CN202448139U - Feeding mechanical hand for paper-based friction plate - Google Patents
Feeding mechanical hand for paper-based friction plate Download PDFInfo
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- CN202448139U CN202448139U CN2012200413566U CN201220041356U CN202448139U CN 202448139 U CN202448139 U CN 202448139U CN 2012200413566 U CN2012200413566 U CN 2012200413566U CN 201220041356 U CN201220041356 U CN 201220041356U CN 202448139 U CN202448139 U CN 202448139U
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- manipulator
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- connecting plate
- mechanical hand
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Abstract
The utility model discloses a feeding mechanical hand for a paper-based friction plate, particularly a pneumatic mechanical hand for continuously finishing the gluing and surface mounting of the paper-based friction plate. The mechanical hand is used for solving the technical problem of low working efficiency of the conventional three-degree-of-freedom pneumatic mechanical hand. The technical scheme is that: the mechanical hand consists of bottom blocks (1), connectors (2), longitudinal moving cylinders (3), horizontal arm connecting plates (4), mechanical hand cylinders (5), mechanical hands (6), vertical arms (7), vertical arm connectors (8), horizontal arms (9), sliding blocks (10), a piston rod fixing block (11), a guide rail fixing plate (12), a pneumatic guide rail (13), a workbench (14), bases (15), a sliding table (16), a horizontal moving cylinder (17) and a flange (18). The two mechanical hands are arranged in parallel on the workbench, so that the feeding mechanical hand is applied to the continuous production of gluing and surface mounting of the paper-based friction plate. The openings, upward-downward positions and front-rear positions of the mechanical hands can be adjusted, so that substrates of paper-based friction plates with different diameters can be grabbed, and the working efficiency is improved.
Description
Technical field
The utility model relates to a kind of feeding mechanical hand, particularly relates to the Pneumatic manipulator of a kind of continuous completion paper-base friction wafer gluing, paster.
Background technology
With reference to Fig. 5; Document " patent No. is the Chinese invention patent of ZL 200720025499.7 " discloses a kind of Three Degree Of Freedom Pneumatic manipulator; By moving horizontally cylinder 17, frame 7, base 15, motor 6, moving horizontally guide rod 2, Pneumatic paw 11, vertical lift cylinder 4, vertical lift guide rod 5 and geared system 8 and 9 and form, when picking up object, move horizontally cylinder 17 and shrink; Under the guide effect that moves horizontally guide rod 2; Vertical cylinder connecting plate 2 drive vertical lift cylinders 4 and vertical lift guide rod 5 are shifted to the left side of illustrated frame 3, and under the effect of vertical lift cylinder 4, vertical lift guide rod 5 stretches out; Pneumatic paw 11 moves down and paw unlatching under the effect of stingy cylinder 12, thereby grasps object.The characteristics of this manipulator are to have three degree of freedom, can satisfy the loading and unloading of a station, but are not suitable for the loading and unloading that paper-base friction wafer is produced gluing and two stations of paster continuously.
Summary of the invention
Have only a loading and unloading station and cause ineffective deficiency in order to overcome existing Three Degree Of Freedom Pneumatic manipulator, the utility model provides the Pneumatic manipulator of a kind of continuous completion paper-base friction wafer gluing, paster.This device carries out two station loading and unloading through the left and right sides manipulator of parallel placement on removable workbench, can realize steady, the quick feeding of paper-base friction wafer substrate, makes it be applicable to the continuous production of paper-base friction wafer gluing and paster.
