Vessel mechanical overturning and conveying manipulator

Abstract

The utility model discloses a mechanical overturning and conveying manipulator for vessels, and relates to the technical field of automatic manipulators, a vessel clamping space is formed between two clamping modules of a clamping unit, each clamping module comprises a supporting framework, a conveying assembly and a conveying driving source, and the conveying driving source is used for driving the conveying assembly to rotate forwards and backwards; the conveying assemblies of the two clamping modules rotate to drive the vessel to pass through the vessel clamping space; the distance adjusting unit is connected with the supporting frameworks of the two clamping modules and used for synchronously adjusting the distance between the two clamping modules. The rotating unit comprises a rotating driving source and a transmission module, the interval adjusting unit is fixed to the output end of the transmission module, the rotating driving source drives the interval adjusting unit to rotate through the transmission module and drives the clamping units to synchronously turn over around the horizontal axis, the upper and lower positions of the two clamping modules are interchanged, and 180-degree turning over of the vessel is achieved. According to the device, the vessels are automatically overturned and conveyed, manual operation is replaced, the labor intensity is reduced, and the production efficiency and safety are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic manipulator, in particular to a utensil mechanical overturning and conveying manipulator. BACKGROUND

[0002] In the production industry of pressed utensils, especially in the production process of tableware glass utensils, the operation of the production line often has high speed and continuity. At present, the pressed glass utensils produced by machines are usually transmitted through a conveying belt, and the process of transferring these utensils from the conveying belt to a tray to enter the next process mostly relies on manual operation. Specifically, workers need to work continuously beside the production line, carry down the glass utensils on the conveying belt, overturn them according to the requirements of the subsequent process, and then place them neatly on the tray.

[0003] This manual operation mode has many problems. First, each production line needs to be equipped with multiple workers for each shift, which undoubtedly increases the labor cost of the enterprise. Second, because the machine operates at a high speed, the glass utensils move continuously on the conveying belt, and the workers must quickly and frequently carry and overturn the utensils, resulting in high labor intensity and fatigue after a long time of work. In a state of fatigue, the operation accuracy and reaction speed of the workers will decrease, which not only may affect the work quality, such as causing the glass utensils to be placed irregularly or the overturning angle to not meet the requirements, but also may cause high safety hazards. The glass utensils themselves are brittle, and when they come out of the production equipment, they may have a certain temperature, so any carelessness in the process of manual carrying and overturning may cause the utensils to slip and break, and such safety accidents occur in the industry from time to time. In addition, the consistency of manual operation is poor, and the operation habits and proficiency of different workers differ, which will cause the quality of the transfer and overturning of products to be unstable, indirectly affecting the progress of the subsequent process.

[0004] With the continuous application of automation technology in manufacturing, in order to solve the drawbacks of manual operation, a manipulator capable of automatically overturning and conveying pressed utensils is urgently needed to reduce the use of labor, reduce labor intensity, and improve the safety, efficiency and quality stability of production. CONTENT OF THE INVENTION

[0005] The purpose of the present application is to provide a utensil mechanical overturning and conveying manipulator, which realizes the clamping, overturning, conveying and other operations of pressed utensils through an automatic structure, replaces manual operation to complete the utensil overturning process, and thus improves or solves the problems of high labor cost, high labor intensity, poor safety and low work quality in the prior art.

[0006] The technical solution adopted by the present application is:

[0007] The utility model provides a utensil mechanical turnover conveying manipulator, including clamping unit, interval adjusting unit and rotation unit, clamping unit includes two clamping modules arranged in upper and lower, utensil clamping space is formed between two clamping modules, and each set of clamping module includes support framework and conveying assembly and conveying drive source respectively installed on support framework, and conveying drive source is used for driving conveying assembly positive and negative operation, and the utensil is rotated and driven through the conveying assembly of two clamping modules, and the utensil passes through utensil clamping space, interval adjusting unit is connected with the support framework of two clamping modules, and is used for synchronous adjustment interval of two clamping modules, and rotation unit includes rotation drive source and transmission module, interval adjusting unit is fixed on the output end of transmission module, and rotation drive source drives interval adjusting unit to rotate through transmission module, and drives clamping unit to rotate around horizontal shaft synchronously, makes two clamping modules position exchange in upper and lower, realizes 180 degree turnover of utensil.

[0008] Preferably, the clamping unit further comprises a stop mechanism mounted on the support framework, comprising a retractable cylinder and a baffle connected to the output end of the retractable cylinder, the baffle is driven by the retractable cylinder to extend into or away from the utensil clamping space; when the baffle extends into the utensil clamping space, it blocks the displacement of the utensil during turnover.

[0009] Preferably, the support framework comprises two parallel side plates, a transverse support plate connecting the two side plates, and a fixed plate connecting the two side plates, the retractable cylinder is mounted on the outside of the side plate through the fixed plate.

