CN108691252A - Paper matrix intelligence loading and unloading manipulator with steady lifting structure - Google Patents
Paper matrix intelligence loading and unloading manipulator with steady lifting structure Download PDFInfo
- Publication number
- CN108691252A CN108691252A CN201810490544.9A CN201810490544A CN108691252A CN 108691252 A CN108691252 A CN 108691252A CN 201810490544 A CN201810490544 A CN 201810490544A CN 108691252 A CN108691252 A CN 108691252A
- Authority
- CN
- China
- Prior art keywords
- longitudinal direction
- sliding
- paper matrix
- holder
- support
- 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.)
- Pending
Links
Classifications
-
- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
- D21J3/00—Manufacture of articles by pressing wet fibre pulp, or papier-mâché, between moulds
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
This application involves paper matrix industries, more particularly to a kind of paper matrix intelligence loading and unloading manipulator with steady lifting structure, it is used to drive the transversal driving mechanism that sliding support is slided along holder transverse reciprocating including sliding support and on sliding support, sliding support is equipped with lifting support, the lower end of lifting support is equipped with paper matrix suction means, the vertical drive for driving paper matrix suction means vertically to reciprocatingly slide along sliding support together with lifting support is additionally provided on lifting support, vertical drive includes the lead screw being set on the inside of lifting support and the vertical driving motor being slidably connected on the outside of lifting support, by belt transmission to drive lifting support to be slid vertically along sliding support between the output section and lead screw of vertical driving motor.The vertical drive of the application is driven using screw structure and by vertical driving motor, can mitigate the brake load of motor, and have certain self-locking effect, safety and reliability using the small helical pitch lead screw of major diameter using screw rod transmission precision higher.
Description
[Technical field]
This application involves paper matrix industry more particularly to a kind of paper matrix intelligence loading and unloading machineries with steady lifting structure
Hand.
[Background technology]
The manipulator for being currently used for being molded absorption paper matrix in forming machine from paper matrix generally includes holder, is movably set to
Paper matrix on holder picks and places component, and it includes rack-mount first mechanical arm moving up and down, peace that paper matrix, which picks and places component,
Loaded on first mechanical arm lower end and can longitudinally reciprocal movement second mechanical arm, be installed on second mechanical arm lower end for drawing paper
The vacuum absorption device of mould, the vacuum absorption device are set to the end of second mechanical arm and are driven in second mechanical arm.Such knot
The mechanical arm assembly high degree of automation of structure, paper matrix after one-step forming, can just be filled by the vacuum suction in second mechanical arm
Absorption is set, is taken out without artificial, avoids jeopardizing worker's safety.
But it is currently used for the vertical drive generally use servo electricity that driving first mechanical arm is moved up and down along holder
The structure of machine and rack drives, and such structure has the following disadvantages:Due to the drive mechanism using servo motor and rack, increase
The brake load of motor, and rack-driving is used, transmission accuracy is relatively low, and the stable type of driving device is poor, not enough securely and reliably.
[Invention content]
There is brake load weight, transmission to solve to be currently used for the vertical drive that driving first mechanical arm moves up and down
Precision is low, and stability is poor, not safe and reliable enough problem, and the application provides a kind of paper matrix intelligence with steady lifting structure
Loading and unloading manipulator.
