Multifunctional mechanical hand for bottle plug production

Abstract

The utility model discloses a kind of multifunctional manipulator of bottle plug production, including frame, multiple first through channels are arranged at interval along left-right direction in the rear end of frame, multiple vacuum chuck are installed in each first through channel, multiple second through channels are arranged at interval along left-right direction in the middle part of frame, transverse clamping mechanism and longitudinal clamping mechanism are installed at interval in each second through channel, transverse clamping mechanism is clamped from left-right direction, longitudinal clamping mechanism is clamped from front-back direction, transverse clamping mechanism and longitudinal clamping mechanism are arranged in row along left-right direction, multiple first nozzles and multiple second nozzles are installed in the upper and lower sides of the front end of frame, first nozzle is used to blow compressed air, second nozzle is used to spray release agent.The utility model can blow off particulate matter on vulcanization mould before feeding, can preliminarily cool semi-finished rubber sheet on vulcanization mould when discharging, and can also spray release agent on vulcanization mould.

Description

Technical Field

[0001] This utility model relates to the technical field of rubber bottle stopper production equipment, and in particular to a multifunctional robotic arm for bottle stopper production. Background Technology

[0002] To improve the automation level of our bottle stopper production, we designed an integrated rubber sheet vulcanization equipment for rubber bottle stopper production. This equipment is mainly used for placing raw rubber sheets into the vulcanizing machine (feeding) and for removing the vulcanized semi-finished rubber sheets from the vulcanizing machine and spreading them out for cooling (unloading). During the feeding and unloading processes, a loading / unloading device is required. Before feeding, particles on the vulcanizing mold need to be blown away. During unloading, the semi-finished rubber sheets on the vulcanizing mold need to be preliminarily cooled. After a period of operation, such as 4 hours or during shift changes, a release agent also needs to be sprayed onto the vulcanizing mold. To facilitate particle blowing, preliminary cooling of the semi-finished rubber sheets, and spraying of the release agent, our technical personnel proposed a multi-functional robotic arm for bottle stopper production, as described in this application. Utility Model Content

[0003] The technical problem to be solved by this utility model is to address the problems existing in the background art and provide a multifunctional robotic arm for bottle stopper production. Before feeding, it can blow away particles on the vulcanizing mold. During unloading, it can preliminarily cool the semi-finished rubber sheet on the vulcanizing mold and spray a release agent on the vulcanizing mold.

[0004] To achieve the above-mentioned technical features, the purpose of this utility model is as follows: A multifunctional robotic arm for bottle stopper production includes a frame. Multiple first through-channels are spaced apart along the left-right direction at the rear end of the frame. Multiple vacuum suction cups are installed in each first through-channel. Multiple second through-channels are spaced apart along the left-right direction in the middle of the frame. A lateral clamping mechanism and a longitudinal clamping mechanism are spaced apart and installed in each second through-channel. The lateral clamping mechanism clamps from the left-right direction, and the longitudinal clamping mechanism clamps from the front-back direction. The lateral and longitudinal clamping mechanisms are arranged in a row along the left-right direction. Multiple first nozzles and multiple second nozzles are installed on the upper and lower sides of the front end of the frame. The first nozzles are used to blow out compressed air, and the second nozzles are used to spray a release agent.

[0005] The frame has a third through channel at its front end. The frame has cover plates installed on the upper and lower sides of the third through channel, and a first nozzle and a second nozzle are installed on the cover plates.

[0006] The first nozzle and the second nozzle are arranged in a row along the left and right direction.

[0007] The cover plate is provided with a first through hole. The threaded end of the first nozzle passes through the first through hole from the outside of the cover plate and is screwed onto the first nut. Each first nozzle is connected in series or in parallel through a first pipe. The first pipe is led out from a pipe hole opened on one side of the cover plate.

[0008] The cover plate is provided with a second through hole. The threaded end of the second nozzle passes through the second through hole from the outside of the cover plate and is screwed onto the second nut. Each second nozzle is connected in series or in parallel through a second pipe. The second pipe is led out from a pipe hole opened on one side of the cover plate.

[0009] The lateral clamping mechanism includes a parallel finger cylinder, on which a first clamping member is installed. The two first clamping members on the parallel finger cylinder move left and right to clamp.

[0010] The longitudinal clamping mechanism includes a finger-flipping cylinder, on which a second clamping member is installed. The two second clamping members on the finger-flipping cylinder flip and clamp in the front-to-back direction. The second clamping member is a T-shaped structure. One end of the T-shaped structure is connected to the finger of the finger-flipping cylinder, and the other two ends extend symmetrically to the left and right sides respectively. Clamping pads are installed on the two ends of the second clamping member that extend to the left and right sides respectively.

