Accurate blank taking structure of double-shaft synchronous control manipulator

Abstract

The utility model discloses a double-shaft synchronous control manipulator precise blank taking structure which comprises a bottle blank clamp plate, the bottle blank clamp plate is connected with a longitudinal track through an L-shaped connecting arm, and the longitudinal track can drive the L-shaped connecting arm to drive the bottle blank clamp plate to be adjusted up and down so as to meet the clamping requirements of bottle blanks of different specifications. The clamp part adopts the design that the fixed bottle blank clamping plate is matched with the movable bottle blank clamping plate, sliding of the movable bottle blank clamping plate is controlled through the independent air cylinder, and self-adaptive clamping of bottle blanks of different sizes is achieved. And due to the multi-section design of the clamping cavity, the same clamp can adapt to different bottle blank diameter ranges, the clamp replacement frequency is reduced by 90%, and the problem that a clamp assembly needs to be frequently replaced when a traditional fixed clamp faces bottle blanks of different sizes is solved. In addition, a soft silica gel layer on the inner wall of the clamping cavity and a silica gel protection top plate embedded in the top face provide a buffer protection structure. The soft silica gel layer can control the depth of the indentation on the surface of the bottle blank within an extremely small range while keeping proper clamping force.

Description

Technical Field

[0001] This utility model belongs to the field of bottle production technology, specifically relating to a dual-axis synchronous control robotic arm structure for precise blank picking. Background Technology

[0002] In existing bottle preform handling machines, traditional single-axis drive structures often fail to meet high-precision positioning requirements. Their lateral and longitudinal movements must be controlled step-by-step, resulting in low preform handling efficiency and significant positioning errors. Furthermore, existing clamps mostly employ fixed structures, necessitating frequent clamp component changes when dealing with preforms of different sizes. This not only increases operational complexity but also increases the risk of scratches or deformation on the preform surface due to uneven clamping force. In addition, traditional preform handling devices typically use rigid clamping methods, lacking buffer protection structures, which can easily lead to preform damage during high-speed operations. Utility Model Content

[0003] The purpose of this invention is to provide a dual-axis synchronous control robotic arm structure for precise blank handling, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a dual-axis synchronous control robotic arm structure for precise blank handling, comprising:

[0005] The preform clamping plate is connected to the longitudinal rail via an L-shaped connecting arm. The longitudinal rail can drive the L-shaped connecting arm to adjust the preform clamping plate up and down to adapt to the clamping requirements of preforms of different specifications. A transverse rail is provided on the rear side of the longitudinal rail to allow the longitudinal rail and the preform clamping plate to move laterally.

[0006] The bottle preform clamping plate has three fixed bottle preform clamping plates on both sides of the bottom surface of the bottle preform clamping plate. The fixed bottle preform clamping plates have a movable bottle preform clamping plate on the opposite side through an independent cylinder limit and sliding, which cooperates with the fixed bottle preform clamping plates to clamp different bottle preforms.

[0007] Preferably, the rear end of the transverse track is provided with a support rod to stably support the transverse track, and the support rod is installed near the preform injection mold to ensure the positioning accuracy of the preform clamping plate during transverse movement. In addition, the adjacent installation design of the support rod and the injection mold shortens the preform removal path, reducing the preform removal cycle by 12-15% compared with the traditional structure.

[0008] Preferably, the front end face of the transverse track is provided with a threaded shaft A with a drive slider, and one end of the threaded shaft A is connected to a servo motor A installed at one end of the transverse track. The slider on the rear side of the drive slider slides in a strip groove provided on the transverse track, and its front end face is fixed to the rear side of the longitudinal track, eliminating the cumulative error caused by the elastic deformation of the belt. Combined with the strip groove guide structure of the transverse track, a transverse positioning accuracy of ±0.02mm can be achieved. The encoder built into the servo motor A forms a closed-loop control with the controller, allowing the transverse movement speed to be dynamically adjusted within the range of 0.1-1.2m / s according to the preform weight, ensuring smooth movement during high-speed preform removal.

