CN111088725A - Transfer manipulator mechanism with net - Google Patents

Abstract

The invention discloses a belt net transfer manipulator mechanism, which comprises: the net taking manipulator mechanism comprises a net taking component, the net taking component comprises an upper net taking mechanism and a lower net taking mechanism which can be used for taking a net, the net taking manipulator mechanism can move the net taking component between an upper die and a lower die of the suction filter forming machine and the hot pressing forming machine, the temporary net die fixing mechanism is arranged on an upper die of the suction filter forming machine and the hot pressing forming machine and can be used for placing a dry net die or a net die fed by the upper net taking mechanism, the net taking manipulator mechanism can take the dry net die out and move the dry net die to a position corresponding to the finished product taking manipulator, the finished product taking manipulator can take out a finished product from the dry net die, the working efficiency is improved, the upper die space of the suction filter forming machine and the hot pressing forming machine is ingeniously utilized and the upper net taking mechanism and the lower net taking mechanism are configured for matching use, the mechanism is simple and reasonable.

Description

Transfer manipulator mechanism with net

Technical Field

The invention relates to the field of paper pulp molding production, in particular to a belt net transfer manipulator mechanism.

Background

The manufacturing process of the paper pulp molding is completed by the processes of pulping, suction filtration molding, hot press molding and the like, wherein the suction filtration molding and the hot press molding are required to be completed on different devices, such as a suction filtration molding machine and a hot press molding machine, after the suction filtration in a suction filtration molding mechanism is completed, a product after the suction filtration is required to be conveyed to the hot press molding machine, in the traditional process, the product is generally conveyed manually, but the noise is huge in a paper pulp molding processing factory, the high temperature and the high humidity are high, the time and the labor are wasted during the manual conveying, the environment in the factory is not beneficial to the health of a human body, therefore, a mechanical arm specially used for transferring the product is also provided at present, but the transferring mechanical arm directly extracts the product (net removal) by utilizing a copying mold corresponding to a finished product, although the transferring requirement of the product can be met, the weight of the copying mold is larger, the requirement on, the cost is high, and the universality is not high.

In addition, there are also production plants currently available which transfer the articles by means of mesh molds, such as the patent No. "CN 201510484178.2", entitled: the invention relates to a Chinese patent of 'an automatic production device for molded pulp', which utilizes a mechanical arm and is provided with two groups of grabbing parts to realize the conversion of a dry net mold, a wet net mold and an empty net mold and realize the function of quickly carrying the net molds, and has higher working efficiency but more complex mechanism.

Disclosure of Invention

The invention aims to solve at least one technical problem in the prior art and provides a belt net transfer manipulator mechanism which is simple in structure and high in carrying efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows:

transfer manipulator mechanism with net includes: get net manipulator mechanism, net mould temporary fixing mechanism, get finished product manipulator, get net manipulator mechanism and include one and get the net subassembly, get the net subassembly and get net mechanism and lower floor and get net mechanism including the upper strata that can be used for getting the net mould, get net manipulator mechanism and can remove to between the upper and lower mould of inhaling filter forming machine and hot briquetting machine with getting the net subassembly, net mould temporary fixing mechanism sets up on inhaling filter forming machine and hot briquetting machine's last mould, net mould temporary fixing mechanism can be used for placing dry net mould (the net mould after the hot pressing) or get the net mould that net mechanism sent into by the upper strata, get net manipulator mechanism and can take out and remove the position that corresponds with getting the finished product manipulator with dry net mould (the net mould after the hot pressing), get the finished product manipulator and can take out the finished product from dry net mould (the net mould after the hot pressing) of net mould (during operation, the net mechanism is got to the lower floor can take out wet net mould (the net mould after being inhaled and filtered) from the lower mould of inhaling filter forming machine ) And the wet net mold is transferred to the lower mold of the hot-press forming machine, when the upper mold of the hot-press forming machine moves upwards, the dry net mold (the hot-pressed net mold) can be extracted through the net mold temporary fixing mechanism, the upper net taking mechanism takes the dry net mold on the upper mold of the hot-press forming machine and transfers the dry net mold to a position corresponding to the finished product taking mechanical arm, the finished product taking mechanical arm takes the finished product out of the dry net mold (the hot-pressed net mold), at the moment, the upper net taking mechanism is an empty net mold, the net taking assembly is moved into the suction filter forming machine again, the net mold temporary fixing mechanism on the upper mold of the suction filter forming machine takes the empty net mold on the upper net taking mechanism, the lower net taking mechanism takes the wet net mold (the sucked and filtered net mold) on the lower mold of the suction filter forming machine, and the operation of carrying and mold changing can be continuously carried out without waiting in such a cycle.

