CN109927049B - Gap filling manipulator - Google Patents
Gap filling manipulator Download PDFInfo
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- CN109927049B CN109927049B CN201910326998.7A CN201910326998A CN109927049B CN 109927049 B CN109927049 B CN 109927049B CN 201910326998 A CN201910326998 A CN 201910326998A CN 109927049 B CN109927049 B CN 109927049B
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Abstract
The invention relates to a gap filling manipulator which comprises a rack, an X-direction driving device arranged on the rack, a Y-direction driving device arranged on the X-direction driving device, a Z-direction driving device arranged on the Y-direction driving device, a pressure plate device arranged on the Z-direction driving device and a manipulator device, wherein the pressure plate device is arranged on the Z-direction driving device; the pressing plate device is arranged between the manipulator devices; the manipulator device comprises a left clamping plate, a right clamping plate and a material clamping cylinder, wherein the left clamping plate and the right clamping plate are correspondingly arranged in parallel, the top surfaces of the right clamping plate and the left clamping plate are on the same plane, and the bottom of the right clamping plate is longer than that of the left clamping plate; the invention has the advantages of reasonable layout, good universality and safe and reliable operation, is suitable for being used in the field of core material filling, greatly reduces the labor intensity of workers, and improves the efficiency of core material filling so as to improve the production efficiency of the purification partition panel.
Description
Technical Field
The invention relates to a gap filling manipulator, which is used for gap filling of a core material filling unit and belongs to the technical field of core material filling equipment.
Background
The purification partition board mainly comprises an upper glass magnesium board, a lower glass magnesium board, a frame and a core material (strip rock wool), is used for the construction of biological medicine, electronics, new energy clean workshops and the like, is more and more widely applied, and has annual demand as much as 5000 ten thousand square meters. In the production process, the filling of the core material of the purification partition panel is an important process. At present, manual filling or mechanical filling is adopted, the manual filling efficiency is low, the labor intensity is high, the working environment is poor, the skill dependence on workers is high, the mechanical filling efficiency is improved compared with the manual filling efficiency, the production requirement of the purification partition board requires that the middle core materials (strip rock wool) are closely arranged, the width of the finally filled core materials (strip rock wool) is larger than that of an area to be filled, and the condition cannot be solved by mechanical filling (compression type, immersion type, adsorption type and contact type).
Disclosure of Invention
The invention aims to solve the technical problem of providing a gap filling manipulator which can automatically fill a filling area of a purification partition plate with filler larger than the filling area and has high filling efficiency.
The invention adopts the following technical scheme:
the invention comprises a rack, an X-direction driving device arranged on the rack, a Y-direction driving device arranged on the X-direction driving device, a Z-direction driving device arranged on the Y-direction driving device, and a pressing plate device and a mechanical arm device which are arranged on the Z-direction driving device; the pressure plate device is arranged between the mechanical arm devices; the manipulator device comprises a left clamping plate, a right clamping plate and a clamping cylinder, the top surface of the clamping cylinder is fixedly arranged on the bottom surface of a paw connecting plate on the Z-direction driving device through a supporting plate, one side of the upper part of the right clamping plate is fixed with the cylinder end of the clamping cylinder, and the piston rod end of the clamping cylinder is fixed with one side of the upper part of the left clamping plate; the left splint and the right splint are arranged in parallel correspondingly, the top surfaces of the right splint and the left splint are on the same plane, and the bottom of the right splint is lower than the left splint.
The pressing plate device comprises a left frame, a right frame, a pressing plate cylinder and a pressing plate; the inner side of the left frame is fixed with the outer side of the supporting plate, a linear guide rail A is vertically and fixedly installed on the outer side of the left frame, the cylinder end of the pressing plate cylinder is fixedly installed on the top plate of the left frame, the piston rod end of the pressing plate cylinder is fixedly connected with the top of the right frame, the pressing plate is fixedly installed at the bottom of the right frame, a sliding block A is fixedly installed on the left side of the side plate of the right frame, and the sliding block A is installed on the linear guide rail A; the clamp plate sets up between left splint and right splint and is located the below of pressing from both sides the material cylinder.
