An up-and-down feeding mechanical hand for plastic mold production

Abstract

The present application relates to the field of plastic mold production, specifically to a feeding and discharging manipulator for plastic mold production. The feeding and discharging manipulator comprises a mechanical arm and a carrier fixed to the movable end of the mechanical arm, and a plurality of top tables are arranged on the carrier. 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 a deflation mechanism. When the plastic mold is grabbed, the pressing ring moves and is buckled to the outside of the suction cup, forming a double guarantee of "mechanical locking + vacuum adsorption", which improves the stability of the workpiece during feeding and discharging. The wiping mechanism comprises a rotary table and a cotton tube. Before the suction cup is buckled to the workpiece, the rotary table drives the cotton tube to wipe the surface of the workpiece, removing impurities on the surface of the workpiece and enhancing the adsorption capacity of the suction cup. When the workpiece is released, the deflation mechanism can quickly deflate the suction cup. The present application has reasonable structure, high work efficiency and strong stability, and can effectively meet the feeding and discharging requirements in plastic mold production.

Description

Technical Field

[0001] This invention relates to the field of plastic mold manufacturing, specifically to a loading and unloading robot for plastic mold manufacturing. Background Technology

[0002] In the field of plastic mold manufacturing, loading and unloading robots are commonly used automated equipment to perform operations such as gripping, transferring, and placing plastic molds, thereby improving production efficiency and reducing labor intensity. However, existing loading and unloading robots used in plastic mold manufacturing have some shortcomings in practical applications, affecting their working efficiency and reliability.

[0003] Traditional loading and unloading robots typically use a single vacuum suction cup gripping method, which has certain limitations. When the surface of the plastic mold is uneven or has minor defects, the seal between the vacuum suction cup and the workpiece surface will be affected, resulting in insufficient suction force. During the loading and unloading process, the workpiece is prone to falling, which can not only damage the workpiece but also pose safety hazards to the equipment and operators. In addition, when the vacuum system leaks or experiences pressure fluctuations, the suction force will also be unstable, affecting the normal operation of the robot.

[0004] Meanwhile, existing robotic arms for loading and unloading typically lack the function of cleaning the workpiece surface before gripping it. During the production process, plastic molds may accumulate dust, oil, and other impurities on their surface, which can further reduce the suction effect of the vacuum suction cup. Moreover, during the gripping process, these impurities may enter the suction cup, causing blockage or damage and shortening its lifespan.

[0005] Secondly, current vacuum chucks cannot quickly depressurize when loading and unloading workpieces, which requires the addition of an electrified depressurization mechanism. However, the electrified depressurization mechanism increases costs and energy consumption, and it cannot adapt to the fast-paced loading and unloading process in plastic mold production due to frequent start-stop operations.

[0006] Therefore, it is necessary to design a robotic arm for loading and unloading materials in plastic mold production. Summary of the Invention

[0007] Therefore, it is necessary to provide a loading and unloading robot for plastic mold production to address the existing technical problems.

[0008] To solve the problems of the prior art, the technical solution adopted by the present invention is as follows:

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

[0010] Multiple top platforms are fixed to the end of the platform away from the robotic arm, and each top platform is equipped with a double locking mechanism for adsorbing the workpiece.

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

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

[0013] A rubber ring is fitted onto the side of the pressure ring closest to the suction cup.

[0014] The further double locking mechanism also includes a motor fixedly connected to the top platform, with a main gear fixedly connected to the output end of the motor, and a main gear ring rotatably located beside the main gear and meshing with the main gear.

[0015] The inner ring of the main gear is coaxially fixed to the secondary gear ring. The secondary gear ring is arranged in an equiangular array on one side near the center. The lower end of the secondary gear is coaxially fixed to the threaded sleeve. The lower end of the threaded sleeve is threaded to the screw rod. The lower end of the screw rod is fixed to the upper end of the pressure ring.

[0016] Further, on the side of the top platform near the pressure ring, there are several limiting sleeves arranged at equal angles along the circumference. The end of the limiting sleeve near the pressure ring is keyed to a limiting roller, and the lower end of the limiting roller is fixedly connected to the pressure ring.

[0017] The further wiping mechanism also includes a fixed tube located beside the trachea and fixed to the top platform, with a movable tube coaxially keyed to the fixed tube, and the lower end of the movable tube fixed to the turntable.

