CN112894762A - Paper mould intelligence is got and is put manipulator - Google Patents
Paper mould intelligence is got and is put manipulator Download PDFInfo
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- CN112894762A CN112894762A CN202110333292.0A CN202110333292A CN112894762A CN 112894762 A CN112894762 A CN 112894762A CN 202110333292 A CN202110333292 A CN 202110333292A CN 112894762 A CN112894762 A CN 112894762A
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- Prior art keywords
- taking
- placing
- paper
- frame
- fixing arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
- D21J3/00—Manufacture of articles by pressing wet fibre pulp, or papier-mâché, between moulds
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention relates to the technical field of paper mold production equipment, in particular to an intelligent paper mold taking and placing manipulator. Comprises a taking and placing fixing arm; the taking and placing support comprises a taking and placing frame and a taking and placing frame mounting part which is arranged at one end of the taking and placing frame and is fixedly connected with the taking and placing frame; the taking and placing guide rail is arranged on the taking and placing fixing arm and extends along the length direction of the taking and placing fixing arm; the taking and placing sliding block is fixedly connected with the taking and placing frame and is arranged on the taking and placing guide rail in a sliding manner; and the taking and placing driving mechanism is arranged on the taking and placing fixing arm and is fixedly connected with the taking and placing sliding block for driving the taking and placing sliding block to move along the taking and placing guide rail so as to drive the taking and placing support to move relative to the taking and placing fixing arm. The intelligent paper mold taking and placing mechanical arm provided by the invention is simple in structure and small in occupied space, and the taking and placing driving mechanism is arranged on the taking and placing fixing arm, so that the structure is further simplified, the manufacturing cost is favorably reduced, and the intelligent paper mold taking and placing mechanical arm is more convenient and faster to install.
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 an intelligent paper mold taking and placing manipulator.
[ background of the invention ]
Need process such as shaping, stoving during paper mould production, the paper mould is when former preliminary shaping forms wet paper mould, and the operator need take out the paper mould from the make-up machine, puts into drying equipment afterwards and dries and obtain dry paper mould, so operate repeatedly, not only need a large amount of manpower and materials, people are getting in addition and put the paper mould in-process and contact the equipment of high temperature easily and be injured. With the progress of science and technology, the manipulator is generally adopted to transfer the paper mould at present, and the automation and the intellectualization of production are realized. However, the paper mold taking and placing mechanical arm in the prior art is complex in structure, high in production and manufacturing cost, large in occupied space and low in installation efficiency.
[ summary of the invention ]
The invention aims to provide an intelligent paper mold taking and placing mechanical arm, which solves the problem that the production and manufacturing cost is high due to the complex structure of the paper mold taking and placing mechanical arm in the prior art.
In order to solve the above problems, the present invention provides the following technical solutions:
manipulator is got to paper mould intelligence includes:
taking and placing the fixing arm;
the taking and placing support comprises a taking and placing frame and a taking and placing frame mounting part which is arranged at one end of the taking and placing frame and is fixedly connected with the taking and placing frame;
the taking and placing guide rail is arranged on the taking and placing fixing arm and extends along the length direction of the taking and placing fixing arm;
the taking and placing sliding block is fixedly connected with the taking and placing frame and is arranged on the taking and placing guide rail in a sliding manner;
and the taking and placing driving mechanism is arranged on the taking and placing fixing arm and is fixedly connected with the taking and placing sliding block for driving the taking and placing sliding block to move along the taking and placing guide rail so as to drive the taking and placing support to move relative to the taking and placing fixing arm.
The intelligent paper mold picking and placing manipulator comprises a picking and placing connecting rod for connecting a picking and placing frame and a picking and placing slider, and a frame reinforcing rod is arranged between the picking and placing connecting rod and the picking and placing frame.
According to the intelligent paper mold picking and placing manipulator, the picking and placing frame is provided with the sucker component for sucking the paper mold.