The X-direction driving device comprises a front linear guide rail B, a rear linear guide rail B, a front sliding block B, a rear sliding block B, couplings A, a driving shaft and a driving motor A, wherein the front linear guide rail B, the rear linear guide rail B, the front sliding block B, the rear sliding block B, the couplings A, the driving shaft A, the couplings A and the driving motor A are fixedly arranged on a rack in an X direction; and the Y-direction driving device is arranged on the front sliding block B and the rear sliding block B.
The Y-direction driving device comprises a linear guide rail C which is fixedly arranged on the outer sides of a front sliding block B and a rear sliding block B and is in a Y direction, a sliding block C arranged on the linear guide rail C, a coupler B arranged at the end part of the linear guide rail C and a driving motor B arranged at the end part of the coupler B; and the Z-direction driving device is fixedly arranged on the outer side of the sliding block C.
The Z-direction driving device comprises a Z-direction linear guide rail D fixedly arranged on the outer side of a sliding block C, the sliding block D arranged on the linear guide rail D, a coupler C arranged at the end part of the linear guide rail D and a driving motor C arranged at the end part of the coupler C; and a fixing plate is fixedly arranged on the outer side of the sliding block D, and the end part of the paw connecting plate is fixedly arranged at the bottom of the fixing plate.
The invention has the following positive effects: the left clamping plate is fixed with the piston rod end of the clamping cylinder, and the distance between the left clamping plate and the right clamping plate is driven to move relatively by the movement of the piston rod of the clamping cylinder, so that the fillers are clamped. The bottom of the right clamping plate is longer than that of the left clamping plate, so that the left clamping plate does not collide with the frame when the mechanical arm pushes rock wool, and the working safety is guaranteed. The left splint make unfilled region become bigger and bigger at the promotion rock wool that presss from both sides the material cylinder, and when unfilled region's width was greater than the width of treating the filler, the clamp plate pushed the rock wool and gets into the region of treating to fill under the effect of pressing the material cylinder to accomplish whole filling process.
The invention has the advantages of reasonable layout, good universality and safe and reliable operation, is suitable for being used in the field of core material filling, greatly reduces the labor intensity of workers, and improves the efficiency of core material filling so as to improve the production efficiency of the purification partition panel.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the mounting positions of the Y-direction driving device and the Z-direction driving device of the X-direction driving device of the present invention;
fig. 3 is an enlarged schematic view of fig. 2.
In the drawings: the device comprises a machine frame 1, a left clamping plate 2, a right clamping plate 3, a material clamping cylinder 4, a claw connecting plate 5, a left frame 6, a right frame 7, a pressure plate cylinder 8, a pressure plate 9, a linear guide rail A10, a linear guide rail B in front of 11, a linear guide rail B behind 12, a slide block B in front of 13, a slide block B behind 14, a coupling A15, a driving shaft 16, a driving motor A17, a linear guide rail C18, a slide block C19, a coupling B20, a driving motor B21, a linear guide rail D22, a slide block D23, a coupling C24, a driving motor C25, a fixing plate 26, a supporting plate 27 and a slide block A.
Detailed Description
As shown in fig. 1-3, the present invention comprises a frame 1, an X-direction driving device installed on the frame 1, a Y-direction driving device installed on the X-direction driving device, a Z-direction driving device installed on the Y-direction driving device, and a platen device and a manipulator device installed on the Z-direction driving device; the X-direction driving device, the Y-direction driving device and the Z-direction driving device are all driven by synchronous belt linear guide rails, and the synchronous belt linear guide rails work by being driven by motors; the pressure plate device is arranged between the mechanical arm devices; the manipulator device comprises a left clamping plate 2, a right clamping plate 3 and a material clamping cylinder 4, the top surface of the material clamping cylinder 4 is fixedly arranged on the bottom surface of a paw connecting plate 5 on the Z-direction driving device through a supporting plate 27, one side of the upper part of the right clamping plate 3 is fixed with the cylinder end of the material clamping cylinder 4, and the piston rod end of the material clamping cylinder 4 is fixed with one side of the upper part of the left clamping plate 2; left side splint 2 and the corresponding parallel arrangement of right splint 3, the top surface of right side splint 3 and left splint 2 is on the coplanar, 3 bottoms of right side splint are longer than left splint 2, guarantee that the manipulator is not colliding with the frame at the in-process left splint 2 that promotes the rock wool, guarantee work safety.
