CN112660863A - Grabbing manipulator, full-automatic splicer adopting grabbing manipulator and sheet material discharging method - Google Patents
Grabbing manipulator, full-automatic splicer adopting grabbing manipulator and sheet material discharging method Download PDFInfo
- Publication number
- CN112660863A CN112660863A CN202011626867.XA CN202011626867A CN112660863A CN 112660863 A CN112660863 A CN 112660863A CN 202011626867 A CN202011626867 A CN 202011626867A CN 112660863 A CN112660863 A CN 112660863A
- Authority
- CN
- China
- Prior art keywords
- unit
- manipulator
- synchronizing wheel
- clamping plate
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses a grabbing manipulator, a full-automatic splicer adopting the grabbing manipulator and a sheet material discharging method, wherein the full-automatic splicer comprises a manipulator unit, a transmission unit, a lifting unit and a storage unit; the transmission unit is used for controlling the relative movement of the first manipulator unit and the second manipulator unit clamped on the transmission unit; the storage unit is positioned right below the transmission unit and used for storing materials; the lifting unit is positioned below the storage unit and used for lifting the storage unit, stacking the flaky materials by using the splicer, making the manipulator unit slide in a reciprocating manner by using the transmission unit, and clamping, moving and lowering the flaky materials, so that the working efficiency can be effectively improved, the working effect is good, the stacked flaky materials are neat in appearance and uniform in specification; and compare with the manual work when using this machinery work, reduce the cost of labor, machine output can maximize.
Description
Technical Field
The invention relates to the technical field of mechanical operation, in particular to a grabbing mechanical arm and a full-automatic splicer adopting the grabbing mechanical arm.
Background
The mechanized operation refers to a production mode in which the basic procedures in the production process are completely performed by a machine or a machine system instead of manpower. For example, in the production process of plastic products, after sheet materials are produced, the sheet materials need to be stacked and stored for subsequent transportation or storage operations, while in general sheet discharging operations, in order to manually take and stack the sheet materials, a manual stacking method is used, which is not only inefficient, but also causes inconvenience in packaging operations due to irregular appearance of the stacked sheet materials, and also causes inconvenience in subsequent processes due to difficulty in placing the sheet materials into a mold during subsequent processes.
Disclosure of Invention
The invention aims to solve the problems and discloses a grabbing manipulator which comprises a first manipulator unit, a second manipulator unit, a first manipulator unit, the second manipulator unit is used for snatching and releasing the operation to the sheet material, first manipulator unit includes punch holder and lower plate, it is articulated through the round pin axle between punch holder and the lower plate, the telescopic post of lower plate one side fixedly connected with is kept away from to the punch holder, the fixed column has been cup jointed in the outside of telescopic post, fixed column outside fixedly connected with carriage, be connected with the lift cylinder between punch holder and the fixed column, the lift cylinder is used for driving the punch holder and removes along fixed column axis direction, still sliding connection has the key in the fixed column outside, be connected with the cylinder that opens and shuts between lower plate and the key, the cylinder that opens and shuts is used for driving the lower plate and uses the round pin axle to rotate as rotation center, first manipulator unit is mirror symmetry and specification the same with.
The inner side of the upper clamping plate is provided with an upper clamping opening, and the inner side of the lower clamping plate is provided with a lower clamping opening.
The inner sides of the upper clamping plate and the lower clamping plate are both provided with grooves.
A full-automatic splicer adopts the grabbing manipulator, and further comprises a transmission unit, a lifting unit and a storage unit;
the transmission unit is connected with the first manipulator unit and the second manipulator unit in a sliding manner and is used for controlling the relative movement of the first manipulator unit and the second manipulator unit clamped on the transmission unit;
the storage unit is positioned right below the transmission unit and used for storing materials;
and the lifting unit is positioned below the storage unit and used for lifting the storage unit.
The utility model provides a full-automatic splicer, still includes the frame, and the frame includes the frame, and the internal connection of frame has carriage, crossbeam, overlap joint board, universal wheel and base, installs the transmission unit between the carriage, and the inboard fixedly connected with slide rail of carriage, and the outside of slide rail still sliding connection have the carriage, and the overlap joint groove has been seted up to the inner wall of overlap joint board, and the spacing roller of downside fixedly connected with of overlap joint board, the upside joint of base has the lift unit, and the upside joint of lift unit has deposits the unit.
The utility model provides a full-automatic splicer, the inboard fixedly connected with tow chain groove of frame, the trachea is all installed with the cylinder inboard that opens and shuts to the lift cylinder, and homonymy trachea outside parcel has the tow chain, and tow chain sliding connection is in the inner wall in tow chain groove.
