阅读说明：本技术 一种全自动智能插管机 (Full-automatic intelligent pipe inserting machine ) 是由 董秀国 于 2021-09-26 设计创作，主要内容包括：本发明涉及一种全自动智能插管机,包括：机架、垂直输送机构、水平传送机构、握持转向插管机构和控制系统。垂直输送机构将制瓶玻管从机架下端输送到设定高度；水平传送机构将制瓶玻管传送至握持转向插管机构；握持转向插管机构将玻管插入制瓶机内。本发明通过设置两个螺旋传动机构,分别实现玻管传输的向上运动和向下插管动作；通过设置同步带直线滑台实现玻管传输的水平运动,还通过设置PLC控制器、光电反射传感器、位置传感器、负压传感器和气动电磁阀,实现运动件的智能化自动控制。本发明具有设计合理、结构简单、智能自动化程度好、工作效率高的优点。(The invention relates to a full-automatic intelligent tube inserting machine, which comprises: the device comprises a rack, a vertical conveying mechanism, a horizontal conveying mechanism, a holding steering pipe inserting mechanism and a control system. The vertical conveying mechanism conveys the bottle-making glass tube to a set height from the lower end of the rack; the horizontal conveying mechanism conveys the bottle-making glass tube to the holding steering tube inserting mechanism; the steering pipe inserting mechanism is held to insert the glass tube into the bottle making machine. The invention realizes the upward movement and downward tube inserting action of glass tube transmission by arranging two spiral transmission mechanisms respectively; the horizontal motion of glass tube transmission is realized through setting up hold-in range straight line slip table, still realizes the intelligent automatic control of motion piece through setting up PLC controller, photoelectric reflection sensor, position sensor, negative pressure sensor and pneumatic solenoid valve. The intelligent automatic control system has the advantages of reasonable design, simple structure, good intelligent automation degree and high working efficiency.)

1. A fully automatic intelligent tube inserter, comprising: the automatic pipe inserting machine comprises a rack, a vertical conveying mechanism, a horizontal conveying mechanism, a holding steering pipe inserting mechanism, a control system and an air pressure station, wherein the rack is arranged into a rectangular three-dimensional shape to form a front vertical face, a rear vertical face and two side vertical faces of the rack, and vertical guide rails are arranged on upright columns of the two side vertical faces respectively; the vertical conveying mechanism consists of a glass tube frame, a first lifting screw rod and a first power motor, and a plurality of bottle-making glass tubes parallel to the front vertical surface and the rear vertical surface of the rack are horizontally placed in the glass tube frame; the horizontal conveying mechanism consists of a synchronous linear sliding table, a mechanical arm, a plurality of negative pressure suction nozzles, a first sliding table cylinder, two first pneumatic clamping jaws and two brackets; the holding steering pipe inserting mechanism consists of a second lifting screw, a second power motor, a second sliding table cylinder, a third power motor and a second pneumatic clamping jaw; control system include PLC controller, photoelectric reflection sensor, position sensor, negative pressure sensor, touch sensor and pneumatic solenoid valve, the atmospheric pressure station provide pressure gas, its characterized in that to a plurality of negative pressure suction nozzle, first slip table cylinder, two first pneumatic clamping jaw, second slip table cylinder, the pneumatic clamping jaw of second through pneumatic solenoid valve:

the original position of the glass tube frame is arranged at the bottom of the outer side of the front vertical surface of the rack, two nonmetal racks which are vertical to the front vertical surface of the rack are arranged on the bottom surface of the glass tube frame at intervals, a plurality of arc tooth grooves with equidistant stations are arranged on the racks, and the bottle-making glass tubes are sequentially arranged in the arc tooth grooves;

the first lifting screw is vertically supported on the rack, and an output shaft of the first power motor is connected with one end of the first lifting screw; the glass tube frame is provided with a nut and a guide rail groove, the nut and the first lifting screw form a screw pair, and the guide rail groove and the guide rails on the upright posts on the two sides of the rack form a moving pair; the first power motor drives the screw rod to rotate so as to vertically convey the glass tube frame to a set height position from an original position;

the synchronous belt linear sliding table is arranged at the top of the frame, the moving direction of the sliding table is vertical to the front vertical surface and the rear vertical surface of the frame, the mechanical arm is formed by connecting a vertical arm and a cross arm in an inverted T shape, the vertical arm is a first sliding table cylinder, one end of a chute in the first sliding table cylinder is vertically fixed with a synchronous belt in the synchronous belt linear sliding table, one end of a slide rail in the first sliding table cylinder is vertically fixed with the cross arm, a plurality of negative pressure suction nozzles are arranged on the cross arm in a mode that suction ports are flush and downward, the axes of the suction nozzles are positioned in the same plane, the two first pneumatic clamping jaws are respectively arranged at two ends of the cross arm, the two brackets are respectively arranged at the upper parts of two sides of the rear vertical surface of the frame, a fixed hinge is formed between one bracket and the frame, a fourth power motor is connected on a hinge shaft, and the plurality of negative pressure suction nozzles suck out bottle-making glass tubes in glass tube frames positioned at set height positions one by one, the glass tube is transferred to be clamped by two first pneumatic clamping jaws, a motor in a synchronous belt linear sliding table rotates to drive a mechanical arm to move from a front vertical surface to a rear vertical surface to a set position to stop, the two first pneumatic clamping jaws are loosened, and the bottle-making glass tube falls into two brackets;

