Injection-drawing-blowing integrated rotary manipulator device

Abstract

The utility model relates to the field of manipulators, in particular to an injection-drawing-blowing integrated rotating manipulator device which comprises a rotating disc, a mechanical arm and an end effector, a planetary reducer is coaxially arranged at the lower end of the rotating disc, an output shaft of the planetary reducer is connected with the rotating disc, and a first transmission part used for driving the rotating disc to rotate is arranged on the rotating disc; the planetary reducer is provided with a second transmission part used for driving an input shaft of the planetary reducer to rotate, the rotating disc is provided with a driving motor, a transmission shaft of the driving motor is connected with a driving rod in a sliding mode, and the rotating disc is provided with a driving part used for driving the driving rod to move. The driving rod drives the first transmission part or the second transmission part to rotate when sliding along a transmission shaft of the driving motor. The rotary table has the effect that efficiency and precision are both considered when the rotary table conveys the mechanical arm.

Description

Technical Field

[0001] The present application relates to the field of robots, and in particular to an injection-stretch-blow integrated rotating robot device. Background Art

[0002] The bottom parison of the hollow plastic product is taken out by the robot after secondary heating, and then transferred to the stretch blow molding device by the robot for stretch blow molding. The existing multi-station "one-step" injection stretch blow molding adopts a turntable transfer method, but the existing turntable has insufficient high speed and positioning stability; the turntable operation and positioning performance affect the molding efficiency.

[0003] The utility model patent with publication number CN205219710U discloses a turntable rotary manipulator device for an injection-stretching-blowing machine, which adopts a servo motor to drive the manipulator to rotate the turntable. The servo motor is installed on the manipulator fixing plate of the injection-stretching-blowing machine frame. The servo motor is connected to the manipulator turntable installed under the manipulator fixing plate through a reducer, and the servo motor adopts a servo control method to control the rotation of the manipulator turntable, thereby realizing precise control of the rotation speed and position.

[0004] The turntable type robot device is decelerated by a planetary reducer, so that the rotation speed of the turntable is maintained at a relatively low state, so that the turntable drives the robot arm to position more accurately. However, the low rotation speed of the turntable makes the efficiency of conveying workpieces through the conveying arm low, making it difficult to take into account both efficiency and accuracy at the same time. Utility Model Content

[0005] In order to ensure that the turntable takes into account both efficiency and precision when conveying the robotic arm, the present application provides an injection-stretching-blowing integrated rotating robotic arm device.

[0006] The present application provides an injection-stretch-blow integrated rotary manipulator device that adopts the following technical solution:

[0007] A rotating injection-stretching and blowing robot device includes a turntable, a robot arm and an end effector, a planetary reducer is coaxially provided at the lower end of the turntable, the output shaft of the planetary reducer is connected to the turntable, the turntable is provided with a first transmission member for driving the turntable to rotate, the planetary reducer is provided with a second transmission member for driving the input shaft of the planetary reducer to rotate, the turntable is provided with a drive motor, the drive shaft of the drive motor is slidably connected with a drive rod, the turntable is provided with a drive member for driving the drive rod to move, and the drive rod drives the first transmission member or the second transmission member to rotate when sliding along the drive shaft of the drive motor.

[0008] By adopting the above technical scheme, the robot arm drives the end effector to clamp the workpiece, and the turntable drives the robot arm to move between various workstations. When the end effector clamps the workpiece, the driving member drives the driving rod to engage with the first transmission member, and the driving motor drives the turntable to rotate through the driving rod and the first transmission member, so that the turntable moves between different workstations at a higher speed. When the workpiece approaches the target workstation, the driving member drives the driving rod to engage with the second transmission member, and the driving motor drives the planetary reducer to rotate through the second transmission member. The planetary reducer reduces the rotation speed of the turntable, so that the positioning of the turntable when transporting the workpiece to the target workstation is more accurate. When moving the workpiece between different workstations, this technical scheme has both high efficiency and accurate positioning.

[0009] Optionally, the first transmission member includes a transmission ring and a plurality of connecting rods, the plurality of connecting rods are all arranged at the lower end of the turntable and are evenly distributed along the circumference of the planetary reducer, the transmission ring is arranged at the lower end of the connecting rod, the transmission ring is outermostly fitted on the driving rod and the inner hole of the transmission ring is matched with the cross-section of the driving rod.

[0010] By adopting the above technical solution, multiple connecting rods play the role of fixing the transmission ring, and the driving rod is engaged with the transmission ring to drive the transmission ring to rotate. When the transmission ring rotates, the turntable is driven to rotate through the multiple connecting rods.

