Carrying manipulator for long nozzle production

Abstract

The utility model belongs to the technical field of nozzle production equipment, and particularly relates to a carrying manipulator for long nozzle production, which comprises a base, a support column, a connecting frame assembly, a clamping jaw assembly and a suspension clamp assembly, the base is movably arranged, the support column is rotatably arranged on the base, and the connecting frame assembly is arranged on one side of the support column in a liftable manner; the two clamping jaw assemblies are coaxially arranged in the vertical direction of the connecting frame assembly, and the suspension clamp assembly is fixedly arranged on one side of any clamping jaw assembly and connected with the connecting frame assembly. The clamping jaw assembly comprises a clamping jaw conversion plate, a large clamping jaw and a small clamping jaw, the clamping jaw conversion plate is rotatably installed on the connecting frame assembly, and the large clamping jaw and the small clamping jaw are installed at the two ends of the clamping jaw conversion plate respectively. According to the rubber sleeve filling device, rubber sleeves of different sizes can be automatically carried after filling, automation of rubber sleeve cleaning and pressurization is achieved through the suspension clamp assembly, the production process is optimized, the orderliness and controllability of production are improved, and therefore the production efficiency and quality of products are improved.

Description

Technical Field

[0001] This utility model belongs to the technical field of sprue production equipment, specifically relating to a handling robot for long sprue production. Background Technology

[0002] During the long-sprue processing, the rubber sleeves after filling need to be cleaned first, and then pressurized to compress the material inside. Currently, the handling of rubber sleeves is done in a simple and primitive way, with each sleeve being manually moved one by one for cleaning and pressurization. This method is inefficient, labor-intensive, and prone to human error, affecting processing quality and progress. Furthermore, the lack of centralized processing equipment leads to chaotic placement and transfer of rubber sleeves, hindering the orderly operation of the production process.

[0003] Furthermore, the lack of differentiated processing for different sizes of rubber sleeves and the absence of specialized tools can lead to confusion and irregularities in the transfer and handling of rubber sleeves, as well as unnecessary damage to the sleeves, reducing the product qualification rate and severely hindering the improvement of production efficiency and product quality. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide a handling robot for long nozzle production, which realizes the automatic handling of rubber sleeves of different sizes, as well as the automation of cleaning and pressurizing of rubber sleeves after filling, optimizes the production process, and improves the orderliness and controllability of production.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a handling robot for long nozzle production, comprising a base, a support column, a connecting frame assembly, a gripper assembly, and a lifting clamp assembly. The base is movably mounted, the support column is rotatably mounted on the base, and the connecting frame assembly is vertically and flexibly mounted on one side of the support column. Two sets of gripper assemblies are coaxially arranged in the vertical direction of the connecting frame assembly, and the lifting clamp assembly is fixedly mounted on one side of any set of gripper assemblies and connected to the connecting frame assembly. The gripper assembly includes a gripper conversion plate, a large gripper, and a small gripper. The gripper conversion plate is rotatably mounted on the connecting frame assembly, and the large gripper and the small gripper are respectively mounted on both ends of the gripper conversion plate.

[0006] Preferably, clamping motor assemblies are provided at both ends of the gripper conversion plate, and the large gripper and the small gripper are respectively connected to the clamping motor assemblies; the large gripper includes a symmetrically arranged left mechanical gripper and a right mechanical gripper, and the inner side of the left mechanical gripper and the right mechanical gripper is provided with a groove adapted to the shape of the workpiece; the small gripper includes a symmetrically arranged left mechanical gripper and a right mechanical gripper, and the inner side of the left mechanical gripper and the right mechanical gripper is provided with a groove adapted to the shape of the workpiece.

[0007] Preferably, the gripper conversion plate is rotatably mounted on the connecting frame assembly via a rotation drive assembly.

[0008] Preferably, the rotary drive assembly includes a rotary drive motor, a small transmission gear, and a large transmission gear. The small transmission gear is installed at the output end of the rotary drive motor, and the large transmission gear is connected to the gripper conversion plate. The large transmission gear meshes with the small transmission gear.