the second lifting screw is vertically supported on the frame, the output shaft of the second power motor is connected with one end of the second lifting screw, the second sliding table cylinder is provided with a nut and a guide rail groove, the nut and the second lifting screw form a screw pair, the guide rail groove and the guide rail on the stand column of the frame form a moving pair, the third power motor is fixed on the second sliding table cylinder, the second pneumatic clamping jaw is connected with an output shaft of a third power motor, the second pneumatic clamping jaw clamps the bottle-making glass tubes in the two brackets, the fourth power motor drives the bracket to rotate by a set angle to avoid a bottle-making glass tube rotating route, the third power motor drives the second pneumatic clamping jaw to rotate the glass bottle tube by 90 degrees and turn from a horizontal position to a vertical tube inserting position, and the second power motor drives the second lifting screw rod to rotate so that the second pneumatic clamping jaw moves downwards to complete tube inserting;

the photoelectric reflection sensor and the pneumatic electromagnetic valve are arranged on the synchronous belt linear sliding table, wherein the photoelectric reflection sensor detects whether the information of the bottle making glass tube exists in the glass tube frame, and the pneumatic electromagnetic valve is respectively connected with the air pressure station, the first sliding table air cylinder, the first pneumatic clamping jaw, the second sliding table air cylinder and the second pneumatic clamping jaw; the position sensors are divided into a first position sensor, a second position sensor, a third position sensor and a fourth position sensor, the first position sensor is arranged at the lower part of the front vertical surface of the frame and is used for detecting the information that the glass tube frame reaches the original position, the second position sensor is arranged on the upper part of the front vertical surface of the frame and is used for detecting the position information of the topmost layer of the bottle-making glass tube in the glass tube frame when the bottle-making glass tube reaches the set height, the third position sensor is arranged at the top of the frame and is used for detecting the upper limit position of the second sliding table cylinder, the fourth position sensor is arranged in the middle of the frame and is used for detecting the lower limit position of the second sliding table cylinder, the negative pressure sensor is arranged on a pipeline of the pneumatic electromagnetic valve to the negative pressure suction nozzle, the touch sensor is arranged on any one of the two brackets and used for detecting information on whether the bracket falls into a bottle-making glass tube or not;

the suction port of the negative pressure suction nozzle is a rubber suction port, and rubber linings are arranged on the clamping surfaces of the first pneumatic clamping jaw and the second pneumatic clamping jaw;

hold-in range straight line slip table, slip table cylinder, pneumatic clamping jaw, photoelectric reflection sensor, position sensor, negative pressure sensor, touch sensor and pneumatic solenoid valve and power motor and PLC controller electric connection.

2. The full-automatic intelligent tube inserting machine according to claim 1, characterized in that: the first power motor and the fourth power motor are stepping motors, and the second power motor and the third power motor are servo motors.

3. The full-automatic intelligent tube inserting machine according to claim 1, characterized in that: when the tube inserting machine does not work, the original position of the glass tube frame is arranged at the bottom of the outer side of the front vertical surface of the machine frame, and a plurality of bottle-making glass tubes are sequentially arranged in the arc tooth grooves at the bottom of the glass tube frame; the first and second pneumatic clamping jaws are in an open state; the central axes of the negative pressure suction nozzles and the central axes of the glass tubes on the outermost side in the glass tube frame are positioned on the same vertical plane;

when the tube inserting machine works, a glass tube frame ascending button is manually pressed, a first power motor drives a first lifting screw to rotate to enable a glass tube frame to ascend, when a second position sensor detects that a bottle-making glass tube is made on the uppermost layer in the glass tube frame, a PLC (programmable logic controller) instructs the first power motor to stop rotating, a pneumatic electromagnetic valve is made to supply air to a rodless cavity of a first sliding table cylinder at the same time, a plurality of negative pressure suction nozzles move downwards to be close to the bottle-making glass tube on the outermost side in the glass tube frame to start a suction tube, a negative pressure signal is sent out when the negative pressure suction nozzles suck the glass tube, if the negative pressure signal is not sucked to the glass tube, the PLC instructs a linear sliding table to drive a mechanical arm to enable the negative pressure suction nozzles to parallelly move by one tube position to find the tube until the glass tube is sucked, the PLC instructs the pneumatic electromagnetic valve to stop supplying air to the rodless cavity of the first sliding table cylinder, a piston in a cylinder of the first sliding table drives a negative pressure suction nozzle to return to an original position under the action of spring force of a rod cavity, meanwhile, a PLC (programmable logic controller) instructs a pneumatic solenoid valve to supply air to a first pneumatic clamping jaw, the first pneumatic clamping jaw clamps a bottle-making glass tube in the negative pressure suction nozzle, then the PLC instructs a servo motor in a synchronous belt linear sliding table to rotate for setting the number of turns, namely, a mechanical arm is driven to move for a set distance towards the rear vertical face direction of a rack so that the bottle-making glass tube reaches the upper part of a bracket, the air supply to the first pneumatic clamping jaw is stopped and the clamping jaw is loosened, the bottle-making glass tube falls into two brackets and is in a horizontal state, in the process, the bottle-making glass tube falling into the bracket contacts with a touch sensor, the touch sensor transmits the information of the bottle-making glass tube in the bracket to the PLC, and the PLC instructs the servo motor in the synchronous belt linear sliding table to rotate reversely for setting the number of turns, the mechanical arm is driven to move towards the front vertical face of the rack for a set distance to enable the mechanical arm to return to the original position, next cycle work is started, meanwhile, the PLC sequentially instructs the second pneumatic clamping jaw to clamp the bottle-making glass tubes in the two brackets, the fourth power motor drives the brackets to rotate for a set angle to avoid the rotation route of the bottle-making glass tubes, the third power motor drives the second pneumatic clamping jaw to rotate the bottle-making glass tubes by 90 degrees from the horizontal position to the vertical position, the second power motor drives the second lifting screw to rotate and drives the second sliding table cylinder, the second pneumatic clamping jaw and the bottle-making glass tubes to move downwards for tube insertion, when the fourth position sensor detects that the second sliding table cylinder reaches the lower limit position, the PLC instructs the pneumatic solenoid valve to stop loosening the second pneumatic clamping jaw, the bottle-making glass tubes fall into the first station of the bottle-making machine, then a third power motor is instructed to drive a second pneumatic clamping jaw to rotate reversely by 90 degrees, a pneumatic electromagnetic valve is instructed to supply air to a rod cavity of a second sliding table cylinder, the second sliding table cylinder drives the second pneumatic clamping jaw to retract for a set distance, the second power motor is instructed to drive a second lifting screw to rotate reversely and drive the second sliding table cylinder and the second pneumatic clamping jaw to move upwards, when a third position sensor detects that the second sliding table cylinder returns to an upper limit position, a PLC (programmable logic controller) instructs the second power motor to stop working, the pneumatic electromagnetic valve is instructed to stop supplying air to the rod cavity of the second sliding table cylinder, and the second sliding table cylinder drives the second pneumatic clamping jaw to return to the original position under the action of spring force;