The application is technical solution used by solving its technical problem:
Paper matrix intelligence loading and unloading manipulator with steady lifting structure includes the sliding support on holder and is set to
For driving the transversal driving mechanism that sliding support is slided along holder transverse reciprocating, the sliding support to be equipped on sliding support
The lower end of lifting support, the lifting support is equipped with for inhaling the paper matrix suction means for putting paper matrix, is also set on the lifting support
It is useful for the vertical drive for driving the paper matrix suction means vertically to reciprocatingly slide along sliding support together with lifting support, institute
It includes the lead screw being set on the inside of lifting support and the vertical driving being slidably connected on the outside of lifting support electricity to state vertical drive
Machine, by belt transmission to drive lifting support along the cunning between the output section and the lead screw of the vertical driving motor
Dynamic bearing slides vertically.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure is carried as described above, and the inside of the lifting support is also
Equipped with the mounting bracket for installing lead screw, the mounting bracket is equipped with the upper solid of the top and bottom for being sheathed on the lead screw respectively
Determine block and lower fixed block, the upper fixing block and lower fixed block are connected with the mounting bracket to fix lead screw.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure is carried as described above, is located on the mounting bracket described
The lower end of lead screw is additionally provided with the bearing block for being used to support lead screw rotation.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure is carried as described above, and the vertical drive is also wrapped
The vertical rails of the lead screw both sides are included on lifting support and are distributed in, the sliding support is equipped with and the vertical cunning
The vertical sliding block that rail is slidably connected.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure is carried as described above, and the lifting support is equipped with perpendicular
To sliding slot, it is slidably connected in the vertical chute and is useful for installing the motor mounting rack of the vertical driving motor, the motor
Mounting bracket includes mounting plate and the mounting leg in the vertical chute, and the mounting leg is set under the mounting plate
End, the vertical driving motor are set on the mounting plate.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure is carried as described above, and the transversal driving mechanism includes
The output shaft of horizontal drive motor on the sliding support, the horizontal drive motor is equipped with and the transverse teeth on holder
The transverse gear that item is meshed is additionally provided with the transverse slider being slidably connected with the horizontal slide rail on holder on the sliding support.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure, the paper matrix suction means packet are carried as described above
It includes:
First longitudinal direction holder on the downside of the lifting support;
First picks and places mechanical arm, is slidably connected on the first longitudinal direction holder, and is driven in the lifting support and uses
In picking and placeing l Water Paper mould;
First longitudinal direction driving mechanism, between the first longitudinal direction holder and described first pick and place mechanical arm, for driving
Dynamic described first picks and places mechanical arm along the longitudinally reciprocal sliding of first longitudinal direction holder;
Second longitudinal direction holder on lifting support and below the first longitudinal direction holder;
Second picks and places mechanical arm, is slidably connected on the second longitudinal direction holder, and is driven in the lifting support and uses
In picking and placeing dry paper matrix;
Second longitudinal direction driving mechanism, between the second longitudinal direction holder and described second pick and place mechanical arm, for driving
Dynamic described second picks and places mechanical arm along the longitudinally reciprocal sliding of second longitudinal direction holder.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure, the first longitudinal direction driving mechanism are carried as described above
Include the first longitudinal direction rack on first longitudinal direction holder, described first picks and places mechanical arm equipped with first longitudinal direction driving electricity
Machine, the output shaft of the first longitudinal direction driving motor are equipped with the first longitudinal direction gear being meshed with the first longitudinal direction rack, institute
State first longitudinal direction gear drives first to pick and place mechanical arm along first longitudinal direction rack under the driving of the first longitudinal direction driving motor
Longitudinal sliding motion.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure, the first longitudinal direction driving mechanism are carried as described above
Further include the first longitudinal direction sliding rail being set on the downside of first longitudinal direction holder, described first, which picks and places mechanical arm, is equipped with the first sliding seat,
The upside of first sliding seat is equipped with the first longitudinal direction sliding block being slidably connected with the first longitudinal direction sliding rail.
The paper matrix intelligence loading and unloading manipulator of steady lifting structure, the second longitudinal direction driving mechanism are carried as described above
Include the second longitudinal direction rack on second longitudinal direction holder, described second picks and places mechanical arm equipped with second longitudinal direction driving electricity
Machine, the output shaft of the second longitudinal direction driving motor are equipped with the second longitudinal direction gear being meshed with the second longitudinal direction rack, institute
State second longitudinal direction gear drives second to pick and place mechanical arm along second longitudinal direction rack under the driving of the second longitudinal direction driving motor
Longitudinal sliding motion, the second longitudinal direction driving mechanism further include the second longitudinal direction sliding rail being set on the downside of second longitudinal direction holder, and described the
Two, which pick and place mechanical arm, is equipped with the second sliding seat, and the upside of second sliding seat, which is equipped with to slide with the second longitudinal direction sliding rail, to be connected
The second longitudinal direction sliding block connect.
Compared with prior art, the application has the following advantages:
1, the paper matrix intelligence loading and unloading manipulator with steady lifting structure of the application, vertical drive use lead screw
Structure is simultaneously driven by vertical driving motor, can mitigate the brake load of motor, and use screw rod transmission precision higher, using big straight
The small helical pitch lead screw of diameter, there is certain self-locking effect, safety and reliability.