[0010] Preferably, the conveying assembly comprises a plurality of roller shafts arranged in parallel between the two side plates, each roller shaft is connected to the two side plates through a bearing, a plurality of rollers are mounted on each roller shaft, adjacent roller shafts are driven by a conveying belt sleeved on the rollers.

[0011] Preferably, the conveying drive source comprises a conveying drive motor and a first speed reducer, the first speed reducer is fixed on the outside of the side plate through a mounting plate, and the output end of the first speed reducer is drivingly connected to at least one roller shaft through a synchronous wheel and a synchronous belt.

[0012] Preferably, the interval adjusting unit comprises a first mounting seat and a first rotation adjusting shaft pivotally mounted on the first mounting seat, the first mounting seat is fixed on the output end of the transmission module, the first rotation adjusting shaft is provided with a bidirectional thread structure, and the two ends of the bidirectional thread structure are reversely threaded and matched with two connecting blocks respectively, and each connecting block is connected to the support framework of the corresponding clamping module.

[0013] Preferably, one end of the first rotation adjusting shaft is connected to a first operation structure, and the first mounting seat is provided with a vertical sliding rail, and each connecting block is slidingly connected to the sliding rail through a sliding block.

[0014] Preferably, the rotating driving source comprises a rotating driving motor and a second speed reducer, the transmission module comprises a large gear and a small gear engaged with each other, the rotating driving motor drives the small gear through the second speed reducer, and the large gear is fixedly connected with the interval adjusting unit in an end face mode.

[0015] Preferably, the utensil mechanical overturning conveying manipulator further comprises a bearing platform, a support seat fixed to the bearing platform, and a height adjusting unit installed on the support seat, the rotating unit is installed at an output end of the height adjusting unit, and the height of the rotating unit relative to the bearing platform is adjusted through the height adjusting unit.

[0016] Preferably, the height adjusting unit comprises a second mounting seat and a second rotating adjusting shaft, the second mounting seat is fixed to the support seat, the second rotating adjusting shaft is pivotally installed on the second mounting seat and is provided with a threaded section, the threaded section cooperates with a guide block, one end of the second rotating adjusting shaft is connected with a second operation structure, and the guide block is fixedly connected with the rotating unit; the second mounting seat is provided with a vertically extending sliding rail, and the guide block is slidingly connected with the sliding rail through a sliding block.

[0017] Through the above technical solutions, at least the following technical effects can be achieved:

[0018] 1. The utensil clamping space is formed by the two clamping modules arranged in an up-down mode, the conveying assembly is positively and reversely operated to realize the conveying and clamping of the utensil, the interval adjusting unit is combined to adapt to utensils of different sizes, and the clamping unit is driven by the rotating unit to overturn by 180 degrees around the horizontal shaft, so that the utensil is automatically overturned and conveyed, manual operation is replaced, labor intensity is reduced, and production efficiency and safety are improved.

[0019] 2. The stop mechanism is driven by the telescopic air cylinder to drive the baffle to extend into the clamping space, can block the utensil displacement in the overturning process, prevent the utensil from falling off, improve the stability and reliability of the overturning process, and guarantee the product integrity rate. The support framework forms a stable structure through the side plates, the transverse support plates and the fixed plates; the telescopic air cylinder is installed outside the side plates, which not only ensures the structural strength, but also avoids the interference between the air cylinder and the utensil, optimizes the space layout, and improves the compactness of the device operation. The conveying assembly adopts the structure of the multiple roller shafts cooperating with the rollers and the conveying belt, realizes the stable support and conveying of the utensil, the multiple parallel roller shafts and rollers can adapt to the contact requirements of utensils of different shapes, reduce the local pressure, and avoid the damage of the utensil due to uneven clamping stress. The conveying driving source drives the roller shafts through the conveying driving motor, the first speed reducer, the synchronous wheel and the synchronous belt, ensures the stability and synchronization of the operation of the conveying assembly, can accurately control the conveying speed and position of the utensil, and improves the conveying precision.

[0020] 3. The first rotation adjustment shaft of the distance adjustment unit synchronously drives the two connecting blocks through a bidirectional threaded structure, realizing symmetric adjustment of the distance between the two clamping modules, ensuring uniform force on the vessel during adjustment, and the adjustment method is simple and efficient, which can quickly adapt to vessels of different heights or diameters. The first operation structure facilitates manual or automatic driving of the first rotation adjustment shaft, and the cooperation of the slide rail and the slide block ensures smooth sliding of the connecting block in the vertical direction, avoiding the deviation of the clamping module during adjustment, and improving the accuracy and stability of the distance adjustment.

[0021] 4. The rotation driving motor drives the pinion through the second speed reducer, and then drives the gear to rotate, realizing 180° flipping of the clamping unit by using the high torque and stability of gear transmission, and the flipping angle is accurately controllable and has high transmission efficiency, which can adapt to high frequency flipping requirements.