As above manipulator is put to paper matrix intelligence pick-and-place, get and put actuating mechanism and include the action wheel and follow driving wheel and tensioning at the action wheel and follow the hold-in range between the driving wheel, the both ends of getting the fixed arm are equipped with the action wheel installation department that is used for installing the action wheel respectively and are used for installing from the driving wheel installation department from the driving wheel.
As above-mentioned manipulator is put to paper matrix intelligence pick-and-place, be equipped with driving motor on the action wheel, the action wheel installation department is including being used for the installation driving motor's driving motor mounting panel.
The intelligent paper model taking and placing manipulator is characterized in that the driven wheel is provided with a driven shaft, the driven wheel mounting part comprises a driven wheel mounting plate arranged in parallel with the driven shaft, and a locking connecting piece is arranged between the driven wheel mounting plate and the driven shaft.
According to the intelligent paper mold picking and placing manipulator, the picking and placing sliding block is provided with the synchronous belt fixing block.
According to the intelligent paper mold picking and placing manipulator, the picking and placing fixing arm is provided with the picking and placing lifting mechanism for driving the picking and placing fixing arm to lift.
The intelligent paper mold taking and placing manipulator comprises a taking and placing lifting arm connected with a taking and placing fixing arm, wherein the taking and placing lifting arm is provided with a taking and placing lifting slide rail and a taking and placing lifting slide block which is arranged on the taking and placing lifting slide rail in a sliding manner, and the taking and placing lifting slide rail is opposite to the taking and placing lifting slide rail and slides to drive the taking and placing fixing arm to lift.
Compared with the prior art, the invention has the following advantages:
when the intelligent paper mold taking and placing mechanical arm is used, the taking and placing driving mechanism drives the taking and placing sliding block to slide along the taking and placing guide rail so as to drive the taking and placing support to move relative to the taking and placing fixing arm, wherein the taking and placing support consists of the taking and placing frame and a taking and placing frame mounting part, the intelligent paper mold taking and placing mechanical arm is simple in structure, the taking and placing frame can be connected with the taking and placing sliding block through the taking and placing frame mounting part, a fixing support does not need to be additionally arranged, the occupied space is small, the taking and placing driving mechanism is arranged on the taking and placing fixing arm, the structure is.
[ description of the drawings ]
Fig. 1 is a first schematic structural diagram according to an embodiment of the present invention.
Fig. 2 is a second schematic structural diagram according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of a paper mold transfer robot according to an embodiment of the present invention.
Fig. 4 is a first structural schematic diagram of a paper mold finished product transfer manipulator according to an embodiment of the present invention.
Fig. 5 is an enlarged view of a portion a in fig. 4.
Fig. 6 is a second schematic structural view of a paper mold finished product transfer robot according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a paper die trimming and transferring robot according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of an intelligent paper mold pick-and-place manipulator according to an embodiment of the invention.
Fig. 9 is a schematic structural view of a pick-and-place bracket and a pick-and-place slider according to an embodiment of the invention.
Fig. 10 is a schematic structural diagram of a pick-and-place fixing arm according to an embodiment of the present invention.
Fig. 11 is a partial structural schematic view of a pick-and-place fixing arm according to an embodiment of the present invention.
Fig. 12 is a partial structural schematic view of a pick-and-place fixing arm 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 12, the present embodiment provides an intelligent device for forming and trimming a paper mold.
