CN106737605B - Be applied to roll up thing of having hollow cylinder's flaring formula conveying manipulator - Google Patents
Be applied to roll up thing of having hollow cylinder's flaring formula conveying manipulator Download PDFInfo
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- CN106737605B CN106737605B CN201710075336.8A CN201710075336A CN106737605B CN 106737605 B CN106737605 B CN 106737605B CN 201710075336 A CN201710075336 A CN 201710075336A CN 106737605 B CN106737605 B CN 106737605B
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- manipulator
- supporting plate
- guide rail
- hollow cylinder
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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
The invention discloses an external-stretching type conveying manipulator applied to a roller with a hollow cylinder, which comprises a base, wherein the upper end and the lower end of the base respectively extend forwards to form an upper mounting seat and a lower mounting seat, an air cylinder is fixedly arranged on the upper mounting seat, a fixed rod is fixedly arranged at the bottom of the lower mounting seat, a piston is adapted to the air cylinder, the power output end of the piston is in driving connection with a guide rail supporting plate, the guide rail supporting plate is matched and arranged in the base, a stroke guiding device is symmetrically arranged at the left side and the right side of the guide rail supporting plate respectively, and a first manipulator supporting plate and a second manipulator supporting plate which are symmetrically arranged are respectively arranged on the stroke guiding device. The invention not only can realize non-pollution and non-contact grabbing and conveying of non-woven fabrics, but also can be applied to conveying of non-woven fabrics with different specifications and different weights, and has the advantages of excellent applicability, more reasonable structure, more stable and smooth output, higher efficiency and longer service life.
Description
Technical Field
The invention relates to the field of mechanical equipment, in particular to an out-of-tension conveying manipulator applied to a roller with a hollow cylinder.
Background
Nonwoven fabric: the Non-Woven Fabric (English name: non Woven Fabric or Non Woven Fabric) is also called Non-Woven Fabric, is formed by directional or random fibers, is a new generation environment-friendly material, and has the characteristics of moisture resistance, ventilation, flexibility, light weight, no combustion supporting, easy decomposition, no toxicity and no irritation, rich color, low price, recycling and the like. It is produced by continuous one-step process of high-temperature melting, spinning, wire laying, hot-pressing and winding, and has the appearance and certain properties of cloth, so that it is called cloth. The non-woven fabric is used for manufacturing products with high requirements on sanitation, such as personal care, food packaging, medical treatment and the like, so that the touch on the outer surface of the non-woven fabric is not allowed. The existing non-woven fabrics are generally produced in a manual packaging mode, the outer surfaces of the non-woven fabrics are held by hands and put into a packaging machine for packaging, so that the packaging efficiency is low, the labor intensity is high, and the outer surfaces of the non-woven fabrics are easy to pollute.
In order to solve the problem, some production enterprises use mechanical arms to clamp and transfer, but the mechanical arms also use holding clamps to grasp and convey, the surface of a non-woven fabric product is also easy to pollute, and as the non-woven fabric has a plurality of specifications, the non-woven fabric cannot be packaged and held clamps to grasp and convey by adopting the same mechanical arm, the non-woven fabric with different specifications is relatively poor in universality, no small trouble is brought to the production of enterprises, and the production efficiency of the enterprises and the quality of the products are seriously influenced.
Disclosure of Invention
The invention discloses an external-stretching type conveying manipulator applied to a roller with a hollow cylinder, which aims to overcome the defects and shortcomings in the prior art, and provides an external-stretching type conveying manipulator which can not only realize non-pollution and non-contact grabbing conveying of non-woven fabrics, but also be applied to conveying of non-woven fabrics with different specifications and different weights, and has the advantages of excellent applicability, more reasonable structure, more stable and smooth output, higher efficiency and longer service life.
The technical scheme adopted by the invention is as follows:
the outer-stretching type conveying manipulator for the roller rolling object with the hollow cylinder comprises a base, wherein the upper end and the lower end of the base respectively extend forwards to form an upper mounting seat and a lower mounting seat, a cylinder is fixedly arranged on the upper mounting seat, a fixing rod is fixedly arranged at the bottom of the lower mounting seat and is used for being matched with the hollow cylinder inserted into the roller rolling object, a piston is matched on the cylinder, the power output end of the piston is in driving connection with a guide rail supporting plate, and the guide rail supporting plate is matched and arranged in the base; the left and right sides of the guide rail supporting plate are symmetrically provided with a travel guide device respectively, the travel guide device is provided with a first manipulator supporting plate and a second manipulator supporting plate which are symmetrically arranged respectively, the fixed rod is provided with a plate-shaped parallel four-bar structure formed by four connecting plates with the same size, the plate-shaped parallel four-bar is respectively connected with the first manipulator supporting plate and the second manipulator supporting plate, and the plate-shaped parallel four-bar drives the first manipulator supporting plate and the second manipulator supporting plate to be opened and moved leftwards and rightwards respectively; the fixed rod, the first manipulator support plate and the second manipulator support plate form a three-surface positioning support fetching structure.