[0009] Preferably, the lifting clamp assembly includes a connecting plate, a positioning rod, and a fixing clamp. One end of the connecting plate is fixed to the connecting frame assembly, and the other end is vertically arranged with a positioning rod. The positioning rod is mounted on the connecting plate and can be moved up and down via a lifting drive assembly. The closed fixing clamp is spaced outside the lower end of the positioning rod and is coaxial with the positioning rod.

[0010] Preferably, a positioning block is provided at the lower end of the positioning rod, and a fixing clip is provided on the outside of the positioning rod below the positioning block.

[0011] Preferably, a groove is provided on one side of the support column, and the connecting frame assembly is installed in the groove in a height-adjustable manner.

[0012] Preferably, the connecting frame assembly includes a slider and a gripper support arm, with one side of the slider disposed in a groove and the gripper support arm fixedly disposed on the other side of the slider.

[0013] Preferably, a counterweight is provided on the other side of the support column with the slider, and the counterweight is connected to the slider.

[0014] Preferably, it also includes a base guide rail, on which a lead screw is rotatably mounted, and the base is threadedly connected to the lead screw.

[0015] Compared with existing technologies, the above technical solution has the following beneficial effects:

[0016] 1. The handling robot for long nozzle production of this utility model can realize the automatic handling of rubber sleeves of different sizes after filling by switching between large and small grippers. Furthermore, the cleaning and pressurization of rubber sleeves are automated through the lifting clamp assembly, which optimizes the production process, improves the orderliness and controllability of production, and thus improves the efficiency and quality of product production.

[0017] 2. The handling robot for long sprue production of this utility model saves labor costs, improves production efficiency, and reduces production time costs by automating the production process.

[0018] 3. The handling robot for long sprue production of this utility model has a high degree of automation in the entire handling process. The handling robot has multiple degrees of freedom and can flexibly adapt to different working scenarios. Attached Figure Description

[0019] Figure 1This is a schematic diagram of the structure of the handling robot for the production of the long water outlet of this utility model.

[0020] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0021] Figure 3 This is a schematic diagram of the gripper assembly of this utility model.

[0022] Figure 4 This is a schematic diagram of the lifting clamp assembly of this utility model.

[0023] Figure 5 This is a structural schematic diagram of the handling robot for producing long sprues according to this utility model from another angle.

[0024] The components are as follows: 1. Base; 2. Support column; 3. Slide groove; 4. Slider; 5. Large gripper; 6. Gripper support arm; 7. Small gripper; 8. Connecting plate; 9. Base guide rail; 10. Lead screw; 11. Fixing clamp; 12. Positioning rod; 13. Lead screw rotary motor; 14. Gripper conversion plate; 15. Clamping drive motor; 16. Clamping motor mounting plate; 17. Clamping driven gear; 18. Clamping drive gear; 19. Large transmission gear; 20. Rotary drive motor; 21. Small transmission gear; 22. Worm gear; 23. Positioning block; 24. Worm; 25. Locking motor; 26. Worm rotary motor; 27. Counterweight; 28. Rotary seat; 29. ​​Lead screw mounting seat. Detailed Implementation

[0025] Figures 1-5 This is the preferred embodiment of the present invention, which is described below in conjunction with the appendix. Figures 1-5 The present invention will be further described below.

[0026] like Figures 1-2 As shown, this utility model discloses a handling robot for long nozzle production, comprising a base 1, a support column 2, a connecting frame assembly, a gripper assembly, and a lifting clamp assembly. The base 1 is movably mounted, the support column 2 is rotatably mounted on the base 1, and the connecting frame assembly is vertically and flexibly mounted on one side of the support column 2. Two sets of gripper assemblies are coaxially arranged in the vertical direction of the connecting frame assembly, and the lifting clamp assembly is fixedly mounted on one side of any set of gripper assemblies and connected to the connecting frame assembly. The gripper assembly includes a gripper conversion plate 14, a large gripper 5, and a small gripper 7. The gripper conversion plate 14 is rotatably mounted on the connecting frame assembly, and the large gripper 5 and the small gripper 7 are respectively mounted at both ends of the gripper conversion plate 14. This utility model can automatically handle rubber sleeves of different sizes according to production needs, improving production efficiency and saving labor costs.

