CN112497618B - Mechanical arm - Google Patents
Mechanical arm Download PDFInfo
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- CN112497618B CN112497618B CN202011282880.8A CN202011282880A CN112497618B CN 112497618 B CN112497618 B CN 112497618B CN 202011282880 A CN202011282880 A CN 202011282880A CN 112497618 B CN112497618 B CN 112497618B
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- Prior art keywords
- station
- translation
- support
- bracket
- mounting seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C44/00—Shaping by internal pressure generated in the material, e.g. swelling or foaming ; Producing porous or cellular expanded plastics articles
- B29C44/02—Shaping by internal pressure generated in the material, e.g. swelling or foaming ; Producing porous or cellular expanded plastics articles for articles of definite length, i.e. discrete articles
- B29C44/12—Incorporating or moulding on preformed parts, e.g. inserts or reinforcements
- B29C44/18—Filling preformed cavities
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C44/00—Shaping by internal pressure generated in the material, e.g. swelling or foaming ; Producing porous or cellular expanded plastics articles
- B29C44/34—Auxiliary operations
- B29C44/35—Component parts; Details or accessories
- B29C44/351—Means for preventing foam to leak out from the foaming device during foaming
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/762—Household appliances
- B29L2031/7622—Refrigerators
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- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of electric appliance production and manufacturing, and particularly relates to a manipulator which comprises a translation bracket arranged in a linear reciprocating motion manner; the translation bracket is provided with a turnover bracket, the turnover bracket is hinged with the translation bracket, and a hinged shaft is vertical to the reciprocating direction of the translation bracket; the turnover support is provided with a rotation part, the rotation part is rotatably connected with the turnover support, a rotating shaft is perpendicular to a turnover axis of the turnover support, a linkage mechanism is arranged among the translation support, the turnover support and the rotation part, the linkage mechanism is assembled to enable the turnover support to turn over a certain angle relative to the translation support when the translation support moves to a specified position along a movement path, and meanwhile, the rotation part rotates a certain angle relative to the turnover support. The invention uses the magnetic chuck to suck the hole sealing piece, and then uses a series of transmission structures to realize the automatic adjustment of the posture of the magnetic chuck, and has simple and ingenious structure and high practical value.
Description
Technical Field
The invention belongs to the technical field of production and manufacturing of electric appliances, and particularly relates to a manipulator.
Background
The refrigerator, freezer, etc. electrical apparatus box generally adopt the foaming process to form a heat preservation layer between outer cover and inner container, must reserve the pouring hole on the outer cover while foaming, however the treatment to the pouring hole has following defects in the prior art, first of all, the pouring hole is generally set up in the back or bottom of the electrical apparatus, therefore many manufacturers do not do any treatment or use the rubberized fabric to plug to the pouring hole after foaming the shaping, the electrical apparatus is very apt to lead to the foaming layer to be moist after using for a long time, go mouldy; in addition, the pouring hole is also lack of an effective blocking means in the foaming process, and a large amount of foaming agent often overflows from the pouring hole after foaming is finished, so that the cleaning difficulty is increased.
Disclosure of Invention
The invention aims to provide a manipulator which can plug hole sealing sheets into a pouring hole and enable the hole sealing sheets to be attached to the inner wall of a box body.
The technical scheme adopted by the invention is as follows:
a manipulator comprises a translation bracket which is arranged in a linear reciprocating motion manner; the translation bracket is provided with a turnover bracket, the turnover bracket is hinged with the translation bracket, and a hinged shaft is vertical to the reciprocating direction of the translation bracket; the turnover support is provided with a rotation part, the rotation part is rotatably connected with the turnover support, a rotating shaft is perpendicular to a turnover axis of the turnover support, a linkage mechanism is arranged among the translation support, the turnover support and the rotation part, the linkage mechanism is assembled to enable the turnover support to turn over a certain angle relative to the translation support when the translation support moves to a specified position along a movement path, and meanwhile, the rotation part rotates a certain angle relative to the turnover support.
The overturning support is provided with a first station and a second station, a rotating shaft of the rotating part is vertical to the reciprocating direction of the translation support when the overturning support is positioned at the first station, and the rotating shaft of the rotating part is parallel to the reciprocating direction of the translation support when the overturning support is positioned at the second station; the linkage mechanism comprises a first elastic unit arranged between the overturning support and the translation support, the first elastic unit is assembled to enable the overturning support to overturn from a first station to a second station through elasticity of the first elastic unit, a first locking mechanism is further arranged between the overturning support and the translation support, and the first locking mechanism is assembled to enable the overturning support at the first station to be kept at the first station and to enable the overturning support to be released to enable the overturning support to overturn to the second station under the action of the first elastic unit when the translation support moves to the specified position.
