CN106436490A - Molded pulp automatic production equipment - Google Patents
Molded pulp automatic production equipment Download PDFInfo
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- CN106436490A CN106436490A CN201510484178.2A CN201510484178A CN106436490A CN 106436490 A CN106436490 A CN 106436490A CN 201510484178 A CN201510484178 A CN 201510484178A CN 106436490 A CN106436490 A CN 106436490A
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Abstract
The invention relates to molded pulp automatic production equipment comprising a suction filtration forming device, a hot-press sizing device, a net mold transporting device carrying a net mold between the suction filtration forming device and the hot-press sizing device, and a control system controlling operation of the above devices. The net mold transporting device comprises a rack fixed corresponding to the suction filtration forming device and the hot-press sizing device; and the rack is provided with at least one mechanical arm moving between the suction filtration forming device and the hot-press sizing device to transport the net mold. The mechanical arm imitates a manual transportation process, and is advantaged by high automation degree, great production efficiency, stable operation and easy maintenance.
Description
Technical field
The present invention relates to a kind of paper mould production equipment, especially one kind can automatic transporting net mould, realize paper mould
The paper mould automatic producing device of automated production.
Background technology
The manufacturing process of paper mould is completed by operations such as slurrying, adsorption forming, dryness finalizations.Due to adsorption forming and dry
Dry molding need to machine on different devices it is therefore desirable to that the product after molding is carried to thermocompression forming device is enterprising
Row sizing, existing two kinds of mode of transport, one kind is manually to carry, and another kind is mechanical handing.General paper mould adds
In factory of factory, noise is huge, hot and humid, wastes time and energy during a dead lift, and in factory, environment is also unfavorable for health.In
State's patent 201320894998.5 discloses a kind of full-automatic pulp-molding amount station integrated equipment, full-automatic pulp-molding
Two station integrated equipment, including a filtering molding device and two thermocompression forming devices, filtering molding device, including suction
Filter shaped device frame, stock tank, forming panel, transferring templates, molding transfer mould gripper shoe, transfer cylinder, overturning oil cylinder
And upset main shaft, stock tank is fixed on filtering molding device frame, and the top of upset main shaft is connected with forming panel, overturns
The bottom of main shaft is installed on spindle bearing holder, upset main shaft is equiped with a travelling gear, spindle bearing holder is fixed on suction
On the crossbeam of the filter shaped device frame left and right sides, the top of forming panel is equiped with mould, and transfer cylinder is installed in one
In transfer mould gripper shoe, the lower end of transfer cylinder piston is hinged on described transferring templates.Though the present invention solves manually
The problem that wastes time and energy of transfer, but need for l Water Paper mould first to move to transferring templates, so mutually it is blown in mould under thermocompression forming,
Its branch mode not only bothers, and is difficult to ensure that enough accuracy, and its transfer process once breaks down, and just cannot continue
Produce, efficiency is difficult to be greatly improved.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, provides one kind to substitute artificial automatic transporting net using mechanical arm
Mould, realizes paper pulp molding forming to full automatic paper mould automatic producing device of shaping.
In order to realize this purpose, the present invention adopts the following technical scheme that：A kind of paper mould automatic producing device, including：
Filtering molding device, thermocompression forming device, between filtering molding device and thermocompression forming device carry net mould net mould remove
Shipping unit, and control the control system of said apparatus automatic running, described net mould Handling device includes, and one is become with suction strainer
Type device and the relatively-stationary frame of thermocompression forming device, frame are provided with one at least fixed in filtering molding device and hot pressing
Move to carry the mechanical arm of net mould between type device.
Further, the free end of described mechanical arm is provided with the grasping mechanism of a rotation, described grasping mechanism have two by
The crawl section that control system individually controls, can be different seized conditions.
Further, described frame is arranged on filtering molding device and the front side of thermocompression forming device, and frame upper end is provided with to be led
Rail, described guide rail is provided with one along guide rail movement the platform that slides, described mechanical arm is connected to the bottom sliding platform,
And drive it to slide in frame by sliding platform.
Further, the described platform that slides includes, and Mobile base, the platform mobile motor being fixed on Mobile base, in Mobile base
Two bottom sides are provided with the slide block with guide rail cooperation, and the bottom of described Mobile base has at least one for solid mechanical arm
Installed surface.
