CN102581840A - Paper-based friction plate feeding manipulator - Google Patents

Paper-based friction plate feeding manipulator Download PDF

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Publication number
CN102581840A
CN102581840A CN2012100275537A CN201210027553A CN102581840A CN 102581840 A CN102581840 A CN 102581840A CN 2012100275537 A CN2012100275537 A CN 2012100275537A CN 201210027553 A CN201210027553 A CN 201210027553A CN 102581840 A CN102581840 A CN 102581840A
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China
Prior art keywords
manipulator
cylinder
guide rail
connecting plate
paper
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CN2012100275537A
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Chinese (zh)
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CN102581840B (en
Inventor
郭学平
杨方
齐乐华
付业伟
费杰
潘广镇
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SHAANXI HANGFENG NEW MATERIAL Co.,Ltd.
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Northwestern Polytechnical University
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Abstract

The invention discloses a paper-based friction plate feeding manipulator, which solves the technical problem of low operating efficiency of an existing three-degree-of-freedom pneumatic manipulator. The technical scheme includes that the paper-based friction plate feeding manipulator comprises a bottom block (1), a combination part (2), a longitudinal moving cylinder (3), a horizontal arm connecting plate (4), manipulator cylinders (5), manipulators (6), vertical arms (7), a vertical arm combination part (8), a horizontal arm (9), a slider (10), a piston rod fixing block (11), a guide rail fixing plate (12), a pneumatic guide rail (13), an operating table (14), a base (15), a sliding table (16), a horizontal moving cylinder (17) and a flange (18). Since two manipulators are parallelly arranged on the operating table, the paper-based friction plate feeding manipulator is suitable for continuous production of gluing and surface mounting of paper-based friction plates. Further, the opening size and all-direction positions of the manipulator are adjustable, gripping of base plates of the paper-based friction plates of different diameters is realized, and operating efficiency is improved.