The intelligent paper mold forming and trimming production equipment is applied to an intelligent production line of a forming station, a drying station and a trimming station 8 in paper mold production, and comprises frames 1 and 2, a paper mold transfer manipulator 3, a paper mold trimming and transferring manipulator 4 and a paper mold finished product transferring manipulator 5, wherein the paper mold intelligent taking and placing manipulator 2 is arranged on the frame 1 and is used for taking out a formed paper mold from the forming station into the drying station and taking out an intelligent dried paper mold taking and placing manipulator mold from the drying station; the paper mold transfer manipulator 3 is arranged on the rack 1, is positioned between the intelligent paper mold taking and placing manipulator 2 and the paper mold trimming and transferring manipulator 4, and is used for transferring the paper mold taken out from the drying station by the intelligent paper mold taking and placing manipulator 2 to the paper mold trimming and transferring manipulator 4; the paper mould trimming and transferring manipulator 4 is arranged on the frame 1 and is used for transferring the paper mould to a trimming station; the paper mold finished product transferring manipulator 5 is used for taking out the paper mold from the trimming station and stacking the paper mold. The paper mould shaping and side cut production smart machine that this embodiment provided, it gets and puts manipulator 2 to be provided with paper mould intelligence, paper mould transfer manipulator 3, paper mould side cut is transferred manipulator 4 and paper mould finished product and is transferred manipulator 5, get when paper mould intelligence and put manipulator 2 and take out the paper mould from the stoving station after, transport the paper mould to paper mould side cut by paper mould transfer manipulator 3 and transfer manipulator 4, paper mould side cut is transferred manipulator 4 and is sent the paper mould into side cut station 8 and cut edge afterwards, transfer manipulator 5 by the paper mould finished product and collect the pile with the finished product after the side cut is accomplished, from the shaping to drying to side cut, disposable serialization is accomplished, greatly saved and waited for the time that the paper mould was collected and is transported to the side cut station in unison again, production efficiency is improved, realize the intelligent production of continuity.
Furthermore, a first slide rail 11 and a second slide rail 12 are respectively arranged on two sides of the rack 1, the paper mold intelligent picking and placing manipulator 2 and the paper mold trimming and transferring manipulator 4 are slidably arranged on the first slide rail 11, and the paper mold transfer manipulator 3 is slidably arranged on the second slide rail 12. Effectively avoid paper mould transfer manipulator 3 to get with paper mould intelligence when transferring the paper mould from the stoving station to the side cut station and put manipulator 2 or paper mould side cut transfer manipulator 4 take place to interfere, be convenient for transfer manipulator 3 slide to get with paper mould intelligence and put the position that manipulator 2 is relative and take out the paper mould from the top in the paper mould, be convenient for transfer manipulator 3 slide to transfer the position that manipulator 4 is relative and release the paper mould from the top with paper mould side cut in the paper mould simultaneously, it is more smooth and easy to make the paper mould process of transference, it is higher to transmit efficiency.
Further, the paper mold transfer manipulator 3 comprises a transfer support 31 and a transfer support mounting seat 32, one end of the transfer support mounting seat 32 is provided with a transfer lifting assembly 33 connected with the transfer support 31 and used for driving the transfer support 31 to lift, the other end of the transfer support mounting seat is provided with a transfer sliding block 34 in sliding connection with the first sliding rail 11, and the transfer support 31 slides along with the transfer sliding block 34 to the position above the paper mold intelligent picking and placing manipulator 2 to suck a paper mold and then slides along with the transfer sliding block 34 to the position above the paper mold trimming transferring manipulator 4 to release the paper mold. When the paper mold transfer manipulator 3 moves to the position where the paper mold intelligent pick-and-place manipulator 2 is relative along with the transfer slider 34, the transfer support 31 is located above the pick-and-place support 22, and the paper mold is transferred to the transfer support 31 by descending to the position close to the pick-and-place support 22 under the driving of the transfer lifting assembly 33, when the paper mold moves to the position where the paper mold trimming transfer manipulator 4 is relative along with the transfer slider 34, the transfer support 31 is located above the pushing support 41, and the paper mold is transferred to the pushing support 41 by descending to the position close to the pushing support 41 under the driving of the transfer lifting assembly 33, the structure is simple, and the paper mold can be transferred to the trimming station from the drying station.
