Column joint robot and aromatherapy production equipment

Abstract

The utility model discloses a stand column joint robot and aromatherapy production equipment, and relates to the technical field of aromatherapy production equipment. The stand column joint robot comprises a base, a stand column rotationally installed on the base, a first rotation driving piece used for driving the stand column to rotate relative to the base, a first mechanical arm arranged on one side of the stand column, a lifting driving piece used for driving the first mechanical arm to move in the axial direction of the stand column, and a second mechanical arm rotationally connected with the first mechanical arm. The second mechanical arm is used for rotating relative to the first mechanical arm, the second rotary driving piece is used for driving the second mechanical arm to rotate relative to the first mechanical arm, the suction piece is rotationally connected with the second mechanical arm and used for sucking a cup body, the third rotary driving piece is used for driving the suction piece to rotate relative to the second mechanical arm, and the second mechanical arm and the suction piece rotate in the plane perpendicular to the axial direction of the stand column. And the cup body can be automatically carried.

Description

Technical Field

[0001] This application relates to the technical field of aromatherapy production equipment, and particularly relates to a column joint robot and aromatherapy production equipment. Background Art

[0002] An aromatherapy consists of a cup body and wax liquid located inside the cup. During the existing aromatherapy production process, it is necessary to manually transport empty cup bodies to the conveyor belt one by one, so that the conveyor belt transports the empty cup bodies to the filling port of the aromatherapy filling machine to fill the wax liquid. After filling, the conveyor belt drives the filled cup bodies to continue moving forward, and transports the next empty cup body to the filling port for the next round of filling operation. And the filled cup bodies need to be manually removed from the conveyor belt and neatly placed in the finished product frame after reaching the unloading area. This requires a sufficient number of workers for the equipment, resulting in high production costs and low production efficiency. Therefore, there is an urgent need for a device that can transport aromatherapy cup bodies. Content of the Utility Model

[0003] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application provides a column joint robot and aromatherapy production equipment, which solves the problem that the cup bodies of aromatherapy need to be manually transported in the prior art.

[0004] The purpose of this application can be achieved through the following technical solutions:

[0005] In a first aspect, this application provides a column joint robot, including a base, a column rotatably installed on the base, a first rotation driving member for driving the column to rotate relative to the base, a first robotic arm disposed on one side of the column, a lifting driving member for driving the first robotic arm to move axially along the column, a second robotic arm rotatably connected to the first robotic arm, a second rotation driving member for driving the second robotic arm to rotate relative to the first robotic arm, a suction member rotatably connected to the second robotic arm and used for sucking the cup body, and a third rotation driving member for driving the suction member to rotate relative to the second robotic arm. Among them, both the second robotic arm and the suction member rotate on a plane perpendicular to the axial direction of the column.

[0006] In an embodiment of the application: The suction member adopts a vacuum sponge suction cup.

[0007] In an embodiment of the application: A plurality of suction stations are arranged at intervals along the length direction of the suction member, and each suction station is used for sucking one cup body.

[0008] In an embodiment of the application: The lifting driving member includes a screw rod disposed on one side of the column and arranged along its axial direction, a lifting seat sleeved on the screw rod and in threaded cooperation with it, and a lifting motor for driving the screw rod to rotate. The screw rod is rotatably connected to the column, and the first robotic arm is fixedly installed on the lifting seat.

[0009] In an embodiment of the application: The second robotic arm is connected below the end of the first robotic arm. The second rotation driving member is installed above the end of the first robotic arm, and the driving end of the second rotation driving member is fixedly connected to the second robotic arm.

[0010] In an embodiment of the application: The first rotation driving member, the second rotation driving member, and the third rotation driving member all adopt servo motors.

[0011] In a second aspect, the present application provides an aromatherapy production device, including an automatic wax filling machine, a first conveying device docked with the inlet cup of the automatic wax filling machine, a second conveying device docked with the outlet cup of the automatic wax filling machine, and the column joint robot described in any one of the above. There are at least two column joint robots, including a first column joint robot disposed on one side of the first conveying device for transporting the cup body to the first conveying device, and a second column joint robot disposed on one side of the second conveying device for transporting the cup body filled with wax liquid from the second conveying device.

[0012] In an embodiment of the application: The aromatherapy production device further includes a vibrating disk disposed between the automatic wax filling machine and the first conveying device. The vibrating disk is used to receive the cup body conveyed from the first conveying device, align the cup body, and then convey it into the automatic wax filling machine from the inlet cup.