Description

The paper-base friction wafer feeding mechanical hand
Technical field
The present invention relates to a kind of feeding mechanical hand, particularly relate to a kind of paper-base friction wafer feeding mechanical hand.
Background technology
With reference to Fig. 5; Document " patent No. is the Chinese invention patent of ZL 200720025499.7 " discloses a kind of Three Degree Of Freedom Pneumatic manipulator; By moving horizontally cylinder 17, frame 7, base 15, motor 6, moving horizontally guide rod 2, Pneumatic paw 11, vertical lift cylinder 4, vertical lift guide rod 5 and geared system 8 and 9 and form, when picking up object, move horizontally cylinder 17 and shrink; Under the guide effect that moves horizontally guide rod 2; Vertical cylinder connecting plate 2 drive vertical lift cylinders 4 and vertical lift guide rod 5 are shifted to the left side of illustrated frame 3, and under the effect of vertical lift cylinder 4, vertical lift guide rod 5 stretches out; Pneumatic paw 11 moves down and paw unlatching under the effect of stingy cylinder 12, thereby grasps object.The characteristics of this manipulator are to have three degree of freedom, can satisfy the loading and unloading of a station, but are not suitable for the loading and unloading that paper-base friction wafer is produced gluing and two stations of paster continuously.
Summary of the invention
Have only a loading and unloading station and cause ineffective deficiency in order to overcome existing Three Degree Of Freedom Pneumatic manipulator, the present invention provides a kind of paper-base friction wafer feeding mechanical hand.This device carries out two station loading and unloading through the left and right sides manipulator of parallel placement on removable workbench, can realize steady, the quick feeding of paper-base friction wafer substrate, makes it be applicable to the continuous production of paper-base friction wafer gluing and paster.
The technical solution adopted for the present invention to solve the technical problems is: a kind of paper-base friction wafer feeding mechanical hand; Comprise base 15, move horizontally cylinder 17, be characterized in also comprising sole piece 1, conjunction 2, vertically move cylinder 3, horizontal arm connecting plate 4, manipulator cylinder 5, manipulator 6, vertically arm 7, vertically arm conjunction 8, horizontal arm 9, slide block 10, piston rod fixed block 11, guide rail fixed plate 12, pneumatic guide rail 13, workbench 14, slide unit 16 and ring flange 18.Described sole piece 1 has two, is separately positioned on the two ends of guide rail fixed plate 12, and pneumatic guide rail 13 and guide rail fixed plate 12 are isometric and be connected in the top of guide rail fixed plate 12; Described slide unit 16 is enclosed within on the pneumatic guide rail 13, and can on pneumatic guide rail 13, be free to slide; Slide unit 16 through ring flange 18 with move horizontally cylinder 17 and be fixed together, the piston rod that moves horizontally cylinder 17 is fixed on the piston rod fixed block 11; Described workbench 14 is installed in the top of slide unit 16, and can move horizontally with slide unit 16; Two rectangular coordinate manipulatives about parallel placement on the workbench 14; This rectangular coordinate manipulative by vertical arm 7, vertically arm connecting plate 8, conjunction 2, horizontal arm 9, horizontal arm connecting plate 4, slide block 10, vertically move cylinder 3, manipulator cylinder 5, manipulator finger 6 and form the hand of manipulator finger 6, manipulator cylinder 5, horizontal arm connecting plate 4 formation manipulators; Be carved with groove on the vertical arm 7 of manipulator finger 6; Vertically be carved with on the arm connecting plate 8 and big bolt hole such as groove width; Vertically arm 7 and vertical arm connecting plate 8 are connected through bolt; Through regulating the diverse location of bolt in groove,, reach the purpose of regulating the manipulator whole height to change the vertical height of vertical arm connecting plate 8; Vertically the top of arm connecting plate 8 is connected through conjunction 2 and horizontal arm 9; Be carved with chute on the horizontal arm 9, and be equipped with and vertically move cylinder 3; Horizontal arm connecting plate 4 is provided with slide block 10, and the front end of slide block 10 is fixed with manipulator cylinder 5, and slide block 10 can slide with vertically moving vertically moving in the chute of horizontal arm 9 of cylinder 3 piston rods; The motion of manipulator finger 6 is driven by manipulator cylinder 5.
Said manipulator finger 6 is semi arch structures.
There is rubber sheet gasket on the arc surface of said semi arch.
The invention has the beneficial effects as follows: because the left and right sides manipulator of parallel placement on removable workbench carries out two station loading and unloading, realized steady, the quick feeding of paper-base friction wafer substrate, made it be applicable to the continuous production of paper-base friction wafer gluing and paster.Because the manipulator openings of sizes can be regulated, and has realized the extracting to the paper-base friction wafer substrate of different-diameter.Simultaneously, about the manipulator, the equal scalable of front and back position, and its compact conformation, convenient and reliable, enlarged range of application.The present invention transforms a little, promptly can be used for the loading and unloading of gluing and paster in the synchro converter ring continuous flow procedure.