Further, described mechanical arm includes, and slides the pedestal that platform is fixedly connected, and rotates, with pedestal, first being connected
Mechanical arm, rotates, with the first mechanical arm other end, the second mechanical arm being connected, and the other end of second mechanical arm is connected with a water
Flat pallet, described grasping mechanism is rotated with level tray and is connected, and drives first mechanical arm, second mechanical arm and crawl
The power set of mechanism kinematic.
Further, described first mechanical arm and second mechanical arm junction are additionally provided with connecting rod rack, and described connecting rod rack connects
There are first connecting rod and second connecting rod, the first connecting rod other end is connected with pedestal, and the second connecting rod other end is connected with level tray；
Wherein, pedestal, first mechanical arm, connecting rod rack and first connecting rod connect into a parallelogram linkage；Even
Bar support, second mechanical arm, level tray and second connecting rod connect into an another parallelogram linkage；
Above-mentioned parallelogram linkage makes level tray remain parallel with horizontal plane.
Further, described power set include, and are fixed on first mechanical arm and pedestal junction, and drive first mechanical arm
The first servomotor rotating；
It is fixed on second mechanical arm and first mechanical arm junction, and drive the second servomotor of second mechanical arm rotation；
It is fixed on level tray and grasping mechanism junction, and drive the 3rd servomotor of grasping mechanism rotation.
Further, described first mechanical arm and pedestal junction are provided with a reducing gear I, described first servomotor passes through
Ring flange is fixed on pedestal, and machine shaft is connected with reducing gear I, and drives first mechanical arm to rotate around junction；
Described second mechanical arm and first mechanical arm junction are provided with reducing gear II, and described second servomotor is fixed on the second machine
On tool arm, machine shaft is connected with reducing gear II, and drives second mechanical arm to rotate around junction；Described level tray
Be provided with reducing gear III with grasping mechanism junction, described 3rd servomotor is fixed on level tray, machine shaft with
Reducing gear III connects, and drives grasping mechanism to rotate.
Further, described grasping mechanism includes, and is connected to the runing rest below level tray, and described runing rest has
There are two crawl sections, described crawl section is the multiple sucker I being arranged on runing rest two ends.
Further, described runing rest is symmetrical diesis shape, and described sucker I is eight, and is symmetrically distributed in rotation
The end of support and centre position.
Further, what the described frame side relative with filtering molding device was additionally provided with finished product on catching robot arm takes finished product
Mechanism；Described take finished product mechanism to be made up of elevating mechanism, handgrip and product placement platform, described elevating mechanism include lift
Frame, lifting motor and lifting screw, elevator platform is fixed on product placement platform, and lifting screw is connected with handgrip,
And driven by lifting motor, described handgrip, including the cross suction cup carrier being fixedly connected with lifting screw, it is fixed on cross and inhales
Plate rail end the sucker II with outer gas stream pipeline connection.
Further, described thermocompression forming device is three, and is distributed in filtering molding device both sides.
Further, described frame is additionally provided with equipment control case, described set-up of control system is in equipment control case.
After technical solutions according to the invention, bring following beneficial effect：
A kind of paper mould automatic producing device of the present invention, original filtering molding device and thermocompression forming device it
Between increased net mould Handling device and take finished product mechanism, wherein net mould Handling device imitates the process of a dead lift, by machinery
Arm substitutes a dead lift, by the product fast removal after molding to thermocompression forming device, is moved out after undetermined type again,
Finally by taking finished devices to place it on product placement platform, it is automatically performed a series of manually-operated mistake of needs
Journey, the present invention has a high degree of automation, and production efficiency is high, stable, be easy to the advantage keeped in repair.
Brief description
Fig. 1：The overall structure diagram of the present invention；
Fig. 2：The part-structure schematic diagram of the net mould Handling device of the present invention；
Fig. 3：The left view of the net mould Handling device of the present invention；
Fig. 4：The mechanical arm of the present invention and the structural representation of grasping mechanism；
Fig. 5：The structural representation taking finished product mechanism of the present invention；
Fig. 6：The location arrangements schematic diagram of filtering molding device of the present invention and thermocompression forming device；
Fig. 7：The schematic flow sheet of control method of the present invention；
Wherein：1st, filtering molding device 2, thermocompression forming device 3, net mould Handling device 4, take finished product mechanism 5,
Product placement platform 6, frame 7, equipment control case 8, slide platform 9, mechanical arm 10, grasping mechanism
11st, guide rail 12, platform mobile motor 13, Mobile base 14, pedestal 15, first mechanical arm 16, first connect
Bar 17, connecting rod rack 18, second mechanical arm 19, second connecting rod 20, level tray 21, the first servo electricity
Machine 22, the second servomotor 23, the 3rd servomotor 24, runing rest 25, crossbeam 26, sucker I 27,
Elevator platform 28, lifting motor 29, lifting screw 30, cross suction cup carrier 31, sucker II 32, column 101,
First crawl section 102, the second crawl section.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described in further detail.