The first locking mechanism comprises a bolt which is arranged on the translation bracket along the radial reciprocating motion of a hinged shaft of the turnover bracket, a pin hole is formed in the hinged shaft of the turnover bracket, a second elastic unit is arranged between the bolt and the translation bracket, the second elastic unit is assembled to enable the elasticity of the second elastic unit to drive the bolt to move towards the axis direction of the hinged shaft of the turnover bracket, and when the turnover bracket is positioned at a first station, the bolt and the pin hole are over against the bolt at the moment and are inserted into the pin hole under the action of the second elastic unit to realize locking between the turnover bracket and the translation bracket; the unlocking mechanism is assembled to drive the bolt to be drawn out of the pin hole when the translation support moves to the specified position so as to release the turnover support from the first station.
The linkage mechanism further comprises a first gear, a second gear, a third gear and a face gear, the first gear is fixedly connected with the translation support, the axis of the first gear is collinear with the axis of a hinged shaft of the turnover support, the second gear and the third gear are coaxially and synchronously arranged on the turnover support, the face gear is fixedly connected with the rotary part and collinear with the axes of the first gear and the second gear, the second gear is meshed with the first gear, and the third gear is meshed with the face gear.
The translation bracket is movably arranged on a mounting seat which is arranged in a reciprocating manner, and the motion direction of the translation bracket relative to the mounting seat is parallel to the reciprocating direction of the mounting seat; the translation support is provided with a station a and a station b relative to the mounting seat, the mounting seat is provided with a station c and a station d on a self reciprocating motion path, and the motion direction of the translation support when the translation support moves from the station a to the station b is the same as the motion direction of the mounting seat when the translation support moves from the station c to the station d; the third elastic unit is arranged between the translation support and the mounting seat, the third elastic unit is assembled to enable the elastic force of the third elastic unit to drive the translation support to move from the station b to the station a, the second locking mechanism is arranged between the mounting seat and the translation support, the second locking mechanism is assembled to enable the translation support in the station b to be kept in the station b when the mounting seat is not in the station d, and the second locking mechanism can release the translation support from the station b when the mounting seat is in the station d so that the translation support can move to the station a under the action of the third elastic unit.
The device also comprises a resetting mechanism which is assembled to drive the translation bracket to move from the station a to the station b when the mounting seat moves from the station d to the station c.
The translation bracket is connected with the mounting seat in a sliding way through a first guide rod, the second locking mechanism comprises a first annular groove arranged on the first guide rod, and a first clamping plate arranged on the mounting seat in a sliding manner along the radial direction of the first guide rod, a fourth elastic unit is arranged between the first clamping plate and the mounting seat, the fourth elastic unit is assembled to drive the clamping plate to slide towards the first guide rod by the elasticity of the fourth elastic unit, when the first ring groove is flush with the first clamping plate, the first clamping plate is inserted into the first ring groove under the action of the fourth elastic unit to realize the relative locking between the first guide rod and the mounting seat, a first wedge-shaped driving block is arranged beside the motion path of the mounting seat, a first wedge-shaped block is fixedly connected on the first clamping plate, when the mounting seat moves to the station d, the first wedge-shaped driving block extrudes the first wedge-shaped block and enables the first clamping plate to be drawn out from the first annular groove so as to release the first guide rod.
The reset mechanism comprises a stop block, the stop block is in blocking connection with the first guide rod or the translation support, and when the mounting seat moves from the station d to the station c, the stop block can stop the translation support so that the translation support moves from the station a to the station b relative to the mounting seat.
The unlocking mechanism comprises an ejector rod movably arranged on the mounting seat along the radial direction of the bolt, a second wedge-shaped block is fixedly connected to the bolt, a second wedge-shaped driving block matched with the second wedge-shaped block is arranged at one end of the ejector rod, a third wedge-shaped block is arranged at the other end of the ejector rod, the third wedge-shaped block protrudes to the side of the mounting seat, a third wedge-shaped driving block is arranged at the side of the motion path of the mounting seat, a fifth elastic unit is arranged between the ejector rod and the mounting seat, the fifth elastic unit is assembled to enable the ejector rod to move towards the direction far away from the bolt due to the elastic force of the fifth elastic unit, when the mounting seat moves to a station d, the third wedge-shaped driving block extrudes the third wedge-shaped block to enable the ejector rod to move towards the direction close to the bolt, and at the moment, the second wedge-shaped driving block extrudes the second wedge-shaped block and drives the bolt to be pulled out from the pin hole; a swing rod is further arranged on the hinged shaft of the overturning bracket, and a stop pin is arranged on the swing rod; the turnover mechanism is characterized in that a push rod is arranged on the translation support or the mounting seat, the push rod is movably connected with the translation support or the mounting seat, the moving direction of the push rod is parallel to that of the translation support, the stop pin and the waist-shaped hole formed in one end of the push rod form sliding fit, the other end of the push rod is connected with the stop block in a blocking mode, and when the mounting seat moves from the station d to the station c, the stop block pushes the push rod and drives the turnover support to turn over so that the turnover support can be turned over to the first station from the second station.