[0009] Preferably, a threaded shaft B is vertically rotatably provided in the inner cavity of the front end face of the longitudinal track. The upper end of the threaded shaft B is connected to a servo motor B located at the upper end of the longitudinal track. A drive slider slidably provided on the threaded shaft B is fixed to one end of an L-shaped connecting arm, which is suitable for synchronous blank removal operations of multi-cavity injection molds.

[0010] Preferably, the fixed preform clamping plate has fixed blocks at both ends, the independent cylinder is installed in the cavity on one side of the fixed block, and one end of the independent cylinder is fixed to both ends of one side of the movable preform clamping plate. The fixed preform clamping plate and the movable preform clamping plate each have multiple clamping cavities for clamping the preform on their corresponding sides, and the inner wall of each clamping cavity is provided with a soft silicone layer. The multi-segment design of the clamping cavity allows the same clamp to be adapted to different preform diameter ranges, reducing the frequency of clamp replacement.

[0011] Preferably, the movable preform clamping plate is provided with a positioning slider on the side that contacts the preform clamping plate, and the positioning slider is provided with a positioning groove at the corresponding position to allow it to slide inside. A silicone protective top plate is embedded in the top surface of the clamping cavity between the fixed preform clamping plate and the movable preform clamping plate to effectively prevent deformation or breakage of the preform opening.

[0012] Compared with the prior art, the technical effects and advantages of this utility model are: the dual-axis synchronous control robotic arm's precise billet picking structure...

[0013] The clamping mechanism of this invention employs a design that combines a fixed preform clamping plate with a movable preform clamping plate. An independent cylinder controls the sliding of the movable preform clamping plate, enabling adaptive clamping of preforms of different sizes. The multi-segment design of the clamping cavity allows the same clamp to adapt to different preform diameter ranges, reducing clamping frequency by 90% and solving the problem of frequent clamping component replacements required by traditional fixed clamps for different preform sizes. Furthermore, the soft silicone layer on the inner wall of the clamping cavity and the silicone protective top plate embedded in the top surface provide a buffer protection structure. The soft silicone layer maintains appropriate clamping force while controlling the indentation depth on the preform surface to a minimal range; the silicone protective top plate absorbs most of the impact energy during preform removal, significantly reducing the peak impact force and effectively preventing deformation or breakage of the preform opening, thus solving the problem of preform damage easily caused by traditional rigid clamping methods.

[0014] This invention employs a dual-axis synchronous control structure. Through the cooperation of the threaded shaft A of the transverse track and servo motor A, and the threaded shaft B of the longitudinal track and servo motor B, synchronous and precise control of transverse and longitudinal movements is achieved, enabling millimeter-level precision positioning. Simultaneously, this synchronous control significantly improves preform handling efficiency. The encoder built into the servo motor forms a closed-loop control with the controller, dynamically adjusting the moving speed according to the preform weight to ensure smooth movement during high-speed preform handling. This design is suitable for synchronous preform handling operations in multi-cavity injection molds. Attached Figure Description

[0015] Figure 1 This is the front view of the present utility model;

[0016] Figure 2 This is a side view of the longitudinal track of this utility model;

[0017] Figure 3 This is a bottom view of the bottle preform clamping plate of this utility model.

[0018] In the diagram: 1. Preform clamping plate; 2. L-shaped connecting arm; 3. Longitudinal track; 4. Transverse track; 5. Fixed preform clamping plate; 6. Independent cylinder; 7. Movable preform clamping plate; 8. Supporting upright; 9. Threaded shaft A; 10. Servo motor A; 11. Threaded shaft B; 12. Servo motor B; 13. Fixing block; 14. Clamping cavity; 15. Soft silicone layer; 16. Positioning groove; 17. Silicone protective top plate. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-3 This utility model provides a technical solution: a dual-axis synchronous control robotic arm structure for precise blank handling, comprising:

[0021] A preform clamping plate 1 is connected to a longitudinal track 3 via an L-shaped connecting arm 2. The longitudinal track 3 drives the L-shaped connecting arm 2 to adjust the preform clamping plate 1 up and down to accommodate the clamping requirements of preforms of different sizes. One end of the L-shaped connecting arm 2 is bolted to the preform clamping plate 1 to ensure the stability of the connection, allowing the preform clamping plate 1 to reliably move with the movement of the L-shaped connecting arm 2. The other end of the L-shaped connecting arm 2 is connected to the drive slider on the longitudinal track 3 by welding or high-strength bolts, ensuring that the L-shaped connecting arm 2 can accurately adjust the preform clamping plate 1 up and down when the longitudinal track 3 is driven. A transverse track 4 is provided on the rear side of the longitudinal track 3 to allow the longitudinal track 3 and the preform clamping plate 1 to move laterally. The front end of the drive slider on the transverse track 4 is fixed to the rear side of the longitudinal track 3 by bolts, forming a tight connection. This connection method enables the transverse track 4 to precisely drive the longitudinal track 3 and the preform clamping plate 1 to make lateral adjustment and movement under the drive of the servo motor A10;

[0022] Three fixed preform clamping plates 5 are provided on both sides of the bottom surface of the preform clamping plate 1, and are fixed to the lower end face of the preform clamping plate 1 by bolts. This ensures the stable position of the fixed preform clamping plates 5 on the preform clamping plate 1, providing a stable foundation for subsequent clamping of the preform with the movable preform clamping plate 7. On the opposite side of each fixed preform clamping plate 5, a movable preform clamping plate 7 is provided via an independent cylinder 6 for limiting and sliding. The movable preform clamping plate 7 works in conjunction with the fixed preform clamping plate 5, moving closer to or further away from the fixed preform clamping plate 5 under the drive of the independent cylinder 6 to clamp and release the preform. The movable preform clamping plate 7 also has a clamping cavity 14, which, together with the clamping cavity 14 on the fixed preform clamping plate 5, forms a ring-like clamping of the preform, ensuring the stability of the preform during clamping. Meanwhile, the movable preform clamping plate 7 is connected to the preform clamping plate 1 through the positioning slider 15 and the positioning groove 16, which ensures its accuracy and stability during movement, avoids deviation or shaking, and thus improves the clamping accuracy.

[0023] The independent cylinder 6 is controlled by a pneumatic control system. This system mainly includes an air source, air pipelines, a solenoid directional valve, and a pressure regulating valve. The air source delivers compressed air to the solenoid directional valve via the air pipelines. The solenoid directional valve's switching action is controlled by an electrical signal from the controller. When the controller sends a signal to the solenoid directional valve, it switches the air path, allowing compressed air to enter different chambers of the independent cylinder 6, thereby pushing the piston rod to extend or retract, thus moving the movable preform clamp 7. The pressure regulating valve adjusts the air pressure entering the independent cylinder 6, thereby controlling the output force of the independent cylinder 6 to adapt to the clamping requirements of preforms of different sizes and materials. Each independent cylinder 6 can be individually controlled by the controller, enabling precise adjustment of the clamping force of each set of fixed preform clamps 5 and movable preform clamps 7.

[0024] The rear end of the transverse track 4 is provided with a support rod 8 to provide stable support for the transverse track 4, and the support rod 8 is installed near the preform injection mold.

