CN106436490B - A kind of paper mould automatic producing device - Google Patents
A kind of paper mould automatic producing device Download PDFInfo
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- CN106436490B CN106436490B CN201510484178.2A CN201510484178A CN106436490B CN 106436490 B CN106436490 B CN 106436490B CN 201510484178 A CN201510484178 A CN 201510484178A CN 106436490 B CN106436490 B CN 106436490B
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Abstract
The present invention relates to 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 handling device, and the control system of control above device operation, the net mould handling device includes, one with filtering molding device and the relatively-stationary rack of thermocompression forming device, one is provided with rack and is moved at least between filtering molding device and thermocompression forming device to carry the mechanical arm of net mould.The mechanical arm of the present invention has imitated the process of artificial carrying, has the degree of automation high, and production efficiency is high, it is stable, easy to repair the advantages of.
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 pulp die
Mould the paper mould automatic producing device of automated production.
Background technology
The manufacturing process of paper mould is completed by processes such as slurrying, adsorption forming, dryness finalizations.Due to adsorption forming and do
Dry shaping need to machine on different devices, it is therefore desirable to the product after shaping is carried on thermocompression forming device and is carried out
Sizing, existing two kinds of mode of transport, one kind is manually to carry, and another kind is mechanical handing.Factory of general paper mould processing factory
Interior noise is huge, hot and humid, and time-consuming and laborious when manually carrying, environment is also unfavorable for health in factory.Chinese patent
201320894998.5 disclose a kind of full-automatic pulp-molding amount station integrated equipment, two station integrated of full-automatic pulp-molding
Equipment, including a filtering molding device and two thermocompression forming devices, filtering molding device, including filtering molding device frame,
Stock tank, forming panel, transferring templates, shaping transfer mould support plate, transfer cylinder, overturning oil cylinder and upset main shaft, stock tank are fixed
On filtering molding device frame, the top for overturning main shaft is connected with forming panel, and the lower part for overturning main shaft is installed in spindle shaft
In bearing, overturn and be equiped with a travelling gear on main shaft, spindle bearing holder is fixed on the horizontal stroke at left and right sides of filtering molding device frame
Liang Shang, molding die is equiped with above forming panel, and transfer cylinder is installed in a transfer mould support plate, shifts cylinder piston
Lower end be hinged on the transferring templates.Though the present invention solves the problems, such as manually to shift time-consuming and laborious, needing will be wet
Paper matrix first moves to transferring templates, is so mutually blown under thermocompression forming in mould, its branch mode is not only troublesome, and is difficult to ensure that foot
Enough precision, its transfer process just can not continue to produce, efficiency is difficult to greatly improve once breaking down.
The content of the invention
The purpose of the present invention substitutes artificial automatic transporting to overcome the deficiencies of the prior art and provide one kind using mechanical arm
Net mould, realizes paper pulp molding forming to the paper mould automatic producing device of sizing full automation.
In order to realize the 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, the net mould of carrying net mould is carried between filtering molding device and thermocompression forming device
Device, and the control system of control above device automatic running, the net mould handling device includes, and one and filtering molding device
With the relatively-stationary rack of thermocompression forming device, be provided with rack one at least filtering molding device and thermocompression forming device it
Between move to carry the mechanical arm of net mould.
Further, the free end of the mechanical arm is equipped with a rotating grasping mechanism, and the grasping mechanism has two
The crawl section individually controlled by control system, can be different seized conditions.
Further, the rack is arranged on the front side of filtering molding device and thermocompression forming device, and frame upper end is provided with
Guide rail, is provided with one on the guide rail and slides platform along what guide rail moved, and the mechanical arm is connected to the bottom for sliding platform,
And it is driven to be slided in rack by sliding platform.
Further, the platform that slides includes, Mobile base, the platform mobile motor being fixed on Mobile base, in Mobile base
Two bottom sides are equipped with the sliding block coordinated with guide rail, and the bottom of the Mobile base has at least one peace for solid mechanical arm
Dress face.