2, the paper matrix intelligence loading and unloading manipulator with steady lifting structure of the application, (i.e. first picks and places wet mould jig
Mechanical arm) it is standby when can be retracted to the underface of lifting support, reduce the cantilever of wet mould jig as far as possible, and then reduce lifting branch
The load-bearing of frame, enhancing structure stability;Similarly, lifting support is can be retracted to when dry mould jig (i.e. second picks and places mechanical arm) is standby
Underface, reduce the cantilever of dry mould jig as far as possible, be further reduced the load-bearing of lifting support, enhancing structure stability.
[Description of the drawings]
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present application, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the structural schematic diagram one of the paper matrix intelligence loading and unloading manipulator of the application;
Fig. 2 is the structural schematic diagram two of the paper matrix intelligence loading and unloading manipulator of the application;
Fig. 3 is the structural schematic diagram three of the paper matrix intelligence loading and unloading manipulator of the application;
Fig. 4 is the structural schematic diagram of the vertical drive of the application;
Fig. 5 is the first of the application to pick and place the structural schematic diagram of mechanical arm;
Fig. 6 is the portions the A enlarged diagram of Fig. 5.
[Specific implementation mode]
The application is described further below in conjunction with the accompanying drawings and the specific embodiments.
Attached drawing 1 is please referred to attached drawing 6, a kind of paper matrix intelligence loading and unloading manipulator with steady lifting structure, including cunning
Dynamic bearing 1, laterally driven structure 2, lifting support 3, vertical drive 4 and paper matrix adsorbent equipment 5.Wherein:
Sliding support 1 is slidably connected on the holder of paper matrix former, and transversal driving mechanism 2 is set on sliding support 1,
For driving sliding support 1 to be slided along holder transverse reciprocating.Specifically, the transversal driving mechanism 2 includes being set to the sliding
Horizontal drive motor 21 on bearing 1, the output shaft of the horizontal drive motor 21 is equipped with mutually to be nibbled with the horizontal tooth bar on holder
The transverse gear 22 of conjunction is additionally provided with the transverse slider 23 being slidably connected with the horizontal slide rail on holder on the sliding support 1, horizontal
Transverse gear 22 can be driven to rotate to driving motor 21, since horizontal tooth bar is fixedly installed on holder, horizontal drive motor drives
Transverse gear then can be moved transversely to drive sliding support to be slid laterally along holder rack when dynamic transverse gear rotation, structure
It is compact.Certainly, transversal driving mechanism is alternatively servo motor and realizes sliding support with the matched form of toothed belt transmission structure
Slide laterally.
Lifting support 3 is slidably connected on the sliding support 1, and is driven in sliding support.
Vertical drive 4 is set on the lifting support 3, for driving lifting support 3 vertical along the sliding support 1
It reciprocatingly slides.Specifically, the vertical drive 4 includes being set to the lead screw 41 of 3 inside of lifting support and being slidably connected to liter
The vertical driving motor 42 in 3 outside of descending branch frame, passes through skin between the output section and the lead screw 41 of the vertical driving motor 42
To drive lifting support 3 to be slid vertically along the sliding support 1, vertical driving motor is passed V belt translation by belt transmission structure
Dynamic, since lead screw is fixedly installed on lifting support, lifting support can then slide vertically along sliding support, in the present embodiment, erect
It is driven to elevating mechanism using screw structure and by vertical driving motor, the brake load of motor can be mitigated, and passed using lead screw
Dynamic precision higher has certain self-locking effect, safety and reliability using the small helical pitch lead screw of major diameter.Certainly, vertical drive
Can be that servo motor realizes sliding vertically for lifting support with the matched form of toothed belt transmission structure.
The inside of the lifting support 3 is additionally provided with the mounting bracket 31 for installing lead screw 41, and the mounting bracket 31 is equipped with
It is sheathed on the upper fixed block 32 of the top and bottom of the lead screw 41 and lower fixed block 33 respectively, the upper fixing block 32 and lower solid
Determine block 33 to be connected with the mounting bracket 31 to fix lead screw 41.In the present embodiment, the lead screw 41 is located on the mounting bracket 31
Lower end be additionally provided be used to support lead screw rotation bearing block 34.
