CN112830246A - Intelligent manipulator transfer equipment for paper mold production - Google Patents
Intelligent manipulator transfer equipment for paper mold production Download PDFInfo
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- CN112830246A CN112830246A CN202110131271.0A CN202110131271A CN112830246A CN 112830246 A CN112830246 A CN 112830246A CN 202110131271 A CN202110131271 A CN 202110131271A CN 112830246 A CN112830246 A CN 112830246A
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- paper mold
- rotating shaft
- clamping piece
- paper
- manipulator
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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
- B65G47/91—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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- 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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of paper mold production equipment, in particular to intelligent manipulator transfer equipment for paper mold production, which comprises a base, wherein a transfer manipulator for transferring a wet paper mold and a dry paper mold and a stacking manipulator for stacking the dry paper mold transferred by the transfer manipulator are arranged on the base, the transfer manipulator is movably arranged on the base, an automatic paper mold taking and placing mechanism is arranged on the transfer manipulator, the automatic paper mold taking and placing mechanism comprises a frame, a longitudinal feeding device is arranged on the frame, a taking and placing support is arranged on the longitudinal feeding device, the longitudinal feeding device drives the taking and placing support to reciprocate longitudinally, and a paper mold clamping device for clamping a mesh frame bearing the paper molds is arranged on the taking and placing support. The paper mold clamping device can stably clamp in the moving process, is slightly influenced by transverse or longitudinal load, has low risk of falling of the paper mold, low energy consumption and low cost, and is beneficial to modern large-scale production.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of paper mold production equipment, in particular to intelligent manipulator transfer equipment for paper mold production.
[ background of the invention ]
With the development of science and technology and the improvement of environmental protection consciousness of people, paper products such as paper tableware or paper fresh-keeping trays are popular with more and more people, so that the development of the paper product production industry to automation intelligence is promoted. In the process of paper mold forming production of paper tableware and the like, a wet paper mold which is preliminarily formed needs to be taken out of a forming device and transferred to a drying device, and after drying is finished, a dry paper mold is taken out of the drying device and collected. Generally have among the prior art and adopt suction means's manipulator, the screen frame that will bear the weight of wet paper mould removes to drying equipment from preliminary former, the screen frame that will bear the weight of dry paper mould afterwards takes out from drying equipment, this kind of manipulator degree of automation is high, however, adopt suction means to receive horizontal or vertical load when absorbing the transfer, there is the risk that drops, and lead to the paper mould to warp easily, greatly influenced the quality of paper mould and reduced the production efficiency of paper mould, its energy consumption is big simultaneously, high cost, be unfavorable for modernization large-scale production.
[ summary of the invention ]
The invention aims to provide intelligent manipulator transfer equipment for paper mold production, which solves the problem that when a suction device is used for picking and placing a transfer paper mold in the prior art, the paper mold is easy to drop due to horizontal or longitudinal load, and the quality of the paper mold is affected.
In order to solve the above problems, the present invention provides the following technical solutions:
intelligent mechanical arm transfer equipment is used in paper mould production, the test platform comprises a base, be equipped with the manipulator of transferring that is used for transferring wet paper mould and dry paper mould on the frame to and be used for carrying out the pile manipulator of pile with the dry paper mould that the manipulator of transferring moved and send, it movably sets up on the frame just to transfer the manipulator be equipped with the automatic mechanism of getting of paper mould on the manipulator, the automatic mechanism of getting of paper mould includes the frame, be equipped with vertical feeding device on the frame, be equipped with on the vertical feeding device and get the support, vertical feeding device drives get and put the support along vertical reciprocating motion, get and be equipped with the paper mould clamping device who is used for the centre gripping to bear the reel of paper mould on the support.
According to the intelligent mechanical arm transfer equipment for paper mold production, the paper mold clamping device comprises a first clamping piece and a second clamping piece which are arranged oppositely, a linkage assembly and a driving device are arranged between the first clamping piece and the second clamping piece, and the driving device drives the linkage assembly to drive the first clamping piece and the second clamping piece to move close to or away from each other so as to clamp or loosen a screen frame bearing a paper mold.