Further, the mechanical arm includes, the pedestal being fixedly connected with sliding platform, and first with pedestal rotation connection
Mechanical arm, the second mechanical arm with the rotation connection of the first mechanical arm other end, the other end of second mechanical arm are connected with a level
Pallet, the grasping mechanism are rotatablely connected with level tray, and driving first mechanical arm, second mechanical arm and grasping mechanism fortune
Dynamic power set.
Further, the first mechanical arm is additionally provided with connecting rod rack with second mechanical arm junction, and the connecting rod rack connects
First connecting rod and second connecting rod are connected to, 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 stent, 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, the power set include, and are fixed on first mechanical arm and pedestal junction, and drive first mechanical arm
The first servomotor rotated；
Second mechanical arm and first mechanical arm junction are fixed on, and the second servo electricity for driving second mechanical arm to rotate
Machine；
Level tray and grasping mechanism junction are fixed on, and drives rotating 3rd servomotor of grasping mechanism.
Further, the first mechanical arm is equipped with a reducing gear I with pedestal junction, 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 be rotated around junction；It is described
Second mechanical arm is equipped with reducing gear II with first mechanical arm junction, and second servomotor is fixed on second mechanical arm
On, machine shaft is connected with reducing gear II, and drives second mechanical arm to be rotated around junction；The level tray and gripper
Structure junction is equipped with reducing gear III, and the 3rd servomotor is fixed on level tray, machine shaft and reducing gear
III connections, and drive grasping mechanism to rotate.
Further, the grasping mechanism includes, the runing rest being connected to below level tray, has on the runing rest
There are two crawl sections, the crawl section is multiple sucker I installed in runing rest both ends.
Further, the runing rest is symmetrical diesis shape, and the sucker I is eight, and is symmetrically distributed in rotation
The end and centre position of stent.
Further, the rack and filtering molding device relative to side be additionally provided with taking into for finished product on catching robot arm
Product mechanism；Described to take finished product mechanism to be made of elevating mechanism, handgrip and product placement platform, the elevating mechanism includes elevator
Frame, lifting motor and lifting screw, elevator platform are fixed on product placement platform, and lifting screw is connected with handgrip, and by rising
Motor driving, the handgrip, including the cross suction cup carrier being fixedly connected with lifting screw are dropped, is fixed on cross suction cup carrier end simultaneously
With the sucker II of outer gas stream pipeline connection.
Further, the thermocompression forming device is three, and is distributed in filtering molding device both sides.
Further, equipment control case is additionally provided with the rack, the set-up of control system is in equipment control case.
After technical solutions according to the invention, following beneficial effect is brought：
A kind of paper mould automatic producing device of the present invention, in original filtering molding device and thermocompression forming device
Between add net mould handling device and take finished product mechanism, wherein net mould handling device imitates the process manually carried, by machinery
Arm, which substitutes, manually to be carried, and the product fast removal after shaping to thermocompression forming device is moved out, finally again after undetermined type
By taking finished devices to place it on product placement platform, a series of manually-operated processes of needs, this hair are automatically performed
Bright to have the degree of automation high, production efficiency is high, it is stable, easy to repair the advantages of.
Brief description of the drawings
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 structure diagram of grasping mechanism；
Fig. 5：The structure diagram for taking finished product mechanism of the present invention；
Fig. 6：The location arrangements schematic diagram of filtering molding device and thermocompression forming device of the present invention；
Fig. 7：The flow diagram 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, rack 7, equipment control case 8, slide platform 9, be mechanical arm 10, grasping mechanism 11, guide rail 12, flat
Platform mobile motor 13, Mobile base 14, pedestal 15, first mechanical arm 16, first connecting rod 17, connecting rod rack 18, the second machine
Tool arm 19, second connecting rod 20, level tray 21, the first servomotor 22, the second servomotor 23, the 3rd servomotor
24th, runing rest 25, crossbeam 26, sucker I 27, elevator platform 28, lifting motor 29, lifting screw 30, cross suction cup carrier
31st, sucker II 32, column 101, the first crawl section 102, the second crawl section.
