CN106737605A - It is applied to outer formula transfer robot of the roller Roll Sushi with hollow cylinder - Google Patents
It is applied to outer formula transfer robot of the roller Roll Sushi with hollow cylinder Download PDFInfo
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- CN106737605A CN106737605A CN201710075336.8A CN201710075336A CN106737605A CN 106737605 A CN106737605 A CN 106737605A CN 201710075336 A CN201710075336 A CN 201710075336A CN 106737605 A CN106737605 A CN 106737605A
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- support plate
- robot
- roller roll
- hollow cylinder
- mounting seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
Outer formula transfer robot for being to be applied to the roller Roll Sushi with hollow cylinder disclosed by the invention, including base, the base it is upper, lower two ends respectively forwardly extend to form upper mounting seat and lower mounting seat, fixation is equiped with a cylinder in upper mounting seat, the bottom of lower mounting seat is fixed and is equiped with a fix bar, a piston is fitted with cylinder, the clutch end of the piston is set with a rail support plate phase drive connection, rail support plate cooperation is installed in base, a left side for rail support plate, right both sides are respectively symmetrically and are equiped with one stroke guider, symmetrically arranged first robot support plate and the second robot support plate are equiped with stroke guider respectively.The present invention can not only realize the pollution-free discontiguous crawl transmission to non-woven fabrics, and can apply to different size, the conveying of the non-woven fabrics of Different Weight, and applicability is more excellent, meanwhile, structure of the present invention is more reasonable, and output is more stablized, smooth-going, in hgher efficiency, service life is longer.
Description
Technical field
The present invention relates to machinery equipment field, more specifically a kind of roller Roll Sushi being applied to hollow cylinder
Outer formula transfer robot.
Background technology
Non-woven fabrics：Non-woven fabrics（English name：Non Woven Fabric or Nonwoven cloth）Also known as adhesive-bonded fabric,
Be to be made up of fiber orient or random, be environment-friendly materials of new generation, with moistureproof, ventilative, flexible, light weight, it is not combustion-supporting,
Easy decomposition, nontoxic nonirritant, rich color, it is cheap, recyclable the features such as.Typically all use polypropylene
（Pp materials）Pellet is raw material, batches continuous one-step and produces through high-temperature fusion, spinneret, paving guiding principle, hot pressing, thus with cloth
Outward appearance and some performances and be called cloth.Based on needing to carry out at coating non-woven fabrics outer surface in nonwoven production process
Reason, but non-woven fabrics is for manufacturing the product higher for hygienic requirements such as personal nursing, packaging for foodstuff, medical treatment, so not
Allow to touch non-woven fabrics outer surface.And existing non-woven fabrics typically carries out packaging production using artificial packaged form,
Embrace to take non-woven fabrics outer surface and be put into packing machine using staff and packed, not only packaging efficiency is low, labour intensity big, and nonwoven
Cloth outer surface is easily contaminated.
In order to solve this problem, some manufacturing enterprises carry out gripping transfer using manipulator, but manipulator is also
Carry out capturing conveying using clipping type, equally also easily non-woven cloth products surface is polluted, and due to non-woven fabrics rule
Lattice are more, various different external diameters (600-1000mm), height (50-860mm) and weight (10-150kg) are embodied in, using same
A set of manipulator cannot be packed to the non-woven fabrics of different size, an armful gripper takes conveying, and versatility is poor, give enterprise's production
No small puzzlement is brought, the production efficiency of enterprise and the quality of product has been had a strong impact on.
The content of the invention
Disclosed by the invention is a kind of outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder, and its is main
Aim to overcome that deficiencies of the prior art and shortcoming, there is provided a kind of outer formula transfer robot, it not only can be with
The pollution-free discontiguous crawl transmission to non-woven fabrics is realized, and can apply to the non-woven fabrics of different size, Different Weight
Conveying, applicability is more excellent, and on the other hand, output is more stablized on this robot manipulator structure more rationally, smooth-going, efficiency
Higher, service life is longer.