Below in conjunction with the specific embodiment the present invention is elaborated.
Description of drawings
Fig. 1 is the front view of paper-base friction wafer feeding mechanical hand of the present invention.
Fig. 2 is the left view of paper-base friction wafer feeding mechanical hand of the present invention.
Fig. 3 is the vertical view of paper-base friction wafer feeding mechanical hand of the present invention.
Fig. 4 is the A-A cutaway view of Fig. 3.
Fig. 5 is the sketch map of background technology Three Degree Of Freedom Pneumatic manipulator.
Among the figure, the 1-sole piece; The 2-conjunction; 3-vertically moves cylinder; The horizontal arm connecting plate of 4-5-manipulator cylinder; The 6-manipulator finger; The vertical arm of 7-; The vertical arm connecting plate of 8-; The horizontal arm of 9-; The 10-slide block; 11-piston rod fixed block; The 12-guide rail fixed plate; The pneumatic guide rail of 13-; The 14-workbench; The 15-base; The 16-slide unit; 17-moves horizontally cylinder; The 18-ring flange.
The specific embodiment
With reference to Fig. 1~4, paper-base friction wafer feeding mechanical hand of the present invention comprises sole piece 1, conjunction 2, vertically moves cylinder 3, horizontal arm connecting plate 4, manipulator cylinder 5, manipulator finger 6, vertically arm 7, vertically arm conjunction 8, horizontal arm 9, slide block 10, piston rod fixed block 11, guide rail fixed plate 12, pneumatic guide rail 13, workbench 14, base 15, slide unit 16, ring flange 18.Described sole piece 1 is arranged on the two ends of guide rail fixed plate 12, and pneumatic guide rail 13 and guide rail fixed plate 12 are isometric and be connected above it; Described slide unit 16 is enclosed within on the pneumatic guide rail 13, and can on pneumatic guide rail 13, be free to slide; Slide unit 16 through ring flange 18 with move horizontally cylinder 17 and be fixed together, the piston rod that moves horizontally cylinder 17 is fixed on the piston rod fixed block 11; Described workbench 14 is installed in the top of slide unit 16, and can move horizontally with slide unit 16; Two rectangular coordinate manipulatives about parallel placement on the workbench 14; This rectangular coordinate manipulative by vertical arm 7, vertically arm connecting plate 8, conjunction 2, horizontal arm 9, horizontal arm connecting plate 4, slide block 10, vertically move cylinder 3, manipulator cylinder 5, manipulator finger 6 etc. and form; Wherein, manipulator finger 6, manipulator cylinder 5, horizontal arm connecting plate 4 constitute the hand of manipulator; Be carved with groove on the vertical arm 7 of manipulator; Vertically be carved with on the arm connecting plate 8 and big bolt hole such as groove width; The two connects through bolt, can change the vertical height of vertical arm connecting plate 8 through regulating the diverse location of bolt in groove, thereby regulate the whole height of manipulator; Vertically the top of arm connecting plate 8 is connected through conjunction 2 and horizontal arm 9; Be carved with chute on the horizontal arm 9, and be equipped with and vertically move cylinder 3 and vertically move to drive hand; Horizontal arm connecting plate 4 is provided with slide block 10, and front end is fixed with manipulator cylinder 5, and slide block 10 can slide with vertically moving vertically moving in the chute of horizontal arm 9 of cylinder 3 piston rods; The motion of manipulator finger 6 is driven by manipulator cylinder 5, and manipulator finger 6 is the semi arch structure, and there is rubber sheet gasket on the surface, to improve the stationarity and the reliability of clamping.
During work; At first regulate the vertical arm 7 of manipulator and vertical bolt relative position in vertical arm 7 grooves between the arm connecting plate 8; Make the height of manipulator concordant with the friction plate substrate height of want clamping; Because to move horizontally cylinder 17 is that piston rod is fixed, and movement of cylinder block,, work workbench 14 is moved to left fast make right manipulator be in the dead ahead of friction plate substrate so beginning rear-bank rotor housing drive slide unit 16; Vertically move cylinder 3 and project forwardly to manipulator cylinder 5 driving device hand fingers 6 gripping friction plate substrates behind the correct position; Accomplish aftertable 14 and drive right manipulator and move to right fast to the gluing station and carry out material loading, simultaneously, left manipulator is according to aforementioned manner clamping friction plate substrate; After gluing was accomplished, the right manipulator clamping friction plate substrate of gluing moved to right rapidly to the paster station and carries out material loading, and left manipulator carries out material loading to the gluing station simultaneously, gets into next operation cycle afterwards.