One of the above technical solutions has at least one of the following advantages or beneficial effects: the efficiency of work is improved, and the upper die space of having utilized suction filter make-up machine and thermoforming machine ingeniously and having configured upper and lower floor and get the net mechanism and use in coordination, the mechanism is simple reasonable.

According to some embodiments of the invention, in the suction filter forming machine, the mesh mold temporary fixing mechanism on the upper die is used for temporarily extracting the empty mesh mold on the upper layer mesh taking mechanism and releasing the empty mesh mold onto the lower die; in the hot-press forming machine, the temporary net mold fixing mechanism on the upper mold is used for extracting the dry net mold (the hot-pressed net mold) on the lower mold and releasing the dry net mold to the lower net taking mechanism.

According to some embodiments of the present invention, the temporary net mold fixing mechanism includes a mechanical net frame supporting mechanism, the mechanical net frame supporting mechanism includes a mounting plate mounted on the upper molds of the suction filter forming machine and the hot press forming machine, a sliding member slidably disposed on the mounting plate, a triggering member movably disposed on the mounting plate, and a return elastic mechanism capable of returning the sliding member to an extended state, when the sliding member extends out, the sliding member is capable of forming a limit space corresponding to the edge of the net mold with the upper mold of the suction filter forming machine or the hot press forming machine, a driving mechanism is disposed between the triggering member and the sliding member, when the triggering member touches an obstacle, the driving mechanism is capable of driving the sliding member to move backwards, when the triggering member works, the triggering member is capable of abutting against or separating from the working table or the lower mold of the suction filter forming machine or the hot press forming machine or a pressing member on the, therefore, the net mold on the lower mold or the upper net taking mechanism can be automatically extracted, the full mechanical control is realized, the electric control is not needed, and the structure is simple and reasonable.

According to some embodiments of the present invention, the driving mechanism includes a pinion rotatably disposed on the mounting plate, the sliding member is provided with a spur rack engaged with the pinion, the triggering member is an extension rod connected to the pinion, and the extension rod is disposed in an inclined manner, when the extension rod touches a top pressing member on a working table, a lower mold or a working table of the suction filter molding machine or the hot press molding machine, the extension rod can rotate and drive the pinion to rotate, so that the sliding member is retracted by the spur rack to release the mesh mold on the upper mold or open the limiting space, and when the upper mold is lifted, the sliding member extends out due to the elastic force of the return elastic mechanism, so as to lift the mesh mold on the lower mold or on the upper layer mesh taking mechanism, thereby implementing mechanical control of automatically taking and placing the part.

In inhaling and straining make-up machine, inhale and strain the completion back, go up the mould and rise, set up the workstation and be lower than the workstation of hot briquetting machine or the position of adjustment roof pressure piece, when making go up the mould and rise, wet net mould (the net mould after inhaling and straining) can not be mentioned to mechanical type net frame bearing mechanism, it stretches into between the upper and lower mould to get the net subassembly, the wet net mould is got to the lower floor net mechanism of getting, upward shift up after going up the mould and moving down a certain distance, take away the empty net mould on the net mechanism of getting on the upper strata through mechanical type net frame bearing mechanism, after taking out the net subassembly of getting, go up the mould and move down to with the lower mould compound die and release empty net mould, carry out the inhaling of paper.

