CN109677657A

CN109677657A - A kind of thermal insulation material packing machine

Info

Publication number: CN109677657A
Application number: CN201811472708.1A
Authority: CN
Inventors: 孙玉梅; 王选诚; 程光伟; 赵金杰; 安凯; 刘彦斌
Original assignee: Weihai Ocean Vocational College; Yantai Nanshan University
Current assignee: Weihai Ocean Vocational College; Yantai Nanshan University
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2019-04-26

Abstract

The invention discloses a kind of thermal insulation material packing machine, including rack, the thermal insulation material put on a moving belt is sent to position to be packaged by conveyer belt；The end effector of mechanical arm clamps thermal insulation material and is placed on non-woven fabrics；The motor and linear motor of rotating brush start simultaneously, and the part that brush coating non-woven fabrics is not held down is bonded on thermal insulation material；Rotating brush moves downward, and mechanical arm drives the movement of brush coating non-woven fabrics, reaches the axis of motor in the same perpendicular above column shape brush axis；The rotation of motor average rate, while the motor rotation of rotating brush；It stops operating when motor turns over specified radian, ultrasonic cutting machine cutting brush coating non-woven fabrics simultaneously resets；Motor continues to rotate half cycle, is bonded in the brush coating non-woven fabrics scaled off all on thermal insulation material；Rotating brush stops after resetting, and packaged thermal insulation material is placed on empty place between conveyer belt and rotating brush by manipulator motion, and starts linear motor and discharge packaged thermal insulation material.

Description

A kind of thermal insulation material packing machine

Technical field

The present invention relates to building material technical field more particularly to a kind of thermal insulation material package packing machinies.

Background technique

China's economic development is rapid, and the development of production of energy relatively lags behind much, solves a method of energy shortage It is exactly energy conservation, i.e. reduction heat loss, the utilization efficiency for improving thermal energy, reduction energy waste.One of energy-efficient main measure is just It is to develop and using heat preserving and insulating material, heat loss can be effectively reduced using heat-barrier material, saves fuel and improve production, simultaneously Work situation can be improved, guarantee safety in production, improve work efficiency and the performance of enterprises.Thermal insulation material be one kind slow down by conduction, it is right The material or composite material for the heat flow rate that stream, radiation generate.Due to the high thermal resistance of material, thermal insulation material hinders hot-fluid disengaging to build Build object.Heat-insulating heat-preserving material generally refers to the material that thermal coefficient is less than or equal to 0.2W/M.K.It is used in industry and building Good thermal isolation technique and material can often play a multiplier effect.

It is lightweight, loose, porous, fibrous material that heat preserving and insulating material, which is generally, and aging becomes fragile over time, Surface particle fine crushing constantly can peel off, and especially be easier under the influence of the extraneous factors such as blowing, raining and colliding Acceleration falls off, and fine particle is diffused in the sky, causes greatly to destroy to environment.Therefore the related environmental protection administration's rule of country It is fixed, it must be packed outside heat-insulating heat-preserving material, prevent its pollution of the broken particle to environment that fall off.In general, blocky heat-insulated guarantor The packaging of adiabator is by being accomplished manually, and since process is many and diverse, working efficiency is very low, has seriously affected heat-insulation and heat-preservation material The manufacturing schedule of material.The danger that can not only help the mankind to get rid of labour the packaging that intelligent machine arm is used for heat-insulating heat-preserving material Property, monotonicity and uninteresting property, improve the happy property and enjoying of labour, and can greatly improve production efficiency.

