CN204505800U - A kind of control device of dual rotary manipulator - Google Patents

Abstract

A control device for a double-rotating manipulator, characterized in that a planetary reducer is provided between the main servo motor and the rotating main shaft, four manipulator supports are fixed on the rotating main shaft, and each manipulator support is provided with a sub-servo motor , sprocket, chain, rotating sub-shaft, cylinder fixing plate, rotating cylinder and fixture; the sub-servo motor drives the rotating sub-shaft to rotate through the sprocket and chain, and the rotating sub-axis drives the cylinder fixing plate, rotating cylinder and fixture to rotate together, and The clamp is opened and closed under the control of the rotary cylinder, and the product is released or grasped through the opening and closing of the clamp. The utility model can improve the working efficiency, and can ensure the accuracy and flexibility of changing stations.

Description

A control device for a double-rotating manipulator

technical field

The utility model relates to a device for transferring products during the processing of plastic products, in particular to a device for transferring products by adopting double rotating manipulators during the processing of hollow plastic products.

Background technique

The bottomed parison of the hollow plastic product is taken out by the manipulator after secondary heating, and then transferred to the stretch blow molding device by the manipulator for stretch blow molding. The transfer method used in the existing multi-station "one-step" injection stretch blow molding is in the form of a turntable, but the high speed of the turntable and insufficient positioning stability; the operation and positioning performance of the turntable affect the forming efficiency. The injection stretch blow hollow plastic molding machine is a high-speed molding equipment, and the high-speed operation of the turntable is an indispensable part of high-speed molding. The operation of the turntable must meet such requirements. It starts to rotate at a high speed, and when it is about 100mm away from the next station, it suddenly decelerates and rotates at a slow speed, until it reaches the positioning point without swinging back and forth and without impact. Judging from the operation of the domestically developed equipment, the high-speed operation of the turntable is not enough. When the turntable is positioned at each station positioning point, it swings back and forth. It often needs to swing several times before positioning, which affects production efficiency and quality. Therefore how to quickly and accurately transfer the bottomed parison after secondary heating to the stretch-blow molding device to ensure the efficiency of production and the quality of the product is a technical problem that those skilled in the art need to solve urgently.

Through domestic search, it is found that the following patents have similarities with the utility model:

The application number is 201210324742.0, and the invention named "one-step three-station injection stretch-blow plastic molding machine" provides a one-step three-station injection stretch-blow plastic molding machine, including: installation base, located on one side of the installation base The fixed frame, the injection device set on the installation base, the injection preform assembly fixed on the fixed frame, the rotating template assembly fixed on the fixed frame, the pre-blowing mold assembly fixed on the installation base, the pre-blowing mold assembly fixed on the Stretching and blowing components on the fixed frame, and product release components fixed on the fixed frame; the injection preform component is injected into the product preform in the injection preform mold, and the lifting cylinder of the injection mold core is driven to rise, and the lifting cylinder of the injection preform mold It is driven down, and then the rotating platen assembly is driven by the rotating power motor to rotate, and the preform of the product is driven into the stretch-blow molding mold, and the temperature is adjusted by the temperature-regulating cylinder, and then the stretch-blow molded product is adjusted or the temperature is adjusted by the pre-blow mold assembly first. After stretching and pre-blowing, it becomes a product bottle, and then it is blown into a finished bottle by a stretch-blow molding mold.

The application number is 201210324742.0, and the invention named "one-step three-station injection stretch-blow plastic molding machine" uses a motor to drive the rotating template assembly to rotate, while the utility model uses a servo motor with high speed and position control precision. In addition, the utility model also has 4 sub-servo motors to control the rotary cylinder in addition to the main servo motor, so that the opening and closing of the clamp can be accurately controlled.