A full-automatic splicer, the drive unit includes the bearing bracket of the synchronizing wheel, first synchronizing wheel group, second synchronizing wheel group, first synchronizing belt, second synchronizing belt, servomotor, the bearing bracket of the synchronizing wheel is fixedly connected to the inboard of the stander, the inboard wall of the bearing bracket of the synchronizing wheel has through grooves, connect with first synchronizing wheel group and second synchronizing wheel group fixedly through the through groove;
the first synchronizing wheel group comprises a synchronizing shaft, a first synchronizing wheel and a second synchronizing wheel, the second synchronizing wheel group comprises a synchronizing shaft, a third synchronizing wheel and a fourth synchronizing wheel, the synchronizing wheels are connected in a matched mode through the synchronizing shaft in the same wheel group, the outer sides of the first synchronizing wheel and the third synchronizing wheel are connected with a first synchronizing belt in an occluded mode, the outer sides of the second synchronizing wheel and the fourth synchronizing wheel are connected with a second synchronizing belt in an occluded mode, the inner wall of the third synchronizing wheel is connected with the output end of a servo motor, the inner wall of the first synchronizing belt is far away from one side of the rack, and is connected with a first manipulator unit in an clamped mode, and the inner wall of the second synchronizing belt is close to one side of the rack and.
The utility model provides a full-automatic splicer, the lift unit has the tray including bearing a section of thick bamboo and tray, and the inner wall sliding connection who bears a section of thick bamboo has a tray, and fixedly connected with elastic construction between tray and the bearing a section of thick bamboo, the outside of tray and the inner wall that bears a section of thick bamboo correspond respectively and install initiative electrode and driven electrode, still are connected with the alarm in initiative electrode and the circuit of driven electrode place.
The utility model provides a full-automatic splicer, still includes PLC control system, and PLC control system is connected with servo motor electricity in the drive unit, and with first manipulator unit, second manipulator unit in the cylinder and the cylinder electricity that opens and shuts be connected, be connected with the lift unit electricity.
A sheet-like material sheet-discharging method, which is to discharge sheets by using the full-automatic sheet splicer of claim 9:
s1: placing the splicer at a splice outlet, starting a PLC control system, and starting a transmission unit by a servo motor, so that a first manipulator unit on the transmission unit moves to a lap joint plate, and a second manipulator unit moves in the opposite direction;
s2: an opening and closing cylinder in the first manipulator unit receives a telescopic instruction to extend out, so that the first manipulator unit is in an opening state;
s3: a lifting cylinder in the first manipulator unit extends out after receiving a telescopic instruction, so that the telescopic column slides towards one side close to the ground inside the fixed column;
s4: after the sheet materials are clamped between the upper clamping plate and the lower clamping plate, the lifting cylinder and the opening and closing cylinder in the first mechanical hand unit contract after receiving a telescopic instruction, clamp the sheet materials and lift the sheet materials to one end far away from the ground;
s5: the servo motor controls the first manipulator unit to slide towards one side far away from the lap joint plate, meanwhile, the second manipulator unit slides towards one side close to the lap joint plate, the PLC control system controls the first manipulator unit to open again, the first manipulator unit resets, the sheet material clamped by the first manipulator unit drops into the storage unit, and the second manipulator unit repeats the clamping operation of the first manipulator unit to repeatedly carry out sheet discharging operation
The invention has the following beneficial effects: the splicing machine is used for stacking the sheet materials, the transmission unit is used for enabling the mechanical hand unit to slide in a reciprocating mode, and the sheet materials are clamped, moved and placed, so that the working efficiency can be effectively improved, the working effect is good, the stacked sheet materials are neat in appearance, and uniform in specification;
and compare with the manual work when using this mechanical work, reduce to some extent in personnel's ratio to machinery replaces manual work, has reduced the staff number that uses in the mill, thereby reduces the cost of labor, and machine output can maximize.