Further, manipulator 4 is transferred in paper mould side cut includes propelling movement support 41 and is used for driving propelling movement support 41 and reciprocates the pusher 42 that passes in and out the side cut station, pusher 42 includes the propelling movement fixed arm 421 that extends along the propelling movement direction, be equipped with propelling movement slide rail 422 on the propelling movement fixed arm 421, slide and locate propelling movement slider 423 on propelling movement slide rail 422 and be used for the drive propelling movement actuating mechanism 424 that propelling movement slider 423 is gliding, propelling movement slider 423 with propelling movement support 41 fixed connection is used for driving propelling movement support 41 moves along the propelling movement direction. When cutting edge station material loading, drive through propelling movement actuating mechanism 424 propelling movement slider 423 removes to the propelling movement direction along propelling movement guide rail 422 to drive propelling movement support 41 and remove fixed arm 421 relatively, send into the paper mould fast and cut edge the station, its simple structure, the propelling movement is effectual, can effectively improve production efficiency.
Further, the pushing bracket 41 includes a pushing frame 411 and a pushing frame mounting portion 412, the pushing frame mounting portion 412 includes a pushing connecting rod 4121 connecting the pushing frame 411 and the pushing slider 423, and a connection reinforcing rod 4122 is disposed between the pushing connecting rod 4121 and the pushing frame 411. In this embodiment, adopt two propelling movement connecting rods 4121 and two to be connected stiffener 4122 and constitute propelling movement frame installation department 412, propelling movement connecting rod 4121 and propelling movement frame 411 extend at the coplanar and along the propelling movement direction, connect the stiffener 4122 slope and set up between propelling movement connecting rod 4121 and propelling movement frame 411, moreover, the steam generator is simple in structure, can effectively improve the stability of propelling movement frame 411, effectively avoid propelling movement frame 411 to influence the efficiency that forwards of paper mould because the atress inequality causes the upset at the propelling movement in-process.
Further, a paper mold profiling mold 413 for bearing a paper mold is fixedly arranged on the pushing support 41. Paper mould profiling mold 413 is neatly laid on propelling movement frame 411, paper mould profiling mold 413 wants to correspond with the side cut compression fittings mould on the side cut station to when propelling movement support 41 is with the paper mould propelling movement to the side cut equipment of side cut station, the paper mould can be accurate counterpoint fast, thereby further improve production efficiency, improve the paper mould quality of cutting edge simultaneously.
Further, the paper mold finished product transferring manipulator 5 comprises a turning frame 51, and a turning device 52 for driving the turning frame 51 to rotate and a feeding device 53 for driving the turning frame 51 to reciprocate to enter and exit the trimming station are arranged on the turning frame 51. The paper mold trimming and transferring mechanical arm 4 and the paper mold finished product transferring mechanical arm 5 form efficient intelligent production equipment applied to paper mold trimming and feeding and discharging, when feeding and discharging are carried out at a trimming station, a pushing device 42 on the paper mold trimming and transferring mechanical arm 4 drives a pushing support 41 to enter the trimming station and drives the pushing support 41 to exit the trimming station after feeding, so that a paper mold is conveyed to the trimming station for trimming, the trimming is finished, a feeding device 53 on the paper mold finished product transferring mechanical arm 5 drives a turning frame 51 to enter the trimming station and drives the turning frame 51 to exit the trimming station after the turning frame 51 obtains the paper mold, then the turning device 52 drives the turning frame 51 to turn so as to stack the paper mold in order, the blanking from the paper mold feeding to the paper mold is finished automatically through the mechanical arms, the labor cost is low, and the production efficiency is high.
Further, the turning device 52 includes a turning fixing seat 521, a turning shaft 522 fixedly disposed on the turning fixing seat 521, and a turning rack 523 slidably disposed on the turning fixing seat 521, the turning shaft 522 is fixedly connected to the turning frame 51 and is provided with a turning gear 524 engaged with the turning rack 523, the turning rack 523 is provided with a turning driving mechanism 525, and the turning driving mechanism 525 drives the turning rack 523 to slide to drive the turning gear 524 to rotate so as to drive the turning shaft 522 to rotate, thereby driving the turning frame 51 to turn. After the paper mold finished product transferring manipulator 5 takes out the paper mold from the trimming station, the overturning driving mechanism 525 drives the overturning rack 523 to slide so as to drive the overturning gear 524 to rotate and further drive the overturning shaft 522 to rotate so as to drive the overturning frame 51 to overturn, so that the paper mold is overturned by 180 degrees, and the overturning frame 51 is convenient to release the paper mold for stacking.