The application number is 200910195276.9, and the invention titled "a dual-arm manipulator equipment" relates to a double-arm manipulator equipment, which includes a fixed seat, a rotating cylinder, a take-out arm, a lowering cylinder, a guide arm for pulling out, a powerful clamp, and an adjustable Connecting rod and adjustable suction cup fixture, the rotating cylinder is set on the fixed seat, the take-out arm is connected to the rotating cylinder, the descending cylinder is set at one end of the take-out arm, the drawing guide arm is connected with the take-out arm, and the strong clamp is connected with the descending cylinder, which can The adjusting connecting rod is connected with the powerful clamp, and the adjustable suction cup clamp is arranged on the adjustable connecting rod. Compared with the prior art, the utility model utilizes the take-out program and function of the original manipulator, and adds a small arm by installing a connecting rod with an adjustable length, so as to achieve the take-out effect of the double-arm manipulator. Satisfy the production of fully automatic production process.

Although the application number is 200910195276.9, the invention named "a kind of dual-arm manipulator equipment" is also used to transfer products in the plastic product processing process, but its structure is quite different from that of the utility model.

Utility model content

The technical problem to be solved by the utility model is: in view of the low efficiency and accuracy of transferring the secondary heated semi-finished product to the stretch blow molding device in the current plastic product processing process, a servo motor is proposed to precisely control the rotation The speed and position of the robot are combined with the dual-rotating manipulator to achieve high efficiency and high precision.

Aiming at the above problems, the technical solution proposed by the utility model is: a control device for a double-rotating manipulator, a planetary reducer is arranged between the main servo motor and the rotating main shaft, and four manipulator brackets are fixed on the rotating main shaft, each Each manipulator bracket is equipped with sub-servo motors, sprockets, chains, rotating sub-shafts, cylinder fixing plates, rotating cylinders and fixtures; The plate, the rotary cylinder and the clamp rotate together, and the clamp is opened and closed under the control of the rotary cylinder, and the product is released or grasped by the opening and closing of the clamp.

Further, a planetary reducer is provided between the main servo motor and the rotating main shaft, and the main servo motor controls the rotation of the rotating main shaft after being decelerated by the planetary reducer.

Further, the four manipulator supports are arranged in a cross shape, the centers of the cross-shaped manipulator supports and the center of the rotating main shaft are on the same axis, and the four manipulator supports are fixed on the rotating main shaft and rotate together with the rotating main shaft.

Further, the sprockets on each manipulator support are composed of a small sprocket and a large sprocket, the small sprocket is connected with a sub-servo motor, and when the sub-servo motor rotates, it directly drives the small sprocket to rotate, and the small sprocket The chain drives the large sprocket to rotate, and the large sprocket drives the rotating sub-axis to rotate.

Further, a cylinder fixing plate is provided between the rotating sub-shaft and the rotating cylinder, and two cylinder fixing plates are fixed on each rotating sub-shaft, and the two cylinder fixing plates are symmetrically distributed, and the rotating sub-axis drives the two cylinder fixing plates Turn at the same time.

Further, two cylinder fixing plates are fixed on each rotating sub-shaft, each cylinder fixing plate is fixed with a rotating cylinder, the two rotating cylinders are symmetrically distributed, and the rotating cylinder is driven by the cylinder fixing plate to rotate.

Further, there are two rotary cylinders on each rotary sub-axis, and each rotary cylinder is connected with a clamp. The shape and size of the two clamps are the same, and the two clamps are opened and closed under the action of the two rotary cylinders. Actions.

Further, there are two clamps on each rotating sub-axis, one end of each clamp is a half hollow cylinder, and the other end is a hollow cuboid, when the two clamps are closed, the product can be grasped, and when the two clamps are separated, they will loosen. Open the product.

The utility model has the advantages of:

1. This utility model adopts the servo motor and the manipulator to cooperate with the station conversion, which changes the previous way of replacing the station through the turntable, which can not only improve the work efficiency, but also ensure the accuracy and flexibility of the conversion station sex;

2. The utility model adopts double-rotating operation mechanical arms, which is convenient for feeding and unloading of stretch blow molding, and improves work efficiency.

