CN208085227U - Manipulator and screen printing apparatus - Google Patents

Abstract

The utility model provides a kind of manipulator and screen printing apparatus, belong to printing equipment field, including main body rack, the first grasping mechanism on main body rack, at least one second grasping mechanism being distributed along the first preset path with the first grasping mechanism and the adjustment mechanism for being separately connected main body rack and second grasping mechanism and being used to adjust the height of the second grasping mechanism and the crawl position of the second grasping mechanism being made to be in the crawl position of the first grasping mechanism in same level, first preset path is parallel to the table top of printing platform and is arranged horizontal by angle.Manipulator and screen printing apparatus provided by the utility model make the crawl position of the first grasping mechanism and the second grasping mechanism be located in same level, stock is set to be parallel to horizontal plane, and it accurately falls in the specified region of rewinding platform, ensure that stock is neat to stack, without manually being arranged, it is directly collected with the collecting equipment of automation, effectively increases production efficiency.

Description

Manipulator and screen printing apparatus

Technical field

The utility model belongs to printing equipment technical field, is to be related to a kind of manipulator and comprising the machine more specifically The screen printing apparatus of tool hand.

Background technology

Silk-screen printing refers to using silk screen as version base, and by photosensitive lithographic method, the screen printing forme with picture and text is made. Existing some screen printing apparatus are using the printing platform for being inclined relative to horizontal setting, and clamping jaw is from tilting screen printing platform On when removing the stock of the sheet being completed for printing and being put on the horizontal net band of dryer, stock is all to tilt on guipure , clamping jaw is directly unclamped at this time and transfers stock, and stock certain height that needs to fall is got on the table top of rewinding, just Begin to be easy clot in the air, fold or deflection when falling for the stock of heeling condition, in turn resulting in stock cannot Neat overlays on rewinding table top, and subsequent collecting equipment cannot be collected directly automatically, it is also necessary to manually be arranged, be reduced Production efficiency.

Utility model content

The purpose of this utility model is to provide a kind of manipulator, with solve stock existing in the prior art from for The technical issues of stock cannot be stacked neatly is be easy to cause when being fallen under in the clamping jaw of feeding on rewinding platform.

To achieve the above object, the technical solution adopted in the utility model is：A kind of manipulator is provided, including：Main body branch Frame, the first grasping mechanism on the main body rack are distributed extremely with first grasping mechanism along the first preset path Lack second grasping mechanism and is separately connected the main body rack and second grasping mechanism and is used to adjust described second The height of grasping mechanism simultaneously makes the crawl position of second grasping mechanism and the crawl position of first grasping mechanism be in Adjustment mechanism in same level, first preset path are parallel to the table top of printing platform and are set horizontal by angle It sets.

Further, the adjustment mechanism includes being set to the double piston-rod cylinder affixed with the main body rack, described double The piston rod of piston rod cylinder is connect with second grasping mechanism respectively.

Further, the adjustment mechanism includes the fixed seat affixed with the main body rack and is separately connected the fixation Seat and second grasping mechanism and the lifting unit for being used to make the second grasping mechanism lifting.

Further, the lifting unit includes the lifting cylinder being set in the fixed seat, the work of the lifting cylinder Stopper rod runs through the fixed seat and the main body rack and lower end is connect with second grasping mechanism.

Further, the lifting unit further includes being connect with second grasping mechanism through the fixed seat and lower end Guide rod.

Further, first grasping mechanism and second grasping mechanism are respectively positioned below the main body rack, institute It includes the elastic swing arm being connect with the main body rack set on the guide plate of the printing platform exit side, one end to state adjustment mechanism And the cushion idler below second grasping mechanism and for rolling cooperation with the upper face of the guide plate, the bullet Property swing arm the other end connect with second grasping mechanism, when the printing platform table top be located at tilt discharging state When, the upper face of the guide plate is continuously decreased from the printing platform to the direction of the main body rack；In a free state, The crawl position of second grasping mechanism and the crawl position of first grasping mechanism are in same level.