[0022] 5. The height adjustment unit can adjust the height of the rotating unit and the clamping unit, so that the device can be connected with production lines of different heights (such as furnace outlets and stacking platforms), enhancing the versatility and adaptability of the device and expanding its application range. The second rotation adjustment shaft drives the guide block to rise and fall along the slide rail through the threaded section, and cooperates with the second operation structure to realize accurate height adjustment. The guiding effect of the slide rail and the slide block ensures smooth adjustment during the adjustment process, and the device height can be accurately controlled to meet the connection accuracy requirements of different production lines. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings used to provide further understanding of the present application, constitute a part of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation to the present application. In the drawings:

[0024] Figure 1 The assembly of the vessel mechanical flipping and conveying manipulator provided by the embodiment of the present application Figure 1 ;

[0025] Figure 2 The assembly of the vessel mechanical flipping and conveying manipulator provided by the embodiment of the present application Figure 2 ;

[0026] Figure 3 The assembly of the clamping unit provided by the embodiment of the present application Figure 1 ;

[0027] Figure 4 The assembly of the clamping unit provided by the embodiment of the present application Figure 2 ;

[0028] Figure 5 The assembly of the clamping module provided by the embodiment of the present application Figure 1 ;

[0029] Figure 6Assembly of the clamping module provided by the embodiment of the present application Figure 2 ;

[0030] Figure 7 For Figure 6 enlarged view of A in the middle;

[0031] Figure 8 Assembly view of the spacing adjustment unit provided by the embodiment of the present application;

[0032] Figure 9 Cross-sectional view of the spacing adjustment unit provided by the embodiment of the present application;

[0033] Figure 10 Assembly view of the rotating unit provided by the embodiment of the present application;

[0034] Figure 11 Assembly view of the height adjustment unit provided by the embodiment of the present application;

[0035] Figure 12 Cross-sectional view of the height adjustment unit provided by the embodiment of the present application;

[0036] Figure 13 Front view of the clamping unit provided by the embodiment of the present application Figure 1 ;

[0037] Figure 14 Front view of the clamping unit provided by the embodiment of the present application Figure 2 .

[0038] List of components and reference numerals:

[0039] 1 clamping unit, 11 clamping module, 111 support framework, 1111 side plate, 1112 transverse support plate, 1113 fixed plate, 112 conveying assembly, 1121 roller shaft, 1122 roller, 1123 conveying belt, 113 conveying drive source, 1131 conveying drive motor, 1132 first speed reducer, 114 stop mechanism, 1141 telescopic air cylinder, 1142 baffle, 11421 stop tooth, 115 mounting plate, 116 synchronous wheel, 117 synchronous belt;

[0040] 2 spacing adjustment unit, 21 first mounting seat, 22 first rotating adjustment shaft, 23 connecting block, 24 first operation structure, 25 first sliding rail, 26 first sliding block, 27 first bridge plate;

[0041] 3 rotating unit, 31 rotating drive source, 311 rotating drive motor, 312 second speed reducer, 32 transmission module, 321 large gear, 322 small gear, 33 transmission panel;

[0042] 4 bearing platform;

[0043] 5 support seat;

[0044] 6 height adjusting unit, 61 second rotating adjusting shaft, 62 guide block, 63 second operating structure, 64 second mounting seat, 65 second sliding rail, 66 second sliding block, 67 second bridge plate. DETAILED DESCRIPTION

[0045] In order to more clearly illustrate the overall concept of the present application, the following will be described in detail with reference to the accompanying drawings.

[0046] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details and other implementations can be employed. Therefore, the scope of the present application is defined by the appended claims, not by the specific embodiments disclosed in the description.

[0047] In addition, in the description of the present application, it should be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", "transverse", "longitudinal", and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship, and are only for the convenience of describing the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0048] In the present application, unless specifically defined and limited otherwise, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection, and can also be communication; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. In the description of the specification, the description referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0050] In the embodiments of the present application, reference is made toFigures 1 to 14 As shown, a utensil mechanical overturning conveying manipulator is provided, and the following description provided by the present application is based on the illustrated product structure for ease of illustration and understanding. Of course, those skilled in the art can understand that the above structure is only a specific example and a schematic illustration, and cannot constitute a specific limitation on the technical solutions provided by the present application.

