A finely adjustable robotic arm for PET preform picking

Abstract

This utility model discloses a finely adjustable robot for PET preform picking. Mounted on a frame, the robot includes a guide beam, a preform picking / placing driver, a picking plate, and a preform plate adjustment structure. The guide beam is mounted on the frame. The picking / placing driver connects to and drives the picking plate to slide back and forth along the extension direction of the guide beam to complete the picking / placing action. The preform plate adjustment structure has a transfer base, a fine-tuning base plate, and several adjusting rods. The transfer base is connected to the output end of the picking / placing driver. The picking plate is connected to the base adjustment section of the transfer base via the fine-tuning base plate. The several adjusting rods are distributed on multiple sides of the transfer base and abut against the fine-tuning base plate. By pushing the fine-tuning base plate with the adjusting rods, the vertical rotation angle, lateral and vertical displacement of the picking plate can be adjusted. This achieves precise control of the preform plate's posture in three-dimensional space, multi-directional adjustment, easier and more precise adjustment work, more flexible robot application, and improved product quality and efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automated equipment technology for injection molding production, and in particular to a finely adjustable robotic arm for taking PET preforms. Background Technology

[0002] PET preform injection molding machines are specialized equipment used to produce PET (polyethylene terephthalate) preforms. They mainly consist of an injection unit, a mold closing unit, a demolding unit, a control system, and auxiliary systems. The demolding unit includes an ejection mechanism and a robotic arm. After the mold opens, the ejection mechanism pushes the preform out, and then the robotic arm removes it.

[0003] For example, Chinese utility model patent CN214025728U, entitled "An Integrated Slide Table Structure and Its Side-Retrieving Robotic Arm," includes the aforementioned integrated slide table structure, as well as a head plate, a water-cooled extraction plate, a drive device, and a guide beam. The drive device includes a first servo motor, a second servo motor, a first reducer, and a second reducer. When the first servo motor is driven, it drives the first reducer motor to rotate, and the synchronous belt pulley mechanism simultaneously pulls the slider of the slide table body to slide, quickly moving the slide table body and the water-cooled extraction plate from the side away from the head plate to the side of the head plate, completing the blank-retrieving action. When the second servo motor is driven, it drives the second reducer motor and the rotating shaft to rotate, quickly causing the water-cooled extraction plate to flip over, completing the blank-releasing action.

[0004] However, this existing technology has the following problems:

[0005] 1. The preform removal plate of traditional injection molding machine robots has a fixed structure design. During the preform removal process, it can only complete the basic flipping and placement action. The preform removal plate cannot be adjusted at multiple angles, resulting in insufficient application flexibility and limiting the coordination between the robot and the molding die. As a result, when the preform removal plate extends into the molding die, the preform removal fixture of the preform removal plate and the preform on the molding die are often not accurately aligned. In this case, the alignment can only be achieved by raising and tilting the entire robot frame. This adjustment method is labor-intensive and lacks precision, affecting the processing quality and efficiency of PET preforms.

[0006] 2. The robot arm can only slide along the forward and backward directions of the blank taking process on the guide beam. It cannot perform horizontal rotation and fine adjustment, which means that the robot arm as a whole cannot be fine-tuned. This also limits the coordination between the robot arm and the forming mold. Utility Model Content

[0007] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a finely adjustable robotic arm for taking PET preforms.

[0008] The purpose of this utility model is achieved by the following technical solution: a micro-adjustable robotic arm for PET preform taking, the robotic arm being mounted on a frame, characterized in that it includes a guide rail beam, a preform taking and placing driver, a preform taking plate, and a preform taking plate adjustment structure, the guide rail beam being mounted on the frame, the preform taking and placing driver and the preform taking plate being mounted on the guide rail beam, the preform taking and placing driver being connected to and driving the preform taking plate to slide back and forth along the extension direction of the guide rail beam and complete the preform taking and placing action;

[0009] The blank plate adjustment structure has a transfer base, a fine-tuning base plate and several adjustment rods. The transfer base is connected to the output end of the blank pick-and-place driver. The blank pick-and-place plate is fixedly connected to the fine-tuning base plate and connected to the base adjustment part of the transfer base through the fine-tuning base plate.

[0010] Several adjustment rods are distributed on multiple sides of the transfer base and abut against the fine-tuning base plate. The fine-tuning base plate is pushed by the adjustment rods to adjust the vertical rotation angle, lateral and vertical displacement of the blank taking plate.