[0013] In an embodiment of the application: The second conveying device includes a first conveyor docked with the outlet of the automatic wax filling machine and a second conveyor disposed at one end of the first conveyor away from the outlet. A material distribution turntable is provided between the first conveyor and the second conveyor for transporting the cup bodies on the first conveyor to the second conveyor one by one. A first sensor is provided at one end of the second conveyor close to the material distribution turntable for sensing the cup body distributed from the material distribution turntable and controlling the stepping distance of the second conveyor for the cup body.

[0014] In an embodiment of the application: A second sensor is provided at the end of the second conveyor for sensing the cup body and controlling the synchronous start and stop of the first conveyor and the second conveyor.

[0015] Beneficial effects: In this application, a suction member is provided to suck the cup body, a first rotation driving member is provided to drive the column to rotate relative to the base, a lifting driving member is provided to drive the first robotic arm to lift along the axial direction of the column, a second robotic arm driven by a second rotation driving member is provided to rotate relative to the first robotic arm in a plane perpendicular to the axial direction of the column, and a third rotation driving member is provided to drive the suction member to rotate relative to the second robotic arm in a plane perpendicular to the axial direction of the column, so that the suction member has sufficient flexibility and positioning accuracy, enabling the column joint robot to automatically and accurately carry the cup body, reducing the use of manual labor in the production process of aromatherapy. Description of the Drawings

[0016] The following further describes this application with reference to the drawings.

[0017] Figure 1 is a schematic structural diagram of a column joint robot in an embodiment of this application;

[0018] Figure 2 is a schematic structural diagram of an aromatherapy production device in an embodiment of this application;

[0019] Figure 3 is a schematic structural diagram of a part of the first conveyor and the second conveyor in an embodiment of this application.

[0020] Description of the Reference Numerals:

[0021] 1. Base; 2. Column; 3. First rotation driving member; 4. First robotic arm; 5. Lifting driving member; 51. Screw; 52. Lifting seat; 53. Lifting motor; 6. Second robotic arm; 7. Second rotation driving member; 8. Suction member; 9. Third rotation driving member; 10. Small gear; 11. Large gear; 100. Column joint robot; 1001. First column joint robot; 1002. Second column joint robot; 101. Automatic wax filling machine; 102. First conveying device; 103. Second conveying device; 1031. First conveyor; 1032. Second conveyor; 104. Vibration plate; 105. Material distribution turntable; 106. First sensor; 107. Second sensor; 200. Cup body; 300. Material box. Detailed Embodiments

[0022] The following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0023] Please refer to Figure 1As shown in the figure, the present application discloses a column joint robot 100 for automatically transporting the cup body 200 of aromatherapy, which includes a base 1, a column 2, a first rotation driving member 3, a first robotic arm 4, a lifting driving member 5, a second robotic arm 6, a second rotation driving member 7, a suction member 8 and a third rotation driving member 9.

[0024] The base 1 can be fixed to the ground by bolts. The column 2 is arranged above the base 1 and is rotationally connected to the column 2 through a first slewing bearing. The first rotation driving member 3 is fixedly installed on one side of the bottom of the column 2. A small gear 10 is fixedly installed on the driving end of the first rotation driving member 3. A large gear 11 meshing with the small gear 10 is fixedly installed on the base 1. The large gear 11 is arranged between the base 1 and the column 2 around the axis of the column 2. The first rotation driving member 3 drives the small gear 10 to rotate meshing with the large gear 11, so as to drive the column 2 to rotate relative to the base 1, thereby adjusting the orientation of the subsequent suction member 8. Preferably, the first rotation driving member 3 adopts a servo motor.

[0025] The lifting driving member 5 includes a screw rod 51 arranged along the axis of the column 2, a lifting seat 52 sleeved on the screw rod 51 and threadedly matched with it, and a lifting motor 53 for driving the screw rod 51 to rotate. The screw rod 51 is located on one side of the column 2, and the upper and lower ends of the screw rod 51 are respectively rotationally connected to the column 2 through bearings. The lifting motor 53 drives the screw rod 51 to rotate, thereby enabling the lifting seat 52 to move up and down along the axis of the column 2.

[0026] The first robotic arm 4 is arranged on one side of the column 2, and the axis of the first robotic arm 4 is perpendicular to the axis of the column 2. One end of the first robotic arm 4 is fixedly installed on the lifting seat 52 by bolts. The second robotic arm 6 is arranged below the first robotic arm 4. The end of the second robotic arm 6 is rotationally connected to the end of the first robotic arm 4 through a second slewing bearing. The second rotation driving member 7 is fixedly installed above the end of the first robotic arm 4, and the driving end of the second rotation driving member 7 is fixedly connected to the end of the second robotic arm 6. The second rotation driving member 7 can drive the second robotic arm 6 to rotate relative to the first robotic arm 4 in a plane perpendicular to the axis of the column 2. Preferably, the second rotation driving member 7 adopts a servo motor.