[0051] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 10 , the utensil mechanical overturning conveying manipulator comprises a clamping unit 1, a spacing adjustment unit 2 and a rotating unit 3; the clamping unit 1 comprises two clamping modules 11 arranged in an up-down manner, and a utensil clamping space is formed between the two clamping modules 11; each set of clamping modules 11 comprises a support framework 111, and a conveying assembly 112 and a conveying drive source 113 respectively mounted on the support framework 111; the conveying drive source 113 is used to drive the conveying assembly 112 to operate forward and backward; and the utensil is driven to rotate through the conveying assembly 112 of the two clamping modules 11; the spacing adjustment unit 2 is connected with the support framework 111 of the two clamping modules 11, and is used to synchronously adjust the spacing between the two clamping modules 11; the rotating unit 3 comprises a rotating drive source 31 and a transmission module 32; the spacing adjustment unit 2 is fixed to the output end of the transmission module 32; the rotating drive source 31 drives the spacing adjustment unit 2 to rotate through the transmission module 32, and drives the clamping unit 1 to synchronously overturn around a horizontal axis, so that the up-down positions of the two clamping modules 11 are exchanged, and the utensil is overturned by 180°.

[0052] In the present application, the utensil clamping space is formed by the two clamping modules 11 arranged in an up-down manner, and the conveying drive source 113 is used to drive the conveying assembly 112 to operate forward and backward, so that the utensil (such as a glass utensil) conveyed externally can be received, and the utensil can be conveyed to the support structure of the next process after overturning, replacing the manual conveying throughout the process, and solving the problem of high labor intensity caused by frequent manual operation. The spacing adjustment unit 2 can synchronously adjust the spacing between the two clamping modules 11, and can adapt to glass utensils of different sizes (such as bowls, plates, cups, etc.), without the need for manual replacement of tooling, reducing the time wasted due to manual adjustment to adapt to different products, and improving the continuity of the production line. The rotating unit 3 drives the clamping unit 1 to overturn by 180° around a horizontal axis through the rotating drive source 31 and the transmission module 32, realizing the automatic overturning of the utensil, replacing the manual overturning action, avoiding the quality problems caused by uneven force or angle deviation during manual overturning, such as uneven placement of products and overturning angle not meeting the requirements, and at the same time eliminating the safety hazards of high-temperature utensils, so that workers do not need to directly contact the products, and the incidence of safety accidents is reduced.

[0053] As a preferred embodiment of the present application, as shown inFigure 3 、 Figure 4 、 Figure 5 and Figure 6 As shown, the clamping unit 1 also includes a stopping mechanism 114 mounted on the support frame 111, including a retractable cylinder 1141 and a baffle 1142 connected to the output end of the retractable cylinder 1141. The baffle 1142 is driven by the retractable cylinder 1141 to extend into or away from the vessel clamping space; when the baffle 1142 extends into the vessel clamping space, it blocks the displacement of the vessel during the flipping process. In actual production, glassware is brittle and has a smooth surface. It is easy to slide due to centrifugal force when flipping. In particular, some heavier glassware may fall off during the flipping process due to insufficient clamping stability if it is simply clamped by the upper and lower conveying components 112. Therefore, by providing the stopping mechanism 114, when the retractable cylinder 1141 drives the baffle 1142 to extend into the clamping space, it can block the vessel from moving downward during the flipping process, avoiding the vessel from falling off and breaking, reducing the cost waste caused by vessel damage, further improving operational safety, and solving the problem of vessels easily slipping during manual flipping. Specifically, the retractable cylinder 1141 can be controlled to extend the baffle 1142 into the vessel clamping space only when the vessel needs to be flipped; when the vessel does not need to be flipped, the retractable cylinder 1141 can be controlled to drive the baffle 1142 away from the vessel clamping space, thereby avoiding the vessel and allowing the vessel to be output directly through the vessel clamping space.

[0054] Furthermore, if Figure 5 and Figure 6 As shown, the support frame 111 includes two parallel side panels 1111, a transverse support plate 1112 connecting the two side panels 1111, and a fixed plate 1113 connecting the two side panels 1111. The retractable cylinder 1141 is mounted on the outside of the side panel 1111 via the fixed plate 1113. Specifically, the support frame 111 includes two parallel side panels 1111, multiple transverse support plates 1112, and a fixed plate 1113. The structure is stable and strong, capable of withstanding the weight of the glassware and the impact force during flipping, ensuring the stability of the device under long-term high-frequency operation, reducing product conveying deviation or flipping failures caused by device deformation, and reducing the maintenance cost of the device. The retractable cylinder 1141 is mounted on the outside of the side panel 1111 via the fixed plate 1113, avoiding direct contact and interference between the cylinder and the glassware, preventing the cylinder from causing bumps on the glassware during operation, and ensuring the appearance of the glassware is intact.