[0011] Furthermore, the adjusting rod has several first adjusting rods, and the side of the transfer base is provided with a base adjusting hole, the base adjusting hole having a lateral adjusting hole, the lateral adjusting hole being opened on the left and right vertical sides of the transfer base;

[0012] The first adjusting rod passes through the lateral adjusting hole and its end abuts against the fine-tuning substrate;

[0013] When several of the first adjustment rods push the fine-tuning substrate laterally at different stages on the left and right vertical sides of the transfer base, the vertical rotation angle of the blank-taking plate is adjusted.

[0014] When several of the first adjusting rods push the fine-tuning base plate laterally in the same manner on the left and right vertical sides of the transfer base, the lateral displacement of the blank-taking plate is adjusted.

[0015] Furthermore, the adjusting rod has a second adjusting rod, and the base adjusting hole has a vertical adjusting hole, which is opened on the upper and lower horizontal sides of the transfer base;

[0016] The second adjusting rod passes through the vertical adjusting hole and its end abuts against the fine-tuning substrate;

[0017] When several of the second adjusting rods vertically push the fine-tuning base plate on the upper and lower horizontal sides of the transfer base, the vertical displacement of the blank-taking plate is adjusted.

[0018] Furthermore, on one side of the fine-tuning substrate connected to the transfer base, there are two or more fine-tuning protrusions integrally formed and arranged vertically at intervals.

[0019] The base adjustment part of the transfer base is integrally formed with a base adjustment groove. The fine adjustment protrusion is adapted to and installed in the base adjustment groove. The ends of the first adjustment rod and the second adjustment plate pass through the base adjustment hole to the base adjustment groove and push the fine adjustment protrusion respectively, thereby pushing the fine adjustment base plate and adjusting the blank taking plate.

[0020] Furthermore, the transfer base is configured as a right-angled plate, the base adjustment part is disposed on the right-angled surface inside the transfer base, and the output end of the embryo loading and unloading driver is connected to the outer surface of the transfer base.

[0021] Furthermore, the guide rail beam is provided with several beam base plates along its length and is supported on the frame by connecting these several beam base plates.

[0022] The frame is also provided with an alignment block arranged with the bottom plate of the crossbeam. The alignment block has an alignment adjustment hole for aligning with the bottom plate of the crossbeam. The adjustment rod has several third adjustment rods, which pass through the alignment adjustment holes and are used to push the bottom plate of the crossbeam. The connection point between the bottom plate of the crossbeam in the middle of the guide rail crossbeam and the frame is used as the adjustment fulcrum. The bottom plates of the crossbeam at both ends of the guide rail crossbeam are pushed by the third adjustment rods, thereby adjusting the overall horizontal rotation angle of the robot.

[0023] Furthermore, the embryo loading and unloading driver has an embryo loading motor, and the two ends of the guide rail beam are respectively provided with a driving pulley and a driven pulley, and the driving pulley and the driven pulley are provided with embryo loading belts;

[0024] The guide rail beam is provided with a embryo-removing slide for mounting the embryo-removing plate, and the embryo-removing slide is connected to the embryo-removing belt.

[0025] The output end of the embryo-retrieving motor is connected to and drives the active pulley to rotate. The embryo-retrieving belt follows the pulley to rotate and drives the embryo-retrieving slide and embryo-retrieving plate to slide back and forth along the extension direction of the guide beam.

[0026] Furthermore, limit sensors are respectively provided at both ends of the guide beam to sense the sliding displacement of the embryo-taking slide block along the extension direction of the guide beam.

[0027] Furthermore, the embryo loading and unloading driver also has an unloading motor, which is mounted on the embryo loading slide. The output end of the unloading motor is connected to and drives the embryo loading plate to perform a flipping unloading action.

[0028] Furthermore, the embryo-taking plate has embryo-taking and embryo-placing fixtures arranged in an array on one side.

[0029] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0030] (1) In this embodiment, by setting a preform plate adjustment structure between the preform picker and the preform plate, and through the coordinated action of multiple sets of adjustment rods of the preform plate adjustment structure, the precise position and orientation of the preform plate in three-dimensional space is achieved, and the preform plate angle can be adjusted in multiple directions, thereby improving the flexibility of the robot application and solving the problem of difficulty in aligning the preform with the preform on the mold caused by the fixed preform plate angle in traditional robots. Moreover, the adjustment process in this embodiment does not require the cumbersome adjustment methods of raising or tilting the entire frame, which greatly reduces the workload of adjusting the preform plate and improves the adjustment accuracy, product production quality and efficiency.

