CN102581840B - Paper-based friction plate feeding manipulator - Google Patents
Paper-based friction plate feeding manipulator Download PDFInfo
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- CN102581840B CN102581840B CN201210027553.7A CN201210027553A CN102581840B CN 102581840 B CN102581840 B CN 102581840B CN 201210027553 A CN201210027553 A CN 201210027553A CN 102581840 B CN102581840 B CN 102581840B
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- 238000004026 adhesive bonding Methods 0.000 abstract description 9
- 238000010924 continuous production Methods 0.000 abstract description 3
- 239000000758 substrate Substances 0.000 description 8
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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
Technical field
The present invention relates to a kind of feeding mechanical hand, particularly relate to a kind of paper-based friction plate feeding manipulator.
Background technology
With reference to Fig. 5, document " Chinese invention patent that the patent No. is ZL200720025499.7 " discloses a kind of Pneumatic three free degree mechanical arm, by moving horizontally cylinder 17, frame 7, base 15, motor 6, move horizontally guide rod 2, Pneumatic paw 11, vertical lift cylinder 4, 8 and 9 of vertical lift guide rod 5 and geared systems form, while picking up object, moving horizontally cylinder 17 shrinks, moving horizontally under the guide effect of guide rod 2, vertical cylinder connecting plate 2 drives vertical lift cylinder 4 and vertical lift guide rod 5 to shift to the left side of illustrated frame 3, 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 clamp object.The feature of this manipulator is to have three degree of freedom, can meet the loading and unloading of a station, but the loading and unloading that are not suitable for paper-base friction wafer and produce continuously gluing and two stations of paster.
Summary of the invention
Only have a loading and unloading station and cause ineffective deficiency in order to overcome existing Pneumatic three free degree mechanical arm, the invention provides a kind of paper-based friction plate feeding manipulator.This device, by the left and right manipulator of parallel placement on movable working platform, carries out two station loading and unloading, 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-based friction plate feeding manipulator, 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 finger 6, vertically arm 7, vertically arm connecting plate 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 is isometric and be connected in the top of guide rail fixed plate 12 with guide rail fixed plate 12; Described slide unit 16 is enclosed within on Pneumatic guide rail 13, and can on Pneumatic guide rail 13, be free to slide; Slide unit 16 by ring flange 18 with move horizontally cylinder 17 and be fixed together, the piston rod that moves horizontally cylinder 17 is fixed on piston rod fixed block 11; Described workbench 14 is arranged on the top of slide unit 16, and can move horizontally with slide unit 16; Two rectangular coordinate manipulatives in parallel placement left and right on 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, manipulator finger 6, manipulator cylinder 5, horizontal arm connecting plate 4 form the hand of manipulator; On the vertical arm 7 of manipulator finger 6, be carved with groove, vertically on arm connecting plate 8, be carved with the bolt hole large with groove width etc., vertically arm 7 is bolted with vertical arm connecting plate 8, diverse location by adjusting bolt in groove, to change the vertical height of vertical arm connecting plate 8, reach the object that regulates manipulator whole height; Vertically the top of arm connecting plate 8 is connected by conjunction 2 and horizontal arm 9; On horizontal arm 9, be carved with chute, and be provided 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.
Described manipulator finger 6 is semi arch structures.
There is rubber sheet gasket on the arc surface of described semi arch.
The invention has the beneficial effects as follows: due to the left and right manipulator of parallel placement on movable working platform, carry out two station loading and unloading, realized steady, the quick feeding of paper-base friction wafer substrate, make it be applicable to the continuous production of paper-base friction wafer gluing and paster.Because manipulator openings of sizes can regulate, realize the crawl of the paper-base friction wafer substrate to different-diameter.Meanwhile, manipulator is upper and lower, front and back position is all adjustable, and its compact conformation, convenient and reliable, expanded range of application.The present invention transforms a little, can be used for the loading and unloading of gluing and paster in synchro converter ring continuous flow procedure.
Below in conjunction with the specific embodiment, the present invention is elaborated.
Accompanying drawing explanation
Fig. 1 is the front view of paper-based friction plate feeding manipulator of the present invention.
Fig. 2 is the left view of paper-based friction plate feeding manipulator of the present invention.
Fig. 3 is the top view of paper-based friction plate feeding manipulator of the present invention.
Fig. 4 is the A-A cutaway view of Fig. 3.
Fig. 5 is the schematic diagram of background technology Pneumatic three free degree mechanical arm.
In figure, 1-sole piece; 2-conjunction; 3-vertically moves cylinder; The horizontal arm connecting plate of 4-5-manipulator cylinder; 6-manipulator finger; The vertical arm of 7-; The vertical arm connecting plate of 8-; The horizontal arm of 9-; 10-slide block; 11-piston rod fixed block; 12-guide rail fixed plate; 13-Pneumatic guide rail; 14-workbench; 15-base; 16-slide unit; 17-moves horizontally cylinder; 18-ring flange.