[0027] The suction member 8 is arranged below the second robotic arm 6. The middle part of the suction member 8 is rotationally connected to the other end of the second robotic arm 6 through a third slewing bearing. The third rotation driving member 9 is fixedly installed above the second robotic arm 6, and the driving end of the third rotation driving member 9 is fixedly connected to the middle part of the suction member 8. The third rotation driving member 9 can drive the suction member 8 to rotate relative to the second robotic arm 6 in a plane perpendicular to the axis of the column 2. Preferably, the third rotation driving member 9 adopts a servo motor.

[0028] Further, the suction member 8 is a vacuum sponge suction cup, enabling the suction member 8 to stably adsorb the cup body 200. Further, a plurality of suction stations are provided on the suction member 8 at intervals along its length direction, and each suction station is used to suck one cup body 200. Preferably, the number of suction stations on the suction member 8 is equal to the number of columns in which the cup bodies 200 are placed in the material frame 300, so that the suction member 8 can suck up all the cup bodies 200 in one column of the material frame 300 at one time, improving the handling efficiency of the cup bodies 200.

[0029] In summary, the suction member 8 in the present application has four axial degrees of freedom, ensuring the flexibility and positioning accuracy of the suction member 8, and facilitating the accurate handling of the cup body 200 by the suction member 8. The settings of the first robotic arm 4 and the second robotic arm 6 enable the suction member 8 to have a sufficient movement radius, ensuring its working area.

[0030] Please refer to Figures 1-3 As shown, the present application also discloses an aromatherapy production device for automatically producing aromatherapy. The aromatherapy production device includes the above-mentioned columnar joint robot 100, a first conveying device 102 docked with the cup inlet of the automatic wax filling machine 101, and a second conveying device 103 docked with the cup outlet of the automatic wax filling machine 101. Among them, at least two columnar joint robots 100 are provided. For the convenience of identification, the two columnar joint robots 100 are respectively named the first columnar joint robot 1001 and the second columnar joint robot 1002. The first columnar joint robot 1001 is arranged in the loading area on one side of the first conveying device 102, and the second columnar joint robot 1002 is arranged in the unloading area on one side of the second conveying device 103.

[0031] During production, the first columnar joint robot 1001 transports the empty cup bodies 200 in the material frame 300 placed in the loading area to the first conveying device 102. The first conveying device 102 then transports the empty cup bodies 200 from the cup inlet of the automatic wax filling machine 101 into the automatic wax filling machine 101. After the automatic wax filling machine 101 fills a fixed amount of wax liquid into the empty cup bodies 200, it transports them from the cup outlet to the second conveying device 103, enabling the second conveying device 103 to transport the cup bodies 200 filled with wax liquid to a designated position. Then, the second columnar joint robot stacks the aromatherapy at the designated position into the empty material frame 300.

[0032] In this embodiment, the automatic wax filling machine 101 uses existing equipment and will not be specifically described here. The first conveying device 102 uses a chain plate production line.

[0033] In this embodiment, the aromatherapy production equipment further includes a vibrating bowl 104. The vibrating bowl 104 is arranged between the automatic wax filling machine 101 and the first conveying device 102. The feeding end of the vibrating bowl 104 is connected to the discharging end of the first conveying device 102, and the discharging end of the vibrating bowl 104 is docked with the cup inlet of the automatic wax filling machine 101. After the first conveying device 102 conveys the empty cup body 200 into the vibrating bowl 104, the cup body 200 can be aligned by the vibrating bowl 104 and then conveyed into the automatic wax filling machine 101, which is convenient for the filling of the automatic wax filling machine 101. The second conveying device 103 includes a first conveyor 1031 docked with the discharging port of the automatic wax filling machine 101 and a second conveyor 1032 arranged at one end of the first conveyor 1031 away from the discharging port. A material distributing turntable 105 is arranged between the first conveyor 1031 and the second conveyor 1032. The material distributing turntable 105 can convey the cup bodies 200 on the first conveyor 1031 to the second conveyor 1032 one by one.

[0034] A first sensor 106 for sensing the cup body 200 distributed from the material distributing turntable 105 is arranged at one end of the second conveyor 1032 close to the material distributing turntable 105. The first sensor 106 can control the stepping distance of the cup body 200 on the second conveyor 1032 by sensing the cup body 200, so that the distance between the cup bodies 200 on the second conveyor 1032 is a preset distance, which is convenient for the subsequent picking of the second column 2 articulated robot. Preferably, both the first conveyor 1031 and the second conveyor 1032 adopt chain plate production lines.