[0011] The threaded connector end of the vacuum suction cup is equipped with a support plate, and both ends of the support plate are fixed to the frame; the threaded connector end of the vacuum suction cup is equipped with a vacuum generator.

[0012] The parallel finger cylinder has a first L-shaped plate installed on the front and rear sides of the cylinder body, and a fixing plate installed at the lower end of the first L-shaped plate. The fixing plate is installed at the bottom of the frame and has a clearance hole. The parallel finger cylinder passes through the clearance hole.

[0013] The features of this utility model using the above-mentioned technical solution are: The lateral clamping mechanism of this invention is used to clamp the semi-finished rubber sheet at preset clamping points from the left and right directions. After clamping the semi-finished rubber sheet, the lateral clamping mechanism moves the frame upward and pulls it back through the robotic arm drive, lifting the edge of the semi-finished rubber sheet. Then, the longitudinal clamping mechanism clamps both sides of the semi-finished rubber sheet from the front and back directions. When the robotic arm drive frame exits the vulcanizing equipment, the semi-finished rubber sheet is pulled out of the vulcanizing mold. The vacuum suction cup is used to adsorb the raw rubber sheet on the worktable. After adsorbing the raw rubber sheet, the robotic arm drive frame extends into the vulcanizing mold of the vulcanizing equipment, thereby placing the raw rubber sheet onto the vulcanizing mold.

[0014] Before feeding, since the first nozzle is located in front of the vacuum suction cup, compressed air is introduced into the first nozzle to blow away the particles on the upper and lower molds.

[0015] During the material feeding process, the frame is moved to the vulcanizing mold by the robotic arm. At this time, the first nozzle on the lower side is opened. During the process of the frame moving between the upper and lower molds, the semi-finished rubber sheet on the lower mold is initially cooled by the first nozzle on the lower side.

[0016] After working for a period of time, the frame is moved to the vulcanizing mold by the robotic arm. During the process of the frame moving between the upper and lower molds, the release agent is sprayed onto the upper and lower molds of the vulcanizing mold through the second nozzles on the upper and lower sides. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0018] Figure 1 This is a side view of the structure of this utility model.

[0019] Figure 2 This is a top view of the structure of this utility model.

[0020] Figure 3 for Figure 1 Schematic diagram of the cross-sectional structure of AA.

[0021] Figure 4 for Figure 2 Schematic diagram of the cross-sectional structure of BB.

[0022] Figure 5 for Figure 2 Schematic diagram of the CC cross-section structure.

[0023] Figure 6 This is a schematic diagram showing how the lateral clamping mechanism grips the semi-finished rubber sheet when the present invention is in use.

[0024] Figure 7 This is a schematic diagram showing how the material-receiving structure lifts the semi-finished rubber sheet when the present invention is in use.

[0025] Figure 8 This is a schematic diagram of the longitudinal clamping mechanism gripping the semi-finished rubber sheet when this utility model is in use.

[0026] Figure label: 1. Semi-finished rubber sheet; Frame 10, first through channel 11, second through channel 12, third through channel 13, cover plate 14, first through hole 141, second through hole 142, pipe hole 143, mounting base 15, fixing plate 16, clearance hole 161, first L-shaped plate 17, second L-shaped plate 18. Horizontal clamping mechanism 20, parallel finger cylinder 21, first clamping member 22; Longitudinal clamping mechanism 30, finger flipping cylinder 31, second clamping member 32, clamping pad 321; Vacuum suction cup 40, support plate 41, vacuum generator 42; First nozzle 50, first nut 51, first connector 52, first pipe 53 Second nozzle 60, second nut 61, second connector 62, second pipe 63. Detailed Implementation

[0027] 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.

[0028] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0029] Example 1: See Figure 1-5 A multifunctional robotic arm for bottle stopper production includes a frame 10. Multiple first through channels 11 are spaced apart along the left-right direction at the rear end of the frame 10. Multiple vacuum suction cups 40 are installed in each first through channel 11. Multiple second through channels 12 are spaced apart along the left-right direction in the middle of the frame 10. A lateral clamping mechanism 20 and a longitudinal clamping mechanism 30 are spaced apart and installed in each of the second through channels 12. The lateral clamping mechanism 20 clamps from the left-right direction, and the longitudinal clamping mechanism 30 clamps from the front-back direction. The lateral clamping mechanism 20 and the longitudinal clamping mechanism 30 are arranged in a row along the left-right direction. Multiple first nozzles 50 and multiple second nozzles 60 are installed on the upper and lower sides of the front end of the frame 10. The first nozzles 50 are used to blow out compressed air, and the second nozzles 60 are used to spray a release agent.

