Mechanical equipment for die changing

Abstract

The utility model discloses mechanical equipment for die changing. The mechanical equipment comprises an X-axis bottom plate, a Y-axis bottom plate, a walking box body, a gripper lifting column, a rotating main shaft, an arm unfolding box, two groups of transverse moving arms and two groups of die changing manipulators, an X-axis sliding rail is fixed to an X-axis bottom plate, an X-axis sliding block is arranged at the lower end of a Y-axis bottom plate, a Y-axis sliding rail is fixed to the Y-axis bottom plate, a Y-axis sliding block is arranged at the lower end of a walking box body, a Z-axis sliding block is fixed to the inner side of the walking box body, a Z-axis sliding rail is arranged on the outer side of a paw lifting column, a rotating main shaft is fixed into the paw lifting column, and a die changing mechanical arm is installed on a transverse moving arm. The die changing manipulator comprises a gripper fixing seat, a transverse moving structure, a piston rod pin, a finger connecting plate and a gripper connecting plate. According to the mechanical equipment for die changing, the die changing mechanical arm is controlled through an improved five-axis structure, a silicon rubber die is accurately clamped from stamping equipment and transferred into deburring equipment and a vulcanizing machine, the adaptability is high, the action is smoother, and the rubber die is more stably moved.

Description

Technical Field

[0001] The utility model relates to the technical field of mold changing equipment, in particular to a mechanical equipment for mold changing. Background Art

[0002] During the use of silicone rubber molds, they need to be transferred from the stamping equipment to the vulcanizer for deburring and transfer. In this process, the silicone rubber molds are either taken out manually and transferred, or they are clamped and transferred by a robot. However, the number of axes is insufficient, and they cannot be adapted between stamping equipment, deburring equipment and vulcanizers of different heights and directions. The site is limited and needs to be adjusted according to demand. (There is no contradiction, it is all about the shortcomings of existing technical equipment) Utility Model Content

[0003] One purpose of the utility model is to provide a mechanical device for changing molds, which has strong adaptability, smoother movement, and more stable removal of silicone rubber molds through the joint action of five axes including an X-axis, a Y-axis, a lifting axis, a rotating axis, and an arm extension axis.

[0004] To achieve this purpose, the utility model adopts the following technical solutions:

[0005] A mechanical device for changing molds, comprising an X-axis base plate, a Y-axis base plate, a walking box, a hand claw lifting column, a rotating spindle, an arm extension box, two sets of lateral moving arms and two sets of mold changing manipulators;

[0006] An X-axis slide rail is fixed on the X-axis bottom plate, an X-axis slider is provided at the lower end of the Y-axis bottom plate, the X-axis slider slides on the X-axis slide rail, a Y-axis slide rail is fixed on the Y-axis bottom plate, a Y-axis slider is provided at the lower end of the walking box, the Y-axis slider slides on the Y-axis slide rail, a Z-axis slider is fixed on the inner side of the walking box, a Z-axis slide rail is provided on the outer side of the hand claw lifting column, the Z-axis slider slides on the Z-axis slide rail, the rotating spindle is fixed inside the hand claw lifting column, the exhibition arm box is fixed on the rotating shaft of the rotating spindle, the two groups of the transverse shift arms are distributed up and down and move laterally inside the exhibition arm box, and each group of the mold changing manipulators are respectively installed on the driving end of the transverse shift arm;

[0007] The mold changing robot includes a gripper fixing seat, a transverse movement structure, a piston rod pin, a finger connecting plate and a gripper connecting plate. The transverse movement structure is fixed to the rear end of the gripper fixing seat, and the piston rod pin transversely passes through the driving front end of the transverse movement structure. A rod pin movable groove is provided in the middle of the front end of the gripper fixing seat along the horizontal direction, and the piston rod pin moves in the rod pin movable groove. A gripper plate pin is rotated up and down at the front end of the gripper fixing seat, and the gripper plate pin passes through the middle of the finger connecting plate. A first notch is provided at one end of the finger connecting plate, and the piston rod pin is clamped in the first notch. A second notch is provided at the other end of the finger connecting plate. A joint is provided at the rear end of the gripper connecting plate, and the joint is clamped in the second notch. The gripper connecting plate slides along the vertical direction at the front end of the gripper fixing seat.