Embodiment
The embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of paper mould automatic producing device, mainly includes filtering molding device 1, thermocompression forming device
2nd, control system, net mould handling device 3.By paper pulp, l Water Paper mould, Ran Houre is made in the filtering molding on net mould to filtering molding device 1
Press shaping equipment 2 that l Water Paper mould is carried out heating power sizing and dry paper matrix is made.Wherein, net mould as carrier, it is necessary to filtering molding fill
Put and transported between 1 and thermocompression forming device 2, which is automatically performed by net mould handling device 3, existing artificial to substitute
Carry.Net mould handling device 3 includes, one with filtering molding device 1 and the relatively-stationary rack 6 of thermocompression forming device 2 and along
Rack 6 carries the mechanical arm 9 of net mould between filtering molding device 1 and thermocompression forming device 2.The mechanical arm 9 from
One rotating grasping mechanism 10 is equipped with by end, which has what is symmetrically individually controlled by control system before and after two
Crawl section, is respectively the first crawl section 101 and the second crawl section 102, two crawl sections can be different seized conditions.Wherein,
Rack 6 is located at the front side of filtering molding device 1 and thermocompression forming device 2, and is fixedly connected with the ground, with ensure its with suction strainer into
The relative position of type device 1 and thermocompression forming device 2 is constant, and the structure of rack 6 is preferably planer-type, including fixes and connect with ground
The four columns 32 connect, and it is connected to three crossbeams 25 on 32 top of column.
With reference to shown in Fig. 2 and Fig. 3, one group of horizontally disposed guide rail 11 is fixed with the upper end of rack 6, guide rail 11 is installed on
The upper surface of crossbeam 25.The upper end of rack 6 is provided with one and slides platform 8 along what guide rail 11 slided, and the platform 8 that slides wraps
Include, the platform mobile motor 12 that a Mobile base 13 and driving Mobile base 13 move, the Mobile base 13 is inverted concave
Structure, three crossbeams 25 cross the both sides of Mobile base 13 and middle lower recess, and the two bottom sides of Mobile base 13 are equipped with and guide rail
11 sliding blocks coordinated, platform mobile motor 12 are fixedly mounted on the centre position of the top of Mobile base 13, platform mobile motor 12
Shaft is connected vertically downward and with one speed reducer, and the output shaft of the retarder is provided with a gear, in 6 intermediate transverse girder 25 of rack
Sidepiece is equipped with the rack engaged with gear, and rack is arranged in parallel with guide rail 11, and wheel and rack is preferably helical teeth.When platform moves
When motor 12 rotates, make to slide platform 8 by the cooperation of wheel and rack and moved along guide rail 11.The bottom of Mobile base 13 has two
A contour and horizontal bottom surface for solid mechanical arm 9, two bottom surfaces can be also connected as one, and be equipped with bottom surface multiple
Screw hole, mechanical arm 9 are fixedly connected by bolt with Mobile base 13.The mechanical arm 9 by slide platform 8 drive its along
Rack 6 moves, and mechanical arm 9 is installed on the lower section of rack 6 in a manner of hang upside down, can be convenient to overhaul, and in machinery
When arm 9 breaks down, the side of rack 6 can be also moved into, by manually continuing to carry net mould.
