CN102581840B - Paper-based friction plate feeding manipulator - Google Patents

Abstract

The invention discloses a paper-based friction sheet feeding manipulator, which is used to solve the technical problem of low working efficiency of the existing three-degree-of-freedom pneumatic manipulator. The technical solution is composed of a bottom block (1), a joint (2), a longitudinal moving cylinder (3), a horizontal arm connecting plate (4), a manipulator cylinder (5), a manipulator (6), a vertical arm (7), a vertical Straight arm combination (8), horizontal arm (9), slider (10), piston rod fixing block (11), guide rail fixing plate (12), pneumatic guide rail (13), workbench (14), base (15 ), slide table (16), horizontal moving cylinder (17) and flange plate (18). Due to the parallel placement of two manipulators on the workbench, it is suitable for the continuous production of paper-based friction disc gluing and patching. Since the opening size of the manipulator, as well as the up and down, front and rear positions can be adjusted, the grasping of paper-based friction plate substrates with different diameters is realized, and the work efficiency is improved.

Description

Paper-based friction plate feeding manipulator

technical field

The invention relates to a feeding manipulator, in particular to a paper-based friction disc feeding manipulator.

Background technique

Referring to Fig. 5, the document "Chinese Invention Patent with Patent No. ZL200720025499.7" discloses a three-degree-of-freedom pneumatic manipulator, which consists of a horizontally moving cylinder 17, a frame 7, a base 15, a motor 6, a horizontally moving guide rod 2, and a pneumatic Hand claw 11, vertical lifting cylinder 4, vertical lifting guide rod 5 and gear devices 8 and 9 are composed. When picking up an object, the horizontal moving cylinder 17 shrinks, and under the guidance of the horizontal moving guide rod 2, the vertical cylinder connecting plate 2 drives The vertical lifting cylinder 4 and the vertical lifting guide rod 5 move to the left side of the frame 3 shown in the figure. Under the action of the action, the jaws open to hold the object. The manipulator is characterized by three degrees of freedom, which can satisfy the loading and unloading of one station, but it is not suitable for the continuous production of paper-based friction discs, the glue coating and the loading and unloading of two stations.

Contents of the invention

In order to overcome the disadvantage of low working efficiency caused by the existing three-degree-of-freedom pneumatic manipulator having only one loading and unloading station, the present invention provides a paper-based friction plate feeding manipulator. The device uses the left and right manipulators placed in parallel on the movable workbench to carry out loading and unloading at two stations, which can realize the smooth and fast feeding of the paper-based friction plate substrate, making it suitable for paper-based friction plate gluing and patching continuous production.

The technical solution adopted by the present invention to solve the technical problem is: a paper-based friction plate feeding manipulator, including a base 15, a horizontal moving cylinder 17, and is characterized in that it also includes a bottom block 1, a joint 2, a longitudinal moving cylinder 3, a horizontal Arm connecting plate 4, manipulator cylinder 5, manipulator finger 6, vertical arm 7, vertical arm connecting plate 8, horizontal arm 9, slider 10, piston rod fixing block 11, guide rail fixing plate 12, pneumatic guide rail 13, workbench 14, slide table 16 and flange plate 18. There are two bottom blocks 1, which are respectively arranged at the two ends of the guide rail fixing plate 12, and the pneumatic guide rail 13 is equal to the guide rail fixing plate 12 and is fixedly connected above the guide rail fixing plate 12; the described slide table 16 is sleeved on on the pneumatic guide rail 13, and can freely slide on the pneumatic guide rail 13; the slide table 16 is fixedly connected with the horizontal moving cylinder 17 through the flange plate 18, and the piston rod of the horizontal moving cylinder 17 is fixed on the piston rod fixing block 11; The workbench 14 described above is installed on the top of the slide table 16, and can move horizontally together with the slide table 16; on the workbench 14, two Cartesian coordinate manipulators are placed in parallel, and the Cartesian coordinate manipulator consists of a vertical arm 7, a vertical Arm connection plate 8, combination piece 2, horizontal arm 9, horizontal arm connection plate 4, slider 10, longitudinal movement cylinder 3, manipulator cylinder 5, manipulator finger 6, manipulator finger 6, manipulator cylinder 5, horizontal arm connection plate 4 Constitute the hand of manipulator; Engraved groove is engraved on the vertical arm 7 of manipulator finger 6, is engraved with the bolt hole that is as big as groove width on the vertical arm connecting plate 8, and vertical arm 7 and vertical arm connecting plate 8 pass bolt hole. Connection, by adjusting the different positions of the bolts in the groove, to change the vertical height of the vertical arm connecting plate 8, to achieve the purpose of adjusting the overall height of the manipulator; the top of the vertical arm connecting plate 8 is fixedly connected with the horizontal arm 9 through the joint 2 ; The horizontal arm 9 is engraved with a chute, and a longitudinally moving cylinder 3 is installed; the connecting plate 4 of the horizontal arm is provided with a slide block 10, and the front end of the slide block 10 is fixedly connected with a manipulator cylinder 5, and the slide block 10 can move the cylinder vertically 3 The longitudinal movement of the piston rod slides in the chute of the horizontal arm 9; the movement of the manipulator finger 6 is driven by the manipulator cylinder 5.