[0008] As a preferred technical solution, the transverse movement structure is a clamping cylinder, and the piston end of the clamping cylinder is connected to the piston rod pin.

[0009] As a preferred technical solution, a finger guide rail is provided at the front end of the gripper fixing seat along the vertical direction, and a finger slider is fixed at the rear end of the gripper connecting plate, and the finger slider slides on the finger guide rail.

[0010] As a preferred technical solution, a finger connecting block is fixed on the gripper connecting plate, and a gripper heat insulation plate is installed between the gripper connecting plate and the finger connecting block.

[0011] As a preferred technical solution, an X-axis motor is fixed to one end of the X-axis base plate, the driving end of the X-axis motor is connected to an X-axis screw rod, an X-axis nut is fixed to the Y-axis base plate, and the X-axis screw rod is threadedly connected to the X-axis nut.

[0012] As a preferred technical solution, a Y-axis motor is fixed to one end of the Y-axis base plate, a Y-axis lead screw is connected to the driving end of the Y-axis motor, a Y-axis nut is fixed to the walking box, and the Y-axis lead screw is threadedly connected to the Y-axis nut.

[0013] As a preferred technical solution, a lifting motor is fixed to the outside of the hand claw lifting column, the driving end of the lifting motor is connected to a lifting screw rod, a nut seat is fixed to the middle of the walking box, a lifting nut is fixed on the nut seat, and the lifting screw rod is threadedly connected to the lifting nut.

[0014] As a preferred technical solution, a rotating motor is fixed on the outer side of the travel box, pulleys are installed on the driving end of the rotating motor and the rotating main shaft, and a transmission belt is connected between the pulleys.

[0015] As a preferred technical solution, a transverse sliding block is installed inside the extension arm box, a transverse sliding rail is fixed to the lower end of the transverse arm, and the transverse sliding block is slidably connected to the transverse sliding rail.

[0016] As a preferred technical solution, a transverse motor is fixed to the outside of the arm box, a transverse screw is connected to the driving end of the transverse motor, a transverse nut is fixed on the transverse arm, and the transverse screw is threadedly connected to the transverse nut.

[0017] The beneficial effects of the utility model are: providing a mechanical device for mold changing, which controls the mold changing robot through an improved five-axis structure, accurately clamps the silicone rubber mold from the stamping equipment and transfers it to the deburring equipment and the vulcanizer, has strong adaptability, smoother movement, and more stable removal of the silicone rubber mold. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described in detail below based on the drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the overall structure of a mechanical device for changing molds according to an embodiment;

[0020] Figure 2 It is a structural schematic diagram of the upper Y-axis bottom plate of a mechanical device for mold changing according to an embodiment;

[0021] Figure 3 It is a structural schematic diagram of the upper part of the walking box of a mechanical device for changing molds according to an embodiment;

[0022] Figure 4 It is a structural schematic diagram of an arm box of a mechanical device for changing molds according to an embodiment;

[0023] Figure 5 It is a schematic diagram of the overall structure of the mold changing robot described in the embodiment;

[0024] Figure 6 A cross-sectional view of the mold changing robot described in the embodiment;

[0025] Figure 7 This is a diagram of the internal structure of the mold changing robot described in the embodiment.

[0026] Figures 1 to 7 middle:

[0027] 1. X-axis base plate; 2. Y-axis base plate; 3. Travel box; 4. Grip lifting column; 5. Rotating spindle; 6. Boom box; 7. Horizontal arm; 8. Mold changing manipulator; 9. X-axis slide rail; 10. X-axis slider; 11. Y-axis slide rail; 12. Y-axis slider; 13. Z-axis slider; 14. Z-axis slide rail; 15. X-axis motor; 16. X-axis screw rod; 17. X-axis nut; 18. Y-axis motor; 19. Y-axis screw rod; 20. Y-axis nut; 21. Lifting motor; 22. Lifting screw rod; 23. Nut seat; 24. Lifting nut; 25. Rotating motor; 26. Pulley; 27. Transmission belt; 28. Horizontal slider; 29. ​​Horizontal slide rail; 30. Horizontal motor; 31. Horizontal screw rod; 32. Horizontal nut;

[0028] 801, gripper fixing seat; 802, piston rod pin; 803, finger connecting plate; 804, gripper connecting plate; 805, rod pin movable groove; 806, gripper plate pin; 807, joint; 808, clamping cylinder; 809, finger guide rail; 810, finger slider; 811, finger connecting block; 812, gripper heat insulation board. DETAILED DESCRIPTION

[0029] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods.

