CN111942878A - Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding - Google Patents
Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding Download PDFInfo
- Publication number
- CN111942878A CN111942878A CN202010744776.XA CN202010744776A CN111942878A CN 111942878 A CN111942878 A CN 111942878A CN 202010744776 A CN202010744776 A CN 202010744776A CN 111942878 A CN111942878 A CN 111942878A
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- Prior art keywords
- synchronizing wheel
- blank
- longitudinal
- dry blank
- pulp molding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention provides an intelligent mechanical arm for full-automatic feeding and discharging of pulp molding, which comprises a double stroke differential mechanism, wherein the double stroke differential mechanism comprises a first telescopic beam, a stroke differential assembly and a second telescopic beam, the stroke differential assembly comprises a longitudinal plate, a driving motor, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel and two belts, the first synchronous wheel, the second synchronous wheel and the third synchronous wheel are all integrated parts made of aluminum alloy materials, the two belts are all integrated parts made of nylon materials, a transverse passage is arranged between the rear side wall of the first telescopic beam and the second telescopic beam, and the second synchronous wheel and the third synchronous wheel which are all arranged in the transverse passage are respectively matched with the first synchronous wheel through the belts. Compared with the prior art, the double-stroke differential mechanism is arranged, so that the weight of the whole structure can be reduced, the transmission is lighter, the inertia of the load is reduced when the whole intelligent manipulator is transversely moved or lifted by acceleration, and the running stability is improved.
Description
Technical Field
The invention belongs to the technical field of mechanical equipment, and relates to an intelligent mechanical arm for full-automatic feeding and discharging of paper pulp molding.
Background
At present, in the prior art, an intelligent mechanical arm for full-automatic feeding and discharging of pulp molding exists, and the intelligent mechanical arm comprises a base, a cross trolley assembly, a lifting arm assembly, a mechanical arm beam assembly and a dry blank moving assembly. It has the problems that: the device is limited by the limit of the existing structure, so that the running stability is poor.
Therefore, the invention provides an intelligent mechanical arm for full-automatic feeding and discharging of pulp molding.
Disclosure of Invention
In view of the above problems in the prior art, the present invention aims to provide an intelligent robot for full-automatic feeding and discharging of pulp molding, which can improve the running stability.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a full-automatic intelligent manipulator who goes up unloading of paper pulp molding, includes frame, sideslip car subassembly, lift arm subassembly, manipulator beam assembly, dry base removal subassembly, still includes double stroke differential mechanism, double stroke differential mechanism includes first flexible roof beam, the flexible roof beam of stroke differential subassembly, second, and the stroke differential assembly includes vertical board, driving motor, first synchronizing wheel, second synchronizing wheel, third synchronizing wheel and two belts, first synchronizing wheel, second synchronizing wheel and third synchronizing wheel are equallyd divide do not are the integrative piece that the aluminum alloy material was made, two the belt is the integrative piece that the nylon material was made, has horizontal passageway between first flexible roof beam rear side wall and the flexible roof beam of second, wherein
The longitudinal plate is fixed between the rear side wall of the first telescopic beam and the rear side wall of the second telescopic beam, the base of the driving motor is fixed on the rear surface of the longitudinal plate, the output shaft of the driving motor penetrates through the through hole of the longitudinal plate and is connected with the first synchronizing wheel arranged in the transverse passageway, and the second synchronizing wheel and the third synchronizing wheel which are arranged in the transverse passageway are respectively matched with the first synchronizing wheel through belts.
The full-automatic intelligent manipulator who goes up unloading of paper pulp molding, its special character lies in: the wrap angle of the sleeving part between the two ends of each belt and the first synchronizing wheel, the second synchronizing wheel and the third synchronizing wheel is larger than 120 degrees.
The full-automatic intelligent manipulator who goes up unloading of paper pulp molding, its special character lies in: still include the several aluminium alloy, one of them the aluminium alloy imbed in the holding intracavity of first flexible roof beam, another the aluminium alloy imbed in the holding intracavity of the flexible roof beam of second.