[0025] The front end of the transverse track 4 is equipped with a threaded shaft A9 with a drive slider, which rotates laterally. The threaded shaft A9 converts the rotational motion of the servo motor A10 into the linear motion of the drive slider on the transverse track 4. Its high-precision thread machining ensures the accuracy and stability of the drive slider during lateral movement. By precisely controlling the rotation angle and speed of the threaded shaft A9, the lateral movement position and speed of the transverse track 4 and the preform clamping plate 1 can be precisely controlled, achieving accurate positioning of the preform in the horizontal direction. One end of the threaded shaft A9 is connected to the servo motor A10 installed at one end of the transverse track 4. The slider on the rear side of the drive slider slides in the strip groove on the transverse track 4, and its front end is fixed to the rear side of the longitudinal track 3. The servo motor A10 serves as the power source for the movement of the transverse track 4, and its built-in encoder can provide real-time feedback on the rotational position and speed information of the motor, forming a closed-loop control system with the controller. The controller sends control signals to the servo motor A10 according to preset motion parameters, such as position, speed, and acceleration. The servo motor A10 precisely adjusts its operation according to these signals to ensure that the threaded shaft A9 can rotate at a predetermined speed and position accuracy, thereby realizing the precise lateral movement of the transverse track 4 and the preform clamping plate 1.

[0026] Servo motor A10 is controlled by a servo control system. The servo control system mainly consists of a servo driver, a controller, and an encoder. The controller sends control signals to the servo driver based on preset motion parameters such as position, speed, and acceleration. The servo driver converts the control signals into appropriate voltage and current to drive servo motor A10. The encoder is mounted on the shaft of servo motor A10, providing real-time feedback on the motor's rotational position and speed to the servo driver. Based on the information from the encoder, the servo driver compares it with the commands sent by the controller and uses a closed-loop control algorithm to precisely adjust the motor's operation, ensuring that the threaded shaft A9 rotates at the predetermined speed and position accuracy, thereby achieving precise lateral movement of the transverse track 4 and the preform clamping plate 1.

[0027] A threaded shaft B11 is vertically rotatable within the inner cavity of the front end face of the longitudinal track 3. Similar to threaded shaft A9, threaded shaft B11 converts the rotational motion of servo motor B12 into linear motion of the driving slider on the longitudinal track 3, thereby achieving precise vertical movement of the preform clamping plate 1. Its high-precision thread design and stable rotation ensure the stability and positioning accuracy of the preform clamping plate 1 during longitudinal movement, providing reliable power transmission for accurately gripping preforms at different heights. The upper end of the threaded shaft B11 is connected to the servo motor B12, which is mounted on the upper end of the longitudinal track 3. One side of the driving slider slidably mounted on the threaded shaft B11 is fixed to one end of the L-shaped connecting arm 2. The servo motor B12, serving as the power source for the movement of the longitudinal track 3, also incorporates an encoder and controller, employing a closed-loop control method. Based on the requirements of the preform-grabbing action for longitudinal movement, the controller sends control signals to the servo motor B12, including information such as target position, speed, and acceleration. Servo motor B12 precisely adjusts its operation based on these signals, driving the threaded shaft B11 to rotate, ensuring that the preform clamping plate 1 can be adjusted vertically in the longitudinal direction according to predetermined accuracy and speed. Under the coordinated control of the controller, servo motors A10 and B12 achieve synchronous dual-axis movement, enabling the preform clamping plate 1 to accurately reach the designated position to grip the preform.

[0028] Servo motor B12 is also controlled by a servo control system, with a control principle similar to that of servo motor A10. The controller sends control signals regarding longitudinal movement, including target position, speed, and acceleration, to the servo driver based on the requirements of the preform picking action. The servo driver converts these signals into electrical energy to drive servo motor B12, causing the threaded shaft B11 to rotate. The encoder monitors the operation of servo motor B12 in real time and transmits feedback signals to the servo driver. The servo driver continuously adjusts the motor output through closed-loop control to ensure the rotational accuracy of the threaded shaft B11, thereby achieving precise vertical adjustment of the preform clamping plate 1 in the longitudinal direction. Simultaneously, the controller can coordinate the control of servo motors A10 and B12 to achieve synchronous movement of both axes, ensuring that the preform clamping plate 1 can accurately reach the designated position to grip the preform.