As shown in figure 1, a kind of paper mould automatic producing device, main inclusion filtering molding device 1, thermocompression forming dress
Put 2, control system, net mould Handling device 3.By paper pulp, filtering molding on net mould is obtained l Water Paper to filtering molding device 1
Mould, then thermocompression forming device 2 by l Water Paper mould carry out heating power sizing be obtained dry paper matrix.Wherein, net mould, as carrier, needs
To transport between filtering molding device 1 and thermocompression forming device 2, this transport process is automatically complete by net mould Handling device 3
Become, to substitute existing a dead lift.Net mould Handling device 3 includes, and one is filled with filtering molding device 1 and thermocompression forming
Put 2 relatively-stationary frames 6 and carry net mould between filtering molding device 1 and thermocompression forming device 2 along frame 6
Mechanical arm 9.The free end of described mechanical arm 9 is provided with the grasping mechanism 10 of a rotation, and this grasping mechanism 10 has
There are two the symmetrical in front and back crawl section, the respectively first crawl section 101 and the second crawl sections that are individually controlled by control system
102, two crawl sections can be different seized conditions.Wherein, frame 6 is located at filtering molding device 1 and thermocompression forming
The front side of device 2, and be fixedly connected with the ground, to ensure its phase with filtering molding device 1 and thermocompression forming device 2
Constant to position, the structure of frame 6 is preferably planer-type, including four root posts 32 being fixedly connected with the ground, and connects
Three crossbeams 25 on column 32 top.
In conjunction with shown in Fig. 2 and Fig. 3, it is fixed with one group of horizontally disposed guide rail 11 in the upper end of frame 6, guide rail 11 is pacified
It is contained in the upper surface of crossbeam 25.The upper end of frame 6 is provided with one and slides platform 8, described cunning along what guide rail 11 slided
Row platform 8 includes, the platform mobile motor 12 of a Mobile base 13 and driving Mobile base 13 movement, described Mobile base 13
For inverted concave structure, three crossbeams 25 cross the both sides of Mobile base 13 and middle lower recess, Mobile base
13 two bottom sides are provided with the slide block with guide rail 11 cooperation, and platform mobile motor 12 is fixedly mounted on above Mobile base 13
Centre position, the rotating shaft of platform mobile motor 12 is connected vertically downward and with one speed reducer, the output shaft of this decelerator
One gear is installed, is provided with, in the sidepiece of frame 6 intermediate transverse girder 25, the tooth bar engaging with gear, tooth bar is flat with guide rail 11
Row setting, wheel and rack is preferably helical teeth.When platform mobile motor 12 rotates, by the cooperation of wheel and rack
Make to slide platform 8 along guide rail 11 movement.The bottom of Mobile base 13 have that two contour and level for solid mechanical handss
The bottom surface of arm 9, two bottom surfaces also can connect as one, and is provided with multiple screw holes on bottom surface, and mechanical arm 9 passes through spiral shell
Bolt is fixedly connected with Mobile base 13.Described mechanical arm 9 drives it mobile along frame 6 by sliding platform 8, machinery
Arm 9 is arranged on the lower section of frame 6 in the way of hang upside down, can conveniently overhaul, and occurs in mechanical arm 9
During fault, also can be moved into the side of frame 6, continue carrying net mould by artificial.
In conjunction with shown in Fig. 3 and Fig. 4, mechanical arm 9 is by pedestal 14, first mechanical arm 15, first connecting rod 16, connecting rod
Support 17, second mechanical arm 18, second connecting rod 19, level tray 20 and power set composition；Pedestal 14 top is
One horizontal mounting surface, the bottom surface with Mobile base 13, both are bolted to connection, in the centre bit of pedestal 14
Put and there is a circular arc fixation wall being downwardly extending, first mechanical arm 15 is rotatably connected on the center of fixation wall,
First connecting rod 16 is hinged on the marginal position of fixation wall, and two junction points are positioned at same level height and separated by a distance.