The full-automatic intelligent manipulator who goes up unloading of paper pulp molding, its special character lies in: the dry blank moving assembly comprises a longitudinal moving fixed beam, a longitudinal beam connecting seat, a longitudinal moving driving piece, a wet blank telescopic beam, a dry blank negative pressure suction disc frame and a wet blank negative pressure transfer die, the longitudinal beam connecting seat is fixed on the longitudinal moving fixed beam, the longitudinal moving driving piece is arranged on the rear side of the wet blank telescopic beam, and the dry blank negative pressure suction disc frame arranged at the end part of the longitudinal moving fixed beam is in clamping fit with the wet blank negative pressure transfer die arranged on the wet blank telescopic beam.
The full-automatic intelligent manipulator who goes up unloading of paper pulp molding, its special character lies in: the longitudinal movement driving piece comprises a dry blank motor, a transverse plate tooth, three dry blank wheels and a dry blank belt, wherein the dry blank wheels are arranged on the top plane of the transverse plate tooth at intervals along the transverse direction, a base of the dry blank motor is fixed on the lower surface of the transverse plate tooth, an output shaft of the dry blank motor penetrates through the transverse plate tooth and is connected with the dry blank wheels positioned in the middle, and the dry blank wheels positioned in the middle are matched with the dry blank wheels positioned on two sides through the dry blank belt.
The full-automatic intelligent manipulator who goes up unloading of paper pulp molding, its special character lies in: still including being located the balanced jar pressurizer of sideslip car subassembly rear side, balanced jar pressurizer include the counter weight cylinder and with counter weight cylinder matched with balanced jar pressurize gas circuit, the counter weight cylinder with sideslip car subassembly be used for lift drive's electronic jar along the alternate laying of longitudinal direction, the counter weight cylinder passes through balanced jar pressurize gas circuit with sideslip car subassembly cooperatees.
As mentioned above, the full-automatic intelligent mechanical arm for feeding and discharging of the pulp molding, provided by the invention, has the following beneficial effects:
after the intelligent mechanical arm for full-automatic feeding and discharging of the molded pulp is utilized, compared with the prior art, due to the adoption of the structure, the double-stroke differential mechanism is arranged, particularly, the first synchronizing wheel, the second synchronizing wheel and the third synchronizing wheel are all integrated parts made of aluminum alloy materials, and the two belts are combined to be integrated parts made of nylon materials.
The present invention will be further described with reference to the following embodiments.
Drawings
FIG. 1 is a perspective view of an intelligent robot for fully automatic loading and unloading of pulp molding in a retracted state;
FIG. 2 is a schematic view of a part of a structure of an intelligent robot for fully automatic loading and unloading of pulp molding in a retracted state;
FIG. 3 is an enlarged view taken at A in FIG. 2;
FIG. 4 is a schematic view of the structure of FIG. 2 from another perspective;
FIG. 5 is an enlarged view of FIG. 2 at B;
FIG. 6 is a schematic view of a partially broken structure of a first telescopic beam or a second telescopic beam in the intelligent mechanical arm for full-automatic feeding and discharging of pulp molding;
FIG. 7 is a perspective view of an intelligent robot for fully automatic loading and unloading of pulp molding in an extended state;
FIG. 8 is a schematic structural diagram of another view angle of an intelligent robot for fully automatic loading and unloading of pulp molding in an extended state;
fig. 9 is an enlarged view of fig. 8 at C.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions of the present disclosure, so that the present disclosure is not limited to the technical essence, and any modifications of the structures, changes of the ratios, or adjustments of the sizes, can still fall within the scope of the present disclosure without affecting the function and the achievable purpose of the present disclosure. In addition, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description only and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship thereof may be made without substantial technical changes and modifications. The specific structure can be explained with reference to the drawings of the patent application.
In the following embodiments, the left side of the paper surface is the left direction, the right side of the paper surface is the right direction, the upper side of the paper surface is the upper direction, the lower side of the paper surface is the lower direction, the front side perpendicular to the paper surface is the front direction, and the rear side perpendicular to the paper surface is the rear direction.
