CN109366469B - Pulp molding forming mechanical arm - Google Patents
Pulp molding forming mechanical arm Download PDFInfo
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- CN109366469B CN109366469B CN201811548472.5A CN201811548472A CN109366469B CN 109366469 B CN109366469 B CN 109366469B CN 201811548472 A CN201811548472 A CN 201811548472A CN 109366469 B CN109366469 B CN 109366469B
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- transfer die
- air chamber
- blanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Paper (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
Abstract
The invention provides a pulp molding shaping manipulator, which comprises a portal frame with two upper cross beams, a transfer die, a sucker frame and two moving mechanisms, wherein the portal frame is used for transferring wet blanks from a molding machine to the molding machine, the sucker frame is used for taking dry blanks out of the molding machine and sending the dry blanks to the next station, and the two moving mechanisms are respectively used for driving the transfer die and the sucker frame to move; the moving mechanism can drive the transfer die and the sucker frame to move transversely, longitudinally and vertically. The manipulator can simultaneously transfer wet blanks and take out dry blanks, and is beneficial to improving production efficiency.
Description
Technical Field
The invention relates to a mechanical arm, in particular to a pulp molding forming mechanical arm.
Background
Some paper tableware such as paper trays and paper bowls are usually produced by a paper pulp molding device, paper pulp is pressed and dehumidified in a forming machine to form wet blanks (i.e. forming), the wet blanks are hot-pressed by a setting machine to form dry blanks (i.e. setting), and finally the dry blanks are cut by a trimming machine to obtain finished products; the process of removing the wet blanks from the forming machine to the forming machine and removing the dry blanks from the forming machine to the edge trimmer is typically carried out using a robotic arm for product transfer.
In the traditional pulp molding production process, the formed wet embryo is taken out from the forming machine manually and transferred into the forming machine for hot press forming, and after forming, the dry embryo is manually transferred from the forming machine, so that the working efficiency is low, a large amount of high-temperature water vapor is generated during hot press forming, and the working environment is bad. Therefore, the method of replacing manual wet embryo and dry embryo transfer by a manipulator at present, but the wet embryo transfer and the dry embryo taking out are completed by the same manipulator, and only wet embryo transfer or dry embryo taking out can be performed at the same time.
It can be seen that there is a need for improvements and improvements in the art.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a pulp molding forming manipulator capable of simultaneously performing wet embryo transfer and dry embryo removal, which is advantageous for improving production efficiency.
In order to achieve the above purpose, the invention adopts the following technical scheme:
A pulp molding shaping manipulator comprises a portal frame with two upper cross beams, a transfer die for transferring wet blanks from a molding machine to a shaping machine, a sucker frame for taking dry blanks out of the shaping machine and conveying the dry blanks to the next station, and two moving mechanisms for driving the transfer die and the sucker frame to move respectively; the moving mechanism can drive the transfer die and the sucker frame to move transversely, longitudinally and vertically.
In the pulp molding forming mechanical arm, the moving mechanism comprises a bottom frame which is slidably arranged on an upper cross beam of the portal frame, a moving seat which can longitudinally move on the bottom frame, and a lifting rod which is arranged on the moving seat and can vertically reciprocate; the lower end of the lifting rod is connected with the transfer die or the sucker frame; the underframe is driven by a first motor and a first gear rack transmission mechanism to move on an upper cross beam of the portal frame; the movable seat is driven by a second motor and a synchronous belt transmission mechanism to longitudinally move on the underframe; the lifting rod is driven by a third motor and a second gear rack transmission mechanism to reciprocate vertically.
In the pulp molding forming mechanical arm, the first gear rack transmission mechanism comprises a rotating shaft rotatably arranged on the underframe, first gears arranged at two ends of the rotating shaft, and two first racks which are arranged on an upper cross beam of the portal frame and meshed with the two first gears respectively; the first motor drives the rotating shaft to rotate.
In the pulp molding forming mechanical arm, two sliding rails extending longitudinally are arranged on the underframe, and the movable seat is slidably buckled on the two sliding rails through a sliding block; the synchronous belt transmission mechanism comprises two driving synchronous wheels, two driven synchronous wheels and two synchronous belts; each driving synchronous wheel and the corresponding driven synchronous wheel are wound with a synchronous belt, and the bottom of the movable seat is fixedly connected with the two synchronous belts; and the second motor drives the two driving synchronous wheels to synchronously rotate.
