Mechanical arm servo shaping machine

Abstract

The utility model relates to the technical field of vacuum cup production, in particular to a mechanical arm servo shaping machine which comprises a bottom frame, a mechanical arm servo shaping mechanism and a mechanical arm servo shaping mechanism. The shaping part is used for shaping the workpiece and comprises a placing assembly and an extruding assembly; the placing assembly comprises a placing table which is arranged on the support frame in a sliding manner; the two-way screw rod is rotationally arranged in the connecting groove in the placing table; the two clamping blocks are in threaded connection with the two ends of the two-way lead screw respectively; the second bevel gear is meshed with the first bevel gear, and the first bevel gear is installed on the two-way lead screw; the overload mechanism is arranged at one end of the first bevel gear and used for releasing redundant output force; the extrusion assembly comprises a sliding plate which is arranged on the supporting frame in a sliding manner; the first rack is meshed with the first gear, and the first rack is mounted at the top of the sliding plate through a mounting frame; and the pressure sensor is mounted at the bottom of the sliding plate.

Description

Technical Field

[0001] The present application relates to the technical field of thermos cup production, and in particular to a robotic arm servo shaping machine. Background Art

[0002] In the production process of thermos cups, shaping is a key step to ensure product quality and consistency. Traditional shaping equipment mostly relies on manual loading and unloading and clamping operations, which is inefficient and prone to errors. It is difficult to quickly adapt to workpieces of different specifications, the line change time is long, and the flexibility is poor.

[0003] In this regard, the present application proposes a robotic arm servo shaping machine to solve this problem. Summary of the Invention

[0004] The purpose of this application is to solve at least one of the technical deficiencies.

[0005] To this end, one purpose of this application is to propose a robotic arm servo shaping machine to solve the problems mentioned in the background technology and overcome the shortcomings of the existing technology.

[0006] In order to achieve the above-mentioned purpose, an embodiment of one aspect of the present application provides a robotic arm servo shaping machine, comprising: a base frame, on which a support frame is installed; a shaping part for shaping a workpiece, comprising a placing component and an extrusion component; the placing component comprises: a placing table, slidably arranged on the supporting frame; a bidirectional screw rod, rotatably arranged in a connecting groove on the placing table; a clamping block, a total of two, respectively threadedly connected to the two ends of the bidirectional screw rod; a first bevel gear, and a second bevel gear meshing with it, the first bevel gear being installed on the bidirectional screw rod; an overload mechanism being provided at one end of the first bevel gear for releasing excess output force; the extrusion component comprises: a sliding plate, slidably arranged on the supporting frame; the first gear, and a first rack meshed with it, the first rack being mounted on the top of the slide through a mounting bracket; a pressure sensor being mounted on the bottom of the slide, a pressure plate being mounted on the bottom of the pressure sensor; two groups of transporting parts being arranged at both ends of the support frame for adding or removing workpieces to or from the shaping part, a single group of transporting parts comprising: a second gear and a second rack meshed with it; a slide frame being slidably arranged on the support frame, the slide frame being connected to the second rack; a connecting rod being rotatably arranged on the slide frame; a connecting plate being rotatably arranged on the connecting rod; a clamping member being driven by the electric push rod, a fixing rod being mounted on one end of the clamping member, and the fixing rod being rotatably arranged on the connecting plate.

[0007] Preferably, the overload mechanism includes: a positioning rod mounted on the second bevel gear, a hemispherical groove being provided on the positioning rod; a connecting sleeve, one end of which is rotatably provided on the positioning rod and the other end of which is rotatably provided on the bottom of the placement table, a slot being provided on the connecting sleeve; a fixed ball slidably provided in the slot and movably provided in the hemispherical groove; and a spring, one end of which is mounted in the slot and the other end is connected to the fixed ball.

[0008] Preferably, the placement assembly further comprises: a first motor, mounted on the bottom of the placement table, the output end of the first motor being connected to the bottom of the connecting sleeve; a lifting plate, slidably arranged on the base frame, a support rod being mounted on the lifting plate, and the support rod being connected to the placement table; a first screw rod, on which a first slider is threadedly connected, and the first slider is mounted on the lifting plate; a second motor, mounted on the base frame, one end of which is connected to the first screw rod via a coupling.

[0009] Preferably, from any of the above schemes, the extrusion assembly further includes: a third motor, mounted on the support frame, the output end of the third motor being connected to the first gear; a limit plate, mounted on the top of the sliding plate, the limit plate being slidably set on the support frame.