The utility model solves the technical scheme that its technical problem adopted: the Pneumatic manipulator of a kind of continuous completion paper-base friction wafer gluing, paster; Comprise base 15, move horizontally cylinder 17, be characterized in also comprising sole piece 1, conjunction 2, vertically move cylinder 3, horizontal arm connecting plate 4, manipulator cylinder 5, manipulator 6, vertically arm 7, vertically arm conjunction 8, horizontal arm 9, slide block 10, piston rod fixed block 11, guide rail fixed plate 12, pneumatic guide rail 13, workbench 14, slide unit 16 and ring flange 18.Described sole piece 1 has two, is separately positioned on the two ends of guide rail fixed plate 12, and pneumatic guide rail 13 and guide rail fixed plate 12 are isometric and be connected in the top of guide rail fixed plate 12; Described slide unit 16 is enclosed within on the pneumatic guide rail 13, and can on pneumatic guide rail 13, be free to slide; Slide unit 16 through ring flange 18 with move horizontally cylinder 17 and be fixed together, the piston rod that moves horizontally cylinder 17 is fixed on the piston rod fixed block 11; Described workbench 14 is installed in the top of slide unit 16, and can move horizontally with slide unit 16; Two rectangular coordinate manipulatives about parallel placement on the workbench 14; This rectangular coordinate manipulative by vertical arm 7, vertically arm connecting plate 8, conjunction 2, horizontal arm 9, horizontal arm connecting plate 4, slide block 10, vertically move cylinder 3, manipulator cylinder 5, manipulator finger 6 and form the hand of manipulator finger 6, manipulator cylinder 5, horizontal arm connecting plate 4 formation manipulators; Be carved with groove on the vertical arm 7 of manipulator finger 6; Vertically be carved with on the arm connecting plate 8 and big bolt hole such as groove width; Vertically arm 7 and vertical arm connecting plate 8 are connected through bolt; Through regulating the diverse location of bolt in groove,, reach the purpose of regulating the manipulator whole height to change the vertical height of vertical arm connecting plate 8; Vertically the top of arm connecting plate 8 is connected through conjunction 2 and horizontal arm 9; Be carved with chute on the horizontal arm 9, and be equipped with and vertically move cylinder 3; Horizontal arm connecting plate 4 is provided with slide block 10, and the front end of slide block 10 is fixed with manipulator cylinder 5, and slide block 10 can slide with vertically moving vertically moving in the chute of horizontal arm 9 of cylinder 3 piston rods; The motion of manipulator finger 6 is driven by manipulator cylinder 5.
Said manipulator finger 6 is semi arch structures.
There is rubber sheet gasket on the arc surface of said semi arch.
The beneficial effect of the utility model is: because the left and right sides manipulator of parallel placement on removable workbench; Carry out two station loading and unloading; Realized steady, the quick feeding of paper-base friction wafer substrate, made it be applicable to the continuous production of paper-base friction wafer gluing and paster.Because the manipulator openings of sizes can be regulated, and has realized the extracting to the paper-base friction wafer substrate of different-diameter.Simultaneously, about the manipulator, the equal scalable of front and back position, and its compact conformation, convenient and reliable, enlarged range of application.The utility model is transformed a little, promptly can be used for the loading and unloading of gluing and paster in the synchro converter ring continuous flow procedure.
Below in conjunction with the specific embodiment the utility model is elaborated.
Description of drawings
Fig. 1 is the front view that the utility model is accomplished the Pneumatic manipulator of paper-base friction wafer gluing, paster continuously.
Fig. 2 is the left view that the utility model is accomplished the Pneumatic manipulator of paper-base friction wafer gluing, paster continuously.
Fig. 3 is the vertical view that the utility model is accomplished the Pneumatic manipulator of paper-base friction wafer gluing, paster continuously.
Fig. 4 is the A-A cutaway view of Fig. 3.
Fig. 5 is the sketch map of background technology Three Degree Of Freedom Pneumatic manipulator.
Among the figure, the 1-sole piece; The 2-conjunction; 3-vertically moves cylinder; The horizontal arm connecting plate of 4-5-manipulator cylinder; The 6-manipulator finger; The vertical arm of 7-; The vertical arm connecting plate of 8-; The horizontal arm of 9-; The 10-slide block; 11-piston rod fixed block; The 12-guide rail fixed plate; The pneumatic guide rail of 13-; The 14-workbench; The 15-base; The 16-slide unit; 17-moves horizontally cylinder; The 18-ring flange.
The specific embodiment
With reference to Fig. 1～4, the Pneumatic manipulator that the utility model is accomplished paper-base friction wafer gluing, paster continuously comprises sole piece 1, conjunction 2, vertically moves cylinder 3, horizontal arm connecting plate 4, manipulator cylinder 5, manipulator finger 6, vertically arm 7, vertically arm conjunction 8, horizontal arm 9, slide block 10, piston rod fixed block 11, guide rail fixed plate 12, pneumatic guide rail 13, workbench 14, base 15, slide unit 16, ring flange 18.Described sole piece 1 is arranged on the two ends of guide rail fixed plate 12, and pneumatic guide rail 13 and guide rail fixed plate 12 are isometric and be connected above it; Described slide unit 16 is enclosed within on the pneumatic guide rail 13, and can on pneumatic guide rail 13, be free to slide; Slide unit 16 through ring flange 18 with move horizontally cylinder 17 and be fixed together, the piston rod that moves horizontally cylinder 17 is fixed on the piston rod fixed block 11; Described workbench 14 is installed in the top of slide unit 16, and can move horizontally with slide unit 16; Two rectangular coordinate manipulatives about parallel placement on the workbench 14; This rectangular coordinate manipulative by vertical arm 7, vertically arm connecting plate 8, conjunction 2, horizontal arm 9, horizontal arm connecting plate 4, slide block 10, vertically move cylinder 3, manipulator cylinder 5, manipulator finger 6 etc. and form; Wherein, manipulator finger 6, manipulator cylinder 5, horizontal arm connecting plate 4 constitute the hand of manipulator; Be carved with groove on the vertical arm 7 of manipulator; Vertically be carved with on the arm connecting plate 8 and big bolt hole such as groove width; The two connects through bolt, can change the vertical height of vertical arm connecting plate 8 through regulating the diverse location of bolt in groove, thereby regulate the whole height of manipulator; Vertically the top of arm connecting plate 8 is connected through conjunction 2 and horizontal arm 9; Be carved with chute on the horizontal arm 9, and be equipped with and vertically move cylinder 3 and vertically move to drive hand; Horizontal arm connecting plate 4 is provided with slide block 10, and front end is fixed with manipulator cylinder 5, and slide block 10 can slide with vertically moving vertically moving in the chute of horizontal arm 9 of cylinder 3 piston rods; The motion of manipulator finger 6 is driven by manipulator cylinder 5, and manipulator finger 6 is the semi arch structure, and there is rubber sheet gasket on the surface, to improve the stationarity and the reliability of clamping.
