CN107458108A - Swing rotary mechanism and cardboard transfer correction manipulator - Google Patents
Swing rotary mechanism and cardboard transfer correction manipulator Download PDFInfo
- Publication number
- CN107458108A CN107458108A CN201710743439.7A CN201710743439A CN107458108A CN 107458108 A CN107458108 A CN 107458108A CN 201710743439 A CN201710743439 A CN 201710743439A CN 107458108 A CN107458108 A CN 107458108A
- Authority
- CN
- China
- Prior art keywords
- mounting bracket
- rotating turret
- nut
- screw mandrel
- support frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
- B42C—BOOKBINDING
- B42C11/00—Casing-in
- B42C11/04—Machines or equipment for casing-in or applying covers to books
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B42—BOOKBINDING; ALBUMS; FILES; SPECIAL PRINTED MATTER
- B42C—BOOKBINDING
- B42C19/00—Multi-step processes for making books
- B42C19/08—Conveying between operating stations in machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Making Paper Articles (AREA)
Abstract
Swing rotary mechanism, its rotating turret rotates on support frame, the screw mandrel mounting bracket of rotation drive machine sets up separately on support frame and rotating turret with nut mounting bracket, nut mounting bracket rotates setting on support frame or rotating turret, actuator drives screw mandrel rotates on screw mandrel mounting bracket, nut is set on nut mounting bracket, and screw mandrel coordinates with nut to be driven, and screw mandrel drives rotating turret to rotate；Cardboard transfer correction manipulator, mechanism containing swing rotary, its mounting bracket are connected on rotating turret, and support frame is moved forward and backward in frame, and elevating drive mechanism is set between rotating turret and mounting bracket, and elevating drive mechanism drives mounting bracket to be lifted on rotating turret.The energy stable oscillation when rotating turret load is larger, inertia is larger, transmission device uses smaller power motor, motor volume is small, in light weight, load can be reduced, load in cardboard transfer correction manipulator on rotating turret can under the control of swing rotary mechanism stable oscillation, control inertia, avoid using large inertia motor.
Description
Technical field
The present invention relates to swing rotary mechanism and cardboard transfer correction manipulator.
Background technology
Leather cover machine is that a kind of specialty is used for hard-cover book case, notebook, front cover, wall calendar, desk calendar, the life of file cot production
Produce equipment.Need to pipette cardboard in process of production and carry out alignment with the facial tissue on conveyer belt and be bonded, be i.e. front cover.Cardboard
When be aligned fitting with facial tissue, it is necessary to be rectified a deviation to cardboard, cardboard and facial tissue are rectified a deviation smaller by positioning
In the range of carry out, general cardboard is at 3 degree（Angle）Rectified a deviation in the range of left and right, to ensure that it is accurate that cardboard and facial tissue are carried out
Contraposition fitting.
Conveying, rotation correction, lifting suction are put before and after being carried out using manipulator to cardboard, are limited to the weight of manipulator in itself,
General weight reaches more than eight kilograms, needs to control its inertia rotating correction process, using the first motor energy of relatively high power
Enough control its inertia, but the first motor of relatively high power itself volume, weight are larger, and first motor is arranged on into machinery
Conveying is mobile before and after being carried out in hand, it is extremely unreasonable to rotate correction.
The content of the invention
In view of technical problem present in background technology, technical problem solved by the invention aims to provide a kind of used greatly
Being capable of stable oscillation, the swing rotary mechanism of control inertia and the cardboard transfer correction machinery containing the mechanism in the case of amount
Hand.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
Swing rotary mechanism, including support frame and rotating turret, rotating turret rotate setting on support frame, it is characterised in that：Support
Be provided with rotation drive machine between frame and rotating turret, the rotation drive machine include transmission device, screw mandrel, screw mandrel mounting bracket,
Nut and nut mounting bracket, screw mandrel mounting bracket are separately positioned on support frame and rotating turret with nut mounting bracket, nut installation
Frame rotates setting on support frame or rotating turret, and actuator drives screw mandrel rotates on screw mandrel mounting bracket, and nut is arranged on spiral shell
On female mounting bracket, screw mandrel coordinates with nut to be driven, and screw mandrel rotates transmission rotating turret and rotates around it axis rotation.