when the second position sensor detects that the uppermost layer of bottle-making glass tubes in the glass tube frame are completely taken away, the PLC instructs the first power motor to rotate, and the original second layer of bottle-making glass tubes are lifted to the original first layer of bottle-making glass tubes;

when the photoelectric reflection sensor detects that no bottle-making glass tube is in the glass tube frame, the PLC instructs the first power motor to drive the second lifting screw rod to rotate reversely and drive the glass tube frame to move downwards, when the first position sensor detects that the glass tube frame returns to the original position information, the PLC instructs the first power motor to stop rotating, and the glass tube frame waits for tube loading.

Technical Field

The invention relates to a tube inserting machine for conveying glass tubes to a bottle making machine, in particular to a structure and a full-automatic intelligent control mode of the tube inserting machine, and belongs to the technical field of mechanical, electrical and gas integration.

Background

In the bottle making machinery for making penicillin bottles, antibiotic bottles and oral liquid bottles by using a bottle making glass tube, in order to change the traditional backward operation mode of manual intubation, various full-automatic intubation machines and servo intubation machines are designed, and the machines achieve the purposes of improving the working efficiency and reducing the labor cost. For example, the invention patent with chinese patent No. 201510942687.5 discloses a full-automatic servo tube inserting machine, in which a frame-type tube magazine is disposed at the lower part of the front end of a frame, a drum-type tube magazine is disposed at the upper part of the rear end of the frame, a clamping mechanism is disposed below the drum-type tube magazine, and a gap bridge with a high front part and a low rear part is disposed between the upper part of the front end and the upper part of the rear end of the frame. A plurality of glass tubes are sequentially placed in a frame tube bank, a lifting motor drives the frame tube bank to move upwards to reach the upper part of the front end, the glass tubes in the frame tube bank roll through a bridge slope surface under the action of self gravity and fall into a plurality of tooth-shaped grooves of separating discs arranged in a drum-type tube bank one by one, the rotating separating discs drive the glass tubes to the other side, the glass tubes roll out of the separating discs under the action of self gravity and enter an angular gear guide frame in a clamping mechanism, then the glass tubes are clamped by clamping jaws, and a rotating motor drives the clamping jaws and the glass tubes to rotate from a horizontal position to a vertical position to enter an intubation station. The mechanical structure is complex, the manufacturing cost is high, the motion state of the glass tube on the slope surface is irregular, the failure rate is high, and the clamping mechanism has multiple links and poor stability.

In order to overcome the technical defects of the full-automatic servo tube inserting machine, the Chinese patent application number is as follows: 202023266171.9, the utility model discloses a separation device is carried to bottle-making tube inserting machine glass tube, this application will store up the pipe frame through screw thread transmission and carry the frame upper end perpendicularly from the bottom of frame, the bottle-making glass tube in the pipe frame rolls by height to the low place and falls into in the top angular form frame of slant chain among the partition mechanism, the chain drives the angular form frame and rotates to the end from the top, and do the clearance roll on the isometric time, realize a plurality of bottle-making glass tube equidistance and separate the process, and will separate the bottle-making glass tube after conveying on the end station bracket of next process. Although the conveying separation device has stable conveying process and good equidistant separation effect, the glass tubes and the carrier have more rigid contact, so that the conveying process has poor flexibility and the glass tubes are easy to collide and scratch.

In Chinese patent application numbers: 202023297274.1, the utility model discloses a glass tube steering and inserting device of a bottle-making and tube-inserting machine, which realizes the advancing and retreating of a transverse moving carrier by a horizontal moving pair formed by a horizontal guide rail groove on a vertical moving carrier and a guide rail key on the transverse moving carrier and a gear pair formed by a transmission gear on the vertical moving carrier and a rack on the transverse moving carrier; the circular motion carrier is arranged in the transverse motion carrier, and the power motor drives the rotary cylinder to rotate in the transverse motion carrier, so that the steering of the circular motion carrier is realized; the application also realizes the clamping and the loosening of the glass tube by the two clamping claws through the two moving guide rod mechanisms; and the lifting screw rod is used for realizing the lifting motion of the vertical motion carrier to complete the pipe insertion, so that the two clamping jaws can realize the front and back stretching and 90-degree rotation and the whole action of lifting the pipe insertion. The intubation device has the advantages of complex structure, high cost and poor action position precision.

Disclosure of Invention

In order to overcome the defects of the existing pipe inserting machine as indicated by the background technology, the invention provides a full-automatic intelligent pipe inserting machine, which achieves the purpose of accurate, flexible and full-automatic pipe inserting.