In a hot-press forming machine, after hot pressing is completed, an upper die is lifted, a mechanical screen frame supporting mechanism lifts a dry screen mold (a screen mold after hot pressing), a screen taking component extends between the upper die and the lower die, a wet screen mold is released by a lower layer screen taking mechanism to the lower die, the upper die moves downwards for a certain distance, the mechanical screen frame supporting mechanism releases the dry screen mold to an upper layer screen taking mechanism, after the screen taking component is pulled out, the upper die moves downwards to be matched with the lower die to perform hot pressing work of paper pulp, the screen taking component moves to a position corresponding to a finished product taking mechanical arm, the finished product taking mechanical arm takes out a finished product from the dry screen mold, and the upper layer screen taking mechanism is enabled to take the residual empty screen mold, namely a work cycle is completed.

According to some embodiments of the present invention, the return elastic mechanism is a compression spring disposed between the sliding member and the mounting plate, and an outward elastic force is provided to the sliding member by the compression spring, so that the sliding member can automatically extend out to block the edge of the net mold when the upper mold lifting trigger is not pressed.

According to some embodiments of the invention, the net taking manipulator mechanism comprises a traverse driving mechanism, a lifting mechanism and a telescopic mechanism, the lifting mechanism is arranged on the traverse driving mechanism and can be driven by the traverse driving mechanism to move transversely, the telescopic mechanism is arranged on the lifting mechanism and can be driven by the lifting mechanism to move up and down, and the net taking component is arranged on the telescopic mechanism and can be driven by the telescopic mechanism to extend or retract, so that the net taking component can move among the suction filter forming machine, the hot press forming machine and the finished product taking manipulator.

According to some embodiments of the invention, the net taking manipulator mechanism comprises a portal frame, a traverse table is slidably arranged on the portal frame, the traverse driving mechanism can drive the traverse table to move transversely, a lifting table is slidably arranged on the traverse table, the lifting mechanism is arranged on the traverse table and can drive the lifting table to move, the net taking assembly is slidably arranged on the lifting table, and the telescopic mechanism is arranged on the lifting table and can drive the net taking assembly to slide, so that a three-axis manipulator structure is formed, and the mechanism is simple and basically meets the moving requirement of the net taking assembly.

According to some embodiments of the invention, the traverse drive mechanism is a rack and pinion drive mechanism.

According to some embodiments of the present invention, the lifting mechanism is a rack and pinion driving mechanism, but it may also be a screw mechanism or a synchronous belt mechanism in the specific implementation process, which is not described in detail herein.

According to some embodiments of the invention, the retraction mechanism is a synchronous belt drive mechanism.

According to some embodiments of the invention, the net taking assembly comprises a net taking frame, the upper net taking mechanism and the lower net taking mechanism are respectively magnetic attraction assemblies arranged on the upper end surface and the lower end surface of the net taking frame, and the net mold is sucked by the upper net taking mechanism and the lower net taking mechanism through the magnetic attraction assemblies.

According to some embodiments of the invention, the magnetically attractive component is an electromagnet.

According to some embodiments of the invention, the automatic discharging device further comprises a material receiving platform, the material receiving platform is arranged on a transfer mechanism, the finished product taking manipulator can place the finished product on the material receiving platform, and the finished product is sent out through the transfer mechanism to realize automatic discharging of the finished product.

According to some embodiments of the invention, the material receiving platform is slidably disposed on a material receiving rack, and the transfer mechanism is an air cylinder mechanism disposed on the material receiving rack.

According to some embodiments of the invention, a protective net is arranged outside the net taking manipulator mechanism, and the transfer mechanism can move the material receiving platform outside the protective net, so that a worker can take finished products conveniently, and the safety is improved.

According to some embodiments of the present invention, the finished product taking manipulator includes an up-and-down driving mechanism and a sucker mechanism disposed on the up-and-down driving mechanism and capable of moving up and down under the driving of the up-and-down driving mechanism, and the sucker mechanism is capable of adsorbing the hot-pressed finished product and separating the finished product from the net mold by moving up and down, thereby achieving the function of taking the finished product.