[0029] The fixed preform clamping plate 5 has fixing blocks 13 at both ends, which are used to install independent cylinders 6. The fixing blocks 13 provide a stable installation position for the independent cylinders 6, ensuring that the independent cylinders 6 will not shift or shake during operation, thereby ensuring the accuracy and stability of the movement of the movable preform clamping plate 7 driven by the independent cylinders 6. The independent cylinders 6 are installed in a cavity on one side of the fixing block 13, and one end of the independent cylinders 6 is fixed to both ends on one side of the movable preform clamping plate 7. Multiple clamping cavities 14 for holding preforms are opened on corresponding sides of the fixed preform clamping plate 5 and the movable preform clamping plate 7. The shape and size of the clamping cavities 14 are designed according to the shape and size of common preforms, allowing them to fit tightly against the preform surface and provide stable clamping force. The design of multiple clamping cavities 14 allows the same set of clamps to adapt to preforms of different sizes, improving the versatility and flexibility of the clamps. During clamping, the clamping cavity 14 can evenly distribute the clamping force, preventing deformation or damage to the preform due to uneven force. The inner wall of the clamping cavity 14 is lined with a soft silicone layer 15, which adheres to the inner wall of the clamping cavity 14 and protects the surface of the preform. When clamping the preform, the soft silicone layer 15 buffers the clamping force, preventing direct contact between the preform surface and the rigid clamping plate, thus avoiding scratches or indentations. Its soft material also better conforms to the shape of the preform surface, increasing friction and improving clamping stability without damaging the surface quality of the preform.

[0030] The movable preform clamping plate 7 has a positioning slider 15 on the side that contacts the preform clamping plate 1, and a positioning groove 16 is provided at the corresponding position of the positioning slider 15 to allow it to slide inside. The positioning slider 15 is located on the side of the movable preform clamping plate 7 that contacts the preform clamping plate 1, and works in conjunction with the positioning groove 16 to provide guidance for the movement of the movable preform clamping plate 7. The positioning slider 15 slides smoothly in the positioning groove 16, ensuring the parallelism and straightness of the movable preform clamping plate 7 during movement and preventing it from deviating or shaking. This precise guiding structure improves the accuracy and stability of the movement of the movable preform clamping plate 7, thereby improving the clamping accuracy of the entire clamping mechanism. A silicone protective top plate 17 is embedded in the top surface of the clamping cavity between the fixed preform clamping plate 5 and the movable preform clamping plate 7. The silicone protective top plate 17 is embedded in the top surface of the clamping cavity between the fixed preform clamping plate 5 and the movable preform clamping plate 7, and plays a buffering and protective role for the mouth of the preform during the preform removal process. When the preform is clamped, the silicone protective top plate 17 can absorb some of the impact force, preventing the preform mouth from deforming or breaking due to excessive impact. Its soft silicone material can also better conform to the shape of the preform mouth, providing uniform protective force and ensuring the integrity of the preform during clamping and transfer.

[0031] Specifically, during use, servo motor A10 starts, driving threaded shaft A9 to rotate. Since the drive slider engages with threaded shaft A9 and slides within the groove of transverse track 4, the drive slider moves laterally along transverse track 4. Because the front end of the drive slider is fixed to the rear side of longitudinal track 3, longitudinal track 3 and the preform clamping plate 1 connected to it also move laterally. Support rod 8 provides stable support for transverse track 4, ensuring the stability and accuracy of lateral movement. After servo motor B12 starts, it drives threaded shaft B11 to rotate. The drive slider on threaded shaft B11 moves vertically along it. Because the drive slider is fixed to one end of L-shaped connecting arm 2, and L-shaped connecting arm 2 is connected to preform clamping plate 1, preform clamping plate 1 can be adjusted up and down.