A hole sealing device for foaming a box body comprises the manipulator.
The invention has the technical effects that: the manipulator can realize the automatic switching of the state of the hole sealing sheet, the hole sealing sheet needs to be sealed inside the box body, and the hole sealing sheet can completely cover the pouring hole, namely the area of the hole sealing sheet is larger than that of the pouring hole, so the hole sealing sheet can only be inserted into the box body in a posture vertical to the pouring hole, and the hole sealing sheet needs to be adjusted to a posture parallel to the surface of the box body after entering the box body.
Drawings
Fig. 1 is a perspective view of a foaming mold provided in an embodiment of the present invention;
fig. 2 is a perspective view of a hole sealing device according to an embodiment of the present invention;
FIG. 3 is a perspective view of a robot provided by an embodiment of the present invention;
FIG. 4 is a partial front view of a robot provided by an embodiment of the present invention;
fig. 5 is a perspective view of a fitting structure of a sealing piece and a pouring hole according to an embodiment of the present invention;
FIG. 6 is a partial perspective view of a robot provided by an embodiment of the present invention;
FIG. 7 is a partial perspective view of another state of a robot provided by an embodiment of the present invention;
FIG. 8 is a partial front view of a robot provided by an embodiment of the present invention;
FIG. 9 is a partial front view of another state of a robot provided by an embodiment of the present invention;
fig. 10 is a perspective view of a mount provided by an embodiment of the invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
Example 1
As shown in fig. 1, a box body foaming mold comprises a top plate 12, a bottom plate 11, two end plates 14, two side plates 13 and a mold core, wherein the top plate 12 is parallel to the bottom plate, the two end plates 14 are parallel to each other, the two side plates 13 are parallel to each other, the top plate 12, the bottom plate 11, the two end plates 14 and the two side plates 13 jointly enclose a rectangular cavity, the mold core is fixed on the bottom plate 11, two pairs of the two side plates 13 are hinged to two opposite sides of the bottom plate 11, and the two end plates 14 are hinged to the other two opposite sides of the bottom plate 11; the top plate 12 is of a two-half structure, wherein one half of the top plate 12 is fixedly connected with one side plate 13, and the other half of the top plate 12 is fixedly connected with the other side plate 13; a gap is arranged at the position, corresponding to the box foam distributing agent pouring hole, of the joint formed by splicing the two half top plates 12, and a hole sealing device is arranged above the gap; as shown in fig. 2 and 3, the hole sealing device is used for installing a hole sealing sheet 1 on the inner side of a foaming agent pouring hole 2 after the foaming agent pouring is finished; the invention adds the hole sealing device on the basis of the existing foaming mould, the hole sealing device places the hole sealing sheet 1 inside the pouring hole 2, the hole sealing sheet 1 can be tightly attached to the surface of the inner side plate 13 of the box body by utilizing the extrusion of the foaming agent after the foaming agent is foamed, the phenomena of humidity and mildew of a foaming layer caused by the permeation of moisture into the foaming layer can be effectively avoided, in addition, the hole sealing sheet 1 is fixed by utilizing the extrusion force of the foaming agent, on one hand, the foaming layer cannot be damaged, on the other hand, the surface of the box body can be ensured to be smooth, and the appearance quality of the box body can be improved.