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

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

[0020] Furthermore, a retaining ring is fixedly connected to the lower end of the fixed tube along the same axis, and a chuck is rotatably connected to the upper end of the turntable, which is set along the same axis as the moving tube.

[0021] A first spring is coaxially sleeved on the outside of the moving tube. One end of the first spring abuts against the retaining ring, and the other end abuts against the chuck.

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

[0023] Furthermore, a tube is inserted coaxially into the cotton tube and is rotatably connected to the turntable. The tube is formed with water holes arranged in an equal angle along the circumferential direction.

[0024] A cotton core is fixed to the middle of the cannula, and one end of the cotton core extends into the water storage chamber.

[0025] The further venting mechanism includes a first inclined rod connected to the tracheal tube in a dynamic seal and a second inclined rod fixed to the upper end of the pressure ring, with an inclined surface formed at the end of the first and second inclined rods that are close to each other;

[0026] When the pressure ring moves upward, it drives the first inclined rod to move closer to the axis of the trachea via the second inclined rod.

[0027] Furthermore, a vent hole is formed in the middle of the first inclined rod, and a retainer is fixedly connected to the inner wall of the air pipe. A retainer shaft is fixedly connected to the middle of the retainer shaft and is slidably connected to the first inclined rod. The retainer shaft is dynamically sealed to the first inclined rod.

[0028] A second spring is coaxially sleeved on the outside of the clasp. One end of the second spring is fixedly connected to the first inclined rod, and the other end is fixedly connected to the clasp seat.

[0029] The upper end of the jack is formed with a venting groove, which connects with the venting hole after the first inclined rod moves toward the axis of the air pipe.

[0030] The beneficial effects of this invention compared to the prior art are:

[0031] Firstly, the loading and unloading robot for plastic mold production of this invention adopts a dual protection method of "mechanical locking + vacuum adsorption". By pressing the pressure ring against the outside of the suction cup to form a physical clamp, and combined with the vacuum suction of the suction cup, the stability of the workpiece during loading and unloading is greatly improved. Compared with the traditional single vacuum suction cup gripping method, this invention can effectively solve the problem of insufficient adsorption force caused by factors such as uneven workpiece surface and vacuum system fluctuation, reduce the risk of workpiece falling, and improve production efficiency and product quality.

[0032] Secondly, before the suction cup contacts the workpiece, the present invention includes a wiping mechanism to wipe the workpiece surface. 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, improving the contact quality between the suction cup and the workpiece surface, thereby enhancing the suction cup's adsorption capacity. At the same time, it prevents impurities from entering the suction cup, reducing the probability of suction cup blockage and damage, extending the suction cup's service life, and reducing equipment maintenance costs. In addition, as the top platform moves closer to the plastic mold, the turntable can automatically rotate to complete the wiping of the workpiece surface without the need for an additional power source, thus improving the energy utilization efficiency of the equipment.

[0033] Thirdly, this invention employs a mechanical venting mechanism to vent the air pipe. The venting mechanism is triggered simply by excessive upward displacement of the pressure ring during its reset process, rapidly releasing the gas between the suction cup and the workpiece, thus achieving quick separation. Compared to traditional venting mechanisms, this invention offers faster venting speed, effectively improving work efficiency. Furthermore, the venting mechanism has a simple structure, high reliability, and is less prone to leakage, ensuring the normal adsorption function of the suction cup. In addition, the reset process of the venting mechanism is automatically completed by a spring, requiring no additional power drive, simplifying the equipment structure and reducing energy consumption. Attached Figure Description

[0034] Figure 1 This is a three-dimensional structural diagram of an embodiment;

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

[0036] Figure 3 This is a three-dimensional structural diagram of the trachea and suction cup in the embodiment;

[0037] Figure 4 yes Figure 3 Enlarged view of the structure at point A in the middle;

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

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

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

[0041] Figure 8 This is a three-dimensional structural diagram of the cotton tube and insertion tube in the embodiment.