Second mechanical arm 18 is rotatably connected on the lower end of first mechanical arm 15.Connecting rod rack 17 is arranged on first mechanical arm 15 He
The junction of second mechanical arm 18, described connecting rod rack 17 is annular, and its radial direction side is provided with the in-line stretching out
Flange.The first pin joint being connected with first connecting rod 16 and and second connecting rod are respectively equipped with the flange of connecting rod rack 17
Second pin joint of 19 connections.The other end of second mechanical arm 18 and second connecting rod 19 is connected by level tray 20,
Level tray 20 and plane-parallel.In order to ensure the stability of level tray 20, the lower semisection of second mechanical arm 18
For U-shaped, it is hinged and hinged with second connecting rod 19 that 2 points of coaxial both sides with level tray 20 are passed through at its both ends
Point forms stable three-point support structure.Grasping mechanism 10 is movably connected in the bottom of level tray 20, grasping mechanism 10
Parallel to the ground.Above-mentioned annexation constitutes, and is propped up by pedestal 14, first mechanical arm 15, first connecting rod 16, connecting rod
Frame 17 composition the first parallelogram linkage, and by second mechanical arm 18, second connecting rod 19, connecting rod rack 17,
Second parallelogram connection-rod structure of level tray 20 composition, above-mentioned two parallelogram linkages ensure that level
Pallet 20 is parallel to the ground all the time in motor process, and then it is parallel to the ground to achieve grasping mechanism 10.
Mechanical arm 9 and the power set of grasping mechanism 10 are driven to include three servomotors, the respectively first servo electricity
Machine 21, the second servomotor 22, the 3rd servomotor 23.First servomotor 21 be arranged on first mechanical arm 15 with
Pedestal 14 junction, and be fixedly mounted on pedestal 14 by ring flange, it is connected with pedestal 14 in first mechanical arm 15
Place is additionally provided with reducing gear I, and the rotating shaft of the first servomotor 21 is connected with reducing gear I, and the first servomotor 21 leads to
Crossing reducing gear I drives first mechanical arm 15 to rotate around junction.Second servomotor 22 is arranged on second mechanical arm 18
With the junction of first mechanical arm 15, and it is bolted on the outside of second mechanical arm 18, this junction is provided with and subtracts
Fast mechanism II, the rotating shaft of the second servomotor 22 is connected with reducing gear II, and the second servomotor 22 passes through reducing gear
II drives second mechanical arm 18 to rotate around junction.3rd servomotor 23 is arranged on level tray 20 and grasping mechanism
10 junctions, and be fixed on above level tray 20 by ring flange, it is connected with grasping mechanism 10 in level tray 20
Place is additionally provided with reducing gear III, and the rotating shaft of the 3rd servomotor 23 is connected with reducing gear III, the 3rd servomotor 23
Grasping mechanism 10 is driven to horizontally rotate around junction by reducing gear III, wherein, reducing gear I and reducing gear II
It is preferably planetary reducer.
As shown in figure 4, grasping mechanism 10 includes, below level tray 20, and rotate the rotation being connected with it and prop up
Frame 24, runing rest 24 two crawl sections, the respectively first crawl section 101 and the second crawl section symmetrical before and after having
102, the first crawl section 101 and the second crawl section 102 are individually controlled by control system, can be different seized conditions,
For capturing different net moulds.Crawl section is to be arranged on the sucker I26 that runing rest 24 two ends are connected with outer gas stream pipeline,
Runing rest 24 is connected with the rotating shaft of the 3rd servomotor 23 by reducing gear III, can be around the rotation of 360 degree of junction
Turn, runing rest 24 is symmetrical diesis shape structure, sucker I26 quantity elects eight as, is symmetrically distributed in rotation
The end of frame 24 and inclined centre position, sucker I26 and runing rest 24 are slidably connected for adjustable, and its position can root
According to the size adjustment of net mould, sucker I26 is communicated with two-way airflow pipeline, respectively low pressure line and pressure duct, and by
Solenoid valve control, when capturing net mould, low pressure line is connected, and when placing net mould, pressure duct is connected.