Description of drawings

Fig. 1 is the perspective view of the utility model;

Fig. 2 is the position of the utility model in the injection stretch blowing device;

Fig. 3 is the right view of Fig. 1;

Fig. 4 is the three-dimensional structure schematic diagram of a manipulator support;

In the figure: 1 main servo motor, 2 planetary reducer, 3 rotating main shaft, 4 manipulator bracket, 5 minute servo motor, 61 small sprocket, 62 large sprocket, 7 chain, 8 rotating sub-shaft, 9 cylinder fixing plate, 10 Rotary cylinder, 101 piston, 102 cover plate, 11 fixture, 12 double rotating manipulator, 13 product, 14 secondary heating device, 15 stretch blow molding device.

Detailed ways

Below in conjunction with embodiment and accompanying drawing, the utility model is described in one step:

Embodiment one

As shown in Figure 2, the bottomed parison of the hollow plastic product is taken out by the double-rotating manipulator 12 after the secondary heating device 14 is reheated, and then transferred to the stretch-blow molding device 15 by the double-rotating manipulator 12 for stretch-blow molding , and then turned out by the double-rotary manipulator 12 for unloading.

In order to accurately control the rotational speed and position of the product 13, as shown in Figure 1 and Figure 2, since the rotational speed of the main servo motor 1 itself is too high, and the product 13 is transferred from the secondary heating device 14 to the stretch blow molding device 15 only needs to rotate 90 degrees, and the product 13 on the fixture 11 has a small rotation distance, so a planetary reducer 2 is arranged between the main servo motor 1 and the rotating main shaft 3 . The planetary reducer 2 decelerates the rotation of the main servo motor 1, so that the rotating main shaft 3 and the product 13 can immediately and accurately stop at the desired station, and the product 13 will not swing back and forth.

As shown in Figure 1, Figure 3 and Figure 4, the four manipulator supports 4 are arranged in a cross shape, the center of the cross-shaped manipulator support 4 is on the same axis as the center of the rotating main shaft 3, and the four manipulator supports 4 are fixed on the rotating main shaft 3 and rotate together with the rotating spindle 3. Every time the four manipulator supports 4 turn 90 degrees, the clamps 11 on the manipulator supports 4 can be transferred to different stations. To the station of unloading, then forward to an empty station, finally turn back to the station of secondary heating device 14 and carry out next cycle.

A small sprocket 61 and a large sprocket 62 are arranged on each manipulator support 4, and the small sprocket 61 is connected with a sub-servo motor 5, and when the sub-servo motor 5 rotates, it directly drives the small sprocket 61 to rotate, and the small sprocket 61 drives large sprocket 62 to rotate by chain 7, and large sprocket 62 drives rotating sub-axis 8 to rotate. In this embodiment, the function of using the small sprocket 61 to drive the large sprocket 62 to rotate through the chain 7 is the same as that of the planetary reducer 2, and it also plays the role of deceleration, so that the sub-servo motor 5 can better control the rotation of the sub-axis 8 turn.

As shown in Figures 1 and 4, any manipulator support 4 of the four manipulator supports 4 is provided with a rotating sub-axis 8, and each rotating sub-axis 8 is fixed with two cylinder fixing plates 9, each cylinder fixing plate 9 is fixed with a rotary cylinder 10, and the cover plate 102 of each rotary cylinder 10 is connected with a clamp 11. When the sub-servo motor 5 rotates with the rotary cylinder 10, the piston 101 in the rotary cylinder 10 will reciprocate. When the sub-servo motor 5 rotates at a certain angle, the piston 101 in the rotary cylinder 10 is released; when the sub-servo motor 5 continues to rotate at a certain angle , the piston 101 in the rotary cylinder 10 retracts. The pushing out or retracting of the piston 101 in the rotary cylinder 10 is controlled by the rotation angle of the servo motor 5 .

