Tool for industrial robot for cleaning inner wall of extrusion container of extruding machine

Abstract

The utility model relates to a tool for an industrial robot for cleaning the inner wall of an extrusion container of an extruding machine, which comprises a connecting part, a clamping part and a clamping part, an axial rod and a driving part; the rotating rod penetrates through the hollow interior of the driving part, the outer side of the rotating rod is fixedly connected with the driving part, and the rotating rod is driven by the driving part to rotate around a shaft; the two ends of the rotating rod protrude out of the driving part, one end of the rotating rod is an air inlet section, the other end of the rotating rod is a blowing section, and the length of the blowing section is larger than that of the air inlet section; one end, far away from the driving part, of the blowing section is closed, and a plurality of blowing holes are circumferentially formed close to the closed side; the end, away from the driving part, of the air inlet section is open and receives compressed air entering from the outside. Compared with the prior art, the industrial robot has the beneficial effects that the rotary rod is used for achieving the function that the execution end of the industrial robot stretches into the inner wall of the extrusion cylinder for injection.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robot tooling design, and in particular relates to a tooling for an industrial robot for cleaning the inner wall of an extrusion cylinder of an extruder. Background Art

[0002] Metal extrusion is an important method of pressure processing using the principle of metal plastic forming. Metal ingots are processed into tubes, rods, T-shaped, L-shaped and other profiles at one time through extrusion. Metal extruder is the most important equipment for metal extrusion processing.

[0003] The inventor found in the study of the prior art that when the extruder extrudes cylindrical materials, a layer of glass powder will be laid inside the extrusion barrel to prevent metal adhesion and improve lubrication during the extrusion process. After the extrusion is complete, a portion of the discarded glass powder or the oxide skin formed during the extrusion process will remain on the inner wall of the extrusion barrel. These two parts will be mixed or attached to the inner wall of the extrusion barrel separately. Therefore, before the next extrusion work, due to the limited circumferential space of the extruder, it is necessary to manually carry a blowing device, extend it into the inner side of the extrusion barrel, and clean the surface of the pressurized barrel. There will be safety issues, and there will be problems with attachment when manually using a device with a long overhang, and a device that is too short will cause problems such as incomplete surface cleaning.

[0004] Therefore, there is an urgent need for an automated cleaning device that can imitate manual operation in a small space. Summary of the invention

[0005] In order to overcome the problems in the prior art, the inventor used an industrial robot with six degrees of freedom, set an integrated blowing and stripping tool on the T-axis and the execution end of the robot, and used a rotating cylindrical rod and chain to clean the inner wall of the extrusion barrel of the extruder.

[0006] The technical solution adopted by the utility model is: a tooling for an industrial robot for cleaning the inner wall of an extrusion barrel of an extruder, comprising:

[0007] A connecting part is a joint connected to the T-axis of the industrial robot;

[0008] An axial rod is a rod body parallel to the T-axis of the industrial robot, one end of which is fixedly connected to the connecting part;

[0009] The driving part is a motor having a hollow interior;

[0010] A cross bar, one end of which is fixedly connected to the axial rod relative to the other end of which is fixedly connected to the connecting portion, and the other end of which is fixedly mounted with the driving portion, and the cross bar is perpendicular to the T axis of the industrial robot;

[0011] The rotary rod is a long hollow column with one end open and the other end closed, and the rotary rod is parallel to the T axis of the industrial robot;

[0012] The rotating rod passes through the hollow interior of the driving part, and the outer side is fixedly connected to the driving part, and is driven by the driving part to rotate around the axis;

[0013] Both ends of the rotary rod protrude from the driving part, and one end is an air intake section, and the other end is a blowing section, and the length of the blowing section is greater than that of the air intake section;

[0014] The blowing section is closed at one end away from the driving part, and a plurality of blowing holes are circumferentially arranged near the closed side;

[0015] The air inlet section is open at one end away from the driving part to receive compressed air entering from the outside.

[0016] Furthermore, it also includes;

[0017] The scraping part is located between the closed side end of the blowing section and the blowing hole, and is rotated by the rotating rod to scrape the inner wall of the extrusion cylinder.

[0018] Furthermore, the scraping part is a metal flexible chain.

[0019] Furthermore, the scraping parts are arranged in pairs in the circumferential direction of the rotating rod.