The invention provides an intelligent mechanical arm for pulp molding full-automatic feeding and discharging, which is shown in figures 1 to 9 and comprises a machine base 1, a traverse vehicle component 2, a lifting arm component 3, a mechanical arm beam component 4, a dry blank moving component 5 and a double-stroke differential mechanism 6, the double stroke differential mechanism 6 comprises a first telescopic beam 60, a stroke differential assembly 61, a second telescopic beam 62, the stroke differential assembly 61 comprises a longitudinal plate 610, a driving motor 611, a first synchronizing wheel 612, a second synchronizing wheel 613, a third synchronizing wheel 614 and two belts 615, the first synchronizing wheel 612, the second synchronizing wheel 613 and the third synchronizing wheel 614 are all made of aluminum alloy, the belts 615 are made of nylon, and a transverse passage 6a is formed between the rear side wall of the first telescopic beam 60 and the second telescopic beam 62.
The longitudinal plate 610 is fixed between the rear side wall of the first telescopic beam 60 and the rear side wall of the second telescopic beam 62, the base of the driving motor 611 is fixed on the rear surface of the longitudinal plate 610, the output shaft of the driving motor 611 penetrates through the through hole of the longitudinal plate 610 and is connected with the first synchronizing wheel 612 arranged in the transverse passageway 6a, and the second synchronizing wheel 613 and the third synchronizing wheel 614 which are both arranged in the transverse passageway 6a are respectively matched with the first synchronizing wheel 612 through belts 615. Compared with the prior art, due to the adoption of the structure, the double-stroke differential mechanism is arranged, particularly, the first synchronizing wheel 612, the second synchronizing wheel 613 and the third synchronizing wheel 614 are all made of aluminum alloy materials and are combined with the two belts 615 which are all made of nylon materials, so that compared with a gear rack structure in the prior art, the weight of the whole structure can be reduced, the transmission is lighter, the inertia of the load is reduced when the acceleration of the whole intelligent manipulator transversely moves or ascends, and the running stability is improved.
In the embodiment, as shown in fig. 2 and fig. 3, in order to further improve the smoothness of the transmission, the wrap angle of the sleeving between the two ends of each belt 615 and the first synchronizing wheel 612, the second synchronizing wheel 613 and the third synchronizing wheel 614 is greater than 120 °. By means of the structure, the technical problem that the transmission backlash caused by an existing gear rack transmission structure is not easy to grasp is solved, running precision is guaranteed, and running stability is improved.
Referring to fig. 2 and 6, in this embodiment, in order to improve the bending strength of the first telescopic beam 60 and the second telescopic beam 62, a plurality of aluminum profiles 7 are further included, one of the aluminum profiles 7 is embedded in the accommodating cavity of the first telescopic beam 60, and the other aluminum profile 7 is embedded in the accommodating cavity of the second telescopic beam 62. Set up aforementioned aluminium alloy 7, can make first flexible roof beam 60 and the flexible roof beam 62 of second have stronger bending strength at the in-process of whole device operation to great rocking can not appear in the operation that makes whole device, thereby ensures that intelligent robot's operation is smooth and easy to go on.
Referring to fig. 1 to 5, in the present embodiment, the dry blank moving assembly 5 includes a longitudinal moving fixed beam 50, a longitudinal beam connecting seat 51, a longitudinal moving driving member 52, a wet blank telescopic beam 53, a dry blank negative pressure suction cup holder 54, and a wet blank negative pressure transfer mold 55, the longitudinal beam connecting seat 51 is fixed to the longitudinal moving fixed beam 50, the longitudinal moving driving member 52 is disposed at the rear side of the wet blank telescopic beam 53, and the dry blank negative pressure suction cup holder 54 disposed at the end of the longitudinal moving fixed beam 50 is in clamping fit with the wet blank negative pressure transfer mold 55 disposed on the wet blank telescopic beam 53.
Referring to fig. 5, in this embodiment, the longitudinal driving member 52 includes a dry blank motor 520, a transverse plate tooth 521, three dry blank wheels 522 and a dry blank belt 523, wherein the three dry blank wheels 522 are alternately arranged on a top plane of the transverse plate tooth 521 along a transverse direction, a base of the dry blank motor 520 is fixed to a lower surface of the transverse plate tooth 521, an output shaft of the dry blank motor 520 is inserted into the transverse plate tooth 521 and is connected to the dry blank wheel 522 located in the middle, and the dry blank wheel 522 located in the middle is matched with the dry blank wheels 522 located on two sides through the dry blank belt 523.