Claims (3)

1. Pneumatic manipulator of accomplishing continuously paper-base friction wafer gluing, paster; Comprise base (15), move horizontally cylinder (17), it is characterized in that: also comprise sole piece (1), conjunction (2), vertically move cylinder (3), horizontal arm connecting plate (4), manipulator cylinder (5), manipulator (6), vertically arm (7), vertically arm conjunction (8), horizontal arm (9), slide block (10), piston rod fixed block (11), guide rail fixed plate (12), pneumatic guide rail (13), workbench (14), slide unit (16) and ring flange (18).Described sole piece (1) has two, is separately positioned on the two ends of guide rail fixed plate (12), and pneumatic guide rail (13) and guide rail fixed plate (12) are isometric and be connected in the top of guide rail fixed plate (12); Described slide unit (16) is enclosed within on the pneumatic guide rail (13), and can on pneumatic guide rail (13), be free to slide; Slide unit (16) through ring flange (18) with move horizontally cylinder (17) and be fixed together, the piston rod that moves horizontally cylinder (17) is fixed on the piston rod fixed block (11); Described workbench (14) is installed in the top of slide unit (16), and can move horizontally with slide unit (16); Workbench (14) is gone up two rectangular coordinate manipulatives (6) about parallel placement; This rectangular coordinate manipulative (6) by vertical arm (7), vertically arm connecting plate (8), conjunction (2), horizontal arm (9), horizontal arm connecting plate (4), slide block (10), vertically move cylinder (3), manipulator cylinder (5) is formed, the hand of manipulator cylinder (5), horizontal arm connecting plate (4) formation manipulator (6); Be carved with groove on the vertical arm (7) of manipulator (6); Vertically be carved with on the arm connecting plate (8) and big bolt hole such as groove width; Vertically arm (7) is connected through bolt with vertical arm connecting plate (8); Through regulating the diverse location of bolt in groove,, reach the purpose of regulating the manipulator whole height to change the vertical height of vertical arm connecting plate (8); Vertically the top of arm connecting plate (8) is connected through conjunction (2) and horizontal arm (9); Horizontal arm is carved with chute on (9), and is equipped with and vertically moves cylinder (3); Horizontal arm connecting plate (4) is provided with slide block (10), and the front end of slide block (10) is fixed with manipulator cylinder (5), and slide block (10) can slide with vertically moving vertically moving in the chute of horizontal arm (9) of cylinder (3) piston rod; The motion of manipulator (6) is driven by manipulator cylinder (5).
2. the Pneumatic manipulator of continuous completion paper-base friction wafer gluing according to claim 1, paster, it is characterized in that: said manipulator (6) is the semi arch structure.
3. the Pneumatic manipulator of continuous completion paper-base friction wafer gluing according to claim 1 and 2, paster, it is characterized in that: there is rubber sheet gasket on the arc surface of said semi arch.
CN201210027553.7A 2012-02-09 2012-02-09 Paper-based friction plate feeding manipulator Active CN102581840B (en)

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CN102581840B CN102581840B (en) 2014-06-11

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922505A (en) * 2012-10-27 2013-02-13 河北工业大学 Mechanical arm for capturing and moving products
CN103878763A (en) * 2014-03-14 2014-06-25 江苏大学 Three-freedom degree manipulator
CN104384407A (en) * 2014-09-19 2015-03-04 张家港海陆环形锻件有限公司 Automatic feeding and discharging device and method for vertical ring hot-rolling machine
CN105345483A (en) * 2015-12-04 2016-02-24 无锡易通精密机械股份有限公司 Automatic machining production line for automobile wheel hub bearing
CN105537138A (en) * 2015-12-31 2016-05-04 江苏宏宝锻造有限公司 Synchronous detection device for weight of engine connecting rods
CN106332540A (en) * 2015-07-08 2017-01-11 杭州职业技术学院 Surface mounting machine and method
CN107363854A (en) * 2017-08-24 2017-11-21 广东利元亨智能装备有限公司 A kind of telescopic mechanical gripper
CN107520856A (en) * 2017-10-04 2017-12-29 海宁市新宇光能科技有限公司 Upper workpiece manipulator assembly
CN108545470A (en) * 2018-06-12 2018-09-18 海盐六里液压管件有限公司 A kind of nut shifting material equipment
CN108746468A (en) * 2018-05-30 2018-11-06 李勤华 A kind of loud speaker T iron cold-heading feeding device modified form material retractable device
CN108739070A (en) * 2018-06-14 2018-11-06 山东省农业科学院农业资源与环境研究所 A kind of bag material of edible fungus cultivation system and method
CN109093607A (en) * 2018-09-07 2018-12-28 浙江斯柯特科技有限公司 A kind of totally-enclosed right angle coordinate manipulator of high-speed silent
CN109319554A (en) * 2018-11-06 2019-02-12 湖南河豚机电设备有限公司 A kind of motorcycle gear box friction plate rushes paper equipment automatically
CN111230909A (en) * 2020-02-27 2020-06-05 周云飞 Material grabbing manipulator for visual detection of automobile synchronizer
CN111251585A (en) * 2020-01-16 2020-06-09 西北工业大学 Push type automatic bending forming mechanism for multiple annular paper-based friction plates

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JPH09201789A (en) * 1996-01-26 1997-08-05 Aiphone Co Ltd Working device
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CN201592505U (en) * 2009-12-30 2010-09-29 中国航天科技集团公司第九研究院第十六研究所 Manipulator for horizontal injection moulding machine
CN201693549U (en) * 2010-02-03 2011-01-05 南京浦园冰淇淋机械制造有限公司 Dislocation grabbing machine
CN202448139U (en) * 2012-02-09 2012-09-26 西北工业大学 Feeding mechanical hand for paper-based friction plate

