CN106113002A - Printing equipment intelligence absorption mechanical hand - Google Patents

Printing equipment intelligence absorption mechanical hand Download PDF

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Publication number
CN106113002A
CN106113002A CN201610643896.4A CN201610643896A CN106113002A CN 106113002 A CN106113002 A CN 106113002A CN 201610643896 A CN201610643896 A CN 201610643896A CN 106113002 A CN106113002 A CN 106113002A
Authority
CN
China
Prior art keywords
slide
linking arm
printing equipment
mechanical hand
lifting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201610643896.4A
Other languages
Chinese (zh)
Inventor
陈海生
熊立贵
李娜
皮阳雪
吴成英
陈新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongshan Torch Polytechnic
Original Assignee
Zhongshan Torch Polytechnic
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhongshan Torch Polytechnic filed Critical Zhongshan Torch Polytechnic
Priority to CN201610643896.4A priority Critical patent/CN106113002A/en
Publication of CN106113002A publication Critical patent/CN106113002A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

Abstract

The invention discloses a kind of printing equipment intelligence absorption mechanical hand, it is characterised in that: include frame, this frame is provided with and drives motor, guide rail and be positioned at driving pulley and the driven pulley at guide rail two ends, in described driving pulley, be provided with drive sprocket axle;Follower shaft it is provided with in driven pulley, described drive sprocket axle and follower shaft are all installed in frame by bearing, described driving motor is connected with drive sprocket axle by shaft coupling, it is wound with belt on driving pulley and driven pulley, being provided with slide on described guide rail, this slide is fixing with belt to be connected, and described slide is provided with linking arm, some vacuum cups that can adsorb stock are installed on this linking arm, and this vacuum cup is installed on the end of linking arm by elevating mechanism.