[0042] The numbers on the map are:

[0043] 1. Workpiece; 2. Robotic arm; 3. Platform; 4. Top platform; 5. Motor; 6. Main gear; 7. Main gear ring; 8. Secondary gear ring; 9. Secondary gear; 10. Screw sleeve; 11. Screw; 12. Limiting roller; 13. Limiting sleeve; 14. Pressure 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. 26. Main bevel gear; 27. Secondary bevel gear; 28. Moving tube; 29. ​​Snap ring; 30. First spring; 31. Chuck; 32. Turntable; 33. Water storage chamber; 34. Ring rail; 35. Slide table; 36. Ball bearing; 37. Insert tube; 38. Water hole; 39. Cotton core; 40. Cotton tube; 41. First inclined rod; 42. Vent hole; 43. Snap seat; 44. Snap shaft; 45. Vent groove; 46. Second inclined rod; 47. Inclined surface. Detailed Implementation

[0044] To further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be described in further 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 robotic arm 2 and a platform 3 fixedly connected to the movable end of the robotic arm 2 and loaded with an air source, and further includes:

[0046] Multiple top platforms 4 are fixedly connected to the end of the platform 3 away from the robotic arm 2. Each top platform 4 is equipped with a double locking mechanism for adsorbing the workpiece 1.

[0047] The double locking mechanism includes an air pipe 16 connected to an air source and a suction cup 17 coaxially fixed to the air pipe 16. A pressure ring 14 is coaxially sleeved on the outside of the air pipe 16. When gripping the workpiece 1, the pressure ring 14 moves and fastens to the outside of the suction cup 17. A venting 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 cavity 32 and multiple cotton tubes 39 arranged on the side of the turntable 31. The turntable 31 is arranged 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 tubes 39 to wipe the surface of the workpiece 1.

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

[0050] When gripping workpiece 1, as the platform 3 moves closer to workpiece 1, the turntable 31 first drives the cotton cylinder 39 to wipe the surface of workpiece 1. After wiping, the turntable 31 drives the cotton cylinder 39 to deflect to the side of the suction cup 17 so that the suction cup 17 can contact the surface of workpiece 1. Then, the suction cup 17 is fastened to the surface of workpiece 1 by the platform 3. At this time, the air source loaded in the platform 3 is activated and the air between the suction cup 17 and workpiece 1 is extracted.

[0051] When the air between the suction cup 17 and the workpiece 1 is removed, the pressure ring 14 moves towards 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. Combined with the vacuum suction of the suction cup 17, it achieves the dual protection of "mechanical locking + vacuum adsorption", 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. During the reset process, the excessive displacement will trigger the venting mechanism to quickly separate the suction cup 17 and the workpiece 1. Then it will move back to the initial position to prepare for the next gripping task.

[0053] To buffer the mechanical force generated during the mechanical locking process, the suction cup 17 is protected, and the following features are specifically provided:

[0054] like Figure 3 As shown, a rubber ring 15 is fitted on the side of the pressure ring 14 near the suction cup 17. When the pressure ring 14 moves towards 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, avoiding 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 provided:

[0056] like Figure 6 As shown, the double locking mechanism also 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 on the side of the main gear 6 and meshes with the main gear 6.

[0057] The inner ring of the main gear 6 is coaxially fixed to the auxiliary gear ring 8. The auxiliary gear ring 8 is arranged in an equiangular array on one side near the center. The lower end of the auxiliary gear 9 is coaxially fixed to the threaded sleeve 10. The lower end of the threaded sleeve 10 is threadedly connected to the screw 11. The lower end of the screw 11 is fixed to the upper end of the pressure ring 14.

[0058] When the pressure ring 14 needs to be moved, the motor 5 starts and drives the main gear 6 to rotate, which in turn drives the main gear ring 7 to rotate. The rotation of the main gear ring 7 will cause the auxiliary gear ring 8, which is fixed to it, to rotate synchronously. The auxiliary gear ring 8, in turn, drives the auxiliary gear 9 to rotate through meshing transmission. The rotation of the auxiliary gear 9 will cause the threaded sleeve 10, which is fixed to it, to rotate. Since the threaded sleeve 10 is threadedly connected to the screw 11, and the lower end of the screw 11 is fixed to the pressure ring 14, the rotation of the threaded sleeve 10 will be converted into the linear motion of the screw 11 (detailed limiting structure will be explained later), thereby causing the pressure ring 14 to move towards or away from the suction cup 17.