As above intelligent manipulator transfer apparatus is used in paper mould production, the linkage subassembly includes first pivot and the first connecting rod of being connected with first pivot to and second pivot and the second connecting rod of being connected with the second pivot, be equipped with the swinging arms of connecting first connecting rod and second connecting rod between first connecting rod and the second connecting rod, and the third pivot of being connected with the swinging arms, drive arrangement is connected with the third pivot, first holder is located on the first pivot, the second holder is located on the second pivot, thereby drive arrangement drive third pivot rotates and drives first connecting rod and the swing of second connecting rod and then drive first pivot and second pivot and rotate and be close to or keep away from the motion in order to drive first holder and second holder.
As above intelligent manipulator transfer equipment is used in paper mould production, paper mould clamping device still includes relative third holder and the fourth holder that sets up, be equipped with first gangbar between third holder and the first holder, first gangbar is connected with first pivot and can rotate and swing along with first pivot in order to drive third holder and first holder and move along opposite direction, be equipped with the second gangbar between fourth holder and the second holder, the second gangbar is connected with the second pivot and can rotate and swing along with the second pivot in order to drive fourth holder and second holder and move along opposite direction.
The intelligent mechanical arm transfer equipment for paper mold production comprises the longitudinal feeding device and a conveying device, wherein the longitudinal feeding device comprises:
a longitudinal guide rail fixedly connected with the frame;
the longitudinal sliding block is arranged on the longitudinal guide rail in a sliding mode and is fixedly connected with the taking and placing support;
and the power device is connected with the longitudinal sliding block and is used for driving the longitudinal sliding block to slide along the longitudinal guide rail.
As above intelligent manipulator transfer equipment is used in paper mould production, pile machinery hand is including being used for absorbing the sucking disc subassembly of dry paper mould and being used for driving sucking disc subassembly vertical reciprocating motion's vertical drive assembly.
As above intelligent manipulator transfer apparatus is used in paper mould production, vertical drive assembly include with sucking disc subassembly fixed connection's vertical guide rail and slide locate on the vertical guide rail and with frame fixed connection's vertical slider, be equipped with vertical driving motor on the vertical slider, vertical driving motor's output is equipped with the gear, be equipped with on the sucking disc subassembly along vertical extension and with gear engagement's rack.
According to the intelligent manipulator transfer equipment for paper mold production, the base comprises the cross beam and the stand columns arranged at two ends of the cross beam, the electric box is arranged on one side of each stand column, and the stand columns are communicated with the cross beam and the electric box.
The intelligent manipulator transfer equipment for paper mold production further comprises a guard rail for protecting operation safety, wherein the guard rail is arranged on one side, away from the feeding direction of the automatic paper mold taking and placing mechanism, of the machine base in a surrounding mode.
As above intelligent mechanical arm transfer equipment is used in paper mould production, the rail guard includes first guardrail and the second guardrail articulated with the frame respectively and the frame upset relatively, sliding connection has the third guardrail on the first guardrail, sliding connection has the fourth guardrail that can be close to or keep away from the motion with the third guardrail on the second guardrail.
Compared with the prior art, the invention has the following advantages:
the invention provides an intelligent mechanical arm transfer device for paper mold production, which is provided with a transfer mechanical arm and a stacking mechanical arm, wherein an automatic paper mold taking and placing mechanism in the transfer mechanical arm is provided with a taking and placing support capable of reciprocating along the longitudinal direction, a paper mold clamping device is arranged on the taking and placing support, when a paper mold needs to be transferred, the longitudinal feeding device drives the taking and placing support to drive the paper mold clamping device to enter a forming device, the paper mold clamping device clamps a net frame carrying a preliminarily formed wet paper mold, then the net frame carrying the preliminarily formed wet paper mold is moved out of the forming device and transferred to a drying device under the driving of the longitudinal feeding device, after the net frame carrying the preliminarily formed wet paper mold is put down, the paper mold clamping device clamps the net frame carrying the dried dry paper mold, the drying device is moved out of the drying device under the driving of the longitudinal feeding device and then moved to the position below the stacking mechanical arm, the stacking mechanical arm stacks the dry paper mold, the degree of, compared with the suction device in the prior art, the paper mold clamping device can stably clamp the paper mold in the moving process, is little influenced by transverse or longitudinal load, has low risk of falling of the paper mold, is favorable for ensuring the production quality of the paper mold and improving the production efficiency of the paper mold, has small energy consumption and low cost and is favorable for modernized large-scale production.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural view of a transfer robot according to an embodiment of the present invention.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Fig. 4 is an exploded view of the transfer robot according to the embodiment of the present invention.