[0030] The lateral clamping mechanism 20 is used to clamp the pre-set clamping points on the semi-finished rubber sheet 1 from the left and right directions. After clamping the semi-finished rubber sheet 1, the lateral clamping mechanism 20 moves upward and pulls back through the robotic arm drive frame 10, lifting the edge of the semi-finished rubber sheet 1. Then, the longitudinal clamping mechanism 30 clamps both sides of the semi-finished rubber sheet 1 from the front and back directions. When the robotic arm drive frame 10 exits the vulcanizing equipment, the semi-finished rubber sheet 1 is pulled out from the vulcanizing mold. The vacuum suction cup 40 is used to adsorb the rubber sheet on the worktable. After adsorbing the rubber sheet, the robotic arm drive frame 10 extends into the vulcanizing mold of the vulcanizing equipment, thereby placing the rubber sheet on the vulcanizing mold.

[0031] Before feeding, since the first nozzle 50 is located in front of the vacuum suction cup 40, compressed air is introduced into the first nozzle 50 to blow away the particles on the upper and lower molds.

[0032] During the material feeding process, the frame 10 is moved to the vulcanizing mold by the robotic arm. At this time, the opening of the first nozzle 50 on the lower side allows the semi-finished rubber sheet 1 on the lower mold to be initially cooled through the first nozzle 50 on the lower side as the frame 10 moves between the upper and lower molds.

[0033] During a period of work, such as 4 hours or when changing shifts, the frame 10 is moved to the vulcanizing mold by a robotic arm. During the process of the frame 10 moving between the upper and lower molds, the upper and lower molds of the vulcanizing mold are sprayed with release agent through the second nozzles 60 on both the upper and lower sides.

[0034] See Figure 1 , 3 The top of the frame 10 is welded or bolted with a mounting base 15, which is used to connect with the robotic arm to drive the mounting base 10 to move. Mounting holes can be set on the mounting base 15 as needed.

[0035] In use, the first nozzle 50 is connected to a compressed air source via a pipe, and the first nozzle 50 is connected to a release agent pressure pump.

[0036] In this embodiment, see Figure 4 There are 3 horizontal clamping mechanisms 20 and 2 vertical clamping mechanisms 30. The horizontal clamping mechanisms 20 and the vertical clamping mechanisms 30 are installed alternately in each of the second through channels 12.

[0037] The frame 10 can be constructed by welding metal pipes or by assembling industrial aluminum profiles.

[0038] In this embodiment, see Figure 5The frame 10 has a third through channel 13 at its front end. The frame 10 has cover plates 14 installed on the upper and lower sides of the third through channel 13, and a first nozzle 50 and a second nozzle 60 are installed on the cover plates 14.

[0039] Specifically, the first nozzle 50 and the second nozzle 60 are arranged in a row along the left-right direction. In this embodiment, the first nozzle 50 and the second nozzle 60 are each arranged in a row.

[0040] See Figure 5 and combined Figure 2 The cover plate 14 is provided with a first through hole 141. The threaded end of the first nozzle 50 passes through the first through hole 141 from the outside of the cover plate 14 and is screwed onto the first nut 51. Each first nozzle 50 is connected in series or in parallel through a first pipe 53. The first pipe 53 is led out from the pipe hole 143 opened on one side of the cover plate 14.

[0041] See Figure 5 and combined Figure 2 The cover plate 14 is provided with a second through hole 142. The threaded end of the second nozzle 60 passes through the second through hole 142 from the outside of the cover plate 14 and is screwed onto the second nut 61. Each second nozzle 60 is connected in series or in parallel through a second pipe 63. The second pipe 63 is led out from the pipe hole 143 opened on one side of the cover plate 14.

[0042] In this embodiment, multiple first nozzles 50 are connected in series. A first connector 52, which is either a tee or a two-way connector, is installed on the threaded end of each first nozzle 50. A two-way connector is installed on the threaded end of the first nozzle 50 at the beginning, and tee connectors are installed on the threaded ends of the remaining first nozzles 50. The two-way connectors and tee connectors are connected in series. A first pipe 53 is connected to the tee connector on the last first nozzle 50. The first pipe 53 extends from a pipe hole 143 on one side of the cover plate 14. Similarly, the second nozzles 60 are also connected in series using the same structure, and the second pipe 63 extends from a pipe hole 143 on one side of the cover plate 14.