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

[0060] like Figure 6 As shown, the top platform 4 has several limiting sleeves 13 arranged at equal angles along the circumferential direction near the pressure ring 14. One end of the limiting sleeve 13 near the pressure ring 14 is keyed to a 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 and drives 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. This ensures that the pressure ring 14 can move smoothly in a linear direction, preventing the screw sleeve 10 from failing to drive the pressure ring 14 to move or causing the pressure ring 14 to deviate. This ensures the coaxiality of the pressure ring 14 and the suction cup 17, thereby ensuring that the pressure ring 14 can accurately abut against the outside of the suction cup 17.

[0061] To ensure that the turntable 31 rotates as it approaches the workpiece 1 from the top platform 4, thereby facilitating the wiping of the surface of the workpiece 1 by the cotton cylinder 39, the following features are specifically provided:

[0062] like Figure 6 As shown, the wiping mechanism also includes a fixed tube 18 located beside the air tube 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] A ring rail 33 is fixedly connected to the upper end of the turntable 31. A slide table 34 is slidably connected to the upper end of the ring rail 33. A rack 19 is fixedly connected to the upper end of the slide table 34. A guide rail 20 is provided on the upper end of the rack 19 (e.g., Figure 3 As shown in the figure, the guide rail 20 is fixedly connected to the top platform 4;

[0064] A wheel frame 22 fixed 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 that meshes with the rack 19 is fixedly connected to the main pulley 23 on the same axis. A secondary bevel gear 26 fixedly connected to the fixed tube 18 on the same axis is rotatably provided on the upper end of the top platform 4. A main bevel gear 25 that meshes with the secondary bevel gear 26 is rotatably provided on the side of the secondary bevel gear 26. A secondary pulley 24 is fixedly connected to the main pulley 23 on the same axis. The secondary pulley 24 and the main pulley 23 are connected by belt drive.

[0065] As the top platform 4 moves closer to the workpiece 1, the turntable 31 moves along with it. At this time, the slide table 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, which meshes with it, to rotate. The rotation of the secondary gear 21 drives the main pulley 23 to rotate. The main pulley 23 drives the auxiliary pulley 24 to rotate via belt drive. The rotation of the auxiliary pulley 24 drives the main bevel gear 25, which is fixed to it, to rotate. The main bevel gear 25, through meshing with the auxiliary bevel gear 26, drives the auxiliary bevel gear 26 to rotate. The rotation of the auxiliary bevel gear 26 drives the fixed tube 18, which is fixed to it, to rotate. The fixed tube 18, through a key connection, drives the moving tube 27 to rotate. The rotation of the moving tube 27 drives the turntable 31 to rotate, thus enabling the turntable 31 to rotate as it moves closer to the workpiece 1, facilitating the wiping of the surface of the workpiece 1 by the cotton tube 39.

[0066] Because the rack 19 needs to move along the guide rail 20 when the suction cup 17 and the workpiece 1 are attracted to each other, that is, the turntable 31 will move towards the top platform 4, in order to ensure that the turntable 31 will move 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, a retaining ring 28 is coaxially fixed to the lower end of the fixed tube 18, and a chuck 30 coaxially arranged with the moving tube 27 is rotatably connected to the upper end of the turntable 31.

[0068] 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 retaining ring 28, and the other end abuts against the chuck 30. 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 will move towards the top platform 4, at which time the first spring 29 is compressed. When the suction cup 17 and the workpiece 1 are separated, the elastic restoring force of the first spring 29 will push the turntable 31 away from the top platform 4, so that the turntable 31 returns to its initial position, preparing for the next wiping task.

[0069] 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 rolled 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. This 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 water from the water storage chamber 32 into the cotton tube 39, the following features are specifically provided:

[0072] like Figure 8 As shown, a tube 36 is inserted coaxially into the cotton tube 39 and is rotatably connected to the turntable 31. Water holes 37 are arranged in an equal-angle array along the circumferential direction in the tube 36.

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

[0074] When it is necessary to moisten the cotton tube 39, the water in the water storage chamber 32 is guided to the insertion tube 36 through the capillary action of the cotton core 38, and then permeates into the cotton tube 39 through several water holes 37 on the insertion tube 36. This method ensures that the water is evenly distributed on the cotton tube 39, guaranteeing the wiping effect of the cotton tube 39 on the surface of the workpiece 1. At the same time, the guiding action of the cotton core 38 can control the water seepage rate, avoiding too much or too little water, and keeping the cotton tube 39 at an appropriate level of moisture.