[0011] Optionally, the second transmission member includes a transmission rod and a transmission groove, the transmission rod is coaxially connected to the lower end of the input shaft of the planetary reducer, the transmission groove is coaxially opened with the lower end of the transmission rod, and the inner hole of the transmission groove is matched with the cross-section of the drive rod.

[0012] By adopting the above technical solution, the driving rod is locked in the transmission groove to drive the transmission rod to rotate, and when the transmission rod rotates, it drives the input shaft of the planetary reducer to rotate.

[0013] Optionally, the driving member includes a driving cylinder, the driving cylinder is coaxially connected to a transmission shaft of a driving motor, and the driving rod is connected to a piston rod of the driving cylinder.

[0014] By adopting the above technical solution, the driving rod is driven to move by driving the cylinder, and this driving method is more convenient to operate.

[0015] Optionally, a driving ring is disposed on the driving rod, the cross section of the driving ring is a regular polygon, and the cross section of the inner hole of the transmission ring is a regular polygon matching the cross section of the driving ring.

[0016] By adopting the above technical solution, the transmission ring is driven to rotate by the engagement of the driving ring with a regular polygonal cross section and the transmission ring with a regular polygonal inner hole, so that the engagement of the two is more stable.

[0017] Optionally, the cross-section of the upper end of the driving rod is a regular polygon, and the cross-section of the inner hole of the transmission groove is a regular polygon matching the cross-section of the upper end of the driving rod.

[0018] By adopting the above technical solution, the driving rod with a regular polygonal cross section and the transmission groove with a regular polygonal inner hole are engaged to drive the transmission ring to rotate, so that the engagement of the two is more stable.

[0019] Optionally, the drive motor is provided with a detector for detecting the rotation angle of the drive shaft of the drive motor. The detector is electrically connected to a controller and sends the rotation angle to the controller. The controller is electrically connected to the cylinder and controls the drive cylinder to drive the drive rod to move between the first transmission member and the second transmission member when the rotation angle reaches a set value.

[0020] By adopting the above technical solution, when the driving motor drives the turntable to rotate, the detector detects the rotation angle of the transmission shaft of the driving motor. When the transmission shaft of the driving motor rotates through a certain angle, the controller controls the driving cylinder to drive the driving rod to move, so that the driving rod moves from the first transmission member to the second transmission member, so that the turntable changes from high-speed rotation to low-speed rotation, thereby realizing automatic switching.

[0021] Optionally, the detector includes a detection block, a detection ring and a pressure sensor, the detection block is arranged on the outer wall of the transmission shaft of the drive motor, the detection ring is outermostly arranged on the transmission shaft of the drive motor, the pressure sensor is arranged on the inner wall of the detection ring, and the detection block is arranged in contact with the pressure sensor.

[0022] By adopting the above technical solution, the transmission shaft of the driving motor rotates to drive the detection block to move. When the detection block moves, it contacts the pressure sensor and generates pressure on the pressure sensor. According to the different rotation angles of the transmission shaft of the driving motor, the pressure generated by the detection block on the pressure sensor is also different, so that the pressure sensor can detect the rotation angle of the transmission shaft of the driving motor, thereby judging the rotation angle of the turntable.

[0023] In summary, the present application includes at least one of the following beneficial technical effects:

[0024] 1. When the end effector clamps the workpiece, the driving member drives the driving rod to engage with the first transmission member, and the driving motor drives the turntable to rotate through the driving rod and the first transmission member, so that the turntable moves between different stations at a higher speed. When the workpiece approaches the target station, the driving member drives the driving rod to engage with the second transmission member, and the driving motor drives the planetary reducer to rotate through the second transmission member. The planetary reducer reduces the speed of the turntable, so that the turntable is more accurately positioned when the workpiece is transported to the target station. This technical solution has both high efficiency and accurate positioning when moving the workpiece between different stations;

[0025] 2. Multiple connecting rods play the role of fixing the transmission ring. The driving rod and the transmission ring are locked to drive the transmission ring to rotate. When the transmission ring rotates, the turntable is driven to rotate through multiple connecting rods;

[0026] 3. The drive rod is locked in the transmission groove to drive the transmission rod to rotate. When the transmission rod rotates, the input shaft of the planetary reducer is driven to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of an injection-stretch-blow integrated rotating manipulator device according to an embodiment of the present application.

[0028] Figure 2 It is a structural schematic diagram of a driving member, a driving rod and a driving ring of an injection-stretch-blow integrated rotating manipulator device in an embodiment of the present application.

[0029] Figure 3 It is a structural schematic diagram of a planetary reducer and a second transmission member of an injection-stretch-blow integrated rotary manipulator device in an embodiment of the present application.

[0030] Figure 4 It is a structural schematic diagram of a detector of an injection-stretch-blow integrated rotating manipulator device according to an embodiment of the present application.