In the pulp molding forming mechanical arm, two guide seats are arranged on the movable seat, a guide rail is arranged on two opposite side surfaces of the lifting rod along the length direction, and the two guide seats are respectively in sliding buckling with the two guide rails; the second gear-rack transmission mechanism comprises a second rack arranged on the lifting rod and a second gear meshed with the second rack; the third motor drives the second gear to rotate.
In the pulp molding forming mechanical arm, the transfer mold comprises a transfer mold main body provided with a plurality of air suction groove bodies and a cover plate connected to the transfer mold main body in a covering manner; the lifting rod is connected to one side of the transfer die main body; the air suction groove body protrudes downwards, the lower portion of the air suction groove body is conformal with the inner cavity of the workpiece, air suction holes are formed in the bottom of the air suction groove body, and all the air suction groove bodies are communicated with an external vacuumizing system.
In the pulp molding forming mechanical arm, a concave area is arranged in the middle of the top of the transfer mold main body, the cover plate is connected to the top of the transfer mold main body in a covering mode, the concave area is surrounded to form a connecting cavity, and the connecting cavity is communicated with all the air suction groove bodies.
In the pulp molding forming mechanical arm, one edge of the transfer mold main body is provided with a mounting handle, and the lower end of the lifting rod is fixedly connected with the mounting handle; the mounting handle is provided with at least one vent hole communicated with one or more air suction groove bodies, and is provided with an air inlet and outlet communicated with all the vent holes.
In the pulp molding forming mechanical arm, the sucker frame comprises an air chamber, an air release valve arranged on the air chamber, a turnover arm rotatably arranged on the air chamber, a plurality of connecting rods arranged on the turnover arm, a plurality of vacuum suckers arranged on the connecting rods and a driving device for driving the turnover arm to rotate; the air chamber is provided with an extraction opening for vacuumizing; the overturning arm is hollow, one end of the overturning arm far away from the air chamber is closed, the other end of the overturning arm is communicated with the cavity inside the air chamber, a plurality of air nozzles are arranged on two sides of the overturning arm, and the air nozzles and the vacuum chuck are connected through an air pipe.
In the pulp molding forming mechanical arm, a hollow shaft is rotatably arranged in the air chamber, one end of the hollow shaft is rotatably connected with the air chamber through a solid shaft head, and the other end of the hollow shaft extends out of the air chamber to be connected with the overturning arm; the side wall of the hollow shaft, which is positioned in the air chamber, is provided with a plurality of vent holes, and the inner holes of the vent holes are communicated with the inner holes of the overturning arms; the driving device drives the solid shaft head to rotate.
The beneficial effects are that:
The invention provides a pulp molding shaping manipulator which is provided with a transfer die and a sucker frame, wherein the transfer die and the sucker frame can work independently, the transfer die is only responsible for transferring wet blanks from a molding machine to the molding machine, the sucker frame is only responsible for taking dry blanks out of the molding machine and sending the dry blanks to the next process, and the manipulator can simultaneously transfer the wet blanks and take the dry blanks, has higher production continuity and is beneficial to improving the production efficiency.
Drawings
Fig. 1 is a schematic structural view of a pulp molding forming manipulator provided by the invention.
Fig. 2 is a schematic structural view of a moving mechanism in a pulp molding forming manipulator provided by the invention.
Fig. 3 is an enlarged view of the S portion in fig. 2.
Fig. 4 is a side view of a moving mechanism in a pulp molding forming robot according to the present invention.
Fig. 5 is a schematic structural view of a transfer mold in a pulp molding forming manipulator provided by the invention.
Fig. 6 is a top view of a transfer mold body in a pulp molding forming robot according to the present invention.
Fig. 7 is a schematic structural view of a sucker frame in a pulp molding forming manipulator provided by the invention.
Fig. 8 is a cross-sectional view of a suction cup holder in a pulp molding forming robot according to the present invention.