Fig. 5 is an enlarged view of a portion B in fig. 4.
Fig. 6 is a schematic structural diagram of a part of the automatic paper mold pick-and-place mechanism according to the embodiment of the invention.
Fig. 7 is a schematic structural diagram of a paper mold clamping device according to an embodiment of the invention.
Fig. 8 is an enlarged view of the portion C in fig. 7.
Fig. 9 is a schematic structural diagram of a stacking robot according to an embodiment of the present invention.
Fig. 10 is an enlarged view of a portion D in fig. 9.
Fig. 11 is a schematic structural view illustrating connection between a guard rail and a base according to an embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
Referring to fig. 1 to 11, the present embodiment provides an intelligent robot transferring apparatus for paper mold production.
Intelligent mechanical arm transfer equipment is used in paper mould production, including frame 1, be equipped with the manipulator 2 that transfers that is used for transferring wet paper mould and dry paper mould on the frame 1 to and be used for carrying out the pile manipulator 3 of pile with the dry paper mould that transfers manipulator 2 and transfer, transfer manipulator 2 movably set up on frame 1 just it gets and puts mechanism 4 to be equipped with the automatic machine of getting of paper mould on the manipulator 2 to transfer, the automatic machine of getting of paper mould 4 includes frame 41, be equipped with vertical feeding device 42 on the frame 41, be equipped with on the vertical feeding device 42 and get and put support 43, vertical feeding device 42 drive get and put support 43 along vertical reciprocating motion, it is equipped with the paper mould clamping device 44 that is used for the centre gripping to bear the reel of paper mould on the support 43 to get. The intelligent manipulator transfer device for producing the paper mold provided by the embodiment is provided with a transfer manipulator 2 and a stacking manipulator 3, wherein an automatic paper mold taking and placing mechanism 4 in the transfer manipulator 2 is provided with a taking and placing support 43 capable of reciprocating along the longitudinal direction, a paper mold clamping device 44 is arranged on the taking and placing support 43, when the paper mold needs to be transferred, the longitudinal feeding device 42 drives the taking and placing support 43 to drive the paper mold clamping device 44 to enter the forming device, the paper mold clamping device 44 clamps a net frame carrying a preliminarily formed wet paper mold, then the net frame carrying the dried dry paper mold is moved out of the forming device under the driving of the longitudinal feeding device 42 and transferred to the drying device, after the net frame carrying the preliminarily formed wet paper mold is put down, the paper mold clamping device 44 clamps the net frame carrying the dried dry paper mold, the dried dry paper mold is moved out of the drying device under the driving of the longitudinal feeding device 42 and then moved to the lower part of the stacking manipulator 3, and the dry paper mold is stacked by the stacking, its degree of automation is high, compares suction means among the prior art moreover, and paper mould clamping device 44 can stabilize the centre gripping in the removal process, receives horizontal or vertical load's influence for a short time, and the paper mould risk of dropping is low, is favorable to ensuring the production quality of paper mould, improves the production efficiency of paper mould, compares suction means among the prior art simultaneously, and its energy consumption is little, with low costs, is favorable to modernization large-scale production.
The transfer manipulator 2 further comprises a vertical feeding mechanism 45 for driving the automatic paper mold taking and placing mechanism 4 to vertically move, and the height of the automatic paper mold taking and placing mechanism 4 is adjusted through the vertical feeding mechanism 45, so that the automatic paper mold taking and placing mechanism 4 can be suitable for transfer, taking and placing at different heights, and the transfer manipulator is high in practicability and wide in application range.