[0010] Preferably, any of the above schemes includes: a fourth motor installed on the support frame, and the fourth motor is connected to the second gear through a coupling; a fifth motor installed on the slide frame, and its output end is connected to the connecting rod; a first pulley installed on the connecting rod; a second pulley connected to the first pulley through a synchronous belt, and the second pulley is installed on the fixed rod.

[0011] Preferably, any of the above schemes further includes a discharge part for discharging materials: the discharge part includes: a fixed frame, mounted on the side of the base frame; a positioning frame, slidably fixed on the fixed frame; a connecting frame, rotatably set on the fixed frame; four groups of jaws, symmetrically mounted in pairs at both ends of the connecting frame, and the jaws are driven by a cylinder; a sixth motor, mounted on the fixed frame; a driving gear, and a driven gear meshing with the driving gear, wherein the driving gear is mounted on the output end of the sixth motor, and the driven gear is mounted on the bottom of the connecting frame.

[0012] Preferably, from any of the above schemes, the discharge part further includes: a seventh motor, mounted on a fixed frame; a gear box, mounted on the fixed frame, one end of the gear box being connected to the seventh motor; a second screw rod, threadedly connected to the gear box and passing through the gear box, the second screw rod also passing through the fixed frame and being rotatably connected to the positioning frame.

[0013] Compared with the prior art, the advantages and beneficial effects of this application are:

[0014] 1. Two sets of transport parts, one for loading and one for unloading, realize automatic loading and unloading of workpieces. This design reduces manual intervention and improves production efficiency.

[0015] 2. The coordinated use of the bidirectional screw, clamping block and overload mechanism in the placement assembly can quickly match the clamping and release of workpieces of different specifications, further improving the level of automation and greater flexibility.

[0016] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 This is a schematic diagram from a first perspective according to an embodiment of the present application;

[0019] Figure 2 A schematic diagram of a second viewing angle according to an embodiment of the present application;

[0020] Figure 3 This is a schematic diagram of the support frame installation according to an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of placing components according to an embodiment of the present application;

[0022] Figure 5 A cross-sectional diagram of a placement table according to an embodiment of the present application;

[0023] Figure 6 Schematic diagram of a partial cross-section of an overload mechanism according to an embodiment of the present application;

[0024] Figure 7 Schematic diagram of an extrusion assembly according to an embodiment of the present application;

[0025] Figure 8 This is a schematic diagram of a single-group transport unit according to an embodiment of the present application;

[0026] Figure 9 This is a schematic diagram of the installation of the connecting rod according to an embodiment of the present application;

[0027] Figure 10 This is a schematic diagram of the first perspective of the discharge part according to an embodiment of the present application;

[0028] Figure 11 This is a schematic diagram of the second viewing angle of the discharge part according to an embodiment of the present application.

[0029] In the figure: 1. Base frame, 2. Shaping part, 21. Placement assembly, 2101. Placement table, 2102. Bidirectional screw, 2103. First bevel gear, 2104. Second bevel gear, 2105. First motor, 2106. Lifting plate, 2107. Support rod, 2108. First screw, 2109. First slider, 2110. Second motor, 2111. Clamping block, 22. Extrusion assembly, 2201. Slide plate, 2202. First gear, 2203. First rack, 2204. Pressure sensor, 2205. Press plate, 2206. Third motor, 23. Overload mechanism, 2301. Positioning rod, 2302. Connecting sleeve , 2303, fixed ball, 2304, spring, 3, conveying part, 301, second gear, 302, second rack, 303, sliding frame, 304, connecting rod, 305, connecting plate, 306, clamping member, 307, fixed rod, 308, fourth motor, 309, fifth motor, 310, first pulley, 311, second pulley, 312, synchronous belt, 4, unloading part, 401, fixed frame, 402, positioning frame, 403, connecting frame, 404, clamping claw, 405, sixth motor, 406, driving gear, 407, driven gear, 408, seventh motor, 409, gear box, 410, second screw rod, 5, support frame. DETAILED DESCRIPTION

[0030] like Figures 1 to 11 As shown, a robotic arm servo shaping machine includes a base frame 1, a shaping part 2, a conveying part 3 and a discharge part 4.

[0031] Further, such as Figure 3 As shown, a support frame 5 is installed on the base frame 1.