The specific embodiment
With reference to Fig. 1～4, paper-based friction plate feeding manipulator 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 connecting plate 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 is isometric and be connected above it with guide rail fixed plate 12; Described slide unit 16 is enclosed within on Pneumatic guide rail 13, and can on Pneumatic guide rail 13, be free to slide; Slide unit 16 by ring flange 18 with move horizontally cylinder 17 and be fixed together, the piston rod that moves horizontally cylinder 17 is fixed on piston rod fixed block 11; Described workbench 14 is arranged on the top of slide unit 16, and can move horizontally with slide unit 16; Two rectangular coordinate manipulatives in parallel placement left and right on 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 form the hand of manipulator; On the vertical arm 7 of manipulator, be carved with groove, vertically on arm connecting plate 8, be carved with the bolt hole large with groove width etc., the two is bolted, and the diverse location by adjusting bolt in groove can change the vertical height of vertical arm connecting plate 8, thereby regulates the whole height of manipulator; Vertically the top of arm connecting plate 8 is connected by conjunction 2 and horizontal arm 9; On horizontal arm 9, be carved with chute, and be provided with vertically move cylinder 3 with drive hand vertically move; 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 semi arch structure, and there is rubber sheet gasket on surface, to improve stationarity and the reliability of clamping.
When work, first regulate the vertical arm 7 of manipulator and vertical bolt relative position in vertical arm 7 grooves between arm connecting plate 8, make the height of manipulator concordant with the friction plate substrate height that will clamp, that piston rod is fixed owing to moving horizontally cylinder 17, and movement of cylinder block, therefore work beginning rear-bank rotor housing drives slide unit 16 that workbench 14 is moved to left fast and makes the dead ahead of right manipulator in friction plate substrate, vertically move cylinder 3 and project forwardly to manipulator cylinder 5 driving device hand finger 6 gripping friction plate substrates after correct position, completing aftertable 14 drives right manipulator fast right to move to gluing station to carry out material loading, simultaneously, left manipulator is according to aforementioned manner clamping friction plate substrate, after gluing completes, the right manipulator clamping friction plate substrate of gluing moves to right rapidly to paster station and carries out material loading, and left manipulator carries out material loading to gluing station simultaneously, enters afterwards next operation cycle.
Claims (3)
1. a paper-based friction plate feeding manipulator, 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 finger (6), vertically arm (7), vertically arm connecting plate (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); It is upper that described slide unit (16) is enclosed within Pneumatic guide rail (13), and can on Pneumatic guide rail (13), be free to slide; Slide unit (16) by ring flange (18) with move horizontally cylinder (17) and be fixed together, the piston rod that moves horizontally cylinder (17) is fixed on piston rod fixed block (11); Described workbench (14) is arranged on the top of slide unit (16), and can move horizontally with slide unit (16); Two rectangular coordinate manipulatives in workbench (14) upper parallel placement left and right, 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) and manipulator finger (6) and form, the hand of manipulator finger (6), manipulator cylinder (5), horizontal arm connecting plate (4) formation manipulator; On the vertical arm (7) of manipulator finger (6), be carved with groove, vertically on arm connecting plate (8), be carved with the bolt hole large with groove width etc., vertically arm (7) is bolted with vertical arm connecting plate (8), diverse location by adjusting bolt in groove, to change the vertical height of vertical arm connecting plate (8), reach the object that regulates manipulator whole height; Vertically the top of arm connecting plate (8) is connected by conjunction (2) and horizontal arm (9); Horizontal arm is carved with chute on (9), and is provided 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 finger (6) is driven by manipulator cylinder (5).
2. paper-based friction plate feeding manipulator according to claim 1, is characterized in that: described manipulator finger (6) is semi arch structure.
3. paper-based friction plate feeding manipulator according to claim 2, is characterized in that: there is rubber sheet gasket on the arc surface of described semi arch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210027553.7A CN102581840B (en) | 2012-02-09 | 2012-02-09 | Paper-based friction plate feeding manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210027553.7A CN102581840B (en) | 2012-02-09 | 2012-02-09 | Paper-based friction plate feeding manipulator |
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| CN102581840A CN102581840A (en) | 2012-07-18 |
| CN102581840B true CN102581840B (en) | 2014-06-11 |
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| CN102922505A (en) * | 2012-10-27 | 2013-02-13 | 河北工业大学 | Mechanical arm for capturing and moving products |
| CN103878763B (en) * | 2014-03-14 | 2015-12-30 | 江苏大学 | Three freedom degree manipulator |
| CN104384407B (en) * | 2014-09-19 | 2017-01-11 | 张家港中环海陆特锻股份有限公司 | Automatic feeding and discharging device and method for vertical ring hot-rolling machine |
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| 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 |
| 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 |
| 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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| 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 |
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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 |
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2012
- 2012-02-09 CN CN201210027553.7A patent/CN102581840B/en active Active
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|---|---|---|---|---|
| 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 |
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| CN102581840A (en) | 2012-07-18 |
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Effective date of registration: 20200420 Address after: 710000 Xianhu road junction, Fengxi new town, Xixian New District, Xi'an City, Shaanxi Province Patentee after: SHAANXI HANGFENG NEW MATERIAL Co.,Ltd. Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Patentee before: Northwestern Polytechnical University |
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Denomination of invention: Paper based friction plate feeding manipulator Effective date of registration: 20220419 Granted publication date: 20140611 Pledgee: Shaanxi Aviation Industry Development Group Co.,Ltd. Pledgor: SHAANXI HANGFENG NEW MATERIAL Co.,Ltd. Registration number: Y2022610000156 |
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