Description

Printing equipment intelligence absorption mechanical hand
Technical field
The present invention relates to a kind of automated machine equipment, particularly a kind of printing equipment intelligence absorption mechanical hand.
Background technology
Now the life of people uses print product in a large number, thus printing machinery achieves bigger development the most therewith, Common printer typically by locing up, inking, impressing, the mechanism such as defeated paper (including folding) form, can be complete by said mechanism Become stock whole printing process on the printer, but be completed for printing rear stock and also need to transfer to from printer separately Outer position collecting packing, artificially collects if used, and not only efficiency is low but also cost high, thus has enterprise's employing mechanical hand Gripping stock transfers to the appointment position of subsequent processing, but some stock is the most thin pliable, and stock is put down Being put on printing table, mechanical hand is difficult to gripping, thus is necessary for a kind of new intellectual adsorption machine of the problems referred to above exploitation Tool hands.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention provides a kind of printing equipment intelligence absorption mechanical hand.
The technical solution adopted for the present invention to solve the technical problems is:
Printing equipment intelligence absorption mechanical hand, it is characterised in that: include frame, this frame is provided with driving motor, guide rail and It is positioned at driving pulley and the driven pulley at guide rail two ends, in described driving pulley, is provided with drive sprocket axle;Be provided with in driven pulley from The axis of a movable block, described drive sprocket axle and follower shaft be all installed in frame by bearing, described driving motor by shaft coupling with Drive sprocket axle connects, and driving pulley and driven pulley is wound with belt, described guide rail is provided with slide, and this slide is solid with belt Fixed connection, described slide is provided with linking arm, this linking arm is provided with some vacuum cups that can adsorb stock, and This vacuum cup is installed on the end of linking arm by elevating mechanism.
Described linking arm is L-type structure.
Described guide rail is line slideway, and this line slideway is provided with slide block, and described slide is installed on straight line by slide block and leads On rail.
Described elevating mechanism includes that lifting drives cylinder, lifter plate and lifting traveller, and this lifting drives cylinder to be installed on even Connecing on arm, lifting drives the piston rod end of cylinder and one end of lifting traveller all to fix with lifter plate and be connected, and lifting traveller The other end be provided with restriction cap, described linking arm is provided with slide opening, and described lifting traveller is positioned in slide opening, lifting traveller on be cased with Back-moving spring, one end of back-moving spring can be pressed on linking arm;And its other end can press in limiting on cap, described very Suction dish is installed on lifter plate.
Being provided with briquetting on described slide, described belt is integrated with slide locking by briquetting.
The invention has the beneficial effects as follows: the present invention uses vacuum cup to replace mechanical grasping structures in the past, by external Vacuum generator make to produce in vacuum cup negative pressure, thus thing to be hoisted is sucked, can start to transport thing to be hoisted. When thing to be hoisted is transported to destination, smoothly inflate in vacuum cup, in making vacuum cup, become zero gas by negative pressure Pressure or the most positive air pressure, vacuum cup just departs from thing to be hoisted, thus completes the task of promoting conveyance weight, said structure Simpler than machinery gripping, and by the way of absorption, solve the machinery gripping stock frivolous, soft for some be difficult to The problem of gripping, improves the success rate of stock transfer, thus also improves work efficiency.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the plan structure schematic diagram of the present invention;
Fig. 2 is the front elevational schematic of the elevating mechanism of the present invention.
Detailed description of the invention
With reference to Fig. 1, Fig. 2, the invention discloses a kind of printing equipment intelligence absorption mechanical hand, including frame 1, this frame 1 On be provided with and drive motor 2, guide rail 3 and be positioned at driving pulley 4 and the driven pulley 5 at guide rail 3 two ends, in described driving pulley 4 It is provided with drive sprocket axle 6;Being provided with follower shaft 7 in driven pulley 5, described drive sprocket axle 6 and follower shaft 7 are all installed by bearing In frame 1, described driving motor 2 is connected with drive sprocket axle 6 by shaft coupling, and driving pulley 4 and driven pulley 5 are wound with skin Band 8, described guide rail 3 is provided with slide 9, and this slide 9 is fixing with belt 8 to be connected, the concrete structure that slide 9 is connected with belt 8 Being: be provided with briquetting 10 on described slide 9, described belt 8 is integrated, on described slide 9 with slide 9 locking by briquetting 10 Linking arm 11 is installed, this linking arm 11 is provided with some vacuum cups 12 that can adsorb stock, and this vacuum cup 12 are installed on the end of linking arm 11 by elevating mechanism, and said structure operation principle is summarized as follows: drive motor 2 to drive actively Wheel shaft 6 rotates, thus drives driving pulley 4 to rotate, and driving pulley 4 drives belt 8 to move, and belt 8 drives slide 9 when mobile Move along guide rail 3, thus drive vacuum cup 12 to move by linking arm 11, thus vacuum cup 12 can pass through said structure Carry out accurate from printing platform the moving back and forth to next transfer location of printer.
In this structure, driving motor 2 to have employed servomotor, servomotor has the advantage that precision is high, it is achieved that position Put, speed and the closed loop control of moment;Rotating speed is accurately controlled, and the dynamic corresponding time of motor acceleration and deceleration is short;Adaptability is good, anti- Overload capacity is strong;Promptness is high, starts and stop all energy fast reactions, good stability: operate steadily.In this structure, belt 8 is adopted Be Timing Belt, the advantage of Timing Belt is: have gear ratio accurately, without slippage, constant speed ratio can be obtained, transmission is put down Surely, can absorbing, noise is little, gear range is big, transmission efficiency is high, compact conformation, and be suitable for spinning transmission, be not required to profit Sliding, pollution-free, therefore it is widely used in various industry.Guide rail 3 is line slideway, and this line slideway is provided with slide block, described cunning Seat 9 is installed on line slideway by slide block, and the advantage of line slideway is: positioning precision is the highest, the rolling square of rolling friction Formula, little, the bearing capacity of wearing and tearing assemble by force easily and have interchangeability.The selection of above-mentioned parts has also fully ensured that the motion of this structure Precision, thus also ensure that the accuracy that stock is transported.
As it can be seen, described linking arm 11 is L-type structure, because the position relationship of printing equipment, this equipment can not be direct It is positioned over the position relative with printing equipment, thus linking arm 11 is necessarily arranged to L-type, could incite somebody to action when linking arm 11 moves Vacuum cup 12 moves to above stock.
As it can be seen, elevating mechanism is characterized in particular in: include that lifting drives cylinder 13, lifter plate 14 and lifting traveller 15, should Lifting drives cylinder 13 to be installed on linking arm 11, and the piston rod end of lifting driving cylinder 13 and one end of lifting traveller 15 are equal Fixing with lifter plate 14 and be connected, and the other end of lifting traveller 15 is provided with restriction cap 16, described linking arm 11 is provided with slide opening, institute State lifting traveller 15 be positioned in slide opening, lifting traveller 15 on be cased with back-moving spring 17, one end of back-moving spring 17 can press in On linking arm 11;And its other end can press in limiting on cap 16, described vacuum cup 12 is installed on lifter plate 14.Above-mentioned Structure working principle is summarized as follows: after vacuum cup 12 is driven above stock by linking arm 11, and lifting drives cylinder 13 Starting working, piston rod promotes lifter plate 14 to decline, thus vacuum cup 12 is lowered to the distance close away from stock, so Stock could easily be picked up by vacuum cup 12, picks up stock and after transfer puts in place, and lifting drives cylinder 13 piston rod to receive Returning, linking arm 11 has driven and has moved back in situ, and preparation works next time, when piston rod is regained, because lifter plate 14 and very The weight of suction dish 12 is beyond the holding capacity of piston rod, if thus depending merely on piston rod and mention above-mentioned parts and easily cause lifting and drive The damage of dynamic air cylinder 13, thus this structure is provided with back-moving spring 17, when lifting drives cylinder 13 to promote lifter plate 14 to decline, Lifter plate 14 drives lifting traveller 15 to move down compression reseting spring 17, thus back-moving spring 17 is upspring jack-up when piston rod is regained Lifting traveller 15, thus assistance for lifting drives cylinder 13 to mention lifter plate 14 and vacuum cup 12.
A kind of printing equipment intelligence absorption mechanical hand provided the embodiment of the present invention above, is described in detail, Principle and the embodiment of the present invention are set forth by specific case used herein, and the explanation of above example is simply used In helping to understand method and the core concept thereof of the present invention;Simultaneously for one of ordinary skill in the art, according to the present invention's Thought, the most all will change, and in sum, this specification content should not be construed as Limitation of the present invention.