[0032] Furthermore, in order to perform extrusion shaping on the workpiece, a shaping portion 2 is provided, comprising a placement component 21 for fixing the workpiece and an extrusion component 22 for shaping;

[0033] Further, such as Figures 4 to 6 As shown, the placement component 21 includes:

[0034] A placement table 2101 is slidably arranged on the support frame 5;

[0035] A bidirectional screw rod 2102 is rotatably disposed in a connecting groove on the placement platform 2101;

[0036] There are two clamping blocks 2111, which are respectively threadedly connected to the two ends of the bidirectional screw rod 2102;

[0037] A first bevel gear 2103 and a second bevel gear 2104 meshing therewith, wherein the first bevel gear 2103 is mounted on the bidirectional screw rod 2102;

[0038] The overload mechanism 23 is provided at one end of the first bevel gear 2103 and is used to release excess output force;

[0039] The overload mechanism 23 includes:

[0040] A positioning rod 2301 is mounted on the second bevel gear 2104 and has a hemispherical groove.

[0041] A connecting sleeve 2302, one end of which is rotatably mounted on the positioning rod 2301, and the other end of which is rotatably mounted on the bottom of the placement platform 2101. A slot is formed on the connecting sleeve 2302;

[0042] The fixed ball 2303 is slidably arranged in the slot hole and movably arranged in the hemispherical groove;

[0043] A spring 2304, one end of which is installed in the slot and the other end is connected to the fixed ball 2303;

[0044] The placement component 21 further includes:

[0045] A first motor 2105 is installed at the bottom of the placement table 2101, and an output end of the first motor 2105 is connected to the bottom of the connecting sleeve 2302;

[0046] A lifting plate 2106 is slidably disposed on the base frame 1 , and a support rod 2107 is installed on the lifting plate 2106 , and the support rod 2107 is connected to the placement table 2101 ;

[0047] A first screw rod 2108 , on which a first slider 2109 is threadedly connected. The first slider 2109 is installed on the lifting plate 2106 ;

[0048] The second motor 2110 is mounted on the base frame 1 , and one end of the second motor 2110 is connected to the first screw rod 2108 via a coupling.

[0049] Specifically, the second motor 2110 drives the first screw rod 2108 to rotate through the coupling, drives the first slider 2109 to move, and the first slider 2109 drives the lifting plate 2106 to move, and then drives the support rod 2107 to drive the placement table 2101 to move. The position of the placement table 2101 can be adjusted, and can also be used in conjunction with the extrusion assembly 22.

[0050] Further, such as Figure 7 As shown, the extrusion assembly 22 includes:

[0051] A sliding plate 2201 is slidably arranged on the support frame 5;

[0052] a first gear 2202 and a first rack 2203 meshing therewith, wherein the first rack 2203 is mounted on the top of the sliding plate 2201 via a mounting bracket, and the first rack 2203 is slidably disposed on the support frame 5;

[0053] A pressure sensor 2204 is installed at the bottom of the sliding board 2201, and a pressure plate 2205 is installed at the bottom of the pressure sensor 2204;

[0054] The extrusion assembly 22 further includes:

[0055] A third motor 2206 is mounted on the support frame 5 , and an output end of the third motor 2206 is connected to the first gear 2202 ;

[0056] The limiting plate is installed on the top of the sliding plate 2201, and the limiting plate is slidably set on the supporting frame 5.

[0057] Further, such as Figures 8 and 9 As shown, in order to realize the loading and unloading of workpiece materials, two groups of transport parts 3 are provided. A single group of transport parts 3 includes:

[0058] A second gear 301 and a second rack 302 meshing therewith;

[0059] A sliding frame 303 is slidably disposed on the support frame 5 , and the sliding frame 303 is connected to the second rack 302 ;

[0060] A connecting rod 304 is rotatably mounted on the sliding frame 303;

[0061] A connecting plate 305 is rotatably mounted on the connecting rod 304;

[0062] The clamping member 306 is driven by the electric push rod. A fixing rod 307 is installed at one end of the clamping member 306. The fixing rod 307 is rotatably mounted on the connecting plate 305.

[0063] The transport unit 3 of the single group further includes:

[0064] A fourth motor 308 is mounted on the support frame 5 and is connected to the second gear 301 via a coupling;

[0065] a fifth motor 309 , mounted on the carriage 303 , with its output end connected to the connecting rod 304 ;

[0066] A first pulley 310 is mounted on the connecting rod 304;

[0067] The second pulley 311 is connected to the first pulley 310 via a synchronous belt 312 , and the second pulley 311 is installed on the fixing rod 307 .