Drawings
FIG. 1 is a schematic view of a splicer;
FIG. 2 is an enlarged view at A;
FIG. 3 is a cross-sectional view taken along line D-D;
FIG. 4 is an enlarged view at B;
FIG. 5 is an enlarged view at C;
FIG. 6 is a schematic diagram of the first manipulator overlapping the stop roller when the first manipulator is opened;
fig. 7 is a perspective view of the first robot unit;
FIG. 8 is a schematic view showing the connection positions of the first and second clamping members with the first and second timing belts, respectively
In the figure: 1. a frame, 11, an outer frame, 12, a support frame, 13, a cross beam, 14, a lapping plate, 141, a lapping groove, 15, a base, 16, a slide rail, 17, a limit roller, 18, a drag chain groove, 19, a universal wheel, 2, a transmission unit, 21, a synchronizing wheel bearing frame, 211, a through groove, 22, a first synchronizing wheel group, 221, a first synchronizing wheel, 222, a second synchronizing wheel, 23, a second synchronizing wheel group, 231, a third synchronizing wheel, 232, a fourth synchronizing wheel, 241, a first synchronizing belt, 242, a second synchronizing belt, 25, a servo motor, 26, a synchronizing shaft, 27, a first clamping piece, 28, a second clamping piece, 3, a first manipulator unit, 30, a groove, 31, an upper clamping plate, 32, a lower clamping plate, 33, a pin shaft, 34, a telescopic column, 35, a fixed column, 351, a key iron, 36, a sliding frame, 37, a lifting cylinder, 38, an opening and closing cylinder, 39, an air pipe, 391, a drag chain, 4, a second manipulator unit, 5. the device comprises a lifting unit 51, a bearing cylinder 52, a tray 53, an elastic structure 54, a driving electrode 55, a driven electrode 56, an alarm 6, a storage unit 7 and a PLC control system.
Detailed Description
The present invention will be further described with reference to the following examples.
Example 1
As shown in figures 1-8 of the drawings,
a grabbing manipulator is characterized in that a sliding frame 36 is connected onto a sliding rail 16 in a sliding mode, an upper clamping opening 312 and a lower clamping opening 322 are formed through the clamping, force application points are added when an upper clamping plate 31 and a lower clamping plate 32 clamp sheet materials, clamping is facilitated, the interface of the upper clamping plate 31 and the lower clamping plate 32 clamping the sheet materials is concave-convex due to the fact that a groove 30 is formed, friction is enhanced, and clamping effects on the sheet materials are facilitated.
The drag chain 391 arranged in the rack 1 is used for protecting and containing an air pipe, the action track of the drag chain 391 can be limited by the drag chain groove 18 arranged in the rack, so that when the first manipulator unit 3 and the second manipulator unit 4 slide, the drag chain connected with the first manipulator unit can slide along with the drag chain, when in use, the transmission unit 2 is started, the servo motor 25 rotates forwards to drive the second synchronous wheel group 23 where the third synchronous wheel 231 is located to rotate, and the first synchronous belt 241 and the second synchronous belt 242 which are connected in an occluded manner are arranged on the outer sides of the second synchronous wheel group, so that the other end of the first synchronous wheel group 22 which is blocked by the synchronous belts also rotates in the same direction at the same speed;
taking the first robot unit 3 as an example, when the first robot unit 3 engaged with the first timing belt 241 is moved from the servo motor 25 side to the side closer to the strap 14 and moved to the upper side of the strap 14, the opening and closing cylinder 38 contracts the piston rod, the lower clamp plate 32 rotates to the side far away from the upper clamp plate 31 by taking the axis of the pin shaft 33 as the rotating center, so that the upper clamping plate 31 and the lower clamping plate 32 are in an open state, the lifting cylinder 37 extends out of the piston rod, the upper clamping plate 31 and the fixing column 35 are pushed to move in the direction away from each other, namely, the upper and lower clamping plates in the opening state are driven to move together, at the moment, the sheet material can be placed between the upper clamping plate 31 and the lower clamping plate 32, after the placement is finished, the opening and closing cylinder 38 extends the piston rod, pushes the lower clamp plate 32 to rotate towards the side close to the upper clamp plate 31, so that the upper clamping plate 31 and the lower clamping plate 32 are in a closed state, and the sheet-shaped material can be clamped at the moment;
at the moment, the servo motor 25 rotates reversely, the second synchronous wheel group 23 rotates reversely, the first synchronous belt 241 and the second synchronous belt 242 in the transmission unit 2 in the same way both perform reverse transmission to drive the first manipulator unit 3 to move towards one side close to the servo motor, so that the first manipulator unit 3 clamps and drags sheet materials, after reaching a placeable position, the opening and closing cylinder 38 enables the upper clamp plate and the lower clamp plate to be in an open state through contraction of the piston rod, at the moment, the materials fall into the lower storage unit 6 for storage, the lifting cylinder 37 pulls one side, close to the fixed column 35, of the upper clamp plate and the lower clamp plate which are connected through the telescopic column 34 in the same direction through contraction of the piston rod, and at the moment, the manipulator resets;
along with the servo motor 25 alternately rotates forwards and backwards, the first synchronous belt 241 and the second synchronous belt 242 clamped on the servo motor also perform alternate forward transmission and reverse transmission, the first manipulator unit 3 is clamped on the first synchronous belt 241 and is far away from the rack 1 (namely, the first synchronous belt is close to the upper side of the first synchronous belt as shown in fig. 1), the second manipulator unit 4 is clamped on the second synchronous belt 242 and is close to the rack 1 (namely, the second synchronous belt is close to the lower side of the second synchronous belt as shown in fig. 2), so that collision is avoided when the manipulator units perform alternate transmission, the first manipulator unit and the second manipulator unit are arranged at the installation positions, the moving directions of the first manipulator unit and the second manipulator unit are opposite to each other.