[0027] Specifically, in combination Figure 3The gripper conversion plate 14 is rotatably mounted on the connecting frame assembly via a rotary drive assembly. The rotary drive assembly includes a rotary drive motor 20, a small transmission gear 21, and a large transmission gear 19. The small transmission gear 21 is installed at the output end of the rotary drive motor 20, and the large transmission gear 19 is connected to the gripper conversion plate 14. The rotary drive motor 20 drives the small transmission gear 21 to rotate, and the large transmission gear 19 meshes with the small transmission gear 21. The rotation of the small transmission gear 21 drives the large transmission gear 19 to rotate, thereby driving the gripper conversion plate 14 to rotate, realizing the conversion of the positions of the large gripper 5 and the small gripper 7.

[0028] Furthermore, clamping motor mounting plates 16 are respectively provided above both ends of the gripper conversion plate 14. The clamping motor assembly is mounted on the clamping motor mounting plate 16, and a receiving groove is formed between the clamping motor mounting plate 16 and the gripper conversion plate 14. The clamping motor assembly includes a clamping drive motor 15, a clamping drive gear 18, and a clamping driven gear 17. The clamping drive motor 15 is mounted on the top of the clamping motor mounting plate 16, and the clamping drive gear 18 and the clamping driven gear 17 are mounted in the receiving groove between the clamping mounting plate and the gripper conversion plate 14. The clamping drive gear 18 is connected to the output end of the clamping drive motor 15, and the clamping driven gear 17 meshes with the clamping drive gear 18.

[0029] In this embodiment, the large gripper 5 and the small gripper 7 are identical in structure except for their diameter. Both the large gripper 5 and the small gripper 7 include a symmetrically arranged left mechanical gripper and a right mechanical gripper. The inner sides of the left mechanical gripper and the right mechanical gripper are provided with grooves that are adapted to the shape of the large rubber sleeve. The right mechanical gripper is connected to the clamping drive gear 18. When the large gripper 5 or the small gripper 7 clamps a rubber sleeve of the corresponding size, the clamping drive motor 15 drives the clamping drive gear 18 to rotate. The clamping drive gear 18 drives the clamping driven gear 17 to rotate synchronously, so that the left mechanical gripper and the right mechanical gripper, which are respectively connected to the clamping drive gear 18 and the clamping driven gear 17, can clamp or release the rubber sleeve.

[0030] like Figure 4As shown, the lifting clamp assembly includes a connecting plate 8, a positioning rod 12, and a fixing clamp 11. One end of the connecting plate 8 is fixed to the connecting frame assembly, and the other end has the positioning rod 12 vertically mounted. The positioning rod 12 is mounted on the connecting plate 8 and can be moved up and down via a lifting drive assembly. The fixing clamp 11 is connected to a locking motor 25 to open and close. The closed fixing clamp 11 is spaced outside the lower end of the positioning rod 12, and the closed fixing clamp 11 is coaxially mounted with the positioning rod 12. A positioning block 23 is also provided at the lower end of the positioning rod 12. The fixing clamp 11 is located outside the positioning rod 12 below the positioning block 23, and the positioning rod 12 above the positioning block 23 is threaded. Specifically, the lifting drive assembly is mounted on the connecting plate 8. The lifting drive assembly includes a worm gear 22, a worm 24, and a worm gear rotary motor 26. The worm gear 22 is sleeved around the positioning rod 12, and the positioning rod 12 is threadedly connected to the worm gear 22. One end of the worm 24 is connected to the output end of the worm gear rotary motor 26, and the other end meshes with the worm gear 22. The worm gear rotary motor 26 drives the worm 24 to rotate, which in turn drives the worm gear 22 to rotate, thereby causing the positioning rod 12 to move up and down. When the clamp assembly is used to connect with the cage, the positioning rod 12 moves above the cage. The worm gear rotary motor 26 rotates, causing the positioning rod 12 to move down and insert into the top hole of the cage until the positioning block 23 contacts the top of the cage. The locking motor 25 drives the fixing clamp 11 to close, clamping the upper end of the cage, allowing for the next step of cleaning and pressurizing the rubber sleeve.