[0031] (2) By using the first and second adjusting rods together, the vertical rotation angle, lateral displacement and vertical displacement of the blank taking plate can be independently and precisely adjusted and controlled. The design of the fine-tuning protrusion and the base adjusting groove ensures the accuracy and stability of the adjustment force and eliminates the adjustment error caused by the gap during the adjustment process.

[0032] (3) The horizontal displacement at both ends of the guide rail beam is independently adjusted by the third adjustment rod, which realizes the fine adjustment of the overall horizontal rotation angle of the robot and the overall six-way adjustment of the blank taking plate. This further enables the robot to better coordinate with the forming mold and further improves the application flexibility of the robot. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structural connection between the blank-picking plate, the blank-picking plate adjustment structure, the blank-picking slide block and the blank-releasing motor in a preferred embodiment of this utility model;

[0034] Figure 2 This is an exploded view of the structure of the blank-taking plate and the blank-plate adjustment structure in a preferred embodiment of the present invention;

[0035] Figure 3 This is an exploded view of the blank plate adjustment structure in a preferred embodiment of the present invention.

[0036] Figure 4 This is a top view of the connection between the robotic arm and the guide beam in a preferred embodiment of the present invention;

[0037] Figure 5 This is a three-dimensional schematic diagram of the robotic arm mounted on the frame in a preferred embodiment of the present invention;

[0038] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0039] Figure 7 This is another three-dimensional schematic diagram of the robotic arm mounted on the frame in a preferred embodiment of the present invention.

[0040] In the picture:

[0041] 10. Rack;

[0042] 20. Guide rail beam; 201. Beam base plate; 2011. Strip-shaped adjustment hole; 21. Limit sensor;

[0043] 30. Embryo-picking motor; 31. Embryo-releasing motor; 32. Drive pulley; 33. Driven pulley; 34. Embryo-picking belt; 35. Embryo-picking slide;

[0044] 40. Take out the embryo plate; 41. Take out the embryo placing jig;

[0045] 50. Blank plate adjustment structure; 501. Transfer base; 5011. Base adjustment part; 5012. Horizontal adjustment hole; 5013. Vertical adjustment hole; 5014. Base adjustment groove; 502. Fine adjustment base plate; 5021. Fine adjustment protrusion; 503. First adjustment rod; 504. Second adjustment rod; 505. Alignment block; 5051. Alignment adjustment hole; 506. Third adjustment rod. Detailed Implementation

[0046] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0047] like Figure 1-7 As shown, a finely adjustable robot for PET preform removal is used in the preform removal and placement operations in injection molding machines. Especially in the PET preform production process, this robot removes the molded preform from the mold and achieves multi-dimensional precise fine-tuning of the preform removal plate 40. In this embodiment, the fine-tuning range of the preform removal plate is typically a few millimeters to tens of millimeters. Through multi-dimensional fine-tuning, the alignment accuracy between the robot and the preform in the mold is improved, enhancing the application flexibility of the injection molding machine robot and improving product production quality and efficiency.

[0048] The adjustable robot for PET preform picking is mounted on the frame 10. The adjustable robot includes a guide beam 20, a preform picking / placing driver, a preform picking plate 40, and a preform plate adjustment structure 50. The guide beam 20 is supported on the frame 10 by several beam base plates 201, providing basic support and guidance for the entire preform picking mechanism. Both the preform picking / placing driver and the preform picking plate 40 are mounted on the guide beam 20. The output end of the preform picking / placing driver is connected to and drives the preform picking plate 40 to slide back and forth along the extension direction of the guide beam 20, completing the preform picking and placing actions.

[0049] The blank plate adjustment structure 50 is disposed between the blank pick-and-place driver and the blank pick-up plate 40. The blank plate adjustment structure 50 includes a transfer base 501, a fine-tuning base plate 502, and several adjustment rods. Through the cooperation of these components, multi-dimensional fine-tuning of the blank pick-up plate 40 can be achieved. In this embodiment, the adjustment rods can be adjusted manually or electrically or hydraulically to achieve intelligent control.