Further, the vertical drive 4 further includes being set on lifting support 3 and being distributed in 41 both sides of the lead screw
Vertical rails 43, the sliding support 1 is equipped with the vertical sliding block 10 that is slidably connected with the vertical rails 43, vertical sliding block
Equipped with 4~8, in the present embodiment, it is preferable that vertical sliding block is equipped with 6, and coordinates with the vertical rails on lifting support and slide
It is set in vertical rails, when vertical driving motor drives lead screw rotation, vertical sliding block makes lifting support with vertical rails cooperation
Along the vertical smooth sliding of sliding support, the stability of lifting support has been greatly reinforced.
The lifting support 3 is equipped with the vertical chute 35, is slidably connected and is useful for described in installation in the vertical chute 35
The motor mounting rack 36 of vertical driving motor 42, the motor mounting rack 36 is including mounting plate 361 and is set to the vertical chute
Mounting leg 362 on 35, the mounting leg 362 are set to the lower end of the mounting plate 361, and the vertical driving motor 42 is set
In on the mounting plate 361.
The paper matrix adsorbent equipment 5 picks and places mechanical arm 52, first longitudinal direction driving mechanism including first longitudinal direction holder 51, first
53, second longitudinal direction holder 54, second pick and place mechanical arm 55 and second longitudinal direction driving mechanism 56.Wherein:
First longitudinal direction holder 51 is set to 3 downside of lifting support, it is preferable that the middle part of first longitudinal direction holder 51 is set to lifting branch
The downside of frame 3, can enhancing structure stability.
First, which picks and places mechanical arm 52, is slidably connected on first longitudinal direction holder 51, and is driven in lifting support 3 for picking and placeing
L Water Paper mould, when operation, the first fixing end for picking and placeing mechanical arm 52 is fixed on the middle part of first longitudinal direction holder 51, can effectively inhibit to control
Jitter problem when tool takes product, while wet mould jig can be increased and bear to load, greatly improve the production efficiency of paper matrix.
First longitudinal direction driving mechanism 53 is used between the first longitudinal direction holder 51 and described first pick and place mechanical arm 52
Mechanical arm 52 is picked and placeed along 51 longitudinally reciprocal sliding of the first longitudinal direction holder in driving described first, and when standby, described first takes
Put mechanical arm 52 can along first longitudinal direction holder 51 it is slidably retractable to the underface of lifting support 3 and with 51 phase of first longitudinal direction holder
It is right, the cantilever of wet mould jig is reduced as far as possible, and then reduces the load-bearing of lifting support, enhancing structure stability.Specifically, described
First longitudinal direction driving mechanism 53 includes the first longitudinal direction rack 531 being set on first longitudinal direction holder 51, and described first picks and places machinery
Arm 52 is equipped with first longitudinal direction driving motor 532, and the output shaft of the first longitudinal direction driving motor 532 is equipped with to be indulged with described first
The first longitudinal direction gear being meshed to rack 531, the first longitudinal direction gear is under the first longitudinal direction driving motor 532 driving
First is driven to pick and place mechanical arm 52 along 531 longitudinal sliding motion of first longitudinal direction rack.
In the present embodiment, the first longitudinal direction driving mechanism 53 further includes being set to the first of 51 downside of first longitudinal direction holder to indulge
To sliding rail 533, described first, which picks and places mechanical arm 52, is equipped with the first sliding seat 521, and the upside of first sliding seat 521 is equipped with
The first longitudinal direction sliding block 522 being slidably connected with the first longitudinal direction sliding rail 533, first longitudinal direction sliding block are equipped with 4~8, this implementation
In example, it is preferable that first longitudinal direction sliding block is equipped with 6, jitter problem when wet mould jig effectively being inhibited to take product.
Second longitudinal direction holder 54 is set to the lower section on lifting support 3 and positioned at the first longitudinal direction holder 51, it is preferable that the
Two longitudinal carriers are set to the underface of first longitudinal direction holder and are oppositely arranged with first longitudinal direction holder, keep overall structure more steady
It is fixed.