The storage unit 6 is placed on the upper side of the lifting unit 5, along with the increase of the sheet materials stored in the storage unit 6, the tray 52 used for bearing in the lifting unit 5 descends on the inner side of the bearing cylinder 51, when the driving electrode 54 is in contact with the driven electrode 55 on the outer side of the tray 52, the alarm 56 connected in the circuit gives an alarm, a worker can timely take down the storage unit 6 with the sheet materials placed inside, the empty storage unit 6 is replaced, and under the elastic action of the elastic structure 53, the lifting unit 5 is enabled to move upwards to reset under the bearing effect of the elastic structure 53, so that the sheet materials are received again.
Example 2
When the automatic splicing machine is put into a certain plastic product factory, one end of the splicing machine, which is provided with the lapping plate 14, is placed at an output port for producing flaky materials, the conveyor belt continuously conveys the flaky materials to a position close to the lapping plate 14, after the splicing machine is started, the transmission unit 2 operates to drive the first synchronous belt 241 to transmit, the first manipulator unit 3 is brought to the lapping plate 14, the opening and closing cylinder 38 contracts the piston rod, the lower clamping plate 32 is opened relative to the upper clamping plate 31, the lifting cylinder 37 extends out of the piston rod, and the upper clamping plate 31 and the lower clamping plate 32 move towards the direction close to the ground relative to the fixed column 35 until the lower clamping plate 32 is lapped on the limiting roller 17;
at the moment, the flaky materials are conveyed into the upper clamping plate and the lower clamping plate through the conveying belt and the upper side of the lapping plate 14, the opening and closing cylinder 38 extends out of the piston rod to close the upper clamping plate and the lower clamping plate to clamp the flaky materials, at the moment, the second manipulator unit 4 slides to one side close to the lapping plate 14, when the first manipulator unit 3 reaches the position right above the storage unit 6, the opening and closing cylinder 38 contracts the piston rod, the lower clamping plate 32 is opened relative to the upper clamping plate 31, one end of the clamped flaky materials is placed downwards, and the flaky materials are placed in the storage unit;
Example 3
The present example employs the specific process of example 2, wherein:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the quantity of the sheet materials required to be processed is 200;
a servo motor with the rotating speed of 1500r/min is used;
two operators are distributed at the slicing machine;
and (3) processing results: by adopting the working scheme of the configuration, the time for stacking the sheets is 14.6min, the storage unit does not need to be replaced in the operation, the sheets in the storage unit are stacked neatly, and the treatment efficiency reaches 75% of the expected efficiency.
Example 4
The present example employs the specific process of example 2, wherein:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the quantity of the sheet materials required to be processed is 500;
a servo motor with the rotating speed of 1500r/min is used;
two operators are distributed at the slicing machine;
and (3) processing results: by adopting the working scheme of the configuration, the time for stacking sheets is 33.6min, the time for replacing the storage unit once in operation is 31s, the sheet materials in the storage unit are stacked neatly, and the treatment efficiency reaches 77% of the expected efficiency.
In addition, the difference between this embodiment and embodiment 3 is that the number of sheet materials to be processed in this embodiment is 500, and in the case that the manipulator unit can hold the sheet materials to perform slow and orderly stacking, and compared with embodiment 3, this embodiment requires replacement of the processing and storage unit, and the operation is more convenient when the storage unit is replaced, and when the sheet splicing machine is used to process the placement of the output sheets, the influence on the operation speed of the machine is less when the number of processing is doubled.
Example 5
The present example employs the specific process of example 2, wherein:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the quantity of the sheet materials required to be processed is 500;
a servo motor with the rotating speed of 2500r/min is used;
two operators are distributed at the slicing machine;
and (3) processing results: by adopting the working scheme of the configuration, the time for stacking sheets is 20.1min, the time for replacing the storage unit once in operation is 38s, the sheet materials in the storage unit are stacked neatly, and the treatment efficiency reaches 87.2% of the expected efficiency.
