CN109927049A - A kind of gap filling manipulator - Google Patents
A kind of gap filling manipulator Download PDFInfo
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- CN109927049A CN109927049A CN201910326998.7A CN201910326998A CN109927049A CN 109927049 A CN109927049 A CN 109927049A CN 201910326998 A CN201910326998 A CN 201910326998A CN 109927049 A CN109927049 A CN 109927049A
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- driving device
- linear guide
- plate
- direction driving
- sliding block
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Abstract
The present invention relates to a kind of gap filling manipulators comprising rack, rack-mounted X to driving device, be mounted on Y-direction driving device of the X in driving device, the Z-direction driving device being mounted in Y-direction driving device and the presser device and robot device that are mounted in Z-direction driving device；Presser device is arranged between robot device；Robot device includes left splint, right splint and material folding cylinder, and left clamp and right clamping plate correspondence are arranged in parallel, and in the same plane, right clamping plate bottom is longer than left clamp for the top surface of right clamping plate and left clamp；The present invention has rationally distributed, and versatility is good, safe and reliable to operation, is suitable for using in core material padding field, substantially reduces the labor intensity of worker, improves the efficiency of core material filling to improve the production efficiency of purification partition panel.
Description
Technical field
The present invention relates to a kind of gap filling manipulators to belong to core material filling for the gap filling of core material fills unit
Equipment technical field.
Background technique
Purification partition panel is mainly made of upper and lower glass magnesium board, frame, core material (strip rock wool), is used for biological medicine, electricity
Son, the building of new energy dust proof workshop etc., application is more and more extensive, and up to 50,000,000 square metres of annual requirement.It is producing
In the process, the core material filling for purifying partition panel is important procedure.At present using filled by hand or mechanical filling, artificial charging efficiency
Low, large labor intensity, working environment is poor, and high to the technical ability dependence of worker, although and the relatively artificial filling effect of mechanical filling
Rate increases, but due to the necessary close-packed arrays of core material (strip rock wool) among the production requirement of purification partition panel, finally
The width of the core material (strip rock wool) of filling is greater than the width in region to be filled, and this situation is mechanical filling (compression type, leaching
Enter formula, absorption type, contact) cann't be solved.
Summary of the invention
Technical problem to be solved by the invention is to provide it is a kind of to purification partition panel filler be greater than filling region into
The automatic gap filling manipulator filled and charging efficiency is high of row.
The present invention adopts the following technical scheme:
The present invention include rack, rack-mounted X to driving device, be mounted on X in driving device Y-direction driving dress
The Z-direction driving device set, being mounted in Y-direction driving device and the presser device and manipulator that are mounted in Z-direction driving device
Device；The presser device is arranged between robot device；The robot device includes left splint, right splint and material folding
Cylinder, the material folding cylinder top surface is fixedly mounted on the gripper connecting plate bottom surface in Z-direction driving device by support plate, described
The cylinder end of right clamping plate top side and material folding cylinder is fixed, and the tailpiece of the piston rod of the material folding cylinder and left clamp top side are solid
It is fixed；The left clamp and right clamping plate correspondence is arranged in parallel, the top surface of the right clamping plate and left clamp in the same plane, the right side
The bottom of clamping plate is lower than left clamp.
Presser device of the present invention includes left frame, correct frame, pressing plate cylinder and pressing plate；On the inside of the left frame with
The outside of support plate is fixed, and linear guide A is fixedly mounted elevationally outward in the left frame, the cylinder end of the pressing plate cylinder is solid
Dingan County is fixedly connected, the pressing plate on the top plate of left frame at the top of the tailpiece of the piston rod and correct frame of the pressing plate cylinder
It is fixedly mounted on the bottom of correct frame, sliding block A is fixedly mounted on the left of the side plate of the correct frame, the sliding block A is mounted on directly
On line guide rail A；The lower section between left clamp and right clamping plate and being located at material folding cylinder is arranged in the pressing plate.
X of the present invention to driving device include be fixedly mounted on the rack in X to preceding linear guide B, rear straight line
Guide rail B, the front-slider B being mounted on preceding linear guide B, the rear slider B being mounted on rear linear guide B, be separately mounted to before
The linear guide B and shaft coupling A of the end rear linear guide B, the drive shaft being mounted between two shaft coupling A and it is mounted on drive
The driving motor A of moving axis end；The Y-direction driving device is mounted on front-slider B and rear slider B.
Y-direction driving device of the present invention includes the straight line in Y-direction being fixedly mounted on the outside of front-slider B and rear slider B
Guide rail C, the sliding block C being mounted on linear guide C, the shaft coupling B for being mounted on linear guide C-terminal portion and it is mounted on shaft coupling B
The driving motor B of end；The Z-direction driving device is fixedly mounted on the outside of sliding block C.