[0031] Explanation of the accompanying drawings: 1. turntable; 11. robotic arm; 12. end effector; 2. planetary reducer; 3. first transmission member; 31. transmission ring; 32. connecting rod; 4. second transmission member; 41. transmission rod; 42. transmission groove; 5. driving motor; 6. driving rod; 61. driving ring; 7. driving member; 71. driving cylinder; 8. controller; 9. detector; 91. detection block; 92. detection ring; 93. pressure sensor. DETAILED DESCRIPTION

[0032] The following is combined with Figure 1-4 This application is described in further detail.

[0033] The present application discloses an injection-stretch-blow integrated rotating manipulator device. Figure 1 , Figure 2 as well as Figure 3 An injection-stretching-blowing integrated rotating manipulator device includes a turntable 1, a robot arm 11 and an end effector 12. The turntable 1 is rotatably connected to a frame, the robot arm 11 is mounted on the turntable 1, and the end effector 12 is mounted on the robot arm 11. A planetary reducer 2 is coaxially connected to the lower end of the turntable 1, and the output end of the planetary reducer 2 is fixedly connected to the turntable 1. A first transmission member 3 and a second transmission member 4 are mounted on the lower end of the turntable 1. The first transmission member 3 is used to drive the turntable 1 to rotate, and the second transmission member 4 is used to drive the input end of the planetary reducer 2 to rotate.

[0034] Reference Figure 1, Figure 2 as well as Figure 3 The first transmission member 3 includes a transmission ring 31 and a plurality of connecting rods 32. The plurality of connecting rods 32 are fixedly connected to the lower end of the turntable 1 and are evenly distributed along the circumference of the planetary reducer 2. The transmission ring 31 is fixedly connected to the lower end of the connecting rod 32. The outer wall of the transmission ring 31 is fixedly connected to the plurality of connecting rods 32. The inner hole of the transmission ring 31 is a regular hexagonal hole coaxial with the turntable 1.

[0035] Reference Figure 1 , Figure 2 as well as Figure 3 The second transmission member 4 includes a transmission rod 41 and a transmission groove 42. The transmission rod 41 is coaxially connected to the lower end of the input shaft of the planetary reducer 2. The transmission groove 42 is opened at the lower end of the transmission rod 41. The inner hole of the transmission groove 42 is a regular hexagonal hole coaxial with the turntable 1.

[0036] Reference Figure 1 , Figure 2 as well as Figure 3 A vertically upward driving motor 5 is installed on the frame. The driving motor 5 is located at the lower end of the turntable 1 and is coaxially arranged with the turntable 1. A driving member 7 is installed on the upper end of the transmission shaft of the driving motor 5. The driving member 7 includes a driving cylinder 71 arranged vertically upward. The upper end of the driving cylinder 71 is coaxially connected with a vertically upward driving rod 6. The cross-section of the upper end of the driving rod 6 is a regular hexagon that matches the transmission groove 42. A driving ring 61 is arranged on the driving rod 6. The cross-section of the driving ring 61 is a regular hexagon that matches the inner hole of the transmission ring 31. When the driving cylinder 71 drives the upper end of the driving rod 6 to insert into the transmission groove 42, the driving ring 61 is separated from the transmission ring 31. When the driving cylinder 71 drives the driving ring to insert into the transmission ring 31, the driving rod 6 is separated from the transmission groove 42, so that the driving motor 5 can respectively drive the first transmission member 3 and the second transmission member 4 to rotate.

[0037] Reference Figure 1 , Figure 2 as well as Figure 4A detector 9 for detecting the rotation angle of the transmission shaft of the driving motor 5 is installed on the driving motor 5. The detector 9 includes a detection block 91, a detection ring 92 and a pressure sensor 93. The detection ring 92 is sleeved on the transmission shaft of the pressure sensor 93, and the pressure sensor 93 is installed on the inner side wall of the detection ring 92. The detection block 91 is fixed on the side wall of the transmission shaft of the driving motor 5. The detection block 91 and the pressure sensor 93 are set in conflict. When the driving motor 5 is working, the detection block 91 moves on the surface of the pressure sensor 93 so that the pressure sensor 93 generates a pressure value. The pressure sensor 93 is electrically connected to the controller 8 and sends the pressure value to the controller 8. The controller 8 is electrically connected to the driving cylinder 71. When the rotation angle reaches the set value, the pressure value sent by the pressure sensor 93 to the controller 8 reaches the set value. The controller 8 controls the driving cylinder 71 to drive the driving rod 6 to move between the first transmission member 3 and the second transmission member 4.