Get the finished product manipulator setting and on inhaling the frame of straining the make-up machine and correspond with inhaling and straining the make-up machine, connect the material platform setting and get the finished product manipulator below, so only need dispose drive mechanism from top to bottom can realize getting the function of putting the finished product, simple structure, work efficiency is high.

According to some embodiments of the present invention, the product taking manipulator includes a fixing frame, a transfer arm slidably disposed on the fixing frame, and a projecting arm slidably disposed on the transfer arm, the suction cup mechanism is disposed on the projecting arm, the up-down driving mechanism includes a rack-and-pinion transmission mechanism disposed between the fixing frame and the transfer arm, the rack-and-pinion transmission mechanism includes a driving motor fixedly disposed on the fixing frame, a gear disposed on an output shaft of the driving motor, and a spur rack disposed on the transfer arm and engaged with the gear, the transfer arm is provided with a synchronous belt mechanism, the synchronous belt mechanism includes two sets of synchronous pulleys respectively disposed at two ends of the transfer arm and a synchronous belt disposed between the two sets of synchronous pulleys, one side of the synchronous belt is fixed on the fixing frame, and the other side is fixed on the projecting arm, and the up-down moving distance of the suction cup mechanism can be extended by the synchronous belt mechanism, the requirement of taking and placing finished products is met.

Drawings

The invention is further described below with reference to the accompanying drawings and examples;

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a net taking manipulator mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a web fetching assembly according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a product pick-up robot according to an embodiment of the present invention;

FIG. 5 is an exploded view of a get product robot in accordance with an embodiment of the present invention;

fig. 6 is a schematic structural view of a material receiving platform according to an embodiment of the present invention;

fig. 7 is a schematic view of the installation position of the temporary net mold fixing mechanism according to the embodiment of the present invention;

fig. 8 is a partially enlarged schematic view of a portion a in fig. 7.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

As shown, the web transfer robot mechanism includes: the net taking manipulator mechanism 300 comprises a net taking component 310, the net taking component 310 comprises an upper net taking mechanism 311 and a lower net taking mechanism 312, the upper net taking mechanism 311 and the lower net taking mechanism 312 can be used for taking net moulds, the net taking manipulator mechanism 300 can move the net taking component 310 between the upper and lower dies of the suction filter forming machine 100 and the hot press forming machine 200, the temporary net mould fixing mechanism is arranged on the upper dies of the suction filter forming machine 100 and the hot press forming machine 200, the temporary net mould fixing mechanism can be used for placing a dry net mould (a hot-pressed net mould) or a net mould sent by the upper net taking mechanism 311, the net taking manipulator mechanism 300 can take out the dry net mould (the hot-pressed net mould) and move to a position corresponding to the finished product taking manipulator 400, the finished product taking manipulator 400 can take out a finished product from the dry net mould (the hot-pressed net mould), and during work, the lower net taking mechanism 312 can take out the wet net mold (the net mold after suction filtration) from the lower mold of the suction filtration molding machine 100 and transfer the wet net mold to the lower mold of the hot press molding machine 200, when the upper mold of the hot press molding machine 200 moves up, the dry net mold (the net mold after hot pressing) can be taken out through the net mold temporary fixing mechanism, the upper net taking mechanism 311 takes out the dry net mold on the upper mold of the hot press molding machine 200 and transfers the dry net mold to a position corresponding to the finished product taking manipulator 400, the finished product manipulator 400 takes out the finished product from the dry net mold (the net mold after hot pressing), at this time, the net taking module 311 on the upper net taking mechanism 311 is the empty net mold, the net taking component 310 moves into the suction filtration molding machine 100 again, the net mold temporary fixing mechanism on the upper mold of the suction filtration molding machine 100 takes out the empty net mold on the upper net taking mechanism 311, the lower net taking mechanism 312 takes out the wet net mold (the net mold after suction filtration) on the lower, the operation is carried out continuously and the die change operation is carried out continuously without waiting, the working efficiency is improved, the upper die spaces of the suction filter forming machine 100 and the hot press forming machine 200 are ingeniously utilized, the upper and lower layer screen taking mechanisms are configured for matching use, and the mechanisms are simple and reasonable.