During work; At first regulate the vertical arm 7 of manipulator and vertical bolt relative position in vertical arm 7 grooves between the arm connecting plate 8; Make the height of manipulator concordant with the friction plate substrate height of want clamping; Because to move horizontally cylinder 17 is that piston rod is fixed, and movement of cylinder block,, work workbench 14 is moved to left fast make right manipulator be in the dead ahead of friction plate substrate so beginning rear-bank rotor housing drive slide unit 16; Vertically move cylinder 3 and project forwardly to manipulator cylinder 5 driving device hand fingers 6 gripping friction plate substrates behind the correct position; Accomplish aftertable 14 and drive right manipulator and move to right fast to the gluing station and carry out material loading, simultaneously, left manipulator is according to aforementioned manner clamping friction plate substrate; After gluing was accomplished, the right manipulator clamping friction plate substrate of gluing moved to right rapidly to the paster station and carries out material loading, and left manipulator carries out material loading to the gluing station simultaneously, gets into next operation cycle afterwards.
Claims (3)
1. paper-base friction wafer feeding mechanical hand; Comprise base (15), move horizontally cylinder (17), it is characterized in that: also comprise sole piece (1), conjunction (2), vertically move cylinder (3), horizontal arm connecting plate (4), manipulator cylinder (5), manipulator (6), vertically arm (7), vertically arm conjunction (8), horizontal arm (9), slide block (10), piston rod fixed block (11), guide rail fixed plate (12), pneumatic guide rail (13), workbench (14), slide unit (16) and ring flange (18).Described sole piece (1) has two, is separately positioned on the two ends of guide rail fixed plate (12), and pneumatic guide rail (13) and guide rail fixed plate (12) are isometric and be connected in the top of guide rail fixed plate (12); Described slide unit (16) is enclosed within on the pneumatic guide rail (13), and can on pneumatic guide rail (13), be free to slide; Slide unit (16) through ring flange (18) with move horizontally cylinder (17) and be fixed together, the piston rod that moves horizontally cylinder (17) is fixed on the piston rod fixed block (11); Described workbench (14) is installed in the top of slide unit (16), and can move horizontally with slide unit (16); Workbench (14) is gone up two rectangular coordinate manipulatives (6) about parallel placement; This rectangular coordinate manipulative (6) by vertical arm (7), vertically arm connecting plate (8), conjunction (2), horizontal arm (9), horizontal arm connecting plate (4), slide block (10), vertically move cylinder (3), manipulator cylinder (5) is formed, the hand of manipulator cylinder (5), horizontal arm connecting plate (4) formation manipulator (6); Be carved with groove on the vertical arm (7) of manipulator (6); Vertically be carved with on the arm connecting plate (8) and big bolt hole such as groove width; Vertically arm (7) is connected through bolt with vertical arm connecting plate (8); Through regulating the diverse location of bolt in groove,, reach the purpose of regulating the manipulator whole height to change the vertical height of vertical arm connecting plate (8); Vertically the top of arm connecting plate (8) is connected through conjunction (2) and horizontal arm (9); Horizontal arm is carved with chute on (9), and is equipped with and vertically moves cylinder (3); Horizontal arm connecting plate (4) is provided with slide block (10), and the front end of slide block (10) is fixed with manipulator cylinder (5), and slide block (10) can slide with vertically moving vertically moving in the chute of horizontal arm (9) of cylinder (3) piston rod; The motion of manipulator (6) is driven by manipulator cylinder (5).
2. paper-base friction wafer feeding mechanical hand according to claim 1 is characterized in that: said manipulator (6) is the semi arch structure.