Specifically, the paper mold clamping device 44 includes a first clamping member 441 and a second clamping member 442 which are arranged oppositely, a linkage assembly 443 and a driving device 444 are arranged between the first clamping member 441 and the second clamping member 442, and the driving device 444 drives the linkage assembly 443 to drive the first clamping member 441 and the second clamping member 442 to move close to or away from each other so as to clamp or release the mesh frame carrying the paper mold. In this embodiment, the driving device 444 is an air cylinder, when the paper mold is taken and placed, the first clamping member 441 and the second clamping member 442 clamp the screen frame carrying the paper mold under the action of the driving device 444 and the linkage assembly 443, and the first clamping member 441 and the second clamping member 442 are stressed uniformly, so that the clamping is more stable, the paper mold is effectively prevented from falling in the moving process, and the production efficiency is improved.
Specifically, the linkage assembly 443 includes a first rotating shaft 4431, a first connecting rod 4432 connected to the first rotating shaft 4431, a second rotating shaft 4433, and a second connecting rod 4434 connected to the second rotating shaft 4433, a swinging rod 4435 connected to the first connecting rod 4432 and the second connecting rod 4434, and a third rotating shaft 4436 connected to the swinging rod 4435 are disposed between the first connecting rod 4432 and the second connecting rod 4434, the driving device 444 is connected to the third rotating shaft 4436, the first clamping member 441 is disposed on the first rotating shaft 4431, the second clamping member 442 is disposed on the second rotating shaft 4433, and the driving device 444 drives the third rotating shaft 4436 to rotate to drive the swinging rod 4435 to swing to drive the first connecting rod 4432 and the second connecting rod 4434 to swing to drive the first rotating shaft 4431 and the second rotating shaft 4433 to drive the first clamping member 441 and the second clamping member 442 to move closer to or farther from. The driving device 444 only needs to drive the third rotating shaft 4436 to rotate, so that the first clamping part 441 and the second clamping part 442 can be driven to be clamped or loosened, the structure is simple, the linkage effect is good, and the clamping is more stable.
Further, the paper mold clamping device 44 further includes a third clamping member 445 and a fourth clamping member 446 which are oppositely disposed, a first linkage rod 447 is disposed between the third clamping member 445 and the first clamping member 441, the first linkage rod 447 is connected to the first rotating shaft 4431 and can swing along with the rotation of the first rotating shaft 4431 to drive the third clamping member 445 and the first clamping member 441 to move in opposite directions, a second linkage rod 448 is disposed between the fourth clamping member 446 and the second clamping member 442, and the second linkage rod 448 is connected to the second rotating shaft 4433 and can swing along with the rotation of the second rotating shaft 4433 to drive the fourth clamping member 446 and the second clamping member 442 to move in opposite directions. When the first rotating shaft 4431 and the second rotating shaft 4433 rotate to bring the first clamping piece 441 and the second clamping piece 442 to relatively close and clamp, the third clamping piece 445 and the fourth clamping piece 446 are relatively far away and released. The first clamping piece 441 and the second clamping piece 442 are arranged at the same height, the third clamping piece 445 and the fourth clamping piece 446 are arranged at the same height, when the paper mould is taken and placed, the first clamping piece 441, the second clamping piece 442, the third clamping piece 445 and the fourth clamping piece 446 move in turn, after the first clamping piece 441 and the second clamping piece 442 loosen and put down a screen frame carrying a preliminarily formed wet paper mould, the third clamping piece 445 and the fourth clamping piece 446 clamp the screen frame carrying the dry paper mould, the paper mould clamping device 44 can complete the taking and placing actions without moving positions, the taking and placing requirements of different positions can be met, and the paper mould clamping device is more convenient to use.
Further, the pick-and-place bracket 43 is provided with a guide rod 431 extending along the relative movement direction of the first clamping member 441 and the second clamping member 442, guide connection blocks 449 are arranged between the first clamping member 441 and the third clamping member 445 and between the second clamping member 442 and the fourth clamping member 446, and the guide connection blocks 449 are connected with the guide rod 431 in a nesting manner. The groove for the insertion of the guide rod 431 is formed in the guide connecting block 449, so that when the first clamping member 441 and the second clamping member 442 move relatively, the first clamping member 441 and the second clamping member 442 can move more stably due to the guide effect of the guide connecting block 449 and the guide rod 431, and the rapid positioning and clamping are facilitated.