Furthermore, the upper parts of the left side and the right side of the guide rail supporting plate are also provided with a linear bearing, a guide rod and a guide rod seat, the linear bearing is fixedly arranged at the bottom of the upper mounting seat, the guide rod seat is fixedly arranged at the upper part of the guide rail supporting plate, the upper part of the guide rod is matched and arranged on the linear bearing, the guide rod seat is matched and sleeved on the guide rod, and the lower end of the guide rod is matched and penetrated through the guide rail supporting plate.
Still further, the travel guide device comprises a guide rail arranged at the bottom of the guide rail supporting plate and a sliding block arranged on the guide rail in a sliding manner, and the sliding block is fixedly connected with the upper end of the first manipulator supporting plate or the upper end of the second manipulator supporting plate.
Furthermore, the guide rail supporting plate is also provided with a guide rail groove with a linear structure, and the guide rail is adaptively arranged on the guide rail groove.
Furthermore, the outer side wall of the fixing rod is of an arc-shaped structure, and the outer side wall of the fixing rod can be matched, attached and propped against the inner side wall of the roller roll hollow cylinder.
Still further, the lower mount pad of base is "mountain" font structure, includes left, well, right three mounting panel respectively, and left and right mounting panel symmetry is installed in the both sides of well mounting panel, the dead lever passes through fixation nut fixed the installing on the well mounting panel of lower mount pad, the interval between left and right mounting panel and the well mounting panel is greater than the distance that outside of first manipulator backup pad and second manipulator backup pad moved.
Further, the stroke of the cylinder piston is larger than the movement stroke of the piston when the first manipulator support plate and the second manipulator support plate are outwards stretched.
Further, the outward stretching distance of the first manipulator support plate and the second manipulator support plate is larger than the inner diameter of the hollow cylinder of the roller.
Furthermore, the base is in a [ -shaped structure.
As can be seen from the above description of the present invention, the present invention has the following advantages compared with the prior art:
and (3) a step of: according to the invention, by arranging the plate-shaped parallel four-bar structure, when taking objects, the characteristics of inverted parallel four-bar structure, weight of the heavy objects and the fact that the opening outer diameter of the parallel four-bar structure is larger than the inner diameter of the paper cylinder are utilized to jointly realize the extraction and transmission of the roller-coil objects, the weight of the heavy objects provides larger part of external tension, meanwhile, the included angle between the parallel four-bar structure and the horizontal plane is smaller when the heavy objects are hoisted, when the external tension is larger when the mechanical arm supporting plate and the paper cylinder in the roller-coil non-woven fabric are extruded, the hoisted heavy objects are heavier, self-locking can be realized, and the required thrust of the air cylinder is reduced.
And II: the manipulator disclosed by the invention is small in size and can be suitable for use occasions with smaller inner paper tubes, larger object weight and more object specifications.
Thirdly,: the first manipulator support plate, the second manipulator support plate and the fixed rod form a three-face positioning support object taking structure, the three-face positioning function can be achieved during vertical lifting, the grabbing positioning precision is improved, meanwhile, when a heavy object is lifted through overturning, the fixed rod is used for completely bearing the weight of the object, and only when the paper cylinder in the heavy object is vertical to the horizontal plane, the first manipulator support plate and the second manipulator support plate are enabled, so that the service life of the manipulator can be effectively prolonged.
Fourth, the method comprises the following steps: the cleanliness and accessibility of the pneumatic element and the compressibility of the gas in the pneumatic element ensure the cleanliness and safety of the equipment.