3. paper-base friction wafer feeding mechanical hand according to claim 1 and 2 is characterized in that: there is rubber sheet gasket on the arc surface of said semi arch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200413566U CN202448139U (en) | 2012-02-09 | 2012-02-09 | Feeding mechanical hand for paper-based friction plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200413566U CN202448139U (en) | 2012-02-09 | 2012-02-09 | Feeding mechanical hand for paper-based friction plate |
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| Publication Number | Publication Date |
|---|---|
| CN202448139U true CN202448139U (en) | 2012-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012200413566U Withdrawn - After Issue CN202448139U (en) | 2012-02-09 | 2012-02-09 | Feeding mechanical hand for paper-based friction plate |
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| Country | Link |
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| CN (1) | CN202448139U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581840A (en) * | 2012-02-09 | 2012-07-18 | 西北工业大学 | Paper-based friction plate feeding manipulator |
| CN103004342A (en) * | 2012-12-12 | 2013-04-03 | 北京工业大学 | Flower transplanting paw with function of gathering leaves |
| CN103056885A (en) * | 2012-12-27 | 2013-04-24 | 余姚市嘉力机械设备制造有限公司 | Auxiliary manipulator used between manipulators to transmit products and correct positions |
| CN103770110A (en) * | 2013-12-20 | 2014-05-07 | 东莞市汉萨自动化设备科技有限公司 | Method for automatically moving products on manufacturing device and mechanical arm device |
| CN103802123A (en) * | 2014-02-26 | 2014-05-21 | 温州职业技术学院 | Manipulator with three-dimensional elastic clamping paw |
| CN107877532A (en) * | 2017-12-10 | 2018-04-06 | 无锡特恒科技有限公司 | For clamping the handling device of flexible material |
| CN108545470A (en) * | 2018-06-12 | 2018-09-18 | 海盐六里液压管件有限公司 | A kind of nut shifting material equipment |
| CN109382812A (en) * | 2017-08-08 | 2019-02-26 | 浙江瑞启检测技术有限公司 | A kind of sampler in solid waste analyte detection |
| CN112551141A (en) * | 2020-11-25 | 2021-03-26 | 湖州慧能机电科技有限公司 | Industrial robot with automatic moving and rotating functions |
-
2012
- 2012-02-09 CN CN2012200413566U patent/CN202448139U/en not_active Withdrawn - After Issue
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102581840B (en) * | 2012-02-09 | 2014-06-11 | 西北工业大学 | Paper-based friction plate feeding manipulator |
| CN102581840A (en) * | 2012-02-09 | 2012-07-18 | 西北工业大学 | Paper-based friction plate feeding manipulator |
| CN103004342A (en) * | 2012-12-12 | 2013-04-03 | 北京工业大学 | Flower transplanting paw with function of gathering leaves |
| CN103004342B (en) * | 2012-12-12 | 2014-12-31 | 北京工业大学 | Flower transplanting paw with function of gathering leaves |
| CN103056885A (en) * | 2012-12-27 | 2013-04-24 | 余姚市嘉力机械设备制造有限公司 | Auxiliary manipulator used between manipulators to transmit products and correct positions |
| CN103770110A (en) * | 2013-12-20 | 2014-05-07 | 东莞市汉萨自动化设备科技有限公司 | Method for automatically moving products on manufacturing device and mechanical arm device |
| CN103770110B (en) * | 2013-12-20 | 2016-08-03 | 东莞市汉萨自动化设备科技有限公司 | Robot device |
| CN103802123A (en) * | 2014-02-26 | 2014-05-21 | 温州职业技术学院 | Manipulator with three-dimensional elastic clamping paw |
| CN103802123B (en) * | 2014-02-26 | 2016-01-13 | 温州职业技术学院 | With the manipulator of three dimensional elasticity retaining paw |
| CN109382812A (en) * | 2017-08-08 | 2019-02-26 | 浙江瑞启检测技术有限公司 | A kind of sampler in solid waste analyte detection |
| CN107877532A (en) * | 2017-12-10 | 2018-04-06 | 无锡特恒科技有限公司 | For clamping the handling device of flexible material |
| CN108545470A (en) * | 2018-06-12 | 2018-09-18 | 海盐六里液压管件有限公司 | A kind of nut shifting material equipment |
| CN108545470B (en) * | 2018-06-12 | 2024-05-07 | 海盐六里液压管件有限公司 | Nut moves material equipment |
| CN112551141A (en) * | 2020-11-25 | 2021-03-26 | 湖州慧能机电科技有限公司 | Industrial robot with automatic moving and rotating functions |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120926 Effective date of abandoning: 20140611 |
|
| RGAV | Abandon patent right to avoid regrant |