CN107696343A - Forming machine is with fetching and delivering manipulator - Google Patents
Forming machine is with fetching and delivering manipulator Download PDFInfo
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- CN107696343A CN107696343A CN201710900427.0A CN201710900427A CN107696343A CN 107696343 A CN107696343 A CN 107696343A CN 201710900427 A CN201710900427 A CN 201710900427A CN 107696343 A CN107696343 A CN 107696343A
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- telescopic
- traction piece
- forming machine
- seat
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- 238000013519 translation Methods 0.000 claims abstract description 194
- 210000000481 breast Anatomy 0.000 claims description 49
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 3
- 230000014616 translation Effects 0.000 description 146
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C31/00—Handling, e.g. feeding of the material to be shaped, storage of plastics material before moulding; Automation, i.e. automated handling lines in plastics processing plants, e.g. using manipulators or robots
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- 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
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C31/00—Handling, e.g. feeding of the material to be shaped, storage of plastics material before moulding; Automation, i.e. automated handling lines in plastics processing plants, e.g. using manipulators or robots
- B29C31/008—Handling preformed parts, e.g. inserts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2031/00—Other particular articles
- B29L2031/712—Containers; Packaging elements or accessories, Packages
- B29L2031/7162—Boxes, cartons, cases
Abstract
The invention discloses a kind of forming machine with fetching and delivering manipulator, including support body, translation mechanism, upper and lower mechanism and the first to the second grasping mechanism.Translation mechanism includes translation traction piece, translating base, translation actuators and translation roller, translation traction piece is loaded on crossbeam, translating base cunning is in crossbeam, translation actuators are loaded on translating base, the driving lower edge translation traction piece that roller is translated in translation actuators is rolled, and translating base translation is driven by the translation roller rolled；Upper and lower mechanism includes the Power Component up and down being arranged on translating base and the seat up and down being slidedly arranged on up and down on translating base；First grasping mechanism is installed on upper and lower seat and the first direction of cooperation lower edge and beam vertical in translation mechanism and upper and lower mechanism stretches and catches away the first base in forming machine；Second grasping mechanism is installed on upper and lower seat and is stretched in the first direction under the cooperation of translation mechanism and upper and lower mechanism and catch away the second base in forming machine, to cause the forming machine of the present invention to be applicable with manipulator is fetched and delivered in narrow space occasion.
Description
Technical field
The present invention relates to a kind of forming machine with fetching and delivering manipulator, more particularly to a kind of auxiliary dinner box shaping machine by the cutlery box into
The forming machine that wet base and dry body in type machine are fetched and delivered is with fetching and delivering manipulator.
Background technology
With the continuous development of economy and the continuous progress of science and technology, extremely abundant material is provided for the life of people
The consumer goods, cutlery box are exactly one kind in many material consumption product.
It is well known that in disposable cutlery box production process, the wet base forming step of cutlery box is be unable to do without, by after shaping
The step of wet base is dried to form dry body and by after dry body trimming formed cutlery box the step of.Wherein, in the production of cutlery box
Cheng Zhong, it be unable to do without manipulator and wet base, dry body and cutlery box is fetched and delivered, therefore, manipulator is very in the production process of cutlery box
It is necessary.
At present, for manipulator, because the forming machine of cutlery box keeps for manipulator installing space to compare after mounting
It is limited, therefore, limit the activity space of manipulator, therefore traditional need the big manipulator of activity space to meet that this is narrow
Occasion in.
Equally, for other forming machines, activity space limited narrow of manipulator is kept for after its installation
During occasion, traditional manipulator there is also it is above-mentioned the problem of.
A kind of adapt to manipulator is fetched and delivered to be overcome in the forming machine of narrow occasion above-mentioned lack therefore, it is necessary to provide
Fall into.
The content of the invention
It is an object of the invention to provide a kind of forming machine adapted in narrow occasion with fetching and delivering manipulator.
To achieve the above object, the technical scheme is that：A kind of forming machine is provided with fetching and delivering manipulator, be applicable into
The first base and the second base in type machine are fetched and delivered.Wherein, forming machine of the invention includes support body, translation machine with manipulator is fetched and delivered
Structure, upper and lower mechanism, the first grasping mechanism and the second grasping mechanism.The support body has crossbeam and for the cross beam support to be risen
The stand come, the crossbeam are provided with one in translation slide rail and translator slider.The translation mechanism includes translation traction piece, translation
Seat, translation actuators and the translation roller being connected with the output end of the translation actuators, the translation traction piece are put down along described
The guide direction for moving slide rail arranges and is installed on the crossbeam that the translating base is provided with the translation slide rail and translator slider
Another one, the translating base is slidedly arranged on the crossbeam by the cooperation of the translation slide rail and the translator slider, described
Translation actuators are arranged on the translating base, are translated and are led described in driving lower edge of the translation roller in the translation actuators
Draw part rolling, so as to drive the translating base described under described translate with traction piece from the translation roller rolled
Translate the guide direction translation of slide rail.The mechanism up and down is comprising the Power Component up and down being arranged on the translating base and up and down
The seat up and down being slidedly arranged on the translating base.First grasping mechanism is installed on the seat up and down and for capturing described first
Base, first direction of first grasping mechanism in the cooperation lower edge of the translation mechanism and upper and lower mechanism and the beam vertical
Stretch and catch away the first base in the forming machine.Second grasping mechanism is installed on the seat up and down and for capturing institute
State the second base, second grasping mechanism it is flexible in first direction described in the cooperation lower edge of the translation mechanism and upper and lower mechanism and
The second base in the forming machine is caught away.
It is preferred that described translate slide rail at least two and be spaced apart from each other along the above-below direction of the support body, it is described flat
Above-below direction of the traction piece along the support body is moved between the adjacent two translation slide rails, each translation slide rail corresponding one
The individual translator slider.
It is preferred that the translation mechanism also includes the translation decelerator being arranged on the translating base, the translation roller
On the output shaft of the translation decelerator, the output end of the translation actuators and the input shaft of the translation decelerator
Connection.
It is preferred that the translation traction piece is list structure.
It is preferred that the translation traction piece is linear gear rack, the translation roller is the tooth engaged with the linear gear
Wheel；Or the translation traction piece is chain, the translation roller is the sprocket wheel engaged with the chain；It is or described flat
Shifting traction piece is belt, and the translation roller is the belt pulley with belt friction transmission.
It is preferred that the translation mechanism also includes the expansion tightening wheel for being arranged on the translating base and being set with the belt pulley neighbour,
The belt is around on the belt pulley and expansion tightening wheel successively.
It is preferred that first grasping mechanism and the second grasping mechanism respectively include retractor device and gripping head, it is described flexible
Device includes along the first direction and is slidedly arranged on the first sliding telescopic stand on seat up and down, is slidedly arranged on along the first direction
Second on the first sliding telescopic stand slides telescopic stand, is installed on along the first direction on the first sliding telescopic stand
Roller group, tight telescopic traction part in outside the roller group and the telescopic drive on the described first sliding telescopic stand
Device, the telescopic traction part are set around the roller group, and the telescopic traction part does revolution fortune under the drive of the roller group
Dynamic, the telescopic traction part is also connected with the described first sliding telescopic stand and the second sliding telescopic stand respectively, the gripping head peace
On the described second sliding telescopic stand, the telescopic driver drives the roller group to roll, by the roller group rolled
The telescopic traction part is driven to do gyration, so as to drive described first to slide simultaneously by the telescopic traction part of gyration
Telescopic stand and the second sliding telescopic stand is moved to stretch in the same direction along the relatively described seat up and down of the first direction.
