Vertical rotary pull-off robot

Abstract

The utility model discloses a vertical rotary pulling mechanical hand, including base, the vertical column that can rotate on the base, be equipped with the lifting plate that can reciprocate along Z direction on the vertical column, be equipped with the mechanical hand stretching arm that can reciprocate along X direction on the lifting plate, the one end of mechanical hand stretching arm is equipped with the fixture for clamping finished product sole and is used for driving the turnover drive component that turns over, the utility model mechanical hand pulls the arm and can realize longitudinal transverse reciprocating movement on the vertical column, and the vertical column can also rotate on the base 360 degrees, and also have turnover drive component drive fixture reciprocating turnover in vertical and horizontal direction, realize omnibearing automatic clamping in the sole in mould, to satisfy various models of shoe mould forming machine.

Description

Technical Field

[0001] This utility model relates to the field of mechanical technology, specifically to a vertical rotary pulling robot. Background Technology

[0002] Shoes are an essential part of daily life and a consumable item, resulting in a very large market demand. Currently, shoe sole production equipment mainly relies on inverted rubber shoe molding machines. These machines utilize a rotary mold high-heat, high-pressure injection molding process, leading to high production efficiency. Despite this high efficiency, the production workshop still relies on traditional manual handling. Because the shoe mold production cycle is less than 20 seconds, the speed is extremely fast. There is an adhesive force between the product and the mold, and the pulling force F during handling exceeds 150N, making manual labor very strenuous. Furthermore, the residual preheating of the shoe mold during product removal poses a risk of burns to workers. Even with protective gloves, workers' hands are severely soaked in sweat by the end of the day.

[0003] As a result, six-axis robotic arms appeared on the market. Although these six-axis robotic arms can replace manual labor in completing some tasks, they also caused many other problems, preventing the effective promotion of this production process. Their shortcomings are as follows: 1) The cost of a six-axis articulated robot is very high. A single robot weighing more than 30kg costs more than 100,000 yuan. In addition, the technical requirements for the operators of the manufacturers are high, which leads to high cost pressure for shoe mold manufacturers.

[0004] 2) The joint robot has a large range of motion and a high speed, so a safety net needs to be installed along the production length. Therefore, this solution will occupy a large space for shoe mold manufacturers, about 4 square meters. Since shoe mold production workshops and equipment are relatively concentrated, this solution is not conducive to promotion and implementation. Utility Model Content

[0005] To overcome the aforementioned shortcomings of existing technologies, the purpose of this invention is to provide a vertical rotary pulling robot that possesses sufficient pulling force to remove shoe molds, eliminating manual intervention and preventing personal injury. It is also suitable for centralized production, achieving true high efficiency and low cost.

[0006] This utility model is achieved through the following technical solution: a vertical rotating pull-out robot, including a base and a column that can rotate on the base. The column is provided with a lifting plate that can reciprocate along the Z direction. The lifting plate is provided with a robot arm that can reciprocate along the X direction. One end of the robot arm is provided with a clamp for gripping the finished shoe sole and a flipping drive component for driving the clamp to flip.

[0007] Preferably, the present invention further includes a longitudinal movement mechanism for driving the lifting plate to reciprocate along the Z direction, a transverse movement mechanism for driving the robotic arm to reciprocate along the X direction, and a rotational power mechanism for driving the column to rotate on the base.

[0008] Preferably, the longitudinal movement mechanism of this utility model includes a longitudinal movement rack and a longitudinal movement linear guide rail mounted on a column, and a longitudinal movement reducer mounted on a lifting plate. The output end of the longitudinal movement reducer meshes with the longitudinal movement rack through a longitudinal movement gear. The side of the lifting plate facing the longitudinal movement linear guide rail is provided with a longitudinal movement slider that slides with the longitudinal movement linear guide rail. The longitudinal movement slider is fixedly connected to the lifting plate.

[0009] Preferably, the transverse mechanism of this utility model includes a transverse rack and a transverse linear guide mounted on the extension arm of the robotic arm, and a transverse reducer mounted on the lifting plate. The output end of the transverse reducer meshes with the transverse rack through a transverse gear. The side of the lifting plate facing the transverse linear guide is provided with a transverse slider that slides with the transverse linear guide. The transverse slider is fixedly connected to the lifting plate.

[0010] Preferably, the rotary power mechanism of this utility model includes a gear disk fixed on the base, a bearing rotatably disposed in the gear disk, a motor mounting plate on the gear disk, a rotary reducer on the motor mounting plate, the output end of the rotary reducer meshing with the gear disk through a rotary gear, and the bottom of the column being fixedly connected to the motor mounting plate.

[0011] Preferably, the bottom of the column of this utility model is provided with a base plate that is connected to the motor mounting plate, and the base plate is fixedly connected to the column.

[0012] Preferably, the tilting drive component of this invention is a tilting cylinder.