In conjunction with shown in Fig. 1 and Fig. 5, the front side of filtering molding device 1 be additionally provided with mechanical arm 9 cooperation be used for take
That walks finished product takes finished product mechanism 4, takes finished product mechanism 4 to be made up of elevating mechanism, handgrip and product placement platform 5, lifting
Mechanism includes elevator platform 27, lifting motor 28 and lifting screw 29, and elevator platform 27 is fixed on product placement platform 5
On, lifting screw 29 is connected with handgrip, and is driven by lifting motor 28, realizes raising and lowering.Described handgrip, bag
Include the cross suction cup carrier 30 being fixed on lifting screw 29 lower end, and end and the low pressure being arranged on cross suction cup carrier 30
Pipeline and the sucker II31 of pressure duct connection, sucker II31 is used for capturing dry paper matrix, the distribution of sucker II31 and dry paper matrix
Placement location on net mould is corresponding.
As shown in fig. 6, being improve production efficiency, every filtering molding device 1 is furnished with three thermocompression forming devices 2, institute
State the left and right sides that thermocompression forming device 2 is distributed in filtering molding device 1.
The upper end side of frame 6 is provided with an equipment control case 7, control system is mounted in equipment control case 7, and
It is connected with sliding platform 8, mechanical arm 9 and grasping mechanism 10 by cable, and control said apparatus according to the journey of setting
Sequence automatic running.
As shown in fig. 7, the control method of the present invention is：
1st, control system detects the working condition of filtering molding device 1, and completes into filtering molding device 1 is detected
After type, second crawl section 102 of control machinery arm 9 captures the net mould forming l Water Paper mould on filtering molding device 1.
2nd, the grasping mechanism 10 of mechanical arm 9 rotates, and makes the first crawl section 101 close to filtering molding device 1, and second
Away from filtering molding device 1, its anglec of rotation is preferably 180 ° for crawl section 102.
3rd, the abortive haul mould on the first crawl section 101 is positioned over filtering molding device 1, makes molding on abortive haul mould obtain l Water Paper
Mould.
4th, mechanical arm 9 shifts to thermocompression forming device 2 under the drive of sliding platform 8.
5th, control system detects the working condition of thermocompression forming device 2, and completes to determine thermocompression forming device 2 is detected
After type, the first crawl section 101 crawl of control machinery arm 9 is hot pressed the net equipped with dry paper matrix of shaping equipment 2 sizing
Mould.
6th, the grasping mechanism 10 of mechanical arm 9 rotates, and makes the second crawl section 102 close to thermocompression forming device 2, and first
Away from thermocompression forming device 2, its anglec of rotation is preferably 180 ° for crawl section 101.
7th, mechanical arm 9 shifts to filtering molding device 1 under the drive of sliding platform 8.
8th, take the dry paper matrix on the net mould of the first crawl section 101 crawl away, so that net mould is empty, and repeat above-mentioned 1-8.
The detailed process that above-mentioned first crawl section 101 or the second crawl section 102 capture net mould is：
A1, grasping mechanism 10 shift to forward net mould to be crawled；
A2, the first crawl section 101 or the second crawl section 102 are contacted with net mould, and are picked up；
A3, grasping mechanism 10 are moved rearwards by, and net mould is removed filtering molding device 1 or thermocompression forming device 2, completes to grab
Take.
The detailed process that net mould is placed in above-mentioned first crawl section 101 or the second crawl section 102 is：
C1, grasping mechanism 10 shift to forward the net mould lay down location of filtering molding device 1 or thermocompression forming device 2；
C2, the first crawl section 101 or the second crawl section 102 are by net mould and filtering molding device 1 or thermocompression forming device 2
Contact, and discharge net mould；
C3, grasping mechanism 10 are moved rearwards by, and exit filtering molding device 1 or thermocompression forming device 2, complete to place.
Dry paper matrix on the above-mentioned net mould taking the first crawl section 101 crawl away, makes net mould be empty, by take finished product mechanism 4 from
Move and complete；Described take finished product mechanism 4 to be connected with control system, described take finished product mechanism 4 work detailed process be：
After b1, mechanical arm 9 return to filtering molding device 1, its first crawl section 101 is parked in and takes under finished product mechanism 4
Side, is taken the handgrip of finished product mechanism 4 to decline and is contacted with dry paper matrix, and adsorb dry paper matrix；
B2, handgrip move upwards and lift dry paper matrix so as to depart from net mould, so that net mould is empty；
After b3, mechanical arm 9 leave filtering molding device 1 and take finished product mechanism 4, the handgrip of finished product mechanism 4 is taken to decline,
And discharge dry paper matrix.