[0068] Further, such as Figures 10 and 11 As shown, a discharge portion 4 for discharging materials is also provided, comprising:

[0069] The fixing frame 401 is installed on the side of the base frame 1;

[0070] Positioning frame 402, sliding on the fixing frame 401;

[0071] The connecting frame 403 is rotatably mounted on the fixing frame 401;

[0072] Four sets of clamping jaws 404 are symmetrically mounted on both ends of the connecting frame 403, and the clamping jaws 404 are driven by a cylinder;

[0073] The sixth motor 405 is mounted on the fixing frame 401;

[0074] a driving gear 406 and a driven gear 407 meshing therewith, wherein the driving gear 406 is mounted on the output end of the sixth motor 405 , and the driven gear 407 is mounted on the bottom of the connecting frame 403 ;

[0075] The discharge part 4 also includes:

[0076] A seventh motor 408 is mounted on the fixing frame 401;

[0077] A gear box 409 is mounted on the fixing frame 401 , and one end of the gear box 409 is connected to the seventh motor 408 ;

[0078] The second screw rod 410 is threadedly connected to the gear box 409 and passes through the gear box 409 . The second screw rod 410 also passes through the fixing frame 401 and is rotatably connected to the positioning frame 402 .

[0079] Specifically, when the workpiece placed on one set of the clamping jaws 404 is moved, the sixth motor 405 drives the driving gear 406, which in turn drives the driven gear 407, driving the connecting frame 403 to rotate, thereby changing the position of the clamping jaws 404.

[0080] A robotic arm servo shaping machine, the working principle is as follows:

[0081] First, the clamping jaws 404 are opened by the cylinder to place the workpiece, and then the clamping jaws 404 are pushed by the cylinder to clamp the workpiece;

[0082] The workpiece is loaded by two groups of transporting parts 3 and moved from the unloading part 4 to the placement component 21 in the shaping part 2, as follows:

[0083] The fourth motor 308 drives the second gear 301 to rotate, and the second gear 301 drives the second rack 302 to move upward or downward, thereby driving the slide frame 303 to move in the up and down directions, driving the clamping member 306 to move up and down, and after the clamping member 306 is adjusted to a suitable position, the fifth motor 309 drives the connecting rod 304 to rotate, and the connecting rod 304 drives the connecting plate 305 to move, and at the same time drives the first pulley 310 to rotate, and drives the second pulley 311 to rotate through the synchronous belt 312, drives the fixed rod 307 to rotate, and drives the clamping member 306 to rotate. In this process, the clamping member 306 follows the connecting rod 304 to revolve around the fifth motor 309, and then drives the fixed rod 307 to rotate. 307 drives the self-rotation. When the clamping member 306 moves above the workpiece, the height of the clamping member 306 is adjusted by the fourth motor 308, and then the workpiece is clamped and the workpiece is driven to move to the placement table 2101 by the fifth motor 309. When the workpiece is clamped by the clamping member 306, the clamping claw 404 works first to release the clamping of the workpiece, and drives the gear box 409 through the seventh motor 408, and drives the second screw rod 410 through the seventh gear thread. Since the gear box 409 is fixed, the second screw rod 410 rotates and moves up and down, driving the positioning frame 402 to move, and here it moves downward to avoid collision when the workpiece is transported. Then the fifth motor 309 works;

[0084] After the workpiece is placed, the overload mechanism 23 is driven by the first motor 2105, and the second bevel gear 2104 is driven to rotate through the transmission of the load mechanism 23. The second bevel gear 2104 drives the first bevel gear 2103 meshing with it to rotate, driving the bidirectional screw rod 2102 to rotate, and then drives the two clamping blocks 2111 to move towards each other to clamp the workpiece. When the workpiece is clamped, according to the different specifications of the workpiece (the clamping block 2111 with a large specification has a short movement stroke, and the clamping block 2111 with a small specification has a long movement stroke), the excess movement stroke is released by the overload mechanism 23 (the connecting sleeve 2302 rotates, the fixed ball 2303 retracts into the slot, and squeezes the spring 2304, so that the positioning rod 2301 does not rotate and the connecting sleeve 2302 rotates idly);

[0085] After the workpiece is clamped, the third motor 2206 drives the first gear 2202 to rotate, driving the first rack 2203 to move. The first rack 2203 drives the slide plate 2201 to move, driving the pressure sensor 2204 and the pressure plate 2205 to move toward the workpiece, squeezing and shaping the workpiece, and the pressure value is monitored in real time by the pressure sensor 2204.

