparing for the next wiping task.

[0069] In order to reduce the friction between the turntable 31 and the workpiece 1, the following features are specifically provided:

[0070] like Figure 5As shown, a ball bearing 35 is provided in a rolling manner in the middle of the side of the turntable 31 away from the top platform 4. When the turntable 31 wipes the surface of the workpiece 1, the ball bearing 35 contacts the surface of the workpiece 1, converting the sliding friction between the turntable 31 and the surface of the workpiece 1 into rolling friction, which greatly reduces the friction between the turntable 31 and the workpiece 1, allowing the turntable 31 to rotate more smoothly, improving the wiping effect, and also reducing damage to the surface of the workpiece 1.

[0071] In order to introduce the water in the water storage chamber 32 into the cotton tube 39, the following features are specifically provided:

[0072] like Figure 8 As shown, the cotton cylinder 39 is coaxially inserted with an insert 36 that is rotatably connected to the turntable 31, and the insert 36 is formed with water holes 37 in an array with equal angles along the circumferential direction;

[0073] A cotton core 38 is fixedly connected to the middle portion of the insertion tube 36 , and one end of the cotton core 38 extends into the water storage chamber 32 .

[0074] When the cotton tube 39 needs to be moistened, the water in the water storage chamber 32 is guided to the insert 36 by the capillary action of the cotton core 38. The water then seeps into the cotton tube 39 through the plurality of water holes 37 on the insert 36. This method evenly distributes the water on the cotton tube 39, ensuring that the cotton tube 39 effectively wipes the surface of the workpiece 1. Furthermore, the guiding effect of the cotton core 38 controls the water seepage rate, preventing excessive or insufficient water, and maintaining the appropriate degree of moisture in the cotton tube 39.

[0075] In order to supplement the specific structure of the deflation mechanism, the following features are also specifically set:

[0076] like Figure 4 and Figure 8 As shown, the degassing mechanism includes a first oblique rod 40 dynamically sealed with the trachea 16 and a second oblique rod 46 fixedly connected to the upper end of the pressure ring 14, and an inclined surface 47 is formed on the end close to the first oblique rod 40 and the second oblique rod 46;

[0077] When the pressure ring 14 moves upward, the first oblique rod 40 is driven by the second oblique rod 46 to move toward the direction close to the axis of the trachea 16 .

[0078] After the workpiece 1 is transferred to the corresponding position, the pressure ring 14 moves upward to reset. During the reset process, the pressure ring 14 drives the second inclined rod 46 to move upward, and the inclined surface 47 of the second inclined rod 46 contacts the inclined surface 47 of the first inclined rod 40 and pushes the first inclined rod 40 to move toward the direction close to the axis of the trachea 16.

[0079] In order to ensure that the gas in the air pipe 16 is quickly released after the first oblique rod 40 moves, the following features are also provided:

[0080] like Figure 8 As shown, a vent hole 41 is formed in the middle of the first oblique rod 40, a holder 43 is fixedly connected to the inner wall of the air pipe 16, and a clamping shaft 44 is fixedly connected to the middle of the holder 43 and is slidably connected to the first oblique rod 40. The clamping shaft 44 is dynamically sealed with the first oblique rod 40;

[0081] A second spring 42 is coaxially sleeved on the outer portion of the clamping shaft 44. One end of the second spring 42 is fixedly connected to the first oblique rod 40, and the other end is fixedly connected to the clamping seat 43.

[0082] An air relief groove 45 is formed at the upper end of the clamping shaft 44 . The air relief groove 45 is communicated with the air relief hole 41 after the first oblique rod 40 moves toward the axis of the air pipe 16 .