The pressing plate device comprises a left frame 6, a right frame 7, a pressing plate cylinder 8 and a pressing plate 9; the inner side of the left frame 6 is fixed with the outer side of the supporting plate 27, a linear guide rail A10 is vertically and fixedly installed on the outer side of the left frame 6, the cylinder end of the pressure plate cylinder 8 is fixedly installed on the top plate of the left frame 6, the piston rod end of the pressure plate cylinder 8 is fixedly connected with the top of the right frame 7, the pressure plate 9 is fixedly installed at the bottom of the right frame 7, a sliding block A28 is fixedly installed on the left side of the side plate of the right frame 7, and the sliding block A28 is installed on the linear guide rail A10; the pressing plate 9 is arranged between the left clamping plate 2 and the right clamping plate 3 and is positioned below the material clamping cylinder 4.
The X-direction driving device comprises a front linear guide rail B11, a rear linear guide rail B12, a front slider B13, a rear slider B14, a coupler A15, a driving shaft 16 and a driving motor A17, wherein the front linear guide rail B5639 and the rear linear guide rail B14 are fixedly arranged on a rack 1 in an X direction, the front slider B13 is arranged on a front linear guide rail B11, the rear slider B14 is arranged on a rear linear guide rail B12, the coupler A15 is respectively arranged at the end parts of a front linear guide rail B11 and a rear linear guide rail B12, the driving; the Y-direction driving device is arranged on the front slide block B13 and the rear slide block B14.
The Y-direction driving device comprises a linear guide rail C18 which is fixedly arranged at the outer sides of a front sliding block B13 and a rear sliding block B14 and is in a Y direction, a sliding block C19 arranged on the linear guide rail C18, a coupling B20 arranged at the end part of the linear guide rail C18 and a driving motor B21 arranged at the end part of a coupling B20; the Z-direction driving device is fixedly arranged on the outer side of the sliding block C19.
The Z-direction driving device comprises a Z-direction linear guide rail D22 fixedly installed on the outer side of a slider C19, a slider D23 installed on a linear guide rail D22, a coupler C24 installed at the end part of the linear guide rail D22 and a driving motor C25 installed at the end part of a coupler C24; and a fixed plate 26 is fixedly arranged on the outer side of the slide block D23, and the end part of the paw connecting plate 5 is fixedly arranged at the bottom of the fixed plate 26.
According to the invention, the left clamping plate 2 is fixed with the piston rod end of the clamping cylinder 4, and the movement of the piston rod of the clamping cylinder 4 drives the distance between the left clamping plate 2 and the right clamping plate to move relatively, so that the clamping of fillers is realized. The manipulator device is initially positioned at the top end of the Z-direction driving device, the X-direction driving device and the Y-direction driving device drive the manipulator device to move to the upper part of the storage bin, the driving motor B21 drives the sliding block D23 to drive the manipulator device to move downwards on the linear guide rail C18, after the left splint 2 and the right splint 3 are contacted with the filler, namely rock wool strips, the sliding block D23 stops moving, the material clamping cylinder 4 drives the left splint to clamp the rock wool strips by the left splint 2 and the right splint 3, the driving motor B21 drives the sliding block D23 to drive the manipulator device to move upwards on the linear guide rail C18 to stop at the top end of the linear guide rail C18, the X-direction driving device and the Y-direction driving device convey the rock wool strips to the position to be filled to stop, the sliding block D23 drives the manipulator device to move downwards until the bottom of the right splint is contacted with the side surface filled with the rock wool, at the, and the filling process has the gap, and left splint make unfilled region become bigger and bigger at the promotion rock wool of pressing material cylinder, and when unfilled region's width was greater than the width of treating the filler, clamp plate 9 pushed the rock wool and gets into the region of waiting to fill under the effect of pressing the material cylinder to accomplish whole filling process.
The invention has reasonable layout and good universality, can realize the filling of filler larger than the filling area, has safe and reliable operation, is suitable for being used in the field of core material filling, greatly reduces the labor intensity of workers, and improves the efficiency of core material filling so as to improve the production efficiency of the purification partition panel.