[0086] After the shaping is completed, the extrusion part is reset, and the workpiece is clamped by the clamping member 306 in the transport part 3 and released by the first motor 2105. Then, the workpiece is removed by the transport part 3 and another workpiece is placed.

[0087] Repeat the above steps.

Claims

1. A robotic arm servo shaping machine, characterized in that: include: a base frame on which a support frame is mounted; The shaping section is used to shape the workpiece, including placing components and extruding components; The placement component includes: A placement table, slidably arranged on the support frame; A bidirectional screw rod is rotatably arranged in the connecting groove on the placement table; There are two clamping blocks, which are threadedly connected to both ends of the bidirectional screw; a first bevel gear and a second bevel gear meshing therewith, wherein the first bevel gear is mounted on the bidirectional screw; An overload mechanism is provided at one end of the first bevel gear and is used to release excess output force; The extrusion assembly comprises: A sliding plate, slidably arranged on the support frame; a first gear and a first rack meshing therewith, wherein the first rack is mounted on the top of the sliding board via a mounting bracket; A pressure sensor is installed at the bottom of the sliding board, and a pressure plate is installed at the bottom of the pressure sensor; Two sets of transport parts are provided at both ends of the support frame, and are used to add or remove workpieces to or from the shaping part. A single set of transport parts includes: a second gear and a second rack meshing therewith; a sliding frame, slidably disposed on the support frame, the sliding frame being connected to the second rack; A connecting rod rotatably mounted on the sliding frame; a connecting plate rotatably disposed on the connecting rod; A clamping piece is provided with a fixing rod at one end thereof, and the fixing rod is rotatably arranged on the connecting plate.

2. A robotic arm servo shaping machine according to claim 1, characterized in that: The overload mechanism comprises: A positioning rod is mounted on the second bevel gear, and a hemispherical groove is formed on the positioning rod; A connecting sleeve, one end of which is rotatably mounted on the positioning rod and the other end of which is rotatably mounted on the bottom of the placement table, wherein a slot is formed on the connecting sleeve; The fixed ball is slidably arranged in the slot hole and movably arranged in the hemispherical groove; One end of the spring is installed in the slot hole, and the other end is connected to the fixed ball.

3. A robotic arm servo shaping machine according to claim 2, characterized in that: The placement component also includes: A first motor is installed at the bottom of the placement table, and an output end of the first motor is connected to the bottom of the connecting sleeve; A lifting plate is slidably arranged on the base frame, and a support rod is installed on the lifting plate, and the support rod is connected to the placement table; a first screw rod, on which a first slider is threadedly connected, and the first slider is mounted on the lifting plate; The second motor is mounted on the base frame, and one end of the second motor is connected to the first screw rod through a coupling.

4. The robotic arm servo shaping machine according to claim 1, characterized in that: The extrusion assembly further comprises: a third motor, mounted on the support frame, wherein an output end of the third motor is connected to the first gear; The limiting plate is installed on the top of the sliding plate, and the limiting plate is slidably arranged on the supporting frame.

5. The robotic arm servo shaping machine according to claim 1, characterized in that: The transport unit of the single group also includes: a fourth motor, mounted on the support frame, the fourth motor being connected to the second gear via a coupling; a fifth motor, mounted on the sliding frame, with an output end thereof connected to the connecting rod; a first pulley mounted on the connecting rod; The second pulley is connected to the first pulley through a synchronous belt, and the second pulley is installed on the fixing rod.

6. The robotic arm servo shaping machine according to claim 1, characterized in that: It also includes a discharge section for discharging materials: The unloading part includes: A fixing bracket, mounted on the side of the chassis; Positioning frame, on the sliding fixed frame; A connecting frame, rotatably arranged on the fixed frame; Four sets of grippers are symmetrically mounted on both ends of the connecting frame, and the grippers are driven by cylinders; a sixth motor, mounted on the fixed frame; A driving gear and a driven gear meshing with the driving gear, wherein the driving gear is mounted on the output end of the sixth motor, and the driven gear is mounted on the bottom of the connecting frame.

7. The robotic arm servo shaping machine according to claim 6, characterized in that: The unloading part also includes: a seventh motor, mounted on the fixed frame; a gear box mounted on the fixed frame, wherein one end of the gear box is connected to the seventh motor; The second screw rod is threadedly connected to the gear box and passes through the gear box. The second screw rod also passes through the fixing frame and is rotatably connected to the positioning frame.

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