Further, the main body rack include two long axis be mutually parallel bar shaped frame body, be set to two bar shapeds Above frame body and both sides respectively the fixed plate affixed with the same end of two bar shaped frame bodies, respectively with two arrow racks Affixed and sliding panel for being slidably connected with the sliding rail and for driving the sliding panel to be slided along the sliding rail on the downside of body Main body driving unit, the long axis of the bar shaped frame body is parallel to first preset path.

Further, the bar shaped frame body be equipped with along first preset path distribution and opening direction be respectively perpendicular to The adjusting straight slot of first preset path and second preset path, first grasping mechanism and the main body rack it Between be equipped with for making first grasping mechanism be slided along the adjusting straight slot and making first grasping mechanism and the main body First screw thread clamp system of holder locking, is equipped between the fixed seat and the main body rack for making the fixed seat edge The second screw thread clamp system for adjusting straight slot and sliding and make the fixed seat to be locked with the main body rack.

Further, first grasping mechanism be equipped with long axis it is vertical with the adjusting long axis of straight slot and be used for and institute The first fine tuning hole of the first screw thread clamp system cooperation is stated, the adjustment mechanism is equipped with long axis and the long axis for adjusting straight slot Vertical and the second fine tuning hole for coordinating with the second screw thread clamp system.

The advantageous effect of manipulator provided by the utility model is：Compared with prior art, the utility model manipulator, Equipped with the first grasping mechanism and at least one second grasping mechanism, by the cooperation of the first grasping mechanism and the second grasping mechanism, The stock being completed for printing can be captured, relative level tilts stock at this time, when stock removal is brushed flat platform, passes through tune Complete machine structure adjusts the height of the second grasping mechanism, and the crawl position of the first grasping mechanism and the second grasping mechanism is made to be located at same water In plane, stock is enable to be parallel to horizontal plane, unclamp again grasping mechanism at this time and transfer stock, stock can be made accurate Fall in the specified region of rewinding platform, ensure that stock can be neat stack, without manually being arranged, directly use oneself The collecting equipment of dynamicization is collected, and production efficiency is effectively increased.

The utility model also provides a kind of screen printing apparatus, including above-mentioned manipulator.

The advantageous effect of screen printing apparatus provided by the utility model is：Compared with prior art, the utility model Screen printing apparatus can make the stock being completed for printing is neat to overlay on rewinding platform by using above-mentioned manipulator, The flows such as convenient follow-up drying, effectively improve production efficiency.

Description of the drawings

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this practicality is new Some embodiments of type for those of ordinary skill in the art without having to pay creative labor, can be with Obtain other attached drawings according to these attached drawings.

Fig. 1 is the overlooking structure diagram for the manipulator that the utility model embodiment one provides；

Fig. 2 is the main structure diagram for the manipulator that the utility model embodiment one provides；

Fig. 3 is the A-A sectional views of Fig. 2；

Fig. 4 is the usage state diagram for the manipulator that the utility model embodiment one provides；

Fig. 5 is the usage state diagram one for the manipulator that the utility model embodiment two provides；

Fig. 6 is the usage state diagram two for the manipulator that the utility model embodiment two provides；

Fig. 7 is the overlooking structure diagram for the manipulator that the utility model embodiment three provides；

Fig. 8 is the left view partial sectional view of Fig. 7；

Fig. 9 is the use state diagram for the manipulator that the utility model embodiment four provides；

Figure 10 is main body rack, the first screw thread clamp system and the first grasping mechanism that the utility model embodiment five uses Assembling structure vertical view；

Figure 11 is main body rack, the second screw thread clamp system and the second grasping mechanism that the utility model embodiment five uses Assembling structure vertical view.

Wherein, each reference numeral in figure：

1- sliding rails；2- main body racks；201- bar shaped frame bodies；202- fixed plates；203- sliding panels；204- adjusts straight slot； 205- support plates；The first grasping mechanisms of 3-；The first connecting seats of 301-；The crawl control cylinders of 302- first；The first clamping jaws of 303-；4- Second grasping mechanism；The second connecting seats of 401-；The crawl control cylinders of 402- second；The second clamping jaws of 403-；5- adjustment mechanisms；501- Fixed seat；502- lifting cylinders；503- guide rods；504- guide holders；505- double piston-rod cylinders；506- guide plates；507- elasticity Swing arm；508- cushion idlers；6- stocks；7- rewinding platforms；8- the first screw thread clamp systems；9- the second screw thread clamp systems； 10- runing rests；11- first finely tunes hole；12- second finely tunes hole；13- printing platforms

Specific implementation mode

In order to make technical problem to be solved in the utility model, technical solution and advantageous effect be more clearly understood, with Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein It applies example to be only used to explain the utility model, is not used to limit the utility model.