[0055] Furthermore, if Figure 5 and Figure 6As shown, the conveying assembly 112 includes a plurality of roller shafts 1121 arranged in parallel between the two side plates 1111, each roller shaft 1121 is connected with the two side plates 1111 through bearings, and a plurality of rollers 1122 are installed on each roller shaft 1121 in intervals, and adjacent roller shafts 1121 are driven through the conveying belt 1123 sleeved on the rollers 1122. The conveying assembly 112 adopts a plurality of parallel roller shafts 1121, the roller shafts 1121 are connected with the side plates 1111 through bearings, and are driven in cooperation with the rollers 1122 and the conveying belt 1123, thereby forming multi-point support for the glassware. In actual use, this structure can disperse the weight of the product, avoid deformation or breakage of the glassware caused by excessive local stress, and is especially suitable for thin-walled tableware products. Adjacent roller shafts 1121 are driven through the conveying belt 1123, which ensures the synchronicity of the conveying process, so that the glassware moves smoothly in the clamping space, avoids shaking and falling of the product caused by bumps during manual carrying, and improves the conveying stability. In addition, the conveying belt 1123 can be made of an elastic rubber belt, so that elastic clamping of the ware can be formed, further reducing the risk of damaging the ware, and interference fit can also be formed to improve the overturning stability. Since a plurality of conveying belts 1123 are arranged in intervals along the axial direction of the roller shaft 1121, a plurality of blocking teeth 11421 can be arranged on the baffle 1142 in intervals, and the space between adjacent blocking teeth is used to avoid interference between the baffle 1142 and the conveying belt 1123.

[0056] Further, as Figure 6 and Figure 7As shown, the conveying driving source 113 includes a conveying driving motor 1131 and a first speed reducer 1132, the first speed reducer 1132 is fixed to the outer side of the side plate 1111 through a mounting plate 115, the output end of the first speed reducer 1132 is drivingly connected with at least one roller shaft 1121 through a synchronous wheel 116 and a synchronous belt 117, specifically, the synchronous wheel 116 can be arranged on the output end of the first speed reducer 1132 and the roller shaft 1121, and the synchronous belt 117 is drivingly connected with the two synchronous wheels 116. The conveying driving source 113 adopts the conveying driving motor 1131 combined with the first speed reducer 1132 to drive the roller shaft 1121 through the synchronous wheel 116 and the synchronous belt 117, which can accurately control the running speed of the conveying belt 1123, can be flexibly adjusted according to the conveying speed of the production line, ensures that the rhythm of receiving and outputting the glassware matches the production line, and avoids the accumulation or disconnection of the conveying of the glassware. The motor driving replaces manual carrying, and the workers do not need to operate quickly and frequently, which reduces the labor intensity, and the consistency of the motor operation ensures the stability of the conveying speed, and solves the problem of chaotic conveying rhythm caused by fatigue of manual operation. In the preferred embodiment, one roller shaft 1121 can be arranged at each end of the support framework 111 along the conveying direction, the conveying driving source 113 of the upper clamping module 11 is drivingly connected with the roller shaft 1121 close to the input end of the glassware, and the conveying driving source 113 of the lower clamping module 11 is drivingly connected with the roller shaft 1121 close to the output end of the glassware, which has the following advantages: the roller shaft 1121 at both ends is the key driving point of the conveying assembly 112, the upper clamping module 11 drives the input end roller shaft 1121, and the lower clamping module 11 drives the output end roller shaft 1121, which can make the conveying belt 1123 form a more reasonable tension distribution in the clamping space; when the glassware enters from the input end, the driving force of the upper conveying belt 1123 is concentrated on the inlet side, which can more efficiently “pull in” the glassware into the glassware clamping space; and the driving force of the lower conveying belt 1123 is concentrated on the outlet side, which can more smoothly “push out” the glassware to the output end after the overturning is completed, reduces the slipping or stagnation in the conveying process, and is especially suitable for glassware with smooth surface; when the glassware enters the device, the receiving action is mainly completed by the upper clamping module 11, at this time, the input end roller shaft 1121 driving can ensure that the glassware stably enters the clamping area; after overturning, the glassware is received by the lower clamping module 11, and the output end roller shaft 1121 driving can accurately match the position requirement of the subsequent process (such as the stacking tray), so that the glassware is more consistent with the output direction when output from the clamping space, reduces the deviation of the conveying path, and avoids the necessity of manual adjustment.

[0057] As a preferred embodiment of the present application, Figure 8 and Figure 9As shown, the spacing adjustment unit 2 comprises a first mounting base 21 fixed to the output end of the transmission module 32 and a first rotation adjustment shaft 22 pivotally mounted to the first mounting base 21, and the first rotation adjustment shaft 22 is provided with a bidirectional thread structure, and the two ends of the first rotation adjustment shaft 22 are reversely threaded to respectively match two connecting blocks 23, and each connecting block 23 is connected to the support frame 111 of the corresponding clamping module 11. The first rotation adjustment shaft 22 of the spacing adjustment unit 2 is provided with a bidirectional thread, and the two ends of the first rotation adjustment shaft 22 are reversely threaded to match the connecting blocks 23. When the first rotation adjustment shaft 22 is rotated in a direction, the reverse thread drives the two connecting blocks 23 to move away from each other, and can synchronously drive the two clamping modules 11 to move away from each other, thereby enlarging the spacing between the two clamping modules 11. When the first rotation adjustment shaft 22 is rotated in the opposite direction, the reverse thread drives the two connecting blocks 23 to move close to each other, and can synchronously drive the two clamping modules 11 to move close to each other, thereby reducing the spacing between the two clamping modules 11. Through spacing adjustment, it can be ensured that the glassware is always in the center of the clamping space during adjustment, and the product is prevented from being deviated or falling due to adjustment deviation. This adjustment method is simple to operate, and can quickly adapt to glassware of different heights or diameters (such as shallow plates and deep bowls).