Specifically, as shown in fig. 2, the hole sealing device comprises a manipulator 20 for installing the hole sealing sheet 1 inside a box foaming agent pouring hole 2, a storage rack 30 for stacking the hole sealing sheets 1, and a feeding mechanism 40 for transferring the hole sealing sheets 1 in the storage rack 30 to the manipulator 20; as shown in fig. 5, the foaming agent pouring hole 2 comprises a circular main hole, a notch portion is arranged at the edge of the circular main hole, the length of the hole sealing sheet 1 is greater than the width, wherein the width of the hole sealing sheet 1 is smaller than the distance between the notch portion and the end, away from each other, of the circular main hole, the width of the hole sealing sheet 1 is greater than the diameter of the circular main hole, and the length of the hole sealing sheet 1 is greater than the distance between the notch portion and the end, away from each other, of the circular main hole; the robot 20 is equipped to insert the cap plate 1 into the inside of the blowing agent pouring hole 2 in a first posture and then adjust the cap plate 1 to a second posture, the first posture being: as shown in fig. 2, the surface of the hole sealing sheet 1 is perpendicular to the surface of the box body where the foaming agent pouring hole 2 is located, and the width direction of the hole sealing sheet 1 is parallel to the surface of the box body where the foaming agent pouring hole 2 is located; the second posture is as follows: as shown in fig. 3 and 4, the hole sealing sheet 1 rotates 90 degrees along the axis of the width direction and simultaneously rotates 90 degrees along the rotating shaft perpendicular to the direction of the box board surface on the basis of the first posture, and the hole sealing sheet 1 is attached to the inner side of the box board surface. The manipulator 20 can realize the automatic switching of the state of the hole sealing sheet 1, because the hole sealing sheet 1 needs to be sealed inside the box body, and the hole sealing sheet 1 can completely cover the pouring hole 2, namely the area of the hole sealing sheet 1 is larger than that of the pouring hole 2, the hole sealing sheet 1 can only be inserted into the box body in a posture perpendicular to the pouring hole 2, and the hole sealing sheet 1 needs to be adjusted to a posture parallel to the surface of the box body after entering the box body, in the narrow space, the posture adjustment of the hole sealing sheet 1 is difficult to realize in the prior art, but the manipulator 20 of the invention perfectly solves the technical problem, the invention utilizes the magnetic chuck 27 to suck the hole sealing sheet 1, and then utilizes a series of transmission structures to realize the automatic adjustment of the posture of the magnetic chuck 27, and has simple and ingenious structure and high practical value.
Preferably, the storage rack 30 has a storage chute arranged along the vertical direction, a discharge outlet is arranged at the bottom of the storage chute, the feeding mechanism 40 includes a chute 41 horizontally arranged below the storage chute, the distance between the bottom of the chute 41 and the lower end of the storage chute is greater than the thickness of one hole sealing sheet 1 and less than the thickness of two hole sealing sheets 1, a material pushing plate 42 is arranged in the chute 41, the material pushing plate 42 is slidably arranged along the length direction of the chute 41, and the material pushing plate 42 is fixedly connected with a piston rod of a horizontally arranged piston cylinder 43; the feeding mechanism 40 further comprises a sucker assembly 44, the sucker assembly 44 is fixedly arranged on a rotating shaft of a horizontal motor, and the axial direction of the sucker assembly 44 is perpendicular to the axial direction of the rotating shaft; the motor is fixed on a piston rod of a lifting cylinder, a cylinder body of the lifting cylinder is fixed on a sliding block of a horizontal electric cylinder, and the manipulator 20 is positioned beside a sliding path of the electric cylinder sliding block.
Specifically, as shown in fig. 6 to 9, the robot 20 includes a translation bracket 24 disposed to reciprocate linearly in a vertical direction, and a movement path of the translation bracket 24 is disposed through the foaming agent pouring hole 2; the translation bracket 24 is provided with an overturning bracket 25, the overturning bracket 25 is hinged with the translation bracket 24, and a hinged shaft is vertical to the reciprocating direction of the translation bracket 24; a turning part 26 is arranged on the turning support 25, the turning part 26 is rotatably connected with the turning support 25, a rotating shaft is perpendicular to a turning axis of the turning support 25, a linkage mechanism is arranged among the translation support 24, the turning support 25 and the turning part 26, and the linkage mechanism is assembled to enable the turning support 25 to turn 90 degrees relative to the translation support 24 when the translation support 24 moves to the inner side of the box body plate surface along the vertical direction, and enable the turning part 26 to rotate 90 degrees relative to the turning support 25; the hole sealing piece 1 is made of ferromagnetic materials, a magnetic disc 27 used for adsorbing the hole sealing piece 1 is arranged on the rotary part 26, and the disc surface of the magnetic disc 27 is perpendicular to the axis of the rotary part 26.