It is preferred that the telescopic traction part has the first side section and tow side section along first direction arrangement, it is described
Upper and lower seat be connected with one in first side section and tow side section, and described second slides telescopic stand and first side section and the
The other of tow side section connects.
It is preferred that the roller group includes the driving wheel and driven pulley being spaced apart from each other along the first direction, it is described to stretch
Contracting traction piece is set around the driving wheel and driven pulley, and the telescopic driver drives the driving wheel to rotate；Or the rolling
Wheel group includes driving wheel, driven pulley and coaxial mounted first breast wheel and the second breast wheel, the driving wheel, the first breast wheel
And driven pulley along the first direction successively and be spaced apart be arranged on described first sliding telescopic stand on, the telescopic traction part
Comprising the first traction piece and the second traction piece, first traction piece is arranged around the driving wheel and the first breast wheel, described the
Two traction pieces are set around second breast wheel and driven pulley, one and described the in the seat up and down and the second sliding telescopic stand
One traction piece is connected along section of the first direction between the driving wheel and the first breast wheel, it is described up and down seat and
In second sliding telescopic stand another one and second traction piece along the first direction be located at second breast wheel with it is described
Section between driven pulley is connected.
It is preferred that the Power Component up and down includes upper and lower motor, upper and lower screw mandrel and upper and lower screw, the screw mandrel edge up and down
The above-below direction of the support body is arranged on the translating base, and the motor up and down is arranged on the translating base and driven described
Upper and lower screw mandrel rotation, the screw sliding sleeve up and down are fixed in the screw mandrel up and down and with the seat up and down.
Compared with prior art, drawn because the forming machine of the present invention includes translation with the translation mechanism fetched and delivered in manipulator
Part, translating base, translation actuators and the translation roller being connected with the output end of translation actuators.Traction piece is translated along translation slide rail
Guide direction arrange and be installed on crossbeam, translating base be provided with translation slide rail and translator slider in another one, translating base by
Translate the cooperation of slide rail and translator slider and be slidedly arranged on crossbeam, translation actuators are arranged on translating base；Therefore in driven in translation
Device drives translation roller rolling, is rolled by the translation roller rolled along translation traction piece, so as to put down by the translation roller rolled
The guide direction translation for driving translating base along translation slide rail is moved under the cooperation of traction piece, i.e., is translated along crossbeam direction；I other words by
By driving of the translation actuators on translating base to translation roller, realized flat along the rolling on translation traction piece by translation roller
Seat is moved in being translated on crossbeam, so, reduced by shared same translation traction piece with reaching to the occupancy in space to be suitable for
Narrow space, meanwhile, also reduce the structure of translation mechanism because of shared same translation traction piece；Furthermore the first gripper
Structure goes to capture the first base in forming machine in a manner of stretching out, and just retraction resets after the first base is crawled, equally, the second crawl
Mechanism goes to capture the second base in forming machine in a manner of stretching out, and just retraction resets after the second base is crawled, therefore after resetting
First grasping mechanism and the second grasping mechanism drive shared space smaller in translation mechanism and upper and lower mechanism, be suitable in
The narrow occasion of activity space.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram that the forming machine of the present invention is assembled with manipulator is fetched and delivered together with forming machine.
Fig. 2 is the forming machine dimensional structure diagram for fetching and delivering manipulator of the present invention.
Fig. 3 is that the forming machine use shown in Fig. 2 fetches and delivers dimensional structure diagram of the manipulator after the translating base of hidden parts.
Fig. 4 is the enlarged drawing of C portion in Fig. 3.
Fig. 5 is the planar structure schematic diagram in the forming machine main view direction for fetching and delivering manipulator of state shown in Fig. 3.
Fig. 6 be the present invention forming machine with the first grasping mechanism fetched and delivered in manipulator hide its gripping head after and be in
Dimensional structure diagram during shrinkage limit position.
Fig. 7 be the present invention forming machine with the first grasping mechanism fetched and delivered in manipulator hide its gripping head after and be in
Stretch out dimensional structure diagram during extreme position.
Fig. 8 is the first grasping mechanism of state shown in Fig. 7 along the internal structure schematic diagram after its longitudinally cutting.
Fig. 9 is the structural principle sketch of the first embodiment of the retractor device in the first grasping mechanism shown in Fig. 7.
Figure 10 is the structural principle sketch of the second embodiment of the retractor device in the first grasping mechanism shown in Fig. 7.
Figure 11 is the forming machine of the present invention with fetching and delivering the second grasping mechanism in manipulator after its gripping head is hidden and locate
Dimensional structure diagram when shrinkage limit position.
Figure 12 is the forming machine of the present invention with fetching and delivering the second grasping mechanism in manipulator after its gripping head is hidden and locate
Dimensional structure diagram when extreme position is stretched out.
Figure 13 is the second grasping mechanism of state shown in Figure 12 along the internal structure schematic diagram after its longitudinally cutting.
Figure 14 is the structural principle sketch of the first embodiment of the retractor device in the second grasping mechanism shown in Figure 12.
Figure 15 is the structural principle sketch of the second embodiment of the retractor device in the second grasping mechanism shown in Figure 12.
Figure 16 is the dimensional structure diagram of the forming machine mechanism up and down fetched and delivered in manipulator of the present invention.
Embodiment
Embodiments of the invention are described with reference now to accompanying drawing, similar element numbers represent similar element in accompanying drawing.
Refer to Fig. 1 to Fig. 5, forming machine of the invention is applicable to (such as the cutlery box of forming machine 200 with manipulator 100 is fetched and delivered
Forming machine) in the first base (such as wet base in cutlery box manufacturing process) and the second base (such as dry body in cutlery box manufacturing process)
Fetched and delivered, the wet base molded by the wet base mould 210 of forming machine 200 is caught away, and the wet base caught away is sent
Enter in the dry body mould 220 of forming machine 200, processing is dried to the wet base of feeding by dry body mould 220, realize
Converted from wet base toward dry body；Finally the dry body in dry body mould 220 is caught away again, dry body will be caught away toward forming machine 200
Shaving die 230 at convey.Specifically, as shown in figure 1, in the present embodiment, wet base mould 210, dry body shaping mould
The crossbeam 10a of tool 220 and the three of shaving die 230 along the support body 10 being described to below longitudinal direction (i.e. double-head arrow A is signified) is assembled
Together so that wet base mould 210, dry body mould 220 and shaving dies 230 of the crossbeam 10a together with tipping
The longitudinal direction that three is formed is identical, so that the forming machine of the present invention, which is used, fetches and delivers manipulator 100 in crossbeam 10a transverse direction (i.e. double arrows
Head B is signified) desired activity space is smaller, so as to be adapted in narrow space occasion.Preferably it is dry body mould
220 are respectively arranged at the both sides of wet base mould 210, make wet base mould 210 between dry body mould 220,
And shaving die 230 as shown in Figure 1, is designed such that in the present invention located at the side of a dry body mould 220, state
Forming machine manipulator 100 wet base and dry body are fetched and delivered.