[0075] To further elaborate on the specific structure of the venting mechanism, the following features were also included:

[0076] like Figure 4 and Figure 8 As shown, the venting mechanism includes a first inclined rod 40 that is dynamically sealed to the air pipe 16 and a second inclined rod 46 that is fixed to the upper end of the pressure ring 14. The ends of the first inclined rod 40 and the second inclined rod 46 that are close to each other are formed with an inclined surface 47.

[0077] When the pressure ring 14 moves upward, it drives the first inclined rod 40 to move closer to the axis of the trachea 16 via the second inclined rod 46.

[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. 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 closer to the axis of the air pipe 16.

[0079] To ensure that the gas in the air tube 16 is rapidly released after the first inclined rod 40 moves, the following features are specifically designed:

[0080] like Figure 8 As shown, a vent hole 41 is formed in the middle of the first inclined rod 40, and a retainer 43 is fixedly connected to the inner wall of the air pipe 16. A retainer 44 that is slidably connected to the first inclined rod 40 is fixedly connected in the middle of the retainer 43. The retainer 44 is dynamically sealed to the first inclined rod 40.

[0081] A second spring 42 is coaxially sleeved on the outside of the clasp 44. One end of the second spring 42 is fixedly connected to the first inclined rod 40, and the other end is fixedly connected to the clasp 43.

[0082] The upper end of the retaining shaft 44 is formed with a venting groove 45, which is connected to the venting hole 41 after the first inclined rod 40 moves toward the axis of the air pipe 16.

[0083] After the first inclined rod 40 moves closer to the axis of the air pipe 16, the vent hole 41 connects with the vent groove 45. At this time, the gas in the air pipe 16 is quickly released to the outside through the vent hole 41 and the vent groove 45, so that the air pressure between the suction cup 17 and the workpiece 1 is quickly restored to balance, thereby realizing the 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, so that the first inclined rod 40 is no longer in 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 the initial position, preparing for the next adsorption task.

[0084] The detailed working principle of this device is as follows: During the production of workpiece 1, loading and unloading operations are required. The robotic arm 2 moves the platform 3 to the side of the workpiece 1 to be gripped, and then the robotic arm 2 moves the platform 3 closer to the workpiece 1. As the platform 3 approaches the workpiece 1, the turntable 31 moves along with the platform 3. 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 drives the secondary gear 21 meshing with it to rotate. 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 drives the cotton tube 39 located beside it to rotate, so that the cotton tube 39 can wipe the surface of the workpiece 1 when it comes into contact with the surface of the workpiece 1.

[0085] The reason for using the cotton tube 39 to wipe the surface of workpiece 1 is that during the production process, dust, oil, and other impurities may adhere to the surface of workpiece 1. These impurities can affect the adsorption effect of the suction cup 17 on workpiece 1, reducing the seal between the suction cup 17 and workpiece 1, thereby reducing the adsorption force. Wiping the surface of workpiece 1 with the cotton tube 39 can effectively remove these impurities, improve the contact quality between the suction cup 17 and the surface of workpiece 1, and thus enhance the adsorption capacity of the suction cup 17.

[0086] After wiping, the turntable 31 rotates the cotton cylinder 39 to the side of the suction cup 17, facilitating contact between the suction cup 17 and the surface of the workpiece 1. Subsequently, the suction cup 17, driven by the platform 3, clamps itself onto the surface of the workpiece 1. At this time, the air source loaded in the platform 3 activates and extracts air from between the suction cup 17 and the workpiece 1, creating a negative pressure between them, thus achieving adsorption of the workpiece 1. When the air between the suction cup 17 and the workpiece 1 is extracted, the motor 5 in the double locking mechanism starts, driving the pressure ring 14 to move closer to the suction cup 17 and press against the outside of the suction cup 17 via a series of transmission mechanisms.