Screw mandrel mounting bracket is arranged on support frame, and nut mounting bracket is arranged on to rotate on rotating turret and set.
Transmission device includes the first motor, and the first motor is arranged on screw mandrel mounting bracket, and the first motor drive screw turns
It is dynamic.
The nut mounting bracket or screw mandrel mounting bracket being arranged on rotating turret deviate the pivot center of rotating turret.
Nut is integrally formed with nut mounting bracket.
Cardboard transfer correction manipulator, includes the swing rotary mechanism, it is characterised in that：Also include installing for suction nozzle
Mounting bracket, mounting bracket is connected on rotating turret, and support frame is moved forward and backward in frame and set, and is set between rotating turret and mounting bracket
There is elevating drive mechanism, elevating drive mechanism drives mounting bracket to be lifted on rotating turret.
Elevating drive mechanism includes the second motor and screw nut driving device, and the second motor is arranged on rotating turret,
Screw mandrel in second motor drives screw mandrel nut gearing rotates on rotating turret, the nut connection of screw nut driving device
Screw mandrel in mounting bracket, screw nut driving device coordinates with nut transmission.
Guide rod is additionally provided between mounting bracket and rotating turret.
Beneficial effects of the present invention are that swing rotary mechanism can be loaded when larger, inertia is larger in rotating turret and carried out surely
Fixed pendulum is moved, and controls inertia, and its transmission device can use the motor of smaller power, and motor volume is smaller, weight is lighter, energy
Enough to reduce load, cardboard transfers the load on rotating turret in correction manipulator（Such as elevating drive mechanism, suction nozzle, mounting bracket etc.）
Stable oscillation, control inertia can be carried out under the control of swing rotary mechanism, than avoiding using large inertia motor, structure is closed
Reason, cost are relatively low.Therefore, the present invention has substantive distinguishing features and progress compared with prior art.
Brief description of the drawings
The relevant details and operation principle of embodiments of the present invention and embodiment are described below in conjunction with the accompanying drawings.
Fig. 1 is the positive structure diagram of the present invention.
Fig. 2 is the left view structural representation of the present invention.
Fig. 3 is the overlooking the structure diagram of the present invention.
Fig. 4 is the dimensional structure diagram of the present invention.
Fig. 5 is the dimensional structure diagram of another angle of the present invention.
Embodiment
Referring to accompanying drawing, swing rotary mechanism in present embodiment, including support frame 1 and rotating turret 2.Rotating turret 2 is supporting
Rotate and set on frame 1, for example rotating shaft and bearing are set between rotating turret and support frame, so that rotating turret turns on support frame
It is dynamic.Rotation drive machine 3 is provided between support frame 1 and rotating turret 2, rotating turret 2 is driven in support frame by rotation drive machine 3
Rotated on 1.
The rotation drive machine 3 includes transmission device 4, screw mandrel 5, screw mandrel mounting bracket 6, nut 7（That is screw）And spiral shell
Female mounting bracket 8.Screw mandrel mounting bracket 6 is set on support frame and rotating turret respectively with nut mounting bracket 8, and nut mounting bracket is in support frame
Or rotate and set on rotating turret.For example screw mandrel mounting bracket is arranged on support frame, nut mounting bracket is rotatably arranged on rotation
On frame；Screw mandrel mounting bracket can also be arranged on rotating turret, nut mounting bracket is rotatably arranged on support frame.Referring to attached
Scheme, in the present embodiment, screw mandrel mounting bracket 6 is arranged on support frame 1, nut mounting bracket 8 is rotatably arranged on rotating turret 2.Silk
Bar is horizontally disposed with.
The drive screw 5 of transmission device 4 rotates on screw mandrel mounting bracket 6（Configurable screw rodb base 61）, nut 7 is arranged on nut
On mounting bracket 8, screw mandrel 5 coordinates with nut 7 to be driven, and screw mandrel 5 rotates transmission rotating turret 2 and rotates around it axis rotation.The present embodiment
In, nut is assembled with nut mounting bracket split design, nut and nut mounting bracket can also be integrally molded so as into one zero
Part.