And the forming machine of the present invention includes support body 10, translation mechanism 20, upper and lower mechanism 30, first with manipulator 100 is fetched and delivered
The grasping mechanism 50 of grasping mechanism 40 and second.Support body 10 has the crossbeam 10a and stand 10b for crossbeam 10a to be supported,
Preferably it is that stand 10b is respectively upper and lower for forming portal frame with crossbeam 10a positioned at two ends of crossbeam 10a longitudinal directions
Mechanism 30, the first grasping mechanism 40 and the second grasping mechanism 50 provide the space along crossbeam 10a longitudinally-movings of abundance, and crossbeam
10a is provided with translation slide rail 11.Translation mechanism 20 include translation traction piece 21, translating base 22, translation actuators (not shown) and
The translation roller 24 being connected with the output end of translation actuators (see Fig. 4).Translate guiding side of the traction piece 21 along translation slide rail 11
Arrange and be installed on crossbeam 10a to (i.e. double-head arrow A is signified), specifically, translation traction piece 10 is list structure, to cause horizontal stroke
Beam 10a longitudinal direction is consistent with the length for translating traction piece 21；Preferably it is that translation traction piece 21 is the unlimited strip knot of head and the tail
Structure, realize to use the fixation at the both ends of translation traction piece 21 and crossbeam 10a and be more reliably installed on translation traction piece 21
On crossbeam 10a, it on the one hand can ensure that translation traction piece 21 provides sufficiently long sliding stroke for translation roller 24, on the other hand,
Sliding stroke it is identical it is lower can save half of materials for the translation traction piece 21 of relative head and the tail closure and use, but not as
Limit.Translating base 22 is provided with translator slider 221, and translating base 22 is slidedly arranged on by the cooperation for translating slide rail 11 and translator slider 221
On crossbeam 10a, so that longitudinal translation of the translating base 22 along crossbeam 10a.Translation actuators are arranged on translating base 22, translation
Roller 24 rolls in the driving lower edge translation traction piece 21 of translation actuators, so as to be drawn by the translation roller 24 rolled in translation
Guide direction of the translating base 22 along translation slide rail 11 is driven to translate under the cooperation of part 21, to realize that translation actuators are led by translation
The cooperation for drawing part 21 and translation roller 24 removes to drive translating base 22 in the purpose translated on crossbeam 10a.For example, such as Fig. 2, figure
Shown in 3 and Fig. 5, in the present embodiment, translation slide rail 11 is two and is spaced apart from each other along the above-below direction of support body 10 that translation is led
Draw above-below direction of the part 21 along support body 10 between adjacent two translation slide rails 11, each corresponding translation of translation slide rail 11 is slided
Block 221, on the one hand increase the sliding steady reliability set between translating base 22 and crossbeam 10a；On the other hand translation roller 24 is caused
Can more stably and reliably be rolled on translation traction piece 21, thus can more reliably drive translating base 22 to translate, but not as
Limit.It will be appreciated that in other embodiments, translator slider 221 can be located at crossbeam 10a, translation slide rail 11 is mountable to translate
On seat 22, translating base 22 is equally caused to be slidedly arranged on by translator slider 221 with translating the cooperation of slide rail 11 on crossbeam 10a；Together
Sample, the quantity for translating slide rail 11 can also be three, four or five, therefore be not limited.It is more specifically, as follows：
In the present embodiment, translation traction piece 21 is belt, and translation roller 24 is belt pulley, and belt pulley passes with belt friction
It is dynamic, to drive translation roller 24 along the translation rolling friction of traction piece 21 by translation actuators, so as to realize by translation roller 24
Translating base 22 is driven with respect to the purpose of crossbeam 10a translations；Certainly, in other embodiments, it is linear gear rack to translate traction piece 21
Or chain, and translate roller 24 and correspond to gear or chain；Gear is meshed with linear gear rack, and sprocket wheel is meshed with chain,
Equally so that translation roller 24 realizes mesh of the translating base 22 with respect to crossbeam 10a translations by with translating the cooperation of traction piece 21
, therefore do not illustrated and be limited with this.To cause the frictional drive between belt pulley and belt more reliable；As shown in Figures 3 and 4, put down
Telephone-moving structure 20 also includes the expansion tightening wheel 26 for being arranged on translating base 22 and being set with belt pulley neighbour, and belt is around in belt pulley and tensioner successively
On wheel 26, i.e., as shown in figure 5, the left end of belt is on crossbeam 10a left end, the right-hand member of belt bypass successively belt pulley and
Right-hand member after expansion tightening wheel 26 again with crossbeam 10a is fixed, with by expansion tightening wheel 26 so that the frictional drive between belt pulley and belt
It is more reliable, so as to improve the reliability of the translation of translating base 22, but it is not limited.To cause the translation of translating base 22 more steadily may be used
Lean on, translation mechanism 20 also includes the translation decelerator 25 being arranged on translating base 22, and translation roller 24 is arranged on translation decelerator
On 25 output shaft, the output end and the input axis connection of translation decelerator 25 of translation actuators, obtained with to translate roller 24
Bigger moment of torsion is obtained, so that translation roller 24 more stably and reliably can slide along translation traction piece 21, thus more smoothly
Translating base 22 is driven with respect to the purpose of crossbeam 10a translations, therefore is not limited.Wherein, the operation principle of translation mechanism 20 is：When
Translation actuators drive translation roller 24 to roll, so as to make translation by with translating the friction of traction piece 21 by translation roller 24
Roller 24 slides along translation traction piece 21, so as to drive translating base 22 with respect to crossbeam 10a translations.
As shown in Fig. 2, Fig. 3 and Fig. 5, upper and lower mechanism 30 include be arranged on translating base 22 on the 30a of Power Component up and down and
The seat 30b up and down being slidedly arranged on up and down on translating base 22, seat 30b slidings up and down up and down are driven by upper and lower Power Component 30a；Specifically
Ground, with reference to Figure 16, in the present embodiment, upper and lower Power Component 30a include upper and lower motor (not shown), upper and lower screw mandrel 32 and on
Lower screw 33；Above-below direction of the upper and lower screw mandrel 32 along support body 10 is arranged on translating base 22, and upper and lower motor is arranged on translating base 22
To go up and drive upper and lower screw mandrel 32 to rotate, the upper and lower sliding sleeve of screw 33 is fixed in upper and lower screw mandrel 32 and with upper and lower seat 30b, therefore in power-on and power-off
When machine drives the rotation of screw mandrel 32 up and down, driving upper and lower screw 33 by the screw mandrel up and down 32 rotated, vertically the longitudinal of screw mandrel 32 is slided
Move, so as to more steady accurately drive, seat 30b slides up and down up and down, it is ensured that forming machine of the invention is accurate with manipulator 100.