[0043] In this embodiment, see Figure 4 The lateral clamping mechanism 20 includes a parallel finger cylinder 21. First clamping members 22 are mounted on the fingers of the parallel finger cylinder 21. The two first clamping members 22 on the parallel finger cylinder 21 move left and right to clamp the material. The first clamping members 22 are used to clamp the semi-finished rubber sheet 1.

[0044] In this embodiment, see Figure 4The longitudinal clamping mechanism 30 includes a flipping finger cylinder 31. A second clamping member 32 is installed on the finger of the flipping finger cylinder 31. The two second clamping members 32 on the flipping finger cylinder 31 flip and clamp in the front-back direction. The second clamping member 32 is a T-shaped structure. One end of the T-shaped structure is connected to the finger of the flipping finger cylinder 31, and the other two ends extend symmetrically to the left and right sides, so as to provide a larger clamping area when clamping the semi-finished rubber sheet 1 and prevent the semi-finished rubber sheet 1 from breaking. Clamping pads 321 are installed on the two ends of the second clamping member 32 that extend to the left and right sides, respectively. The clamping pads 321 increase the thickness of the second clamping member 32. When clamping, the clamping pads 321 on the two sides of the second clamping member 32 can abut tightly, preventing the semi-finished rubber sheet 1 from falling off when clamping.

[0045] Specifically, the parallel finger cylinder 21 adopts the MHZL2 type finger cylinder; the flipping finger cylinder 31 adopts the HFR type pneumatic finger cylinder with 180-degree opening and closing; and the vacuum suction cup 40 adopts the ZP3 series multi-layer vacuum suction cup.

[0046] See Figure 2 A support plate 41 is installed on the threaded connector end of the vacuum suction cup 40, and both ends of the support plate 41 are fixedly installed to the frame 10. Specifically, the two ends of the support plate 41 are provided with first through holes, through which bolts are connected to the mounting base 10. The middle part of the support plate 41 is provided with a second through hole, through which the external threaded connector at the top of the vacuum suction cup 40 passes and a nut is installed, thereby fixing the vacuum suction cup 40 to the support plate 41.

[0047] A vacuum generator 42 is installed at the threaded connector end of the vacuum suction cup 40, which provides a vacuum to the vacuum suction cup 40. In use, the vacuum generator 42 is connected to a pressurized air source pipeline.

[0048] See Figure 4 The parallel finger cylinder 21 has first L-shaped plates 17 installed on its front and rear sides. A fixing plate 16 is installed at the lower end of the first L-shaped plate 17, and the fixing plate 16 is installed at the bottom of the frame 10. The fixing plate 16 has clearance holes 161 through which the parallel finger cylinder 21 passes. The flipping finger cylinder 31 has second L-shaped plates 18 installed on its left and right sides, and the second L-shaped plates 18 are installed at the top of the frame 10. Through this structure, the parallel finger cylinder 21 and the flipping finger cylinder 31 are installed and fixed.

[0049] The working principle or process of the utility model: During use, when feeding, the vacuum suction cup 40 adsorbs the rubber sheet on the worktable. After the rubber sheet is adsorbed, the mechanical arm drives the frame 10 to extend into the vulcanization mold of the vulcanization equipment, thereby placing the rubber sheet onto the vulcanization mold.

[0050] When unloading materials, please refer to Figure 5 The frame 10 extends into the lower mold of the vulcanizing mold. The parallel finger cylinder 21 is used to clamp the pre-set clamping point on the semi-finished rubber sheet 1 from the left and right directions. After the parallel finger cylinder 21 clamps the semi-finished rubber sheet 1, the frame 10 is driven to move upward and pull back by the mechanical arm to pull up the edge of the semi-finished rubber sheet 1.

[0051] See Figure 6 Then, the finger cylinder 31 is flipped to clamp the two sides of the semi-finished rubber sheet 1 from the front and back.

[0052] See Figure 7 When the robotic arm drives the frame 10 to exit the vulcanization equipment, it pulls the semi-finished rubber sheet 1 out of the vulcanization mold.

[0053] Before feeding, since the first nozzle 50 is located in front of the vacuum suction cup 40, compressed air is introduced into the first nozzle 50 to blow away the particles on the upper and lower molds.

[0054] During the material feeding process, the frame 10 is moved to the vulcanizing mold by the robotic arm. At this time, the opening of the first nozzle 50 on the lower side allows the semi-finished rubber sheet 1 on the lower mold to be initially cooled through the first nozzle 50 on the lower side as the frame 10 moves between the upper and lower molds.