Second, which picks and places mechanical arm 55, is slidably connected on the second longitudinal direction holder 54, and is driven in the lifting support 3
For picking and placeing dry paper matrix, when operation, the second fixing end for picking and placeing mechanical arm is fixed on the middle part of second longitudinal direction holder, can effectively press down
Jig processed takes jitter problem when product, while can increase dry mould jig and bear to load, and greatly improves the production effect of paper matrix
Rate.
Second longitudinal direction driving mechanism 56 is used between the second longitudinal direction holder 54 and described second pick and place mechanical arm 55
Mechanical arm 55 is picked and placeed along 54 longitudinally reciprocal sliding of the second longitudinal direction holder in driving described second, and when standby, described second takes
Put mechanical arm 55 can along second longitudinal direction holder 54 it is slidably retractable to the underface of lifting support 3 and with 54 phase of second longitudinal direction holder
It is right, the cantilever of dry mould jig is reduced as far as possible, and then reduce the load-bearing of lifting support, further enhance structural stability.Specifically
Ground, the second longitudinal direction driving mechanism 56 include the second longitudinal direction rack 561 being set on second longitudinal direction holder 54, and described second takes
Put mechanical arm 55 and be equipped with second longitudinal direction driving motor 562, the output shaft of the second longitudinal direction driving motor 562 be equipped with it is described
The second longitudinal direction gear that second longitudinal direction rack 561 is meshed, the second longitudinal direction gear is in the second longitudinal direction driving motor 562
Driving under drive and second pick and place mechanical arm 55 along 561 longitudinal sliding motion of second longitudinal direction rack.
In the present embodiment, the second longitudinal direction driving mechanism 56 further includes being set to the second of 54 downside of second longitudinal direction holder to indulge
To sliding rail 563, described second, which picks and places mechanical arm 55, is equipped with the second sliding seat 551, and the upside of second sliding seat 551 is equipped with
The second longitudinal direction sliding block 552 being slidably connected with the second longitudinal direction sliding rail 563.Specifically, second longitudinal direction sliding block is equipped with 4, can
Jitter problem when dry mould jig effectively being inhibited to take product.
The described first front end downside for picking and placeing mechanical arm 52 picks and places locking portion 523 equipped with compatible with l Water Paper mould shape,
It is described pick and place offered on locking portion 523 can external negative pressure device with the negative pressure sucker 5231 of negative pressure taking moisture releasing paper matrix, described
Two pick and place be equipped on the downside of the front end of mechanical arm 55 can external negative pressure device the negative pressure sucker 553 of paper matrix is allowed to dry with negative pressure taking.Pass through
The locking portion that picks and places compatible with l Water Paper mould shape can be contacted more quickly and be drawn preliminary molding wet on paper matrix former
Paper matrix, and it is avoided that the phenomenon that folder deformation etc. causes product bad occurs by negative pressure sucker with negative pressure absorbing l Water Paper mould, in turn
Greatly improve the production efficiency of paper matrix.
In addition, the lower end of the lifting support 3 is connected with fixed frame 30, the first longitudinal direction holder 51 and described second
The front of longitudinal carrier 54 is fixed on the fixed frame 30.The lower end of lifting support is connected with frame structure, for connecting
First, which picks and places mechanical arm and second, picks and places the first longitudinal direction holder of mechanical arm and second longitudinal direction holder is fixed in the frame structure,
The effectively structural stability of enhancing manipulator.
To sum up, compared with prior art, the full-automatic loading and unloading puma manipulator of the paper matrix of the application has the following advantages:
1, the paper matrix intelligence loading and unloading manipulator with steady lifting structure of the application, (i.e. first picks and places wet mould jig
Mechanical arm) it is standby when can be retracted to the underface of lifting support, reduce the cantilever of wet mould jig as far as possible, and then reduce lifting branch
The load-bearing of frame, enhancing structure stability;Similarly, lifting support is can be retracted to when dry mould jig (i.e. second picks and places mechanical arm) is standby
Underface, reduce the cantilever of dry mould jig as far as possible, be further reduced the load-bearing of lifting support, enhancing structure stability.