Fifth step: when the piston of the cylinder downwards derives the rail supporting plate, the first manipulator supporting plate and the second manipulator supporting plate respectively do horizontal cross motion along the guide rod, the guide rail and the sliding block, and the guide rod, the guide rail and the sliding block play a role in horizontal cross guiding when the first manipulator supporting plate and the second manipulator supporting plate are spread towards two sides. The plate-shaped four-bar linkage has the advantages that the parallelogram principle is utilized, the force can be transmitted by the parallel four-bar linkage only by using one prime motor, namely an air cylinder, and the two manipulator support plates are uniformly stressed. The multiple guiding device of the guide rod, the guide rail, the sliding block and the platy parallel four-bar linkage improves the service life and the motion stability of the equipment.
Sixth,: according to the invention, through the arrangement of the linear bearing and the guide rod, the deflection force of the air cylinder is reduced, the motion guiding function of the air cylinder is increased, the service life of the air cylinder is prolonged, and meanwhile, through the arrangement of the guide rod seat on the guide rail supporting plate, the cantilever length of the guide rod is obviously reduced, and the guiding accuracy of the guide rod is further improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic top view of fig. 1.
Fig. 3 is a schematic diagram of the structure of the present invention before picking.
Fig. 4 is a schematic view of the structure of the present invention when taking objects.
Marked in the figure.
The base 1 is provided with a mounting seat 11.
The lower mounting base 12 is a cylinder 2.
The piston 21 secures the rod 3.
The roll 4 guides the support plate 5.
A rail groove 51.
The guide rod seat 63 is plate-shaped and parallel to the four connecting rods 7.
The first robot support plate 81 and the second robot support plate 82.
The travel guide 9 guides the rail 91.
A slider 92.
Detailed Description
Specific embodiments of the invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 4, an external-stretching type conveying manipulator applied to a roll object with a hollow cylinder comprises a base 1, wherein an upper mounting seat 11 and a lower mounting seat 12 are respectively formed by extending the upper end and the lower end of the base 1 forwards, and the base 1 is in a [ -shaped structure. The upper mounting seat 11 is fixedly provided with a cylinder 2, the bottom of the lower mounting seat 12 is fixedly provided with a fixing rod 3, the fixing rod 3 is used for being matched and inserted into a hollow cylinder of the non-woven fabric roll 4, the cylinder 2 is provided with a piston 21 in a matched mode, a power output end of the piston 21 is in driving connection with a guide rail support plate 5, the guide rail support plate 5 is matched and arranged in the base 1, the left side and the right side of the guide rail support plate 5 are symmetrically provided with a linear bearing 61, a guide rod 62 and a guide rod seat 63 respectively, the linear bearing 61 is fixedly arranged at the bottom of the upper mounting seat 11, the guide rod seat 63 is fixedly arranged at the upper part of the guide rail support plate 5, the upper part of the guide rod 62 is matched and arranged on the linear bearing 61, the guide rod seat 63 is matched and sleeved on the guide rod 61, and the lower end of the guide rod is matched and arranged through the guide rail support plate. Through setting up linear bearing 61 and guide arm 62, reduced the deflection of cylinder 1, increased the motion guide effect of cylinder 1 simultaneously, improved the life of cylinder 1, simultaneously through installing guide arm seat 63 on guide rail backup pad 5, make the cantilever length of guide arm 62 obviously reduce, further improve the accuracy of guide arm 62 direction.
As shown in fig. 1 to 4, a stroke guide device 9 is symmetrically installed on the left and right sides of the guide rail support plate 5, a first manipulator support plate 81 and a second manipulator support plate 82 which are symmetrically installed on the stroke guide device 9, a plate-shaped parallel four-bar 7 structure formed by four connecting plates with the same size is installed on the fixed rod 3, the plate-shaped parallel four-bar 7 is respectively connected with the first and second manipulator support plates (81 and 82), the plate-shaped parallel four-bar 7 drives the first and second manipulator support plates (81 and 82) to be opened and moved to the left and right sides respectively, the plate-shaped four-bar 7 drives the first and second manipulator support plates (81 and 82) to be opened and moved to the left and right sides respectively, the stroke guide device 9 comprises a guide rail 91 installed at the bottom of the guide rail support plate 5 and a sliding block 92 slidingly installed on the guide rail 91, and the sliding block 92 is fixedly connected with the upper ends of the first manipulator support plate 81 or the second manipulator support plate 82. The guide rail supporting plate 5 is further provided with a guide rail groove 51 having a linear structure, and the guide rail 91 is adaptively mounted on the guide rail groove 51. When the piston 21 of the air cylinder 2 pushes down the guide rail supporting plate 5, the first and second manipulator supporting plates (81, 82) respectively move horizontally in a cross manner along the guide rod 62, the guide rail 91 and the slide block 92, and the guide rod 62, the guide rail 91 and the slide block 92 play a role in horizontally guiding the cross when the first and second manipulator supporting plates (81, 82) are spread towards two sides. The plate-shaped parallel four-bar mechanism 7 is used for transmitting force by utilizing the principle of parallelogram and only needing one prime motor, namely the cylinder 2, and the two manipulator support plates (81 and 82) are uniformly stressed. The multiple guiding devices of the guide rod 62, the guide rail 91, the sliding block 92 and the plate-shaped four-bar 7 improve the service life and the motion stability of the equipment.