[0050] More specifically, such as Figure 3 , 4 As shown, the transfer base 501 is configured as a right-angled plate, with its outer surface connected to the output end of the blank pick-and-place driver, and its inner right-angled surface configured as a base adjustment section 5011 for mounting the fine-tuning base plate 502. The blank pick-and-place plate 40 is fixedly connected to the fine-tuning base plate 502, and the fine-tuning base plate 502 is connected to the base adjustment section 5011 of the transfer base 501, so that both the fine-tuning base plate 502 and the blank pick-and-place plate 40 can be adjusted and mounted on the transfer base 501.

[0051] Several adjustment rods are distributed on multiple sides of the transfer base 501, and the ends of the adjustment rods abut against the fine-tuning base plate 502. By pushing the fine-tuning base plate 502 in different modes, the spatial posture adjustment of the blank taking plate 40 is realized. The different spatial posture adjustments include at least the adjustment of the vertical rotation angle, lateral displacement and vertical displacement of the blank taking plate 40.

[0052] Therefore, by setting a preform plate adjustment structure 50 between the preform picker / placer driver and the preform picker plate 40, and through the coordinated action of multiple sets of adjustment rods of the preform plate adjustment structure 50, precise positional control of the preform picker plate 40 in three-dimensional space is achieved, and the angle of the preform picker plate 40 can be adjusted in multiple directions, improving the flexibility of the robot application and solving the problem of difficulty in aligning the preform with the preform on the mold caused by the fixed angle of the preform picker plate 40 in traditional robots. Moreover, the adjustment process in this embodiment does not require the cumbersome adjustment methods of raising or tilting the entire frame 10 in the traditional way, which greatly reduces the workload of adjusting the preform picker plate 40 and improves the adjustment accuracy, product production quality and efficiency.

[0053] To achieve more precise control over the blank-taking plate 40, a plurality of fine-tuning bumps 5021 are integrally formed on the side of the fine-tuning substrate 502 connected to the transfer base 501. In this embodiment, at least two fine-tuning bumps 5021 are provided on the fine-tuning substrate 502, and the two fine-tuning bumps 5021 are distributed along the vertical direction of the fine-tuning substrate 502, and the two fine-tuning bumps 5021 are spaced apart. Moreover, the fine-tuning bumps 5021 are integrally formed with the fine-tuning substrate, resulting in high overall structural strength, which can provide a stable force point for the assembly of the fine-tuning substrate 502 on the transfer base 501.

[0054] The base adjustment part 5011 of the transfer base 501 is integrally formed with a base adjustment groove 5014, and the fine adjustment protrusion 5021 is adapted to and installed in the base adjustment groove 5014 to form a sliding fit.

[0055] This embodiment uses multiple sets of adjustment rods to achieve fine-tuning functions in different directions. Specifically, the adjustment rods include several first adjustment rods 503 and second adjustment rods 504. Several base adjustment holes are respectively opened on multiple sides of the transfer base 501. The base adjustment holes include horizontal adjustment holes 5012 and vertical adjustment holes 5013.

[0056] During assembly, the ends of the first adjusting rod 503 and the second adjusting rod 504 pass through the base adjusting hole into the base adjusting groove 5014, and respectively push the side of the fine-tuning protrusion 5021, thereby converting the linear motion of the adjusting rod into the positional change of the fine-tuning base plate 502. By setting the fine-tuning protrusion 5021 on the mounting surface of the fine-tuning base plate 502 and assembling it with the transfer base 501, and leaving a gap between the side of the fine-tuning base plate 502 and the transfer base 501 that are close to each other, a gap is reserved as an adjustment gap for adjusting the lateral displacement and vertical rotation angle of the fine-tuning base plate 502 and the blank taking plate 40; and by setting several adjusting rods for pushing adjustment, the adjustment force transmission of the blank taking plate 40 is more clear, and the displacement adjustment and control of the blank taking plate 40 is more precise.

[0057] More specifically, the first adjusting rod 503 is used to adjust the lateral displacement of the blank taking plate 40. The first adjusting rod 503 passes through the lateral adjusting holes 5012 on the left and right vertical sides of the transfer base 501, and its end abuts against the fine-adjusting protrusion 5021 on the side of the fine-adjusting base plate 502.