The turning support 25 is provided with a first station and a second station, when the turning support 25 is positioned at the first station, the rotating shaft of the rotating part 26 is vertical to the reciprocating direction of the translation support 24, and when the turning support 25 is positioned at the second station, the rotating shaft of the rotating part 26 is parallel to the reciprocating direction of the translation support 24; the linkage mechanism comprises a first elastic unit 253 arranged between the overturning bracket 25 and the translation bracket 24, the first elastic unit 253 is assembled to enable the elastic force of the first elastic unit 253 to drive the overturning bracket 25 to overturn from the first station to the second station, a first locking mechanism is further arranged between the overturning bracket 25 and the translation bracket 24, the first locking mechanism is assembled to enable the overturning bracket 25 at the first station to be kept at the first station and to release the overturning bracket 25 when the translation bracket 24 moves to a specified position on the inner side of the surface of the box body so as to enable the overturning bracket 25 to overturn to the second station under the action of the first elastic unit 253; the first locking mechanism comprises a bolt 241 which is arranged on the translation bracket 24 and reciprocates along the radial direction of a hinge shaft of the turnover bracket 25, a pin hole is formed in the hinge shaft of the turnover bracket 25, a second elastic unit 242 is arranged between the bolt 241 and the translation bracket 24, the second elastic unit 242 is assembled to enable the bolt 241 to move towards the axis direction of the hinge shaft of the turnover bracket 25 under the action of the second elastic unit 242, when the turnover bracket 25 is positioned at a first station, the bolt 241 and the pin hole are opposite to each other, and at the moment, the bolt 241 is inserted into the pin hole under the action of the second elastic unit 242 to realize locking between the turnover bracket 25 and the translation bracket 24; an unlocking mechanism is also included, which is configured to drive the latch 241 to withdraw from the pin hole to release the roll-over support 25 from the first station when the translating support 24 moves to the designated position.
The linkage mechanism further comprises a first gear 243, a second gear 255, a third gear 254 and a face gear 261, the first gear 243 is fixedly connected with the translation support 24, the axis of the first gear 243 is collinear with the axis of the hinge shaft of the overturning support 25, the second gear 255 and the third gear 254 are coaxially and synchronously arranged on the overturning support 25 in a rotating mode, the face gear 261 is fixedly connected with the rotary portion 26, the axes of the first gear and the second gear are collinear, the second gear 255 is meshed with the first gear 243, and the third gear 254 is meshed with the face gear 261.
Further, the translation bracket 24 is movably arranged on a mounting seat 23 which is vertically arranged in a reciprocating manner along the vertical direction; the translation bracket 24 is provided with a station a and a station b from top to bottom relative to the mounting seat 23, and the mounting seat 23 is provided with a station c and a station d from top to bottom along the vertical direction; a third elastic unit 231 is arranged between the translation bracket 24 and the mounting seat 23, the third elastic unit 231 is assembled to enable the elastic force thereof to drive the translation bracket 24 to move from the station b to the station a, a second locking mechanism is arranged between the mounting seat 23 and the translation bracket 24, and is configured to hold the translation bracket 24 at the station b when the mounting seat 23 is not at the station d, and the second locking mechanism is able to release the translating carriage 24 from the station b when the mounting 23 is in the station d so that the translating carriage 24 moves to the station a under the action of the third elastic unit 231, when the mounting 23 is in station d and the translation carriage 24 is in station b the translation carriage 24 is inside the box deck, when the mounting seat 23 is at the station d and the translation bracket 24 is at the station a, the hole sealing sheet 1 on the rotary part 26 is attached to the inner side of the box body plate surface; and a resetting mechanism which is assembled to drive the translation bracket 24 to move from the station a to the station b when the mounting seat 23 moves from the station d to the station c.
As shown in fig. 2, 4 and 10, the translating bracket 24 is slidably connected to the mounting base 23 through a first guide rod 244, the second locking mechanism includes a first annular groove formed on the first guide rod 244 and a first clamping plate 232 radially slidably disposed on the mounting base 23 along the first guide rod 244, a fourth elastic unit 234 is disposed between the first clamping plate 232 and the mounting base 23, the fourth elastic unit 234 is assembled such that an elastic force thereof can drive the clamping plate to slide toward the first guide rod 244, when the first annular groove is flush with the first clamping plate 232, the first clamping plate 232 is inserted into the first annular groove under the action of the fourth elastic unit 234 to realize relative locking between the first guide rod 244 and the mounting base 23, a first wedge-shaped driving block 121 is disposed beside a moving path of the mounting base 23, a first wedge-shaped block 233 is fixedly connected to the first clamping plate 232, and when the mounting base 23 moves to a station d, the first wedge-shaped driving block 121 extrudes the first wedge-shaped block 233 and the first clamping plate 232 is pulled away from the first annular groove to realize relative locking of the first guide rod 23 244 is released; the reset mechanism includes a stop 28, the stop 28 is in contact with the first guide rod 244 or the translating carriage 24, and the stop 28 can block the translating carriage 24 when the mounting base 23 moves from the station d to the station c so as to move the translating carriage 24 relative to the mounting base 23 from the station a to the station b.