Z-direction driving device of the present invention include be fixedly mounted on the outside of sliding block C in Z-direction linear guide D, be mounted on
Sliding block D on linear guide D, the driving for being mounted on the shaft coupling C of the end linear guide D and being mounted on shaft coupling C-terminal portion electricity
Machine C；Fixed plate is fixedly mounted on the outside of the sliding block D, gripper connecting plate end is fixedly mounted on fixed plate bottom.
Good effect of the present invention is as follows: the tailpiece of the piston rod of left clamp and material folding cylinder of the present invention is fixed, and material folding cylinder is passed through
The movement of piston rod drives left clamp relative motion at a distance from right clamping plate, realizes the clamping to filler.Right clamping plate bottom ratio
Left clamp is long, guarantees that manipulator left clamp during pushing rock wool does not collide with frame, guarantees work safety.Zuo Jia
Plate to be not filled by region in the promotion rock wool of material folding cylinder becomes increasing, when the width for being not filled by region be greater than it is to be filled
When the width of object, pressing plate pushes rock wool to enter region to be filled under the action of press cylinder, to complete entire filling process.
The present invention has rationally distributed, and versatility is good, safe and reliable to operation, is suitable for using in core material padding field, significantly
The labor intensity of worker is reduced, improves the efficiency of core material filling to improve the production efficiency of purification partition panel.
Detailed description of the invention
Attached drawing 1 is schematic structural view of the invention；
Attached drawing 2 is X of the present invention to driving device Y-direction driving device and Z-direction driving device installation site structural schematic diagram；
Attached drawing 3 is the enlarged structure schematic diagram of attached drawing 2.
In the accompanying drawings: 1 rack, 2 left clamps, 3 right clamping plates, 4 material folding cylinders, 5 gripper connecting plates, 6 left frames, 7 correct frames,
8 pressing plate cylinders, 9 pressing plates, 10 linear guide A, 11 sliding block A, 12 linear guide B, 13 front-slider B, 14 rear slider B, 15 shaft couplings
A, 16 drive shafts, 17 driving motor A, 18 linear guide C, 19 sliding block C, 20 shaft coupling B, 21 driving motor B, 22 linear guide D,
23 sliding block D, 24 shaft coupling C, 25 driving motor C, 26 fixed plates, 27 support plates, 28 sliding block A.
Specific embodiment
As illustrated in the accompanying drawings from 1 to 3, the present invention include rack 1, the X being mounted in rack 1 to driving device, be mounted on X to drive
It moves the Y-direction driving device on device, the Z-direction driving device being mounted in Y-direction driving device and is mounted in Z-direction driving device
Presser device and robot device；X to driving device, Y-direction driving device and the driving of Z-direction driving device be all synchronous
Band linear guide, each synchronous belt linear guide work is by each motor-driven；The presser device is arranged in robot device
Between；The robot device includes left clamp 2, right clamping plate 3 and material folding cylinder 4, and 4 top surface of material folding cylinder passes through support
Plate 27 is fixedly mounted on 5 bottom surface of gripper connecting plate in Z-direction driving device, the right 3 top side of clamping plate and material folding cylinder 4
Cylinder end fix, tailpiece of the piston rod and the 2 top side of left clamp of the material folding cylinder 4 are fixed；The left clamp 2 and right clamping plate
3 correspondences are arranged in parallel, and in the same plane, right 3 bottom of clamping plate is than left clamp 2 for the top surface of the right clamping plate 3 and left clamp 2
It is long, guarantee that manipulator left clamp 2 during pushing rock wool does not collide with frame, guarantees work safety.
Presser device of the present invention includes left frame 6, correct frame 7, pressing plate cylinder 8 and pressing plate 9；The left frame 6
Inside and the outside of support plate 27 are fixed, and linear guide A10, the pressing plate gas are fixedly mounted elevationally outward in the left frame 6
The cylinder end of cylinder 8 is fixedly mounted on the top plate of left frame 6, and the tailpiece of the piston rod of the pressing plate cylinder 8 and the top of correct frame 7 are solid
Fixed connection, the pressing plate 9 are fixedly mounted on the bottom of correct frame 7, sliding block are fixedly mounted on the left of the side plate of the correct frame 7
A28, the sliding block A28 are mounted on linear guide A10；The pressing plate 9 is arranged between left clamp 2 and right clamping plate 3 and is located at
The lower section of material folding cylinder 4.