According to some embodiments of the present invention, in the suction strainer forming machine 100, the mesh mold temporary fixing mechanism on the upper mold is used for temporarily extracting the empty mesh mold on the upper layer mesh taking mechanism 311, and can release the empty mesh mold onto the lower mold; in the thermoforming machine 200, the temporary mesh mold fixing mechanism on the upper mold is used to extract the dry mesh mold (the mesh mold after being thermoformed) on the lower mold, and can release the dry mesh mold onto the lower mesh taking mechanism 312.

According to some embodiments of the present invention, as shown in fig. 8, the mesh mold temporary fixing mechanism includes a mechanical mesh frame supporting mechanism 600, the mechanical mesh frame supporting mechanism 600 includes a mounting plate 610 mounted on the upper molds of the suction filter forming machine 100 and the hot press forming machine 200, a sliding member 620 slidably disposed on the mounting plate 610, a triggering member 630 movably disposed on the mounting plate 610, and a return elastic mechanism capable of returning the sliding member 620 to an extended state, when the sliding member 620 extends, a limit space corresponding to the edge of the mesh mold can be formed with the upper mold of the suction filter forming machine 100 or the hot press forming machine 200, a driving mechanism is disposed between the triggering member 630 and the sliding member 620, when the triggering member 630 touches an obstacle, the driving mechanism can drive the sliding member 620 to move backwards, when in operation, the triggering member 630 can be abutted against or separated from a top pressing member on or a lower mold or a top pressing member on a table of the suction filter forming machine 100 or the hot press forming machine 200, therefore, the net mold on the lower mold or the upper net taking mechanism 311 can be automatically extracted, the full mechanical control is realized, the electric control is not needed, and the structure is simple and reasonable.

Certainly, in the specific implementation process, the temporary net mold fixing mechanism may also be configured as an electric/pneumatic grabbing mechanism, such as a suction cup mechanism, an electromagnet adsorption mechanism, and the like, and the temporary net mold extraction is realized by matching with a control system, a travel switch, and the like, which is not described in detail herein.

According to some embodiments of the present invention, as shown in fig. 8, the driving mechanism includes a pinion 631 rotatably disposed on the mounting plate 610, the sliding member 620 is disposed with a spur rack 621 engaged with the pinion 631, the triggering member 630 is an extension rod connected to the pinion 631, and the extension rod is disposed obliquely, when the extension rod touches a pressing member on a table, a lower mold, or a table of the suction filter forming machine 100 or the hot press forming machine 200, the extension rod can rotate and drive the pinion 631 to rotate, so as to drive the sliding member 620 to retract through the spur rack 621, so as to release the mesh mold on the upper mold or open the limiting space, when the upper mold is lifted, the sliding member 620 extends due to an elastic force of the return elastic mechanism, so as to lift the mesh mold on the lower mold or on the upper layer mesh taking mechanism 311, thereby achieving mechanical control of automatically taking and placing the piece.

Of course, in the implementation, the driving mechanism between the trigger 630 and the sliding member 620 may also be a ramp-engaging mechanism, and the driving function may also be achieved, which is not described in detail herein.

Specifically, in the suction filter forming machine 100, after the suction filter is completed, the upper die is lifted, the workbench is arranged at a position lower than the workbench of the hot press forming machine 200 or the position of the top pressure part is adjusted, so that when the upper die is lifted, the mechanical screen frame supporting mechanism 600 cannot lift the wet screen mold (the screen mold after suction filter), the screen taking component 310 extends between the upper die and the lower die, the wet screen mold is taken up by the lower screen taking mechanism 312, the upper die is moved upwards after moving downwards for a certain distance, the empty screen mold on the upper screen taking mechanism 311 is taken away by the mechanical screen frame supporting mechanism 600, after the screen taking component 310 is taken out, the upper die is moved downwards to be matched with the lower die and release the empty screen mold, and the suction filter work of the paper pulp is performed.