With reference to shown in Fig. 3 and Fig. 4, mechanical arm 9 is by pedestal 14, first mechanical arm 15, first connecting rod 16, connecting rod rack
17th, second mechanical arm 18, second connecting rod 19, level tray 20 and power set composition；The top of pedestal 14 is a horizontal mounting surface,
With the bottom surface of Mobile base 13, both are bolted to connection, and have one to extend downwardly shape in the center of pedestal 14
Into arc-shaped fixation wall, first mechanical arm 15 is rotatably connected on the center of fixation wall, and first connecting rod 16 is hinged on fixation
The marginal position of wall, it is highly and separated by a distance that two tie points are located at same level.Second mechanical arm 18 is rotatably connected on
The lower end of first mechanical arm 15.Connecting rod rack 17 is installed on the junction of first mechanical arm 15 and second mechanical arm 18, the company
Bar stent 17 is annular, its radial direction side is equipped with outwardly extending linear type flange.Set respectively on the flange of connecting rod rack 17
There are the first hinge joint being connected with first connecting rod 16 and the second hinge joint being connected with second connecting rod 19.Second mechanical arm 18 and
The other end of two connecting rods 19 is connected by level tray 20, and level tray 20 is parallel with horizontal plane.In order to ensure level tray 20
Stability, the lower semisection of second mechanical arm 18 is U-shaped, its both ends passes through at coaxial 2 points and the both sides of level tray 20 are cut with scissors
Connect, and stable three-point support structure is formed with the hinge joint of second connecting rod 19.Grasping mechanism 10 is movably connected in level tray
20 bottom, grasping mechanism 10 are parallel to the ground.Above-mentioned connection relation constitutes, and is connected by pedestal 14, first mechanical arm 15, first
The first parallelogram linkage that bar 16, connecting rod rack 17 form, and by second mechanical arm 18, second connecting rod 19, connecting rod
The second parallelogram connection-rod structure that stent 17, level tray 20 form, above-mentioned two parallelogram linkage ensure that
Level tray 20 is parallel to the ground all the time during the motion, and then it is parallel to the ground to realize grasping mechanism 10.
The power set of driving manipulator arm 9 and grasping mechanism 10 include three servomotors, are respectively the first servo electricity
Machine 21, the second servomotor 22, the 3rd servomotor 23.First servomotor 21 connects installed in first mechanical arm 15 with pedestal 14
Place is met, and is fixedly mounted on by ring flange on pedestal 14, gear reducer is additionally provided with first mechanical arm 15 and 14 junction of pedestal
Structure I, the shaft of the first servomotor 21 are connected with reducing gear I, and the first servomotor 21 drives the first machine by reducing gear I
Tool arm 15 is rotated around junction.Second servomotor 22 is installed on the junction of second mechanical arm 18 and first mechanical arm 15, and
The outside of second mechanical arm 18 is bolted on, this junction is equipped with reducing gear II, the shaft of the second servomotor 22
It is connected with reducing gear II, the second servomotor 22 drives second mechanical arm 18 to be rotated around junction by reducing gear II.The
Three servomotors 23 are installed on level tray 20 and 10 junction of grasping mechanism, and are fixed on by ring flange on level tray 20
Side, reducing gear III, the shaft of the 3rd servomotor 23 and deceleration are additionally provided with level tray 20 and 10 junction of grasping mechanism
Mechanism III connections, the 3rd servomotor 23 drive grasping mechanism 10 to be rotated horizontally around junction by reducing gear III, wherein,
Reducing gear I and reducing gear II is preferably planetary reducer.
As shown in figure 4, grasping mechanism 10 includes, below level tray 20, and the runing rest being rotatablely connected with it
24,24 forwardly and backwardly symmetrical two crawl sections of runing rest, respectively the first crawl section 101 and the second crawl section 102, first
101 and second crawl section 102 of crawl section is individually controlled by control system, can be different seized conditions, for capturing difference
Net mould.Crawl section is the sucker I26 being connected installed in 24 both ends of runing rest with outer gas stream pipeline, and runing rest 24 is by subtracting
Fast mechanism III is connected with the shaft of the 3rd servomotor 23, can be around the rotation of 360 degree of junction, and runing rest 24 is symmetrical
Diesis shape structure, sucker I26 quantity elect eight as, are symmetrically distributed in the end of runing rest 24 and inclined centre position, sucker
I26 is slidably connected with runing rest 24 to be adjustable, its position can be communicated with two according to the big minor adjustment of net mould, sucker I26
Road airflow pipeline, is respectively low pressure line and pressure duct, and by solenoid valve control, the low pressure line connection when capturing net mould,
Pressure duct is connected when placing net mould.