Fig. 9 is a partial enlarged view of a suction cup holder in a pulp molding forming robot according to the present invention.
Fig. 10 is an apparatus distribution diagram of a pulp molding system.
Detailed Description
The invention provides a pulp molding shaping manipulator, which is used for making the purposes, technical schemes and effects of the invention clearer and clearer, and is further described in detail below by referring to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Herein, the transverse direction refers to the length direction of the gantry, i.e., the left-right direction in fig. 4; the longitudinal direction refers to the in-out direction of the transfer die from the forming machine and the shaping machine, namely, the direction vertical to the paper surface in fig. 4; the vertical direction refers to a vertical direction, i.e., an up-down direction in fig. 4.
Referring to fig. 1 to 10, a pulp molding forming manipulator includes a portal frame a having two upper beams A1, a transfer die B for transferring wet blanks from a forming machine 1 'to a forming machine 2', a suction cup frame C for taking dry blanks out of the forming machine to a next station (fig. 10, where the next station is referred to as a transfer table 3 'for conveying the dry blanks to a trimming machine 4' for trimming), and two moving mechanisms D for driving the transfer die B and the suction cup frame C to move, respectively; the moving mechanism can drive the transfer die and the sucker frame to move transversely, longitudinally and vertically.
The manipulator is provided with the transfer mould and the sucker frame which can work independently, wherein the transfer mould is only responsible for transferring wet blanks from the forming machine to the forming machine, and the sucker frame is only responsible for taking dry blanks out of the forming machine and conveying the dry blanks to the next working procedure; as shown in fig. 10, a plurality of shaping machines 2' are arranged on one side of the shaping machine 1', when the dried embryo in one shaping machine 2' is shaped, the dried embryo is immediately taken out by a sucker frame and conveyed to a transfer table 3' and conveyed to a trimming machine 4' by a transfer table, and the shaped wet embryo is immediately transferred into the shaping machine by a transfer die after the dried embryo is taken out, so that the whole process continuity is good, the waiting time of the shaping machine and each shaping machine can be greatly reduced, and the production efficiency is improved.
1-4, The moving mechanism D comprises a bottom frame D1 slidably arranged on an upper beam A1 of the portal frame, a moving seat D2 capable of longitudinally moving on the bottom frame, and a lifting rod D3 arranged on the moving seat and capable of vertically and reciprocally moving; the lower end of the lifting rod is connected with the transfer die B or the sucker frame C; the underframe is driven by a first motor D4 and a first gear rack transmission mechanism to move on an upper cross beam of the portal frame; the movable seat is driven by a second motor D5 and a synchronous belt transmission mechanism to longitudinally move on the underframe; the lifting rod is driven by a third motor D6 and a second gear rack transmission mechanism to reciprocate in the vertical direction.
In fact, when the existing pulp molding forming mechanical arm is used for taking and placing wet blanks and dry blanks, a telescopic beam extending along the longitudinal direction is used for longitudinally moving, and the telescopic beam is cantilever type, so that a phenomenon of downward inclination is inevitably generated, and the taking and placing reliability is affected. In the application, the vertically arranged lifting rod drives the transfer die and the sucker frame to move, and a cantilever-mounted telescopic beam does not exist, so that the downward inclination is easier to ensure than the cantilever-type telescopic beam of the existing manipulator.
The first gear rack transmission mechanism comprises a rotating shaft D7 rotatably arranged on the underframe D1, first gears D8 arranged at two ends of the rotating shaft, and two first racks D9 which are arranged on the upper cross beam A1 of the portal frame and meshed with the two first gears respectively; the first motor drives the rotating shaft to rotate. The rotation of the rotating shaft can drive the first gear to reciprocate on the first rack, so that the underframe is pushed to reciprocate transversely. Here, two bearing sleeves are provided on the chassis, bearings are provided in the bearing sleeves, and the rotating shaft is inserted into the bearings, as shown in fig. 2.