The manipulator finger 6 is a semicircular arc structure.

There are rubber gaskets on the arc surface of the semicircle.

The beneficial effects of the present invention are: due to the left and right manipulators placed in parallel on the movable workbench, loading and unloading at two stations, the stable and fast feeding of the paper-based friction plate substrate is realized, making it suitable for paper-based friction plate Continuous production of gluing and patching. Since the size of the opening of the manipulator can be adjusted, the grasping of paper-based friction sheet substrates with different diameters is realized. At the same time, the up and down, front and back positions of the manipulator can be adjusted, and its structure is compact, convenient and reliable, and its application range is expanded. The invention can be used for glue coating and patch loading and unloading in the continuous production process of the synchronizer gear ring with a slight modification.

The present invention will be described in detail below in combination with specific embodiments.

Description of drawings

Fig. 1 is a front view of a paper-based friction plate feeding manipulator of the present invention.

Fig. 2 is a left view of the paper-based friction plate feeding manipulator of the present invention.

Fig. 3 is a top view of the paper-based friction plate feeding manipulator of the present invention.

Fig. 4 is a cross-sectional view along line A-A of Fig. 3 .

Fig. 5 is a schematic diagram of a three-degree-of-freedom pneumatic manipulator in the background technology.

In the figure, 1-bottom block; 2-joint; 3-longitudinal moving cylinder; 4-horizontal arm connecting plate 5-manipulator cylinder; 6-manipulator finger; 7-vertical arm; 8-vertical arm connecting plate; 9 -horizontal arm; 10-slider; 11-piston rod fixed block; 12-rail fixed plate; 13-pneumatic guide rail; 14-worktable; 15-base; Orchid plate.

Detailed ways

Referring to Figures 1 to 4, the paper-based friction sheet feeding manipulator of the present invention includes a bottom block 1, a binding member 2, a longitudinal moving cylinder 3, a horizontal arm connecting plate 4, a manipulator cylinder 5, a manipulator finger 6, a vertical arm 7, and a vertical arm Connecting plate 8, horizontal arm 9, slide block 10, piston rod fixing block 11, guide rail fixing plate 12, pneumatic guide rail 13, workbench 14, base 15, slide table 16, flange plate 18. The bottom block 1 is arranged on the two ends of the guide rail fixing plate 12, and the pneumatic guide rail 13 is equal in length to the guide rail fixing plate 12 and is fixedly connected above it; the described slide table 16 is sleeved on the pneumatic guide rail 13, and can Free sliding on the guide rail 13; the slide table 16 is fixedly connected with the horizontal movement cylinder 17 through the flange plate 18, and the piston rod of the horizontal movement cylinder 17 is fixed on the piston rod fixing block 11; the workbench 14 is installed on the slide table 16, and can move horizontally together with the slide table 16; on the workbench 14, two Cartesian coordinate manipulators are placed in parallel, and the Cartesian coordinate manipulators are composed of a vertical arm 7, a vertical arm connecting plate 8, a joint 2, The horizontal arm 9, the horizontal arm connecting plate 4, the slider 10, the longitudinal moving cylinder 3, the manipulator cylinder 5, the manipulator finger 6, etc., wherein the manipulator finger 6, the manipulator cylinder 5, and the horizontal arm connecting plate 4 constitute the hand of the manipulator; The vertical arm 7 of the manipulator is engraved with a groove, and the vertical arm connecting plate 8 is engraved with a bolt hole equal to the width of the groove. The two are connected by bolts, and the vertical arm connection can be changed by adjusting the different positions of the bolts in the groove. The vertical height of the plate 8, thereby adjusting the overall height of the manipulator; the top of the vertical arm connecting plate 8 is fixedly connected with the horizontal arm 9 through the joint 2; The hand moves longitudinally; the horizontal arm connecting plate 4 is provided with a slide block 10, and the front end is fixedly connected with the manipulator cylinder 5, and the slide block 10 can slide in the chute of the horizontal arm 9 along with the longitudinal movement of the longitudinally moving cylinder 3 piston rod; the manipulator The movement of the finger 6 is driven by the cylinder 5 of the manipulator. The finger 6 of the manipulator is a semi-circular structure with rubber pads on the surface to improve the stability and reliability of clamping.

During work, at first adjust the relative position of the bolt between the vertical arm 7 of the manipulator and the vertical arm connecting plate 8 in the groove of the vertical arm 7, so that the height of the manipulator is equal to the height of the friction plate substrate to be clamped. The moving cylinder 17 is fixed by the piston rod, and the cylinder moves, so the cylinder drives the sliding table 16 to make the workbench 14 quickly move to the left after the work starts, so that the right manipulator is in front of the friction plate substrate, and the longitudinal moving cylinder 3 is stretched forward to a suitable position. After the position, the manipulator cylinder 5 drives the manipulator finger 6 to clamp the friction plate substrate. After the completion, the workbench 14 drives the right manipulator to quickly move to the right to the glue coating station for loading. At the same time, the left manipulator clamps the friction plate substrate according to the aforementioned method; After the gluing is completed, the right manipulator clamps the glued friction plate substrate and moves right to the placement station for loading, while the left manipulator loads the gluing station, and then enters the next working 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.

Images