The technical solution adopted by the present invention is as follows：
It is applied to outer formula transfer robot of the roller Roll Sushi with hollow cylinder, including base, the upper/lower terminal point of the base
Do not extend forward and form upper mounting seat and lower mounting seat, fixation is equiped with a cylinder, the lower mounting seat in the upper mounting seat
Bottom fix be equiped with a fix bar, the fix bar be used for coordinate insertion roller Roll Sushi hollow cylinder in, on the cylinder fit
Equipped with a piston, the clutch end of the piston is set with a rail support plate phase drive connection, and the rail support plate coordinates
It is installed in the base；The arranged on left and right sides of the rail support plate is respectively symmetrically and is equiped with one stroke guider, the row
Symmetrically arranged first robot support plate and the second robot support plate, the fix bar are equiped with journey guider respectively
On be equiped with a tabular parallel―ordinal shift structure being made up of four block size identical connecting plates, tabular parallel―ordinal shift difference
It is connected with the first, second robot support plate, and the tabular parallel―ordinal shift drives the first, second manipulator branch
Fagging opens mobile setting to the left and right sides respectively；The fix bar, the first robot support plate and the second manipulator branch
The support that fagging forms a three faces positioning takes thing structure.
Further, the top of the rail support plate arranged on left and right sides is also equiped with a linear bearing, a guide rod and
Guide rod seat, the linear bearing is fixedly mounted on the bottom of the upper mounting seat, and the guide rod seat is installed on the guide rail
The top of supporting plate, the top cooperation of the guide rod is installed on the linear bearing, and the guide rod seat cooperation is set in this and leads
On bar, and the lower end of the guide rod coordinates through the rail support plate.
Further, the stroke guider includes being installed in the guide rail of the rail support plate bottom and is slidably installed with
Sliding block on the guideway, the sliding block is mutually fixed with the upper end of the first robot support plate or the second robot support plate to be connected
Connect setting.
Further, the guide-track groove of a linear structure is further opened with the rail support plate, the guide rail is adaptedly filled
It is located on the guide-track groove.
Further, the curved shape structure of the lateral wall of the fix bar, the lateral wall of the fix bar can coordinate laminating to push up
It is located on the madial wall of roller Roll Sushi hollow cylinder.
Further, the lower mounting seat of the base is in " mountain " character form structure, respectively including the installation of left, center, right three
Plate, left and right installing plate is symmetrically installed in the both sides of middle installing plate, the fix bar by fixing nut be installed on it is described under
On the middle installing plate of mounting seat, the spacing between the left and right installing plate and middle installing plate is more than first robot support
The distance of the outside side shifting of plate and the second robot support plate.
Further, the piston when stroke of the cylinder piston is more than outside the first, second robot support plate
Movement travel.
Further, interior diameter of a distance more than roller Roll Sushi hollow cylinder outside the first, second robot support plate.
Further, the base is in " ［ " character form structure.
By the above-mentioned description of this invention, compared to the prior art, the advantage of the invention is that：
One：The present invention by setting tabular parallel―ordinal shift structure, when taking thing, using be inverted parallel―ordinal shift, weight weight and
The characteristics of parallel―ordinal shift opens external diameter more than paper web internal diameter realizes the extraction and transmission of roller Roll Sushi jointly, weight weight provide compared with
The big outer tension force of a part, while parallel―ordinal shift is smaller with horizontal plane angle during lifting, when object is heavier, robot support plate
Outer tension force when being extruded with roller volume non-woven fabrics inner fiber container is bigger, and the weight that can be lifted by crane is heavier, and can realize self-locking, reduces gas
The required thrust of cylinder.
Two：Manipulator small volume of the invention, applicable interior paper tube is smaller, weight of object is larger, object specification is more
Use occasion.
Three：The support that first, second robot support plate of the invention and fix bar form a three faces positioning takes thing knot
Structure, three face positioning actions can be played in vertical-lifting, improve crawl positioning precision, while when lifting heavy is overturn, using solid
Fixed pole carries weight of object completely, only when weight inner fiber container and horizontal plane, the first robot support plate, the second machinery
Hand supporting plate just works, so can effective prolonged mechanical hand service life.
Four：The compressibility of the cleaning of pneumatic element of the invention and easy availability and pneumatic element the inside gas, protects
The spatter property and security of card equipment.
Five：The present invention when piston of cylinder down pushes away rail support plate, distinguish by first, second robot support plate
Moved as planche cross along guide rod and guide rail, sliding block, guide rod and guide rail, the effect of sliding block are when first, second manipulator branch
Fagging toward both sides strut when from planche cross guide effect.The effect of tabular double leval jib is to utilize parallelogram principle,
Simply need a prime mover i.e. cylinder, it is possible to allow parallel four-bar linkage to transmit power, and make two robot supports
Plate uniform force.The multi-guide device of guide rod and guide rail, sliding block and tabular parallel―ordinal shift, improves equipment life and motion is flat
Stability.