The underframe D1 is provided with two sliding rails D10 extending to the longitudinal direction, and the movable seat D2 is slidably buckled on the two sliding rails through a sliding block; the synchronous belt transmission mechanism comprises two driving synchronous wheels, two driven synchronous wheels and two synchronous belts D11; each driving synchronous wheel and the corresponding driven synchronous wheel are wound with a synchronous belt, and the bottom of the movable seat is fixedly connected with the two synchronous belts; the second motor D5 drives the two driving synchronous wheels to synchronously rotate. When the driving synchronous wheel rotates, the synchronous belt can be driven to move, so that the movable seat is driven to move longitudinally, the movable seat is driven to move by two parallel synchronous belts, and the movable seat can be prevented from rotating and being blocked.
In order to ensure the synchronism of the rotation between the two active synchronizing wheels, a driving shaft is connected between the two active synchronizing wheels, and the second motor D5 drives the driving shaft to rotate, as shown in fig. 4.
Two guide seats D12 are arranged on the movable seat D2, a guide rail D13 is arranged on two opposite side surfaces of the lifting rod D3 along the length direction, and the two guide seats are respectively in sliding buckling connection with the two guide rails; the second gear-rack transmission mechanism comprises a second rack D14 arranged on the lifting rod and a second gear D15 meshed with the second rack; the third motor D6 drives the second gear to rotate. The lifting rod can be ensured to always keep a vertical state and guide the movement of the lifting rod through the matching of the guide rail and the guide seat; a limiting plate can be arranged on the top of the lifting rod, as shown in fig. 3, so as to prevent the lifting rod from being separated from the movable seat.
Preferably, a positioning groove D3.1 with a width corresponding to that of the second rack D14 is formed in the lifting rod D3 along the length direction, and the second rack is installed in the positioning groove. The second rack can be fast positioned during installation.
In order to improve the output torque, the output ends of the first motor D4, the second motor D5 and the third motor D6 are provided with a speed reducer, preferably a worm gear speed reducer, which has a reverse locking function and can only drive the output end to rotate by the input end, and the output end can not drive the input end to rotate in turn, so that when the first motor D4, the second motor D5 and the third motor D6 do not work, the manipulator is locked.
In order to guide the transverse movement of the underframe D1, a guide rail is provided on the upper cross beam A1, and the underframe is slidably fastened on the guide rail through a slider.
In order to prevent the two moving mechanisms D from being damaged by collision, a distance detection sensor D16, preferably a photoelectric distance detection sensor, may be provided on the opposite surfaces of the two chassis D1, and a mechanical crash cushion D17 may be provided on the two chassis.
Specifically, as shown in fig. 1, 5 and 6, the transfer mold B includes a transfer mold body B1 provided with a plurality of air suction grooves B1.1, and a cover plate B2 covering the transfer mold body; the lifting rod D3 is connected to one side of the transfer die main body; the air suction groove body B1.1 protrudes downwards, the lower part of the air suction groove body is conformal with the inner cavity of a workpiece (wet blank), the bottom of the air suction groove body is provided with air suction holes B1.2, and all the air suction groove bodies are communicated with an external vacuumizing system.
Because the lower part of the air suction groove body is conformal with the inner cavity of the workpiece, the shape of the wet blank can be well maintained when the wet blank is adsorbed, and the deformation damage of the wet blank is prevented from influencing the next process. In order to further protect the wet blank and prevent the wet blank from being deformed due to concentrated force, the bottom of each air suction groove body is provided with a plurality of air suction holes B1.2 which are uniformly distributed, so that the wet blank is uniformly adsorbed.
Here, the transfer mold body B1 may have a rectangular shape, and the suction grooves B1.1 are distributed in a matrix shape on the transfer mold body. Compared with other shapes, the transfer die body can be provided with more air suction grooves in the same area, that is to say, the same number of workpieces are transferred, the structural weight is lower, and downward inclination is prevented.
The middle of the top of the transfer die main body B1 is provided with a concave area B1.3, the cover plate B2 is connected to the top of the transfer die main body in a covering mode and encloses the concave area into a connecting cavity, and the connecting cavity is communicated with all the air suction groove bodies B1.1. Because all the air suction groove bodies can be communicated through the connecting cavity, the vacuum can be pumped to all the air suction groove bodies only by communicating one or more air suction groove bodies with an external vacuum pumping system, so that the number of air delivery pipes can be reduced and the structure can be simplified.