In addition, this embodiment and embodiment 4 difference lie in, the servo motor rotational speed that uses in this embodiment is 2500r/min, and under the condition that the operation workman can operate this machine completely, the manipulator unit can centre gripping sheet material and carry out quick and orderly the piling up, and the sheet material that piles up is whole comparatively regular, and it is also comparatively convenient to deposit the operation when the unit is changed, uses the servo motor that the rotational speed is great can effectively improve the speed that the piece is piled up, and still can guarantee to pile up holistic regularity.
Example 6
The present example employs the specific process of example 2, wherein:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the quantity of the sheet materials required to be processed is 500;
a servo motor with the rotating speed of 2500r/min is used;
allocating an operator at the slicing machine;
and (3) processing results: by adopting the working scheme of the configuration, the time for stacking sheets is 22.3min, the time for replacing the storage unit in operation is 50s, the sheet materials in the storage unit are stacked neatly, and the treatment efficiency reaches 88.3% of the expected efficiency.
In addition, the difference between this embodiment and embodiment 5 is that the number of operators provided in this embodiment is only one, and in the case that the operators can fully operate the present machine, the robot unit can clamp the sheet materials to perform the stacking rapidly and orderly, and the stacked sheet materials are overall more regular, and when the storage unit is replaced, the workers need to perform the single-person operation of replacing the operation unit, which consumes more time than the joint operation of two operators and less time difference, and the budget of the workers can be reduced by providing one worker for each splicer within the appropriate working strength.
Example 7
The present example employs the specific process of example 2, wherein:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the number of the sheet materials required to be processed is 5000 sheets;
a servo motor with the rotating speed of 2500r/min is used;
allocating an operator at the slicing machine;
and (3) processing results: by adopting the working scheme of the configuration, the time for stacking sheets is 231min, the time for replacing the storage unit in operation is 7.4min, the sheet materials in the storage unit are stacked neatly, and the treatment efficiency reaches 88.3% of the expected efficiency.
In addition, the difference between this embodiment and embodiment 6 is that the number of sheets processed in this embodiment is 5000, and in the case where an operator can fully operate the machine, the robot unit can clamp the sheet materials to perform rapid and orderly stacking, and the stacked sheet materials are relatively regular as a whole, and when the storage unit is replaced, the operator needs to perform a single operation of replacing the operation unit, which consumes more time than the joint operation of two operators and less time difference, and the budget of the operator can be reduced by equipping one operator for each splicer within a suitable working intensity.
Comparative example 1
This comparative example is a comparison of manual stacking of sheet materials and splicer stacking, and the specific embodiment is as follows:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the quantity of the sheet materials required to be processed is 500;
two unskilled operators were assigned;
and (3) processing results: when the configuration is adopted for working, when two unskilled operators stack sheet materials, the time for processing 500 sheets of sheet materials is 54.3min, the outer contour of the stacked sheet materials is irregular after stacking, the stacked sheet materials cannot be directly operated in the subsequent packing and transportation process, compared with the embodiment 5, when the stacked sheet materials with the same specification and the same quantity are stacked, the total time of the embodiment 5 is 20.1min, and the processing efficiency is 2.7 times of that of the comparative example 1.
Comparative example 2
This comparative example will be carried out manually by stacking sheet materials, the specific embodiment being as follows:
the specification of the sheet material of the sheet is 300mm multiplied by 1500mm multiplied by 2 mm;
the quantity of the sheet materials required to be processed is 500;
two skilled operators are assigned;
and (3) processing results: when the configuration is adopted for working, when two skilled operators stack sheet materials, the time for processing 500 sheets of sheet materials is 38.9min, the outer contour of the stacked sheet materials is neat after stacking, the subsequent packaging and transportation can be carried out, compared with the embodiment 5, when the sheet materials with the same specification and the same quantity are stacked, the embodiment 5 takes 20.1min totally, and the processing efficiency is 1.94 times that of the comparative example 1.
To sum up, use splicer to carry out piling up of sheet material, not only can effectively improve work efficiency, and the working effect is better, the sheet material outward appearance after the pile of play is neat, the specification is unified, facilitate subsequent packing transportation, the efficiency of follow-up work has also been improved equally, and compare with the manual work when using this mechanical work, reduce to some extent in personnel's ratio, replace manual work with machinery, staff's number of using in the mill has been reduced, and when using this method to carry out the splicing and play the piece, need not to consider operation workman's proficiency problem, thereby reduce the cost of labor, machine output can maximize.