X of the present invention to driving device include be fixedly mounted in rack 1 in X to preceding linear guide B11, rear straight
Line guide rail B12, the front-slider B13 being mounted on preceding linear guide B11, the rear slider B14 being mounted on rear linear guide B12,
It is separately mounted to the shaft coupling A15 of preceding linear guide B11 and the end rear linear guide B12, is mounted between two shaft coupling A15
Drive shaft 16 and be mounted on the driving motor A17 of 16 end of drive shaft；The Y-direction driving device is mounted on front-slider B13
On rear slider B14.
Y-direction driving device of the present invention include be fixedly mounted on the outside of front-slider B13 and rear slider B14 in Y-direction
Linear guide C18, the sliding block C19 being mounted on linear guide C18, the shaft coupling B20 for being mounted on the end linear guide C18 and
It is mounted on the driving motor B21 of the end shaft coupling B20；The Z-direction driving device is fixedly mounted on the outside of sliding block C19.
Z-direction driving device of the present invention include be fixedly mounted sliding block C19 on the outside of in Z-direction linear guide D22, install
Sliding block D23 on linear guide D22, it is mounted on the shaft coupling C24 of the end linear guide D22 and is mounted on shaft coupling C24
The driving motor C25 of end；Fixed plate 26, the fixed peace in 5 end of gripper connecting plate are fixedly mounted on the outside of the sliding block D23
Mounted in 26 bottom of fixed plate.
The tailpiece of the piston rod of left clamp 2 of the present invention and material folding cylinder 4 is fixed, and is driven by the movement of 4 piston rod of material folding cylinder
The clamping to filler is realized in the relative motion at a distance from right clamping plate of left clamp 2.Robot device just makes to be located at Z-direction driving dress
The top set, X drive robot device to transport to above feed bin to driving device, Y-direction driving device, and driving motor B21 drives
Movable slider D23 drives robot device to move downward on linear guide C18, left clamp 2 and right clamping plate 3 and filler, that is, rock wool
After item contact, sliding block D23 stop motion is driven after material folding cylinder 4 drives left clamp that left clamp 2 and right clamping plate 3 is made to clamp rock cotton sliver
Dynamic motor B21 driving sliding block D23 drives robot device to move upward to the top linear guide C18 to stop on linear guide C18
Only, rock cotton sliver is transported to position to be filled to driving device and Y-direction driving device and stopped by X, and sliding block D23 drives robot device
It moves downwardly to right clamping plate bottom and touches the side for having been filled with rock wool, entire robot device is to the direction for having been filled with rock wool at this time
Movement, due to rock wool softness, and filling process, there are gap, left clamp to be not filled by area in the promotion rock wool of material folding cylinder
Domain becomes increasing, and when the width for being not filled by region is greater than the width of object to be filled, pressing plate 9 is under the action of press cylinder
Rock wool is pushed to enter region to be filled, to complete entire filling process.
The present invention have it is rationally distributed, versatility is good, can be realized filler be greater than filling region filling, operational safety
Reliably, it is suitable for using in core material padding field, substantially reduces the labor intensity of worker, improves the efficiency of core material filling to improve
Purify the production efficiency of partition panel.
Claims (5)
1. a kind of gap filling manipulator, it is characterised in that it include rack (1), the X being mounted on rack (1) to driving fill
It sets, be mounted on Y-direction driving device of the X in driving device, the Z-direction driving device and installation being mounted in Y-direction driving device
Presser device and robot device in Z-direction driving device；
The presser device is arranged between robot device；
The robot device includes left clamp (2), right clamping plate (3) and material folding cylinder (4), material folding cylinder (4) top surface
It is fixedly mounted on gripper connecting plate (5) bottom surface in Z-direction driving device by support plate (27), right clamping plate (3) top
The cylinder end of side and material folding cylinder (4) is fixed, and the tailpiece of the piston rod of the material folding cylinder (4) and left clamp (2) top side are solid
It is fixed；
The left clamp (2) and right clamping plate (3) correspondence are arranged in parallel, and the top surface of the right clamping plate (3) and left clamp (2) is same
In plane, the bottom of the right clamping plate (3) is lower than left clamp (2).
2. a kind of gap filling manipulator according to claim 1, it is characterised in that the presser device includes left frame
(6), correct frame (7), pressing plate cylinder (8) and pressing plate (9)；
It fixes on the inside of the left frame (6) with the outside of support plate (27), is fixedly mounted elevationally outward directly in the left frame (6)
Line guide rail A(10), the cylinder end of the pressing plate cylinder (8) is fixedly mounted on the top plate of left frame (6), the pressing plate cylinder
(8) it being fixedly connected at the top of tailpiece of the piston rod and correct frame (7), the pressing plate (9) is fixedly mounted on the bottom of correct frame (7),
Sliding block A(28 is fixedly mounted on the left of the side plate of the correct frame (7)), the sliding block A(28) it is mounted on linear guide A(10)
On；
The pressing plate (9) is arranged between left clamp (2) and right clamping plate (3) and is located at the lower section of material folding cylinder (4).