In the hot press forming machine 200, after the hot pressing is completed, the upper mold is lifted, the mechanical frame supporting mechanism 600 lifts the dry net mold (the net mold after the hot pressing), the net taking component 310 extends between the upper and lower molds, the lower layer net taking mechanism 312 releases the wet net mold onto the lower mold, the upper mold moves downwards for a certain distance, so that the mechanical frame supporting mechanism 600 releases the dry net mold onto the upper layer net taking mechanism 311, after the net taking component 310 is pulled out, the upper mold moves downwards to be matched with the lower mold for the hot pressing of the pulp, the net taking component 310 moves to a position corresponding to the finished product taking manipulator 400, the finished product taking manipulator 400 takes out the finished product from the dry net mold, so that the residual empty net mold on the upper layer net taking mechanism 311 completes a working cycle.

According to some embodiments of the present invention, the resilient return mechanism is a compression spring disposed between the sliding member 620 and the mounting plate 610, and provides an outward resilient force to the sliding member 620 via the compression spring, so that the sliding member 620 can automatically extend to catch the edge of the net mold when the upper mold lifting trigger 630 is not pressed.

Of course, in a specific implementation, the return elastic mechanism may also be a torsion spring provided at the pinion 631, and the extended return of the slider 620 is achieved by rotationally returning the pinion 631, which will not be described in detail herein.

According to some embodiments of the present invention, as shown in fig. 2, the web taking manipulator mechanism 300 includes a traverse driving mechanism 320, a lifting mechanism 330 and a telescoping mechanism 340, the lifting mechanism 330 is disposed on the traverse driving mechanism 320 and can be driven by the same to move transversely, the telescoping mechanism 340 is disposed on the lifting mechanism 330 and can be driven by the same to move up and down, and the web taking assembly 310 is disposed on the telescoping mechanism 340 and can be driven by the same to extend or retract, so as to realize the movement of the web taking assembly 310 among the suction filter forming machine 100, the hot press forming machine 200 and the finished product taking manipulator 400.

Of course, in the implementation process, the web fetching manipulator mechanism 300 is also another multi-axis manipulator, such as a five-axis industrial robot, a six-axis industrial robot, etc., and will not be described in detail herein.

According to some embodiments of the present invention, as shown in fig. 2, the web fetching robot mechanism 300 includes a gantry 350, a traverse table 351 is slidably disposed on the gantry 350, a traverse driving mechanism 320 is capable of driving the traverse table 351 to move transversely, an elevating table 352 is slidably disposed on the traverse table 351, an elevating mechanism 330 is disposed on the traverse table 351 and is capable of driving the elevating table 352 to move, the web fetching assembly 310 is slidably disposed on the elevating table 352, and a telescopic mechanism 340 is disposed on the elevating table 352 and is capable of driving the web fetching assembly 310 to slide, so as to form a three-axis robot structure, and the mechanism is simple and substantially meets the moving requirement of the web fetching assembly 310.

According to some embodiments of the present invention, the traverse driving mechanism 320 is a rack and pinion driving mechanism, but it may be a screw mechanism or a timing belt mechanism in a specific implementation process, and will not be described in detail herein.

According to some embodiments of the present invention, the lifting mechanism 330 is a rack and pinion driving mechanism, but it is also a screw mechanism or a timing belt mechanism in the implementation process, and will not be described in detail herein.

According to some embodiments of the present invention, the retracting mechanism 340 is a synchronous belt driving mechanism, but it may also be a screw mechanism or a rack and pinion driving mechanism in the specific implementation process, which will not be described in detail herein.

According to some embodiments of the present invention, as shown in fig. 3, the net taking assembly 310 includes a net taking frame 313, the upper net taking mechanism 311 and the lower net taking mechanism 312 are respectively magnetic attraction assemblies 314 disposed on an upper end surface and a lower end surface of the net taking frame 313, and the upper net taking mechanism 311 and the lower net taking mechanism 312 attract the net mold 900 through the magnetic attraction assemblies 314.

Of course, in the specific implementation process, the upper layer web fetching mechanism 311 and the lower layer web fetching mechanism 312 may also suck the web mold 900 through a negative pressure suction cup, which is not described in detail herein.