For example, in the present embodiment, belt transmission structure 34 is connected between upper and lower motor and upper and lower screw mandrel 32, certainly, according to
It is actually needed and is connected with chain drive structure or gear transmission structure, therefore is not limited.It will be appreciated that in other embodiments
In, upper and lower motor can directly be fixed with upper and lower screw mandrel 32.To cause the cooperation between upper and lower seat 30b and translating base 22 to slide
It is more steady reliable, therefore upper and lower slide rail 35 and upper sliding block 36 are provided between seat 30b and translating base 22 up and down, upper and lower slide rail 35 is installed
In on translating base 22, upper sliding block 36 is installed on up and down on seat 30b, but is not limited.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 5, the first grasping mechanism 40 is installed on seat 30b up and down and for capturing the first base
(such as wet base), the first grasping mechanism 40 translation mechanism 20 and up and down mechanism 30 cooperation lower edge it is vertical with crossbeam 10a first
(i.e. double-head arrow B is signified, is also crossbeam 10a transverse direction) is flexible in direction, so as to which the first base in forming machine 200 be caught away, is
Wet base in wet base mould 210 is caught away.Second grasping mechanism 50 is installed on seat 30b up and down and for capturing the second base
(such as dry body), the second grasping mechanism 50 stretch in the first direction under translation mechanism 20 and the up and down cooperation of mechanism 30, so that will
The second base in forming machine 200 is caught away, and is to catch away the dry body in dry body mould 220；Preferably it is the first gripper
For above-below direction of the grasping mechanism 50 of structure 40 and second along support body 10 in arranged spaced apart, the distance arranged spaced apart need to meet the
The dry body that the wet base that one grasping mechanism 40 is picked up is picked up with the second grasping mechanism 50 does not relate to mutually, therefore in the first grasping mechanism 40
After catching away the wet base in wet base mould 210, then by the second grasping mechanism 50 dry body in dry body mould 220 is grabbed
Take, then again by the first grasping mechanism 40 by capture in wet base mould 210 Lai wet base be positioned over dry body mould
In 220, meanwhile, the dry body captured is conveyed toward the direction of shaving die 230 from the second grasping mechanism 50.It is more specifically, as follows：
With reference to Fig. 6 to Fig. 9, the first grasping mechanism 40 includes retractor device 40a and gripping head 40b.Retractor device 40a is included
First be slidedly arranged in the first direction on upper and lower seat 30b slides telescopic stand 41, is slidedly arranged on the first sliding telescopic stand in the first direction
The second sliding telescopic stand 42 on 41, the roller group 43, tight in rolling being installed in the first direction on the first sliding telescopic stand 41
Telescopic traction part 44 outside wheel group 43 and the telescopic driver (not painted in figure) on the first sliding telescopic stand 41.It is flexible to lead
Draw part 44 to set around roller group 43, telescopic traction part 44 does gyration under the drive of roller group 43, and telescopic traction part 44 is also
Slide telescopic stand 42 with the first sliding telescopic stand 41 and second respectively to be connected, gripping head 40b is arranged on the second sliding telescopic stand 42
On, telescopic driver drives roller group 43 to roll, and drives telescopic traction part 44 to do gyration by the roller group 43 rolled, so as to
The first sliding telescopic stand 41 and second is driven to slide telescopic stand 42 in the first direction simultaneously by the telescopic traction part 44 of gyration
Seat 30b stretches in the same direction up and down relatively, i other words, under the drive of telescopic traction part 44, the first sliding telescopic stand 41 is on relatively
When lower seat 30b stretches out, the second sliding telescopic stand 42 also stretches out with respect to the first sliding telescopic stand 41 so that the second sliding telescopic stand 42
The stroke that seat 30b stretches out up and down relatively for the first sliding telescopic stand 41, with the second sliding stretch up and down relatively by seat 30b stretching stroke
The stroke sum of the relative first sliding telescopic stand 41 of contracting seat 42, so, therefore drive the first sliding to stretch simultaneously in telescopic traction part 44
Contracting seat 41 and second is slid in the relatively upper and lower seat 30b telescopic process of telescopic stand 42, the second sliding telescopic stand 42 relatively up and down seat 30b
Stretching speed be twice of seat 30b stretching speed up and down relatively of the first sliding telescopic stand 41, therefore operating efficiency is high.Specifically,
Flexible slide rail 40d and flexible sliding block 40e is provided between first sliding telescopic stand 41 and up and down seat 30b, to cause the first sliding to stretch
Contracting seat 41 can be more stably and reliably slidedly arranged on by flexible slide rail 40d and flexible sliding block 40e cooperation up and down on seat 30b, from
And ensure the first sliding telescopic stand 41 steady reliability that seat 30b slidings are stretched up and down relatively.Second sliding telescopic stand 42 and the
Flexible slide rail 40d and flexible sliding block 40e also is provided between one sliding telescopic stand 41, to cause the second sliding telescopic stand 42 by stretching
Contracting slide rail 40d and flexible sliding block 40e cooperation and can more stably and reliably be slidedly arranged on the first sliding telescopic stand 41, so that it is guaranteed that
The flexible steady reliability of the relative first sliding sliding of telescopic stand 41 of second sliding telescopic stand 42, but not to be limited.
As can be seen from figures 8 and 9, telescopic traction part 44 has the first side section 441 arranged in the first direction and tow side section
442, upper and lower seat 30b is connected with tow side section 442, and the second sliding telescopic stand 42 is connected with the first side section 441, to cause seat up and down
The junction of the junction of 30b and telescopic traction part 44 and the second sliding telescopic stand 42 and telescopic traction part 44 is along roller group 43
Radially arranged in heteropleural, also in the first direction in one in front and one in back, as shown in Figure 9, the purpose so set is so that second to state
Sliding telescopic stand 42, seat 30b stretching stroke is bigger up and down, and stretching speed is faster relatively；Certainly, in other embodiments, may be used
By upper and lower seat 30b be connected with the first side section 441 and by second sliding telescopic stand 42 be connected with tow side section 442, therefore not as
Limit.Specifically, in the present embodiment, upper and lower seat 30b is fixed together by the first mounting fixing parts 40f with tow side section 442,
Second sliding telescopic stand 42 is fixed together by the second mounting fixing parts 40g and the first side section 441.Roller group 43 is included along the
The driving wheel 43a and driven pulley 43b that one direction is spaced apart from each other, telescopic traction part 44 are set around driving wheel 43a and driven pulley 43b
Put, telescopic driver drives driving wheel 43a to rotate, so as to drive telescopic traction under driving wheel 43a is with the driven pulley 43b
Part 44 does gyration, therefore simplifies the structure of roller group 43.For example, in the present embodiment, telescopic traction part 44 is skin
Band, and driving wheel 43a and driven pulley 43b are belt wheel；Certainly, in other embodiments, telescopic traction part 44 can be chain or
Flexible rope, driving wheel 43a and driven pulley 43b are sprocket wheel or friction pulley, therefore are not limited.To cause telescopic driver
Driving wheel 43a obtain bigger moment of torsion, retractor device 40a also includes being used for the flexible decelerator being connected with telescopic driver
45, telescopic driver is arranged on the first sliding telescopic stand 41 by flexible decelerator 45；To cause flexible decelerator 45 and master
Can more stably it be driven between driving wheel 43a, therefore V belt translation component can be provided with by stretching between decelerator 45 and driving wheel 43a
40c, select as chain kit or gear-driven assembly, therefore be not limited according to being actually needed certainly.It will be appreciated that
Telescopic driver can be directly connected with driving wheel 43a according to being actually needed, driving wheel 43a is directly driven by telescopic driver
Roll.Therefore, V belt translation component 40c, chain kit, gear-driven assembly and flexible decelerator 45 are according to actually needing to select
, therefore be not limited.