Preferably, after filtering molding device 1 completes molding, at least one thermocompression forming device 2 completes or is nearly completed
Sizing, described mechanical arm 9 completes the time used by above-mentioned 4-7 step and completes once to become less than or equal to filtering molding device 1
Time used by type, that is, mechanical arm 9 is from leaving filtering molding device 1 to the time used by filtering molding device 1 that turns again to
Complete the time used by one-shot forming less than or equal to filtering molding device 1 so that each mechanical arm 9 is in filtering molding
Device 1 returns to filtering molding device 1 before completing molding, to improve the work efficiency of filtering molding device 1.
Described control system is provided with sensor, and constantly detects the first crawl section 101 and the crawl shape of the second crawl section 102
State, when net mould surprisingly comes off, control system automatic control manipulator arm 9 stop motion, and send alarm, remind work
Note as personnel.
The foregoing is only the preferred embodiment of the present invention it is noted that for the ordinary skill in the art,
Without departing from the principles of the present invention, various deformation and improvement can also be made, this also should be considered as the protection of the present invention
Scope.
Claims (13)
1. a kind of paper mould automatic producing device, including：Filtering molding device (1), thermocompression forming device (2),
Net mould Handling device (3) of net mould is carried between filtering molding device (1) and thermocompression forming device (2), and control
Control system that said apparatus processed run it is characterised in that：Described net mould Handling device (3) includes, and one is become with suction strainer
Type device (1) and the relatively-stationary frame of thermocompression forming device (2) (6), frame (6) are provided with one and at least exist
Move to carry the mechanical arm (9) of net mould between filtering molding device (1) and thermocompression forming device (2).
2. paper mould automatic producing device according to claim 1 it is characterised in that：Described mechanical arm (9)
Free end be provided with the grasping mechanism (10) of a rotation, described grasping mechanism (10) have two independent by control system
The crawl section controlling.
3. paper mould automatic producing device according to claim 2 it is characterised in that：Described frame (6) sets
Put the front side in filtering molding device (1) and thermocompression forming device (2), frame (6) upper end is provided with guide rail (11),
It is provided with one on described guide rail (11) and slides platform (8) along guide rail (11) movement, described mechanical arm (9) is even
It is connected on the bottom sliding platform (8), and drive it in the upper slip of frame (6) by sliding platform (8).
4. paper mould automatic producing device according to claim 3 it is characterised in that：Described slide platform (8)
Including Mobile base (13), the platform mobile motor (12) being fixed on Mobile base (13), at Mobile base (13) bottom
Portion both sides are provided with the slide block coordinating with guide rail (11), and the bottom of described Mobile base (13) has at least one and is used for fixing
The installed surface of mechanical arm (9).
5. paper mould automatic producing device according to claim 3 it is characterised in that：Described mechanical arm (9)
Including, and slide the pedestal (14) that platform (8) is fixedly connected, rotate, with pedestal (14), the first mechanical arm (15) being connected,
Rotate the second mechanical arm (18) being connected with first mechanical arm (15) other end, second mechanical arm (18) other end is connected with
One level tray (20), described grasping mechanism (10) is rotated with level tray (20) and is connected, and drives first mechanical arm
(15), the power set that second mechanical arm (18) and grasping mechanism (10) move.
6. paper mould automatic producing device according to claim 5 it is characterised in that：Described first mechanical arm
(15) it is additionally provided with connecting rod rack (17) with second mechanical arm (18) junction, described connecting rod rack (17) is connected with
First connecting rod (16) and second connecting rod (19), first connecting rod (16) other end is connected with pedestal (14), and second even
Bar (19) other end is connected with level tray (20)；
Wherein, pedestal (14), first mechanical arm (15), connecting rod rack (17) and first connecting rod (16) connect into one
Parallelogram linkage；Connecting rod rack (17), second mechanical arm (18), level tray (20) and second connecting rod
(19) connect into an another parallelogram linkage；
Above-mentioned parallelogram linkage makes level tray (20) remain parallel with horizontal plane.
7. paper mould automatic producing device according to claim 5 it is characterised in that：Described power set bag
Include, be fixed on first mechanical arm (15) and pedestal (14) junction, and drive that first mechanical arm (15) rotates the
One servomotor (21)；
It is fixed on second mechanical arm (18) and first mechanical arm (15) junction, and drive second mechanical arm (18) to turn
Dynamic the second servomotor (22)；
It is fixed on level tray (20) and grasping mechanism (10) junction, and drive that grasping mechanism (10) rotates the
Three servomotors (23).