2, the paper matrix intelligence loading and unloading manipulator with steady lifting structure of the application, the lower end of lifting support is connected with
Frame structure, for connect first pick and place mechanical arm and second pick and place mechanical arm first longitudinal direction holder and second longitudinal direction holder it is solid
Due in the frame structure, the structural stability of manipulator is further enhanced.
3, the paper matrix intelligence loading and unloading manipulator with steady lifting structure of the application, vertical lifting mechanism use lead screw
Structure is simultaneously driven by vertical driving motor, can mitigate the brake load of motor, and use screw rod transmission precision higher, using big straight
The small helical pitch lead screw of diameter, there is certain self-locking effect, safety and reliability.
The foregoing is merely the preferred embodiments of the application, not be used for limit the application implementation range, other it is all its
Principle and basic structure are same as the present application or approximate, within the protection domain of the application.
Claims (10)
1. the paper matrix intelligence loading and unloading manipulator with steady lifting structure includes the sliding support (1) on holder and is set
In the transversal driving mechanism (2) for driving sliding support to be slided along holder transverse reciprocating on sliding support (1), the sliding branch
Seat (1) is equipped with lifting support (3), and the lower end of the lifting support is equipped with for inhaling the paper matrix suction means (5) for putting paper matrix, institute
It states and is additionally provided on lifting support (3) for driving the paper matrix suction means (5) together with lifting support (3) along sliding support (1)
The vertical drive (4) vertically to reciprocatingly slide, it is characterised in that:The vertical drive (4) includes being set to lifting support
(3) lead screw (41) on the inside of and the vertical driving motor (42) being slidably connected on the outside of lifting support (3), the vertical driving electricity
By belt transmission to drive lifting support (3) along the sliding support between the output section and the lead screw (41) of machine (42)
(1) it slides vertically.
2. the paper matrix intelligence loading and unloading manipulator according to claim 1 with steady lifting structure, it is characterised in that:Institute
The mounting bracket (31) being additionally provided on the inside of lifting support (3) for installing lead screw (41) is stated, the mounting bracket (31), which is equipped with, divides
It is not sheathed on the upper fixed block (32) and lower fixed block (33) of the top and bottom of the lead screw (41), the upper fixing block (32)
It is connected to fix lead screw (41) with lower fixed block (33) with the mounting bracket (31).
3. the paper matrix intelligence loading and unloading manipulator according to claim 2 with steady lifting structure, it is characterised in that:Institute
It states the lower end on mounting bracket (31) positioned at the lead screw (41) and is additionally provided with the bearing block (34) for being used to support lead screw rotation.
4. the paper matrix intelligence loading and unloading manipulator according to claim 1 with steady lifting structure, it is characterised in that:Institute
It further includes being set on lifting support (3) and being distributed in the vertical rails of the lead screw (41) both sides to state vertical drive (4)
(43), the sliding support (1) is equipped with the vertical sliding block (10) being slidably connected with the vertical rails.
5. the paper matrix intelligence loading and unloading manipulator according to claim 1 with steady lifting structure, it is characterised in that:Institute
It states lifting support (3) and is equipped with the vertical chute (35), being slidably connected on the vertical chute (35), it is described vertical to be useful for installing
The motor mounting rack (36) of driving motor (42), the motor mounting rack (36) include mounting plate (361) and are set to described vertical
Mounting leg (362) on sliding slot (35), the mounting leg (362) is set to the lower end of the mounting plate (361), described vertical
Driving motor (42) is set on the mounting plate (361).
6. the paper matrix intelligence loading and unloading manipulator according to claim 1 with steady lifting structure, it is characterised in that:Institute
It includes the horizontal drive motor (21) being set on the sliding support (1), the horizontal drive motor to state transversal driving mechanism (2)
(21) output shaft is equipped with the transverse gear (22) being meshed with the horizontal tooth bar on holder, is also set on the sliding support (1)
There is the transverse slider (23) being slidably connected with the horizontal slide rail on holder.