The unlocking mechanism comprises an ejector rod 235 which is movably arranged on the installation seat 23 along the radial direction of the bolt 241, a second wedge-shaped block 2411 is fixedly connected onto the bolt 241, a second wedge-shaped driving block 236 matched with the second wedge-shaped block 2411 is arranged at one end of the ejector rod 235, a third wedge-shaped block 237 is arranged at the other end of the ejector rod 235, the third wedge-shaped block 237 protrudes to the side of the installation seat 23, a third wedge-shaped driving block 122 is arranged at the side of the moving path of the installation seat 23, a fifth elastic unit 238 is arranged between the ejector rod 235 and the installation seat 23, the fifth elastic unit 238 is assembled to enable the ejector rod 235 to move towards the direction far away from the bolt 241 due to the elastic force of the fifth elastic unit, when the installation seat 23 moves to the station d, the third wedge-shaped driving block 122 extrudes the third wedge-shaped block 237 to enable the ejector rod 235 to move towards the direction close to the bolt 241, and at the moment, the second wedge-shaped driving block 236 extrudes the second wedge-shaped block 2411 and drives the bolt 241 to be pulled away from the pin hole; a swing rod 251 is further arranged on the hinged shaft of the overturning bracket 25, and a stop pin 252 is arranged on the swing rod 251; be equipped with a push rod 256 on translation support 24 or the mount pad 23, push rod 256 and translation support 24 or mount pad 23 swing joint and activity direction are parallel with the activity direction of translation support 24, the waist type hole 257 that backing pin 252 and push rod 256 one end set up constitutes sliding fit, the push rod 256 other end with dog 28 keeps off and connects, and dog 28 pushes away when activity seat 23 moves from station d to station c push rod 256 and drive upset support 25 upset and make upset support 25 overturn to first station by the second station.
Further, as shown in fig. 2 and 3, the mounting base 23 is movably connected with the lifting plate 22 in the vertical direction, a sixth elastic unit 221 is disposed between the mounting base 23 and the lifting plate 22, the sixth elastic unit 221 is configured to drive the mounting base 23 to move downward relative to the lifting plate 22 when the elastic force of the sixth elastic unit is capable of driving the mounting base 23 to move downward relative to the lifting plate 22, and a limiting unit 222 for limiting a limit stroke when the mounting base 23 moves downward relative to the lifting plate 22 is further disposed between the mounting base 23 and the lifting plate 22; the mounting base 23 is consistent with the notch of the top plate 12 in shape, when the mounting base 23 is at the station d, the mounting base 23 is embedded into the notch and forms a part of the top plate 12, the edge of the notch is provided with a locking tongue 123, the locking tongue 123 is connected with the top plate 12 in a sliding manner, a seventh elastic unit 1231 is arranged between the locking tongue 123 and the top plate 12, and the seventh elastic unit 1231 is assembled in a manner that the elastic force thereof can drive the locking tongue 123 to slide in a direction away from the notch; a fourth wedge block 1232 is arranged at one end, away from the gap, of the lock tongue 123, a fourth wedge driving block 223 is arranged on the lifting plate 22, mutually blocked step surfaces are arranged at the edge of the installation seat 23 and the edge of the gap, when the lifting plate 22 moves downwards, the installation seat 23 is driven to move downwards at first, when the installation seat 23 reaches the station d, the step surface of the installation seat 23 is blocked and connected with the step surface of the gap to stop the installation seat 23 moving downwards, and at the moment, the lifting plate 22 moves downwards continuously to enable the fourth wedge driving block 223 to extrude the fourth wedge block 1232 and enable the lock tongue 123 to slide towards the gap direction to compress the installation seat 23; the first wedge driving block 121 and the third wedge driving block 122 are fixed to the lower top plate 12. According to the invention, the mounting seat 23 is used as a part of the mold, and after the hole sealing sheet 1 is mounted in place, the mounting seat 23 can protect the area near the pouring hole 2, so that the box body near the pouring hole 2 deforms in the foaming process.
Example 2
A method for foaming an electric appliance box body by applying the mold in embodiment 1 comprises the following steps:
step 1: the inner container and the outer shell of the box body are fixedly connected into a whole, and the stroke of the outer shell and the stroke of the inner container are closed; a pouring hole 2 for pouring a foaming agent is reserved on the shell;
step 2: placing a foaming agent pouring hole 2 of the box body in a foaming mould in an upward manner; before the box body is placed, the side plates 13 and the end plates 14 of the mold are unfolded, the box body is sleeved on the mold core, then the side plates 13 and the end plates 14 are folded, and seams of the plate surfaces are clamped by a clamp; reserving a gap for pouring a foaming agent and installing the hole sealing sheet 1 on the top plate 12, wherein the gap corresponds to the position of the foaming agent pouring hole 2;
and step 3: pouring foaming agent into the cavity between the box body and the inner container from the foaming agent pouring hole 2;
and 4, step 4: installing the hole sealing sheet 1 at the inner side of the foaming agent pouring hole 2 and tensioning the hole sealing sheet 1 outwards to enable the hole sealing sheet to be attached to the inner wall of the box body;
and 5: after foaming in the foaming agent, the hole sealing sheet 1 is loosened, and at the moment, the hole sealing sheet 1 is tightly propped against the inner wall of the box body by the foaming layer;
step 6: and opening the clamp between the plate surfaces of the mold, re-unfolding the side plates 13 and the end plates 14, taking the box body out of the mold core, and completing foaming of the box body.