[0030] like Figures 1 to 7 As shown, in this embodiment, a mechanical device for mold changing includes an X-axis base plate 1, a Y-axis base plate 2, a walking box 3, a gripper lifting column 4, a rotating spindle 5, an arm extension box 6, two sets of transverse arms 7 and two sets of mold changing robots 8.

[0031] In the five-axis structure, an X-axis slide rail 9 is fixed on the X-axis base plate 1, an X-axis slider 10 is arranged at the lower end of the Y-axis base plate 2, and the X-axis slider 10 slides on the X-axis slide rail 9, a Y-axis slide rail 11 is fixed on the Y-axis base plate 2, a Y-axis slider 12 is arranged at the lower end of the walking box 3, and the Y-axis slider 12 slides on the Y-axis slide rail 11, a Z-axis slider 13 is fixed on the inner side of the walking box 3, a Z-axis slide rail 14 is arranged on the outer side of the gripper lifting column 4, and the Z-axis slider 13 slides on the Z-axis slide rail 14, the rotating spindle 5 is fixed inside the gripper lifting column 4, the exhibition arm box 6 is fixed on the rotating axis of the rotating spindle 5, two groups of transverse shift arms 7 are distributed up and down and move laterally inside the exhibition arm box 6, and each group of mold changing robots 8 are respectively installed on the driving end of the transverse shift arm 7.

[0032] In the X-axis direction, an X-axis motor 15 is fixed to one end of the X-axis base plate 1, and an X-axis screw rod 16 is connected to the driving end of the X-axis motor 15. An X-axis nut 17 is fixed to the Y-axis base plate 2, and the X-axis screw rod 16 is threadedly connected to the X-axis nut 17. The X-axis motor 15 is responsible for providing power, controlling the X-axis screw rod 16 to rotate, and driving the Y-axis base plate 2 with the X-axis nut 17 to move along the X-axis slide rail 9 in the X-axis direction; in the Y-axis direction, a Y-axis motor 18 is fixed to one end of the Y-axis base plate 2, and a Y-axis screw rod 19 is connected to the driving end of the Y-axis motor 18. A Y-axis nut 20 is fixed to the walking box 3, and the Y-axis screw rod 19 is threadedly connected to the Y-axis nut 20. The Y-axis motor 18 is responsible for providing power, controlling the Y-axis screw rod 19 to rotate, and driving the walking box 3 with the Y-axis nut 20 to move along the Y-axis slide rail 11 in the Y-axis direction. The X-axis direction and the Y-axis direction form a silicone rubber mold moving structure on the horizontal plane.

[0033] In the vertical direction, a lifting motor 21 is fixed to the outside of the gripper lifting column 4, and a lifting screw 22 is connected to the driving end of the lifting motor 21. A nut seat 23 is fixed to the middle of the walking box 3, and a lifting nut 24 is fixed on the nut seat 23. The lifting screw 22 is threadedly connected to the lifting nut 24. The lifting motor 21 controls the rotation of the lifting screw 22. When threadedly transmitting with the walking box 3 with the lifting nut 24, the gripper lifting column 4 moves up and down in the vertical direction relative to the walking box 3 along the Z-axis slide rail 14.

[0034] In terms of rotation angle, a rotating motor 25 is fixed to the outside of the walking box 3, and pulleys 26 are installed on the driving end of the rotating motor 25 and the rotating main shaft 5. A transmission belt 27 is connected between the pulleys 26. The rotating motor 25 drives the two pulleys 26 to rotate through the transmission belt 27, providing rotational power for the rotating main shaft 5 and controlling the mold changing robot 8 to adjust the angle.