[0055] During a period of work, such as 4 hours or when changing shifts, the frame 10 is moved to the vulcanizing mold by a robotic arm. During the process of the frame 10 moving between the upper and lower molds, the upper and lower molds of the vulcanizing mold are sprayed with release agent through the second nozzles 60 on both the upper and lower sides.

[0056] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the present invention. Any modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A multifunctional robotic arm for bottle stopper production, comprising a frame (10), characterized in that: The frame (10) has multiple first through channels (11) spaced apart along the left and right directions at the rear end. Multiple vacuum suction cups (40) are installed in each first through channel (11). Multiple second through channels (12) are spaced apart along the left and right directions in the middle of the frame (10). A transverse clamping mechanism (20) and a longitudinal clamping mechanism (30) are spaced apart in each second through channel (12). The transverse clamping mechanism (20) clamps from the left and right directions, and the longitudinal clamping mechanism (30) clamps from the front and back directions. The transverse clamping mechanism (20) and the longitudinal clamping mechanism (30) are arranged in a row along the left and right directions. Multiple first nozzles (50) and multiple second nozzles (60) are installed on the upper and lower sides of the front end of the frame (10). The first nozzles (50) are used to blow out compressed air, and the second nozzles (60) are used to spray release agent.

2. The multifunctional robotic arm for bottle stopper production according to claim 1, characterized in that: The frame (10) has a third through channel (13) at its front end. The frame (10) has cover plates (14) installed on the upper and lower sides of the third through channel (13). The cover plates (14) have a first nozzle (50) and a second nozzle (60) installed on them.

3. A multifunctional robotic arm for bottle stopper production according to claim 1 or 2, characterized in that: The first nozzle (50) and the second nozzle (60) are arranged in a row along the left and right direction.

4. The multifunctional robotic arm for bottle stopper production according to claim 2, characterized in that: The cover plate (14) is provided with a first through hole (141). The threaded end of the first nozzle (50) passes through the first through hole (141) from the outside of the cover plate (14) and is screwed onto the first nut (51). Each first nozzle (50) is connected in series or in parallel through a first pipe (53). The first pipe (53) is led out from the pipe hole (143) opened on one side of the cover plate (14).

5. A multifunctional robotic arm for bottle stopper production according to claim 2, characterized in that: The cover plate (14) is provided with a second through hole (142). The threaded end of the second nozzle (60) passes through the second through hole (142) from the outside of the cover plate (14) and is screwed onto the second nut (61). Each second nozzle (60) is connected in series or in parallel through a second pipe (63). The second pipe (63) is led out from the pipe hole (143) opened on one side of the cover plate (14).

6. The multifunctional robotic arm for bottle stopper production according to claim 1, characterized in that: The lateral clamping mechanism (20) includes a parallel finger cylinder (21), on which a first clamping member (22) is installed. The two first clamping members (22) on the parallel finger cylinder (21) move and clamp in the left and right directions.

7. The multifunctional robotic arm for bottle stopper production according to claim 1, characterized in that: The longitudinal clamping mechanism (30) includes a finger-flipping cylinder (31), on which a second clamping member (32) is installed. The two second clamping members (32) on the finger-flipping cylinder (31) flip and clamp in the front-back direction. The second clamping member (32) is a T-shaped structure. One end of the T-shaped structure is connected to the finger of the finger-flipping cylinder (31), and the other two ends extend symmetrically to the left and right sides respectively. Clamping pads (321) are installed on the two ends of the second clamping member (32) that extend to the left and right sides respectively.

8. The multifunctional robotic arm for bottle stopper production according to claim 1, characterized in that: The threaded connector end of the vacuum suction cup (40) is equipped with a support plate (41), and both ends of the support plate (41) are fixed to the frame (10); the threaded connector end of the vacuum suction cup (40) is equipped with a vacuum generator (42).

9. A multifunctional robotic arm for bottle stopper production according to claim 6, characterized in that: The parallel finger cylinder (21) has a first L-shaped plate (17) installed on the front and rear sides of the cylinder body, and a fixing plate (16) is installed at the lower end of the first L-shaped plate (17). The fixing plate (16) is installed at the bottom of the frame (10). The fixing plate (16) has a clearance hole (161) and the parallel finger cylinder (21) passes through the clearance hole (161).

10. A multifunctional robotic arm for bottle stopper production according to claim 7, characterized in that: The flipping finger cylinder (31) has a second L-shaped plate (18) installed on the left and right sides of the cylinder body, and the second L-shaped plate (18) is installed on the top of the frame (10).

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