As shown in Figure 10, show the another embodiment (be referred to as first embodiment) of retractor device, the embodiment with
The structure of retractor device 40a (being referred to as first embodiment) above is essentially identical, and distinctive points are roller group and telescopic traction part
Concrete structure it is different, it is specific as follows：
In the present embodiment, roller group 43` is provided among coaxial mounted first than the roller group more than 43 of first embodiment
43c and the second breast wheel 43d is taken turns, correspondingly, the telescopic traction part of second embodiment includes the tractions of the first traction piece 44a and second
Part 44b.And in the first embodiment, roller group 43 includes driving wheel 43a and driven pulley 43b, accordingly, telescopic traction part 44
The first traction piece 44a and the second traction piece 44a need not be included.Because the telescopic traction part of second embodiment includes the first traction
Part 44a and the second traction piece 44b, therefore the first traction piece 44a and the second traction piece 44b respectively have the first side section 441 and the second side
Section 442.
Just because the roller group 43` of second embodiment is provided with coaxial mounted first than the roller group more than 43 of first embodiment
The breast wheel 44 of breast wheel 43 and second, thus driving wheel 43a, the first breast wheel 43c and driven pulley 43b in the first direction successively and
What is separated is arranged on the first sliding telescopic stand 41；Meanwhile the first traction piece 44a in second embodiment around driving wheel 43a and
First breast wheel 43c arranges that the second traction piece 44b in second embodiment is set around the second breast wheel 43d and driven pulley 43b,
The 30b of seat up and down and the first traction piece 44a in second embodiment are located at driving wheel 43a and the first breast wheel 43c in the first direction
Between section (i.e. tow side section 442) be connected, particular by the first mounting fixing parts 40f by upper and lower seat 30b and first
Traction piece 44a tow side section 442 is fixed together；The second sliding traction piece of telescopic stand 42 and second in second embodiment
The section between the second breast wheel 43d and driven pulley 43b (i.e. the first side section 441) is connected 44b in the first direction, specifically
It is that the second sliding telescopic stand 42 and second traction piece 44b the first side section 441 is fixed on one by the second mounting fixing parts 40g
Rise；Preferably it is that as Figure 10 shows, in a second embodiment, the first mounting fixing parts 40f is located at the second of the first traction piece 44a
Side section 442 is at the first breast wheel 43c, and the second mounting fixing parts 40g is located at the second traction piece 44b the first side section 441
At neighbouring second breast wheel 43d, to ensure that the first traction piece 44a and the second traction piece 44b are reliable in roller group 43` kinetic energy
While ground drives the relative first sliding telescopic stand 41 of the second sliding telescopic stand 42 to stretch, the first sliding telescopic stand 41 also relatively on
Lower seat 30b stretches.It will be appreciated that in other embodiments, upper and lower seat 30b and the second traction piece 44b tow side section 442 are adjacent
Nearly driven pulley 43b position is fixed, i.e., the first mounting fixing parts 40f now is located at the second traction piece 44b tow side section 442
On neighbouring driven pulley 43b position, accordingly, second sliding telescopic stand 42 and the first traction piece 44a the first side section 441 is neighbouring
Driving wheel 43a position is fixed, i.e., now second surely dress fixture 40g be located at the first traction piece 44a neighbour of the first side section 441
On nearly driving wheel 43a position, it can equally reach that " the first traction piece 44a and the second traction piece 44b are in roller group 43` drive
While reliably driving the relative first sliding telescopic stand 41 of the second sliding telescopic stand 42 to stretch, the first sliding telescopic stand 41 is also
Relatively up and down seat 30b stretch " purpose.For example, the first traction piece 44a and the second traction piece 44b is belt, driving wheel
43a, the first breast wheel 43c, the second breast wheel 43d and driven pulley 43b are belt wheel；Certainly, in other embodiments, first lead
Draw part 44a and the second traction piece 44b be chain or flexibility rope, driving wheel 43a, the first breast wheel 43c, the second breast wheel
43d and driven pulley 43b is sprocket wheel or friction pulley, therefore is not limited.
With reference to Fig. 6 to Fig. 9, the retractor device 40a of first embodiment flexible principle is illustrated：When Fig. 6 or Fig. 9 institutes
When the retractor device 40a shown will extend out to the state shown in Fig. 7 or Fig. 8, now telescopic driver drives the driving wheel in Fig. 9
43a is along rotate counterclockwise, because relative positions of the driving wheel 43a and driven pulley 43b on the first sliding telescopic stand 41 is fixed
Not position, then the driving wheel 43a rotated drives telescopic traction part 44 to do gyration under driven pulley 43b cooperation, due to stretching
The tow side section 442 of contracting traction piece 44 is fixed with upper and lower seat 30b, so that the driving wheel 43a of rotate counterclockwise is close step by step
Telescopic traction part 44 and upper and lower seat 30b fixed position, and led step by step close to flexible in the driving wheel 43a of rotate counterclockwise
During the fixed position for drawing part 44 and upper and lower seat 30b so that the first sliding telescopic stand 41 relatively stretch out up and down by seat 30b slidings；
Similarly, since the first side section 441 of the second sliding telescopic stand 42 and telescopic traction part 44 is fixed, therefore in the active of rotate counterclockwise
43a is taken turns step by step during telescopic traction part 44 and upper and lower seat 30b fixed position, synchronous drive second slides telescopic stand
42 relative first sliding telescopic stands 41 stretch out so that the stretching speed of the second sliding telescopic stand 42 is the first sliding telescopic stand 41
Twice；When rotate counterclockwise driving wheel 43a close to telescopic traction part 44 and upper and lower seat 30b fixed position when, stretching now
The synchronous drive first of contracting traction piece 44 sliding telescopic stand 41 and second slides the extreme position that telescopic stand 42 reaches stretching, and state is shown in
Shown in Fig. 7 or Fig. 8.When the retractor device 40a of state shown in Fig. 7 or Fig. 8 will retract the state shown in Fig. 6 or Fig. 9, now stretch
Contracting driver drives the driving wheel 43a shown in Fig. 8 to rotate clockwise, and is moved away from by the driving wheel 43a to turn clockwise
Lower seat 30b and telescopic traction part 44 bearing, while the driving wheel 43a for turn clockwise progressively stretches close to the second sliding
The bearing of contracting seat 42 and telescopic traction part 44, so that telescopic traction part 44 drives the first sliding telescopic stand 41 and second to slide
Move telescopic stand 42 to bounce back together, be finally reached the extreme position shown in Fig. 6 or Fig. 9.