Further, the axial direction of the turning shaft 522 is perpendicular to the length direction of the turning rack 523, so that the turning gear 524 on the turning shaft 522 is meshed with the turning rack 523 to drive the turning shaft 522 to rotate while the position of the turning shaft 522 is kept unchanged.
Further, the feeding device 53 includes a feeding mounting base 531 extending along the feeding direction, a feeding slide rail 532, a feeding slide block 533 slidably disposed on the feeding slide rail 532, and a feeding driving mechanism 534 for driving the feeding slide block 533 to slide are disposed on the feeding mounting base 531, and the feeding slide block 533 is fixedly connected to the flipping device 52 for driving the flipping frame 51 to move along the feeding direction. When the trimming station is used for blanking, the feeding driving mechanism 534 drives the feeding sliding block 533 to slide on the feeding sliding rail 532, so that the roll-over stand 51 is driven to be close to or far away from the trimming station to take out a paper mold, the structure is simple, and the feeding efficiency is high.
Further, the paper mold finished product transferring manipulator 5 further includes a mounting base 54, and a lifting component 541 for driving the feeding device 53 to lift is arranged on the mounting base 54. The height of the feeder device 53 relative to the floor can be conveniently adjusted by the lift assembly 541 to better suit the trimming apparatus in the trimming station.
Further, the feeding direction of the feeding device 53 is perpendicular to the pushing direction of the pushing device 42. The pushing support 41 and the turnover frame 51 can conveniently enter and exit the trimming station in turn, the occupied space is small, and the production efficiency is high.
Furthermore, a scraper 511 is arranged on the roll-over stand 51. When the roll-over stand 51 enters or exits the trimming station, the scraper 511 is driven by the roll-over stand 51 to move and clean trimming waste, so as to prepare for next paper mold trimming.
Further, the paper model intelligent pick-and-place manipulator 2 comprises:
a taking and placing fixing arm 21;
the pick-and-place bracket 22 comprises a pick-and-place frame 221 and a pick-and-place frame mounting part 222 which is arranged at one end of the pick-and-place frame 221 and fixedly connected with the pick-and-place frame 221;
a pick-and-place guide rail 23 which is arranged on the pick-and-place fixing arm 21 and extends along the length direction of the pick-and-place fixing arm 21;
the taking and placing slide block 24 is fixedly connected with the taking and placing frame mounting part 222 and is arranged on the taking and placing guide rail 23 in a sliding manner;
and the taking and placing driving mechanism 25 is arranged on the taking and placing fixing arm 21 and is fixedly connected with the taking and placing slider 24 for driving the taking and placing slider 24 to move along the taking and placing guide rail 23 so as to drive the taking and placing support 22 to move relative to the taking and placing fixing arm 21.
The intelligent pick-and-place manipulator 2 for paper models provided by the embodiment, when in use, the pick-and-place driving mechanism 25 drives the pick-and-place slider 24 to slide along the pick-and-place guide rail 23 so as to drive the pick-and-place support 22 to move relative to the pick-and-place fixing arm, wherein the pick-and-place support 22 consists of the pick-and-place frame 221 and the pick-and-place frame mounting part 222, the structure is simple, the pick-and-place frame 221 is connected with the pick-and-place slider 24 through the pick-and-place frame mounting part 222, a fixing support is not required to be additionally arranged, the occupied space is small, the pick-and-place.