[0020] Furthermore, it also includes:

[0021] The bracket is an L-shaped rigid frame, one end of the L-shaped frame is fixed to the cross bar, and the other end is connected to the open end of the air intake section, and a rotating joint is provided between the air intake section and the bracket;

[0022] One end of the rotary joint is fixed on the bracket, and the other end is movably connected to the open end of the air inlet section. The interior of the rotary joint is hollow, and the compressed air entering from the outside enters the rotary rod through the interior of the rotary joint.

[0023] Furthermore, it also includes:

[0024] The sleeve is a hollow cylinder with a diameter larger than the rotating rod and a length smaller than the rotating rod. The sleeve is sleeved on the outside of the rotating rod, and one end of the sleeve is fixed on the cross bar.

[0025] Furthermore, it also includes:

[0026] The reinforcing part is located at the connection between the sleeve and the cross bar, and is a right-angled triangular metal plate arranged at intervals around the sleeve. One right-angled side of the metal plate is fixedly connected to the sleeve, and the other right-angled side is fixedly connected to the cross bar.

[0027] Furthermore, the driving unit is a pneumatic motor.

[0028] Furthermore, the driving part and the rotating rod utilize the same external air source.

[0029] Furthermore, the channel of the blowing hole is inclined toward the closed side of the blowing section.

[0030] Compared with the prior art, the utility model has the following beneficial effects: the function of the industrial robot's execution end extending into the inner wall of the extrusion barrel for spraying is realized by utilizing the rotary rod; the scraping part is arranged on the rotary rod to realize the integrated operation of spraying and stripping; the design of the metal flexible chain is utilized to reduce the weight and avoid the bending deformation of the cantilever structure during rotation, while realizing the removal of impurities on the inner wall; the bracket, sleeve and reinforcement part are utilized to further improve the anti-vibration performance of the overall tooling and improve the overall stability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is an axial view of a specific implementation method of the utility model;

[0032] Figure 2 It is a cross-sectional view of a specific implementation method of the utility model;

[0033] The annotations are:

[0034] 100-connecting part;

[0035] 210-axial rod, 220-cross rod; 230-bracket; 240-sleeve; 250-reinforcement part;

[0036] 300- driving unit;

[0037] 400-rotating rod; 410-blowing hole; 420-rotating joint; 430-air inlet section; 440-blowing section;

[0038] 500-scraping and sweeping department. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. In the description of the utility model, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0040] In order to overcome the problems in the prior art, the inventor used a six-degree-of-freedom industrial robot, set a blow and stripping tool at the robot's T-axis, the execution end, and used a rotating cylindrical rod and chain to clean the inner wall of the extruder barrel. Figure 1 and Figure 2 The technical solution adopted by the utility model is: a tooling for an industrial robot for cleaning the inner wall of an extrusion barrel of an extruder, comprising:

[0041] The connecting part 100 is a joint connected to the T-axis of the industrial robot. In the present embodiment, the industrial robot is a six-degree-of-freedom industrial robot, also called a robotic arm.

[0042] The axial rod 210 is a rod body parallel to the T axis of the industrial robot, and one end of the axial rod is fixedly connected to the connecting part 100;

[0043] The driving part 300 is a motor having a hollow interior; see Figure 2 In order for the rotary rod 400 to extend into the driving part 300 and protrude at both ends, the driving part 300 is required to be hollow inside. The hollow path can be of any shape, but must meet the penetration space of the rotary rod 400. Generally, a hollow motor is used, and there is a rotating flange at the end of the motor for fixed connection with the rotary rod 400.

[0044] The cross bar 220 has one end fixedly connected to the axial rod 210 relative to the other end fixedly connected to the connecting part 100, and the other end is fixedly installed with the driving part 300, and the cross bar 220 is perpendicular to the T-axis of the industrial robot. The design of the axial rod 210 and the cross bar 220 takes into account the generation of singular points in the application process of the industrial robot, and the execution end of the tooling is misaligned with the T-axis of the robot to avoid singular points.

[0045] The rotary rod 400 is a long hollow columnar body with one end open and the other end closed, and the rotary rod 400 is parallel to the T axis of the industrial robot;

[0046] The rotating rod 400 passes through the hollow interior of the driving part 300, and the outer side is fixedly connected to the driving part 300, and is driven by the driving part 300 to rotate around the axis; see Figure 2 , which is generally fixed by a flange extending laterally from the hollow motor.