The operation principle of the rotation drive machine 3 is, under the driving of transmission device 4, the screw mandrel 5 on screw mandrel mounting bracket 6
It will rotate forward or backwards, so as to drive the nut on nut mounting bracket 8 to advance or retreat, nut, which coordinates, rotates what is set
Nut mounting bracket, and screw mandrel 5 and can itself enough deform carry out it is slight curving, so as to drive rotation of the rotating turret 2 around rotating turret
Axis carries out smaller angle and carrys out back rotation, realizes deviation-correcting function.Screw mandrel takes thinner screw mandrel, can carry out bending, such as
12 millimeters of diameter.
In the present embodiment, transmission device 4 includes the first motor（Such as servomotor）, the first motor be arranged on screw mandrel installation
On frame 6, the first motor drive screw rotates, and is driven between the first motor and screw mandrel 5 by belt wheel 9, transmission belt 10.Screw mandrel
When on mounting bracket 6 on support frame 1, the first motor in transmission device will be supported by support frame 1, mitigate rotating turret load.
Nut mounting bracket 8 or screw mandrel mounting bracket 6 on rotating turret 2 deviate the pivot center of rotating turret, i.e. nut is installed
Frame or screw mandrel mounting bracket are located in the lateral location of rotating turret, and transmission points of engagement is more laborsaving in lateral location, transmission.
In the case where there is rotating turret load to cause large inertia, the swing for the carry out smaller angle that can stablize（Such as 3
Within degree）, its transmission device can be using the motor of smaller power, and motor volume is smaller, weight is lighter, can reduce load.
Cardboard transfer correction manipulator, is transferred to facial tissue, and carry out correction and facial tissue pair on leather cover machine by cardboard
It is accurate.Cardboard transfers correction manipulator, including above-mentioned swing rotary mechanism and mounting bracket 12, and mounting bracket 12 is by plate in the present embodiment
121st, the combination such as bar 122, beam 123 is formed, and mounting bracket 12 is installed for suction nozzle 13, needs zero, some shelfs etc. to install suction nozzle
Part, mounting bracket 12 are connected on rotating turret 2, cause rotating turret 2 to have load, and mounting bracket 12 is rotated with rotating turret 2.Support
Frame 1 is moved forward and backward in frame and set, and is slided when setting slide rail 15 to be moved forward and backward for support frame 1 on the crossbeam 14 of frame, frame
Upper setting motor 16（Such as servomotor）And moved forward and backward using the transmission support frame 1 of timing belt 17 on crossbeam 12, rotate
Frame 2, mounting bracket 12 are moved forward and backward with support frame 1.Elevating drive mechanism 18 is provided between rotating turret 2 and mounting bracket 12, is led to
Crossing elevating drive mechanism 18 drives mounting bracket 12 to be lifted on rotating turret 2.
In the present embodiment, elevating drive mechanism 18 includes the second motor 19（Such as servomotor）Filled with screw nut driving
Put, the second motor 19 is arranged on rotating turret 2, and the second motor 19 drives the screw mandrel 20 in screw nut driving device in rotating turret
Rotated on 2, the nut of screw nut driving device is connected to mounting bracket 12, and mounting bracket sets the transmission of the screw mandrel nut of nut seat 21
The nut installation settings of device, the screw mandrel 20 in screw nut driving device coordinate with nut transmission, drive mounting bracket 12 turning
Lifted in moving frame 2.The and can of mounting bracket 12 rotates with rotating turret 2.Referring to accompanying drawing, screw nut driving device has two silks
Bar 20 and two nuts, this two screw mandrels are rotated by the second motor 19 by the transmission of timing belt 22.Mounting bracket is with rotating
Guide rod 23 and guide pin bushing 24 are additionally provided between frame, makes more stable lifting.Position limiting structure, the model of limitation mounting bracket lifting can also be set
Enclose, for example boss structure is set on guide rod, guide bracket is set on mounting bracket, coordinate spacing.The cardboard transfers rectification machine
In the case that tool hand can lift progress cardboard suction and put, the front and rear transfer cardboard of and can, and there is rotating turret load to cause large inertia,
The scale oscillation for the carry out smaller angle that can stablize is rectified a deviation, and beneath facial tissue is aligned.