[0013] Preferably, the tilting cylinder of this utility model has two spaced-apart support plates at one end, a movable shaft between the two support plates, a rotatable tilting plate on the movable shaft, and the piston rod end of the tilting cylinder is movably connected to the tilting plate.

[0014] Compared with the prior art, this utility model has the following advantages and beneficial effects: 1. The robotic arm of this invention can move back and forth in both directions on the column, and the column can rotate 360 ​​degrees on the base. At the same time, there is a flipping drive component that drives the clamp to flip back and forth in the vertical and horizontal directions, so as to realize the all-round automatic clamping of the shoe sole in the mold, thereby meeting the needs of various models of shoe mold forming machines.

[0015] 2. The overall structure of this utility model is vertical, and the base occupies a small area, saving space. Attached Figure Description

[0016] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 for Figure 1 A schematic diagram of the side view structure; Figure 3 This is a three-dimensional structural diagram of the present invention; Figure 4 This is a front view of the rotating power mechanism after it has been assembled with the base; Figure 5 for Figure 4 A schematic diagram of the AA-direction cross-section; Figure 6 for Figure 4 A schematic diagram of the three-dimensional structure; Figure 7 This is a schematic diagram of the structure of the flipping drive component and the flipping plate after assembly. Figure 8 This is a frontal view of the robotic arm extension and lifting assembly of the present invention. Figure 9 for Figure 8 A diagram of the back of the building; The reference numerals used in the above figures are explained as follows: 1—Base; 2—Columns, 20—Base plate; 3—Lifting plate; 4—The robotic arm extends the arm; 5—Clamps; 6—Tilting drive component, 60—Support plate, 61—Modular shaft, 62—Tilting plate; 7—Longitudinal movement mechanism, 70—Longitudinal movement rack, 71—Longitudinal movement linear guide, 72—Longitudinal movement reducer, 73—Longitudinal movement gear, 74—Longitudinal movement slider; 8—Transverse movement mechanism, 80—Transverse movement rack, 81—Transverse movement linear guide, 82—Transverse movement reducer, 83—Transverse movement gear, 84—Transverse movement slider; 9—Rotary power mechanism, 90—Gear disk, 91—Bearing, 92—Motor mounting plate, 93—Rotary reducer, 94—Rotary gear. Detailed Implementation

[0017] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0018] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Reference Figures 1 to 9 As shown, the vertical rotary pulling robot includes a base 1 and a column 2 that can rotate on the base 1. The column 2 is provided with a lifting plate 3 that can reciprocate along the Z direction. The lifting plate 3 is provided with a robot arm extension 4 that can reciprocate along the X direction. One end of the robot arm extension 4 is provided with a clamp 5 for gripping the finished shoe sole and a flipping drive component 6 for driving the clamp 5 to flip. The clamp 5 is a commonly used component in the prior art, so the structure of the clamp will not be described in detail here.

[0021] This utility model also includes a longitudinal movement mechanism 7 for driving the lifting plate 3 to reciprocate along the Z direction, a transverse movement mechanism 8 for driving the robotic arm extension 4 to reciprocate along the X direction, and a rotary power mechanism 9 for driving the column 2 to rotate on the base 1. That is, the longitudinal movement mechanism 7 drives the lifting plate 3 to reciprocate along the Z direction on the column 2, the transverse movement mechanism 8 drives the robotic arm extension 4 to reciprocate along the X direction on the lifting plate 3, and the rotary power mechanism 9 drives the column 2 to rotate.

[0022] Specifically, the longitudinal movement mechanism 7 includes a longitudinal movement rack 70 and a longitudinal movement linear guide 71 mounted on the column 2, and a longitudinal movement reducer 72 mounted on the lifting plate 3. There are two longitudinal movement linear guides 71, spaced apart on the column 2 and fixed by fasteners, while there is only one longitudinal movement rack 70. The output end of the longitudinal movement reducer 72 meshes with the longitudinal movement rack 70 via a longitudinal movement gear 73. The lifting plate 3 has a longitudinal movement slider 74 on its side facing the longitudinal movement linear guide 71, which slides against the guide and is fixedly connected to the lifting plate 3. When the longitudinal movement reducer 72 operates, it drives the longitudinal movement gear 73 to rotate, allowing the lifting plate 3 to reciprocate along the Z direction.

[0023] The lateral movement mechanism 8 includes a lateral movement rack 80 and a lateral movement linear guide rail 81 mounted on the robotic arm extension 4, and a lateral movement reducer 82 mounted on the lifting plate 3. There are two lateral movement linear guide rails 81, spaced apart on the robotic arm extension 4 and fixed by fasteners, while there is only one lateral movement rack 80. The output end of the lateral movement reducer 82 meshes with the lateral movement rack 80 via a lateral movement gear 83. The lifting plate 3 has a lateral movement slider 84 on its side facing the lateral movement linear guide rail 81, which slides in cooperation with the guide rail 81. The lateral movement slider 84 is fixedly connected to the lifting plate 3. When the lateral movement reducer 82 operates, it drives the lateral movement gear 83 to rotate, allowing the robotic arm extension 4 to reciprocate along the Z-direction.