Furthermore, the number of the first clamping member 441, the second clamping member 442, the third clamping member 445 and the fourth clamping member 446 is two, two of the first clamping member 441 and the third clamping member 445 are respectively connected to the first rotating shaft 4431 in a combined manner, and two of the second clamping member 442 and the fourth clamping member 446 are respectively connected to the second rotating shaft 4433 in a combined manner. Through the cooperation of two sets of holders jointly, four counterpoint installation departments of the net frame that the centre gripping carried the paper mould respectively make the paper mould more steady at the removal in-process, are favorable to reducing the risk that the paper mould dropped.
Specifically, the longitudinal feeding device 42 includes:
a longitudinal rail 421 fixedly connected to the frame 41;
the longitudinal sliding block 422 is slidably arranged on the longitudinal guide rail 421, and the longitudinal sliding block 422 is fixedly connected with the taking and placing support 43;
and the power device 423 is connected with the longitudinal sliding block 422 and is used for driving the longitudinal sliding block 422 to slide along the longitudinal guide rail 421.
The power device 423 drives the longitudinal sliding block 422 to slide along the longitudinal guide rail 421 fixedly connected with the frame 41, so as to drive the taking and placing support 43 fixedly connected with the longitudinal sliding block 422 to move longitudinally, manual operation is not needed, and the degree of automation is high.
Specifically, the power device 423 includes a first synchronizing assembly 4231, and the first synchronizing assembly 4231 includes a first driving wheel, a first driven wheel, and a first synchronizing belt tensioned on the first driving wheel and the first driven wheel, and the first driving wheel is connected with a longitudinal driving motor 4232. The first driving wheel is driven to rotate by the longitudinal driving motor 4232, so that the first synchronous belt is driven to move, the longitudinal sliding block 422 connected with the first synchronous belt and the taking and placing support 43 are driven to move, and the conveying device is simple in structure and good in conveying effect.
Further, the power device 423 further comprises a second synchronizing assembly 4233 arranged in parallel with the first synchronizing assembly 4231, the second synchronizing assembly 4233 comprises a second driving wheel, a second synchronizing wheel and a second synchronizing belt tensioned on the second driving wheel and a second driven wheel, and a synchronizing rod 4234 is connected between the second driving wheel and the first driving wheel. The first synchronizing assembly 4231 and the second synchronizing assembly 4233 are arranged side by side, and are driven to run synchronously through the synchronizing rod 4234, so that the driving taking and placing support 43 moves longitudinally more stably and smoothly, the transfer is more stable, and the transfer efficiency is higher.
Specifically, the stacking manipulator 3 comprises a suction cup assembly 31 for sucking the dry paper mold and a vertical driving assembly 32 for driving the suction cup assembly 31 to vertically reciprocate. When transferring manipulator 2 and transferring the dry paper mould to 3 belows of pile manipulator, sucking disc subassembly 31 in the pile manipulator 3 inhales the screen frame that tightly carries the dry paper mould, transfer manipulator 2 and remove to other regions from 3 belows of pile manipulator, vertical drive assembly 32 in the pile manipulator 3 drives sucking disc subassembly 31 vertical migration and carries out the pile, and automatic pile operation of accomplishing need not artifical pile, is favorable to promoting the paper mould production automation.
Specifically, vertical drive assembly 32 include with sucking disc subassembly 31 fixed connection's vertical guide rail 321 and slide locate on vertical guide rail 321 and with frame 1 fixed connection's vertical slider 322, be equipped with vertical driving motor 323 on the vertical slider 322, the output of vertical driving motor 323 is equipped with gear 324, be equipped with on sucking disc subassembly 31 along vertical extension and with the rack 325 of gear 324 meshing. The vertical driving motor 323 drives the gear 324 to be meshed with the rack 325, so as to drive the vertical slider 322 to slide relative to the vertical guide rail 321, and further drive the sucker assembly 31 to vertically move relative to the machine base 1.