[0087] The pressure ring 14, when pressed against the outside of the suction cup 17, enhances the suction capacity of the suction cup 17. The principle is as follows: Firstly, the pressure ring 14 uses mechanical pressure to firmly press the suction cup 17 against the outside of the workpiece 1, forming a physical clamp and increasing the contact pressure between the suction cup 17 and the surface of the workpiece 1, thereby improving the sealing performance. Secondly, the pressure ring 14, fitted over the outside of the suction cup 17, prevents outside air from entering the space between the suction cup 17 and the workpiece 1 from the edge of the suction cup 17, further enhancing the stability of the negative pressure environment. This dual-protection method of "mechanical locking + vacuum adsorption" offers higher stability and reliability compared to the traditional vacuum suction cup 17 gripping method. The traditional vacuum suction cup 17 gripping method relies solely on vacuum suction to fix the workpiece 1. When the surface of the workpiece 1 is uneven, contains small impurities, or the air source fluctuates, insufficient adsorption force can easily occur, causing the workpiece 1 to fall during loading and unloading. However, the dual-protection method of this device ensures that even with fluctuations in vacuum suction, the mechanical locking maintains the fixation of the workpiece 1, greatly improving the stability of the workpiece 1 during loading and unloading.

[0088] After transferring workpiece 1 to the corresponding position, workpiece 1 needs to be lowered. At this time, the pressure ring 14 will move upward to separate from the suction cup 17, and during the reset process, it will first move upward to trigger the venting mechanism. The working process of the venting mechanism is as follows: the upward movement of the pressure ring 14 drives the second inclined rod 46 to move upward. The inclined surface 47 of the second inclined rod 46 pushes the first inclined rod 40 to move closer to the axis of the air pipe 16. When the first inclined rod 40 moves to a certain position, its vent hole 41 connects with the vent groove 45 on the retaining shaft 44. The gas in the air pipe 16 is quickly released to the outside through the vent hole 41 and the vent groove 45, so that the air pressure between the suction cup 17 and the workpiece 1 can be quickly restored to balance, thereby realizing the rapid separation of the suction cup 17 and the workpiece 1. Then the pressure ring 14 moves downward to the initial position to prepare for the next gripping task.

[0089] During the process of guiding water from the water storage chamber 32 to the cotton tube 39, a cotton core 38 guides the water in the water storage chamber 32, and then the water permeates into the cotton tube 39 through several water holes 37. In this process, the cotton core 38 has a good capillary effect, enabling it to slowly and evenly guide the water from the water storage chamber 32 to the insertion tube 36, and then permeate into the cotton tube 39 through the water holes 37 on the insertion tube 36. This method ensures that the water is evenly distributed on the cotton tube 39, guaranteeing the wiping effect of the cotton tube 39 on the surface of the workpiece 1. Simultaneously, the guiding effect of the cotton core 38 controls the water seepage rate, preventing too much or too little water and maintaining an appropriate level of moisture in the cotton tube 39.