[0031] join Figure 1 , 5 The base 1 is mounted on the base guide rail 9. A lead screw rotary motor 13 is mounted on one side of the base guide rail 9, and a lead screw mounting seat 29 is provided on the other side. One end of the lead screw 10 is connected to the output end of the lead screw rotary motor 13, and the other end is rotatably mounted in the lead screw mounting seat 29. A nut that is threadedly connected to the lead screw 10 is fixed in the middle of the base 1. A rotating seat 28 is also provided between the support column 2 and the base 1. The rotating seat 28 is connected to the output end of the rotary motor. The rotary motor drives the rotating seat 28 to rotate, so that the support column 2 can be rotatably mounted on the base 1.

[0032] Furthermore, the connecting frame assembly includes a slider 4 and a gripper support arm 6. A lifting motor is installed at the top of the support column 2. The support column 2 is hollow, and a lifting screw and a guide column are installed inside the support column 2. The lifting screw is threaded with a lifting nut. A groove 3 is opened on one side of the support column 2. The slider 4 passes through the groove 3 and is connected and fixed to the guide column. The lifting motor drives the slider 4 to rise and fall within the groove 3 through the lifting screw. One side of the slider 4 is set in the groove 3, and the gripper support arm 6 is fixedly set on the other side of the slider 4. A counterweight 27 is also provided on the other side of the support column 2 where the slider 4 is located. The counterweight 27 is connected to the slider 4 and is set on the opposite side of the gripper support arm 6 to prevent the weight of the components on the gripper support arm 6 from being too great, which would make the support column 2 unstable and cause it to tip over.

[0033] This utility model addresses the issue of large rubber sleeves after filler processing:

[0034] First, the large gripper 5, which grips the large rubber sleeve, is positioned by the rotary drive motor 20. The screw rotary motor 13 drives the screw 10 to rotate, and the nut connected to the screw 10 moves, causing the base 1 to move forward and adjust to the appropriate position. The rotary seat 28 rotates, causing the large gripper 5 to rotate to the appropriate angle, where it grips the large rubber sleeve after filling and transports it into the cage. The slider 4 drives the gripper support arm 6 to rise, and the positioning rod 12 rotates above the cage. The worm gear 24 rotary motor 26 rotates, causing the positioning rod 12 to move down and insert into the top hole of the cage until the positioning block 23 contacts the top of the cage. The locking motor 25 drives the fixing clamp 11 to close, clamping the upper end of the cage. The clamp assembly transports the cage to the cleaning device, where the large rubber sleeve is cleaned. The clamp assembly then sends the cleaned large rubber sleeve into the isostatic pressing device. The fixing clamp 11 is released, the positioning rod 12 is raised, the isostatic pressing device is closed, and pressure is applied. The powder inside the large rubber sleeve is formed in the isostatic pressing device. Positioning rod 12 extends into the isostatic pressing device, repeating the clamping action of the cage, and clamping the upper end of the cage again to remove the formed large rubber sleeve from the isostatic pressing device. The cleaned and pressurized large rubber sleeve and cage are transported to the transfer system. Fixing clamp 11 releases the cage, and positioning rod 12 is pulled out from the top of the cage. Large gripper 5 moves back to the large rubber sleeve position, removing the large rubber sleeve from the cage and transferring it to the placement platform.