Summary of the invention

Intelligent machine arm is used for the packaging of heat-insulating heat-preserving material, discloses a kind of thermal insulation material packing machine, it by rack, Conveyer belt, mechanical arm, ultrasonic cutting machine and rotating brush composition.Put thermal insulation material on a moving belt by conveyer belt be transmitted to Pack the position of thermal insulation material；Two linear motors are controlled, the end effector of mechanical arm is made to reach thermal insulation material to be packaged Position；Linear motor starting on end effector, makes end effector clamp thermal insulation material；Manipulator motion is controlled, will be protected Adiabator is placed on the thermal insulation material position on non-woven fabrics；The motor and linear motor of rotating brush start simultaneously, drive Column shape brush moves upwards on one side, rotates on one side, will not glued brush coating non-woven fabrics by the part that the thermal insulation material on non-woven fabrics is pushed down It closes on thermal insulation material；Rotating brush moves downward, and mechanical arm drives the movement of brush coating non-woven fabrics later, reaches the axis of motor In same perpendicular above column shape brush axis；Motor is with the rotation of angular velocity omega average rate, while the motor of rotating brush revolves Turn, and its linear motor is gone up and down by the following method, except near thermal insulation material rib in addition to, guarantee column shape brush always with thermal insulation material The distance d that surface is kept fixed；Stop operating when motor turns over 2 π radian, ultrasonic cutting machine starting, cutting brush coating without Woven fabric, and reset；Motor continues to rotate half cycle, is bonded in the brush coating non-woven fabrics scaled off all on thermal insulation material；Rotation Brush stops after resetting, and packaged thermal insulation material is placed on empty place between conveyer belt and rotating brush, and started by manipulator motion Linear motor discharges packaged thermal insulation material.

The beneficial effects of the present invention are:

1. fully-automatic packaging is participated in without artificial；

2. cheap, manufacture difficulty is low；

3. the mankind can not only be helped to get rid of the risk, monotonicity and uninteresting property of labour, improve labour happy property and Enjoying, and production efficiency can be greatly improved.

Detailed description of the invention

Fig. 1 is thermal insulation material packing machine schematic diagram.

Fig. 2 and Fig. 3 is thermal insulation material packing machine robot arm end effector schematic diagram.

Fig. 4 is thermal insulation material rotation angle and column shape brush development length relational graph.

1, rack, 2, conveyer belt, 3, mechanical arm, 4, sliding shoe, 5, sliding bar, 6, end effector, 7, on non-woven fabrics Thermal insulation material, 8, brush coating non-woven fabrics, 9, ultrasonic cutting machine, 10, rotating brush, 11, thermal insulation material to be packaged, 12, three-jaw turntable, 13, linear motor, 14, motor, 15 grippers.

Specific embodiment

As shown in Figure 1, thermal insulation material packing machine is by rack 1, conveyer belt 2, mechanical arm 3, ultrasonic cutting machine 9 and rotating brush 10 compositions.Rack 1 is identical " door " the shape structure of two shapes that sliding bar 5 connects；Conveyer belt 2 is for transmitting thermal insulation material To the position of thermal insulation material 11 to be packaged, so as to the crawl of mechanical arm 3；Mechanical arm 3 is by sliding shoe 4, end effector 6 and by sliding 4 connected vertically two linear motor compositions of block, wherein the linear motor parallel with sliding bar 5 is fixed in rack 1, sliding shoe 4 sets on sliding bar 5, another linear motor motion parts lower end is connect with end effector 6.End effector 6 is in " door " shape Structure, motor 14 is installed near an end, and axis is connect with three-jaw turntable 12；Straight line is installed near another end Motor 13, axis are connect with gripper 15, and conllinear with the axis of motor 14；When thermal insulation material is in " door " shape structure, Start linear motor 13, thermal insulation material can be clamped, be restarted by three grippers on gripper 15 and three-jaw turntable 12 Motor 14, thermal insulation material can be rotated around the axis of motor 14.Ultrasonic cutting machine 9 is by two linear motors connected vertically It is formed with ultrasonic cutting head, a linear motor is fixed in rack 1, for moving upwards for ultrasonic cutting head；It is another Ultrasonic cutting head is installed in a linear motor motion parts end, starts linear motor, the ultrasonic cutting head of unlatching is driven to transport It is dynamic, so that it may to scale off brush coating non-woven fabrics 8.Rotating brush 10 is made of linear motor, motor and column shape brush, linear motor Fixed part is connect with rack 1, and motor is installed in motion parts end, and the axis of motor is connect with column shape brush；Pass through straight-line electric The height of the adjustable column shape brush of machine；Column shape brush can be driven to rotate by motor rotation.