[0090] The above embodiments only illustrate one or more implementations of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A feeding and discharging manipulator for plastic mold production, comprising a mechanical arm (2) and a carrier (3) fixed to the movable end of the mechanical arm (2) and loaded with a gas source, characterized in that, Also include: The end away from the mechanical arm (2) of the carrier (3) is fixed with a plurality of top table (4), each top table (4) is provided with a double locking mechanism for adsorbing workpiece (1) respectively; The double locking mechanism includes a gas pipe (16) in communication with the gas source and a suction cup (17) coaxially fixed with the gas pipe (16), the outer coaxial sleeve of the gas pipe (16) is provided with a compression ring (14), the compression ring (14) is buckled to the outer part of the suction cup (17) after moving, the upper part of the compression ring (14) is provided with a gas leakage mechanism connected with the gas pipe (16); The side of the gas pipe (16) is provided with a wiping mechanism connected with the top table (4), the wiping mechanism includes a turntable (31) shaped with a water storage cavity (32) and a plurality of cotton tubes (39) arranged beside the turntable (31), the turntable (31) is arranged beside the suction cup (17), the turntable (31) drives the cotton tube (39) to wipe the surface of the workpiece (1) before the suction cup (17) is buckled to the workpiece (1); The double locking mechanism further comprises a motor (5) fixed with the top table (4), the output end of the motor (5) is fixed with a main gear (6), a main gear ring (7) is rotatably arranged beside the main gear (6) and engaged with the main gear (6); The inner ring of the main gear (6) is coaxially fixed with a secondary gear ring (8), the secondary gear ring (8) is arranged with a plurality of secondary gears (9) at equal angles on the side close to the center, the lower end of the secondary gear (9) is coaxially fixed with a screw sleeve (10), the lower end of the screw sleeve (10) is threadedly connected with a screw rod (11), the lower end of the screw rod (11) is fixed with the upper end of the compression ring (14); The wiping mechanism further comprises a fixed pipe (18) arranged beside the gas pipe (16) and fixed with the top table (4), the fixed pipe (18) is coaxially keyed connected with a movable pipe (27), the lower end of the movable pipe (27) is fixed with the turntable (31); The upper end of the turntable (31) is fixed with a ring rail (33), the upper end of the ring rail (33) is slidingly connected with a sliding table (34), the upper end of the sliding table (34) is fixed with a rack (19), the upper end of the rack (19) is provided with a guide rail (20), the guide rail (20) is fixed with the top table (4); The side of the guide rail (20) is provided with a wheel frame (22) fixed with the top table (4), the lower end of the wheel frame (22) is rotatably connected with a main pulley (23), the main pulley (23) is coaxially fixed with a secondary gear (21) engaged with the rack (19), the upper end of the top table (4) is rotatably provided with a secondary bevel gear (26) coaxially fixed with the fixed pipe (18), the side of the secondary bevel gear (26) is rotatably provided with a main bevel gear (25) engaged with it, the main bevel gear (25) is coaxially fixed with a secondary pulley (24), the secondary pulley (24) and the main pulley (23) are connected by a belt drive; The lower end of the fixed pipe (18) is coaxially fixed with a snap ring (28), the upper end of the turntable (31) is rotatably connected with a chuck (30) arranged coaxially with the movable pipe (27); The outer coaxial sleeve of the movable pipe (27) is provided with a first spring (29), one end of the first spring (29) abuts against the snap ring (28), the other end abuts against the chuck (30).

2. The feeding and discharging manipulator for plastic mold production according to claim 1, characterized in that, The side of the compression ring (14) close to the suction cup (17) is provided with a rubber ring (15).

3. The loading and unloading manipulator for plastic mold production according to claim 1, characterized in that, The top table (4) is provided with a plurality of limiting sleeves (13) at equal angles in the circumferential direction on the side close to the compression ring (14), the limiting sleeve (13) is connected with a limiting roller (12) at the end close to the compression ring (14) by a key, and the lower end of the limiting roller (12) is fixedly connected with the compression ring (14).

4. The loading and unloading manipulator for plastic mold production according to claim 1, characterized in that, The middle part of the rotary table (31) on the side away from the top table (4) is provided with a plurality of rolling balls (35).

5. The loading and unloading manipulator for plastic mold production according to claim 1, characterized in that, The cotton tube (39) is coaxially provided with a plug pipe (36) rotatably connected with the rotary table (31), and the plug pipe (36) is provided with water holes (37) at equal angles in the circumferential direction; The middle part of the plug pipe (36) is fixedly connected with a cotton core (38), and one end of the cotton core (38) extends into the water storage cavity (32).

6. The loading and unloading manipulator for plastic mold production according to claim 1, characterized in that, The deflation mechanism comprises a first inclined rod (40) in dynamic sealing connection with the air pipe (16) and a second inclined rod (46) fixedly connected with the upper end of the compression ring (14), and the end close to the second inclined rod (46) is formed with an inclined surface (47); When the compression ring (14) moves upward, the first inclined rod (40) is driven by the second inclined rod (46) to move close to the axis of the air pipe (16).

7. The loading and unloading manipulator for plastic mold production according to claim 6, characterized in that, The middle part of the first inclined rod (40) is formed with a deflation hole (41), the inner wall of the air pipe (16) is fixedly connected with a clamping seat (43), the middle part of the clamping seat (43) is fixedly connected with a clamping shaft (44) in sliding connection with the first inclined rod (40), and the clamping shaft (44) is in dynamic sealing connection with the first inclined rod (40); The outer part of the clamping shaft (44) is coaxially sleeved with a second spring (42), one end of the second spring (42) is fixedly connected with the first inclined rod (40), and the other end is fixedly connected with the clamping seat (43); The upper end of the clamping shaft (44) is formed with a deflation groove (45), and the deflation groove (45) is in communication with the deflation hole (41) after the first inclined rod (40) moves close to the axis of the air pipe (16).

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