Six：The present invention reduces the angular force of cylinder, while increased the fortune of cylinder by setting linear bearing and guide rod
Action-oriented is acted on, and improves the service life of cylinder, while being arranged in rail support plate by by guide rod seat, makes the outstanding of guide rod
Arm lengths are obviously reduced, and further improve the accuracy that guide rod is oriented to.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the overlooking the structure diagram of Fig. 1.
Fig. 3 is that the present invention takes the structural representation before thing.
Fig. 4 is the structural representation when present invention takes thing.
Marked in figure.
The upper mounting seat 11 of base 1.
The cylinder 2 of lower mounting seat 12.
The fix bar 3 of piston 21.
The rail support plate 5 of roller Roll Sushi 4.
Guide-track groove 51.
The guide rod 62 of linear bearing 61.
The tabular parallel―ordinal shift 7 of guide rod seat 63.
The robot support plate 82 of first robot support plate 81 second.
The guide rail 91 of stroke guider 9.
Sliding block 92.
Specific embodiment
The specific embodiment invented further to illustrate is illustrated with reference to the accompanying drawings.
As shown in Figures 1 to 4, a kind of outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder, including
Base 1, the upper/lower terminal of the base 1 respectively forwardly extends to form upper mounting seat 11 and lower mounting seat 12, and the base 1 is in one
" ［ " character form structure.Fixation is equiped with a cylinder 2 in the upper mounting seat 11, and the bottom of the lower mounting seat 12 is fixed and is equiped with
One fix bar 3, the fix bar 3 is used to coordinate in the hollow cylinder for inserting nonwoven cloth rewinder roll Roll Sushi 4, and one is fitted with the cylinder 2
Piston 21, the clutch end of the piston 21 is set with the phase drive connection of a rail support plate 5, and the rail support plate 5 coordinates
It is installed in the base 1, the arranged on left and right sides of the rail support plate 5 is respectively symmetrically and is equiped with a linear bearing 61, a guide rod
62 and a guide rod seat 63, the linear bearing 61 is fixedly mounted on the bottom of the upper mounting seat 11, and the guide rod seat 63 is consolidated
Surely the top of the rail support plate 5 is installed in, the top cooperation of the guide rod 62 is installed on the linear bearing 61, described
The cooperation of guide rod seat 63 is set on the guide rod 61, and the lower end of the guide rod coordinates through the rail support plate.It is straight by setting
Bobbin holds 61 and guide rod 62, reduces the angular force of cylinder 1, while increased the motion guide effect of cylinder 1, improves cylinder
1 service life, while being arranged in rail support plate 5 by by guide rod seat 63, is obviously reduced the jib-length of guide rod 62,
Further improve the accuracy that guide rod 62 is oriented to.
As shown in Figures 1 to 4, the arranged on left and right sides of the rail support plate 5 is respectively symmetrically and is equiped with one stroke guider
9, symmetrically arranged first robot support plate 81 and the second robot support plate are equiped with the stroke guider 9 respectively
82, a structure of tabular parallel―ordinal shift 7 being made up of four block size identical connecting plates, the plate are equiped with the fix bar 3
Shape parallel―ordinal shift 7 respectively with the first, second robot support plate（81、82）Connection, and the tabular parallel―ordinal shift 7
Drive the first, second robot support plate（81、82）Open mobile setting to the left and right sides respectively, the tabular four connects
Bar 7 drives the first, second robot support plate（81、82）Open mobile setting to the left and right sides respectively, the stroke is led
Include the guide rail 91 for being installed in the bottom of the rail support plate 5 and the sliding block 92 being slidably installed with the guide rail 91 to device 9, should
Sliding block 92 is mutually fixedly connected setting with the upper end of the first robot support plate 81 or the second robot support plate 82.It is described to lead
The guide-track groove 51 of a linear structure is further opened with rail supporting plate 5, the guide rail 91 is adaptedly installed on the guide-track groove 51.
When the piston 21 of cylinder 2 down pushes away rail support plate 5, first, second robot support plate（81、82）Respectively along leading
Bar 62 and guide rail 91, sliding block 92 make planche cross motion, and guide rod 62 and guide rail 91, the effect of sliding block 92 are when first, second machine
Tool hand supporting plate（81、82）Planche cross guide effect from when being strutted toward both sides.The effect of tabular parallel―ordinal shift 7 is profit
With parallelogram principle, a prime mover i.e. cylinder 2 is simply needed, it is possible to allow tabular parallel four-bar linkage to transmit
Power, and make two robot support plates（81、82）Uniform force.Guide rod 62 and guide rail 91, sliding block 92 and tabular double leval jib 7
Multi-guide device, improves equipment life and robust motion.