[0083] After the first inclined rod 40 moves toward the axis of the air pipe 16, the air vent hole 41 is connected to the air vent groove 45. At this time, the gas in the air pipe 16 is quickly released to the outside through the air vent hole 41 and the air vent groove 45, so that the air pressure between the suction cup 17 and the workpiece 1 is quickly restored to equilibrium, thereby achieving rapid separation of the suction cup 17 and the workpiece 1. When the pressure ring 14 moves upward, the first inclined rod 40 moves and the second spring 42 is compressed. When the pressure ring 14 continues to move downward, causing the first inclined rod 40 to break contact with the second inclined rod 46, the elastic restoring force of the second spring 42 will push the first inclined rod 40 back to its initial position, preparing for the next suction task.

[0084] The detailed working principle of this device is as follows: during the production process of the workpiece 1, the workpiece 1 needs to be loaded and unloaded, and the robotic arm 2 drives the carrier 3 to move to the side of the workpiece 1 to be grasped, and then the robotic arm 2 drives the carrier 3 to move in the direction close to the workpiece 1. In the process of the carrier 3 approaching the workpiece 1, the turntable 31 will move together with the carrier 3 in the direction close to the workpiece 1. At this time, under the action of the wiping mechanism, the slide 34 slides on the ring rail 33, and the rack 19 moves along the guide rail 20. The movement of the rack 19 will drive the secondary gear 21 engaged with it to rotate, and the rotation of the secondary gear 21 drives the turntable 31 to rotate through a series of transmission mechanisms. The rotation of the turntable 31 will drive the cotton tube 39 set on its side to rotate, so that the cotton tube 39 can wipe the surface of the workpiece 1 when it contacts the surface of the workpiece 1.

[0085] The reason for wiping the surface of workpiece 1 with cotton drum 39 is that during the production process, impurities such as dust and oil may adhere to the surface of workpiece 1. These impurities may affect the suction cup 17's ability to hold workpiece 1, reducing the seal between suction cup 17 and workpiece 1 and thereby reducing the suction force. Wiping the surface of workpiece 1 with cotton drum 39 effectively removes these impurities, improves the contact quality between suction cup 17 and workpiece 1, and thereby enhances the suction capacity of suction cup 17.

[0086] After wiping is complete, the turntable 31 has driven the cotton tube 39 to deflect to the side of the suction cup 17, allowing the suction cup 17 to contact the surface of the workpiece 1. Subsequently, the suction cup 17 is fastened to the surface of the workpiece 1 under the drive of the carrier 3. At this time, the air source loaded in the carrier 3 is activated and draws air between the suction cup 17 and the workpiece 1, creating a negative pressure between the suction cup 17 and the workpiece 1, thereby achieving adsorption of the workpiece 1. When the air between the suction cup 17 and the workpiece 1 is removed, the motor 5 in the double locking mechanism is activated, and through a series of transmission mechanisms, the pressure ring 14 is driven to move toward the suction cup 17 and press against the outside of the suction cup 17.

[0087] The pressure ring 14, when pressed against the outside of the suction cup 17, enhances the suction cup 17's holding capacity. This works by: Firstly, the pressure ring 14 mechanically presses the suction cup 17 against the outside of the workpiece 1, creating a physical grip and increasing the contact pressure between the suction cup 17 and the workpiece 1, thereby improving the seal. Secondly, the pressure ring 14, positioned over the suction cup 17, prevents outside air from entering the space between the suction cup 17 and the workpiece 1 through the edge of the suction cup 17, further enhancing the stability of the negative pressure environment 14. This dual-security "mechanical locking + vacuum suction" approach offers greater stability and reliability than traditional vacuum suction cup 17 gripping methods. Traditional vacuum suction cup 17 gripping methods rely solely on vacuum suction to secure the workpiece 1. This can easily lead to insufficient suction when the workpiece 1's surface is uneven, contains minor impurities, or fluctuates in the air supply, causing the workpiece 1 to fall during loading and unloading. This dual-security approach of the present device ensures that the mechanical lock maintains its secure hold on the workpiece 1 even when the vacuum suction fluctuates, significantly improving the stability of the workpiece 1 during loading and unloading.