In order to achieve the above object, the present invention is implemented by the following technical solutions, and a full-automatic intelligent tube inserting machine includes: the automatic pipe inserting machine comprises a rack, a vertical conveying mechanism, a horizontal conveying mechanism, a holding steering pipe inserting mechanism, a control system and an air pressure station, wherein the rack is arranged into a rectangular three-dimensional shape to form a front vertical face, a rear vertical face and two side vertical faces of the rack, and vertical guide rails are arranged on upright columns of the two side vertical faces respectively; the vertical conveying mechanism consists of a glass tube frame, a first lifting screw rod and a first power motor, and a plurality of bottle-making glass tubes parallel to the front vertical surface and the rear vertical surface of the rack are horizontally placed in the glass tube frame; the horizontal conveying mechanism consists of a synchronous linear sliding table, a mechanical arm, a plurality of negative pressure suction nozzles, a first sliding table cylinder, two first pneumatic clamping jaws and two brackets; the holding steering pipe inserting mechanism consists of a second lifting screw, a second power motor, a second sliding table cylinder, a third power motor and a second pneumatic clamping jaw; control system include PLC controller, photoelectric reflection sensor, position sensor, negative pressure sensor, touch sensor and pneumatic solenoid valve, the atmospheric pressure station provide pressure gas, its characterized in that to a plurality of negative pressure suction nozzle, first slip table cylinder, two first pneumatic clamping jaw, second slip table cylinder, the pneumatic clamping jaw of second through pneumatic solenoid valve:

the original position of the glass tube frame is arranged at the bottom of the outer side of the front vertical surface of the rack, two nonmetal racks which are vertical to the front vertical surface of the rack are arranged on the bottom surface of the glass tube frame at intervals, a plurality of arc tooth grooves with equidistant stations are arranged on the racks, and the bottle-making glass tubes are sequentially arranged in the arc tooth grooves;

the first lifting screw is vertically supported on the rack, and an output shaft of the first power motor is connected with one end of the first lifting screw; the glass tube frame is provided with a nut and a guide rail groove, the nut and the first lifting screw form a screw pair, and the guide rail groove and the guide rails on the upright posts on the two sides of the rack form a moving pair; the first power motor drives the screw rod to rotate so as to vertically convey the glass tube frame to a set height position from an original position;

the synchronous belt linear sliding table is arranged at the top of the frame, the moving direction of the sliding table is vertical to the front vertical surface and the rear vertical surface of the frame, the mechanical arm is formed by connecting a vertical arm and a cross arm in an inverted T shape, the vertical arm is a first sliding table cylinder, one end of a chute in the first sliding table cylinder is vertically fixed with a synchronous belt in the synchronous belt linear sliding table, one end of a slide rail in the first sliding table cylinder is vertically fixed with the cross arm, a plurality of negative pressure suction nozzles are arranged on the cross arm in a mode that suction ports are flush and downward, the axes of the suction nozzles are positioned in the same plane, the two first pneumatic clamping jaws are respectively arranged at two ends of the cross arm, the two brackets are respectively arranged at the upper parts of two sides of the rear vertical surface of the frame, a fixed hinge is formed between one bracket and the frame, a fourth power motor is connected on a hinge shaft, and the plurality of negative pressure suction nozzles suck out bottle-making glass tubes in glass tube frames positioned at set height positions one by one, the glass tube is transferred to be clamped by two first pneumatic clamping jaws, a motor in a synchronous belt linear sliding table rotates to drive a mechanical arm to move from a front vertical surface to a rear vertical surface to a set position to stop, the two first pneumatic clamping jaws are loosened, and the bottle-making glass tube falls into two brackets;

the second lifting screw is vertically supported on the frame, the output shaft of the second power motor is connected with one end of the second lifting screw, the second sliding table cylinder is provided with a nut and a guide rail groove, the nut and the second lifting screw form a screw pair, the guide rail groove and the guide rail on the stand column of the frame form a moving pair, the third power motor is fixed on the second sliding table cylinder, the second pneumatic clamping jaw is connected with an output shaft of a third power motor, the second pneumatic clamping jaw clamps the bottle-making glass tubes in the two brackets, the fourth power motor drives the bracket to rotate by a set angle to avoid a bottle-making glass tube rotating route, the third power motor drives the second pneumatic clamping jaw to rotate the glass bottle tube by 90 degrees and turn from a horizontal position to a vertical tube inserting position, and the second power motor drives the second lifting screw rod to rotate so that the second pneumatic clamping jaw moves downwards to complete tube inserting;

the photoelectric reflection sensor and the pneumatic electromagnetic valve are arranged on the synchronous belt linear sliding table, wherein the photoelectric reflection sensor detects whether the information of the bottle making glass tube exists in the glass tube frame, and the pneumatic electromagnetic valve is respectively connected with the air pressure station, the first sliding table air cylinder, the first pneumatic clamping jaw, the second sliding table air cylinder and the second pneumatic clamping jaw; the position sensors are divided into a first position sensor, a second position sensor, a third position sensor and a fourth position sensor, the first position sensor is arranged at the lower part of the front vertical surface of the frame and is used for detecting the information that the glass tube frame reaches the original position, the second position sensor is arranged on the upper part of the front vertical surface of the frame and is used for detecting the position information of the topmost layer of the bottle-making glass tube in the glass tube frame when the bottle-making glass tube reaches the set height, the third position sensor is arranged at the top of the frame and is used for detecting the upper limit position of the second sliding table cylinder, the fourth position sensor is arranged in the middle of the frame and is used for detecting the lower limit position of the second sliding table cylinder, the negative pressure sensor is arranged on a pipeline of the pneumatic electromagnetic valve to the negative pressure suction nozzle, the touch sensor is arranged on any one of the two brackets and used for detecting information on whether the bracket falls into a bottle-making glass tube or not;

the suction port of the negative pressure suction nozzle is a rubber suction port, and rubber linings are arranged on the clamping surfaces of the first pneumatic clamping jaw and the second pneumatic clamping jaw;

hold-in range straight line slip table, slip table cylinder, pneumatic clamping jaw, photoelectric reflection sensor, position sensor, negative pressure sensor, touch sensor and pneumatic solenoid valve and power motor and PLC controller electric connection.

Further, the first power motor and the fourth power motor are stepping motors, and the second power motor and the third power motor are servo motors.