As shown in fig. 1 to 4, the fixing rod 3, the first manipulator support plate 81 and the second manipulator support plate 82 form a three-surface positioning support and fetching structure, so that the three-surface positioning function can be achieved when the roll 4 is lifted vertically, and the grabbing positioning precision is improved. The lateral wall of dead lever 3 is arc-shaped structure, and the lateral wall cooperation laminating top of this dead lever 3 is established on the inside wall of roll material 4 hollow cylinder, when upset lifting roller material 4, adopts dead lever 3 to bear the weight of roll material 4 completely, only when the fiber container is perpendicular with the horizontal plane in the roll material 4, first manipulator backup pad 81, second manipulator backup pad 82 just functions, can effectively prolong the life of manipulator like this.
As shown in fig. 1 to 4, the lower mounting seat 12 of the base 1 has a "mountain" structure, and includes a left mounting plate, a middle mounting plate, and a right mounting plate, where the left mounting plate and the right mounting plate are symmetrically mounted on two sides of the middle mounting plate, the fixing rod 3 is fixedly mounted on the middle mounting plate of the lower mounting seat 12 through a fixing nut, and a distance between the left mounting plate and the right mounting plate is greater than a distance between the first manipulator support plate 81 and the second manipulator support plate 82 moving outwards. The stroke of the cylinder piston 21 is larger than the movement stroke of the piston 21 when the first manipulator support plate (81) and the second manipulator support plate (82) are outwards stretched, the outwards stretched distance of the first manipulator support plate (81) and the second manipulator support plate (82) is larger than the inner diameter of the hollow cylinder of the roller 4, and the safety and the reliability of the manipulator are ensured.
The working process is as follows:
1. when the air cylinder 2 is not ventilated, the first and second manipulator support plates (81, 82) are contracted, and the first and second manipulator support plates (81, 82) and the fixing rod 3 are inserted into the inner ring of the non-woven fabric roll 4.
2. The cylinder 2 is ventilated to push the piston 21 towards the direction of the guide rail supporting plate 5, and the first and second manipulator supporting plates (81, 82) are stretched outwards by the horizontal cross movement of the guide rod 62, the guide rail 91 and the slide block 92 under the balance and stress action of the guide rod 62, the guide rail 91 and the slide block 92 and the plate-shaped parallel four-bar 7, so that the outer surfaces of the two manipulator supporting plates (81, 82) are pressed and pressed with the inner ring surface of the non-woven fabric roll 4. The first manipulator support plate (81) and the second manipulator support plate (82) and the fixed rod (3) can play a three-sided positioning role when being lifted vertically, so that the grabbing positioning precision is improved, meanwhile, when a heavy object is lifted vertically, the fixed rod (3) is adopted to bear the weight of the object completely, and only when the paper cylinder in the non-woven fabric roll object (4) is vertical to the ground, the first manipulator support plate (81) and the second manipulator support plate (82) play roles, so that the service life of the manipulator can be effectively prolonged.
According to the invention, by arranging the plate-shaped parallel four-bar structure, the characteristics of inverted four-bar, weight of the weight and the fact that the opening outer diameter of the four-bar is larger than the inner diameter of the paper cylinder are utilized to jointly realize the extraction and transmission of the roller roll object during object taking, the weight of the weight provides a larger part of external tension, meanwhile, the included angle between the four-bar and the horizontal angle is smaller during hoisting, when the object is heavier, the external tension is larger when the manipulator support plate and the paper cylinder in the roller roll non-woven fabric are extruded, the weight which can be hoisted is heavier, self-locking can be realized, and the required thrust of the air cylinder is reduced. The invention not only can realize non-pollution and non-contact grabbing and conveying of non-woven fabrics, but also can be applied to conveying of non-woven fabrics with different specifications and different weights, and has excellent applicability, on the other hand, the manipulator is more reasonable in structure, more stable and smooth in output, higher in efficiency and longer in service life.