[0058] With attachment Figure 1 , 2 Taking the direction shown as an example, when the first adjusting rod 503 on the left and right vertical sides of the transfer base 501 pushes at different stages, unequal lateral displacements will occur on both sides of the fine-tuning base plate 502. For example, two first adjusting rods 503 are respectively set on the left and right sides of the transfer base 501. When the pushing depth of the first adjusting rod 503 on the upper left side is greater than the pushing depth of the first adjusting rod 503 on the lower right side (at this time, the pushing depth of the first adjusting rod 503 on the upper right side is less than the pushing depth of the first adjusting rod 503 on the lower right side), the end of the blank-taking plate 40 rotates vertically upward; conversely, the end of the blank-taking plate 40 rotates vertically downward, thereby realizing the adjustment of the vertical rotation angle of the blank-taking plate 40.

[0059] When the first adjusting rods 503 on the left and right vertical sides of the transfer base 501 push in the same manner; for example, when the upper and lower first adjusting rods 503 on the left side of the transfer base 501 push forward to the same depth (at the same time, the upper and lower first adjusting rods 503 on the right side retreat to the same depth), the blank-taking plate 40 moves laterally to the right as a whole; conversely, the blank-taking plate 40 moves laterally to the left as a whole, which will cause the fine-tuning base plate 502 to have an overall lateral displacement, thereby realizing the lateral position adjustment of the blank-taking plate 40.

[0060] More specifically, the second adjusting rod 504 is used to adjust the vertical displacement of the blank taking plate 40. The second adjusting rod 504 passes through the vertical adjusting hole 5013 on the upper and lower horizontal sides of the transfer base 501, and its end abuts against the fine-adjusting protrusion 5021 on the side of the fine-adjusting base plate 502.

[0061] When the second adjusting rod 504 provided on the upper and lower horizontal sides of the transfer base 501 is used to vertically push the fine-tuning base plate 502, the position of the fine-tuning base plate 502 in the vertical direction is directly changed, thereby realizing the vertical displacement adjustment of the blank taking plate 40.

[0062] Therefore, through the combined use of the first adjusting rod 503 and the second adjusting rod 504, independent and precise adjustment and control of the vertical rotation angle, lateral displacement, and vertical displacement of the blank-taking plate 40 are achieved. The cooperative design of the fine-tuning protrusion 5021 and the base adjusting groove 5014 ensures the accuracy and stability of the adjustment force and eliminates adjustment errors caused by gaps during the adjustment process.

[0063] In this embodiment, multiple beam base plates 201 are provided along the length of the guide beam 20. For example, at least three beam base plates 201 are provided along the length of the guide beam 20. These beam base plates 201 are supported on the frame 10. If necessary, screw holes can be opened on the beam base plates 201 and screws can be used to lock and fix them to the frame 10.

[0064] The frame 10 is also equipped with an alignment block 505 corresponding to the crossbeam base plate 201. A certain distance is maintained between the alignment block 505 and the crossbeam base plate 201 to provide a fine-tuning space, serving as a horizontal rotation adjustment space for the guide beam 20 and the blank-taking plate 40. The alignment block 505 has an alignment adjustment hole 5051 for aligning with the crossbeam base plate 201; that is, the alignment adjustment hole 5051 is perpendicular to the crossbeam base plate 201. In this embodiment, the adjustment rod also includes a third adjustment rod 506, which passes through the alignment adjustment hole 5051, and its end is used to push the crossbeam base plate 201 (not screwed into the crossbeam base plate 201). By adjusting the pushing stroke of the third adjustment rod 506, the overall horizontal rotation angle of the robot arm can be adjusted.

[0065] More specifically, with appendix Figure 4Taking the direction shown as an example, during adjustment, the bottom plate 201 of the crossbeam in the middle of the guide beam 20 is used as the adjustment fulcrum. The bottom plates 201 of the crossbeam at both ends of the guide beam 20 are pushed at different stages by the third adjustment rod 506, forming a lever effect, thereby realizing the fine adjustment of the overall horizontal rotation angle of the robot. For example, when the third adjustment rod 506 located at the left end of the guide beam 20 is rotated into the alignment adjustment hole 5051 and pushes the corresponding bottom plate 201 (at this time, the third adjustment rod 506 located at the right end of the guide beam 20 is rotated back by a corresponding amount in the alignment adjustment hole 5051, but remains in contact with the bottom plate 201), the left end of the guide beam 20 rotates towards the side where the blank-taking plate 40 is set (equivalent to the attached...). Figure 4 (The top view shown rotates clockwise), and the blank plate 40 also rotates clockwise horizontally, realizing the overall clockwise horizontal rotation of the robot arm; conversely, the guide beam 20 and the blank plate 40 rotate clockwise horizontally.