With reference to shown in Fig. 1 and Fig. 5, it is additionally provided with the front side of filtering molding device 1 and is used to take away with what mechanical arm 9 coordinated
Finished product takes finished product mechanism 4, takes finished product mechanism 4 to be made of elevating mechanism, handgrip and product placement platform 5, elevating mechanism includes
Elevator platform 27, lifting motor 28 and lifting screw 29, elevator platform 27 are fixed on product placement platform 5, lifting screw 29
It is connected with handgrip, and is driven by lifting motor 28, realizes raising and lowering.The handgrip, including be fixed under lifting screw 29
The cross suction cup carrier 30 at end, and installed in the end of cross suction cup carrier 30 and the sucker that is connected with low pressure line and pressure duct
II31, sucker II31 are used for capturing dry paper matrix, and the placement location being distributed with dry paper matrix on net mould of sucker II31 is corresponding.
As shown in fig. 6, to improve production efficiency, every filtering molding device 1 is furnished with three thermocompression forming devices 2, described
Thermocompression forming device 2 is distributed in the left and right sides of filtering molding device 1.
The upper end side of rack 6 is provided with an equipment control case 7, control system is mounted in equipment control case 7, and is led to
Cross cable and be connected with sliding platform 8, mechanical arm 9 and grasping mechanism 10, and control above device automatic according to the program of setting
Operation.
As shown in fig. 7, the control method of the present invention is：
1st, the working status of control system detection filtering molding device 1, and detecting the completion shaping of filtering molding device 1
Afterwards, the net mould of l Water Paper mould is formed on the second crawl section 102 crawl filtering molding device 1 of control machinery arm 9.
2nd, the grasping mechanism 10 of mechanical arm 9 rotates, and makes the first crawl section 101 close to filtering molding device 1, the second crawl
Away from filtering molding device 1, its rotation angle is preferably 180 ° in portion 102.
3rd, the abortive haul mould on the first crawl section 101 is positioned over filtering molding device 1, shaping on abortive haul mould is obtained l Water Paper
Mould.
4th, mechanical arm 9 shifts to thermocompression forming device 2 under the drive of sliding platform 8.
5th, the working status of control system detection thermocompression forming device 2, and detecting the completion sizing of thermocompression forming device 2
Afterwards, the first crawl section 101 crawl of control machinery arm 9 is hot pressed the net mould equipped with dry paper matrix of the sizing of shaping equipment 2.
6th, the grasping mechanism 10 of mechanical arm 9 rotates, and makes the second crawl section 102 close to thermocompression forming device 2, the first crawl
Away from thermocompression forming device 2, its rotation angle is preferably 180 ° in portion 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, empty net mould, and repeat above-mentioned 1-8.
The detailed process of above-mentioned first crawl section, 101 or second crawl section 102 crawl 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, 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 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 connect net mould and filtering molding device 1 or thermocompression forming device 2
Touch, and discharge net mould；
C3, grasping mechanism 10 are moved rearwards, and exit filtering molding device 1 or thermocompression forming device 2, complete to place.
Dry paper matrix on the above-mentioned net mould for taking the crawl of the first crawl section 101 away, empties net mould, by taking finished product mechanism 4 certainly
It is dynamic to complete；Described to take finished product mechanism 4 to be connected with control system, the detailed process for taking finished product mechanism 4 to work is：
After b1, mechanical arm 9 return to filtering molding device 1, its first crawl section 101 is parked in the lower section for taking finished product mechanism 4,
Take the handgrip of finished product mechanism 4 to decline to contact with dry paper matrix, and adsorb dry paper matrix；
Movement lifts dry paper matrix upwards for b2, handgrip, disengages it from net mould, empties net mould；
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, an at least thermocompression forming device 2 is completed or is nearly completed after filtering molding device 1 is completed to be molded
Sizing, the mechanical arm 9 complete the time used in above-mentioned 4-7 steps less than or equal to the completion one-pass molding of filtering molding device 1 institute
With the time, i.e., mechanical arm 9 is less than or waits to the time used in turning again to filtering molding device 1 from filtering molding device 1 is left
The time used in one-pass molding is completed in filtering molding device 1 so that each mechanical arm 9 is completed into filtering molding device 1
Filtering molding device 1 is returned to before type, to improve the work efficiency of filtering molding device 1.