When the tube inserting machine does not work, the glass tube frame is positioned at the original position at the lower part of the front vertical surface of the machine frame, and a plurality of bottle-making glass tubes are sequentially arranged in the arc tooth grooves at the bottom of the glass tube frame; the first and second pneumatic clamping jaws are in an open state; the central axes of the negative pressure suction nozzles and the central axes of the glass tubes on the outermost side in the glass tube frame are positioned on the same vertical plane;

when the tube inserting machine works, a glass tube frame ascending button is manually pressed, a first power motor drives a first lifting screw to rotate to enable a glass tube frame to ascend, when a second position sensor detects that a bottle-making glass tube is made on the uppermost layer in the glass tube frame, a PLC (programmable logic controller) instructs the first power motor to stop rotating, a pneumatic electromagnetic valve is made to supply air to a rodless cavity of a first sliding table cylinder at the same time, a plurality of negative pressure suction nozzles move downwards to be close to the bottle-making glass tube on the outermost side in the glass tube frame to start a suction tube, a negative pressure signal is sent out when the negative pressure suction nozzles suck the glass tube, if the negative pressure signal is not sucked to the glass tube, the PLC instructs a linear sliding table to drive a mechanical arm to enable the negative pressure suction nozzles to parallelly move by one tube position to find the tube until the glass tube is sucked, the PLC instructs the pneumatic electromagnetic valve to stop supplying air to the rodless cavity of the first sliding table cylinder, a piston in a cylinder of the first sliding table drives a negative pressure suction nozzle to return to an original position under the action of spring force of a rod cavity, meanwhile, a PLC (programmable logic controller) instructs a pneumatic solenoid valve to supply air to a first pneumatic clamping jaw, the first pneumatic clamping jaw clamps a bottle-making glass tube in the negative pressure suction nozzle, then the PLC instructs a servo motor in a synchronous belt linear sliding table to rotate for a set number of turns, namely, a mechanical arm is driven to move for a set distance towards the rear vertical face direction of a rack so that the bottle-making glass tube reaches the upper part of the bracket, the air supply to the first pneumatic clamping jaw is stopped to be loosened, and the bottle-making glass tube falls into the two brackets and is in a horizontal state. In the process, the bottle making glass tube falling into the bracket contacts the touch sensor, the touch sensor transmits the information of the bottle making glass tube already in the bracket to the PLC, the PLC instructs the servo motor in the linear sliding table to rotate reversely for a set number of turns, namely, the mechanical arm is driven to move towards the front vertical face of the frame for a set distance so as to return to the original position and start the next cycle, meanwhile, the PLC instructs the second pneumatic clamping jaws to clamp the bottle making glass tubes in the two brackets in sequence, the fourth power motor drives the bracket to rotate for a set angle to avoid the rotating route of the bottle making glass tubes, the third power motor drives the second pneumatic clamping jaws to rotate the bottle making glass tubes by 90 degrees and turns to the vertical position from the horizontal position, the second power motor drives the second lifting screw to rotate and drives the second sliding table cylinder, the second pneumatic clamping jaws and the bottle making glass tubes to move downwards for tube insertion, when the fourth position sensor detects that the second sliding table cylinder reaches the lower limit position, the PLC instructs the second power motor to stop working, instructs the pneumatic solenoid valve to stop supplying air to the first pneumatic clamping jaw and loosen the clamping jaw, the bottle making glass tube falls into the first station of the bottle making machine, then instructs the third power motor to drive the second pneumatic clamping jaw to rotate reversely by 90 degrees, instructs the pneumatic solenoid valve to supply air to the rod cavity of the second sliding table cylinder, and instructs the second pneumatic clamping jaw to retract for a set distance, instructs the second power motor to drive the second lifting screw to rotate reversely and drive the second sliding table cylinder and the second pneumatic clamping jaw to move upwards, and instructs the pneumatic solenoid valve to stop supplying air to the rod cavity of the second sliding table cylinder when the third position sensor detects that the second sliding table cylinder returns to the upper limit position, the second sliding table cylinder drives the second pneumatic clamping jaw to return to the original position under the action of spring force;

when the second position sensor detects that the bottle-making glass tubes on the uppermost layer in the glass tube frame are all taken away, the PLC instructs the first power motor to rotate, and the original bottle-making glass tubes on the second layer are lifted to the original bottle-making glass tubes on the first layer.

When the photoelectric reflection sensor detects that no bottle-making glass tube is in the glass tube frame, the PLC instructs the first power motor to drive the second lifting screw rod to rotate reversely and drive the glass tube frame to move downwards, when the first position sensor detects that the glass tube frame returns to the original position information, the PLC instructs the first power motor to stop rotating, and the glass tube frame waits for tube loading.

Compared with the traditional intubation machine, the beneficial contributions of the invention are: 1. the whole process from the glass tube frame to the first station of the bottle making machine, the bottle making glass tube and the pipe inserting machine component are in fixed conversion contact for four times, namely a, contact with the suction nozzle, b and clamping contact with the first pneumatic clamping jaw, c, contact with the bracket and d and clamping contact with the second pneumatic clamping jaw. The rigid and movable contact frequency of the bottle-making glass tube and the pipe inserting machine component is greatly reduced, the collision and scratch of the bottle-making glass tube in the conveying process are reduced, the bottle-making qualified rate is improved, and the bottle-making cost is reduced; 2. the bottle-making glass tube automatically changes various actions and positions from the original position of the glass tube frame to the whole process of tube insertion through the ordered actions of the relevant executive elements of the PLC programming instruction, and the purpose of full-automatic intelligent tube insertion is achieved.

The intelligent automatic control system has the advantages of reasonable design, simple structure, good intelligent automation degree and high working efficiency.