Further, the pick-and-place frame mounting portion 222 includes a pick-and-place connecting rod 2221 for connecting the pick-and-place frame 221 and the pick-and-place slider 24, and a frame reinforcing rod 2222 is disposed between the pick-and-place connecting rod 221 and the pick-and-place frame 221. In this embodiment, the pick-and-place frame mounting portion 222 is formed by two pick-and-place connecting rods 2221 and two frame reinforcing rods 2222, the pick-and-place connecting rods 2221 and the pick-and-place frame 221 extend in the same plane and along the pick-and-place direction, the frame reinforcing rods 2222 are obliquely arranged between the pick-and-place connecting rods 2221 and the pick-and-place frame 221, so that the structure is simple, the manufacturing cost is low, the stability of the pick-and-place frame 221 can be effectively improved, and the influence on the production efficiency caused by the overturning of the pick-and-place.
Further, a suction cup component 223 for sucking the paper mold is arranged on the taking and placing frame 221. The sucking disc subassembly is convenient for get and put frame 221 and absorb the paper mould from the top or from the below including the sucking disc that sets up and the sucking disc that sets up down, simple structure, and application scope is wide.
Further, the taking and placing driving mechanism 25 includes a driving wheel 251, a driven wheel 252 and a timing belt 253 tensioned between the driving wheel 251 and the driven wheel 252, and both ends of the taking and placing fixing arm 21 are respectively provided with a driving wheel mounting portion 211 for mounting the driving wheel 251 and a driven wheel mounting portion 212 for mounting the driven wheel 252. The driving wheel 251 and the driven wheel 252 are mounted through the driving wheel mounting part 211 and the driven wheel mounting part 212 at the two ends of the taking and placing fixing arm 21, so that the taking and placing driving mechanism 25 is fixed on the taking and placing fixing arm 21, the structure of the paper model intelligent taking and placing manipulator 2 is more compact, and the space is further saved.
Further, a driving motor 254 is arranged on the driving wheel 251, and the driving wheel mounting portion 211 comprises a driving motor mounting plate for mounting the driving motor 254. The driving motor 254 is fixed through the driving motor mounting plate so as to fix the driving wheel 251, and the driving wheel fixing device is simple in structure, convenient to mount and low in manufacturing cost.
Further, a driven shaft 2521 is provided on the driven wheel 252, the driven wheel mounting portion 212 includes a driven wheel mounting plate 2121 provided in parallel with the driven shaft 2521, and a locking connector 2122 is provided between the driven wheel mounting plate 2121 and the driven shaft 2521. The driven shaft 2521 is fixedly connected with the driven wheel mounting plate 2121 through the locking connecting piece 2122, so that the driving effect is effectively prevented from being influenced by the displacement of the driven shaft 2521, and the driving stability is improved.
Further, the pick-and-place slider 24 is provided with a synchronous belt fixing block 241, so that the pick-and-place slider 24 is more stably connected with the synchronous belt 253.
Further, the taking and placing fixing arm 21 is provided with a taking and placing lifting mechanism 26 for driving the taking and placing fixing arm 21 to lift. The taking and placing lifting mechanism 26 comprises a taking and placing lifting arm 261 connected with the taking and placing fixing arm 21, the taking and placing lifting sliding rail 262 is arranged on the taking and placing lifting arm 261, the taking and placing lifting sliding block 263 is arranged on the taking and placing lifting sliding rail 262 in a sliding mode, and the taking and placing lifting sliding rail 262 is opposite to the taking and placing lifting sliding rail 262 and slides to drive the taking and placing fixing arm 21 to lift. The structure is simple, the taking and placing lifting mechanism 26 drives the taking and placing fixing arm 21 to lift, and therefore the height of the taking and placing support 22 is adjusted to be suitable for production equipment with different heights.
When the intelligent paper mold taking and placing mechanical arm is used, the taking and placing driving mechanism drives the taking and placing sliding block to slide along the taking and placing guide rail so as to drive the taking and placing support to move relative to the taking and placing fixing arm, wherein the taking and placing support consists of the taking and placing frame and a taking and placing frame mounting part, the intelligent paper mold taking and placing mechanical arm is simple in structure, the taking and placing frame can be connected with the taking and placing sliding block through the taking and placing frame mounting part, a fixing support does not need to be additionally arranged, the occupied space is small, the taking and placing driving mechanism is arranged on the taking and placing fixing arm, the structure is.