Claims (10)
1. The utility model provides a snatch manipulator which characterized in that: the mechanical hand comprises a first mechanical hand unit (3) and a second mechanical hand unit (4), wherein the first mechanical hand unit (3) and the second mechanical hand unit (4) are used for grabbing and releasing flaky materials, the first mechanical hand unit (3) comprises an upper clamping plate (31) and a lower clamping plate (32), the upper clamping plate (31) is hinged to the lower clamping plate (32) through a pin shaft (33), one side, far away from the lower clamping plate (32), of the upper clamping plate (31) is fixedly connected with a telescopic column (34), a fixing column (35) is sleeved on the outer side of the telescopic column (34), a sliding frame (36) is fixedly connected to the outer side of the fixing column (35), a lifting cylinder (37) is connected between the upper clamping plate (31) and the fixing column (35), the lifting cylinder (37) is used for driving the upper clamping plate (31) to move along the axis direction of the fixing column (35), and a key iron (351) is further connected to the outer, and key iron (351) bottom and punch holder (31) fixed connection, fixed column (35) and key iron (351) are clearance fit, be connected with opening and shutting cylinder (38) between punch holder (31) and key iron (351), opening and shutting cylinder (38) are used for driving punch holder (31) and use round pin axle (33) to rotate as the rotation center, and first manipulator unit (3) are mirror symmetry and the specification is the same with second manipulator unit (4) structure.
2. The grasping robot of claim 1, wherein: an upper clamping opening (312) is formed in the inner side of the upper clamping plate (31), and a lower clamping opening (322) is formed in the inner side of the lower clamping plate (32).
3. The grasping robot of claim 2, wherein: the inner sides of the upper clamping plate (31) and the lower clamping plate (32) are both provided with grooves (30).
4. A full-automatic splicer adopts the grabbing manipulator, and further comprises a transmission unit (2), a lifting unit (5) and a storage unit (6);
the transmission unit (2) is connected with the first manipulator unit (3) and the second manipulator unit (4) in a sliding mode and used for controlling the relative movement of the first manipulator unit (3) and the second manipulator unit (4) clamped on the transmission unit;
the storage unit (6) is positioned right below the transmission unit (2) and used for storing materials;
and the lifting unit (5) is positioned below the storage unit (6) and is used for lifting the storage unit (6).
5. The full-automatic splicer of claim 4, wherein: still include frame (1), frame (1) includes frame (11), the internal connection of frame (11) has carriage (12), crossbeam (13), overlap joint board (14), universal wheel (19) and base (15), install transmission unit (2) between carriage (12), inboard fixedly connected with slide rail (16) of carriage (12), just sliding connection has carriage (36) in the outside of slide rail (16) still, overlap joint groove (141) have been seted up to the inner wall of overlap joint board (14), downside fixedly connected with spacing roller (17) of overlap joint board (14), the upside joint of base (15) has lifting unit (5), the upside joint of lifting unit (5) has storage unit (6).
6. The full-automatic splicer of claim 5, wherein: the inner side of the rack (1) is also fixedly connected with a drag chain groove (18), the inner sides of the lifting cylinder (37) and the opening and closing cylinder (38) are both provided with air pipes (39), the outer side of the air pipe (39) on the same side is wrapped with a drag chain (391), and the drag chain (391) is connected to the inner wall of the drag chain groove (18) in a sliding manner.
7. The full-automatic splicer of claim 6, characterized in that: the transmission unit (2) comprises a synchronizing wheel bearing frame (21), a first synchronizing wheel set (22), a second synchronizing wheel set (23), a first synchronizing belt (241), a second synchronizing belt (242) and a servo motor (25), wherein the synchronizing wheel bearing frame (21) is fixedly connected to the inner side of the rack (1), a through groove (211) is formed in the inner wall of the synchronizing wheel bearing frame (21), and the first synchronizing wheel set (22) and the second synchronizing wheel set (23) are fixedly connected through the through groove (211);
first synchronous wheelset (22) includes synchronizing shaft (26), first synchronizing wheel (221) and second synchronizing wheel (222), second synchronizing wheelset (23) includes synchronizing shaft (26), third synchronizing wheel (231) and fourth synchronizing wheel (232), and is same through synchronizing shaft (26) cooperation joint between the synchronizing wheel in the wheelset, the outside interlock of first synchronizing wheel (221) and third synchronizing wheel (231) is connected with first hold-in range (241), the outside interlock of second synchronizing wheel (222) and fourth synchronizing wheel (232) is connected with second hold-in range (242), the inner wall and the servo motor (25) output of third synchronizing wheel (231) are connected, the inner wall of first hold-in range (241) is kept away from lifting unit (5) one side and is equipped with first manipulator unit (27) joint and has first manipulator unit (3), the inner wall of second hold-in range (242) is close to lifting unit (5) one side and is equipped with second manipulator (28) joint and has the single manipulator joint of second manipulator And (4) element.