Equally, with reference to Figure 10, the principle of the retractor device of second embodiment is illustrated：The flexible dress of second embodiment
The flexible principle put is identical with the retractor device 40a of first embodiment flexible principle, and difference is the transmission of second embodiment
Process is more more complex than first embodiment；I.e., in a second embodiment, driving wheel 43a first passes through the first traction piece 44a drives
First breast wheel 43c rotates, due to the second breast wheel 43d and the first breast wheel 43c to be co-axially mounted, therefore the second breast wheel 43d
Follow the first breast wheel 43c to do synchronous rotary, then driven pulley 43b rotations are driven by the second traction piece 44b by the second breast wheel 43d
Turn so that the first traction piece 44a is done with the second traction piece 44b while synchronous passback campaign.Therefore, in Figure 10, in the inverse time
The driving wheel 43a of pin rotation is step by step during the first traction piece 44a and upper and lower seat 30b fixed position so that first
Sliding telescopic stand 41, seat 30b slidings are stretched out up and down relatively；Similarly, since the second sliding telescopic stand 42 and second traction piece 44b
First side section 441 is fixed, thus rotate counterclockwise driving wheel 43a step by step close to the first traction piece 44a and upper and lower seat 30b
During fixed position, synchronous drive second slides the relative first sliding telescopic stand 41 of telescopic stand 42 and stretched out, and finally causes first
Traction piece 44a drives the first sliding telescopic stand 41 to stretch out extreme position, and the second traction piece 44b drives the second sliding telescopic stand
42 stretch out extreme position；When the retractor device of second embodiment will bounce back, telescopic driver drives driving wheel 43a along clockwise
Rotation, upper and lower seat 30b and the first traction piece 44a bearing are moved away from by the driving wheel 43a to turn clockwise, caused simultaneously
Second breast wheel 43d is progressively close to the second sliding telescopic stand 42 and second traction piece 44b bearing, so that the first traction
Part 44a drives the first sliding telescopic stand 41 and second traction piece 44b to drive the second sliding telescopic stand 42 to bounce back together, is finally reached
Extreme position shown in Figure 10.
Therefore, by retractor device 40a setting so that the first sliding telescopic stand 41 and second slides telescopic stand 42 simultaneously
Seat 30b's is flexible above and below relatively, and the flexible power is to lean on same telescopic driver, telescopic traction part 44 and roller group 43 entirely
Realize, it is relatively existing to realize that more than two layers flexible needs to be equipped with for the retractor device of two or more telescopic cylinder and more save
Power and reduce cost；At the same time, by the way that telescopic driver, roller group 43 and telescopic traction part 44 are stretched located at the first sliding
On contracting seat 41, just under the drive of roller group 43 the first sliding sliding of telescopic stand 41 and second can be controlled to stretch by telescopic traction part 44
The relatively upper and lower seat 30b of contracting seat 42 flexible stroke, so that the first sliding telescopic stand 41, second slides telescopic stand 42 and upper and lower seat
Stacking between 30b is concordant, more heap will not more stretch out, therefore space needs are smaller；Importantly, telescopic traction part 44 exists
The sliding of control first telescopic stand 41 and second slides the relatively upper and lower seat 30b of telescopic stand 42 flexible row under the drive of roller group 43
Journey, therefore the second sliding telescopic stand 42 stroke that seat 30b stretches out up and down relatively is the first sliding telescopic stand 41 relatively up and down seat 30b
The stretching stroke sum of stroke and the relative first sliding telescopic stand 41 of the second sliding telescopic stand 42 is stretched out, therefore it is big to stretch out stroke.
With reference to Figure 11 to Figure 14, the second grasping mechanism 50 includes retractor device 50a and gripping head 50b.Retractor device 50a bags
Containing the first sliding telescopic stand 51 being slidedly arranged in the first direction on upper and lower seat 30b, the first sliding is slidedly arranged in the first direction stretches
Seat 51 on second sliding telescopic stand 52, be installed in the first direction on the first sliding telescopic stand 51 roller group 53, it is tight in
Telescopic traction part 54 outside roller group 53 and the telescopic driver (not painted in figure) on the first sliding telescopic stand 51.It is flexible
Traction piece 54 is set around roller group 53, and telescopic traction part 54 does gyration, telescopic traction part 54 under the drive of roller group 53
Also slide telescopic stand 52 with the first sliding telescopic stand 51 and second respectively to be connected, gripping head 50b is arranged on the second sliding telescopic stand
On 52, telescopic driver drives roller group 53 to roll, and drives telescopic traction part 54 to do gyration by the roller group 53 rolled, from
And the first sliding telescopic stand 51 and second is driven to slide telescopic stand 52 along first party simultaneously by the telescopic traction part 54 of gyration
To seat 30b stretches in the same direction up and down relatively, i other words, under the drive of telescopic traction part 54, the first sliding telescopic stand 51 is relative
When upper and lower seat 30b stretches out, the second sliding telescopic stand 52 also stretches out with respect to the first sliding telescopic stand 51 so that the second sliding telescopic stand
52 strokes that seat 30b stretches out up and down relatively are seat 30b stretching stroke and the second sliding up and down relatively of the first sliding telescopic stand 51
The stroke sum of the relative first sliding telescopic stand 51 of telescopic stand 52, so, therefore the first sliding is driven simultaneously in telescopic traction part 54
Telescopic stand 51 and second is slid in the relatively upper and lower seat 30b telescopic process of telescopic stand 52, the relatively upper and lower seat of the second sliding telescopic stand 52
30b stretching speed is twice of seat 30b stretching speed up and down relatively of the first sliding telescopic stand 51, therefore operating efficiency is high.Specifically
Ground, flexible slide rail 50d and flexible sliding block 50e is provided between the first sliding telescopic stand 51 and up and down seat 30b, to cause the first sliding
Telescopic stand 51 can be more stably and reliably slidedly arranged on by flexible slide rail 50d and flexible sliding block 50e cooperation up and down on seat 30b,
So that it is guaranteed that the first sliding telescopic stand 51 steady reliability that seat 30b slidings are stretched up and down relatively.Second sliding telescopic stand 52 with
Also be provided with flexible slide rail 50d and flexible sliding block 50e between first sliding telescopic stand 51, with cause the second sliding telescopic stand 52 by
Flexible slide rail 50d and flexible sliding block 50e cooperation and can more stably and reliably be slidedly arranged on the first sliding telescopic stand 51, so as to really
Protect the flexible steady reliability of the relative first sliding sliding of telescopic stand 51 of the second sliding telescopic stand 52, but not to be limited.
As shown in FIG. 13 and 14, telescopic traction part 54 has the first side section 541 arranged in the first direction and the second side
Section 542, upper and lower seat 30b is connected with tow side section 542, and the second sliding telescopic stand 52 is connected with the first side section 541, to cause up and down
The junction of the junction of seat 30b and telescopic traction part 54 and the second sliding telescopic stand 52 and telescopic traction part 54 is along roller group 53
Radial direction arrange that, also in the first direction in one in front and one in back, as shown in Figure 14, the purpose so set is so that the to state in heteropleural
Seat 30b stretching stroke is bigger up and down, and stretching speed is faster relatively for two sliding telescopic stands 52；Certainly, in other embodiments,
Upper and lower seat 30b can be connected with the first side section 541 and be connected the second sliding telescopic stand 52 with tow side section 542, therefore not with this
It is limited.Specifically, in the present embodiment, upper and lower seat 30b is fixed on one by the first mounting fixing parts 50f and tow side section 542
Rise, the second sliding telescopic stand 52 is fixed together by the second mounting fixing parts 50g and the first side section 541.Roller group 53 includes
The driving wheel 53a and driven pulley 53b being spaced apart from each other in the first direction, telescopic traction part 54 is around driving wheel 53a and driven pulley 53b
Set, telescopic driver drives driving wheel 53a to rotate, so as to drive flexible lead under driving wheel 53a is with the driven pulley 53b
Draw part 54 and do gyration, therefore simplify the structure of roller group 53.For example, in the present embodiment, telescopic traction part 54 is
Belt, and driving wheel 53a and driven pulley 53b are belt wheel；Certainly, in other embodiments, telescopic traction part 54 can be chain
Or flexible rope, driving wheel 53a and driven pulley 53b are sprocket wheel or friction pulley, therefore are not limited.To cause telescopic drive
The driving wheel 53a of device obtains bigger moment of torsion, and retractor device 50 also includes being used for the flexible decelerator being connected with telescopic driver
55, telescopic driver is arranged on the first sliding telescopic stand 51 by flexible decelerator 55；To cause flexible decelerator 55 and master
Can more stably it be driven between driving wheel 53a, therefore V belt translation component can be provided with by stretching between decelerator 55 and driving wheel 53a
50c, select as chain kit or gear-driven assembly, therefore be not limited according to being actually needed certainly.It will be appreciated that
Telescopic driver can be directly connected with driving wheel 53a according to being actually needed, driving wheel 53a is directly driven by telescopic driver
Roll.Therefore, V belt translation component 50c, chain kit, gear-driven assembly and flexible decelerator 55 are according to actually needing to select
, therefore be not limited.