[0066] Therefore, by independently adjusting the horizontal displacement at both ends of the guide rail beam 20 through the third adjusting rod 506, the overall horizontal rotation angle of the robot arm can be finely adjusted, and the six-directional adjustment of the blank taking plate can be achieved as a whole. This further enables the robot arm to better coordinate with the forming mold and further improves the application flexibility of the robot arm.

[0067] In this embodiment, each crossbeam base plate 201 of the guide rail beam is provided with several strip-shaped adjustment holes 2011 (for example, two strip-shaped adjustment holes). The length direction of the strip-shaped adjustment holes 2011 is perpendicular to the extension direction of the guide rail crossbeam 201 itself. Locking components (such as screws, not shown in the figure) are adapted to be connected to the strip-shaped adjustment holes 2011. The locking components are passed through the crossbeam base plate 201 and the adjustment holes 2011 on the frame 10 in sequence, and the nuts are tightened to lock them.

[0068] Specifically, when it is necessary to adjust the horizontal rotation angle of the robot arm, first tighten the locking device to loosen the crossbeam base plate 201 from the frame 10, then tighten the third adjusting rod 506 at both ends of the guide rail crossbeam 20 (select the pushing stroke of the third adjusting rod 506 at each end of the guide rail crossbeam 20 according to the clockwise or counterclockwise rotation direction) to adjust the horizontal rotation angle of the crossbeam base plate 201 and the blank taking plate 40. After the adjustment is completed, tighten the locking device to lock the crossbeam base plate 201 and the frame 10.

[0069] Therefore, by opening strip-shaped adjustment holes on the bottom plate 201 of the crossbeam and using matching locking parts to loosen or lock them, the third adjustment rod 506 is used to push and adjust the entire robot arm, thereby improving the adjustment stability and avoiding over-adjustment during the adjustment process, which could cause equipment damage or safety accidents.

[0070] The blank picker and release driver in this embodiment includes a blank picker motor 30 and a blank release motor 31. The blank picker motor 30 drives the blank picker plate 40 to reciprocate along the length of the guide beam 20, and the blank release motor 31 drives the blank picker plate 40 to flip and release blanks.

[0071] More specifically, the embryo-retrieving motor 30 is mounted at one end of the guide beam 20. A freely rotatable drive pulley 32 and driven pulley 33 are respectively installed at the left and right ends of the guide beam 20. The output end of the embryo-retrieving motor 30 is connected to the drive pulley 32 to actively drive its rotation. An embryo-retrieving belt 34 is installed on the drive pulley 32 and driven pulley 33, forming a belt drive system.

[0072] Two parallel preform-removing guide rails are mounted on the guide beam 20. These two preform-removing guide rails can optionally be linear guide rails. A preform-removing slide 35 is mounted on the two preform-removing guide rails of the guide beam 20. The preform-removing slide 35 is also connected to the preform-removing belt 34. The preform-removing plate 40 is mounted on the preform-removing slide 35 via the transfer base 501 of the preform-removing plate adjustment structure 50. Therefore, when the preform-removing motor 30 drives the preform-removing belt 34 to rotate, it synchronously drives the preform-removing slide 35 to slide on the preform-removing guide rails of the guide beam 20, thereby causing the preform-removing plate 40 to slide synchronously towards the molding die and remove the preform.

[0073] The preform release motor 31 is installed on the preform taking slide 35. The output end of the preform release motor 31 is directly connected to and drives the preform taking plate 40 to perform a flipping preform release action to realize the release of the preform.

[0074] To improve control accuracy, limit sensors 21 are installed at both ends of the guide beam 20 to sense the sliding displacement of the embryo-removing slide 35 along the extension direction of the guide beam 20, ensuring that the embryo-removing plate 40 performs embryo-removing and embryo-releasing operations in the correct position.

[0075] In this embodiment, the preform picking plate 40 is the component that directly performs the preform picking and placing operations. Multiple preform picking fixtures 41 are arranged in an array on the preform picking / placing side of the preform picking plate 40. These fixtures are precisely designed according to the shape and size of the preforms to ensure the stability and reliability of the picking process. For example, each preform picking / placing fixture 41 is equipped with a pneumatic system, and a corresponding vacuum valve is installed inside the preform picking plate 40. Vacuum suction is used to extract the preform from the mold, and then air blowing is used to release the preform onto a conveyor belt or collection platform.