[0058] Further, as shown in Figure 8 and Figure 9 , one end of the first rotation adjustment shaft 22 is connected to a first operation structure 24, and the first mounting base 21 is provided with a vertically extending slide rail, and each connecting block 23 is slidably connected to the slide rail through a sliding block. In order to distinguish the sliding block and the slide rail in the present embodiment from the sliding block and the slide rail in the lower embodiment, the sliding block and the slide rail in the present embodiment are respectively provided as a first sliding block 26 and a first slide rail 25, and the first operation structure 24 can be a hand wheel as shown in Figure 8 , or can be a motor, so as to facilitate workers or automatic systems to quickly adjust the spacing between the two clamping modules 11. The vertical slide rail of the first mounting base 21 cooperates with the sliding block of the connecting block 23 to ensure that the clamping module 11 moves smoothly along a straight line during adjustment, avoids jamming or deviation during adjustment, ensures clamping precision, and makes the position of the glassware stable during overturning and conveying, thereby solving the problem of product overturning deviation caused by inaccurate position during manual clamping. Specifically, a set of first sliding block 26 and first slide rail 25 can be arranged on both sides of the first rotation adjustment shaft 22, the connecting block 23 is connected to the first sliding blocks 26 on both sides through a first bridge plate 27, and the support frame 111 of the support module 11 can be fixedly mounted on the first bridge plate 27.

[0059] As a preferred embodiment of the present application, as shown in Figure 10As shown, the rotary drive source 31 includes a rotary drive motor 311 and a second speed reducer 312, the transmission module 32 includes a large gear 321 and a small gear 322 that mesh with each other, the rotary drive motor 311 drives the small gear 322 through the second speed reducer 312, and the large gear 321 is fixedly connected to the end face of the spacing adjustment unit 2. The rotary drive motor 311 drives the small gear 322 through the second speed reducer 312, the small gear 322 meshes with the large gear 321 to drive the spacing adjustment unit 2 to rotate, and the high-torque characteristics of the gear transmission ensure that the clamping unit 1 can stably drive the glassware to complete a 180° overturning, the overturning angle is accurately controllable, and the subsequent stacking disorder problem caused by inconsistent angle during manual overturning is avoided. The overturning speed driven by the motor can be adjusted to adapt to the overturning needs of different products (such as fragile products that need to be overturned slowly), improve the operation flexibility, and replace the manual overturning action to reduce the labor intensity and safety risk of workers. Specifically, the spacing adjustment unit 2 can further include a transmission panel 33, and the large gear 321 and the small gear 322 can be rotatably installed on the transmission panel 33 by using a rotating shaft, a bearing or the like to ensure transmission reliability, and the next installation can be performed through the transmission panel 33.

[0060] As a preferred embodiment of the present application, as shown in Figure 1 、 Figure 2 、 Figure 11 and Figure 12 , the vessel mechanical overturning conveying manipulator further includes a bearing platform 4, a support seat 5 fixed on the bearing platform 4, and a height adjustment unit 6 installed on the support seat 5, and the rotary unit 3 is installed on the output end of the height adjustment unit 6, and the height of the rotary unit 3 relative to the bearing platform 4 is adjusted by the height adjustment unit 6. The bearing platform 4 provides stable support, and the height adjustment unit 6 on the support seat 5 can adjust the height of the rotary unit 3 and the clamping unit 1, which can adapt to different height production line conveying belts 1123 and stacking trays (such as some production line conveying belts are 80 cm away from the ground, and some are 100 cm away from the ground), without the need for manual heightening or lowering of the tray, thereby expanding the application range of the device and solving the inconvenience problem caused by the height difference between the conveying belt 1123 and the vessel conveying platform located in front or rear of the device during manual handling.