[0035] A transverse motor 30 is fixed to the outside of the expansion arm box 6, and a transverse screw rod 31 is connected to the driving end of the transverse motor 30. A transverse nut 32 is fixed to the transverse arm 7, and the transverse screw rod 31 is threadedly connected to the transverse nut 32. A transverse slider 28 is installed inside the expansion arm box 6, and a transverse slide rail 29 is fixed to the lower end of the transverse arm 7. The transverse slider 28 is slidably connected to the transverse slide rail 29. When the expansion arm box 6 is close to the stamping equipment or the deburring equipment or rotated to the vulcanizer, the transverse motor 30 controls the rotation of the transverse screw rod 31, forcing the transverse arm 7 with the transverse nut 32 to move. Due to the existence of the transverse slider 28 and the transverse slide rail 29, the transverse arm 7 can be extended or retracted, driving the mold changing robot 8 to enter the stamping equipment or the deburring equipment and the vulcanizer to grab the silicone rubber mold.

[0036] The mold-changing robot 8 includes a gripper fixing seat 801, a transverse movement structure, a piston rod pin 802, a finger connecting plate 803 and a gripper connecting plate 804. The transverse movement structure is fixed at the rear end of the gripper fixing seat 801, and the piston rod pin 802 passes horizontally through the driving front end of the transverse movement structure. A rod pin movable groove 805 is provided in the middle of the front end of the gripper fixing seat 801 along the horizontal direction, and the piston rod pin 802 moves in the rod pin movable groove 805. A gripper plate pin 806 is rotated up and down at the front end of the gripper fixing seat 801. The gripper plate pin 806 passes through the middle of the finger connecting plate 803. A first notch is provided at one end of the finger connecting plate 803, and the piston rod pin 802 is clamped in the first notch. A second notch is provided at the other end of the finger connecting plate 803. A joint 807 is provided at the rear end of the gripper connecting plate 804, and the joint 807 is clamped in the second notch. The gripper connecting plate 804 slides at the front end of the gripper fixing seat 801 along the vertical direction.

[0037] Specifically, the transverse movement structure is a clamping cylinder 808, and the piston end of the clamping cylinder 808 is connected to the piston rod pin 802. When the clamping cylinder 808 moves forward, it pushes the piston rod pin 802 to move forward synchronously in the rod pin movable groove 805. Since the upper finger connecting plate 803 can only be fixed on the hand claw fixing seat 801 under the restriction of the hand claw plate pin 806, the piston rod pin 802 moves forward. Under the linkage of the first notch, the finger connecting plate 803 moves forward, driving the second notch to move upward, and the second notch drives the joint 807 to force the upper hand claw connecting plate 804 to move upward. Similarly, due to the action between the lower finger connecting plate 803, the piston rod pin 802 and the hand claw connecting plate 804, the lower hand claw connecting plate 804 also moves downward to open the clamping structure. When the silicone rubber mold needs to be clamped and moved, the clamping cylinder 808 contracts the piston end, and at the same time, the upper and lower hand claw connecting plates 804 are controlled to move closer to the middle to clamp the silicone rubber mold.

[0038] A finger guide rail 809 is provided at the front end of the gripper fixing seat 801 along the vertical direction, and a finger slider 810 is fixed to the rear end of the gripper connecting plate 804. The finger slider 810 slides on the finger guide rail 809. When the finger connecting plate 803 rotates a certain angle, the gripper connecting plate 804 can only move in the up and down directions due to the action of the finger slider 810 and the finger guide rail 809.

[0039] A finger connecting block 811 is fixed on the gripper connecting plate 804, and a gripper heat insulation plate 812 is installed between the gripper connecting plate 804 and the finger connecting block 811. Silicone rubber molding requires high temperature, and the temperature on the silicone rubber mold must be high. Adding the gripper heat insulation plate 812 increases the service life of the manipulator.

[0040] It should be stated that the above-mentioned specific implementation methods are only preferred embodiments of the present utility model and the technical principles used. Within the technical scope disclosed by the present utility model, any changes or substitutions that can be easily thought of by technicians familiar with this technical field should be included in the protection scope of the present utility model.