According to some embodiments of the present invention, the magnetically attractive assembly 314 is an electromagnet.

According to some embodiments of the present invention, as shown in fig. 1 and fig. 6, the present invention further includes a material receiving platform 500, the material receiving platform 500 is disposed on a transfer mechanism 510, the finished product taking manipulator 400 can place the finished product on the material receiving platform 500, and the finished product is sent out by the transfer mechanism 510 to achieve automatic discharging of the finished product.

According to some embodiments of the present invention, as shown in fig. 6, the receiving platform 500 is slidably disposed on a receiving rack 520, and the transfer mechanism 510 is an air cylinder mechanism disposed on the receiving rack 520.

Of course, in an implementation, the transfer mechanism 510 may also be a screw driving mechanism or a timing belt driving mechanism, which will not be described in detail herein.

According to some embodiments of the present invention, as shown in fig. 1, a protective net 530 is disposed outside the net taking manipulator mechanism 300, and the transfer mechanism 510 can move the material receiving platform 500 outside the protective net 530, so that a worker can take a finished product conveniently, and safety is improved.

According to some embodiments of the present invention, as shown in fig. 1 and 4, the finished product taking manipulator 400 includes an up-and-down driving mechanism 410 and a suction cup mechanism 420 disposed on the up-and-down driving mechanism 410 and driven by the up-and-down driving mechanism to move up and down, and the suction cup mechanism 420 can adsorb the hot-pressed finished product and separate the finished product from the net mold by moving up and down, thereby achieving the function of taking the finished product.

In this embodiment, the finished product taking manipulator 400 is disposed on the frame of the suction filter forming machine 100 and corresponds to the suction filter forming machine 100, and the material receiving platform 500 is disposed below the finished product taking manipulator 400, so that the finished product taking and placing function can be realized by only configuring an up-down driving mechanism, and the suction filter forming machine has a simple structure and high working efficiency.

Of course, in the implementation process, the product taking robot 400 may be configured as a two-axis or three-axis robot according to specific needs, which will not be described in detail herein.

According to some embodiments of the present invention, as shown in fig. 5, the product taking robot 400 includes a fixing frame 430, a transfer arm 440 slidably disposed on the fixing frame 430, and a reach arm 450 slidably disposed on the transfer arm 440, the suction cup mechanism 420 is disposed on the reach arm 450, the up-down driving mechanism 410 includes a rack-and-pinion transmission mechanism disposed between the fixing frame 430 and the transfer arm 440, the rack-and-pinion transmission mechanism includes a driving motor 411 fixedly disposed on the fixing frame 430, a gear 412 disposed on an output shaft of the driving motor 411, and a spur rack 413 disposed on the transfer arm 440 and engaged with the gear 412, a timing belt mechanism is disposed on the transfer arm 440, the timing belt mechanism includes two sets of timing pulleys 414 disposed at two ends of the transfer arm 440, and a timing belt 415 disposed between the two sets of timing pulleys 414, one side of the timing belt 415 is fixed on the fixing frame 430 by a first timing belt clamping mechanism 416, the other side is fixed in the cantilever 450 through the second synchronous belt clamping mechanism 417, and the up-down moving distance of the suction cup mechanism 420 can be prolonged through the synchronous belt mechanism, so that the requirement of picking and placing finished products is met.

Of course, in the specific implementation process, the product taking robot 400 may also be driven by a screw rod mechanism or an air cylinder mechanism, which is not described in detail herein.

It is readily understood by those skilled in the art that the above-described preferred modes can be freely combined and superimposed without conflict.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.