As shown in fig. 8 and 9, in this embodiment, the electric lifting device further includes a balance cylinder pressure maintaining device 8 located at the rear side of the traverse car assembly 2, the balance cylinder pressure maintaining device 8 includes a counterweight cylinder 80 and a balance cylinder pressure maintaining air passage 81 matched with the counterweight cylinder 80, the counterweight cylinder 80 and the electric lifting cylinder 20 of the traverse car assembly 2 are alternately arranged along the longitudinal direction, and the counterweight cylinder 80 is matched with the traverse car assembly 2 through the balance cylinder pressure maintaining air passage 81. By adopting the structure, the balance cylinder pressure maintaining device 8 can be utilized, the power required by the operation of the electric cylinder 20 can be reduced, and the energy consumption is reduced, so that the service life of the electric cylinder 20 is prolonged.
As mentioned above, the full-automatic intelligent mechanical arm for feeding and discharging of the pulp molding, provided by the invention, has the following beneficial effects:
after the intelligent mechanical arm for full-automatic feeding and discharging of the molded pulp is utilized, compared with the prior art, due to the adoption of the structure, the double-stroke differential mechanism is arranged, particularly, the first synchronizing wheel, the second synchronizing wheel and the third synchronizing wheel are all integrated parts made of aluminum alloy materials, and the two belts are combined to be integrated parts made of nylon materials.
In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. The utility model provides a full-automatic intelligent manipulator of going up unloading of paper pulp molding, includes frame, sideslip car subassembly, lift arm subassembly, manipulator beam assembly, dry base removal subassembly, its characterized in that: still include double stroke differential mechanism, double stroke differential mechanism includes first flexible roof beam, the differential subassembly of stroke, the flexible roof beam of second, and the differential subassembly of stroke includes vertical board, driving motor, first synchronizing wheel, second synchronizing wheel, third synchronizing wheel and two belts, first synchronizing wheel, second synchronizing wheel and third synchronizing wheel are equallyd divide and are the integrative piece that aluminum alloy material made, two the belt is the integrative piece that the nylon material made, has horizontal passageway between first flexible roof beam rear wall and the flexible roof beam of second, wherein
The longitudinal plate is fixed between the rear side wall of the first telescopic beam and the rear side wall of the second telescopic beam, the base of the driving motor is fixed on the rear surface of the longitudinal plate, the output shaft of the driving motor penetrates through the through hole of the longitudinal plate and is connected with the first synchronizing wheel arranged in the transverse passageway, and the second synchronizing wheel and the third synchronizing wheel which are arranged in the transverse passageway are respectively matched with the first synchronizing wheel through belts.
2. The intelligent mechanical arm for pulp molding full-automatic feeding and discharging as recited in claim 1, characterized in that: the wrap angle of the sleeving part between the two ends of each belt and the first synchronizing wheel, the second synchronizing wheel and the third synchronizing wheel is larger than 120 degrees.
3. The intelligent mechanical arm for pulp molding full-automatic feeding and discharging as recited in claim 1, characterized in that: still include the several aluminium alloy, one of them the aluminium alloy imbed in the holding intracavity of first flexible roof beam, another the aluminium alloy imbed in the holding intracavity of the flexible roof beam of second.
4. The intelligent mechanical arm for pulp molding full-automatic feeding and discharging as recited in claim 1, characterized in that: the dry blank moving assembly comprises a longitudinal moving fixed beam, a longitudinal beam connecting seat, a longitudinal moving driving piece, a wet blank telescopic beam, a dry blank negative pressure suction disc frame and a wet blank negative pressure transfer die, the longitudinal beam connecting seat is fixed on the longitudinal moving fixed beam, the longitudinal moving driving piece is arranged on the rear side of the wet blank telescopic beam, and the dry blank negative pressure suction disc frame arranged at the end part of the longitudinal moving fixed beam is in clamping fit with the wet blank negative pressure transfer die arranged on the wet blank telescopic beam.