In the step 4, the hole sealing piece 1 is installed by adopting a hole sealing device.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (7)
1. A manipulator, its characterized in that: comprises a translation bracket (24) which is arranged in a linear reciprocating motion way; the translation bracket (24) is provided with a turnover bracket (25), the turnover bracket (25) is hinged with the translation bracket (24), and a hinged shaft is vertical to the reciprocating direction of the translation bracket (24); the turnover support (25) is provided with a rotation part (26), the rotation part (26) is rotatably connected with the turnover support (25) and the rotating shaft of the rotation part is perpendicular to the turnover axis of the turnover support (25), a linkage mechanism is arranged among the translation support (24), the turnover support (25) and the rotation part (26), and the linkage mechanism is assembled to enable the turnover support (25) to turn over a certain angle relative to the translation support (24) and enable the rotation part (26) to rotate a certain angle relative to the turnover support (25) when the translation support (24) moves to a specified position along a movement path; the overturning support (25) is provided with a first station and a second station, when the overturning support (25) is positioned at the first station, the rotating shaft of the rotating part (26) is vertical to the reciprocating direction of the translation support (24), and when the overturning support (25) is positioned at the second station, the rotating shaft of the rotating part (26) is parallel to the reciprocating direction of the translation support (24); the linkage mechanism comprises a first elastic unit (253) arranged between the overturning bracket (25) and the translation bracket (24), the first elastic unit (253) is assembled to enable the elastic force of the first elastic unit to drive the overturning bracket (25) to overturn from the first station to the second station, a first locking mechanism is further arranged between the overturning bracket (25) and the translation bracket (24), the first locking mechanism is assembled to enable the overturning bracket (25) at the first station to be kept at the first station and to release the overturning bracket (25) when the translation bracket (24) moves to the specified position so as to enable the overturning bracket (25) to overturn to the second station under the action of the first elastic unit (253); the first locking mechanism comprises a bolt (241) which is arranged on the translation support (24) along the radial reciprocating motion of a hinged shaft of the turnover support (25), a pin hole is formed in the hinged shaft of the turnover support (25), a second elastic unit (242) is arranged between the bolt (241) and the translation support (24), the second elastic unit (242) is assembled to enable the bolt (241) to move towards the axial center direction of the hinged shaft of the turnover support (25) through elasticity, and when the turnover support (25) is located at a first station, the bolt (241) and the pin hole are just opposite to each other, and at the moment, the bolt (241) is inserted into the pin hole under the action of the second elastic unit (242) so as to realize locking between the turnover support (25) and the translation support (24); the unlocking mechanism is assembled to drive the bolt (241) to be drawn out of the pin hole when the translation bracket (24) moves to the specified position so as to release the turnover bracket (25) from the first station; the linkage mechanism further comprises a first gear (243), a second gear (255), a third gear (254) and an end face gear (261), the first gear (243) is fixedly connected with the translation support (24), the axis of the first gear (243) is collinear with the axis of the hinged shaft of the turnover support (25), the second gear (255) and the third gear (254) are coaxially and synchronously arranged on the turnover support (25) in a rotating mode, the end face gear (261) is fixedly connected with the rotary portion (26), the axis of the end face gear (261) and the axis of the rotary portion (26) are collinear, the second gear (255) is meshed with the first gear (243), and the third gear (254) is meshed with the end face gear (261).
2. The robot hand according to claim 1, wherein: the translation bracket (24) is movably arranged on a mounting seat (23) which is arranged in a reciprocating manner, and the motion direction of the translation bracket (24) relative to the mounting seat (23) is parallel to the reciprocating direction of the mounting seat (23); the translation bracket (24) is provided with a station a and a station b relative to the mounting seat (23), the mounting seat (23) is provided with a station c and a station d on a self reciprocating motion path, and the motion direction of the translation bracket (24) moving from the station a to the station b is the same as the motion direction of the mounting seat (23) moving from the station c to the station d; a third elastic unit (231) is arranged between the translation bracket (24) and the mounting seat (23), the third elastic unit (231) is assembled to enable the elastic force of the third elastic unit to drive the translation bracket (24) to move from the station b to the station a, a second locking mechanism is arranged between the mounting seat (23) and the translation bracket (24), the second locking mechanism is assembled to enable the translation bracket (24) at the station b to be kept at the station b when the mounting seat (23) is not at the station d, and the second locking mechanism can release the translation bracket (24) from the station b to enable the translation bracket (24) to move to the station a under the action of the third elastic unit (231) when the mounting seat (23) is at the station d.