[0088] After the workpiece 1 is transferred to the corresponding position, the workpiece 1 needs to be put down. At this time, the pressure ring 14 will move upward and separate from the suction cup 17, and in the process of resetting, it will first move upward excessively to trigger the air release mechanism. The working process of the air release mechanism is as follows: the pressure ring 14 moves upward to drive the second inclined rod 46 to move upward, and the inclined surface 47 of the second inclined rod 46 pushes the first inclined rod 40 to move in the direction close to the axis of the trachea 16. When the first inclined rod 40 moves to a certain position, its air release hole 41 is connected to the air release groove 45 on the clamping shaft 44, and the gas in the trachea 16 is quickly released to the outside through the air release hole 41 and the air release groove 45, so that the air pressure between the suction cup 17 and the workpiece 1 is quickly restored to balance, thereby achieving rapid separation of the suction cup 17 and the workpiece 1. The pressure ring 14 then moves downward to the initial position to prepare for the next grasping task.

[0089] During the process of guiding the water in the water storage chamber 32 and soaking it into the cotton cylinder 39, the cotton wick 38 is used to guide the water in the water storage chamber 32, and then it penetrates into the cotton cylinder 39 through the plurality of water holes 37. During this process, the cotton wick 38 has a good capillary effect, which can slowly and evenly guide the water in the water storage chamber 32 to the insertion tube 36, and then penetrate into the cotton cylinder 39 through the water holes 37 in the insertion tube 36. This method can evenly distribute the water on the cotton cylinder 39, ensuring that the cotton cylinder 39 effectively wipes the surface of the workpiece 1. At the same time, the guiding effect of the cotton wick 38 can control the water seepage rate, avoiding excessive or insufficient water, and maintaining the appropriate moisture level in the cotton cylinder 39.

[0090] The above embodiments merely represent one or several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, and these modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A loading and unloading robot for plastic mold production, comprising a robot arm (2) and a carrier (3) fixedly connected to the movable end of the robot arm (2) and loaded with an air source, characterized in that: Also includes: A plurality of top platforms (4) are fixedly connected to one end of the carrier (3) away from the robotic arm (2), and each top platform (4) is provided with a double locking mechanism for adsorbing the workpiece (1); The double locking mechanism comprises an air pipe (16) connected to an air source and a suction cup (17) coaxially connected to the air pipe (16); a pressure ring (14) is coaxially sleeved on the outside of the air pipe (16); the pressure ring (14) is fastened to the outside of the suction cup (17) after movement; and an air release mechanism connected to the air pipe (16) is provided above the pressure ring (14); A wiping mechanism connected to the top platform (4) is provided on the side of the air pipe (16). The wiping mechanism includes a turntable (31) formed with a water storage cavity (32) and a plurality of cotton cylinders (39) provided on the side of the turntable (31). The turntable (31) is provided on the side of the suction cup (17). Before the suction cup (17) is fastened to the workpiece (1), the turntable (31) drives the cotton cylinders (39) to wipe the surface of the workpiece (1).

2. A loading and unloading robot for plastic mold production according to claim 1, characterized in that: A rubber ring (15) is sleeved on one side of the pressure ring (14) close to the suction cup (17).

3. A loading and unloading robot for plastic mold production according to claim 1, characterized in that: The double locking mechanism further comprises a motor (5) fixedly connected to the top platform (4), an output end of the motor (5) is fixedly connected to a main gear (6), and a main gear ring (7) is rotatably arranged beside the main gear (6) and meshed with the main gear (6); The inner ring of the main gear (6) is coaxially fixedly connected to a secondary gear ring (8), and a secondary gear (9) is arranged in an equal-angle array on one side of the secondary gear ring (8) close to the center of the circle. The lower end of the secondary gear (9) is coaxially fixedly connected to a screw sleeve (10), and the lower end of the screw sleeve (10) is threadedly connected to a screw rod (11), and the lower end of the screw rod (11) is fixedly connected to the upper end of the pressure ring (14).