[0076] Therefore, in this embodiment, the preform pick-up and release driver is equipped with a preform pick-up motor 30 and a preform release motor 31, and is designed with belt drive to ensure that the preform pick-up motor 30 can precisely control the smoothness and accuracy of the movement of the preform pick-up plate 40 in the preform pick-up direction; while the independent control of the preform release motor 31 enables precise flipping and preform release action, without interfering with the preform pick-up action control; the preform pick-up and release fixtures 41 arranged in an array on the preform pick-up plate 40 improve the efficiency and reliability of bottle preform pick-up and release.

[0077] The overall working process of the fine-tunable robotic arm in this embodiment is as follows:

[0078] 1. Based on the actual position of the mold, the blank-taking plate 40 is precisely adjusted in dimensional orientation by adjusting multiple sets of adjusting rods of the blank-taking plate adjusting structure 50. Specifically, the following adjustment operations can be performed:

[0079] Adjust the vertical position of the blank-taking plate 40 by operating the second adjusting rod 504;

[0080] After adjusting the center height of the blank-taking plate 40, start the blank-taking motor 30, and drive the blank-taking slide block 35 to slide forward along the guide beam 20 through the belt drive system, so that the blank-taking plate 40 is inserted into the open mold.

[0081] Operate the first adjusting rod 503 to adjust the horizontal position and vertical rotation angle of the blank-taking plate 40;

[0082] Operate the third adjusting lever 506 to adjust the overall horizontal rotation angle of the robotic arm;

[0083] Through the above multi-dimensional adjustments, it is ensured that the preform picker 41 on the preform picker plate 40 is precisely aligned with the preform in the mold. After alignment, the preform picker motor 30 drives the preform picker plate 40 to reset to the zero position.

[0084] 2. After completing the adjustment of the blank-taking plate 40, start the blank-taking motor 30, and drive the blank-taking plate 40 to slide along the guide rail beam 20 to the waiting position through the transmission system.

[0085] 3. After the injection molding machine completes the injection molding of the preform, it sends out a mold opening signal and starts the preform removal motor 30. The preform removal slide 35 is driven forward along the guide beam 20 through the belt drive system, and the preform removal plate 40 is inserted into the open mold to prepare for the preform removal work.

[0086] 4. After the preform taking plate 40 is in place, the vacuum valve on the preform taking plate 40 is opened, generating a vacuum suction force to suck the preform from the mold onto the preform taking and placing fixture 41 on the preform taking plate 40.

[0087] 5. After confirming that the preform has been removed, the preform removal motor 30 rotates in the opposite direction, driving the preform removal plate 40 to carry the preform out of the mold and return to the preform placement position.

[0088] 6. After the preform taking plate 40 returns to its position, start the preform releasing motor 31 to drive the preform taking plate 40 to rotate to the set angle; at the same time, close the vacuum valve and start the blowing system to release the preform onto the conveyor belt or collection platform.

[0089] 7. After the embryo is placed, the embryo placement motor 31 drives the embryo taking plate 40 to flip back to the vertical position, ready for the next work cycle.

[0090] Throughout the entire operation, the robotic arm control system executes control through PLC program instructions, coordinating the movement of each motor, the operation of the pneumatic system, and the signal acquisition of sensors to ensure reliable, stable, and high-quality and efficient operation of the system.

[0091] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A fine-tunable mechanical hand for taking preforms from PET bottle preforms, said mechanical hand being arranged on a frame, characterized in that, The machine includes a guide rail beam, a blank picker / placement driver, a blank picker plate, and a blank picker plate adjustment structure. The guide rail beam is mounted on the frame, and the blank picker / placement driver and the blank picker plate are mounted on the guide rail beam. The blank picker / placement driver is connected to and drives the blank picker plate to slide back and forth along the extension direction of the guide rail beam to complete the blank picker / placement action. The blank plate adjustment structure has a transfer base, a fine-tuning base plate and several adjustment rods. The transfer base is connected to the output end of the blank pick-and-place driver. The blank pick-and-place plate is fixedly connected to the fine-tuning base plate and connected to the base adjustment part of the transfer base through the fine-tuning base plate. Several adjustment rods are distributed on multiple sides of the transfer base and abut against the fine-tuning base plate. The fine-tuning base plate is pushed by the adjustment rods to adjust the vertical rotation angle, lateral and vertical displacement of the blank taking plate.