Further, the base 1 comprises a beam 11 and upright columns 12 arranged at two ends of the beam 11, an electric box 5 is arranged on one side of each upright column 12, and the upright columns 12 are communicated with the beam 11 and the electric box 5. During wiring, the vertical columns 12 and the cross beams 11 can be internally wired and communicated with the electronic box 5, so that wiring is more regular and convenient.
Further, the automatic paper mold taking and placing mechanism further comprises a protective guard 6 for protecting the operation safety, and the protective guard 6 is arranged on one side, away from the feeding direction of the automatic paper mold taking and placing mechanism 4, of the machine base 1 in a surrounding mode. In this embodiment, the guard rail 6 includes a first guard rail 61 and a second guard rail 62 hinged to the base 1 and capable of being turned over relative to the base 1, a third guard rail 63 is slidably connected to the first guard rail 61, and a fourth guard rail 64 capable of moving close to or away from the third guard rail 63 is slidably connected to the second guard rail 62. As shown in fig. 11, the guard rail 6 can be opened or closed by moving the third guard rail 63 and the fourth guard rail 64 in the normal use; also can be through first guardrail 61 and second guardrail 62 of upset in order to open or close guardrail 6, first guardrail 61 and second guardrail 62 all are equipped with the pulley, drive third guardrail 63 upset when first guardrail 61 when opening, drive fourth guardrail 64 upset when opening second guardrail 62, are convenient for form great opening in order to satisfy demands such as equipment maintenance.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Paper mould production is with intelligent manipulator transfer apparatus, its characterized in that: including frame (1), be equipped with transfer manipulator (2) that are used for transferring wet paper mould and dry paper mould on frame (1) to and be used for carrying out pile-up's pile manipulator (3) with transferring the dry paper mould that manipulator (2) moved and send, transfer manipulator (2) movably set up on frame (1) and transfer and be equipped with the automatic mechanism (4) of picking and placing of paper mould on manipulator (2), the automatic mechanism (4) of picking and placing of paper mould includes frame (41), be equipped with vertical feeding device (42) on frame (41), be equipped with on vertical feeding device (42) and get and put support (43), vertical feeding device (42) drive pick and place support (43) along vertical reciprocating motion, be equipped with paper mould clamping device (44) that are used for the centre gripping to bear the reel of paper mould on picking and placing support (43).
2. The intelligent manipulator transfer equipment for paper mold production according to claim 1, characterized in that: the paper mold clamping device (44) comprises a first clamping piece (441) and a second clamping piece (442) which are arranged oppositely, a linkage assembly (443) and a driving device (444) are arranged between the first clamping piece (441) and the second clamping piece (442), and the driving device (444) drives the linkage assembly (443) to drive the first clamping piece (441) and the second clamping piece (442) to move close to or away from each other so as to clamp or release the mesh frame carrying the paper mold.
3. The intelligent manipulator transfer equipment for paper mold production according to claim 2, characterized in that: the linkage assembly (443) comprises a first rotating shaft (4431), a first connecting rod (4432) connected with the first rotating shaft (4431), a second rotating shaft (4433) and a second connecting rod (4434) connected with the second rotating shaft (4433), a swinging rod (4435) connected with the first connecting rod (4432) and the second connecting rod (4434) and a third rotating shaft (4436) connected with the swinging rod (4435) are arranged between the first connecting rod (4432) and the second connecting rod (4434), the driving device (444) is connected with the third rotating shaft (4436), the first clamping piece (441) is arranged on the first rotating shaft (4431), the second clamping piece (442) is arranged on the second rotating shaft (4433), the driving device (444) drives the third rotating shaft (4436) to rotate to drive the swinging rod (4435) to swing so as to drive the first connecting rod (4432) and the second connecting rod (4434) to swing to drive the first rotating shaft (441) and the second rotating shaft (4431) to drive the second clamping piece (442) to rotate to drive the first rotating shaft (4431) and the second rotating shaft (4433) to drive the first rotating shaft (441) and the second rotating shaft (4431) to rotate to A proximal or distal movement.