[0047] Both ends of the rotary rod 400 protrude from the driving part 300, and one end is an air intake section 430, and the other end is a blowing section 440, and the length of the blowing section 440 is greater than that of the air intake section 430; the length of the blowing section 440 is generally controlled by the length of the extrusion barrel, and can be longer or slightly shorter than the length of the extrusion barrel, so as to achieve a blowing effect on all paths inside the extrusion barrel.

[0048] The blowing section 440 is closed at one end away from the driving part 300, and a plurality of blowing holes 410 are circumferentially arranged near the closed side; the blowing holes 410 follow the rotation of the rotary rod 400, and can meet the blowing effect at all positions inside the extrusion cylinder, which is also one of the invention points of the utility model using the cooperation of the rotary rod 400 and the industrial robot.

[0049] The air inlet section 430 is open at one end away from the driving unit 300 to receive compressed air from the outside. In this embodiment, the cleaning function is achieved by only using the effect of blowing, thereby achieving the effect of existing manual blowing by using industrial robots and tooling.

[0050] In another embodiment, since oxide scale is generated during the extrusion process, the oxide scale will adhere to the inner wall of the extrusion barrel with a certain strength, and the effect of using the spray alone will not be ideal, so it also includes;

[0051] The scraping part 500 is located between the closed side end of the blowing section 440 and the blowing hole 410, and is rotated by the rotary rod 400 to scrape the inner wall of the extrusion tube. In this embodiment, the scraping part 500 can be a felt-like grinding wheel body, but since the blowing and grinding operations need to be integrated, a certain gap is required in the axial direction of the extrusion tube for the scraping part 500 to facilitate the discharge of the impurities.

[0052] Preferably, the scraping part 500 is a metal flexible chain.

[0053] Preferably, the scraping parts 500 are arranged in pairs around the rotating rod 400. During implementation, a too heavy scraping part 500 will cause deformation of the rod-shaped body. In addition, since it needs to rotate, the strength requirement of the equipment is high. If the execution end of the industrial robot encounters excessive vibration, it will cause inaccurate position and poor stability of the overall equipment. On the basis of the above technical problems, the inventors use paired metal flexible chains to achieve both the space reserved for the external discharge of the spray and the impurities on the inner wall of the extrusion barrel can be cleared on the basis of rotation. It should be noted that in general embodiments, the chain is replaceable, and its length varies with the radius of the extrusion barrel. And it appears in pairs, and no additional torque is applied to the rotating rod 400 to improve the stability of the equipment.

[0054] In some embodiments, in order to further improve the stability of the device, especially on the basis of a longer rotating rod 400, it is necessary to further fix the rotating rod 400, see Figure 2 , also includes:

[0055] The bracket 230 is an L-shaped rigid frame, one end of the L-shaped frame is fixed to the crossbar 220, and the other end is connected to the open end of the air inlet section 430, and a rotating joint 420 is provided between the air inlet section 430 and the bracket 230;

[0056] One end of the rotary joint 420 is fixed on the bracket 230 , and the other end is movably connected to the open end of the air inlet section 430 . The interior of the rotary joint 420 is hollow, and the compressed air entering from the outside enters the rotary rod 400 through the interior of the rotary joint 420 .

[0057] Preferably, it also includes:

[0058] The sleeve 240 is a hollow cylinder with a diameter greater than that of the rotating rod 400 and a length less than that of the rotating rod 400 . The sleeve 240 is sleeved on the outside of the rotating rod 400 , and one end of the sleeve 240 is fixed on the cross bar 220 .

[0059] See also Figure 2 , based on the support 230 and the sleeve 240 stabilizing the rotating rod 400, it also includes:

[0060] The reinforcing portion 250 is located at the connection between the sleeve 240 and the cross bar 220 and is a right-angled triangular metal plate spaced apart around the sleeve 240 . One right-angled side of the metal plate is fixedly connected to the sleeve 240 , and the other right-angled side is fixedly connected to the cross bar 220 .

[0061] In some embodiments, the driving unit 300 is a pneumatic motor.

[0062] Preferably, the driving part 300 and the rotary rod 400 utilize the same external air source.

[0063] In order to increase the effect of blowing outward, the channel of the blowing hole 410 is inclined toward the closed side of the blowing section 440.