3. The robot hand according to claim 2, wherein: the device also comprises a resetting mechanism which is assembled to drive the translation bracket (24) to move from the station a to the station b when the mounting seat (23) moves from the station d to the station c.
4. The robot hand according to claim 2, wherein: the translation bracket (24) is connected with the mounting seat (23) in a sliding manner through a first guide rod (244), the second locking mechanism comprises a first annular groove formed in the first guide rod (244) and a first clamping plate (232) arranged on the mounting seat (23) in a sliding manner along the radial direction of the first guide rod (244), a fourth elastic unit (234) is arranged between the first clamping plate (232) and the mounting seat (23), the fourth elastic unit (234) is assembled to enable the clamping plate to slide towards the first guide rod (244) under the action of the elastic force of the fourth elastic unit (234), when the first annular groove is level with the first clamping plate (232), the first clamping plate (232) is inserted into the first annular groove under the action of the fourth elastic unit (234) to realize the relative locking between the first guide rod (244) and the mounting seat (23), a first wedge-shaped driving block (233) is arranged on the movement path of the mounting seat (23), and a first wedge-shaped block (233) is fixedly connected to the side of the first clamping plate (232), when the mounting seat (23) moves to the station d, the first wedge-shaped driving block (121) extrudes the first wedge-shaped block (233) and enables the first clamping plate (232) to be drawn away from the first annular groove so as to release the first guide rod (244).
5. The robot hand according to claim 3, wherein: the resetting mechanism comprises a stop block (28), the stop block (28) is in blocking connection with the first guide rod (244) or the translation bracket (24), and when the mounting seat (23) moves from the station d to the station c, the stop block (28) can block the translation bracket (24) so that the translation bracket (24) moves from the station a to the station b relative to the mounting seat (23).
6. The robot hand of claim 5, wherein: the unlocking mechanism comprises a top rod (235) which is movably arranged on the mounting seat (23) along the radial direction of the bolt (241), a second wedge-shaped block (2411) is fixedly connected onto the bolt (241), a second wedge-shaped driving block (236) matched with the second wedge-shaped block (2411) is arranged at one end of the top rod (235), a third wedge-shaped block (237) is arranged at the other end of the top rod (235), the third wedge-shaped block (237) protrudes to the side of the mounting seat (23), a third wedge-shaped driving block (122) is arranged at the side of the movement path of the mounting seat (23), a fifth elastic unit (238) is arranged between the top rod (235) and the mounting seat (23), the fifth elastic unit (238) is assembled into a structure that the elasticity thereof can drive the top rod (235) to move towards the direction far away from the bolt (241), and when the mounting seat (23) moves to the station d, the third wedge-shaped driving block (122) extrudes the third wedge-shaped block (237) to enable the top rod (235) to move towards the direction close to the bolt (241), at the moment, the second wedge-shaped driving block (236) extrudes the second wedge-shaped block (2411) and drives the bolt (241) to be drawn out of the pin hole; a swing rod (251) is further arranged on the hinged shaft of the overturning bracket (25), and a stop pin (252) is arranged on the swing rod (251); be equipped with a push rod (256) on translation support (24) or mount pad (23), push rod (256) are parallel with the direction of activity of translation support (24) or mount pad (23) swing joint and direction of activity and translation support (24), waist type hole (257) that backing pin (252) and push rod (256) one end set up constitute sliding fit, push rod (256) other end with dog (28) keep off and connect, push block (28) are crowded when moving seat (23) move to station c from station d and are pushed away push rod (256) and drive upset support (25) upset messenger upset support (25) are turned over to first station by the second station.
7. The utility model provides a hole sealing device for box foaming which characterized in that: comprising a manipulator (20) according to any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011282880.8A CN112497618B (en) | 2020-11-17 | 2020-11-17 | Mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011282880.8A CN112497618B (en) | 2020-11-17 | 2020-11-17 | Mechanical arm |
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| CN112497618A CN112497618A (en) | 2021-03-16 |
| CN112497618B true CN112497618B (en) | 2021-12-17 |
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| CN112497618A (en) | 2021-03-16 |
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Effective date of registration: 20211201 Address after: 230088 3rd floor, G3 building, phase II, innovation industrial park, Wangjiang West Road, high tech Zone, Hefei City, Anhui Province Applicant after: Anhui Zhongju Intelligent Technology Co.,Ltd. Address before: 230088 17th floor, integrated circuit building, 2800 innovation Avenue, hi tech Zone, Hefei City, Anhui Province Applicant before: Anhui zhihuihe Technology Service Co., Ltd |
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