7. the paper matrix intelligence loading and unloading manipulator according to claim 1 with steady lifting structure, it is characterised in that:Institute
Stating paper matrix suction means includes:
First longitudinal direction holder (51) on the downside of the lifting support (3);
First picks and places mechanical arm (52), is slidably connected on the first longitudinal direction holder (51), and is driven in the lifting branch
Frame (3) is for picking and placeing l Water Paper mould;
First longitudinal direction driving mechanism (53), be set to the first longitudinal direction holder (51) with described first pick and place mechanical arm (52) it
Between, for driving described first to pick and place mechanical arm (52) along the longitudinally reciprocal sliding of the first longitudinal direction holder (51);
Second longitudinal direction holder (54) on lifting support (3) and below the first longitudinal direction holder (51);
Second picks and places mechanical arm (55), is slidably connected on the second longitudinal direction holder (54), and is driven in the lifting branch
Frame (3) is for picking and placeing dry paper matrix;
Second longitudinal direction driving mechanism (56), be set to the second longitudinal direction holder (54) with described second pick and place mechanical arm (55) it
Between, for driving described second to pick and place mechanical arm (55) along the longitudinally reciprocal sliding of the second longitudinal direction holder (54).
8. the paper matrix intelligence loading and unloading manipulator according to claim 7 with steady lifting structure, it is characterised in that:Institute
State first longitudinal direction driving mechanism (53) include be set to first longitudinal direction holder (51) on first longitudinal direction rack (531), described first
It picks and places mechanical arm (52) and is equipped with first longitudinal direction driving motor (532), the output shaft of the first longitudinal direction driving motor (532) is set
There is the first longitudinal direction gear being meshed with the first longitudinal direction rack (531), the first longitudinal direction gear is in the first longitudinal direction
First is driven to pick and place mechanical arm (52) along first longitudinal direction rack (531) longitudinal sliding motion under the driving of driving motor (532).
9. the paper matrix intelligence loading and unloading manipulator according to claim 8 with steady lifting structure, it is characterised in that:Institute
It further includes the first longitudinal direction sliding rail (533) being set on the downside of first longitudinal direction holder (51) to state first longitudinal direction driving mechanism (53), described
First, which picks and places mechanical arm (52), is equipped with the first sliding seat (521), and the upside of first sliding seat (521) is equipped with and described the
The first longitudinal direction sliding block (522) that one longitudinal slide rail (533) is slidably connected.
10. the paper matrix intelligence loading and unloading manipulator according to claim 7 with steady lifting structure, it is characterised in that:
The second longitudinal direction driving mechanism (56) includes the second longitudinal direction rack (561) being set on second longitudinal direction holder (54), and described the
Two, which pick and place mechanical arm (55), is equipped with second longitudinal direction driving motor (562), the output shaft of the second longitudinal direction driving motor (562)
Equipped with the second longitudinal direction gear being meshed with the second longitudinal direction rack (561), the second longitudinal direction gear is vertical described second
Second is driven to pick and place mechanical arm (55) along second longitudinal direction rack (561) longitudinal sliding motion under to the driving of driving motor (562), it is described
Second longitudinal direction driving mechanism (56) further includes the second longitudinal direction sliding rail (563) being set on the downside of second longitudinal direction holder (54), and described the
Two, which pick and place mechanical arm (55), is equipped with the second sliding seat (551), and the upside of second sliding seat (551) is equipped with and described second
The second longitudinal direction sliding block (552) that longitudinal slide rail (563) is slidably connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810490544.9A CN108691252A (en) | 2018-05-21 | 2018-05-21 | Paper matrix intelligence loading and unloading manipulator with steady lifting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810490544.9A CN108691252A (en) | 2018-05-21 | 2018-05-21 | Paper matrix intelligence loading and unloading manipulator with steady lifting structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108691252A true CN108691252A (en) | 2018-10-23 |