[0038] The implementation principle of an injection-stretching-blowing integrated rotary manipulator device according to an embodiment of the present application is as follows: the manipulator 11 drives the end effector 12 to clamp the workpiece, and the turntable 1 drives the manipulator 11 to move between various workstations. When the end effector 12 clamps the workpiece, the driving cylinder 71 drives the driving ring and the transmission ring 31 to engage, and the driving motor 5 drives the ring 61, the transmission ring 31 and the connecting rod 32 to drive the turntable 1 to rotate in turn, so that the turntable 1 moves between different workstations at a higher speed. When the workpiece approaches the target workstation, the transmission shaft of the driving motor 5 drives the detection block 91 to move, and the detection block 91 generates pressure on the pressure sensor 93 when it moves. When the pressure value reaches the set value, the controller 8 controls the driving cylinder 71 to drive the driving rod 6 to engage with the transmission groove 42, and the driving motor 5 drives the planetary reducer 2 to rotate through the second transmission member 4. The planetary reducer 2 reduces the rotation speed of the turntable 1, so that the positioning of the turntable 1 when the workpiece is transported to the target workstation is more accurate. When moving the workpiece between different workstations, the technical solution has both high efficiency and accurate positioning.

[0039] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An injection-stretching-blowing integrated rotating manipulator device, characterized in that: The invention comprises a turntable (1), a mechanical arm (11) and an end effector (12); a planetary reducer (2) is coaxially arranged at the lower end of the turntable (1); an output shaft of the planetary reducer (2) is connected to the turntable (1); a first transmission member (3) for driving the turntable (1) to rotate is arranged on the turntable (1); a second transmission member (4) for driving the input shaft of the planetary reducer (2) to rotate is arranged on the turntable (1); a driving motor (5) is arranged on the turntable (1); a driving rod (6) is slidably connected to the driving shaft of the driving motor (5); a driving member (7) for driving the driving rod (6) to move is arranged on the turntable (1); when the driving rod (6) slides along the driving shaft of the driving motor (5), it drives the first transmission member (3) or the second transmission member (4) to rotate.

2. The injection-stretch-blow integrated rotary manipulator device according to claim 1, characterized in that: The first transmission member (3) comprises a transmission ring (31) and a plurality of connecting rods (32); the plurality of connecting rods (32) are arranged at the lower end of the turntable (1) and are evenly distributed along the circumference of the planetary reducer (2); the transmission ring (31) is arranged at the lower end of the connecting rod (32); the transmission ring (31) is externally mounted on the driving rod (6); and the inner hole of the transmission ring (31) is arranged to match the cross section of the driving rod (6).

3. The injection-stretch-blow integrated rotary manipulator device according to claim 2, characterized in that: The second transmission member (4) comprises a transmission rod (41) and a transmission groove (42), wherein the transmission rod (41) is coaxially connected to the lower end of the input shaft of the planetary reducer (2), and the transmission groove (42) is coaxially opened with the lower end of the transmission rod (41), and the inner hole of the transmission groove (42) is arranged to cooperate with the cross section of the driving rod (6).

4. The injection-stretch-blow integrated rotary manipulator device according to claim 3, characterized in that: The driving member (7) comprises a driving cylinder (71), the driving cylinder (71) is coaxially connected to a transmission shaft of a driving motor (5), and the driving rod (6) is connected to a piston rod of the driving cylinder (71).

5. The injection-stretch-blow integrated rotary manipulator device according to claim 4, characterized in that: A driving ring (61) is disposed on the driving rod (6), the cross section of the driving ring (61) is a regular polygon, and the cross section of the inner hole of the transmission ring (31) is a regular polygon matching the cross section of the driving ring (61).

6. The injection-stretch-blow integrated rotary manipulator device according to claim 5, characterized in that: The cross section of the upper end of the driving rod (6) is a regular polygon, and the cross section of the inner hole of the transmission groove (42) is a regular polygon matching the cross section of the upper end of the driving rod (6).

7. The injection-stretch-blow integrated rotary manipulator device according to claim 1, characterized in that: The drive motor (5) is provided with a detector (9) for detecting the rotation angle of the drive shaft of the drive motor (5); the detector (9) is electrically connected to a controller (8) and transmits the rotation angle to the controller (8); the controller (8) is electrically connected to the cylinder and controls the drive cylinder (71) to drive the drive rod (6) to move between the first transmission member (3) and the second transmission member (4) when the rotation angle reaches a set value.

8. The injection-stretch-blow integrated rotary manipulator device according to claim 7, characterized in that: The detector (9) comprises a detection block (91), a detection ring (92) and a pressure sensor (93); the detection block (91) is arranged on the outer side wall of the transmission shaft of the drive motor (5); the detection ring (92) is externally mounted on the transmission shaft of the drive motor (5); the pressure sensor (93) is arranged on the inner side wall of the detection ring (92); and the detection block (91) and the pressure sensor (93) are arranged in abutment with each other.

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