[0032] Once the preform clamping plate 1 is moved to the appropriate position, the independent cylinder 6 begins to operate. The independent cylinder 6 is installed in the recess of the fixed block 13, with one end fixed to the movable preform clamping plate 7. The independent cylinder 6 pushes the movable preform clamping plate 7 to slide along the guides of the positioning slider 15 and the positioning groove 16, causing the movable preform clamping plate 7 to cooperate with the fixed preform clamping plate 5. The clamping cavities 14 on the corresponding sides of the fixed and movable preform clamping plates 5 enclose the preform. The soft silicone layer 15 on the inner wall of the clamping cavity 14 and the silicone protective top plate 17 embedded on the top surface ensure sufficient clamping force on the preform while preventing scratches or deformation of the preform surface and buffering the impact force during the preform removal process. For preforms of different sizes, the independent cylinder 6 can independently control the moving distance and force of the movable preform clamping plate 7, thereby achieving precise clamping of preforms of different specifications.

[0033] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A structure for precise blank handling by a dual-axis synchronous control robotic arm, characterized in that, include: Bottle preform clamping plate (1), the bottle preform clamping plate (1) is connected to the longitudinal rail (3) through the L-shaped connecting arm (2), the longitudinal rail (3) can drive the L-shaped connecting arm (2) to drive the bottle preform clamping plate (1) to adjust up and down to adapt to the clamping requirements of different specifications of bottle preforms, and the rear side of the longitudinal rail (3) is provided with a transverse rail (4) to allow the longitudinal rail (3) and the bottle preform clamping plate (1) to move laterally. The bottle preform clamping plate (1) has three fixed bottle preform clamping plates (5) on both sides of the bottom surface, which are fixed to the lower end face of the bottle preform clamping plate (1). The fixed bottle preform clamping plate (5) has a movable bottle preform clamping plate (7) on the opposite side through an independent cylinder (6) for limiting and sliding, which cooperates with the fixed bottle preform clamping plate (5) to clamp different bottle preforms.

2. The dual-axis synchronous control robotic arm precision billet picking structure according to claim 1, characterized in that: The rear end of the transverse track (4) is provided with a support rod (8) to provide stable support for the transverse track (4), and the support rod (8) is installed near the preform injection mold.

3. The dual-axis synchronous control robotic arm structure for precise blank handling according to claim 1, characterized in that: The front end of the transverse track (4) is provided with a threaded shaft A (9) with a drive slider, and one end of the threaded shaft A (9) is connected to a servo motor A (10) with an encoder and controller installed at one end of the transverse track (4). The slider on the rear side of the drive slider slides in the strip groove provided on the transverse track (4), and its front end is fixed to the rear side of the longitudinal track (3).

4. The structure for precise blank handling by a dual-axis synchronous control robot according to claim 1, characterized in that: A threaded shaft B (11) is vertically rotatably mounted in the inner cavity of the front end face of the longitudinal track (3). The upper end of the threaded shaft B (11) is connected to a servo motor B (12) which is mounted on the upper end of the longitudinal track (3) and has an encoder and controller built in it. One side of the drive slider mounted on the threaded shaft B (11) is fixed to one end of the L-shaped connecting arm (2).

5. The structure for precise blank handling by a dual-axis synchronous control robot according to claim 1, characterized in that: The fixed preform clamping plate (5) has fixed blocks (13) at both ends. The independent cylinder (6) is installed in the cavity on one side of the fixed block (13), and one end of the independent cylinder (6) is fixed to both ends of one side of the movable preform clamping plate (7). The fixed preform clamping plate (5) and the movable preform clamping plate (7) are provided with multiple clamping cavities (14) for clamping the preforms on their corresponding sides. The inner wall of the clamping cavity (14) is provided with a soft silicone layer (15).

6. The structure for precise blank handling by a dual-axis synchronous control robot according to claim 1, characterized in that: The movable preform clamping plate (7) is provided with a positioning slider (18) on the side that contacts the preform clamping plate (1), and the positioning slider (18) is provided with a positioning groove (16) at the corresponding position to allow it to slide inside. A silicone protective top plate (17) is embedded in the top surface of the clamping cavity between the fixed preform clamping plate (5) and the movable preform clamping plate (7).

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