Family
ID=63846668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810490544.9A Pending CN108691252A (en) | 2018-05-21 | 2018-05-21 | Paper matrix intelligence loading and unloading manipulator with steady lifting structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108691252A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112830238A (en) * | 2021-01-30 | 2021-05-25 | 广东科捷龙机器人有限公司 | Guide feeding mechanism and paper mold automatic pick and place manipulator |
| CN114129030A (en) * | 2021-12-24 | 2022-03-04 | 广州市吉谷电器科技有限公司 | Lifting device, tea basket lifting mechanism and teapot thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205289523U (en) * | 2015-11-24 | 2016-06-08 | 东莞川石自动化科技有限公司 | Multistation manipulator in mould |
| CN106081619A (en) * | 2016-06-08 | 2016-11-09 | 东莞市小智人机器人有限公司 | A kind of fully automatic loading and unloading equipment for fine carving machine |
| CN206359832U (en) * | 2016-12-07 | 2017-07-28 | 广东科捷龙机器人有限公司 | A paper molding machine |
| CN107419620A (en) * | 2017-09-08 | 2017-12-01 | 广东科捷龙机器人有限公司 | Intelligent paper matrix forming machine people |
| CN107498545A (en) * | 2017-08-31 | 2017-12-22 | 宁夏共享模具有限公司 | A kind of truss robot |
| CN208293314U (en) * | 2018-05-21 | 2018-12-28 | 广东科捷龙机器人有限公司 | Paper matrix intelligence loading and unloading manipulator with steady lifting structure |
-
2018
- 2018-05-21 CN CN201810490544.9A patent/CN108691252A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205289523U (en) * | 2015-11-24 | 2016-06-08 | 东莞川石自动化科技有限公司 | Multistation manipulator in mould |
| CN106081619A (en) * | 2016-06-08 | 2016-11-09 | 东莞市小智人机器人有限公司 | A kind of fully automatic loading and unloading equipment for fine carving machine |
| CN206359832U (en) * | 2016-12-07 | 2017-07-28 | 广东科捷龙机器人有限公司 | A paper molding machine |
| CN107498545A (en) * | 2017-08-31 | 2017-12-22 | 宁夏共享模具有限公司 | A kind of truss robot |
| CN107419620A (en) * | 2017-09-08 | 2017-12-01 | 广东科捷龙机器人有限公司 | Intelligent paper matrix forming machine people |
| CN208293314U (en) * | 2018-05-21 | 2018-12-28 | 广东科捷龙机器人有限公司 | Paper matrix intelligence loading and unloading manipulator with steady lifting structure |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112830238A (en) * | 2021-01-30 | 2021-05-25 | 广东科捷龙机器人有限公司 | Guide feeding mechanism and paper mold automatic pick and place manipulator |
| CN114129030A (en) * | 2021-12-24 | 2022-03-04 | 广州市吉谷电器科技有限公司 | Lifting device, tea basket lifting mechanism and teapot thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108466835A (en) | The full-automatic loading and unloading puma manipulator of paper matrix | |
| CN108396595A (en) | With the stable paper matrix intelligence loading and unloading manipulator for picking and placeing part mechanism | |
| CN208292251U (en) | The full-automatic loading and unloading puma manipulator of paper matrix | |
| CN108691252A (en) | Paper matrix intelligence loading and unloading manipulator with steady lifting structure | |
| CN108691251A (en) | The automatic transfer equipment of paper matrix band net intelligence and the automatic transfer robot arm of paper matrix band net | |
| CN208293314U (en) | Paper matrix intelligence loading and unloading manipulator with steady lifting structure | |
| CN115771734A (en) | Truss type stacking robot | |
| CN208841436U (en) | Floor rail type manipulator | |
| CN208379344U (en) | With the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism | |
| CN220004956U (en) | High-speed truss sorting robot | |
| CN207522187U (en) | Link mechanism formula catching robot | |
| CN206048184U (en) | Two axle reclaimer robots | |
| CN108996235A (en) | Transfer mechanism and transportation system | |
| CN209701602U (en) | Bottom plate, which is divided to, spells two station conveying sliding table of line | |
| CN205552007U (en) | There is not oily elevating platform | |
| CN218753476U (en) | Rotary grabbing mechanism | |
| CN217074985U (en) | Case loading machine | |
| CN118456484A (en) | Paper roll feeding mechanical arm of corrugated paper packaging production line | |
| CN107445117B (en) | Ultrathin bidirectional fork device | |
| CN211164023U (en) | Mechanical arm with small deformation amount | |
| CN108582063A (en) | A kind of inside gadget blanking mechanical hand | |
| CN204800640U (en) | Can vertical direction robot of walking | |
| CN216710866U (en) | Multidimensional space logistics device | |
| CN212639541U (en) | Automatic transfer device for yarn barrel of wire drawing machine | |
| CN211970955U (en) | Carrying manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181023 |
|
| WD01 | Invention patent application deemed withdrawn after publication |