8. The full-automatic splicer of claim 7, wherein: lifting unit (5) are including bearing a weight of a section of thick bamboo (51) and tray (52), the inner wall sliding connection who bears a weight of a section of thick bamboo (51) has tray (52), fixed connection elastic construction (53) between tray (52) and a bearing a weight of a section of thick bamboo (51), the outside of tray (52) corresponds respectively with the inner wall that bears a weight of a section of thick bamboo (51) and installs initiative electrode (54) and driven electrode (55), still be connected with alarm (56) in initiative electrode (54) and the circuit of driven electrode (55) place.
9. The full-automatic splicer of claim 8, wherein: the manipulator is characterized by further comprising a PLC control system (7), wherein the PLC control system (7) is electrically connected with a servo motor (25) in the transmission unit (2), is electrically connected with a lifting cylinder (37) and an opening and closing cylinder (38) in the first manipulator unit (3) and the second manipulator unit (4), and is electrically connected with the lifting unit (5).
10. A method for discharging a sheet material by using the full-automatic splicer according to claim 9, comprising:
s1: placing the splicer at a splice outlet, starting a PLC (programmable logic controller) control system (7), and starting a transmission unit (2) by a servo motor (25), so that a first manipulator unit (3) on the transmission unit (2) moves to a lapping plate (14), and a second manipulator unit (4) moves in the opposite direction;
s2: an opening-closing cylinder (38) in the first manipulator unit (3) receives a telescopic instruction to extend, so that the first manipulator unit (3) is in an open state;
s3: a lifting cylinder (37) in the first manipulator unit (3) extends out after receiving a telescopic instruction, so that a telescopic column (34) slides towards one side close to the ground inside a fixed column (35);
s4: after the flaky materials are clamped between the upper clamping plate (31) and the lower clamping plate (32), the lifting cylinder (37) and the opening and closing cylinder (38) in the first manipulator unit (3) contract after receiving a telescopic instruction, and the flaky materials are clamped and lifted to one end far away from the ground;
s5: the servo motor (25) controls the first mechanical hand unit (3) to slide to one side far away from the lap plate (14), meanwhile, the second mechanical hand unit (4) slides to one side close to the lap plate (14), the PLC control system (7) controls the first mechanical hand unit (3) to open again, the first mechanical hand unit (3) resets, the sheet materials clamped by the first mechanical hand unit (3) drop into the storage unit (6), and the second mechanical hand unit (4) repeats the clamping operation of the first mechanical hand unit (3) to repeatedly perform sheet discharging operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011626867.XA CN112660863B (en) | 2020-12-30 | 2020-12-30 | Grabbing manipulator, full-automatic splicer adopting grabbing manipulator and sheet material discharging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011626867.XA CN112660863B (en) | 2020-12-30 | 2020-12-30 | Grabbing manipulator, full-automatic splicer adopting grabbing manipulator and sheet material discharging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112660863A true CN112660863A (en) | 2021-04-16 |
| CN112660863B CN112660863B (en) | 2023-01-31 |
Family
ID=75412540
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011626867.XA Active CN112660863B (en) | 2020-12-30 | 2020-12-30 | Grabbing manipulator, full-automatic splicer adopting grabbing manipulator and sheet material discharging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112660863B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4583727A (en) * | 1983-06-24 | 1986-04-22 | "Les Applications Industrielles Vosgiennes" En Abrege "S.A.P.I.V.O.G." | Device for picking up, transferring and turning a textile web |
| US4897018A (en) * | 1987-05-07 | 1990-01-30 | Meinan Machinery Works, Inc. | Apparatus for stacking veneer sheets |
| JP2002219678A (en) * | 2001-01-24 | 2002-08-06 | Hioki Ee Corp | Positioning and automatic-handling mechanism for treated substrate |