The control system is equipped with sensor, and constantly detects the crawl shape of the first crawl section 101 and the second crawl section 102
State, when net mould surprisingly comes off, 9 stop motion of control system automatic control manipulator arm, and alarm is sent, remind staff
Pay attention to.
The foregoing is merely the preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
Speech, without departing from the principles of the present invention, can also make various deformation and improvement, this should also be considered as the protection of the present invention
Scope.
Claims (11)
1. a kind of paper mould automatic producing device, including：Filtering molding device (1), thermocompression forming device (2), suction strainer into
The net mould handling device (3) of net mould, and control above device operation are carried between type device (1) and thermocompression forming device (2)
Control system, it is characterised in that：The net mould handling device (3) includes, and one fills with filtering molding device (1) and thermocompression forming
(2) relatively-stationary rack (6) is put, one is provided with rack (6) at least in filtering molding device (1) and thermocompression forming device
(2) moved between to carry the mechanical arm (9) of net mould；The free end of the mechanical arm (9) is equipped with a rotating gripper
Structure (10), the grasping mechanism (10) have two crawl sections individually controlled by control system；The rack (6) is arranged on suction
The front side of molding machine (1) and thermocompression forming device (2) is filtered, rack (6) upper end is provided with guide rail (11), on the guide rail (11)
It is provided with one and slides platform (8) along guide rail (11) movement, the mechanical arm (9) is connected to the bottom for sliding platform (8), and
It is driven to be slided in rack (6) by sliding platform (8).
2. paper mould automatic producing device according to claim 1, it is characterised in that：The platform (8) that slides includes,
Mobile base (13), the platform mobile motor (12) being fixed on Mobile base (13), are equipped with leading in Mobile base (13) two bottom sides
The sliding block that rail (11) coordinates, the bottom of the Mobile base (13) has at least one mounting surface for solid mechanical arm (9).
3. paper mould automatic producing device according to claim 1, it is characterised in that：The mechanical arm (9) includes,
The pedestal (14) being fixedly connected with sliding platform (8), the first mechanical arm (15) with pedestal (14) rotation connection, with the first machinery
The second mechanical arm (18) of arm (15) other end rotation connection, second mechanical arm (18) other end are connected with a level tray
(20), the grasping mechanism (10) is rotatablely connected with level tray (20), and driving first mechanical arm (15), second mechanical arm
(18) and grasping mechanism (10) movement power set.
4. paper mould automatic producing device according to claim 3, it is characterised in that：The first mechanical arm (15) with
Second mechanical arm (18) junction is additionally provided with connecting rod rack (17), and the connecting rod rack (17) is connected with first connecting rod (16) and
Two connecting rods (19), first connecting rod (16) other end are connected with pedestal (14), second connecting rod (19) other end and level tray (20)
Connection；
Wherein, pedestal (14), first mechanical arm (15), connecting rod rack (17) and first connecting rod (16) connect into a parallelogram
Linkage；It is another parallel that connecting rod rack (17), second mechanical arm (18), level tray (20) and second connecting rod (19) connect into one
Quadrilateral connecting rod mechanism；
Above-mentioned parallelogram linkage makes level tray (20) remain parallel with horizontal plane.
5. paper mould automatic producing device according to claim 3, it is characterised in that：The power set include, Gu
First mechanical arm (15) and pedestal (14) junction are scheduled on, and the first servomotor for driving first mechanical arm (15) to rotate
(21)；
Second mechanical arm (18) and first mechanical arm (15) junction are fixed on, and drives the second of second mechanical arm (18) rotation
Servomotor (22)；
Level tray (20) and grasping mechanism (10) junction are fixed on, and drives the rotating 3rd servo electricity of grasping mechanism (10)
Machine (23).