[0035] When it is necessary to process the small rubber sleeves after the filler, simply convert the large gripper 5 into the small gripper 7 via the rotary drive motor 20, and repeat the above steps. This utility model can realize the automatic handling of rubber sleeves of different sizes after the filler by converting between the large gripper 5 and the small gripper 7, and realize the automation of rubber sleeve cleaning and pressurization through the lifting clamp assembly, optimizing the production process, improving the orderliness and controllability of production, thereby improving the efficiency and quality of product production.

[0036] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its technical solution shall still fall within the protection scope of this utility model.

Claims

1. A handling robot for long nozzle production, characterized in that: The assembly includes a base (1), a support column (2), a connecting frame assembly, a gripper assembly, and a lifting clamp assembly. The base (1) is movably mounted, the support column (2) is rotatably mounted on the base (1), and the connecting frame assembly is movably mounted on one side of the support column (2). Two sets of gripper assemblies are coaxially mounted in the vertical direction of the connecting frame assembly. The lifting clamp assembly is fixedly mounted on one side of any set of gripper assemblies and connected to the connecting frame assembly. The gripper assembly includes a gripper conversion plate (14), a large gripper (5), and a small gripper (7). The gripper conversion plate (14) is rotatably mounted on the connecting frame assembly, and the large gripper (5) and the small gripper (7) are respectively mounted at both ends of the gripper conversion plate (14).

2. The handling robot for long nozzle production according to claim 1, characterized in that: Clamping motor assemblies are provided at both ends of the jaw conversion plate (14), and the large jaw (5) and the small jaw (7) are respectively connected to the clamping motor assemblies; the large jaw (5) includes a left mechanical jaw and a right mechanical jaw arranged symmetrically, and the inner sides of the left mechanical jaw and the right mechanical jaw are provided with grooves adapted to the shape of the workpiece; the small jaw (7) includes a left mechanical jaw and a right mechanical jaw arranged symmetrically, and the inner sides of the left mechanical jaw and the right mechanical jaw are provided with grooves adapted to the shape of the workpiece.

3. The handling robot for long nozzle production according to claim 1, characterized in that: The gripper conversion plate (14) is rotatably mounted on the connecting frame assembly via a rotation drive assembly.

4. A handling robot for long nozzle production according to claim 3, characterized in that: The rotary drive assembly includes a rotary drive motor (20), a small transmission gear (21) and a large transmission gear (19). The small transmission gear (21) is installed at the output end of the rotary drive motor (20), and the large transmission gear (19) is connected to the gripper conversion plate (14). The large transmission gear (19) meshes with the small transmission gear (21).

5. A handling robot for long nozzle production according to claim 1, characterized in that: The lifting clamp assembly includes a connecting plate (8), a positioning rod (12), and a fixing clamp (11). One end of the connecting plate (8) is fixed on the connecting frame assembly, and the other end is vertically set with the positioning rod (12). The positioning rod (12) is set on the connecting plate (8) and can be moved up and down by the lifting drive assembly. The closed fixing clamp (11) is spaced outside the lower end of the positioning rod (12). The closed fixing clamp (11) and the positioning rod (12) are coaxially set.

6. A handling robot for long nozzle production according to claim 5, characterized in that: A positioning block (23) is also provided at the lower end of the positioning rod (12), and a fixing clip (11) is provided outside the positioning rod (12) below the positioning block (23).

7. A handling robot for long nozzle production according to claim 1, characterized in that: A groove (3) is provided on one side of the support column (2), and the connecting frame assembly is installed in the groove (3) in a height-adjustable manner.

8. A handling robot for long nozzle production according to claim 1, characterized in that: The connecting frame assembly includes a slider (4) and a gripper support arm (6). One side of the slider (4) is disposed in the groove (3), and the gripper support arm (6) is fixedly disposed on the other side of the slider (4).

9. A handling robot for long nozzle production according to claim 8, characterized in that: On the other side of the support column (2) with slider (4), there is also a counterweight (27), which is connected to slider (4).

10. A handling robot for long nozzle production according to claim 1, characterized in that: It also includes a base guide rail (9), on which a lead screw (10) is rotatably mounted, and the base (1) is threadedly connected to the lead screw (10).

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