In order to ensure air tightness, an installation groove B1.4 connected end to end can be formed in the edge of the top of the transfer die main body B1, and a sealing ring (not shown in the figure) is arranged in the installation groove to ensure the reliability of vacuumizing, so that the stability of the adsorption force is ensured.
In this embodiment, a mounting handle B1.5 is disposed on one side of the transfer mold body B1, and the lower end of the lifting rod D3 is fixedly connected with the mounting handle, so as to prevent the lifting rod from blocking the transfer mold body from extending into the forming machine and the shaping machine. The mounting handle is provided with at least one vent hole B1.6 communicated with one or more air suction groove bodies B1.1, and is provided with an air inlet and outlet B1.7 communicated with all the vent holes. The air inlet and outlet and the external vacuumizing system are connected by only one air pipe, so that vacuumizing can be realized for all the air suction groove bodies, the structure is greatly simplified, and the air pipe is connected to the mounting handle, so that the air pipe does not need to enter the setting machine to bear high temperature during working, and the service life is prolonged.
Preferably, an air collecting cavity B1.8 can be arranged on the mounting handle B1.5, and all the vent holes B1.6 and the air inlets and outlets B1.7 are communicated with the air collecting cavity. Because the vent hole needs to be communicated with the air inlet and the air outlet, the vent hole needs to be strictly aligned during processing, the processing difficulty is high, the air collecting cavity is arranged at the position, and only the vent hole and the air inlet and the air outlet need to be respectively communicated with the air collecting cavity, so that the requirement on positioning precision is low, and the processing is convenient.
In order to reduce the processing difficulty of the gas collection cavity, the gas collection cavity B1.8 is a blind hole with a diameter larger than that of the vent hole B1.6 and the air inlet and outlet B1.7, and a sealing piece (not shown in the figure) is arranged at the opening of the blind hole.
Specifically, as shown in fig. 1, 7, 8 and 9, the suction cup frame C includes an air chamber C1, an air release valve C2 disposed on the air chamber, a turnover arm C3 rotatably disposed on the air chamber, a plurality of connecting rods C4 disposed on the turnover arm, a plurality of vacuum suction cups C5 disposed on the connecting rods, and a driving device C6 for driving the turnover arm to rotate; the air chamber is provided with an air extraction opening (not shown in the figure) for vacuumizing; the overturning arm is hollow, one end of the overturning arm far away from the air chamber is closed, the other end of the overturning arm is communicated with the cavity inside the air chamber, a plurality of air nozzles C7 are arranged on two sides of the overturning arm, and the air nozzles and the vacuum chuck are connected through air pipes.
When the vacuum overturning device works, the moving mechanism drives the overturning arm to move, then the overturning arm overturns by a required angle through the driving device, then the air chamber is pumped through the air release valve, and as the inner cavity of the air chamber, the inner hole of the overturning arm and the vacuum sucker are sequentially communicated, the vacuum sucker can form negative pressure to adsorb a dry blank, and the vacuum is released through the air release valve during discharging; and because the air tap sets up on the upset arm, the trachea between air tap and the vacuum chuck (this trachea is shorter) can wholly rotate along with the upset arm, no matter how big angle of rotation also can not twine the knot, tear even, consequently can carry out the wide-angle upset. The existing manipulator is usually not capable of turning over or can only turn over by a small angle, and when the dried embryo is required to be rotated by a certain angle to be beneficial to carrying out an automatic trimming process, the picking and placing mechanism cannot be smoothly carried out.
It should be noted that, the extraction opening is provided at the top of air chamber C1, lifter D3 is tubular, and the extraction opening is provided at the lower end position of the inner cavity of the lifter, and the air pipe for evacuating passes through the inner cavity of the lifter and is connected with the extraction opening.