Drawings

FIG. 1 is a schematic view of the structure of the present invention in its original state;

FIG. 2 is a right-view structural diagram of the present invention in an original state;

FIG. 3 is a right view structural state diagram of the glass tube frame of the present invention when reaching a set height position;

FIG. 4 is a right view structural state diagram of the first tube position bottle-making glass tube in the glass tube frame adsorbed by the negative pressure suction nozzle in the present invention;

FIG. 5 is a structural state diagram of a bottle-making glass tube viewed from the right when the negative pressure suction nozzle is returned and the first pneumatic clamping jaw clamps the bottle-making glass tube;

FIG. 6 is a right view structural state diagram of the synchronous belt linear sliding table driving the mechanical arm to move a set distance towards the rear vertical surface of the rack;

FIG. 7 is a structural diagram of a bottle making glass tube in a right view when a first pneumatic clamping jaw releases the bottle making glass tube and the glass tube is placed in a bracket;

FIG. 8 is a right view structural state diagram of a second pneumatic clamping jaw clamping bottle-making glass tube, a synchronous belt linear sliding table driving a negative pressure suction nozzle on a mechanical arm to align to a second tube position bottle-making glass tube in the invention;

FIG. 9 is a structural state diagram of a right view of the bottle-making glass tube in the second tube position, wherein a fourth power motor drives a bracket to rotate by a set angle, a third power motor drives a second pneumatic clamping jaw to rotate the bottle-making glass tube by 90 degrees, and a first sliding table cylinder drives a negative pressure suction nozzle to adsorb the second tube position bottle-making glass tube;

FIG. 10 is a right side view structural state diagram of the bottle making machine when a second sliding table cylinder drives a second pneumatic clamping jaw to move a set distance outwards and align a first station of the bottle making machine and a first sliding table cylinder drives a negative pressure suction nozzle suction pipe to reset;

FIG. 11 is a structural diagram of a right view of a bottle-making glass tube inserted into a first station of a bottle-making machine, when a second pneumatic clamping jaw is loosened, a second sliding table cylinder drives the second pneumatic clamping jaw to retract and reset, a bracket to reset, and a first pneumatic clamping jaw clamps a second bottle-making glass tube for a second time;

FIG. 12 is a structural state diagram of a right view of the present invention, wherein a third power motor drives a second pneumatic clamping jaw to rotate 90 degrees for resetting, and a synchronous belt linear sliding table drives a mechanical arm to move a set distance to a rear vertical surface of a frame for a second time;

fig. 13 is a structural state diagram of a right view of the bottle making apparatus when a second power motor drives a second lifting screw to rotate in the reverse direction so that a second sliding table cylinder drives a second pneumatic clamping jaw to reset and the first pneumatic clamping jaw is loosened to place the bottle making glass tube into the bracket for a second time.

In the accompanying drawings 1-13: 1 is a frame, 101 is an outer guide rail on a stand column of the frame, 102 is an inner guide rail on the stand column of the frame, 2 is a glass tube frame, 201 is a guide rail groove, 202 is a non-metal rack, 3 is a first power motor, 4 is a nut, 5 is a first lifting screw, 6 is a bottle making glass tube, 7 is a second power motor, 8 is a bracket, 801 is a fourth power motor, 9 is a mechanical arm, 901 is a vertical arm (a first sliding table cylinder), 902 is a cross arm, 10 is a synchronous belt linear sliding table, 11 is a first pneumatic clamping jaw, 12 is a third power motor, 13 is a second sliding table cylinder, 14 is a second lifting screw, 15 is a negative pressure suction nozzle, 16 is a nut, 17 is a pneumatic solenoid valve, 18 is a second pneumatic clamping jaw, 19 is a bottle making machine, a is a first position sensor, b is a second position sensor, c is a third position sensor, d is a fourth position sensor, e is a touch sensor, f is a photoelectric reflection sensor.

Detailed Description

The invention is further explained below with reference to the drawings in which:

as shown in the attached drawings 1 and 2, the rack 1 is arranged into a rectangular three-dimensional rectangle to form a front vertical surface, a rear vertical surface and two side vertical surfaces of the rack 1, and upright posts of the two side vertical surfaces are respectively provided with a guide rail in the vertical direction; a plurality of bottle-making glass tubes 6 which are parallel to the front vertical surface and the rear vertical surface of the frame 1 are horizontally arranged in the glass tube frame 2, the original position of the glass tube frame 2 is arranged at the bottom of the outer side of the front vertical surface of the frame 1, a first lifting screw 5 is vertically supported on the frame 1, and an output shaft of a first power motor 3 is connected with one end of the first lifting screw 5; the glass tube frame 2 is provided with a nut 4 and a guide rail groove 201, the bottom of the glass tube frame is provided with two nonmetal racks 202 which are perpendicular to the front vertical surface of the frame at intervals, a plurality of arc tooth grooves with equidistant stations are arranged on the nonmetal racks 202, the bottle-making glass tubes 6 are sequentially arranged in the arc tooth grooves, the nut 4 and the first lifting screw 5 form a screw pair, and the guide rail groove 201 and the outer guide rail 101 on the upright post of the frame 1 form a moving pair; the first power motor 3 drives the lifting screw 5 to rotate so as to vertically convey the glass tube frame 2 from the original position to the set height position; the synchronous belt linear sliding table 10 is arranged at the top of the frame 1, the moving direction of the sliding table is vertical to the front vertical surface and the rear vertical surface of the frame 1, the mechanical arm 9 is formed by connecting a vertical arm 901 and a cross arm 902 in an inverted T shape, the vertical arm 901 is a first sliding table cylinder, one end of a sliding chute in the first sliding table cylinder 901 is vertically fixed with a synchronous belt in the synchronous belt linear sliding table 10, one end of a sliding rail in the first sliding table cylinder 901 is vertically fixed with the cross arm 902, four negative pressure suction nozzles 15 are arranged on the cross arm 902 in a way that suction ports are flush and downward, the axes of the suction nozzles are positioned in the same plane, two first pneumatic clamping jaws 11 are respectively arranged at two ends of the cross arm 902, two brackets 8 are respectively arranged at the upper parts of two sides of the rear vertical surface of the frame 1, wherein a fixed hinge is formed between one bracket 8 and the frame 1, a fourth power motor 801 is connected on the hinge shaft, a plurality of the negative pressure suction nozzles 15 suck out the bottle-making glass tubes 6 in the glass tube frame 2 positioned at a set height position one by one, the glass tube is transferred to two first pneumatic clamping jaws 11 for clamping, a motor in a synchronous belt linear sliding table 10 rotates to drive a mechanical arm 9 to move from a front vertical surface to a rear vertical surface to a set position and stop, the two first pneumatic clamping jaws 11 are loosened, and the bottle-making glass tube 6 falls into two brackets 8; a second lifting screw 14 is vertically supported on the frame 1, an output shaft of a second power motor 7 is connected with one end of the second lifting screw 14, a second sliding table cylinder 13 is provided with a nut 16 and a guide rail groove, the nut 16 and the second lifting screw 14 form a screw pair, the guide rail groove and a guide rail 102 on an upright post of the frame 1 form a moving pair, a third power motor 12 is fixed on the second sliding table cylinder 13, a second pneumatic clamping jaw 18 is connected with an output shaft of the third power motor 12, the second pneumatic clamping jaw 18 clamps the bottle-making glass tubes 6 in the two brackets 8, the fourth power motor 801 drives the bracket 8 to rotate by a set angle to avoid the rotation route of the bottle-making glass tube 6, the third power motor 12 drives the second pneumatic clamping jaw 18 to rotate the bottle-making glass tube 6 by 90 degrees and turn from the horizontal position to the vertical tube-inserting position, and the second power motor 7 drives the second lifting screw 14 to rotate, so that the second pneumatic clamping jaw 18 moves downwards to complete tube insertion; a photoelectric reflection sensor f and a pneumatic solenoid valve 17 are arranged on the synchronous belt linear sliding table 10, wherein the photoelectric reflection sensor f detects whether the information of the bottle making glass tube 6 exists in the glass tube frame 2, and the pneumatic solenoid valve 17 is respectively connected with an air pressure station (not shown in the figure), a first sliding table air cylinder 901, a first pneumatic clamping jaw 11, a second sliding table air cylinder 13 and a second pneumatic clamping jaw 18; the device comprises a rack 1, a first position sensor a, a second position sensor b, a third position sensor c, a pneumatic solenoid valve 17, a negative pressure sensor e and a touch sensor e, wherein the first position sensor a is arranged at the lower part of a front vertical surface of the rack 1, detects information that a glass tube frame 2 reaches an original position, the second position sensor b is arranged at the upper part of the front vertical surface of the rack 1, detects information that the topmost layer of a bottle-making glass tube 6 in the glass tube frame 2 reaches a set height position, the third position sensor c is arranged at the top of the rack 1, detects an upper limit position of a second sliding table cylinder 13, the fourth position sensor d is arranged at the middle part of the rack 1, detects a lower limit position of the second sliding table cylinder 13, the negative pressure sensor is arranged on a pipeline from the pneumatic solenoid valve 17 to a negative pressure suction nozzle 15 and is used for detecting whether a negative pressure signal exists in the negative pressure suction nozzle 15, and the touch sensor e is arranged on any one of two brackets 8 and is used for detecting whether the information that the bottle-making glass tube 6 falls into the brackets 8 or not; the synchronous belt linear sliding table 10, a first sliding table cylinder 901, a second sliding table cylinder 13, a first pneumatic clamping jaw 11, a second pneumatic clamping jaw 18, a photoelectric reflection sensor f, a first position sensor a, a second position sensor b, a third position sensor c, a fourth position sensor d, a negative pressure sensor (not shown in the figure), a touch sensor e, a pneumatic solenoid valve 17, a first power motor 3, a second power motor 7, a third power motor 12 and a fourth power motor 801 are electrically connected with a PLC (not shown in the figure); the suction port of the negative pressure suction nozzle 15 is a rubber suction port, and rubber linings are respectively arranged on the clamping surfaces of the first pneumatic clamping jaw 11 and the second pneumatic clamping jaw 18.

Description of the working process of the invention:

as shown in the attached figures 1 and 2, when the tube inserting machine is not in operation, the glass tube frame 2 is positioned at the original position at the lower part of the front vertical surface of the machine frame 1, and a plurality of bottle-making glass tubes 6 are sequentially arranged in an arc tooth groove 202 at the bottom of the glass tube frame 2; the first pneumatic jaw 11 and the second pneumatic jaw 18 are in an open state; the central axes of the four negative pressure suction nozzles 15 are on the same vertical plane with the central axis of the glass tube 6 on the outermost side in the glass tube frame 2.

As shown in fig. 3, when the tube inserting machine works, the glass tube frame 2 is manually pressed down to push the ascending button, the first power motor 3 drives the first lifting screw rod 5 to rotate, so that the glass tube frame 2 ascends, and when the second position sensor b detects the topmost layer bottle-making glass tube 6 in the glass tube frame 2, the PLC instructs the first power motor 3 to stop rotating, so that the glass tube frame 2 stops at the position.

As shown in fig. 4, the PLC programmable controller controls the pneumatic solenoid valve 17 to supply air to the rodless cavity of the first slide cylinder 901, the four negative pressure suction nozzles 15 move downward to approach one bottle-making glass tube 6 on the outermost side in the glass tube frame 2 to begin sucking, when the negative pressure suction nozzles 15 suck the bottle-making glass tube 6, a negative pressure signal is sent, and if the bottle-making glass tube 6 cannot be sucked, the PLC programmable controller instructs the linear slide table 10 with the timing belt to drive the mechanical arm 9 to move the four negative pressure suction nozzles 15 in parallel one tube position to find the tube, until the bottle-making glass tube 6 is sucked, the negative pressure signal is sent.