Claims (8)
1. swing rotary mechanism, including support frame（1）And rotating turret（2）, rotating turret（2）In support frame（1）Upper rotate is set, its
It is characterised by：Support frame（1）With rotating turret（2）Between be provided with rotation drive machine（18）, the rotation drive machine（18）Including
There is transmission device（4）, screw mandrel（5）, screw mandrel mounting bracket（6）, nut（7）And nut mounting bracket（8）, screw mandrel mounting bracket（6）With
Nut mounting bracket（8）It is separately positioned on support frame（1）And rotating turret（2）On, nut mounting bracket（8）On support frame or rotating turret
Rotate and set, transmission device（4）Drive screw（5）In screw mandrel mounting bracket（6）Upper rotation, nut（7）It is arranged on nut mounting bracket
（8）On, screw mandrel（5）With nut（7）Coordinate transmission, screw mandrel（5）Rotate transmission rotating turret（2）Rotate around it axis rotation.
2. swing rotary mechanism as claimed in claim 1, it is characterised in that：Screw mandrel mounting bracket is arranged on support frame, nut
Mounting bracket is arranged on to rotate on rotating turret and set.
3. swing rotary mechanism as claimed in claim 1, it is characterised in that：Transmission device includes the first motor, the first electricity
Machine is arranged on screw mandrel mounting bracket, and the first motor drive screw rotates.
4. swing rotary mechanism as claimed in claim 1, it is characterised in that：Nut mounting bracket or the silk being arranged on rotating turret
Bar mounting bracket deviates the pivot center of rotating turret.
5. swing rotary mechanism as claimed in claim 1, it is characterised in that：Nut is integrally formed with nut mounting bracket.
6. cardboard transfer correction manipulator, including just like the swing rotary mechanism in claim 1 to 5 any claim, its
It is characterised by：Also include the mounting bracket for suction nozzle installation（12）, mounting bracket（12）It is connected to rotating turret（2）On, support frame（1）
Move forward and backward and set in frame, rotating turret（2）With mounting bracket（12）Between be provided with elevating drive mechanism（18）, elevating drive mechanism
（18）Drive mounting bracket（12）In rotating turret（2）Upper lifting.
7. cardboard transfer correction manipulator as claimed in claim 6, it is characterised in that：Elevating drive mechanism（18）Include
Two motors（19）With screw nut driving device, the second motor is arranged on rotating turret（2）On, the second motor（19）Drive screw mandrel spiral shell
Screw mandrel in female transmission device（20）In rotating turret（2）Upper rotation, the nut of screw nut driving device are connected to mounting bracket
（12）, the screw mandrel in screw nut driving device coordinates with nut transmission.
8. cardboard transfer correction manipulator as claimed in claim 6, it is characterised in that：It is additionally provided between mounting bracket and rotating turret
Guide rod（23）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710743439.7A CN107458108B (en) | 2017-08-25 | 2017-08-25 | Swing rotary mechanism and paperboard transfer deviation-rectifying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710743439.7A CN107458108B (en) | 2017-08-25 | 2017-08-25 | Swing rotary mechanism and paperboard transfer deviation-rectifying manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107458108A true CN107458108A (en) | 2017-12-12 |
| CN107458108B CN107458108B (en) | 2023-04-18 |
Family
ID=60549627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710743439.7A Active CN107458108B (en) | 2017-08-25 | 2017-08-25 | Swing rotary mechanism and paperboard transfer deviation-rectifying manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107458108B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860747A (en) * | 2018-05-12 | 2018-11-23 | 李雪芬 | Doctor blade transfer device and its medical instrument sealed in unit |
| CN111578834A (en) * | 2020-04-18 | 2020-08-25 | 青岛奥利普自动化控制系统有限公司 | Production line detection equipment and method |