In this embodiment, a hollow shaft C8 is rotatably disposed in the air chamber C1, one end of the hollow shaft C8 is rotatably connected with the air chamber through a solid shaft head C8.1, and the other end of the hollow shaft C8 extends out of the air chamber and is connected with the turning arm C3; the side wall of the hollow shaft, which is positioned in the air chamber, is provided with a plurality of vent holes C8.2, and the inner holes of the vent holes are communicated with the inner holes of the overturning arms; and the driving device C6 drives the solid shaft head to rotate. Because the overturning arm does not need to be directly inserted into the air chamber, the cross section of the overturning arm is not round and can not prevent rotation, and the cross section of the overturning arm can be rectangular, so that the connecting rod C4 can be conveniently fixed.
The hollow shaft C8 and the overturning arm C3 are connected through a connecting flange C9, and a sealing ring is arranged in the middle of the connecting flange. The structure has larger connection strength and good sealing performance.
Here, the air chamber C1 includes a tubular body C1.1, and two sleeve ends C1.2 detachably provided at both ends of the tubular body, respectively; the two shaft sleeve ends are respectively connected with the solid shaft head C8.1 and the hollow shaft C8 in a rotary sealing way through a bearing C10 and a sealing ring. Because the tubular main body and the shaft sleeve end head can be processed respectively, the processing difficulty of the air chamber is reduced, and the air tightness of the structure is better.
In order to further improve the air tightness of the air chamber C1, a sealing ring C11 is arranged between the shaft sleeve end head C1.2 and the tubular main body C1.1.
The driving device C6 may be a motor, a rotary cylinder or other power device, and may drive the solid shaft head C8.1 to rotate through a gear transmission mechanism, a belt transmission mechanism, a worm and gear transmission mechanism or other transmission mechanisms. The transmission mechanism can be arranged in a protective shell C12 to prevent sand and dust from entering the transmission mechanism.
A mounting plate C13 can be fixed on the upper side or the lower side of the turning arm C3, waist holes C13.1 extending along the length direction are formed in two sides of the mounting plate, and the connecting rod C4 is fixed on the mounting plate through bolts penetrating through the waist holes. The user can adjust the position of connecting rod according to the actual distribution position of pulp molding product dry embryo to make vacuum chuck aim at the dry embryo, the suitability is stronger. Here, the width of mounting panel C13 is bigger than the width of upset arm C3, has improved the area of being under force of connecting rod, is favorable to increasing the joint strength between connecting rod and the upset arm.
Further, the connecting rod C4 is provided with a mounting groove C4.1 along the length direction, each vacuum chuck C5 is fixed on one connecting plate C5.1, and the connecting plates are fixed on the connecting rod through bolts clamped in the mounting grooves. The user can adjust the number and the position of the vacuum sucking discs according to the actual number and the distribution position of the dry blanks of the pulp molding product, so that the applicability is further improved.
It will be understood that equivalents and modifications will occur to those skilled in the art based on the present invention and its spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention.
Claims (5)
1. The pulp molding shaping manipulator is characterized by comprising a portal frame with two upper cross beams, a transfer die for transferring wet blanks from a molding machine to the molding machine, a sucker frame for taking dry blanks out of the molding machine and conveying the dry blanks to the next station, and two moving mechanisms for driving the transfer die and the sucker frame to move respectively; the moving mechanism can drive the transfer die and the sucker frame to move transversely, longitudinally and vertically;
the transfer die and the sucker frame can work independently, wherein the transfer die is only responsible for transferring wet blanks from the forming machine to the forming machine, the sucker frame is only responsible for taking dry blanks out of the forming machine to the next process, and the manipulator can simultaneously transfer the wet blanks and take the dry blanks out;
the transfer die comprises a transfer die main body provided with a plurality of air suction groove bodies and a cover plate connected to the transfer die main body in a covering mode; the lifting rod is connected to one side of the transfer die main body; the air suction groove body protrudes downwards, the lower part of the air suction groove body is conformal with the inner cavity of the workpiece, air suction holes are formed in the bottom of the air suction groove body, and all the air suction groove bodies are communicated with an external vacuumizing system;
The middle of the top of the transfer die main body is provided with a concave area, the cover plate covers the top of the transfer die main body and encloses the concave area into a connecting cavity, and the connecting cavity is communicated with all the air suction grooves;
A mounting handle is arranged on one edge of the transfer die main body, and the lower end of the lifting rod is fixedly connected with the mounting handle; the mounting handle is provided with at least one vent hole communicated with one or more air suction groove bodies, and is provided with an air inlet and outlet communicated with all the vent holes;
The sucker frame comprises an air chamber, an air release valve arranged on the air chamber, a turnover arm rotatably arranged on the air chamber, a plurality of connecting rods arranged on the turnover arm, a plurality of vacuum suckers arranged on the connecting rods and a driving device for driving the turnover arm to rotate; the air chamber is provided with an extraction opening for vacuumizing; the overturning arm is hollow, one end of the overturning arm far away from the air chamber is closed, the other end of the overturning arm is communicated with the cavity in the air chamber, and a plurality of air nozzles are arranged on two sides of the overturning arm and are connected with the air nozzles and the vacuum chuck through air pipes;
A hollow shaft is rotatably arranged in the air chamber, one end of the hollow shaft is rotatably connected with the air chamber through a solid shaft head, and the other end of the hollow shaft extends out of the air chamber to be connected with the overturning arm; the side wall of the hollow shaft, which is positioned in the air chamber, is provided with a plurality of vent holes, and the inner holes of the vent holes are communicated with the inner holes of the overturning arms; the driving device drives the solid shaft head to rotate.