Put the position that thermal insulation material on conveyor belt 2 is transmitted to thermal insulation material 11 to be packaged by conveyer belt 2；Control two Linear motor makes the end effector 6 of mechanical arm 3 reach the position of thermal insulation material 11 to be packaged；Straight line on end effector 6 Electric motor starting makes end effector 6 clamp thermal insulation material；It controls mechanical arm 3 to move, thermal insulation material is placed on non-woven fabrics 7 position of thermal insulation material；The motor and linear motor of rotating brush 10 start simultaneously, and column shape brush is driven to move upwards on one side, It rotates, brush coating non-woven fabrics 8 will be bonded on thermal insulation material by the part that the thermal insulation material 7 on non-woven fabrics is pushed down on one side；Rotation Turn brush 10 to move downward, mechanical arm 3 drives brush coating non-woven fabrics 8 to move later, and the axis of motor 14 is made to reach column shape brush axis In the same perpendicular of top；Motor 14 is with the rotation of angular velocity omega average rate, while the motor of rotating brush 10 rotates, and its Linear motor is gone up and down by the following method, in addition near thermal insulation material rib, guarantees that column shape brush is protected with heat insulation material surface always Hold fixed distance d；It stops operating when motor 14 turns over 2 π radian, ultrasonic cutting machine 9 starts, and cuts off brush coating non-woven fabrics 8, and reset；Motor 14 continues to rotate half cycle, is bonded in the brush coating non-woven fabrics scaled off 8 all on thermal insulation material；Rotation Brush 10 stops after resetting, and mechanical arm 3 moves, and packaged thermal insulation material is placed on empty place between conveyer belt 2 and rotating brush 10, And starts linear motor and discharge packaged thermal insulation material.

To guarantee that thermal insulation material is preferably bonded with brush coating non-woven fabrics 8, when motor 14 drives thermal insulation material rotation, remove Outer near thermal insulation material rib, column shape brush should be kept fixed distance d with heat insulation material surface always；As shown in figure 4, with 2a The length and width in thermal insulation material section are respectively indicated with 2b, and assume side and brush coating that 7 side length of thermal insulation material on non-woven fabrics is 2b Non-woven fabrics 8 contacts, and the position of motor 14 and column shape brush axis is respectively indicated with A and B, since motor 14 drives thermal insulation material When rotation, the axis of motor 14 is located at the same perpendicular above column shape brush axis, as long as therefore rotating in motor 14 Angle calculates the distance between A and B s when being θ=ω t, so that it may control what column shape brush was kept fixed with heat insulation material surface Distance d, wherein ω is angular speed, and t is the time.Can successively s be determined according to 9 sections where θ:

WhenWhen,

Claims

1. a kind of thermal insulation material packing machine, it is characterised in that: cut including rack (1), conveyer belt (2), mechanical arm (3), ultrasonic wave Cutting mill (9) and rotating brush (10)；Rack (1) is identical " door " the shape structure of two shapes of sliding bar (5) connection；Conveyer belt (2) for thermal insulation material to be transmitted to the position of thermal insulation material to be packaged (11), so as to mechanical arm (3) crawl；Mechanical arm (3) by It sliding shoe (4), end effector (6) and is made of sliding shoe (4) two linear motors connected vertically, wherein with sliding bar (5) parallel linear motor is fixed on rack (1), and sliding shoe (4) covers on sliding bar (5), another linear motor movement portion Lower end is divided to connect with end effector (6)；End effector (6) is in " door " shape structure, installs motor near an end (14), axis is connect with three-jaw turntable (12)；Linear motor (13) are installed near another end, axis and gripper (15) Connection, and it is conllinear with the axis of motor (14)；When thermal insulation material is in " door " shape structure, start linear motor (13), machine Three grippers in machinery claw (15) and three-jaw turntable (12) can clamp thermal insulation material, restart motor (14), protect Adiabator can be rotated around the axis of motor (14)；Ultrasonic cutting machine (9) is by two linear motors connected vertically and ultrasound Wave cutting head composition, a linear motor is fixed on rack (1), for moving upwards for ultrasonic cutting head；Another is straight Line motor movement portion distal end installs ultrasonic cutting head, starts linear motor, drives the ultrasonic cutting head of unlatching to move, just Brush coating non-woven fabrics (8) can be scaled off；Rotating brush (10) is made of linear motor, motor and column shape brush, linear motor Fixed part is connect with rack (1), and motor is installed in motion parts end, and the axis of motor is connect with column shape brush；Pass through straight line The height of the adjustable column shape brush of motor；Column shape brush can be driven to rotate by motor rotation.

2. a kind of thermal insulation material packing machine according to claim 1, it is characterised in that: the heat preservation being placed on conveyer belt (2) Material is transmitted to the position of thermal insulation material to be packaged (11) by conveyer belt (2)；Two linear motors are controlled, mechanical arm (3) is made End effector (6) reaches the position of thermal insulation material (11) to be packaged；Linear motor starting on end effector (6), makes end Actuator (6) are held to clamp thermal insulation material；Control mechanical arm (3) movement, thermal insulation material thermal insulation material being placed on non-woven fabrics (7) position；The motor and linear motor of rotating brush (10) start simultaneously, and column shape brush is driven to move upwards on one side, on one side Brush coating non-woven fabrics 8, will not be bonded on thermal insulation material by the part that the thermal insulation material (7) on non-woven fabrics is pushed down by rotation；Rotation Brush (10) moves downward, and mechanical arm (3) drives brush coating non-woven fabrics (8) movement later, and the axis of motor (14) is made to reach column In same perpendicular above brush axis；Motor (14) is with the rotation of angular velocity omega average rate, while rotating brush (10) is electronic Machine rotation, and its linear motor is gone up and down by the following method, except near thermal insulation material rib in addition to, guarantee column shape brush always with heat preservation The distance d that material surface is kept fixed；It stops operating when motor (14) turns over 2 π radian, ultrasonic cutting machine (9) starting, It cuts off brush coating non-woven fabrics (8), and resets；Motor (14) continues to rotate half cycle, keeps the brush coating non-woven fabrics (8) scaled off all viscous It closes on thermal insulation material；Rotating brush (10) stops after resetting, and packaged thermal insulation material is placed on transmission by mechanical arm (3) movement Empty place between band (2) and rotating brush (10), and start linear motor and discharge packaged thermal insulation material.

3. a kind of thermal insulation material packing machine according to claim 1, it is characterised in that: for guarantee thermal insulation material and brush coating without Woven fabric (8) preferably bonds, when motor (14) drive thermal insulation material rotation, in addition near thermal insulation material rib, and column shape brush Distance d should be kept fixed with heat insulation material surface always；The length and width in thermal insulation material section are respectively indicated with 2a and 2b, and It is assumed that the side that thermal insulation material (7) side length on non-woven fabrics is 2b is contacted with brush coating non-woven fabrics (8), motor is respectively indicated with A and B (14) and the position of column shape brush axis when, driving thermal insulation material rotation due to motor (14), the axis of motor (14) is located at Same perpendicular above column shape brush axis, as long as therefore calculating A and B when motor (14) rotational angle is θ=ω t The distance between s, so that it may control column shape brush with heat insulation material surface and be kept fixed distance d, wherein ω is angular speed, and t is Time；Can successively s be determined according to (9) a section where θ:

WhenWhen,