Claims (5)

1. printing equipment intelligence absorption mechanical hand, it is characterised in that: include frame, this frame is provided with driving motor, guide rail And it is positioned at driving pulley and the driven pulley at guide rail two ends, it is provided with drive sprocket axle in described driving pulley;It is provided with in driven pulley Follower shaft, described drive sprocket axle and follower shaft be all installed in frame by bearing, and described driving motor passes through shaft coupling It is connected with drive sprocket axle, driving pulley and driven pulley is wound with belt, described guide rail is provided with slide, this slide and belt Fixing connection, described slide is provided with linking arm, this linking arm is provided with some vacuum cups that can adsorb stock, And this vacuum cup is installed on the end of linking arm by elevating mechanism.
Printing equipment intelligence the most according to claim 1 absorption mechanical hand, it is characterised in that: described linking arm is L-type knot Structure.
Printing equipment intelligence the most according to claim 1 absorption mechanical hand, it is characterised in that: described guide rail is that straight line is led Rail, this line slideway is provided with slide block, and described slide is installed on line slideway by slide block.
4. adsorb mechanical hand according to the printing equipment intelligence described in claim 1, it is characterised in that: described elevating mechanism includes lifting Driving cylinder, lifter plate and lifting traveller, this lifting drives cylinder to be installed on linking arm, and lifting drives the tailpiece of the piston rod of cylinder One end of portion and lifting traveller is all fixing with lifter plate to be connected, and the other end of lifting traveller is provided with restriction cap, described linking arm Being provided with slide opening, described lifting traveller is positioned in slide opening, and lifting traveller is cased with back-moving spring, and one end of back-moving spring can be tight It is pressed on linking arm;And its other end can press in limiting on cap, described vacuum cup is installed on lifter plate.
5. adsorb mechanical hand according to the printing equipment intelligence described in claim 1, it is characterised in that: on described slide, pressure is installed Block, described belt is integrated with slide locking by briquetting.
CN201610643896.4A 2016-08-09 2016-08-09 Printing equipment intelligence absorption mechanical hand Pending CN106113002A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610643896.4A CN106113002A (en) 2016-08-09 2016-08-09 Printing equipment intelligence absorption mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610643896.4A CN106113002A (en) 2016-08-09 2016-08-09 Printing equipment intelligence absorption mechanical hand

Publications (1)

Publication Number Publication Date
CN106113002A true CN106113002A (en) 2016-11-16

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610643896.4A Pending CN106113002A (en) 2016-08-09 2016-08-09 Printing equipment intelligence absorption mechanical hand

Country Status (1)

Country Link
CN (1) CN106113002A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106450987A (en) * 2016-12-07 2017-02-22 张家港市优希宏达机电厂 Transverse moving type power supply socket

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203411069U (en) * 2013-06-28 2014-01-29 深圳市精实机电科技有限公司 Feeding and blanking switching manipulator
CN203527467U (en) * 2013-10-22 2014-04-09 浙江宏远数控机床有限公司 Double-arm manipulator
CN104209669A (en) * 2014-07-30 2014-12-17 东莞市奥思睿德世浦电子科技有限公司 Feeding manipulator
CN104552240A (en) * 2015-01-06 2015-04-29 浙江大学 Picking and conveying manipulator for heat transfer printing
CN104816239A (en) * 2015-04-21 2015-08-05 杭州师范大学 Apparatus for automatic conveying saw blades on flat grinder
CN105522571A (en) * 2014-09-28 2016-04-27 熊建春 Automatic stamping mechanical arm

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN203411069U (en) * 2013-06-28 2014-01-29 深圳市精实机电科技有限公司 Feeding and blanking switching manipulator
CN203527467U (en) * 2013-10-22 2014-04-09 浙江宏远数控机床有限公司 Double-arm manipulator
CN104209669A (en) * 2014-07-30 2014-12-17 东莞市奥思睿德世浦电子科技有限公司 Feeding manipulator
CN105522571A (en) * 2014-09-28 2016-04-27 熊建春 Automatic stamping mechanical arm
CN104552240A (en) * 2015-01-06 2015-04-29 浙江大学 Picking and conveying manipulator for heat transfer printing
CN104816239A (en) * 2015-04-21 2015-08-05 杭州师范大学 Apparatus for automatic conveying saw blades on flat grinder

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106450987A (en) * 2016-12-07 2017-02-22 张家港市优希宏达机电厂 Transverse moving type power supply socket

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Application publication date: 20161116