4. The intelligent manipulator transfer equipment for paper mold production according to claim 3, characterized in that: the paper mold clamping device (44) further comprises a third clamping piece (445) and a fourth clamping piece (446) which are arranged oppositely, a first linkage rod (447) is arranged between the third clamping piece (445) and the first clamping piece (441), the first linkage rod (447) is connected with the first rotating shaft (4431) and can swing along with the rotation of the first rotating shaft (4431) to drive the third clamping piece (445) and the first clamping piece (441) to move in opposite directions, a second linkage rod (448) is arranged between the fourth clamping piece (446) and the second clamping piece (442), the second linkage rod (448) is connected with the second rotating shaft (4433) and can swing along with the rotation of the second rotating shaft (4433) to drive the fourth clamping piece (446) and the second clamping piece (442) to move in opposite directions.
5. The intelligent manipulator transfer equipment for paper mold production according to claim 1, characterized in that: the longitudinal feed device (42) comprises:
a longitudinal guide rail (421) fixedly connected with the frame (41);
the longitudinal sliding block (422) is arranged on the longitudinal guide rail (421) in a sliding manner, and the longitudinal sliding block (422) is fixedly connected with the taking and placing support (43);
and the power device (423) is connected with the longitudinal sliding block (422) and is used for driving the longitudinal sliding block (422) to slide along the longitudinal guide rail (421).
6. The intelligent manipulator transfer equipment for paper mold production according to claim 1, characterized in that: the stacking manipulator (3) comprises a sucker assembly (31) for sucking the dry paper mold and a vertical driving assembly (32) for driving the sucker assembly (31) to vertically reciprocate.
7. The intelligent manipulator transfer equipment for paper mold production according to claim 6, characterized in that: vertical drive assembly (32) include with sucking disc subassembly (31) fixed connection's vertical guide rail (321) and slide locate on vertical guide rail (321) and with frame (1) fixed connection's vertical slider (322), be equipped with vertical driving motor (323) on vertical slider (322), the output of vertical driving motor (323) is equipped with gear (324), be equipped with on sucking disc subassembly (31) along vertical extension and with gear (324) meshed rack (325).
8. The intelligent manipulator transfer equipment for paper mold production according to claim 1, characterized in that: the engine base (1) comprises a cross beam (11) and stand columns (12) arranged at two ends of the cross beam (11), an electric box (5) is arranged on one side of each stand column (12), and the stand columns (12) are communicated with the cross beam (11) and the electric box (5).
9. The intelligent manipulator transfer equipment for paper mold production according to claim 1, characterized in that: the paper mold automatic picking and placing machine further comprises a protective guard (6) used for protecting operation safety, wherein the protective guard (6) is arranged on one side, away from the feeding motion direction of the paper mold automatic picking and placing mechanism (4), of the machine base (1) in a surrounding mode.
10. The intelligent manipulator transfer equipment for paper mold production according to claim 9, characterized in that: the guardrail (6) is including articulated first guardrail (61) and second guardrail (62) that just can overturn relatively frame (1) with frame (1) respectively, sliding connection has third guardrail (63) on first guardrail (61), sliding connection has fourth guardrail (64) that can be close to or keep away from the motion with third guardrail (63) on second guardrail (62).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110131271.0A CN112830246A (en) | 2021-01-30 | 2021-01-30 | Intelligent manipulator transfer equipment for paper mold production |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110131271.0A CN112830246A (en) | 2021-01-30 | 2021-01-30 | Intelligent manipulator transfer equipment for paper mold production |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116477343A (en) * | 2023-04-25 | 2023-07-25 | 广州科百欣香料有限公司 | Extract essence device for cigarette |
| WO2024075341A1 (en) * | 2022-10-07 | 2024-04-11 | 株式会社ダイフク | Transfer system and transfer equipment |
-
2021
- 2021-01-30 CN CN202110131271.0A patent/CN112830246A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024075341A1 (en) * | 2022-10-07 | 2024-04-11 | 株式会社ダイフク | Transfer system and transfer equipment |
| CN116477343A (en) * | 2023-04-25 | 2023-07-25 | 广州科百欣香料有限公司 | Extract essence device for cigarette |
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