2. The pulp molding forming robot of claim 1, wherein the moving mechanism comprises a chassis slidably provided on an upper beam of the portal frame, a moving seat capable of moving longitudinally on the chassis, and a lifting rod provided on the moving seat capable of reciprocating vertically; the lower end of the lifting rod is connected with the transfer die or the sucker frame; the underframe is driven by a first motor and a first gear rack transmission mechanism to move on an upper cross beam of the portal frame; the movable seat is driven by a second motor and a synchronous belt transmission mechanism to longitudinally move on the underframe; the lifting rod is driven by a third motor and a second gear rack transmission mechanism to reciprocate vertically.
3. The pulp molding forming manipulator of claim 2, wherein the first rack and pinion gear mechanism comprises a rotating shaft rotatably arranged on the underframe, first gears arranged at two ends of the rotating shaft, and two first racks respectively meshed with the two first gears and arranged on the upper cross beam of the portal frame; the first motor drives the rotating shaft to rotate.
4. The pulp molding forming manipulator according to claim 2, wherein the chassis is provided with two sliding rails extending in a longitudinal direction, and the movable seat is slidably fastened to the two sliding rails through a sliding block; the synchronous belt transmission mechanism comprises two driving synchronous wheels, two driven synchronous wheels and two synchronous belts; each driving synchronous wheel and the corresponding driven synchronous wheel are wound with a synchronous belt, and the bottom of the movable seat is fixedly connected with the two synchronous belts; and the second motor drives the two driving synchronous wheels to synchronously rotate.
5. The pulp molding forming manipulator according to claim 2, wherein the movable seat is provided with two guide seats, two opposite side surfaces of the lifting rod are respectively provided with a guide rail along the length direction, and the two guide seats are respectively in sliding buckling connection with the two guide rails; the second gear-rack transmission mechanism comprises a second rack arranged on the lifting rod and a second gear meshed with the second rack; the third motor drives the second gear to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811548472.5A CN109366469B (en) | 2018-12-18 | 2018-12-18 | Pulp molding forming mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811548472.5A CN109366469B (en) | 2018-12-18 | 2018-12-18 | Pulp molding forming mechanical arm |
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| Publication Number | Publication Date |
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| CN109366469A CN109366469A (en) | 2019-02-22 |
| CN109366469B true CN109366469B (en) | 2024-07-09 |
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| CN201811548472.5A Active CN109366469B (en) | 2018-12-18 | 2018-12-18 | Pulp molding forming mechanical arm |
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| CN110450185B (en) * | 2019-08-01 | 2023-12-05 | 广东华工环源环保科技有限公司 | Pulp molding product dry and wet blank transfer robot |
| CN110466966A (en) * | 2019-08-01 | 2019-11-19 | 广东华工佳源环保科技有限公司 | A kind of moulded paper pulp product production system |
| CN110714371A (en) * | 2019-10-16 | 2020-01-21 | 广东卡雷尔自动化有限公司 | Transfer mould and material transfer device |
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