Claims

1. A mechanical device for changing molds, characterized in that: It includes X-axis base plate, Y-axis base plate, walking box, gripper lifting column, rotating spindle, arm box, two sets of traverse arms and two sets of mold changing manipulators; An X-axis slide rail is fixed on the X-axis bottom plate, an X-axis slider is provided at the lower end of the Y-axis bottom plate, the X-axis slider slides on the X-axis slide rail, a Y-axis slide rail is fixed on the Y-axis bottom plate, a Y-axis slider is provided at the lower end of the walking box, the Y-axis slider slides on the Y-axis slide rail, a Z-axis slider is fixed on the inner side of the walking box, a Z-axis slide rail is provided on the outer side of the hand claw lifting column, the Z-axis slider slides on the Z-axis slide rail, the rotating spindle is fixed inside the hand claw lifting column, the exhibition arm box is fixed on the rotating shaft of the rotating spindle, the two groups of the transverse shift arms are distributed up and down and move laterally inside the exhibition arm box, and each group of the mold changing manipulators are respectively installed on the driving end of the transverse shift arm; The mold changing robot includes a gripper fixing seat, a transverse movement structure, a piston rod pin, a finger connecting plate and a gripper connecting plate. The transverse movement structure is fixed to the rear end of the gripper fixing seat, and the piston rod pin transversely passes through the driving front end of the transverse movement structure. A rod pin movable groove is provided in the middle of the front end of the gripper fixing seat along the horizontal direction, and the piston rod pin moves in the rod pin movable groove. A gripper plate pin is rotated up and down at the front end of the gripper fixing seat, and the gripper plate pin passes through the middle of the finger connecting plate. A first notch is provided at one end of the finger connecting plate, and the piston rod pin is clamped in the first notch. A second notch is provided at the other end of the finger connecting plate. A joint is provided at the rear end of the gripper connecting plate, and the joint is clamped in the second notch. The gripper connecting plate slides along the vertical direction at the front end of the gripper fixing seat.

2. A mechanical device for changing molds according to claim 1, characterized in that: The transverse movement structure is a clamping cylinder, and the piston end of the clamping cylinder is connected to the piston rod pin.

3. A mechanical device for changing molds according to claim 1, characterized in that: A finger guide rail is arranged at the front end of the gripper fixing seat along the vertical direction, and a finger slider is fixed at the rear end of the gripper connecting plate, and the finger slider slides on the finger guide rail.

4. The mechanical device for changing molds according to claim 1, characterized in that: A finger connecting block is fixed on the gripper connecting plate, and a gripper heat insulating plate is installed between the gripper connecting plate and the finger connecting block.

5. The mechanical device for changing molds according to claim 1, characterized in that: An X-axis motor is fixed to one end of the X-axis base plate, an X-axis lead screw is connected to the driving end of the X-axis motor, an X-axis nut is fixed to the Y-axis base plate, and the X-axis lead screw is threadedly connected to the X-axis nut.

6. A mechanical device for changing molds according to claim 1, characterized in that: A Y-axis motor is fixed to one end of the Y-axis base plate, a Y-axis lead screw is connected to the driving end of the Y-axis motor, a Y-axis nut is fixed to the travel box, and the Y-axis lead screw is threadedly connected to the Y-axis nut.

7. The mechanical device for changing molds according to claim 1, characterized in that: A lifting motor is fixed on the outside of the hand claw lifting column, a driving end of the lifting motor is connected to a lifting screw rod, a nut seat is fixed in the middle of the walking box, a lifting nut is fixed on the nut seat, and the lifting screw rod is threadedly connected to the lifting nut.

8. The mechanical device for changing molds according to claim 1, characterized in that: A rotating motor is fixed on the outer side of the travel box, and pulleys are installed on the driving end of the rotating motor and the rotating main shaft, and a transmission belt is connected between the pulleys.

9. The mechanical device for changing molds according to claim 1, characterized in that: A transverse sliding block is installed inside the extension arm box, a transverse sliding rail is fixed to the lower end of the transverse arm, and the transverse sliding block is slidably connected to the transverse sliding rail.

10. A mechanical device for changing molds according to claim 1, characterized in that: A transverse motor is fixed on the outer side of the arm box, a transverse screw rod is connected to the driving end of the transverse motor, a transverse nut is fixed on the transverse arm, and the transverse screw rod is threadedly connected to the transverse nut.

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