6. paper mould automatic producing device according to claim 5, it is characterised in that：The first mechanical arm (15) with
Pedestal (14) junction is equipped with a reducing gear I, first servomotor (21) is fixed on pedestal (14) by ring flange,
Machine shaft is connected with reducing gear I, and drives first mechanical arm (15) to be rotated around junction；The second mechanical arm (18) with
First mechanical arm (15) junction is equipped with reducing gear II, and second servomotor (22) is fixed on second mechanical arm (18)
On, machine shaft is connected with reducing gear II, and drives second mechanical arm (18) to be rotated around junction；The level tray (20)
Reducing gear III is equipped with grasping mechanism (10) junction, the 3rd servomotor (23) is fixed on level tray (20),
Machine shaft is connected with reducing gear III, and drives grasping mechanism (10) to rotate.
7. paper mould automatic producing device according to claim 3, it is characterised in that：Grasping mechanism (10) bag
Include, the runing rest (24) being connected to below level tray (20), there are two crawl sections on the runing rest (24), it is described
Crawl section is multiple sucker I (26) installed in runing rest (24) both ends.
8. paper mould automatic producing device according to claim 7, it is characterised in that：The runing rest (24) is pair
The diesis shape of title, the sucker I (26) is eight, and is symmetrically distributed in the end and centre position of runing rest (24).
9. paper mould automatic producing device according to claim 1, it is characterised in that：The rack (6) and suction strainer into
What the opposite side of type device (1) was additionally provided with finished product on catching robot arm (9) takes finished product mechanism (4)；It is described to take finished product mechanism
(4) it is made of elevating mechanism, handgrip and product placement platform (5), the elevating mechanism includes elevator platform (27), lifting motor
(28) it is fixed on lifting screw (29), elevator platform (27) on product placement platform (5), lifting screw (29) connects with handgrip
Connect, and driven by lifting motor (28), the 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 the sucker II (31) of outer gas stream pipeline connection.
10. paper mould automatic producing device according to claim 1, it is characterised in that：The thermocompression forming device (2)
For three, and it is distributed in filtering molding device (1) both sides.
11. paper mould automatic producing device according to claim 1, it is characterised in that：It is additionally provided with the rack (6)
Equipment control case (7), the set-up of control system is in equipment control case (7).
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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 CN106436490A (en) | 2017-02-22 |
| CN106436490B true 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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| CN107268342B (en) * | 2017-06-30 | 2018-11-23 | 东北林业大学 | A kind of hot forming tool and hot-press molding method of heavy duty fibre mould pallet |
| 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 |
| 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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| CN2312959Y (en) * | 1997-10-15 | 1999-04-07 | 大连绿洲食品包装有限公司 | Vacuum-adsorption type mould press |
| DE10128186B4 (en) * | 2001-06-11 | 2005-03-03 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device for positioning an object holding device |
| CN100417498C (en) * | 2006-09-08 | 2008-09-10 | 清华大学 | Robot for carrying and piling |
| CN201224101Y (en) * | 2008-06-13 | 2009-04-22 | 宁波问鼎机器人有限公司 | Manipulator for taking out forming machine products |
| CN201960561U (en) * | 2010-06-12 | 2011-09-07 | 莱恩精机(深圳)有限公司 | Split-type servo manipulator |
| CN202726912U (en) * | 2012-05-24 | 2013-02-13 | 青岛华东工程机械有限公司 | Loading/unloading servo simulation manipulator |
| CN203510205U (en) * | 2013-09-03 | 2014-04-02 | 任雷 | Rubbish sorting mechanical arm |
| JP5802735B2 (en) * | 2013-12-27 | 2015-11-04 | ファナック株式会社 | Object transfer system with evacuation device |
| CN204416563U (en) * | 2015-01-16 | 2015-06-24 | 海宁飞戎工业设计咨询有限公司 | A kind of station conversion device of sheet material workpiece |
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