When the rotating spindle 3 turns a certain manipulator support 4 to a certain station, if the station needs to grab the product 13, the servo motor will drive the rotating cylinder 10 to rotate a certain angle after 5 revolutions, and the piston 101 will be connected to the cover plate 102 The upper clamp 11 is pushed out, and the two clamps 11 are closed in the middle to clamp the product 13; if the product 13 needs to be released at this station, the servo motor 5 will continue to drive the rotary cylinder 10 to rotate at a certain angle, and the piston 101 will be connected to the cover. The clamps 11 on the board 102 are retracted, and the two clamps 11 are separated from the middle to release the product 13 . By grabbing, transferring, and loosening the product 13 at different stations, the transfer action of the product 13 from secondary heating to unloading is automatically realized.

To sum up, firstly, the main servo motor 1 rotates with the planetary reducer 2 to quickly and accurately transfer the manipulator bracket 4 and the fixture 11 to the corresponding station; then, the sub-servo motor 5 rotates with the sprocket, and through the rotation The cylinder 10 is used to control the opening and closing of the gripper 11 to release or grab the product 13, so as to realize the transfer action of the product 13 from secondary heating to unloading.

Obviously, on the premise of not departing from the principle of the utility model, any improvement or modification should be regarded as the protection scope of the utility model.

Claims (8)

1. the control device of a dual rotary manipulator, it is characterized in that, planetary reducer is provided with between main servo motor and rotary main shaft, rotary main shaft is fixed with four manipulator supports, and each manipulator support is provided with a point servomotor, sprocket wheel, chain, rotation split axle, air cylinder fixed plate, rotary cylinder and fixture; Divide servomotor to rotate split axle by sprocket wheel and chain-driving to rotate, and rotate split axle and drive air cylinder fixed plate, rotary cylinder to rotate together with fixture, and fixture does the action of folding under the control of rotary cylinder, unclamp by the folding of fixture or capture product.

2. the control device of a kind of dual rotary manipulator according to claim 1, is characterized in that, between main servo motor and rotary main shaft, be provided with planetary reducer, and main servo motor controls the rotation of rotary main shaft after being slowed down by planetary reducer.

3. the control device of a kind of dual rotary manipulator according to claim 1, it is characterized in that, four manipulator supports are cross arrangement, on the same axis, four manipulator supports to be fixed on rotary main shaft and to rotate with rotary main shaft for the center of cross manipulator support and the center of rotary main shaft.

4. the control device of a kind of dual rotary manipulator according to claim 1, it is characterized in that, sprocket wheel on each manipulator support is made up of a minor sprocket and a hinge wheel, minor sprocket is connected with a point of servomotor, minor sprocket is directly driven to rotate when dividing servomotor to rotate, minor sprocket is rotated by chain-driving hinge wheel, and hinge wheel driven rotary split axle rotates.

5. the control device of a kind of dual rotary manipulator according to claim 1, it is characterized in that, air cylinder fixed plate is provided with between rotation split axle and rotary cylinder, each rotation split axle is fixed with two pieces of air cylinder fixed plate, two pieces of air cylinder fixed plate are symmetrical, drive two pieces of air cylinder fixed plate to rotate by rotation split axle simultaneously.

6. the control device of a kind of dual rotary manipulator according to claim 5, it is characterized in that, each rotation split axle is fixed with two pieces of air cylinder fixed plate, every block air cylinder fixed plate is all fixed with a rotary cylinder, two rotary cylinders are symmetrical, by air cylinder fixed plate driven rotary rotational cylinder.

7. the control device of a kind of dual rotary manipulator according to claim 1, it is characterized in that, each rotation split axle is provided with two rotary cylinders, each rotary cylinder is connected with a fixture, the shape of two pieces of fixtures is identical with size, and two pieces of fixtures do the action of folding under the effect of two rotary cylinders.

8. the control device of a kind of dual rotary manipulator according to claim 1, it is characterized in that, each rotation split axle there are two pieces of fixtures, one end of every block fixture is half hollow cylinder, and the other end is hollow cuboid, two pieces of fixtures can capture product when closing, and can unclamp product when two pieces of fixtures separate.