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| GB8430200D0 (en) * | 1983-12-12 | 1985-01-09 | Comau Spa | Manipulator robot |
| CN1816907A (en) * | 2003-07-04 | 2006-08-09 | 乐华股份有限公司 | Carrying apparatus and carrying control method for sheet-like substrate |
| CN202439369U (en) * | 2012-03-06 | 2012-09-19 | 浙江欣炜机械有限公司 | Surface sealing machine |
| CN203028010U (en) * | 2013-01-25 | 2013-07-03 | 崔春花 | Mechanical arm grabbing mechanism and dumpling grabbing device using same |
| CN204414100U (en) * | 2015-01-13 | 2015-06-24 | 旭东机械(昆山)有限公司 | Liquid crystal panel vanning four axle arm modules |
| CN205022052U (en) * | 2015-10-14 | 2016-02-10 | 温州正润机械有限公司 | Deviation correcting device of paper box surface paper gluing machine |
| CN105415352A (en) * | 2016-01-19 | 2016-03-23 | 付艺晗 | Six-DOF (degrees of freedom) three-dimensional-manipulation robot |
| CN105643605A (en) * | 2016-03-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Mechanical arm for laminating transformer cores |
| CN105729081A (en) * | 2016-02-26 | 2016-07-06 | 广东省自动化研究所 | Automatic covering system of ceramic toilet water tank cover |
| CN106166756A (en) * | 2016-08-29 | 2016-11-30 | 苏州朗坤自动化设备有限公司 | A kind of universal screen transplantation device |
| CN207128429U (en) * | 2017-08-25 | 2018-03-23 | 浙江正润机械有限公司 | Swing rotary mechanism and cardboard transfer correction manipulator |
-
2017
- 2017-08-25 CN CN201710743439.7A patent/CN107458108B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8430200D0 (en) * | 1983-12-12 | 1985-01-09 | Comau Spa | Manipulator robot |
| CN1816907A (en) * | 2003-07-04 | 2006-08-09 | 乐华股份有限公司 | Carrying apparatus and carrying control method for sheet-like substrate |
| CN202439369U (en) * | 2012-03-06 | 2012-09-19 | 浙江欣炜机械有限公司 | Surface sealing machine |
| CN203028010U (en) * | 2013-01-25 | 2013-07-03 | 崔春花 | Mechanical arm grabbing mechanism and dumpling grabbing device using same |
| CN204414100U (en) * | 2015-01-13 | 2015-06-24 | 旭东机械(昆山)有限公司 | Liquid crystal panel vanning four axle arm modules |
| CN205022052U (en) * | 2015-10-14 | 2016-02-10 | 温州正润机械有限公司 | Deviation correcting device of paper box surface paper gluing machine |
| CN105415352A (en) * | 2016-01-19 | 2016-03-23 | 付艺晗 | Six-DOF (degrees of freedom) three-dimensional-manipulation robot |
| CN105729081A (en) * | 2016-02-26 | 2016-07-06 | 广东省自动化研究所 | Automatic covering system of ceramic toilet water tank cover |
| CN105643605A (en) * | 2016-03-30 | 2016-06-08 | 中国科学院沈阳自动化研究所 | Mechanical arm for laminating transformer cores |
| CN106166756A (en) * | 2016-08-29 | 2016-11-30 | 苏州朗坤自动化设备有限公司 | A kind of universal screen transplantation device |
| CN207128429U (en) * | 2017-08-25 | 2018-03-23 | 浙江正润机械有限公司 | Swing rotary mechanism and cardboard transfer correction manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860747A (en) * | 2018-05-12 | 2018-11-23 | 李雪芬 | Doctor blade transfer device and its medical instrument sealed in unit |
| CN111578834A (en) * | 2020-04-18 | 2020-08-25 | 青岛奥利普自动化控制系统有限公司 | Production line detection equipment and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107458108B (en) | 2023-04-18 |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 325400 No. 23, east section of Pinghai Avenue, Binhai New Area, Pingyang County, Wenzhou City, Zhejiang Province Applicant after: ZHENGRUN MACHINERY CO.,LTD. Address before: No.256 Haize Road, Binhai New Area, Pingyang County, Wenzhou City, Zhejiang Province Applicant before: ZHENGRUN MACHINERY CO.,LTD. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Swing rotation mechanism and cardboard transfer and correction manipulator Effective date of registration: 20230926 Granted publication date: 20230418 Pledgee: Zhejiang Tailong Commercial Bank Co.,Ltd. Wenzhou Pingyang Wanquan small and micro enterprise franchise sub branch Pledgor: ZHENGRUN MACHINERY CO.,LTD. Registration number: Y2023980059135 |