Patent Citations (6)

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Publication number Priority date Publication date Assignee Title
JPH09201789A (en) * 1996-01-26 1997-08-05 Aiphone Co Ltd Working device
CN201065143Y (en) * 2007-05-24 2008-05-28 大连四达高技术发展有限公司 Multi-axle multi-station suspension carrying robot
TW200918436A (en) * 2007-10-22 2009-05-01 Chung Shan Inst Of Science End effector of transport robot arm conforming to thin sheet substrate
CN201592505U (en) * 2009-12-30 2010-09-29 中国航天科技集团公司第九研究院第十六研究所 Manipulator for horizontal injection moulding machine
CN201693549U (en) * 2010-02-03 2011-01-05 南京浦园冰淇淋机械制造有限公司 Dislocation grabbing machine
CN202448139U (en) * 2012-02-09 2012-09-26 西北工业大学 Feeding mechanical hand for paper-based friction plate

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922505A (en) * 2012-10-27 2013-02-13 河北工业大学 Mechanical arm for capturing and moving products
CN103878763A (en) * 2014-03-14 2014-06-25 江苏大学 Three-freedom degree manipulator
CN103878763B (en) * 2014-03-14 2015-12-30 江苏大学 Three freedom degree manipulator
CN104384407A (en) * 2014-09-19 2015-03-04 张家港海陆环形锻件有限公司 Automatic feeding and discharging device and method for vertical ring hot-rolling machine
CN106332540B (en) * 2015-07-08 2023-11-28 杭州职业技术学院 Chip mounter and method
CN106332540A (en) * 2015-07-08 2017-01-11 杭州职业技术学院 Surface mounting machine and method
CN105345483A (en) * 2015-12-04 2016-02-24 无锡易通精密机械股份有限公司 Automatic machining production line for automobile wheel hub bearing
CN105537138A (en) * 2015-12-31 2016-05-04 江苏宏宝锻造有限公司 Synchronous detection device for weight of engine connecting rods
CN107363854A (en) * 2017-08-24 2017-11-21 广东利元亨智能装备有限公司 A kind of telescopic mechanical gripper
CN107363854B (en) * 2017-08-24 2024-03-15 广东利元亨智能装备有限公司 Telescopic mechanical gripper
CN107520856A (en) * 2017-10-04 2017-12-29 海宁市新宇光能科技有限公司 Upper workpiece manipulator assembly
CN108746468A (en) * 2018-05-30 2018-11-06 李勤华 A kind of loud speaker T iron cold-heading feeding device modified form material retractable device
CN108545470A (en) * 2018-06-12 2018-09-18 海盐六里液压管件有限公司 A kind of nut shifting material equipment
CN108545470B (en) * 2018-06-12 2024-05-07 海盐六里液压管件有限公司 Nut moves material equipment
CN108739070A (en) * 2018-06-14 2018-11-06 山东省农业科学院农业资源与环境研究所 A kind of bag material of edible fungus cultivation system and method
CN109093607A (en) * 2018-09-07 2018-12-28 浙江斯柯特科技有限公司 A kind of totally-enclosed right angle coordinate manipulator of high-speed silent
CN109093607B (en) * 2018-09-07 2023-09-05 浙江斯柯特科技有限公司 High-speed mute totally-enclosed rectangular coordinate manipulator
CN109319554A (en) * 2018-11-06 2019-02-12 湖南河豚机电设备有限公司 A kind of motorcycle gear box friction plate rushes paper equipment automatically
CN109319554B (en) * 2018-11-06 2020-05-15 安徽长命摩擦材料科技有限公司 Automatic paper punching equipment for friction plate of motorcycle gearbox
CN111251585A (en) * 2020-01-16 2020-06-09 西北工业大学 Push type automatic bending forming mechanism for multiple annular paper-based friction plates
CN111251585B (en) * 2020-01-16 2021-01-05 西北工业大学 Push type automatic bending forming mechanism for multiple annular paper-based friction plates
CN111230909A (en) * 2020-02-27 2020-06-05 周云飞 Material grabbing manipulator for visual detection of automobile synchronizer
CN111230909B (en) * 2020-02-27 2021-05-04 诸暨市港灵科技有限公司 Material grabbing manipulator for visual detection of automobile synchronizer

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