As shown in Figures 1 to 4, the fix bar 3, the first robot support plate 81 and the second robot support plate 82
The support for forming a three faces positioning takes thing structure, and three face positioning actions can be played in roller 4 vertical-lifting of Roll Sushi, improves crawl fixed
Position precision.The curved shape structure of lateral wall of the fix bar 3, the lateral wall of the fix bar 3 can coordinate laminating top to be located at roller volume
On the madial wall of the hollow cylinder of thing 4, when runner Roll Sushi 4 is overturn, using the weight of the complete bearing roller Roll Sushi 4 of fix bar 3, only
Have when the inner fiber container of roller Roll Sushi 4 and horizontal plane, the first robot support plate 81, the second robot support plate 82 are just acted as
With, so can effective prolonged mechanical hand service life.
As shown in Figures 1 to 4, the lower mounting seat 12 of the base 1 is in " mountain " character form structure, respectively including left, center, right
Three installing plates, left and right installing plate is symmetrically installed in the both sides of middle installing plate, and the fix bar 3 is fixed by fixing nut and filled
It is located on the middle installing plate of the lower mounting seat 12, the spacing between the left and right installing plate and middle installing plate is more than described the
The distance of the outside side shifting of one robot support plate 81 and the second robot support plate 82.The stroke of the cylinder piston 21 is big
In the first, second robot support plate（81、82）The movement travel of the piston 21 at outer, first, second machinery
Hand supporting plate（81、82）Interior diameter of the outer distance more than the hollow cylinder of roller Roll Sushi 4, it is ensured that the security of manipulator, reliability
Property.
The course of work is as follows：
1st, first, second robot support plate when cylinder 2 is not ventilated（81、82）Shrink, first, second robot support plate（81、
82）With the inner ring of the insertion nonwoven cloth rewinder roll of fix bar 3 Roll Sushi 4.
2nd, cylinder 2 is ventilated toward the direction push piston 21 of rail support plate 5, using guide rod 62 and guide rail 91, the level of sliding block 92
The balance of cross guide effect and tabular parallel―ordinal shift 7 makes first, second robot support plate with stress effect（81、82）
Moved as planche cross along guide rod 62 and guide rail 91, sliding block 92 and opened outward, opened outward to two robot support plates（81、82）'s
Outer surface compresses with the inner peripheral surface extruding of nonwoven cloth rewinder roll Roll Sushi 4.First, second robot support plate（81、82）, fix bar 3
Three face positioning actions can be played in vertical-lifting, crawl positioning precision is improved, while in vertical-lifting weight, using fix bar
3 carry weight of object completely, only when nonwoven cloth rewinder roll 4 inner fiber containers of Roll Sushi are perpendicular to the ground, the first robot support plate 81,
Two robot support plates 82 just work, so can effective prolonged mechanical hand life-span.
The present invention is utilized by setting tabular parallel―ordinal shift structure, when taking thing and is inverted double leval jib, weight weight and four companies
The characteristics of bar opens external diameter more than paper web internal diameter realizes the extraction and transmission of roller Roll Sushi jointly, and weight weight provides larger one
Exceptionally tension force, while double leval jib is smaller with horizontal sextant angle during lifting, when object is heavier, robot support plate is rolled up in non-woven fabrics with roller
Outer tension force when paper web is extruded is bigger, and the weight that can be lifted by crane is heavier, and can realize self-locking, reduces the required thrust of cylinder.
The present invention can not only realize the pollution-free discontiguous crawl transmission to non-woven fabrics, and can apply to different size, no
With the conveying of the non-woven fabrics of weight, applicability is more excellent, and on the other hand, output is more on this robot manipulator structure more rationally
Stabilization, smooth-going, in hgher efficiency, service life is longer.
Specific embodiment of the invention is above are only, but design concept of the invention is not limited merely to this, every profit
The present invention is improved with carrying out unsubstantiality with this design, should belong to the behavior for invading the scope of the present invention.