2. The adjustable robotic arm for PET preform taking as described in claim 1, characterized in that, The adjusting rod has several first adjusting rods, and the side of the transfer base is provided with a base adjusting hole. The base adjusting hole has a horizontal adjusting hole, which is opened on the left and right vertical sides of the transfer base. The first adjusting rod passes through the lateral adjusting hole and its end abuts against the fine-tuning substrate; When several of the first adjustment rods push the fine-tuning substrate laterally at different stages on the left and right vertical sides of the transfer base, the vertical rotation angle of the blank-taking plate is adjusted. When several of the first adjusting rods push the fine-tuning base plate laterally in the same manner on the left and right vertical sides of the transfer base, the lateral displacement of the blank-taking plate is adjusted.

3. The adjustable robotic arm for PET preform taking as described in claim 2, characterized in that, The adjusting rod has a second adjusting rod, and the base adjusting hole has a vertical adjusting hole, which is opened on the upper and lower horizontal sides of the transfer base; The second adjusting rod passes through the vertical adjusting hole and its end abuts against the fine-tuning substrate; When several of the second adjusting rods vertically push the fine-tuning base plate on the upper and lower horizontal sides of the transfer base, the vertical displacement of the blank-taking plate is adjusted.

4. The adjustable robotic arm for PET preform taking as described in claim 3, characterized in that, The fine-tuning substrate is connected to the transfer base on one side, and has two or more fine-tuning protrusions arranged vertically at intervals. The base adjustment part of the transfer base is integrally formed with a base adjustment groove. The fine adjustment protrusion is adapted to and installed in the base adjustment groove. The ends of the first adjustment rod and the second adjustment plate pass through the base adjustment hole to the base adjustment groove and push the fine adjustment protrusion respectively, thereby pushing the fine adjustment base plate and adjusting the blank taking plate.

5. The adjustable robotic arm for PET preform taking as described in claim 4, characterized in that, The transfer base is configured as a right-angled plate, the base adjustment part is located on the right-angled surface inside the transfer base, and the output end of the embryo pick-and-place driver is connected to the outer surface of the transfer base.

6. The adjustable robotic arm for PET preform taking as described in any one of claims 1-5, characterized in that, The guide rail beam has several beam base plates along its length and is supported on the frame by connecting these beam base plates. The frame is also provided with an alignment block arranged with the bottom plate of the crossbeam. The alignment block has an alignment adjustment hole for aligning with the bottom plate of the crossbeam. The adjustment rod has several third adjustment rods, which pass through the alignment adjustment holes and are used to push the bottom plate of the crossbeam. The connection point between the bottom plate of the crossbeam in the middle of the guide rail crossbeam and the frame is used as the adjustment fulcrum. The bottom plates of the crossbeam at both ends of the guide rail crossbeam are pushed by the third adjustment rods, thereby adjusting the overall horizontal rotation angle of the robot.

7. The adjustable robotic arm for PET preform taking as described in claim 6, characterized in that, The bottom plate of the crossbeam has several strip-shaped adjustment holes, and the strip-shaped adjustment holes are connected to locking components. When the bottom plate of the crossbeam is loosened from the frame by the locking components, the horizontal rotation angle of the bottom plate of the crossbeam can be adjusted by pushing it with the third adjustment rod; and after adjusting the bottom plate of the crossbeam, the bottom plate of the crossbeam is locked to the frame by the locking components.

8. The adjustable robotic arm for PET preform taking as described in any one of claims 1-5, characterized in that, The embryo loading and unloading driver has an embryo loading motor, and the two ends of the guide rail beam are respectively provided with a driving pulley and a driven pulley, and the driving pulley and the driven pulley are provided with embryo loading belts; The guide rail beam is provided with a embryo-removing slide block, and the embryo-removing slide block is connected to the embryo-removing belt. The output end of the embryo-retrieving motor is connected to and drives the active pulley to rotate. The embryo-retrieving belt follows the pulley to rotate and drives the embryo-retrieving slide and embryo-retrieving plate to slide back and forth along the extension direction of the guide beam.

9. The adjustable robotic arm for PET preform taking as described in claim 8, characterized in that, The embryo loading and unloading driver also has an unloading motor, which is mounted on the embryo loading slide. The output end of the unloading motor is connected to and drives the embryo loading plate to perform a flipping unloading action.

10. The adjustable robotic arm for PET preform taking as described in any one of claims 1-5, characterized in that, The embryo-taking plate has embryo-taking and embryo-placing fixtures arranged in an array on one side.

Images