| CN201971493U (en) * | 2010-07-07 | 2011-09-14 | 林朝忠 | Paper-handling mechanism for photographic paper cutters |
| CN104261162A (en) * | 2014-08-29 | 2015-01-07 | 苏州巨康缝制机器人有限公司 | Label feeding mechanism |
| CN204549599U (en) * | 2015-01-20 | 2015-08-12 | 南通广茂机械制造有限公司 | The automatic contact pin laminating machine of film |
| CN108394742A (en) * | 2018-05-01 | 2018-08-14 | 宣威市中博塑料有限公司 | A kind of automatic film breaking takes film, dials roller and puts roller arrangement |
| CN207759777U (en) * | 2017-12-30 | 2018-08-24 | 山东澳兴绝缘材料有限公司 | A kind of automatic collecting device |
| CN209668445U (en) * | 2019-01-25 | 2019-11-22 | 上海国纪电子材料有限公司 | Stack device |
| CN211545161U (en) * | 2019-12-19 | 2020-09-22 | 深圳市众拓自动化设备有限公司 | Plate grabbing mechanical arm machine |
| CN211687627U (en) * | 2019-12-23 | 2020-10-16 | 湖南新国大印业有限公司 | Unloading mechanism of ink jet numbering machine |
-
2020
- 2020-12-30 CN CN202011626867.XA patent/CN112660863B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4583727A (en) * | 1983-06-24 | 1986-04-22 | "Les Applications Industrielles Vosgiennes" En Abrege "S.A.P.I.V.O.G." | Device for picking up, transferring and turning a textile web |
| US4897018A (en) * | 1987-05-07 | 1990-01-30 | Meinan Machinery Works, Inc. | Apparatus for stacking veneer sheets |
| JP2002219678A (en) * | 2001-01-24 | 2002-08-06 | Hioki Ee Corp | Positioning and automatic-handling mechanism for treated substrate |
| CN201971493U (en) * | 2010-07-07 | 2011-09-14 | 林朝忠 | Paper-handling mechanism for photographic paper cutters |
| CN104261162A (en) * | 2014-08-29 | 2015-01-07 | 苏州巨康缝制机器人有限公司 | Label feeding mechanism |
| CN204549599U (en) * | 2015-01-20 | 2015-08-12 | 南通广茂机械制造有限公司 | The automatic contact pin laminating machine of film |
| CN207759777U (en) * | 2017-12-30 | 2018-08-24 | 山东澳兴绝缘材料有限公司 | A kind of automatic collecting device |
| CN108394742A (en) * | 2018-05-01 | 2018-08-14 | 宣威市中博塑料有限公司 | A kind of automatic film breaking takes film, dials roller and puts roller arrangement |
| CN209668445U (en) * | 2019-01-25 | 2019-11-22 | 上海国纪电子材料有限公司 | Stack device |
| CN211545161U (en) * | 2019-12-19 | 2020-09-22 | 深圳市众拓自动化设备有限公司 | Plate grabbing mechanical arm machine |
| CN211687627U (en) * | 2019-12-23 | 2020-10-16 | 湖南新国大印业有限公司 | Unloading mechanism of ink jet numbering machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112660863B (en) | 2023-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109747879B (en) | Fire extinguisher finished product vanning pile up neatly system | |
| CN202499526U (en) | Automatic brick unloading device | |
| CN106218948A (en) | The full-automatic packaging system of autoclave aerated concrete building block | |
| CN213036949U (en) | Rice carrying and stacking mechanism | |
| CN113942676A (en) | Metal wire packaging production line | |
| CN110482243B (en) | Working method of automatic stacking equipment for packaging materials | |
| CN110217605B (en) | Automatic stacking equipment and stacking method | |
| CN209522319U (en) | A kind of bagged material bidirectionally-loading system | |
| CN112660863B (en) | Grabbing manipulator, full-automatic splicer adopting grabbing manipulator and sheet material discharging method | |
| CN112623347A (en) | Snatch formula bucket case packer | |
| JP3174066U (en) | Paper ordering stacking mechanism | |
| CN212798698U (en) | Single-column robot stacker crane | |
| CN113548255B (en) | Automatic production line for candy packaging | |
| CN115744387A (en) | Rolling curtain type anti-falling mechanism and method thereof | |
| CN212768612U (en) | Automatic destacking and loading integrated line | |
| CN211732944U (en) | Automatic stacking device for hot-dip coating production line | |
| CN208684012U (en) | Intelligent cardboard unstacker | |
| CN104909198B (en) | Blanking and stacking device applied to corrugated paper and control method thereof | |
| CN109573544B (en) | Automatic pipe feeding machine of robot | |
| CN210133672U (en) | Bale dumping device | |
| CN208761689U (en) | A kind of unstacker | |
| CN216336475U (en) | Barreled automatic stacking production line | |
| CN217807475U (en) | Industrial robot pile up neatly device | |
| CN216469001U (en) | Automatic packaging production line for powdery products | |
| CN108820954A (en) | Intelligent cardboard unstacker |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |