CN207388093U - Forming machine is with fetching and delivering manipulator - Google Patents
Forming machine is with fetching and delivering manipulator Download PDFInfo
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- CN207388093U CN207388093U CN201721273831.1U CN201721273831U CN207388093U CN 207388093 U CN207388093 U CN 207388093U CN 201721273831 U CN201721273831 U CN 201721273831U CN 207388093 U CN207388093 U CN 207388093U
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Abstract
The utility model discloses a kind of forming machine with manipulator is fetched and delivered, including frame body, translation mechanism, upper and lower mechanism and the first to the second grasping mechanism.Translation mechanism includes translation traction piece, translating base, translation actuators and translation idler wheel, it translates traction piece and is loaded on crossbeam, translating base cunning is in crossbeam, translation actuators are loaded on translating base, the driving lower edge translation traction piece that idler wheel is translated in translation actuators rolls, and translating base translation is driven by the translation idler wheel rolled；Upper and lower mechanism includes the Power Component up and down being mounted on translating base and the seat up and down being slidedly arranged on up and down on translating base；First grasping mechanism is installed on upper and lower seat and the first direction of cooperation lower edge and beam vertical in translation mechanism and upper and lower mechanism stretches and catches away the first base in forming machine；Second grasping mechanism is installed on upper and lower seat and stretches along the first direction under the cooperation of translation mechanism and upper and lower mechanism and catch away the second base in forming machine, so that forming machine is applicable in manipulator is fetched and delivered in narrow space occasion.
Description
Technical field
The utility model is related to a kind of forming machine with fetch and deliver manipulator more particularly to it is a kind of auxiliary dinner box shaping machine this is eaten
The forming machine that wet base and dry body in box forming machine are fetched and delivered is with fetching and delivering manipulator.
Background technology
With economic continuous development and the continuous progress of science and technology, extremely abundant substance is provided for people’s lives
The consumer goods, cutlery box are exactly one kind in many material consumption product.
It is well known that in disposable cutlery box production process, be unable to do without cutlery box wet base forming step, will be after shaping
The step of wet base is dried to form dry body and by after dry body trimming formed cutlery box the step of.Wherein, in the production of cutlery box
Cheng Zhong be unable to do without manipulator and wet base, dry body and cutlery box is fetched and delivered, and therefore, manipulator is very in the production process of cutlery box
It is necessary.
At present, for manipulator, since the forming machine of cutlery box keeps for manipulator installation space to compare after mounting
It is limited, therefore, limit the activity space of manipulator, therefore cannot to meet this narrow for traditional manipulator for needing activity space big
Occasion in.
Equally, for other forming machines, activity space limited narrow of manipulator is kept for after its installation
During occasion, traditional manipulator there is also it is above-mentioned the problem of.
A kind of adapt to manipulator is fetched and delivered to be overcome in the forming machine of narrow occasion above-mentioned lack therefore, it is necessary to provide
It falls into.
Utility model content
The purpose of this utility model is to provide a kind of forming machines adapted in narrow occasion with fetching and delivering manipulator.
To achieve the above object, the technical solution of the utility model is：A kind of forming machine is provided with manipulator is fetched and delivered, is applicable in
The first base in forming machine and the second base are fetched and delivered.Wherein, the forming machine of the utility model includes frame with manipulator is fetched and delivered
Body, translation mechanism, upper and lower mechanism, the first grasping mechanism and the second grasping mechanism.The frame body has crossbeam and for by described in
The stand that cross beam support gets up, the crossbeam are equipped with one in translation slide and translator slider.The translation mechanism includes translation
Traction piece, translating base, translation actuators and the translation idler wheel being connected with the output terminal of the translation actuators, the translation traction
Part arrange and is installed on the crossbeam along the guide direction of the translation slide, the translating base be equipped with it is described translate slide and
Another one in translator slider, the translating base are slidedly arranged on the horizontal stroke by the cooperation of the translation slide and the translator slider
Liang Shang, the translation actuators are mounted on the translating base, and the translation idler wheel is in the driving lower edge of the translation actuators
The translation traction piece rolls, described flat so as to be driven from the translation idler wheel rolled under described translate with traction piece
Seat is moved to translate along the guide direction of the translation slide.The mechanism up and down includes the power up and down being mounted on the translating base
Component and the seat up and down being slidedly arranged on up and down on the translating base.First grasping mechanism is installed on the seat up and down and for grabbing
First base is taken, first grasping mechanism is in the cooperation lower edge of the translation mechanism and upper and lower mechanism and the beam vertical
First direction stretch and catch away the first base in the forming machine.Second grasping mechanism is installed on the seat up and down simultaneously
For capturing second base, second grasping mechanism is first described in the cooperation lower edge of the translation mechanism and upper and lower mechanism
It stretches and catches away the second base in the forming machine in direction.
It is preferred that described translate slide at least two and be separated from each other along the vertical direction of the frame body, it is described flat
The vertical direction for moving traction piece along the frame body is located between the adjacent two translation slides, and each translation slide corresponds to one
A translator slider.
It is preferred that the translation mechanism further includes the translation retarder on the translating base, the translation idler wheel
On the output shaft of the translation retarder, the input shaft of the output terminal of the translation actuators and the translation retarder
Connection.
It is preferred that the translation traction piece is list structure.
It is preferred that the translation traction piece is linear gear rack, the translation idler wheel is the tooth engaged with the linear gear
Wheel；Alternatively, the translation traction piece is chain, the translation idler wheel is the sprocket wheel engaged with the chain；It is or described flat
Shifting traction piece is belt, and the translation idler wheel is the belt pulley with belt friction transmission.
It is preferred that the expansion tightening wheel that the translation mechanism is further included mounted on the translating base and set with the belt pulley neighbour,
The belt is around in successively on the belt pulley and expansion tightening wheel.
It is preferred that first grasping mechanism and the second grasping mechanism are respectively comprising telescopic device and gripping head, it is described flexible
Device includes first be slidedly arranged on along the first direction on the seat up and down and slides telescopic seat, is slidedly arranged on along the first direction
Second on the first sliding telescopic seat slides telescopic seat, is installed on along the first direction on the first sliding telescopic seat
Roller group, tight telescopic traction part in outside the roller group and the telescopic drive on the described first sliding telescopic seat
Device, the telescopic traction part are set around the roller group, and the telescopic traction part does revolution fortune under the drive of the roller group
Dynamic, the telescopic traction part is also connected with the described first sliding telescopic seat and the second sliding telescopic seat respectively, the gripping head peace
On the described second sliding telescopic seat, the telescopic driver drives the roller group to roll, by the roller group rolled
The telescopic traction part is driven to do rotary motion, so as to drive described first to slide simultaneously by the telescopic traction part of rotary motion
Telescopic seat and the second sliding telescopic seat is moved to stretch in the same direction along the relatively described seat up and down of the first direction.
It is preferred that the telescopic traction part has the first side section arranged along the first direction and the second side section, it is described
Upper and lower seat be connected with one in first side section and the second side section, the second sliding telescopic seat and first side section and the
The connection of the other of tow side section.
It is preferred that the roller group includes the driving wheel and driven wheel being separated from each other along the first direction, it is described to stretch
Contracting traction piece is set around the driving wheel and driven wheel, and the telescopic driver drives the driving wheel to rotate；Alternatively, the rolling
Wheel group includes driving wheel, driven wheel and coaxial mounted first breast wheel and the second breast wheel, the driving wheel, the first breast wheel
And driven wheel along the first direction successively and be spaced apart be mounted on described first sliding telescopic seat on, the telescopic traction part
Comprising the first traction piece and the second traction piece, first traction piece is arranged around the driving wheel and the first breast wheel, described the
Two traction pieces are set around second breast wheel and driven wheel, one and described the in the seat up and down and the second sliding telescopic seat
One traction piece is connected along section of the first direction between the driving wheel and the first breast wheel, it is described up and down seat and
In second sliding telescopic seat another one and second traction piece along the first direction be located at second breast wheel with it is described
Section between driven wheel is connected.
It is preferred that the Power Component up and down includes upper and lower motor, upper and lower screw and upper and lower screw, the screw edge up and down
The vertical direction of the frame body is mounted on the translating base, and the motor up and down is mounted on the translating base and drives described
Upper and lower screw rotation, the screw sliding sleeve up and down are fixed in the screw up and down and with the seat up and down.
Compared with prior art, since the forming machine translation mechanism fetched and delivered in manipulator of the utility model includes translation
Traction piece, translating base, translation actuators and the translation idler wheel being connected with the output terminal of translation actuators.Traction piece is translated along translation
The guide direction of slide arranges and is installed on crossbeam that translating base is equipped with another one in translation slide and translator slider, translating base
It is slidedly arranged on by the cooperation of translation slide and translator slider on crossbeam, translation actuators are mounted on translating base；Therefore it is translating
Driver drives translation idler wheel to roll, and is rolled by the translation idler wheel rolled along translation traction piece, so as to by the translation idler wheel rolled
Guide direction translation of the translating base along translation slide is driven under the cooperation of translation traction piece, i.e., is translated along crossbeam direction；It is
It says, by driving of the translation actuators on translating base to translation idler wheel, by the rolling on translation idler wheel edge translation traction piece
Translating base is realized in being translated on crossbeam, so, by shared same translation traction piece with reach reduce to the occupancy in space and
It is suitable for narrow space, meanwhile, also the structure of translation mechanism is reduced because of shared same translation traction piece；Furthermore first
Grasping mechanism removes the first base in crawl forming machine in a manner of stretching out, and just retraction resets after the first base is crawled, equally, the
Two grasping mechanisms remove the second base in crawl forming machine in a manner of stretching out, and just retraction resets after the second base is crawled, therefore multiple
The first grasping mechanism and the second grasping mechanism behind position drive shared space smaller in translation mechanism and upper and lower mechanism, more can
It is adapted to the narrow occasion of activity space.
Description of the drawings
Fig. 1 is the dimensional structure diagram that the forming machine of the utility model is assembled with manipulator is fetched and delivered together with forming machine.
Fig. 2 is the forming machine dimensional structure diagram for fetching and delivering manipulator of the utility model.
Fig. 3 is that forming machine use shown in Fig. 2 fetches and delivers dimensional structure diagram of the manipulator after the translating base of hidden parts.
Fig. 4 is the enlarged drawing of C portion in Fig. 3.
Fig. 5 is the planar structure schematic diagram in the forming machine main view direction for fetching and delivering manipulator of state shown in Fig. 3.
Fig. 6 be the forming machine of the utility model with fetching and delivering the first grasping mechanism in manipulator after its gripping head is hidden and
Dimensional structure diagram during in shrinkage limit position.
Fig. 7 be the forming machine of the utility model with fetching and delivering the first grasping mechanism in manipulator after its gripping head is hidden and
In dimensional structure diagram when stretching out extreme position.
Fig. 8 is the first grasping mechanism of state shown in Fig. 7 along the internal structure schematic diagram after its longitudinally cutting.
Fig. 9 is the structural principle schematic diagram of the first embodiment of the telescopic device in the first grasping mechanism shown in Fig. 7.
Figure 10 is the structural principle schematic diagram of the second embodiment of the telescopic device in the first grasping mechanism shown in Fig. 7.
Figure 11 is the forming machine of the utility model with fetching and delivering the second grasping mechanism in manipulator after its gripping head is hidden
And dimensional structure diagram during in shrinkage limit position.
Figure 12 is the forming machine of the utility model with fetching and delivering the second grasping mechanism in manipulator after its gripping head is hidden
And in dimensional structure diagram when stretching out extreme position.
Figure 13 is the second grasping mechanism of state shown in Figure 12 along the internal structure schematic diagram after its longitudinally cutting.
Figure 14 is the structural principle schematic diagram of the first embodiment of the telescopic device in the second grasping mechanism shown in Figure 12.
Figure 15 is the structural principle schematic diagram of the second embodiment of the telescopic device in the second grasping mechanism shown in Figure 12.
Figure 16 is the dimensional structure diagram of the forming machine mechanism up and down fetched and delivered in manipulator of the utility model.
Specific embodiment
The embodiment of the utility model described referring now to attached drawing, similar element numbers represent similar member in attached drawing
Part.
Please refer to Fig.1 to Fig. 5, the forming machine of the utility model with fetch and deliver manipulator 100 be applicable in forming machine 200 (such as
Dinner box shaping machine) in the first base (such as wet base in cutlery box manufacturing process) and the second base (such as in cutlery box manufacturing process
Dry body) it is fetched and delivered, the wet base molded by the wet base molding die 210 of forming machine 200 is caught away, and it is wet by what is caught away
Base is sent into the dry body molding die 220 of forming machine 200, and processing is dried to the wet base of feeding by dry body molding die 220,
It realizes and is converted from wet base toward dry body；Finally the dry body in dry body molding die 220 is caught away again, dry body will be caught away toward forming machine
It is conveyed at 200 shaving die 230.Specifically, as shown in Figure 1, in the present embodiment, wet base molding die 210, dry body are molded
Mold 220 and 230 three of shaving die spell along the longitudinal direction (i.e. double-head arrow A is signified) of the crossbeam 10a for the frame body 10 being described to below
It is fitted together so that wet base molding die 210, dry body molding die 220 and shaving dies of the crossbeam 10a together with tipping
The longitudinal direction that 230 threes are formed is identical, so that the forming machine of the utility model, which is used, fetches and delivers manipulator 100 in the transverse direction of crossbeam 10a
(i.e. double-head arrow B is signified) desired activity space is smaller, so as to be adapted in narrow space occasion.Preferably be, dry body into
Pattern tool 220 is respectively arranged at the both sides of wet base molding die 210, and wet base molding die 210 is made to be located at dry body molding die 220
Between, and shaving die 230 is arranged on the side of dry body molding die 220, state as shown in Figure 1, be designed such that in
The forming machine manipulator 100 of the utility model fetches and delivers wet base and dry body.
And the forming machine of the utility model with fetch and deliver manipulator 100 include frame body 10, translation mechanism 20, upper and lower mechanism 30,
First grasping mechanism 40 and the second grasping mechanism 50.Frame body 10 has crossbeam 10a and the stand for crossbeam 10a to be supported
10b is preferably that stand 10b is located at two ends of crossbeam 10a longitudinal directions respectively, for forming portal frame with crossbeam 10a, is
Upper and lower mechanism 30, the first grasping mechanism 40 and the second grasping mechanism 50 provide the sufficient space along crossbeam 10a longitudinally-movings, and
Crossbeam 10a is equipped with translation slide 11.Translation mechanism 20 includes translation traction piece 21, translating base 22, translation actuators (in figure not
Show) and the translation idler wheel 24 that is connected with the output terminal of translation actuators (see Fig. 4).Translation traction piece 21 is led along translation slide 11
To direction, (i.e. double-head arrow A is signified) arranges and is installed on crossbeam 10a, and specifically, translation traction piece 10 is list structure, so that
The longitudinal direction for obtaining crossbeam 10a is consistent with the length for translating traction piece 21；Preferably it is that translation traction piece 21 is the open item of head and the tail
Shape structure realizes that will translate traction piece 21 more reliably pacifies with the fixation using both ends and the crossbeam 10a of translation traction piece 21
Loaded on crossbeam 10a, on the one hand can ensure that translation traction piece 21 sufficiently long sliding stroke, the opposing party are provided to translate idler wheel 24
Face, saving half of materials uses for the identical lower translation traction piece 21 that can be closed from beginning to end relatively of sliding stroke, but not with this
It is limited.Translating base 22 is equipped with translator slider 221, and translating base 22 is sliding by the cooperation for translating slide 11 and translator slider 221 to be set
In on crossbeam 10a, so that longitudinal translation of the translating base 22 along crossbeam 10a.Translation actuators are mounted on translating base 22, are put down
The driving lower edge translation traction piece 21 that idler wheel 24 is moved in translation actuators rolls, so as to be led by the translation idler wheel 24 rolled in translation
Draw and translating base 22 is driven to be translated along the guide direction of translation slide 11 under the cooperation of part 21, to realize translation actuators by translation
The cooperation of traction piece 21 and translation idler wheel 24 removes to drive translating base 22 in the purpose translated on crossbeam 10a.For example, as Fig. 2,
Shown in Fig. 3 and Fig. 5, in the present embodiment, translation slide 11 is separated from each other for two and along the vertical direction of frame body 10, translates
The vertical direction of traction piece 21 along frame body 10 is located between adjacent two translation slides 11, and each slide 11 that translates corresponds to a translation
On the one hand sliding block 221 increases the sliding steady reliability set between translating base 22 and crossbeam 10a；On the other hand so that translation idler wheel
24 can more stably and reliably roll on translation traction piece 21, thus translating base 22 can more reliably be driven to translate, but not with this
It is limited.It will be appreciated that in other embodiments, translator slider 221 can be arranged on crossbeam 10a, translation slide 11 is mountable to put down
It moves on seat 22, equally so that translating base 22 is slidedly arranged on translating the cooperation of slide 11 on crossbeam 10a by translator slider 221；
Equally, translating the quantity of slide 11 can also differ for three, four or five, therefore be not limited.It is more specifically, as follows：
In the present embodiment, it is belt to translate traction piece 21, and translation idler wheel 24 is belt pulley, and belt pulley is passed with belt friction
It is dynamic, to drive translation idler wheel 24 along translation 21 rolling friction of traction piece by translation actuators, so as to fulfill by translation idler wheel 24
Translating base 22 is driven with respect to the purpose of crossbeam 10a translations；Certainly, in other embodiments, it is linear gear rack to translate traction piece 21
Or chain, and translate idler wheel 24 and correspond to gear or chain；Gear is meshed with linear gear rack, and sprocket wheel is meshed with chain,
Equally so that translation idler wheel 24 realizes mesh of the translating base 22 with respect to crossbeam 10a translations by with translating the cooperation of traction piece 21
, therefore do not illustrated and be limited with this.To cause the frictional drive between belt pulley and belt more reliable；As shown in Figures 3 and 4, put down
Telephone-moving structure 20 is further included mounted on translating base 22 and the expansion tightening wheel 26 that is set with belt pulley neighbour, and belt is around in belt pulley and tensioner successively
On wheel 26, i.e., as shown in figure 5, the left end of belt is on the left end of crossbeam 10a, the right end of belt bypass successively belt pulley and
Right end after expansion tightening wheel 26 again with crossbeam 10a is fixed, with by expansion tightening wheel 26 so that the frictional drive between belt pulley and belt
More reliable, so as to improve the reliability of the translation of translating base 22, but not limited to this.Translation to cause translating base 22 more steadily may be used
It leans on, translation mechanism 20 further includes the translation retarder 25 on translating base 22, and translation idler wheel 24 is mounted on translation retarder
On 25 output shaft, the input axis connection of the output terminal and translation retarder 25 of translation actuators, so that translation idler wheel 24 obtains
The torque of bigger is obtained, so that translation idler wheel 24 can more stably and reliably slide along translation traction piece 21, thus more smoothly
Translating base 22 is driven with respect to the purpose of crossbeam 10a translations, therefore is not limited.Wherein, the operation principle of translation mechanism 20 is：When
Translation actuators drive translation idler wheel 24 to roll, so as to make translation by with translating the friction of traction piece 21 by translation idler wheel 24
Idler wheel 24 slides along translation traction piece 21, so as to drive translating base 22 with respect to crossbeam 10a translations.
As shown in Fig. 2, Fig. 3 and Fig. 5, upper and lower mechanism 30 include be mounted on translating base 22 on the 30a of Power Component up and down and
The seat 30b up and down being slidedly arranged on up and down on translating base 22 drives seat 30b slidings up and down up and down by upper and lower Power Component 30a；Specifically
Ground, with reference to Figure 16, in the present embodiment, upper and lower Power Component 30a include upper and lower motor (not shown), upper and lower screw 32 and on
Lower screw 33；Upper and lower screw 32 is mounted on along the vertical direction of frame body 10 on translating base 22, and upper and lower motor is mounted on translating base 22
It goes up and upper and lower screw 32 is driven to rotate, upper and lower 33 sliding sleeve of screw is fixed in upper and lower screw 32 and with upper and lower seat 30b, therefore in power-on and power-off
When machine drives the rotation of screw 32 up and down, driving upper and lower screw 33 by the screw up and down 32 rotated, vertically the longitudinal of screw 32 is slided
It moves, so as to more steady accurately drive, seat 30b slides up and down up and down, it is ensured that the forming machine of the utility model manipulator 100
Precisely.For example, in the present embodiment, belt transmission structure 34 is connected between upper and lower motor and upper and lower screw 32, certainly,
Chain drive structure or gear transmission structure are connected with according to actual needs, therefore are not limited.It will be appreciated that in other realities
It applies in example, upper and lower motor can directly be fixed with upper and lower screw 32.To cause the cooperation between upper and lower seat 30b and translating base 22
Sliding is more steady reliable, therefore is equipped with upper and lower slide rail 35 and upper sliding block 36, upper and lower slide rail 35 between seat 30b and translating base 22 up and down
It is installed on translating base 22, upper sliding block 36 is installed on seat 30b up and down, and but not limited to this.
As shown in Figure 1, Figure 2, shown in Fig. 3 and Fig. 5, the first grasping mechanism 40 is installed on seat 30b up and down and for capturing the first base
(such as wet base), the first grasping mechanism 40 translation mechanism 20 and up and down mechanism 30 cooperation lower edge it is vertical with crossbeam 10a first
(i.e. double-head arrow B is signified, is also the transverse direction of crossbeam 10a) is flexible in direction, so as to which the first base in forming machine 200 be caught away, is
Wet base in wet base molding die 210 is caught away.Second grasping mechanism 50 is installed on seat 30b up and down and for capturing the second base
(such as dry body), the second grasping mechanism 50 stretch along the first direction under translation mechanism 20 and the up and down cooperation of mechanism 30, thus will
The second base in forming machine 200 is caught away, and is to catch away the dry body in dry body molding die 220；Preferably it is the first gripper
For 40 and second grasping mechanism 50 of structure along the vertical direction of frame body 10 in arranged spaced apart, which need to meet the
The dry body that the wet base that one grasping mechanism 40 is picked up is picked up with the second grasping mechanism 50 does not relate to mutually, therefore in the first grasping mechanism 40
After catching away the wet base in wet base molding die 210, then by the second grasping mechanism 50 dry body in dry body molding die 220 is grabbed
Take, then again by the first grasping mechanism 40 by capture in wet base molding die 210 Lai wet base be positioned over dry body molding die
In 220, meanwhile, the dry body captured is conveyed toward 230 direction of shaving die from the second grasping mechanism 50.It is more specifically, as follows：
With reference to Fig. 6 to Fig. 9, the first grasping mechanism 40 includes telescopic device 40a and gripping head 40b.Telescopic device 40a is included
First be slidedly arranged on along the first direction on upper and lower seat 30b slides telescopic seat 41, is slidedly arranged on the first sliding telescopic seat along the first direction
The second sliding telescopic seat 42 on 41, the roller group 43, tight in rolling being installed on along the first direction on the first sliding telescopic seat 41
Telescopic traction part 44 outside wheel group 43 and the telescopic driver (not painted in figure) on the first sliding telescopic seat 41.It is flexible to lead
Draw part 44 to set around roller group 43, telescopic traction part 44 does rotary motion under the drive of roller group 43, and telescopic traction part 44 is also
It slides telescopic seat 42 with the first sliding telescopic seat 41 and second respectively to be connected, gripping head 40b is mounted on the second sliding telescopic seat 42
On, telescopic driver drives roller group 43 to roll, and by the roller group 43 rolled telescopic traction part 44 is driven to do rotary motion, so as to
By the telescopic traction part 44 of rotary motion the first sliding telescopic seat 41 and second is driven to slide telescopic seat 42 along the first direction simultaneously
Seat 30b stretches in the same direction up and down relatively, i other words, under the drive of telescopic traction part 44, the first sliding telescopic seat 41 is on relatively
When lower seat 30b stretches out, the second sliding telescopic seat 42 is also stretched out with respect to the first sliding telescopic seat 41 so that the second sliding telescopic seat 42
The stroke that seat 30b stretches out up and down relatively for the first sliding telescopic seat 41, with the second sliding stretch up and down relatively by the stretching stroke of seat 30b
The sum of stroke of the opposite first sliding telescopic seat 41 of contracting seat 42, so, therefore in telescopic traction part 44 the first sliding is driven to stretch simultaneously
Contracting seat 41 and second is slid in the relatively upper and lower seat 30b telescopic process of telescopic seat 42, the second sliding telescopic seat 42 relatively up and down seat 30b
Stretching speed be twice of the stretching speed of seat 30b up and down relatively of the first sliding telescopic seat 41, therefore work efficiency is high.Specifically,
Flexible slide 40d and flexible sliding block 40e is equipped between first sliding telescopic seat 41 and up and down seat 30b, so that the first sliding is stretched
Contracting seat 41 can be more stably and reliably slidedly arranged on by the cooperation of flexible slide 40d and flexible sliding block 40e on seat 30b up and down, from
And ensure the first sliding telescopic seat 41 steady reliability that seat 30b slidings are stretched up and down relatively.Second sliding telescopic seat 42 and the
Flexible slide 40d and flexible sliding block 40e also is provided between one sliding telescopic seat 41, so that the second sliding telescopic seat 42 is by stretching
The cooperation of contracting slide 40d and flexible sliding block 40e and can more stably and reliably be slidedly arranged on the first sliding telescopic seat 41, so that it is guaranteed that
The flexible steady reliability of the opposite first sliding sliding of telescopic seat 41 of second sliding telescopic seat 42, but not to be limited.
As can be seen from figures 8 and 9, telescopic traction part 44 has the first side section 441 arranged along the first direction and the second side section
442, upper and lower seat 30b is connected with the second side section 442, and the second sliding telescopic seat 42 is connected with the first side section 441, so that upper and lower seat
The junction of the junction of 30b and telescopic traction part 44 and the second sliding telescopic seat 42 and telescopic traction part 44 is along roller group 43
It is radially arranged in heteropleural, also along the first direction in one in front and one in back, as shown in Figure 9, the purpose so set is so that second to state
Slide the stretching stroke bigger of seat 30b, and stretching speed is faster up and down relatively of telescopic seat 42；Certainly, in other embodiments, may be used
Upper and lower seat 30b and the first side section 441 be connected and slides telescopic seat 42 by second and is connected with the second side section 442, thus not as
Limit.Specifically, in the present embodiment, upper and lower seat 30b is fixed together by the first mounting fixing parts 40f with the second side section 442,
Second sliding telescopic seat 42 is fixed together by the second mounting fixing parts 40g and the first side section 441.Roller group 43 is included along the
The driving wheel 43a and driven wheel 43b that one direction is separated from each other, telescopic traction part 44 are set around driving wheel 43a and driven wheel 43b
It puts, telescopic driver drives driving wheel 43a to rotate, so as to drive telescopic traction under driving wheel 43a is with the driven wheel 43b
Part 44 does rotary motion, therefore simplifies the structure of roller group 43.For example, in the present embodiment, telescopic traction part 44 is skin
Band, and driving wheel 43a and driven wheel 43b are belt wheel；Certainly, in other embodiments, telescopic traction part 44 can be chain or
Flexible rope, driving wheel 43a and driven wheel 43b are sprocket wheel or friction pulley, therefore are not limited.To cause telescopic driver
Driving wheel 43a obtain the torque of bigger, telescopic device 40a further includes the flexible retarder for being connected with telescopic driver
45, telescopic driver is mounted on by flexible retarder 45 on the first sliding telescopic seat 41；To cause flexible retarder 45 and master
It can be more stably driven between driving wheel 43a, therefore V belt translation component can be equipped with by stretching between retarder 45 and driving wheel 43a
40c, selected as chain kit or gear-driven assembly according to actual needs certainly, therefore be not limited.It will be appreciated that
It can be directly connected according to actual needs and by telescopic driver with driving wheel 43a, driving wheel 43a is directly driven by telescopic driver
It rolls.Therefore, V belt translation component 40c, chain kit, gear-driven assembly and flexible retarder 45 are according to actually needing to select
, therefore be not limited.
As shown in Figure 10, show the another embodiment (be known as first embodiment) of telescopic device, the embodiment with
The structure of the telescopic device 40a (being known as first embodiment) of front is essentially identical, and distinctive points are roller group and telescopic traction part
Concrete structure it is different, it is specific as follows：
In the present embodiment, roller group 43` is equipped with than the roller group more than 43 of first embodiment among coaxial mounted first
43c and the second breast wheel 43d is taken turns, correspondingly, the telescopic traction part of second embodiment includes the tractions of the first traction piece 44a and second
Part 44b.And in the first embodiment, roller group 43 includes driving wheel 43a and driven wheel 43b, accordingly, telescopic traction part 44
The first traction piece 44a and the second traction piece 44a need not be included.Since the telescopic traction part of second embodiment includes the first traction
Part 44a and the second traction piece 44b, therefore the first traction piece 44a and the second traction piece 44b respectively have the first side section 441 and the second side
Section 442.
Just since the roller group 43` of second embodiment is equipped with coaxial mounted first than the roller group more than 43 of first embodiment
43 and second breast wheel 44 of breast wheel, thus driving wheel 43a, the first breast wheel 43c and driven wheel 43b along the first direction successively and
What is separated is mounted on the first sliding telescopic seat 41；Meanwhile the first traction piece 44a in second embodiment around driving wheel 43a and
First breast wheel 43c arranges that the second traction piece 44b in second embodiment is set around the second breast wheel 43d and driven wheel 43b,
The 30b of seat up and down and the first traction piece 44a in second embodiment are located at driving wheel 43a and the first breast wheel 43c along the first direction
Between section (i.e. the second side section 442) be connected, particular by the first mounting fixing parts 40f by upper and lower seat 30b and first
The second side section 442 of traction piece 44a is fixed together；The second sliding 42 and second traction piece of telescopic seat in second embodiment
The section between the second breast wheel 43d and driven wheel 43b (i.e. the first side section 441) is connected 44b along the first direction, specifically
It is that the first side section 441 of the second 42 and second traction piece 44b of sliding telescopic seat is fixed on one by the second mounting fixing parts 40g
It rises；Preferably it is that, if Figure 10 shows, in a second embodiment, the first mounting fixing parts 40f is located at the second of the first traction piece 44a
Side section 442 is at the first breast wheel 43c, and the second mounting fixing parts 40g is located at the first side section 441 of the second traction piece 44b
At neighbouring second breast wheel 43d, to ensure that the first traction piece 44a and the second traction piece 44b are reliable in the kinetic energy of roller group 43`
While ground drives the opposite first sliding telescopic seat 41 of the second sliding telescopic seat 42 to stretch, the first sliding telescopic seat 41 also relatively on
Lower seat 30b stretches.It will be appreciated that in other embodiments, the second side section 442 of upper and lower seat 30b and the second traction piece 44b are adjacent
The position of nearly driven wheel 43b is fixed, i.e., the first mounting fixing parts 40f at this time is located at the second side section 442 of the second traction piece 44b
On the position of neighbouring driven wheel 43b, accordingly, the first side section 441 of second sliding telescopic seat 42 and the first traction piece 44a is neighbouring
The position of driving wheel 43a is fixed, i.e., at this time second surely dress fixing piece 40g be located at the first traction piece 44a the first side section 441 neighbour
On the position of nearly driving wheel 43a, it can equally reach that " the first traction piece 44a and the second traction piece 44b are in the drive of roller group 43`
While reliably driving the opposite first sliding telescopic seat 41 of the second sliding telescopic seat 42 to stretch, the first sliding telescopic seat 41 is also
Relatively up and down seat 30b stretch " purpose.For example, the first traction piece 44a and the second traction piece 44b is belt, driving wheel
43a, the first breast wheel 43c, the second breast wheel 43d and driven wheel 43b are belt wheel；Certainly, in other embodiments, first lead
Draw part 44a and the second traction piece 44b be chain or flexibility rope, driving wheel 43a, the first breast wheel 43c, the second breast wheel
43d and driven wheel 43b is sprocket wheel or friction pulley, therefore is not limited.
With reference to Fig. 6 to Fig. 9, the flexible principle of the telescopic device 40a of first embodiment is illustrated：When Fig. 6 or Fig. 9 institutes
When the telescopic device 40a shown will extend out to Fig. 7 or shown in Fig. 8 states, telescopic driver drives the driving wheel in Fig. 9 at this time
43a is along rotation counterclockwise, since relative positions of the driving wheel 43a and driven wheel 43b on the first sliding telescopic seat 41 is fixed
Not position, then the driving wheel 43a rotated drives telescopic traction part 44 to do rotary motion under the cooperation of driven wheel 43b, due to stretching
The second side section 442 of contracting traction piece 44 is fixed with upper and lower seat 30b, so that the driving wheel 43a rotated counterclockwise is close step by step
The fixed position of telescopic traction part 44 and upper and lower seat 30b, and led step by step close to flexible in the driving wheel 43a rotated counterclockwise
During the fixed position for drawing part 44 and upper and lower seat 30b so that the first sliding telescopic seat 41 relatively stretch out up and down by seat 30b slidings；
Similarly, since the first side section 441 of the second sliding telescopic seat 42 and telescopic traction part 44 is fixed, therefore in the active rotated counterclockwise
43a is taken turns step by step during the fixed position of telescopic traction part 44 and upper and lower seat 30b, synchronous drive second slides telescopic seat
42 opposite first sliding telescopic seats 41 stretch out so that the stretching speed of the second sliding telescopic seat 42 is the first sliding telescopic seat 41
Twice；When fixed positions of the driving wheel 43a rotated counterclockwise close to telescopic traction part 44 and upper and lower seat 30b, stretching at this time
44 synchronous drive first of contracting traction piece sliding telescopic seat 41 and second slides the extreme position that telescopic seat 42 reaches stretching, and state is shown in
Shown in Fig. 7 or Fig. 8.When the telescopic device 40a of state shown in Fig. 7 or Fig. 8 will retract Fig. 6 or shown in Fig. 9 states, stretch at this time
Contracting driver drives driving wheel 43a shown in Fig. 8 to rotate clockwise, and is moved away from by the driving wheel 43a rotated clockwise
The bearing of lower seat 30b and telescopic traction part 44, while the driving wheel 43a rotated clockwise is progressively stretched close to the second sliding
The bearing of contracting seat 42 and telescopic traction part 44, so that telescopic traction part 44 drives the first sliding telescopic seat 41 and second to slide
It moves telescopic seat 42 to bounce back together, is finally reached Fig. 6 or shown in Fig. 9 extreme positions.
Equally, with reference to Figure 10, the principle of the telescopic device of second embodiment is illustrated：The flexible dress of second embodiment
The flexible principle put is identical with the flexible principle of the telescopic device 40a of first embodiment, and difference lies in the transmissions of second embodiment
Process is more more complex than first embodiment；I.e., in a second embodiment, driving wheel 43a first passes through the first traction piece 44a drives
First breast wheel 43c rotates, due to the second breast wheel 43d and the first breast wheel 43c to be co-axially mounted, therefore the second breast wheel 43d
The first breast wheel 43c is followed to do synchronous rotary, then driven wheel 43b rotations are driven by the second traction piece 44b by the second breast wheel 43d
Turn so that the first traction piece 44a does passback campaign synchronous simultaneously with the second traction piece 44b.Therefore, in Figure 10, in the inverse time
The driving wheel 43a of pin rotation is step by step during the fixed position of the first traction piece 44a and upper and lower seat 30b so that first
Sliding telescopic seat 41, seat 30b slidings are stretched out up and down relatively；Similarly, since the second 42 and second traction piece 44b of sliding telescopic seat
First side section 441 is fixed, therefore in the driving wheel 43a rotated counterclockwise step by step close to the first traction piece 44a's and upper and lower seat 30b
During fixed position, synchronous drive second slides the opposite first sliding telescopic seat 41 of telescopic seat 42 and stretches out, finally so that first
Traction piece 44a drives the first sliding telescopic seat 41 to stretch out extreme position and the second traction piece 44b drives the second sliding telescopic seat
42 stretch out extreme position；When the telescopic device of second embodiment will bounce back, telescopic driver drives driving wheel 43a along clockwise
Rotation is moved away from the bearing of upper and lower seat 30b and the first traction piece 44a by the driving wheel 43a rotated clockwise, is caused simultaneously
Second breast wheel 43d is progressively close to the bearing of the second 42 and second traction piece 44b of sliding telescopic seat, so that the first traction
Part 44a drives the first 41 and second traction piece 44b of sliding telescopic seat that the second sliding telescopic seat 42 is driven to bounce back together, is finally reached
Extreme position shown in Fig. 10.
Therefore, by the setting of telescopic device 40a so that the first sliding telescopic seat 41 and second slides telescopic seat 42 simultaneously
Seat 30b's is flexible above and below relatively, and the flexible power is by same telescopic driver, telescopic traction part 44 and roller group 43 entirely
It realizes, the relatively existing flexible needs for realizing more than two layers, which are equipped with for the telescopic device of more than two telescopic cylinders, more to be saved
Power and reduce cost；At the same time, stretched by the way that telescopic driver, roller group 43 and telescopic traction part 44 are arranged on the first sliding
On contracting seat 41, just under the drive of roller group 43 the first sliding sliding of telescopic seat 41 and second can be controlled to stretch by telescopic traction part 44
The flexible stroke of the relatively upper and lower seat 30b of contracting seat 42, so that the first sliding telescopic seat 41, second slides telescopic seat 42 and upper and lower seat
Stacking between 30b is concordant, more heap will not more stretch out, therefore space needs smaller；Importantly, telescopic traction part 44 exists
The first sliding of control telescopic seat 41 and second slides the flexible row of the relatively upper and lower seat 30b of telescopic seat 42 under the drive of roller group 43
Journey, therefore the second sliding telescopic seat 42 stroke that seat 30b stretches out up and down relatively is the first sliding telescopic seat 41 relatively up and down seat 30b
The sum of stretching stroke of stroke and the opposite first sliding telescopic seat 41 of the second sliding telescopic seat 42 is stretched out, therefore it is big to stretch out stroke.
With reference to Figure 11 to Figure 14, the second grasping mechanism 50 includes telescopic device 50a and gripping head 50b.Telescopic device 50a bags
Containing the first sliding telescopic seat 51 being slidedly arranged on along the first direction on upper and lower seat 30b, the first sliding is slidedly arranged on along the first direction stretches
Seat 51 on second sliding telescopic seat 52, be installed on along the first direction on the first sliding telescopic seat 51 roller group 53, it is tight in
Telescopic traction part 54 outside roller group 53 and the telescopic driver (not painted in figure) on the first sliding telescopic seat 51.It is flexible
Traction piece 54 is set around roller group 53, and telescopic traction part 54 does rotary motion, telescopic traction part 54 under the drive of roller group 53
It also slides telescopic seat 52 with the first sliding telescopic seat 51 and second respectively to be connected, gripping head 50b is mounted on the second sliding telescopic seat
On 52, telescopic driver drives roller group 53 to roll, and by the roller group 53 rolled telescopic traction part 54 is driven to do rotary motion, from
And by the telescopic traction part 54 of rotary motion the first sliding telescopic seat 51 and second is driven to slide telescopic seat 52 along first party simultaneously
To seat 30b stretches in the same direction up and down relatively, i other words, under the drive of telescopic traction part 54, the first sliding telescopic seat 51 is opposite
When upper and lower seat 30b stretches out, the second sliding telescopic seat 52 is also stretched out with respect to the first sliding telescopic seat 51 so that the second sliding telescopic seat
52 strokes that seat 30b stretches out up and down relatively are the stretching stroke of seat 30b and the second sliding up and down relatively of the first sliding telescopic seat 51
The sum of stroke of the opposite first sliding telescopic seat 51 of telescopic seat 52, so, therefore the first sliding is driven simultaneously in telescopic traction part 54
Telescopic seat 51 and second is slid in the relatively upper and lower seat 30b telescopic process of telescopic seat 52, the relatively upper and lower seat of the second sliding telescopic seat 52
The stretching speed of 30b is twice of the stretching speed of seat 30b up and down relatively of the first sliding telescopic seat 51, therefore work efficiency is high.Specifically
Ground is equipped with flexible slide 50d and flexible sliding block 50e between the first sliding telescopic seat 51 and up and down seat 30b, so that the first sliding
Telescopic seat 51 can be more stably and reliably slidedly arranged on by the cooperation of flexible slide 50d and flexible sliding block 50e on seat 30b up and down,
So that it is guaranteed that the first sliding telescopic seat 51 steady reliability that seat 30b slidings are stretched up and down relatively.Second sliding telescopic seat 52 with
Also is provided with flexible slide 50d and flexible sliding block 50e between first sliding telescopic seat 51 so that the second sliding telescopic seat 52 by
The cooperation of flexible slide 50d and flexible sliding block 50e and can more stably and reliably be slidedly arranged on the first sliding telescopic seat 51, so as to really
Protect the flexible steady reliability of the opposite first sliding sliding of telescopic seat 51 of the second sliding telescopic seat 52, but not to be limited.
As shown in FIG. 13 and 14, telescopic traction part 54 has the first side section 541 and the second side arranged along the first direction
Section 542, upper and lower seat 30b is connected with the second side section 542, and the second sliding telescopic seat 52 is connected with the first side section 541, so that up and down
The junction of the junction of seat 30b and telescopic traction part 54 and the second sliding telescopic seat 52 and telescopic traction part 54 is along roller group 53
Radial direction arrange that, also along the first direction in one in front and one in back, as shown in Figure 14, the purpose so set is so that the to state in heteropleural
The two sliding telescopic seats 52 stretching stroke bigger of seat 30b, and stretching speed is faster up and down relatively；Certainly, in other embodiments,
Upper and lower seat 30b with the first side section 541 can be connected and be connected the second sliding telescopic seat 52 with the second side section 542, therefore not with this
It is limited.Specifically, in the present embodiment, upper and lower seat 30b is fixed on one by the first mounting fixing parts 50f and the second side section 542
It rises, the second sliding telescopic seat 52 is fixed together by the second mounting fixing parts 50g and the first side section 541.Roller group 53 includes
The driving wheel 53a and driven wheel 53b being separated from each other along the first direction, telescopic traction part 54 is around driving wheel 53a and driven wheel 53b
It sets, telescopic driver drives driving wheel 53a to rotate, so as to drive flexible lead under driving wheel 53a is with the driven wheel 53b
Draw part 54 and do rotary motion, therefore simplify the structure of roller group 53.For example, in the present embodiment, telescopic traction part 54 is
Belt, and driving wheel 53a and driven wheel 53b are belt wheel；Certainly, in other embodiments, telescopic traction part 54 can be chain
Or flexible rope, driving wheel 53a and driven wheel 53b are sprocket wheel or friction pulley, therefore are not limited.To cause telescopic drive
The driving wheel 53a of device obtains the torque of bigger, and telescopic device 50 further includes the flexible retarder for being connected with telescopic driver
55, telescopic driver is mounted on by flexible retarder 55 on the first sliding telescopic seat 51；To cause flexible retarder 55 and master
It can be more stably driven between driving wheel 53a, therefore V belt translation component can be equipped with by stretching between retarder 55 and driving wheel 53a
50c, selected as chain kit or gear-driven assembly according to actual needs certainly, therefore be not limited.It will be appreciated that
It can be directly connected according to actual needs and by telescopic driver with driving wheel 53a, driving wheel 53a is directly driven by telescopic driver
It rolls.Therefore, V belt translation component 50c, chain kit, gear-driven assembly and flexible retarder 55 are according to actually needing to select
, therefore be not limited.
As shown in figure 15, show the another embodiment (be known as first embodiment) of telescopic device, the embodiment with
The structure of the telescopic device 50a (being known as first embodiment) of front is essentially identical, and distinctive points are roller group and telescopic traction part
Concrete structure it is different, it is specific as follows：
In the present embodiment, roller group 53` is equipped with than the roller group more than 53 of first embodiment among coaxial mounted first
53c and the second breast wheel 53d is taken turns, correspondingly, the telescopic traction part of second embodiment includes the tractions of the first traction piece 54a and second
Part 54b.And in the first embodiment, roller group 53 includes driving wheel 53a and driven wheel 53b, accordingly, telescopic traction part 54
The first traction piece 54a and the second traction piece 54a need not be included.Since the telescopic traction part of second embodiment includes the first traction
Part 54a and the second traction piece 54b, therefore the first traction piece 54a and the second traction piece 54b respectively have the first side section 541 and the second side
Section 542.
Just since the roller group 53` of second embodiment is equipped with coaxial mounted first than the roller group more than 53 of first embodiment
53 and second breast wheel 54 of breast wheel, thus driving wheel 53a, the first breast wheel 53c and driven wheel 53b along the first direction successively and
What is separated is mounted on the first sliding telescopic seat 51；Meanwhile the first traction piece 54a in second embodiment around driving wheel 53a and
First breast wheel 53c arranges that the second traction piece 54b in second embodiment is set around the second breast wheel 53d and driven wheel 53b,
The 30b of seat up and down and the first traction piece 54a in second embodiment are located at driving wheel 53a and the first breast wheel 53c along the first direction
Between section (i.e. the second side section 542) be connected, particular by the first mounting fixing parts 50f by upper and lower seat 30b and first
The second side section 542 of traction piece 54a is fixed together；The second sliding 52 and second traction piece of telescopic seat in second embodiment
The section between the second breast wheel 53d and driven wheel 53b (i.e. the first side section 541) is connected 54b along the first direction, specifically
It is that the first side section 541 of the second 52 and second traction piece 54b of sliding telescopic seat is fixed on one by the second mounting fixing parts 50g
It rises；Preferably it is that, if Figure 15 shows, in a second embodiment, the first mounting fixing parts 50f is located at the second of the first traction piece 54a
Side section 542 is at the first breast wheel 53c, and the second mounting fixing parts 50g is located at the first side section 541 of the second traction piece 54b
At neighbouring second breast wheel 53d, to ensure that the first traction piece 54a and the second traction piece 54b are reliable in the kinetic energy of roller group 53`
While ground drives the opposite first sliding telescopic seat 51 of the second sliding telescopic seat 52 to stretch, the first sliding telescopic seat 51 also relatively on
Lower seat 30b stretches.It will be appreciated that in other embodiments, the second side section 542 of upper and lower seat 30b and the second traction piece 54b are adjacent
The position of nearly driven wheel 53b is fixed, i.e., the first mounting fixing parts 50f at this time is located at the second side section 542 of the second traction piece 54b
On the position of neighbouring driven wheel 53b, accordingly, the first side section 541 of second sliding telescopic seat 52 and the first traction piece 54a is neighbouring
The position of driving wheel 53a is fixed, i.e., at this time second surely dress fixing piece 50g be located at the first traction piece 54a the first side section 541 neighbour
On the position of nearly driving wheel 53a, it can equally reach that " the first traction piece 54a and the second traction piece 54b are in the drive of roller group 53`
While reliably driving the opposite first sliding telescopic seat 51 of the second sliding telescopic seat 52 to stretch, the first sliding telescopic seat 51 is also
Relatively up and down seat 30b stretch " purpose.For example, the first traction piece 54a and the second traction piece 54b is belt, driving wheel
53a, the first breast wheel 53c, the second breast wheel 53d and driven wheel 53b are belt wheel；Certainly, in other embodiments, first lead
Draw part 54a and the second traction piece 54b be chain or flexibility rope, driving wheel 53a, the first breast wheel 53c, the second breast wheel
53d and driven wheel 53b is sprocket wheel or friction pulley, therefore is not limited.It will be appreciated that due in the first grasping mechanism 40
Telescopic device 40a is identical with the structure of the telescopic device 50a in the second grasping mechanism 50, therefore in the second grasping mechanism 50
The working principle and beneficial effect of telescopic device 50a is identical with the telescopic device 40a in the first grasping mechanism 40, therefore, therefore
Details are not described herein.
Compared with prior art, since the forming machine translation mechanism 20 fetched and delivered in manipulator 100 of the utility model wraps
The traction piece 21 containing translation, translating base 22, translation actuators and the translation idler wheel 24 being connected with the output terminal of translation actuators.Translation
Traction piece 21 arrange and is installed on crossbeam 10a along the guide direction of translation slide 11, translating base 22 be equipped with translate slide 11 and
Another one in translator slider 21, translating base 22 are slidedly arranged on crossbeam 10a by the cooperation of translation slide 11 and translator slider 221
On, translation actuators are mounted on translating base 22；Therefore in translation actuators translation idler wheel 24 is driven to roll, it is rolled by the translation rolled
Wheel 24 is rolled along translation traction piece 21, so as to drive translating base in the case where translating with traction piece 21 from the translation idler wheel 24 rolled
22 translate along the guide direction of translation slide 11, i.e., are translated along crossbeam 10a directions；I other words by the translation on translating base 22
Driving of the driver to translation idler wheel 24 realizes translating base 22 in horizontal stroke by translation idler wheel 24 along the rolling on translation traction piece 21
It is translated on beam 10a, so, it is narrow to be suitable for the occupancy in space to reach reduction by shared same translation traction piece 21
Space, meanwhile, also reduce the structure of translation mechanism 20 because of shared same translation traction piece 21；Furthermore the first gripper
Structure 40 removes the first base in crawl forming machine 200 in a manner of stretching, and just retraction resets after the first base is crawled, equally, the
Two grasping mechanisms 50 remove the second base in crawl forming machine in a manner of stretching, and just retraction resets after the second base is crawled, therefore
The first grasping mechanism 40 and the second grasping mechanism 50 after reset drive shared space in translation mechanism 20 and upper and lower mechanism 30
It is smaller, it is suitable in the narrow occasion of activity space.
Upper disclosed is only the preferred embodiment of the utility model, cannot limit the utility model with this certainly
Interest field, therefore equivalent variations made according to present utility model application the scope of the claims still belong to what the utility model was covered
Scope.
Claims (10)
- The first base in forming machine and the second base are fetched and delivered 1. a kind of forming machine with manipulator is fetched and delivered, is applicable in, feature exists In, including：Frame body, the frame body have crossbeam and the stand for the cross beam support to be got up, and the crossbeam is equipped with translation slide And one in translator slider；Translation mechanism is connected comprising translation traction piece, translating base, translation actuators and with the output terminal of the translation actuators Idler wheel is translated, the guide direction of the translation traction piece along the translation slide is arranged and is installed on the crossbeam, described flat It moves seat and is equipped with another one in the translation slide and translator slider, the translating base is slided by the translation slide and the translation The cooperation of block and be slidedly arranged on the crossbeam, the translation actuators be mounted on the translating base on, it is described translation idler wheel in institute It states and traction piece rolling is translated described in the driving lower edge of translation actuators, so as to be led by the translation idler wheel rolled in the translation Draw and the translating base is driven to be translated along the guide direction of the translation slide under the cooperation of part；Upper and lower mechanism is slidedly arranged on comprising the Power Component up and down on the translating base and up and down upper on the translating base Lower seat；The seat up and down and the first grasping mechanism for capturing first base are installed on, first grasping mechanism is described The first direction of the cooperation lower edge of translation mechanism and upper and lower mechanism and the beam vertical stretch and by the in the forming machine One base is caught away；AndThe seat up and down and the second grasping mechanism for capturing second base are installed on, second grasping mechanism is described First direction described in the cooperation lower edge of translation mechanism and upper and lower mechanism stretches and catches away the second base in the forming machine.
- 2. forming machine according to claim 1 is with fetching and delivering manipulator, which is characterized in that the translation slide at least two And be separated from each other along the vertical direction of the frame body, the translation traction piece is located at adjacent two along the vertical direction of the frame body Between the translation slide, each translation slide corresponds to a translator slider.
- 3. forming machine according to claim 1 is with fetching and delivering manipulator, which is characterized in that the translation mechanism further includes installation Translation retarder on the translating base, the translation idler wheel is mounted on the output shaft of the translation retarder, described flat Move the input axis connection of the output terminal and the translation retarder of driver.
- 4. forming machine according to claim 1 is with fetching and delivering manipulator, which is characterized in that the translation traction piece is strip knot Structure.
- 5. forming machine according to claim 4 is with fetching and delivering manipulator, which is characterized in that the translation traction piece is straight line tooth Item, the translation idler wheel are and the linear gear meshed gears；Alternatively, the translation traction piece is chain, the translation Idler wheel is the sprocket wheel engaged with the chain；Or the translation traction piece is belt, the translation idler wheel is and the skin Belt pulley with frictional drive.
- 6. forming machine according to claim 5 is with fetching and delivering manipulator, which is characterized in that the translation mechanism further includes installation In the translating base and the expansion tightening wheel that is set with the belt pulley neighbour, the belt is around in successively on the belt pulley and expansion tightening wheel.
- 7. forming machine according to claim 1 is with fetching and delivering manipulator, which is characterized in that first grasping mechanism and second Respectively comprising telescopic device and gripping head, the telescopic device includes along the first direction and is slidedly arranged on the seat up and down grasping mechanism On first sliding telescopic seat, along the first direction be slidedly arranged on it is described first sliding telescopic seat on second sliding telescopic seat, The roller group, tight in the telescopic traction outside the roller group on the first sliding telescopic seat is installed on along the first direction Part and the telescopic driver on the described first sliding telescopic seat, the telescopic traction part are set around the roller group, institute It states telescopic traction part and rotary motion is done under the drive of the roller group, the telescopic traction part also slides with described first respectively Telescopic seat and the second sliding telescopic seat connection, the gripping head are mounted on the described second sliding telescopic seat, the telescopic drive Device drives the roller group to roll, and by the roller group rolled the telescopic traction part is driven to do rotary motion, so as to by returning The dynamic telescopic traction part of transhipment drives the first sliding telescopic seat and the second sliding telescopic seat along the first party simultaneously It stretches in the same direction to relatively described seat up and down.
- 8. forming machine according to claim 7 is with fetching and delivering manipulator, which is characterized in that the telescopic traction part has along institute The first side section of first direction arrangement and the second side section are stated, the seat up and down connects with one in first side section and the second side section It connects, the other of the second sliding telescopic seat and first side section and the second side section are connected.
- 9. forming machine according to claim 8 is with fetching and delivering manipulator, which is characterized in that the roller group is included along described the The driving wheel and driven wheel that one direction is separated from each other, the telescopic traction part is set around the driving wheel and driven wheel, described Telescopic driver drives the driving wheel to rotate；Alternatively, the roller group includes driving wheel, driven wheel and coaxial mounted first Breast wheel and the second breast wheel, the driving wheel, the first breast wheel and driven wheel along the first direction successively and be spaced apart Mounted on described first sliding telescopic seat on, the telescopic traction part include the first traction piece and the second traction piece, described first Traction piece arranges that second traction piece is set around second breast wheel and driven wheel around the driving wheel and the first breast wheel It puts, one is located at the active with first traction piece along the first direction in the seat up and down and the second sliding telescopic seat Wheel is connected with the section between the first breast wheel, and another one is led with described second in the seat up and down and the second sliding telescopic seat Draw part and be located at second breast wheel along the first direction and be connected with the section between the driven wheel.
- 10. forming machine according to claim 1 is with fetching and delivering manipulator, which is characterized in that the Power Component up and down includes Upper and lower motor, upper and lower screw and upper and lower screw, the screw up and down are mounted on the translating base along the vertical direction of the frame body On, the motor up and down is mounted on the translating base and drives the screw rotation up and down, and the screw sliding sleeve up and down is in institute It states screw up and down and is fixed with the seat up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721273831.1U CN207388093U (en) | 2017-09-28 | 2017-09-28 | Forming machine is with fetching and delivering manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721273831.1U CN207388093U (en) | 2017-09-28 | 2017-09-28 | Forming machine is with fetching and delivering manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207388093U true CN207388093U (en) | 2018-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721273831.1U Expired - Fee Related CN207388093U (en) | 2017-09-28 | 2017-09-28 | Forming machine is with fetching and delivering manipulator |
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| CN (1) | CN207388093U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696343A (en) * | 2017-09-28 | 2018-02-16 | 东莞三润田智能科技股份有限公司 | Forming machine is with fetching and delivering manipulator |
| CN110936435A (en) * | 2019-11-27 | 2020-03-31 | 东莞三润田智能科技股份有限公司 | Meal box off-line type edge cutting method |
-
2017
- 2017-09-28 CN CN201721273831.1U patent/CN207388093U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107696343A (en) * | 2017-09-28 | 2018-02-16 | 东莞三润田智能科技股份有限公司 | Forming machine is with fetching and delivering manipulator |
| CN110936435A (en) * | 2019-11-27 | 2020-03-31 | 东莞三润田智能科技股份有限公司 | Meal box off-line type edge cutting method |
| CN110936435B (en) * | 2019-11-27 | 2021-08-03 | 东莞三润田智能科技有限公司 | Meal box off-line type edge cutting method |
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Address after: 523000 Room 101, No.39, Dali Xinxing 1st Road, Qingxi Town, Dongguan City, Guangdong Province Patentee after: Dongguan sanruntian Intelligent Technology Co.,Ltd. Address before: 523000 No.2, building 2, Honghai Xipu Industrial Park, west section of Qinghu Industrial Park, Qingxi Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN SANNIAN INTELLIGENT TECHNOLOGY Co.,Ltd. |
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