3. a kind of gap filling manipulator according to claim 2, it is characterised in that the X includes fixing to driving device
Be mounted on rack (1) in X to preceding linear guide B(11), rear linear guide B(12), be mounted on before linear guide B(11)
On front-slider B(13), be mounted on rear linear guide B(12) on rear slider B(14), be separately mounted to before linear guide B
(11) and rear linear guide B(12) end shaft coupling A(15), be mounted on two shaft coupling A(15) between drive shaft (16)
And it is mounted on the driving motor A(17 of drive shaft (16) end)；
The Y-direction driving device is mounted on front-slider B(13) and rear slider B(14) on.
4. a kind of gap filling manipulator according to claim 3, it is characterised in that the Y-direction driving device includes fixing
Be mounted on front-slider B(13) and rear slider B(14) on the outside of the linear guide C(18 in Y-direction), be mounted on linear guide C(18)
On sliding block C(19), be mounted on linear guide C(18) the shaft coupling B(20 of end) and be mounted on shaft coupling B(20) end
Driving motor B(21)；
The Z-direction driving device is fixedly mounted on sliding block C(19) outside on.
5. a kind of gap filling manipulator according to claim 4, it is characterised in that the Z-direction driving device includes fixing
Be mounted on sliding block C(19) on the outside of the linear guide D(22 in Z-direction), be mounted on linear guide D(22) on sliding block D(23), peace
Shaft coupling C(24 mounted in the end linear guide D(22)) and it is mounted on shaft coupling C(24) the driving motor C(25 of end)；
In the sliding block D(23) outside fixed installation fixed plate (26), gripper connecting plate (5) end is fixedly mounted on fixation
Plate (26) bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326998.7A CN109927049B (en) | 2019-04-23 | 2019-04-23 | Gap filling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326998.7A CN109927049B (en) | 2019-04-23 | 2019-04-23 | Gap filling manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109927049A true CN109927049A (en) | 2019-06-25 |
| CN109927049B CN109927049B (en) | 2021-03-23 |
Family
ID=66990636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910326998.7A Active CN109927049B (en) | 2019-04-23 | 2019-04-23 | Gap filling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109927049B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201702776U (en) * | 2010-02-09 | 2011-01-12 | 东莞朗诚模具有限公司 | Manipulator for full-automatic sheet discharging machine |
| CN102717385A (en) * | 2011-09-06 | 2012-10-10 | 哈尔滨博实自动化股份有限公司 | One side clamp plate lifting type boxing manipulator |
| CN105798894A (en) * | 2016-04-11 | 2016-07-27 | 哈尔滨理工大学 | Grabbing manipulator capable of turning over box body |
| CN205394522U (en) * | 2016-03-03 | 2016-07-27 | 四川科伦药业股份有限公司 | Bag can be found and a bottle manipulator is grabbed |
| WO2016158218A1 (en) * | 2015-03-31 | 2016-10-06 | Dmg森精機株式会社 | Workpiece loader device |
| CN109079759A (en) * | 2018-09-10 | 2018-12-25 | 芜湖全程智能科技有限公司 | Three axis truss grabbing devices of one kind and its application method |
| CN109262638A (en) * | 2018-10-26 | 2019-01-25 | 常州市邹区蔬菜产业发展有限公司 | A kind of mechanical grip device |
-
2019
- 2019-04-23 CN CN201910326998.7A patent/CN109927049B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201702776U (en) * | 2010-02-09 | 2011-01-12 | 东莞朗诚模具有限公司 | Manipulator for full-automatic sheet discharging machine |
| CN102717385A (en) * | 2011-09-06 | 2012-10-10 | 哈尔滨博实自动化股份有限公司 | One side clamp plate lifting type boxing manipulator |
| WO2016158218A1 (en) * | 2015-03-31 | 2016-10-06 | Dmg森精機株式会社 | Workpiece loader device |
| CN205394522U (en) * | 2016-03-03 | 2016-07-27 | 四川科伦药业股份有限公司 | Bag can be found and a bottle manipulator is grabbed |
| CN105798894A (en) * | 2016-04-11 | 2016-07-27 | 哈尔滨理工大学 | Grabbing manipulator capable of turning over box body |
| CN109079759A (en) * | 2018-09-10 | 2018-12-25 | 芜湖全程智能科技有限公司 | Three axis truss grabbing devices of one kind and its application method |
| CN109262638A (en) * | 2018-10-26 | 2019-01-25 | 常州市邹区蔬菜产业发展有限公司 | A kind of mechanical grip device |
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| Publication number | Publication date |
|---|---|
| CN109927049B (en) | 2021-03-23 |
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