[0035] A second sensor 107 for sensing the cup body 200 is arranged at the end of the second conveyor 1032. When the second sensor 107 senses the cup body 200, the first conveyor 1031 and the second conveyor 1032 stop running synchronously and wait for the second column 2 articulated robot to pick up the cup body 200; when the second sensor 107 does not sense the cup body 200, the first conveyor 1031 and the second conveyor 1032 start to convey the cup body 200 synchronously.

[0036] The above has described an embodiment of the present application in detail, but the content described is only the preferred embodiment of the present application and cannot be considered as limiting the scope of implementation of the present application. All equal changes and improvements made according to the scope of the present application should still fall within the scope covered by the patent of the present application.

[0037] It should be noted that the "first", "second" and similar terms used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. The descriptions of directions such as "left", "right", "left side", "right side", "upper part", "lower part", "top", "bottom", etc. in this application are all defined based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the described structure must be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application. In the description of this application, "a plurality of" means more than two, unless otherwise specifically defined.

[0038] In the description of this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected to" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Claims

1. A column joint robot, characterized in that, It includes a base, a column rotatably mounted on the base, a first rotary drive for driving the column to rotate relative to the base, a first robotic arm provided on one side of the column, a lifting drive for driving the first robotic arm to move axially along the column, a second robotic arm rotatably connected to the first robotic arm, a second rotary drive for driving the second robotic arm to rotate relative to the first robotic arm, a suction member rotatably connected to the second robotic arm and used for sucking the cup body, and a third rotary drive for driving the suction member to rotate relative to the second robotic arm. Among them, both the second robotic arm and the suction member rotate in a plane perpendicular to the axial direction of the column.

2. The articulated robot for a column according to claim 1, characterized in that, The suction member uses a vacuum sponge suction cup.

3. The articulated robot for a column according to claim 1, wherein A plurality of suction stations are provided on the suction member at intervals along its length direction, and each suction station is used for sucking a cup body.

4. A column joint robot according to claim 1, characterized in that, The lifting drive includes a screw rod provided on one side of the column and arranged along its axial direction, a lifting seat sleeved on the screw rod and in threaded cooperation with it, and a lifting motor for driving the screw rod to rotate self - sufficiently. The screw rod is rotatably connected to the column, and the first robotic arm is fixedly installed on the lifting seat.

5. The articulated robot for a column according to claim 1, characterized in that, The second robotic arm is connected below the end of the first robotic arm, the second rotary drive is installed above the end of the first robotic arm, and the driving end of the second rotary drive is fixedly connected to the second robotic arm.

6. The column joint robot according to claim 1, wherein The first rotary drive, the second rotary drive, and the third rotary drive all use servo motors.

7. An aromatherapy production device, characterized in that, It includes an automatic wax - filling machine, a first conveying device docked with the cup inlet of the automatic wax - filling machine, a second conveying device docked with the cup outlet of the automatic wax - filling machine, and a column - type articulated robot according to any one of claims 1 - 6. There are at least two column - type articulated robots, including a first column - type articulated robot provided on one side of the first conveying device for transporting the cup body onto the first conveying device, and a second column - type articulated robot provided on one side of the second conveying device for transporting the cup body filled with wax liquid down from the second conveying device.

8. A fragrance diffuser production device according to claim 7, characterized in that, The aromatherapy production equipment further includes a vibrating disk provided between the automatic wax - filling machine and the first conveying device. The vibrating disk is used to receive the cup bodies transported from the first conveying device, align the cup bodies, and then transport them into the automatic wax - filling machine from the cup inlet.

9. An aromatherapy production device according to claim 7, characterized in that, The second conveying device includes a first conveyor docked with the outlet of the automatic wax - filling machine and a second conveyor provided at one end of the first conveyor away from the outlet. A material - distributing turntable is provided between the first conveyor and the second conveyor for transporting the cup bodies on the first conveyor to the second conveyor one by one. A first sensor is provided at one end of the second conveyor close to the material - distributing turntable for sensing the cup body distributed from the material - distributing turntable and controlling the stepping distance of the second conveyor for this cup body.

10. A kind of aromatherapy production equipment according to claim 9, characterized in that, A second sensor is provided at the end of the second conveyor for sensing the cup body and controlling the synchronous start and stop of the first conveyor and the second conveyor.

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