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 (9)
1. Manipulator is put to paper mould intelligence, its characterized in that includes:
a taking and placing fixing arm (21);
the taking and placing support (22) comprises a taking and placing frame (221) and a taking and placing frame mounting part (222) which is arranged at one end of the taking and placing frame (221) and fixedly connected with the taking and placing frame (221);
the taking and placing guide rail (23) is arranged on the taking and placing fixing arm (21) and extends along the length direction of the taking and placing fixing arm (21);
the taking and placing slide block (24) is fixedly connected with the taking and placing frame mounting part (222) and is arranged on the taking and placing guide rail (23) in a sliding manner;
and the taking and placing driving mechanism (25) is arranged on the taking and placing fixing arm (21) and is fixedly connected with the taking and placing sliding block (24) for driving the taking and placing sliding block (24) to move along the taking and placing guide rail (23) so as to drive the taking and placing support (22) to move relative to the taking and placing fixing arm (21).
2. The intelligent pick-and-place manipulator for paper molds as claimed in claim 1, wherein: the taking and placing frame mounting part (222) comprises a taking and placing connecting rod (2221) for connecting the taking and placing frame (221) and the taking and placing slider (24), and a frame reinforcing rod (2222) is arranged between the taking and placing connecting rod (221) and the taking and placing frame (221).
3. The intelligent pick-and-place manipulator for paper molds as claimed in claim 2, wherein: and a sucker component (223) for sucking the paper mold is arranged on the taking and placing frame (221).
4. The intelligent pick-and-place manipulator for paper molds as claimed in claim 1, wherein: the taking and placing driving mechanism (25) comprises a driving wheel (251), a driven wheel (252) and a synchronous belt (253) tensioned between the driving wheel (251) and the driven wheel (252), and two ends of the taking and placing fixing arm (21) are respectively provided with a driving wheel mounting part (211) used for mounting the driving wheel (251) and a driven wheel mounting part (212) used for mounting the driven wheel (252).
5. The intelligent pick-and-place manipulator for paper molds as claimed in claim 4, wherein: the driving wheel (251) is provided with a driving motor (254), and the driving wheel mounting part (211) comprises a driving motor mounting plate for mounting the driving motor (254).
6. The intelligent pick-and-place manipulator for paper molds as claimed in claim 4, wherein: the driven wheel (252) is provided with a driven shaft (2521), the driven wheel mounting part (212) comprises a driven wheel mounting plate (2121) arranged in parallel with the driven shaft (2521), and a locking connecting piece (2122) is arranged between the driven wheel mounting plate (2121) and the driven shaft (2521).
7. The intelligent pick-and-place manipulator for paper molds as claimed in claim 1, wherein: and a synchronous belt fixing block (241) is arranged on the taking and placing sliding block (24).
8. The intelligent pick-and-place manipulator for paper molds as claimed in claim 1, wherein: the taking and placing fixing arm (21) is provided with a taking and placing lifting mechanism (26) for driving the taking and placing fixing arm (21) to lift.
9. The paper model intelligent pick-and-place manipulator of claim 8, wherein: get and put elevating system (26) and include and get and put elevating arm (261) of putting that fixed arm (21) is connected, get to be equipped with on the elevating arm (261) and get to put lifting slide rail (262) and slide and locate get on the lifting slide rail (262) and put lift slider (263), it is relative to get to put lifting slide rail (262) it slides in order to drive to get to put fixed arm (21) and go up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110333292.0A CN112894762A (en) | 2021-03-29 | 2021-03-29 | Paper mould intelligence is got and is put manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113651097A (en) * | 2021-07-20 | 2021-11-16 | 东莞三润田智能科技有限公司 | Screen frame transfer method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113651097A (en) * | 2021-07-20 | 2021-11-16 | 东莞三润田智能科技有限公司 | Screen frame transfer method |
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