5. The intelligent mechanical arm for pulp molding full-automatic feeding and discharging as recited in claim 4, characterized in that: the longitudinal movement driving piece comprises a dry blank motor, a transverse plate tooth, three dry blank wheels and a dry blank belt, wherein the dry blank wheels are arranged on the top plane of the transverse plate tooth at intervals along the transverse direction, a base of the dry blank motor is fixed on the lower surface of the transverse plate tooth, an output shaft of the dry blank motor penetrates through the transverse plate tooth and is connected with the dry blank wheels positioned in the middle, and the dry blank wheels positioned in the middle are matched with the dry blank wheels positioned on two sides through the dry blank belt.
6. The intelligent mechanical arm for pulp molding full-automatic feeding and discharging as recited in claim 1, 2, 3, 4 or 5, characterized in that: still including being located the balanced jar pressurizer of sideslip car subassembly rear side, balanced jar pressurizer include the counter weight cylinder and with counter weight cylinder matched with balanced jar pressurize gas circuit, the counter weight cylinder with sideslip car subassembly be used for lift drive's electronic jar along the alternate laying of longitudinal direction, the counter weight cylinder passes through balanced jar pressurize gas circuit with sideslip car subassembly cooperatees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010744776.XA CN111942878A (en) | 2020-07-29 | 2020-07-29 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010744776.XA CN111942878A (en) | 2020-07-29 | 2020-07-29 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
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| CN111942878A true CN111942878A (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010744776.XA Pending CN111942878A (en) | 2020-07-29 | 2020-07-29 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
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| US9126764B1 (en) * | 2013-03-19 | 2015-09-08 | Cbw Automation, Inc. | Telescoping article retrieval system with plenum assembly attached to slave belt |
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| CN206969696U (en) * | 2017-07-13 | 2018-02-06 | 深圳市嘉熠精密自动化科技有限公司 | Double-linkage automatic charging ＆ discharging machine |
| CN107915046A (en) * | 2017-11-24 | 2018-04-17 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
| CN207712955U (en) * | 2017-11-24 | 2018-08-10 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
| CN108396595A (en) * | 2018-05-21 | 2018-08-14 | 广东科捷龙机器人有限公司 | With the stable paper matrix intelligence loading and unloading manipulator for picking and placeing part mechanism |
| CN108466835A (en) * | 2018-05-21 | 2018-08-31 | 广东科捷龙机器人有限公司 | The full-automatic loading and unloading puma manipulator of paper matrix |
| CN208292251U (en) * | 2018-05-21 | 2018-12-28 | 广东科捷龙机器人有限公司 | The full-automatic loading and unloading puma manipulator of paper matrix |
-
2020
- 2020-07-29 CN CN202010744776.XA patent/CN111942878A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9126764B1 (en) * | 2013-03-19 | 2015-09-08 | Cbw Automation, Inc. | Telescoping article retrieval system with plenum assembly attached to slave belt |
| CN206969696U (en) * | 2017-07-13 | 2018-02-06 | 深圳市嘉熠精密自动化科技有限公司 | Double-linkage automatic charging ＆ discharging machine |
| CN107419620A (en) * | 2017-09-08 | 2017-12-01 | 广东科捷龙机器人有限公司 | Intelligent paper matrix forming machine people |
| CN107915046A (en) * | 2017-11-24 | 2018-04-17 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
| CN207712955U (en) * | 2017-11-24 | 2018-08-10 | 安徽鲲鹏装备模具制造有限公司 | A kind of sucker manipulator of more times of stroke liftings |
| CN108396595A (en) * | 2018-05-21 | 2018-08-14 | 广东科捷龙机器人有限公司 | With the stable paper matrix intelligence loading and unloading manipulator for picking and placeing part mechanism |
| CN108466835A (en) * | 2018-05-21 | 2018-08-31 | 广东科捷龙机器人有限公司 | The full-automatic loading and unloading puma manipulator of paper matrix |
| CN208292251U (en) * | 2018-05-21 | 2018-12-28 | 广东科捷龙机器人有限公司 | The full-automatic loading and unloading puma manipulator of paper matrix |
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Application publication date: 20201117 |