8. paper mould automatic producing device according to claim 7 it is characterised in that：Described first mechanical arm
(15) it is provided with a reducing gear I with pedestal (14) junction, described first servomotor (21) passes through ring flange admittedly
It is scheduled on pedestal (14), machine shaft is connected with reducing gear I, and drive first mechanical arm (15) to turn around junction
Dynamic；Described second mechanical arm (18) and first mechanical arm (15) junction are provided with reducing gear II, described second servo
Motor (22) is fixed in second mechanical arm (18), and machine shaft is connected with reducing gear II, and drives the second machinery
Arm (18) rotates around junction；Described level tray (20) and grasping mechanism (10) junction are provided with reducing gear III,
Described 3rd servomotor (23) is fixed on level tray (20), and machine shaft is connected with reducing gear III, and
Drive grasping mechanism (10) rotation.
9. paper mould automatic producing device according to claim 5 it is characterised in that：Described grasping mechanism (10)
Including being connected to the runing rest (24) below level tray (20), described runing rest (24) have two
Crawl section, described crawl section is the multiple sucker I (26) being arranged on runing rest (24) two ends.
10. paper mould automatic producing device according to claim 9 it is characterised in that：Described runing rest (24)
For symmetrical diesis shape, described sucker I (26) is eight, and be symmetrically distributed in runing rest (24) end and
Centre position.
11. paper mould automatic producing devices according to claim 1 it is characterised in that：Described frame (6)
What the side relative with filtering molding device (1) was additionally provided with the upper finished product of catching robot arm (9) takes finished product mechanism (4)；
Described take finished product mechanism (4) to be made up of elevating mechanism, handgrip and product placement platform (5), described elevating mechanism includes
Elevator platform (27), lifting motor (28) and lifting screw (29), it is flat that elevator platform (27) is fixed on product placement
On platform (5), lifting screw (29) is connected with handgrip, and is driven by lifting motor (28), described handgrip, including
The cross suction cup carrier (30) being fixedly connected with lifting screw (29), be fixed on cross suction cup carrier (30) end and with outer
The sucker II (31) of portion's airflow pipeline connection.
12. paper mould automatic producing devices according to claim 1 it is characterised in that：Described thermocompression forming dress
Put (2) and be three, and be distributed in filtering molding device (1) both sides.
13. paper mould automatic producing devices according to claim 1 it is characterised in that：Described frame (6)
On be additionally provided with equipment control case (7), described set-up of control system is in equipment control case (7).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510484178.2A CN106436490B (en) | 2015-08-07 | 2015-08-07 | A kind of paper mould automatic producing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510484178.2A CN106436490B (en) | 2015-08-07 | 2015-08-07 | A kind of paper mould automatic producing device |
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| CN106436490A true CN106436490A (en) | 2017-02-22 |
| CN106436490B CN106436490B (en) | 2018-05-08 |
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| CN201510484178.2A Active CN106436490B (en) | 2015-08-07 | 2015-08-07 | A kind of paper mould automatic producing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107268342A (en) * | 2017-06-30 | 2017-10-20 | 东北林业大学 | A kind of hot forming tool and hot-press molding method of heavily loaded fibre mould pallet |
| CN108360303A (en) * | 2018-02-06 | 2018-08-03 | 郑天波 | Moulding of plant fibres hot-press molding method and the hot-forming mechanism of moulding of plant fibres |
| CN110085343A (en) * | 2019-05-16 | 2019-08-02 | 成都南方电子仪表有限公司 | A kind of retired device of radioactivity factory building chimney |
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| CN108360303B (en) * | 2018-02-06 | 2019-10-08 | 郑天波 | Moulding of plant fibres hot-press molding method and the hot-forming mechanism of moulding of plant fibres |
| CN110126053A (en) * | 2019-05-05 | 2019-08-16 | 金华市众生纤维制品有限公司 | A kind of production method of plant fiber environment-protecting product |
| CN110126053B (en) * | 2019-05-05 | 2022-03-11 | 浙江众鑫环保科技集团股份有限公司 | Production method of plant fiber environment-friendly product |
| CN110085343A (en) * | 2019-05-16 | 2019-08-02 | 成都南方电子仪表有限公司 | A kind of retired device of radioactivity factory building chimney |
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