Claims (9)
1. outer formula transfer robot of the roller Roll Sushi with hollow cylinder is applied to, it is characterised in that：Including base, the base
Upper/lower terminal respectively forwardly extend to form upper mounting seat and lower mounting seat, in the upper mounting seat fixation being equiped with a cylinder,
The bottom of the lower mounting seat is fixed and is equiped with a fix bar, and the fix bar is used to coordinate in the hollow cylinder for inserting roller Roll Sushi,
A piston is fitted with the cylinder, the clutch end of the piston is set with a rail support plate phase drive connection, described to lead
The cooperation of rail supporting plate is installed in the base；The arranged on left and right sides of the rail support plate is respectively symmetrically and is equiped with one stroke and leads
To device, symmetrically arranged first robot support plate and the second robot support are equiped with the stroke guider respectively
Plate, is equiped with a tabular parallel―ordinal shift structure being made up of four block size identical connecting plates, the tabular in the fix bar
Parallel―ordinal shift is connected with the first, second robot support plate respectively, and the tabular parallel―ordinal shift drives described the
First, the second robot support plate opens mobile setting to the left and right sides respectively；The fix bar, the first robot support plate with
The support that the second robot support plate shape is positioned into three faces takes thing structure.
2. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 1, its feature
It is：The top of the rail support plate arranged on left and right sides is also equiped with a linear bearing, a guide rod and a guide rod seat, described
Linear bearing is fixedly mounted on the bottom of the upper mounting seat, and the guide rod seat is installed on the upper of the rail support plate
Portion, the top cooperation of the guide rod is installed on the linear bearing, and the guide rod seat cooperation is set on the guide rod, and this is led
The lower end of bar coordinates runs through the rail support plate.
3. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 1, its feature
It is：The guider includes being installed in the guide rail of the rail support plate bottom and is slidably installed with cunning on the guideway
Block, the sliding block is mutually fixedly connected setting with the upper end of the first robot support plate or the second robot support plate.
4. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 3, its feature
It is：The guide-track groove of a linear structure is further opened with the rail support plate, the guide rail is adaptedly installed in the guide rail
On groove.
5. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 1, its feature
It is：The curved shape structure of lateral wall of the fix bar, the lateral wall of the fix bar can coordinate laminating top to be located at roller Roll Sushi sky
On the madial wall of heart cylinder.
6. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 1, its feature
It is：The lower mounting seat of the base is in " mountain " character form structure, respectively including the installing plate of left, center, right three, left and right installation
Plate is symmetrically installed in the both sides of middle installing plate, and the fix bar is installed on the middle peace of the lower mounting seat by fixing nut
On dress plate, the spacing between the left and right installing plate and middle installing plate is more than the first robot support plate and the second machinery
The distance of the outside side shifting of hand supporting plate.
7. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 1, its feature
It is：The movement travel of the piston when stroke of the cylinder piston is more than outside the first, second robot support plate.
8. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 7, its feature
It is：Interior diameter of a distance more than roller Roll Sushi hollow cylinder outside the first, second robot support plate.
9. outer formula transfer robot of the roller Roll Sushi being applied to hollow cylinder according to claim 1, its feature
It is：The base is in " ［ " character form structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710075336.8A CN106737605B (en) | 2017-02-13 | 2017-02-13 | Be applied to roll up thing of having hollow cylinder's flaring formula conveying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710075336.8A CN106737605B (en) | 2017-02-13 | 2017-02-13 | Be applied to roll up thing of having hollow cylinder's flaring formula conveying manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737605A true CN106737605A (en) | 2017-05-31 |
| CN106737605B CN106737605B (en) | 2023-05-16 |
Family
ID=58955927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710075336.8A Active CN106737605B (en) | 2017-02-13 | 2017-02-13 | Be applied to roll up thing of having hollow cylinder's flaring formula conveying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737605B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009202332A (en) * | 2008-01-28 | 2009-09-10 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| JP2009215014A (en) * | 2008-03-11 | 2009-09-24 | Ishikame Kogyo:Kk | Lifting tool pressed to inner circumference surface of annular member |
| CN106002145A (en) * | 2016-06-30 | 2016-10-12 | 苏州市吴中区胥口广博模具加工厂 | Mechanical taking hand of electronic drain valve controller assembly machine |
| CN106003017A (en) * | 2016-05-31 | 2016-10-12 | 中国计量学院 | Expandable mechanical gripper |
-
2017
- 2017-02-13 CN CN201710075336.8A patent/CN106737605B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009202332A (en) * | 2008-01-28 | 2009-09-10 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| JP2009215014A (en) * | 2008-03-11 | 2009-09-24 | Ishikame Kogyo:Kk | Lifting tool pressed to inner circumference surface of annular member |
| CN106003017A (en) * | 2016-05-31 | 2016-10-12 | 中国计量学院 | Expandable mechanical gripper |
| CN106002145A (en) * | 2016-06-30 | 2016-10-12 | 苏州市吴中区胥口广博模具加工厂 | Mechanical taking hand of electronic drain valve controller assembly machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737605B (en) | 2023-05-16 |
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