The foregoing is merely illustrative of specific embodiments of the present invention, and the design concept of the present invention is not limited thereto, and any insubstantial modifications made by the present invention shall fall within the scope of the present invention.
Claims (9)
1. Be applied to the roll thing that has hollow cylinder's abduction formula conveying manipulator, its characterized in that: the device comprises a base, wherein the upper end and the lower end of the base respectively extend forwards to form an upper mounting seat and a lower mounting seat, an air cylinder is fixedly arranged on the upper mounting seat, a fixing rod is fixedly arranged at the bottom of the lower mounting seat and is used for being matched with a hollow cylinder inserted into a roller roll, a piston is matched on the air cylinder, the power output end of the piston is in driving connection with a guide rail supporting plate, and the guide rail supporting plate is matched and arranged in the base; the left and right sides of the guide rail supporting plate are symmetrically provided with a travel guide device respectively, the travel guide device is provided with a first manipulator supporting plate and a second manipulator supporting plate which are symmetrically arranged respectively, the fixed rod is provided with a plate-shaped parallel four-bar structure formed by four connecting plates with the same size, the plate-shaped parallel four-bar is respectively connected with the first manipulator supporting plate and the second manipulator supporting plate, and the plate-shaped parallel four-bar drives the first manipulator supporting plate and the second manipulator supporting plate to be opened and moved leftwards and rightwards respectively; the fixed rod, the first manipulator support plate and the second manipulator support plate form a three-face positioning support object taking structure, and when the roller object is lifted in a overturning mode, the fixed rod is used for completely bearing the weight of the roller object.
2. The flared transfer robot for roll stock having a hollow cylinder of claim 1, wherein: the upper parts of the left side and the right side of the guide rail supporting plate are also provided with a linear bearing, a guide rod and a guide rod seat, the linear bearing is fixedly arranged at the bottom of the upper mounting seat, the guide rod seat is fixedly arranged at the upper part of the guide rail supporting plate, the upper part of the guide rod is matched and arranged on the linear bearing, the guide rod seat is matched and sleeved on the guide rod, and the lower end of the guide rod is matched and penetrated through the guide rail supporting plate.
3. The flared transfer robot for roll stock having a hollow cylinder of claim 1, wherein: the guide device comprises a guide rail arranged at the bottom of the guide rail supporting plate and a sliding block arranged on the guide rail in a sliding manner, and the sliding block is fixedly connected with the upper end of the first manipulator supporting plate or the upper end of the second manipulator supporting plate.
4. A flared transfer robot for roll stock having a hollow cylinder as set forth in claim 3, wherein: the guide rail supporting plate is also provided with a guide rail groove with a linear structure, and the guide rail is adaptively arranged on the guide rail groove.
5. The flared transfer robot for roll stock having a hollow cylinder of claim 1, wherein: the outer side wall of the fixing rod is of an arc-shaped structure, and the outer side wall of the fixing rod can be matched, attached and propped against the inner side wall of the roller roll hollow cylinder.
6. The flared transfer robot for roll stock having a hollow cylinder of claim 1, wherein: the lower mount pad of base is "mountain" font structure, includes left, well, right three mounting panel respectively, and left and right mounting panel symmetry is installed in the both sides of well mounting panel, the dead lever passes through fixation nut fixed the installing on the well mounting panel of lower mount pad, the interval between left and right mounting panel and the well mounting panel is greater than the distance that outside of first manipulator backup pad and second manipulator backup pad moved.
7. The flared transfer robot for roll stock having a hollow cylinder of claim 1, wherein: the stroke of the cylinder piston is larger than the movement stroke of the piston when the first manipulator support plate and the second manipulator support plate are outwards stretched.
8. The flared transfer robot for roll stock having a hollow cylinder of claim 7, wherein: the outward stretching distance of the first manipulator support plate and the second manipulator support plate is larger than the inner diameter of the hollow cylinder of the roller.
9. The flared transfer robot for roll stock having a hollow cylinder of claim 1, wherein: the base is in a [ -shaped 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 CN106737605A (en) | 2017-05-31 |
| CN106737605B true CN106737605B (en) | 2023-05-16 |
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| 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 |
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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 |
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| Publication number | Publication date |
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| CN106737605A (en) | 2017-05-31 |
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