Claims (10)

1. Take net to shift manipulator mechanism, its characterized in that includes:

the net taking manipulator mechanism (300) comprises a net taking assembly (310), the net taking assembly (310) comprises an upper net taking mechanism (311) and a lower net taking mechanism (312), the upper net taking mechanism and the lower net taking mechanism can be used for taking a net mold, and the net taking manipulator mechanism (300) can move the net taking assembly (310) between an upper mold and a lower mold of the suction filter forming machine (100) and the hot press forming machine (200);

the temporary net mold fixing mechanism is arranged on the upper molds of the suction filter forming machine (100) and the hot pressing forming machine (200), and can be used for placing the net mold after being hot pressed or the net mold sent by the upper net taking mechanism (311);

get finished product manipulator (400), get net mould that net manipulator mechanism (300) can be taken out and remove to and get finished product manipulator (400) corresponding position after the hot pressing, get finished product manipulator (400) and can take out the finished product from the net mould after the hot pressing.

2. The web transfer robot mechanism of claim 1,

get net manipulator mechanism (300) and include sideslip actuating mechanism (320), elevating system (330) and telescopic machanism (340), elevating system (330) set up sideslip actuating mechanism (320) are gone up and can be driven lateral shifting by it, telescopic machanism (340) set up elevating system (330) are gone up and can be driven lifting shifting by it, get net subassembly (310) set up at telescopic machanism (340) and can be driven by it and stretch out or withdraw.

3. The web transfer robot mechanism of claim 2,

the net taking manipulator mechanism (300) comprises a portal frame (350), a traverse table (351) is arranged on the portal frame (350) in a sliding mode, a traverse driving mechanism (320) can drive the traverse table (351) to move transversely, a lifting table (352) is arranged on the traverse table (351) in a sliding mode, the lifting mechanism (330) is arranged on the traverse table (351) and can drive the lifting table (352) to move, a net taking assembly (310) is arranged on the lifting table (352) in a sliding mode, and a telescopic mechanism (340) is arranged on the lifting table (352) and can drive the net taking assembly (310) to slide.

4. The web transfer robot mechanism of claim 1, 2 or 3,

the net taking component (310) comprises a net taking frame (313), and the upper net taking mechanism (311) and the lower net taking mechanism (312) are respectively magnetic attraction components (314) arranged on the upper end surface and the lower end surface of the net taking frame (313).

5. The web transfer robot mechanism of claim 1,

the automatic material collecting device is characterized by further comprising a material collecting platform (500), wherein the material collecting platform (500) is arranged on a transfer mechanism (510), and a finished product taking manipulator (400) can place a finished product on the material collecting platform (500).

6. The web transfer robot mechanism of claim 5,

the outer side of the net taking manipulator mechanism (300) is provided with a protective net (530), and the transferring mechanism (510) can move the material receiving platform (500) to the outside of the protective net (530).

7. The web transfer robot mechanism of claim 1,

the finished product taking manipulator (400) comprises an upper and lower driving mechanism (410) and a sucker mechanism (420) which is arranged on the upper and lower driving mechanism (410) and can be driven by the upper and lower driving mechanism to move up and down.

8. The web transfer robot mechanism of claim 1,

the temporary net mold fixing mechanism comprises a mechanical net frame supporting mechanism (600), the mechanical net frame supporting mechanism (600) comprises a mounting plate (610) arranged on an upper mold of a suction filter forming machine (100) and a hot press forming machine (200), a sliding part (620) arranged on the mounting plate (610), a triggering part (630) movably arranged on the mounting plate (610) and an elastic resetting mechanism capable of enabling the sliding part (620) to reset to a stretching state, when the sliding part (620) stretches out, the sliding part can form a limiting space corresponding to the edge of the net mold with the upper mold of the suction filter forming machine (100) or the hot press forming machine (200), a driving mechanism is arranged between the triggering part (630) and the sliding part (620), and when the triggering part (630) touches a barrier, the sliding part (620) can be driven by the driving mechanism to move backwards.

9. The web transfer robot mechanism of claim 8,

the actuating mechanism includes that one rotates pinion (631) that sets up on mounting panel (610), be provided with on slider (620) with pinion (631) complex spur rack (621), trigger (630) is an extension rod that is connected to on pinion (631), the extension rod slope sets up.

10. The web transfer robot mechanism of claim 8,

the return elastic mechanism is a compression spring arranged between the sliding piece (620) and the mounting plate (610).

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