[0061] In a preferred embodiment, as shown in Figure 11 and Figure 12As shown, the height adjusting unit 6 comprises a second mounting seat 64 fixed to the support seat 5 and a second rotary adjusting shaft 61 pivotally mounted to the second mounting seat 6 and provided with a threaded section matched with a guide block 62, one end of the second rotary adjusting shaft 61 being connected to a second operation structure 63, and the guide block 62 being fixedly connected to the rotary unit 3; the second mounting seat 6 is provided with a vertically extending sliding rail, and the guide block 62 is slidingly connected to the sliding rail through a sliding block. In the embodiment, the sliding block and the sliding rail are respectively a second sliding block 66 and a second sliding rail 65, and the second rotary adjusting shaft 61 of the height adjusting unit 6 drives the guide block 62 to ascend and descend along the sliding rail through the threaded section, with high adjusting precision and accurate control of the height of the clamping unit 1, to ensure seamless docking of the conveying belt 1123 with the vessel conveying structure of the previous and subsequent processes, and to avoid bumping and falling of the vessels during transfer due to height difference. Specifically, when the second rotary adjusting shaft 61 is rotated in one direction, the threaded section drives the guide block 62 to ascend, and the clamping unit 1 can be synchronously driven to ascend, and when the second rotary adjusting shaft 61 is rotated in the opposite direction, the threaded section drives the guide block 62 to descend, and the clamping unit 1 can be synchronously driven to descend. The second operation structure 63 can be a hand wheel as shown in the middle, or a motor, for facilitating manual or automatic rapid adjustment, guiding along the sliding rail on the second mounting seat 6, ensuring smooth height adjustment process, avoiding displacement of the vessels due to shaking of the equipment, solving the problem of product damage due to mismatched height during manual carrying, and improving the operation convenience of the equipment. Specifically, one set of second sliding block 66 and second sliding rail 65 can be arranged on each side of the second rotary adjusting shaft 61, the guide block 62 is connected to the second sliding blocks 66 on both sides through a second bridge plate 67, and the rotary unit 3 can also be mounted on the second bridge plate 67. Figure 11

[0062] The vessel mechanical overturning and conveying manipulator of the present application comprises a clamping unit 1, a spacing adjusting unit 2, a rotary unit 3, a height adjusting unit 6 and a bearing platform 4, which cooperatively realize automatic clamping, overturning and conveying of glass vessels. Taking the glass vessel conveying and overturning process as an example, it specifically comprises:

[0063] ​Device debugging stage: for the same batch of specifications of pressed glassware (such as the same size of glass bowl), first adjust the distance between the two clamping modules 11 through the distance adjusting unit 2 (satisfy the vessel into the clamping space). When operating, rotate the first operation structure 24 (such as hand wheel) of the first rotating adjusting shaft 22, use its bidirectional threaded structure to drive the two connecting blocks 23 to move synchronously towards or away from each other along the vertical slide rail of the first mounting seat 21, and then drive the support skeletons 111 of the upper and lower clamping modules 11 to move, until the vessel clamping space between the two clamping modules 11 matches the size of the glassware to be conveyed. Since the specifications of the same batch of vessels are uniform, after this distance adjustment is completed, it is not necessary to adjust again in the subsequent conveying process, and only when different specifications of vessels are replaced (such as from bowl to plate), the above adjustment steps need to be repeated; at the same time, according to the height of the production line, the overall height of the device is adjusted through the height adjusting unit 6. Rotate the second operation structure 63 of the second rotating adjusting shaft 61, make its threaded segment drive the guide block 62 to rise and fall along the vertical slide rail of the support seat 5, drive the rotating unit 3, the distance adjusting unit 2 and the clamping unit 1 to rise and fall synchronously, and ensure that the input end of the clamping unit 1 is height-adapted with the vessel conveying structure of the previous process and the output end is height-adapted with the vessel conveying structure of the next process.

[0064] Automatic conveying and overturning stage:

[0065] Vessel receiving: when the glassware is conveyed from the vessel conveying structure of the previous process to the input end of the clamping unit 1, the conveying drive source 113 of the two clamping modules 11 is in the starting state, the conveying drive motor 1131 drives the roller shaft 1121 to rotate through the first speed reducer 1132, the synchronous wheel 116 and the synchronous belt 117, and drives the conveying assembly 112 to operate, and the glassware is smoothly pulled into the vessel clamping space. At this time, the conveying belts 1123 of the upper and lower clamping modules 11 jointly adhere to the surface of the glassware, forming stable clamping. Figure 13 Fig. 2B illustrates the state before the two clamping modules 11 are overturned, and the vessel enters the input end of the clamping unit 1 along the arrow X.

[0066] Overturning preparation: after the glassware completely enters the clamping space, at this time, the telescopic cylinder 1141 of the stop mechanism 114 drives the baffle 1142 to extend into the clamping space, blocks the vessel from continuing to displace, and prevents the vessel from slipping during overturning. The conveying drive source 113 of the two clamping modules 11 is in the shutdown state.

[0067] 180° overturning: the rotating drive source 31 is started, the rotating drive motor 311 drives the pinion 322 to rotate through the second speed reducer 312, the pinion 322 engages the gear wheel 321 and drives the rotation, and then drives the distance adjusting unit 2 and the clamping unit 1 to overturn synchronously around the horizontal shaft through the transmission module 32. Figure 13 Fig. 2C illustrates that the clamping unit 1 needs to rotate counterclockwise along the arrow Y,Figure 14 The middle drawing shows the state of the clamping unit 1 after it is turned over 180°, the upper and lower clamping modules 11 are interchanged in position, and the glassware is completed in the turnover.