As shown in figure 15, show the another embodiment (be referred to as first embodiment) of retractor device, the embodiment with
The structure of retractor device 50a (being referred to as first embodiment) above is essentially identical, and distinctive points are roller group and telescopic traction part
Concrete structure it is different, it is specific as follows：
In the present embodiment, roller group 53` is provided among coaxial mounted first than the roller group more than 53 of first embodiment
53c and the second breast wheel 53d is taken turns, correspondingly, the telescopic traction part of second embodiment includes the tractions of the first traction piece 54a and second
Part 54b.And in the first embodiment, roller group 53 includes driving wheel 53a and driven pulley 53b, accordingly, telescopic traction part 54
The first traction piece 54a and the second traction piece 54a need not be included.Because the telescopic traction part of second embodiment includes the first traction
Part 54a and the second traction piece 54b, therefore the first traction piece 54a and the second traction piece 54b respectively have the first side section 541 and the second side
Section 542.
Just because the roller group 53` of second embodiment is provided with coaxial mounted first than the roller group more than 53 of first embodiment
The breast wheel 54 of breast wheel 53 and second, thus driving wheel 53a, the first breast wheel 53c and driven pulley 53b in the first direction successively and
What is separated is arranged on the first sliding telescopic stand 51；Meanwhile the first traction piece 54a in second embodiment around driving wheel 53a and
First breast wheel 53c arranges that the second traction piece 54b in second embodiment is set around the second breast wheel 53d and driven pulley 53b,
The 30b of seat up and down and the first traction piece 54a in second embodiment are located at driving wheel 53a and the first breast wheel 53c in the first direction
Between section (i.e. tow side section 542) be connected, particular by the first mounting fixing parts 50f by upper and lower seat 30b and first
Traction piece 54a tow side section 542 is fixed together；The second sliding traction piece of telescopic stand 52 and second in second embodiment
The section between the second breast wheel 53d and driven pulley 53b (i.e. the first side section 541) is connected 54b in the first direction, specifically
It is that the second sliding telescopic stand 52 and second traction piece 54b the first side section 541 is fixed on one by the second mounting fixing parts 50g
Rise；Preferably it is that as Figure 15 shows, in a second embodiment, the first mounting fixing parts 50f is located at the second of the first traction piece 54a
Side section 542 is at the first breast wheel 53c, and the second mounting fixing parts 50g is located at the second traction piece 54b the first side section 541
At neighbouring second breast wheel 53d, to ensure that the first traction piece 54a and the second traction piece 54b are reliable in roller group 53` kinetic energy
While ground drives the relative first sliding telescopic stand 51 of the second sliding telescopic stand 52 to stretch, the first sliding telescopic stand 51 also relatively on
Lower seat 30b stretches.It will be appreciated that in other embodiments, upper and lower seat 30b and the second traction piece 54b tow side section 542 are adjacent
Nearly driven pulley 53b position is fixed, i.e., the first mounting fixing parts 50f now is located at the second traction piece 54b tow side section 542
On neighbouring driven pulley 53b position, accordingly, second sliding telescopic stand 52 and the first traction piece 54a the first side section 541 is neighbouring
Driving wheel 53a position is fixed, i.e., now second surely dress fixture 50g be located at the first traction piece 54a neighbour of the first side section 541
On nearly driving wheel 53a position, it can equally reach that " the first traction piece 54a and the second traction piece 54b are in roller group 53` drive
While reliably driving the relative first sliding telescopic stand 51 of the second sliding telescopic stand 52 to stretch, the first sliding telescopic stand 51 is also
Relatively up and down seat 30b stretch " purpose.For example, the first traction piece 54a and the second traction piece 54b is belt, driving wheel
53a, the first breast wheel 53c, the second breast wheel 53d and driven pulley 53b are belt wheel；Certainly, in other embodiments, first lead
Draw part 54a and the second traction piece 54b be chain or flexibility rope, driving wheel 53a, the first breast wheel 53c, the second breast wheel
53d and driven pulley 53b is sprocket wheel or friction pulley, therefore is not limited.It will be appreciated that due in the first grasping mechanism 40
Retractor device 40a is identical with the structure of the retractor device 50a in the second grasping mechanism 50, therefore in the second grasping mechanism 50
Retractor device 50a working principle and beneficial effect is identical with the retractor device 40a in the first grasping mechanism 40, therefore, therefore
It will not be repeated here.
Compared with prior art, put down because the forming machine of the present invention is included with the translation mechanism 20 fetched and delivered in manipulator 100
Move traction piece 21, translating base 22, translation actuators and the translation roller 24 being connected with the output end of translation actuators.Translation traction
Guide direction of the part 21 along translation slide rail 11 arranges and is installed on crossbeam 10a that translating base 22 is provided with translation slide rail 11 and translation
Another one in sliding block 21, translating base 22 are slidedly arranged on crossbeam 10a by the cooperation of translation slide rail 11 and translator slider 221, are put down
Driver is moved to be arranged on translating base 22；Therefore drive translation roller 24 to roll in translation actuators, by the translation roller 24 rolled
Rolled along translation traction piece 21, so as to drive the edge of translating base 22 in the case where translating with traction piece 21 from the translation roller 24 rolled
The guide direction translation of slide rail 11 is translated, i.e., is translated along crossbeam 10a directions；I other words by the driven in translation on translating base 22
Driving of the device to translation roller 24, realize translating base 22 in crossbeam along the rolling on translation traction piece 21 by translation roller 24
Translated on 10a, so, it is narrow to be suitable for the occupancy in space to reach reduction by shared same translation traction piece 21
Space, meanwhile, also reduce the structure of translation mechanism 20 because of shared same translation traction piece 21；Furthermore the first grasping mechanism
40 go to capture the first base in forming machine 200 in a manner of stretching, and just retraction resets after the first base is crawled, equally, second
Grasping mechanism 50 goes to capture the second base in forming machine in a manner of stretching, and just retraction resets after the second base is crawled, therefore multiple
The first grasping mechanism 40 and the second grasping mechanism 50 behind position drive shared space ratio in translation mechanism 20 and up and down mechanism 30
It is smaller, it is suitable in the narrow occasion of activity space.
The upper disclosed right model for being only the preferred embodiments of the present invention, the present invention can not being limited with this certainly
Enclose, therefore the equivalent variations made according to scope of the present invention patent, still belong to the scope that the present invention is covered.