[0064] During specific operation: the industrial robot execution end is fixedly connected to the connection part 100, driving the tooling to the outside of the extrusion barrel, and extending the rotary rod 400 into the extrusion barrel along the axial direction. The insertion depth is determined according to the length of the extrusion barrel, and the compressed air drives the driving part 300 to drive the rotary rod 400 to rotate, and the blowing hole 410 sprays compressed air outward synchronously. The scraping part 500 will peel off the impurities that cannot be discharged under the blowing force. The industrial robot drives the entire tooling to gradually withdraw from the extrusion barrel to complete the removal of the impurities adhering to the inside of the extrusion barrel.

[0065] Compared with the prior art, the beneficial effects of the utility model are as follows: the function of the industrial robot's execution end extending into the inner wall of the extrusion barrel for spraying is realized by utilizing the rotary rod; the scraping part is arranged on the rotary rod to realize the integrated operation of spraying and stripping; the design of the metal flexible chain is utilized to reduce the weight and avoid the bending deformation of the cantilever structure during the rotation process, while realizing the removal of impurities on the inner wall; the bracket, sleeve and reinforcement part are utilized to further improve the anti-vibration performance of the overall tooling and improve the overall stability of the equipment.

[0066] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the present invention according to the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A tooling for an industrial robot for cleaning the inner wall of an extruder cylinder, characterized in that: include: The connecting portion (100) is a joint connected to the T-axis of the industrial robot; An axial rod (210) is a rod body parallel to the T-axis of the industrial robot, one end of which is fixedly connected to the connecting portion (100); The driving part (300) is a motor with a hollow interior; a cross bar (220), one end of which is fixedly connected to the axial rod (210) relative to the other end of which is fixedly connected to the connecting portion (100), and the other end of which is fixedly mounted with the driving portion (300), and the cross bar (220) is perpendicular to the T axis of the industrial robot; The rotary rod (400) is a long, hollow columnar body with one end open and the other end closed, and the rotary rod (400) is parallel to the T axis of the industrial robot; The rotating rod (400) passes through the hollow interior of the driving part (300), and the outer side is fixedly connected to the driving part (300), and is driven by the driving part (300) to rotate around the axis; Both ends of the rotary rod (400) protrude from the driving portion (300), one end is an air intake section (430), and the other end is a blowing section (440), and the blowing section (440) is longer than the air intake section (430); The blowing section (440) is closed at one end away from the driving portion (300), and a plurality of blowing holes (410) are circumferentially arranged near the closed side; The air intake section (430) is open at one end away from the driving unit (300) to receive compressed air entering from the outside.

2. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 1 is characterized in that: Also includes; The scraping portion (500) is located between the closed side end of the blowing section (440) and the blowing hole (410), and is rotated by the rotating rod (400) to scrape the inner wall of the extrusion cylinder.

3. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 2 is characterized in that: The scraping part (500) is a metal flexible chain.

4. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 3 is characterized in that: The scraping parts (500) are arranged in pairs in the circumferential direction of the rotating rod (400).

5. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 3 is characterized in that: Also includes: The bracket (230) is an L-shaped rigid frame, one end of the L-shaped rigid frame is fixed to the crossbar (220), and the other end is connected to the open end of the air intake section (430), and a rotating joint (420) is provided between the air intake section (430) and the bracket (230); One end of the rotary joint (420) is fixed to the bracket (230), and the other end is movably connected to the open end of the air intake section (430). The interior of the rotary joint (420) is hollow, and compressed air entering from the outside enters the rotary rod (400) through the interior of the rotary joint (420).

6. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 3 is characterized in that: Also includes: The sleeve (240) is a hollow cylinder having a diameter greater than the rotating rod (400) and a length less than the rotating rod (400). The sleeve (240) is sleeved on the outside of the rotating rod (400) and one end is fixed to the cross bar (220).

7. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 6, characterized in that: Also includes: A reinforcing portion (250), the reinforcing portion (250) being located at the connection between the sleeve (240) and the cross bar (220), and being a right-angled triangular metal plate spaced apart in the circumferential direction of the sleeve (240), wherein one right-angled side of the metal plate is fixedly connected to the sleeve (240), and the other right-angled side is fixedly connected to the cross bar (220).

8. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 1 is characterized in that: The driving part (300) is a pneumatic motor.

9. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 8, characterized in that: The driving part (300) and the rotating rod (400) utilize the same external gas source.

10. The tooling for industrial robots for cleaning the inner wall of the extrusion barrel of an extruder according to claim 1, characterized in that: The hole channel of the blowing hole (410) is inclined toward the closed side of the blowing section (440).

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