As shown in fig. 5, after receiving the negative pressure signal, the PLC programmable controller instructs the pneumatic solenoid valve 17 to stop supplying air to the rodless cavity of the first slide cylinder 901, the piston in the first slide cylinder 901 drives the four negative pressure suction nozzles 15 to return to the original position under the action of the spring force in the rod cavity, and at the same time, the PLC programmable controller instructs the pneumatic solenoid valve 17 to supply air to the first pneumatic clamping jaw 11, and the first pneumatic clamping jaw 11 clamps the vial-making tube 6 in the negative pressure suction nozzle 15.

As shown in fig. 6, the PLC instructs the servo motor in the linear sliding table 10 of the timing belt to rotate for a set number of turns, i.e. the mechanical arm 9 and the first pneumatic clamping jaw 11 are driven to move for a set distance in the direction of the rear vertical surface of the rack 1, so that the bottle-making glass tube 6 reaches the upper part of the bracket 8.

As shown in fig. 7, the PLC instructs the pneumatic solenoid valve 17 to stop supplying air to the first pneumatic clamping jaw 11 and release the first pneumatic clamping jaw 11, so that the bottle-making glass tube 6 falls into the two brackets 8 and is in a horizontal state, and the bottle-making glass tube 6 contacts the touch sensor e.

As shown in fig. 8, the touch sensor e transmits the information of the bottle glass tube 6 stored in the bracket 8 to the PLC programmable controller, and the PLC programmable controller instructs the servo motor in the synchronous belt linear sliding table 10 to rotate reversely for a set number of turns, that is, the mechanical arm 9 and the first pneumatic clamping jaw 11 are driven to move for a set distance towards the front vertical surface of the rack 1, so that the mechanical arm 9 and the first pneumatic clamping jaw 11 return to the original positions, and the next cycle of tube finding is started; meanwhile, the PLC instructs the pneumatic electromagnetic valve 17 to supply air to the second pneumatic clamping jaw 18, and the second pneumatic clamping jaw 18 clamps the bottle-making glass tubes 6 in the two brackets 8.

As shown in fig. 9, the PLC instructs the fourth power motor 801 to drive the bracket 8 and the touch sensor e to rotate by a set angle to avoid the rotation path of the bottle-making glass tube 6, and instructs the third power motor 12 to drive the second pneumatic clamping jaw 18 to rotate the bottle-making glass tube 6 by 90 ° and turn the bottle-making glass tube from the horizontal position to the vertical position; meanwhile, the PLC instructs the pneumatic solenoid valve 17 to supply air to the first slipway cylinder 901, and the four negative pressure suction nozzles 15 approach the bottle-making glass tube 6 at the second tube position and suck the tube.

As shown in fig. 10, the PLC programmable controller instructs the pneumatic solenoid valve 17 to supply air to the second slide cylinder 13, and the second slide cylinder 13 drives the second pneumatic clamping jaw 18 and the bottle-making glass tube 6 to extend and align to the first station of the bottle-making machine 19.

As shown in fig. 11, the PLC programmable controller instructs the second power motor 7 to drive the second lifting screw 14 to rotate, the second sliding table cylinder 13 and the second pneumatic clamping jaw 18 move the bottle-making glass tube 6 downward, when the fourth position sensor d detects that the second sliding table cylinder 13 reaches the lower limit position, the PLC programmable controller instructs the second power motor 7 to stop working, instructs the pneumatic solenoid valve 17 to stop supplying gas to the second pneumatic clamping jaw, and releases the bottle-making glass tube 6 to fall into the first station of the bottle-making machine 19; meanwhile, the PLC instructs the fourth power motor 801 to rotate reversely, so that the bracket 8 and the touch sensor e are reset, and the PLC instructs the first pneumatic clamping jaw to clamp the second bottle-making glass tube 6.

As shown in fig. 12 and 13, the PLC programmable controller instructs the third power motor 12 to drive the second pneumatic clamping jaw 18 to rotate in the reverse direction by 90 °, instructs the second power motor 7 to drive the second lifting screw 14 to rotate in the reverse direction, and causes the second sliding table cylinder 13 and the second pneumatic clamping jaw 18 to move upward; instructing a servo motor in a synchronous belt linear sliding table 10 to rotate for a set number of turns, namely driving a mechanical arm 9 and a first pneumatic clamping jaw 11 to move for a set distance towards the rear vertical surface of the rack 1 so as to enable a second bottle-making glass tube 6 to reach the upper part of a bracket 8; when the third position sensor b detects that the second sliding table cylinder 13 returns to the upper limit position, the PLC instructs the second power motor 7 to stop working, instructs the pneumatic solenoid valve 17 to stop supplying air to the rod cavity of the second sliding table cylinder, and drives the second pneumatic clamping jaw to return to the original position under the action of spring force to enter the next working cycle.

When the second position sensor b detects that the bottle-making glass tube 6 at the uppermost layer in the glass tube frame 2 is completely taken away, the PLC programmable controller instructs the first power motor 5 to rotate, the original second layer bottle-making glass tube is lifted, and when the second position sensor b detects that the bottle-making glass tube 6 in the glass tube frame 2 is lifted to a first layer tube position, the PLC programmable controller instructs the first power motor 5 to stop rotating.

When the photoelectric reflection sensor f detects that no bottle-making glass tube 6 is in the glass tube frame 2, the PLC instructs the first power motor 3 to drive the second lifting screw rod 5 to rotate reversely and drive the glass tube frame 2 to move downwards, when the first position sensor a detects that the glass tube frame 2 returns to the original position information, the PLC instructs the first power motor 2 to stop rotating, and the glass tube frame 2 waits for tube loading.