4. A loading and unloading robot for plastic mold production according to claim 1, characterized in that: A plurality of limiting sleeves (13) are arranged in an equal angle array along the circumferential direction on one side of the top platform (4) close to the pressure ring (14); one end of the limiting roller (12) close to the pressure ring (14) is key-connected to the limiting roller (12); and the lower end of the limiting roller (12) is fixedly connected to the pressure ring (14).

5. The loading and unloading robot for plastic mold production according to claim 1, characterized in that: The wiping mechanism further comprises a fixed tube (18) arranged beside the air pipe (16) and fixedly connected to the top platform (4); the fixed tube (18) is coaxially keyed to a moving tube (27); the lower end of the moving tube (27) is fixedly connected to the turntable (31); The upper end of the turntable (31) is fixedly connected to a ring rail (33), the upper end of the ring rail (33) is slidably connected to a slide (34), the upper end of the slide (34) is fixedly connected to a rack (19), the upper end of the rack (19) is provided with a guide rail (20), and the guide rail (20) is fixedly connected to the top platform (4); A wheel frame (22) fixedly connected to the top platform (4) is provided on the side of the guide rail (20); a main pulley (23) is rotatably connected to the lower end of the wheel frame (22); a secondary gear (21) meshing with the rack (19) is coaxially fixedly connected to the main pulley (23); a secondary bevel gear (26) coaxially fixedly connected to the fixed tube (18) is rotatably provided on the upper end of the top platform (4); a main bevel gear (25) meshing with the secondary bevel gear (26) is rotatably provided on the side of the secondary bevel gear (26); a secondary bevel gear (25) meshing with the secondary bevel gear (25) is coaxially fixedly connected to the secondary pulley (24); and the secondary pulley (24) and the main pulley (23) are connected through a belt transmission.

6. A loading and unloading robot for plastic mold production according to claim 5, characterized in that: The lower end of the fixed tube (18) is coaxially fixedly connected with a clamping ring (28), and the upper end of the turntable (31) is rotatably connected with a chuck (30) coaxially arranged with the moving tube (27); A first spring (29) is coaxially sleeved on the outside of the moving tube (27). One end of the first spring (29) abuts against the clamping ring (28), and the other end abuts against the chuck (30).

7. A loading and unloading robot for plastic mold production according to claim 1, characterized in that: A ball (35) is provided in a rolling manner in the middle of the turntable (31) away from the top platform (4).

8. The loading and unloading robot for plastic mold production according to claim 1, characterized in that: The cotton cylinder (39) is coaxially inserted with an insert (36) rotatably connected to the turntable (31), and the insert (36) is formed with water holes (37) in an array at equal angles along the circumferential direction; A cotton core (38) is fixedly connected to the middle of the insertion tube (36), and one end of the cotton core (38) extends into the water storage chamber (32).

9. A loading and unloading robot for plastic mold production according to claim 1, characterized in that: The degassing mechanism comprises a first oblique rod (40) dynamically and sealingly connected to the trachea (16) and a second oblique rod (46) fixedly connected to the upper end of the pressure ring (14); an inclined surface (47) is formed on the end of the first oblique rod (40) and the second oblique rod (46) adjacent to each other; When the pressure ring (14) moves upward, the first oblique rod (40) is driven to move toward the direction close to the axis of the trachea (16) through the second oblique rod (46).

10. A loading and unloading robot for plastic mold production according to claim 9, characterized in that: A vent hole (41) is formed in the middle of the first oblique rod (40), a holder (43) is fixedly connected to the inner wall of the air pipe (16), a holder (44) is fixedly connected to the middle of the holder (43) and is slidably connected to the first oblique rod (40), and the holder (44) is dynamically sealed to the first oblique rod (40); A second spring (42) is coaxially sleeved on the outside of the clamping shaft (44), one end of the second spring (42) is fixedly connected to the first oblique rod (40), and the other end is fixedly connected to the clamping seat (43); An air relief groove (45) is formed on the upper end of the clamping shaft (44), and the air relief groove (45) is communicated with the air relief hole (41) after the first oblique rod (40) moves toward the axis direction of the air pipe (16).

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