Claims (4)
1. A gap filling manipulator is characterized by comprising a rack (1), an X-direction driving device arranged on the rack (1), a Y-direction driving device arranged on the X-direction driving device, a Z-direction driving device arranged on the Y-direction driving device, a pressing plate device arranged on the Z-direction driving device and a manipulator device, wherein the pressing plate device is arranged on the Z-direction driving device;
the pressure plate device is arranged between the mechanical arm devices;
the manipulator device comprises a left clamping plate (2), a right clamping plate (3) and a clamping cylinder (4), the top surface of the clamping cylinder (4) is fixedly arranged on the bottom surface of a paw connecting plate (5) on the Z-direction driving device through a supporting plate (27), one side of the upper part of the right clamping plate (3) is fixed with the cylinder end of the clamping cylinder (4), and the piston rod end of the clamping cylinder (4) is fixed with one side of the upper part of the left clamping plate (2);
the left clamping plate (2) and the right clamping plate (3) are correspondingly arranged in parallel, the top surfaces of the right clamping plate (3) and the left clamping plate (2) are on the same plane, and the bottom of the right clamping plate (3) is lower than that of the left clamping plate (2);
the pressing plate device comprises a left frame (6), a right frame (7), a pressing plate cylinder (8) and a pressing plate (9);
the inner side of the left frame (6) is fixed with the outer side of a supporting plate (27), a linear guide rail A (10) is vertically and fixedly installed on the outer side of the left frame (6), the cylinder end of the pressing plate cylinder (8) is fixedly installed on a top plate of the left frame (6), the piston rod end of the pressing plate cylinder (8) is fixedly connected with the top of the right frame (7), the pressing plate (9) is fixedly installed at the bottom of the right frame (7), a sliding block A (28) is fixedly installed on the left side of a side plate of the right frame (7), and the sliding block A (28) is installed on the linear guide rail A (10);
the pressing plate (9) is arranged between the left clamping plate (2) and the right clamping plate (3) and is positioned below the material clamping cylinder (4).
2. The gap filling manipulator according to claim 1, wherein the X-direction driving device comprises a front linear guide rail B (11) and a rear linear guide rail B (12) which are fixedly mounted on the frame (1) in the X direction, a front slider B (13) mounted on the front linear guide rail B (11), a rear slider B (14) mounted on the rear linear guide rail B (12), couplings a (15) respectively mounted at the ends of the front linear guide rail B (11) and the rear linear guide rail B (12), a driving shaft (16) mounted between the two couplings a (15), and a driving motor a (17) mounted at the end of the driving shaft (16);
the Y-direction driving device is arranged on the front sliding block B (13) and the rear sliding block B (14).
3. The gap filling manipulator according to claim 2, wherein the Y-direction driving device comprises a linear guide C (18) in the Y direction fixedly installed at the outer sides of the front slider B (13) and the rear slider B (14), a slider C (19) installed on the linear guide C (18), a coupling B (20) installed at the end of the linear guide C (18), and a driving motor B (21) installed at the end of the coupling B (20);
the Z-direction driving device is fixedly arranged on the outer side of the sliding block C (19).
4. The gap filling manipulator according to claim 3, wherein the Z-direction driving device comprises a Z-direction linear guide D (22) fixedly installed on the outer side of the slide block C (19), a slide block D (23) installed on the linear guide D (22), a coupler C (24) installed at the end part of the linear guide D (22) and a driving motor C (25) installed at the end part of the coupler C (24);
and a fixing plate (26) is fixedly arranged on the outer side of the sliding block D (23), and the end part of the paw connecting plate (5) is fixedly arranged at the bottom of the fixing plate (26).
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 CN109927049A (en) | 2019-06-25 |
| CN109927049B true CN109927049B (en) | 2021-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910326998.7A Active CN109927049B (en) | 2019-04-23 | 2019-04-23 | Gap filling manipulator |
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| Country | Link |
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| CN (1) | CN109927049B (en) |
Family Cites Families (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 |
| JP6619947B2 (en) * | 2015-03-31 | 2019-12-11 | Dmg森精機株式会社 | Work loader device |
| CN205394522U (en) * | 2016-03-03 | 2016-07-27 | 四川科伦药业股份有限公司 | Can found bag and grab a bottle manipulator |
| CN105798894B (en) * | 2016-04-11 | 2018-07-06 | 哈尔滨理工大学 | A kind of catching robot of turnable babinet |
| 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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- 2019-04-23 CN CN201910326998.7A patent/CN109927049B/en active Active
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| CN109927049A (en) | 2019-06-25 |
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