Claims (10)
- The first base in forming machine and the second base are fetched and delivered 1. a kind of forming machine with manipulator is fetched and delivered, is applicable, its feature exists In, including：Support body, the support body have crossbeam and the stand for the cross beam support to be got up, and the crossbeam is provided with translation slide rail And one in translator slider；Translation mechanism, it is connected comprising translation traction piece, translating base, translation actuators and with the output end of the translation actuators Roller is translated, guide direction of the translation traction piece along the translation slide rail is arranged and be installed on the crossbeam, described flat Move seat and be provided with another one in the translation slide rail and translator slider, the translating base is slided by the translation slide rail and the translation The cooperation of block and be slidedly arranged on the crossbeam, the translation actuators be arranged on the translating base on, it is described translation roller in institute State and traction piece rolling is translated described in the driving lower edge of translation actuators, so as to be led by the translation roller rolled in the translation Draw and drive guide direction of the translating base along the translation slide rail to translate under the cooperation of part；Upper and lower mechanism, it is slidedly arranged on comprising the Power Component up and down on the translating base and up and down upper on the translating base Lower seat；The seat up and down and the first grasping mechanism for capturing first base are installed on, first grasping mechanism is described The first direction of the cooperation lower edge of translation mechanism and upper and lower mechanism and the beam vertical it is flexible and by the in the forming machine One base is caught away；AndThe seat up and down and the second grasping mechanism for capturing second base are installed on, second grasping mechanism is described First direction described in the cooperation lower edge of translation mechanism and upper and lower mechanism is flexible and catches away the second base in the forming machine.
- 2. forming machine according to claim 1 is with fetching and delivering manipulator, it is characterised in that the translation slide rail at least two And be spaced apart from each other along the above-below direction of the support body, above-below direction of the translation traction piece along the support body is located at adjacent two Between the translation slide rail, each corresponding translator slider of translation slide rail.
- 3. forming machine according to claim 1 is with fetching and delivering manipulator, it is characterised in that the translation mechanism also includes installation Translation decelerator on the translating base, the translation roller is arranged on the output shaft of the translation decelerator, described flat Move the output end and the input axis connection of the translation decelerator of driver.
- 4. forming machine according to claim 1 is with fetching and delivering manipulator, it is characterised in that the translation traction piece is strip knot Structure.
- 5. forming machine according to claim 4 is with fetching and delivering manipulator, it is characterised in that the translation traction piece is straight line tooth Bar, the translation roller are and the linear gear meshed gears；Or the translation traction piece is chain, the translation Roller is the sprocket wheel engaged with the chain；Or the translation traction piece is belt, the translation roller is and the skin Belt pulley with frictional drive.
- 6. forming machine according to claim 5 is with fetching and delivering manipulator, it is characterised in that the translation mechanism also includes installation In the translating base and the expansion tightening wheel that is set with the belt pulley neighbour, the belt is around on the belt pulley and expansion tightening wheel successively.
- 7. forming machine according to claim 1 is with fetching and delivering manipulator, it is characterised in that first grasping mechanism and second Grasping mechanism respectively includes retractor device and gripping head, and the retractor device includes along the first direction and is slidedly arranged on the seat up and down On first sliding telescopic stand, along the first direction be slidedly arranged on it is described first sliding telescopic stand on second sliding telescopic stand, The roller group, tight in the telescopic traction outside the roller group on the first sliding telescopic stand is installed on along the first direction Part and the telescopic driver on the described first sliding telescopic stand, the telescopic traction part are set around the roller group, institute State telescopic traction part and gyration is done under the drive of the roller group, the telescopic traction part also slides with described first respectively Telescopic stand and the second sliding telescopic stand connection, the gripping head are arranged on the described second sliding telescopic stand, the telescopic drive Device drives the roller group to roll, and drives the telescopic traction part to do gyration by the roller group rolled, so as to by returning The dynamic telescopic traction part of transhipment drives the first sliding telescopic stand and the second sliding telescopic stand along the first party simultaneously Stretched in the same direction to relatively described seat up and down.
- 8. forming machine according to claim 7 is with fetching and delivering manipulator, it is characterised in that the telescopic traction part has along institute The the first side section and tow side section of first direction arrangement are stated, the seat up and down connects with one in first side section and tow side section Connect, the other of described second sliding telescopic stand and first side section and tow side section are connected.
- 9. forming machine according to claim 8 is with fetching and delivering manipulator, it is characterised in that the roller group is included along described the The driving wheel and driven pulley that one direction is spaced apart from each other, the telescopic traction part is set around the driving wheel and driven pulley, described Telescopic driver drives the driving wheel to rotate；Or the roller group includes driving wheel, driven pulley and coaxial mounted first Breast wheel and the second breast wheel, the driving wheel, the first breast wheel and driven pulley along the first direction successively and be spaced apart On the described first sliding telescopic stand, the telescopic traction part includes the first traction piece and the second traction piece, and described first Traction piece arranges that second traction piece is set around second breast wheel and driven pulley around the driving wheel and the first breast wheel Put, one is located at the active with first traction piece along the first direction in the seat up and down and the second sliding telescopic stand Wheel is connected with the section between the first breast wheel, and another one is led with described second in the seat up and down and the second sliding telescopic stand Draw part and be located at second breast wheel along the first direction and be connected with the section between the driven pulley.
- 10. forming machine according to claim 1 is with fetching and delivering manipulator, it is characterised in that the Power Component up and down includes Upper and lower motor, upper and lower screw mandrel and upper and lower screw, the above-below direction of the screw mandrel along the support body up and down are arranged on the translating base On, the motor up and down is arranged on the translating base and drives the screw mandrel rotation up and down, and the screw sliding sleeve up and down is in institute State screw mandrel up and down and fixed with the seat up and down.
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|---|---|---|---|
| CN201710900427.0A CN107696343A (en) | 2017-09-28 | 2017-09-28 | Forming machine is with fetching and delivering manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900427.0A CN107696343A (en) | 2017-09-28 | 2017-09-28 | Forming machine is with fetching and delivering manipulator |
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| CN107696343A true CN107696343A (en) | 2018-02-16 |
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| CN201710900427.0A Pending CN107696343A (en) | 2017-09-28 | 2017-09-28 | Forming machine is with fetching and delivering manipulator |
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| CN102398761A (en) * | 2011-07-29 | 2012-04-04 | 大连佳林设备制造有限公司 | Angle-adjustable telescopic rubber belt conveyer |
| CN204528638U (en) * | 2015-02-05 | 2015-08-05 | 苏州恒远精密数控设备有限公司 | Panel transfer device |
| CN105397872A (en) * | 2015-11-30 | 2016-03-16 | 东莞市南兴家具装备制造股份有限公司 | Gantry type sheet feeding and discharging manipulator for woodwork |
| CN105364932A (en) * | 2015-12-15 | 2016-03-02 | 天津市天森智能设备有限公司 | Truss manipulator for loading and unloading |
| CN206201015U (en) * | 2016-11-16 | 2017-05-31 | 东莞市信腾机器人科技有限公司 | A kind of speed telescopic magic hand |
| CN207388093U (en) * | 2017-09-28 | 2018-05-22 | 东莞三润田智能科技股份有限公司 | Forming machine is with fetching and delivering manipulator |
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