[0068] Output of the ware: After the turnover is completed, the retractable air cylinder 1141 drives the baffle 1142 to retract and move away from the clamping space. The conveying driving source 113 of the upper and lower clamping modules 11 is started, and the conveying assembly 112 is reversely operated to convey the turned-over glassware along the arrow Z direction shown in the middle drawing from the clamping space smoothly, and the whole operation process is completed. Figure 14

[0069] The places not mentioned in the present application can be realized by using or referring to the existing technology.

[0070] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment mainly describes the difference from other embodiments.

[0071] The above only describes the embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of the claims of the present application.​

Claims

1. A utensil mechanical flip conveyor robot, characterized by, include: The clamping unit includes two clamping modules arranged one above the other, with a vessel clamping space formed between the two clamping modules. Each set of the clamping modules includes a support frame, a conveying assembly and a conveying drive source respectively mounted on the support frame. The conveying drive source is used to drive the conveying assembly to rotate forward and reverse, and the conveying assembly of the two clamping modules rotates to drive the vessel through the vessel clamping space. A spacing adjustment unit is connected to the support frames of the two clamping modules and is used to synchronously adjust the spacing between the two clamping modules; The rotating unit includes a rotating drive source and a transmission module. The spacing adjustment unit is fixed to the output end of the transmission module. The rotating drive source drives the spacing adjustment unit to rotate through the transmission module, and drives the clamping unit to synchronously flip around the horizontal axis, so that the upper and lower positions of the two clamping modules are interchanged to achieve 180° flipping of the vessel.

2. The utensil mechanical flip conveyor robot of claim 1, wherein, The clamping unit further includes a stopping mechanism mounted on the supporting frame, the stopping mechanism including a retractable cylinder and a baffle connected to an output end of the retractable cylinder, wherein the baffle is driven by the retractable cylinder to extend into or away from the vessel clamping space; When the baffle extends into the vessel clamping space, it blocks the displacement of the vessel during the turning process.

3. The utensil mechanical flip transfer of claim 2, wherein, The support frame includes two parallel side plates, a transverse support plate connecting the two side plates, and a fixing plate connecting the two side plates. The telescopic cylinder is installed on the outer side of the side plates through the fixing plate.

4. The utensil mechanical flip conveyor robot of claim 3, wherein, The conveying assembly includes a plurality of rollers arranged in parallel between the two side plates, each roller is connected to the two side plates through a bearing, a plurality of rollers are installed on each roller at intervals, and adjacent rollers are driven by a conveyor belt sleeved on the rollers.

5. The utensil mechanical flip conveyor robot of claim 4, wherein, The conveying drive source includes a conveying drive motor and a first reducer. The first reducer is fixed to the outer side of the side plate through a mounting plate. The output end of the first reducer is connected to at least one roller shaft through a synchronous wheel and a synchronous belt.

6. The utensil mechanical flip conveyor robot of claim 1, wherein, The spacing adjustment unit includes a first mounting seat and a first rotation adjustment shaft pivotally mounted on the first mounting seat. The first mounting seat is fixed to the output end of the transmission module. The first rotation adjustment shaft is provided with a bidirectional thread structure, and the reverse threads at both ends thereof are respectively matched with two connecting blocks, and each connecting block is connected to the support frame of the corresponding clamping module.

7. The utensil mechanical tip-over transfer robot of claim 6, wherein, One end of the first rotation adjustment shaft is connected to the first operating structure; The first mounting seat is provided with a slide rail extending vertically, and each of the connecting blocks is slidably connected to the slide rail via a slider.

8. The utensil mechanical flip conveyor robot of claim 1, wherein, The rotation drive source includes a rotation drive motor and a second reducer, the transmission module includes a large gear and a small gear that mesh with each other, the rotation drive motor drives the small gear through the second reducer, and the end face of the large gear is fixedly connected to the spacing adjustment unit.

9. The utensil mechanical flip conveyor robot of claim 1, wherein, The vessel mechanical flipping and conveying robot also includes a carrying platform, a support base fixed on the carrying platform, and a height adjustment unit installed on the support base. The rotating unit is installed at the output end of the height adjustment unit, and the height of the rotating unit relative to the carrying platform is adjusted by the height adjustment unit.

10. The utensil mechanical flip conveyor robot of claim 9, wherein, The height adjusting unit comprises a second mounting base and a second rotating adjusting shaft, the second mounting base is fixed to the support base, the second rotating adjusting shaft is pivotally installed on the second mounting base and is provided with a threaded section, the threaded section is matched with a guide block, one end of the second rotating adjusting shaft is connected with a second operating structure, and the guide block is fixedly connected with the rotating unit; The second mounting base is provided with a vertically extending sliding rail, and the guide block is slidingly connected with the sliding rail through a sliding block.

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