[0024] In addition, the longitudinal movement mechanism 7 and the transverse movement mechanism 8 of this utility model can also be replaced by other drive mechanisms, such as synchronous belts, ball screws and other components.

[0025] The rotary power mechanism 9 includes a gear disk 90 fixed on the base 1 and a bearing 91 rotatably disposed within the gear disk 90. ​​A motor mounting plate 92 is provided on the gear disk 90, and a rotary reducer 93 is provided on the motor mounting plate 92. The output end of the rotary reducer 93 meshes with the gear disk 90 through a rotary gear 94. The bottom of the column 2 is fixedly connected to the motor mounting plate 92.

[0026] In order to enable the column to rotate 360 ​​degrees on the base, a base plate 20 is provided at the bottom of the column 2 and connected to the motor mounting plate 92. The base plate 20 is fixedly connected to the column 2, and the base plate 20 and the column 2 can be connected by fasteners.

[0027] In addition, in order to enable the flipping drive component to drive the support plate 60 to reciprocate between the vertical and horizontal directions, the flipping drive component 6 is a flipping cylinder; of course, the flipping drive component 6 can also be other driving power components; wherein two spaced support plates 60 are provided at one end of the flipping cylinder, and a movable shaft 61 is provided between the two support plates 60, and a rotatable flipping plate 62 is provided on the movable shaft 61, and the piston rod end of the flipping cylinder is movably connected to the flipping plate 62.

[0028] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vertical rotary pulling robot, characterized in that: Includes a base (1) and a column (2) that can rotate on the base (1). The column (2) is provided with a lifting plate (3) that can reciprocate along the Z direction. The lifting plate (3) is provided with a robotic arm (4) that can reciprocate along the X direction. One end of the robotic arm (4) is provided with a clamp (5) for holding the finished shoe sole and a flipping drive component (6) for driving the clamp (5) to flip.

2. The vertical rotary pulling robot according to claim 1, characterized in that: It also includes a longitudinal movement mechanism (7) for driving the lifting plate (3) to reciprocate along the Z direction, a transverse movement mechanism (8) for driving the robotic arm extension arm (4) to reciprocate along the X direction, and a rotational power mechanism (9) for driving the column (2) to rotate on the base (1).

3. The vertical rotary pulling robot according to claim 2, characterized in that: The longitudinal movement mechanism (7) includes a longitudinal movement rack (70) and a longitudinal movement linear guide (71) mounted on the column (2), and a longitudinal movement reducer (72) mounted on the lifting plate (3). The output end of the longitudinal movement reducer (72) meshes with the longitudinal movement rack (70) through a longitudinal movement gear (73). The lifting plate (3) has a longitudinal movement slider (74) on the side facing the longitudinal movement linear guide (71) that slides with the longitudinal movement linear guide (71). The longitudinal movement slider (74) is fixedly connected to the lifting plate (3).

4. The vertical rotary pulling robot according to claim 2, characterized in that: The transverse mechanism (8) includes a transverse rack (80) and a transverse linear guide (81) mounted on the robotic arm extension arm (4), and a transverse reducer (82) mounted on the lifting plate (3). The output end of the transverse reducer (82) meshes with the transverse rack (80) through a transverse gear (83). The side of the lifting plate (3) facing the transverse linear guide (81) is provided with a transverse slider (84) that slides with the transverse linear guide (81). The transverse slider (84) is fixedly connected to the lifting plate (3).

5. The vertical rotary pulling robot according to claim 2, characterized in that: The rotary power mechanism (9) includes a gear disk (90) fixed on the base (1) and a bearing (91) rotatably disposed in the gear disk (90). A motor mounting plate (92) is provided on the gear disk (90), and a rotary reducer (93) is provided on the motor mounting plate (92). The output end of the rotary reducer (93) meshes with the gear disk (90) through a rotary gear (94). The bottom of the column (2) is fixedly connected to the motor mounting plate (92).

6. The vertical rotary pulling robot according to claim 1 or 5, characterized in that: The bottom of the column (2) is provided with a base plate (20) connected to the motor mounting plate (92), and the base plate (20) is fixedly connected to the column (2).

7. The vertical rotary pulling robot according to claim 1, characterized in that: The flipping drive component (6) is a flipping cylinder.

8. The vertical rotary pulling robot according to claim 7, characterized in that: The tilting cylinder has two spaced support plates (60) at one end, and a movable shaft (61) is provided between the two support plates (60). A rotatable tilting plate (62) is provided on the movable shaft (61), and the piston rod end of the tilting cylinder is movably connected to the tilting plate (62).

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