It should be noted that when element is referred to as " being fixed on " or " being set to " another element, it can be directly another On one element or it is connected on another element.When an element is known as " being connected to " another element, it can To be directly to another element or be indirectly connected on another element.

It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on ... shown in the drawings or position are closed System, is merely for convenience of describing the present invention and simplifying the description, does not indicate or imply the indicated device or element is necessary With specific orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.

In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more this feature.The meaning of " plurality " is two or two in the description of the present invention, More than, unless otherwise specifically defined.

Also referring to Fig. 1, Fig. 2, fig. 4 to fig. 6, now manipulator provided by the utility model is illustrated.The machine Tool hand, including main body rack 2, the first grasping mechanism 3 on main body rack 2 and the first grasping mechanism 3 are along the first default road At least one second grasping mechanism 4 and be separately connected main body rack 3 and the second grasping mechanism 4 and be used to adjust second that diameter is distributed The height of grasping mechanism 4 simultaneously makes the crawl position of the second grasping mechanism 4 be in same with the crawl position of the first grasping mechanism 3 Adjustment mechanism 5 on horizontal plane, the first preset path are parallel to the table top of printing platform and are arranged horizontal by angle.

Use process：After stock 6 is completed for printing, the first grasping mechanism 3 and the second grasping mechanism 4 are pre- along first If path profile, the table top of printing platform is with respect to the horizontal plane obliquely installed under normal circumstances, i.e. the first preset path with Horizontal plane is also to be arranged in angle, which is acute angle, in the range of 5 ° -40 °, after grabbing stock 6, drives printing Object 6 removes printing platform 13, and the height of the second grasping mechanism 4 is then adjusted by adjusting mechanism 5, until the second grasping mechanism 4 The crawl position of crawl position and the first grasping mechanism 3 when be in same level, the first grasping mechanism 3 and second of release Grasping mechanism 4 makes to fall on rewinding platform 7 under stock 6.

It should be noted that during use, the height of not only the second grasping mechanism 4 is adjustable, the first crawl The height of mechanism 3 may be set to be and can adjust, for example, connecting main body rack 3 and the by a second adjustment mechanism One grasping mechanism 3, the second adjustment mechanism are used to adjust the height of the first grasping mechanism 3, are not shown in figure, with adjustment machine Structure 5 coordinates, and final purpose makes the crawl position of the first grasping mechanism 3 be in same water with the crawl position of the second grasping mechanism 4 In plane.

It should be noted that the lift path of the second grasping mechanism 4 can be perpendicular to the vertical direction of horizontal plane, also may be used To be the path for (being more than 75 ° and be less than 90 °) setting horizontal by angle, final purpose is that the second grasping mechanism 4 is made to lift To specified height.

Manipulator provided by the utility model is equipped with the first grasping mechanism 3 and at least one second compared with prior art Grasping mechanism 4 captures stock 6 in multiple positions, ensure crawl it is steady effectively, by the first grasping mechanism 3 with The cooperation of second grasping mechanism 4 can capture the stock 6 being completed for printing, and relative level tilts stock 6 at this time, will hold When the print removal of object 6 brushes flat platform, the height of the second grasping mechanism 4 is adjusted by adjusting mechanism 5, makes the first grasping mechanism 3 and second The crawl position of grasping mechanism 4 is located in same level, and stock 6 is enable to be parallel to horizontal plane, unclamps again crawl at this time Stock 6 is simultaneously transferred by mechanism, and stock 6 can be made accurately to fall in the specified region of rewinding platform 7, ensures that stock 6 can Neat stacks, and without manually being arranged, is directly collected with the collecting equipment of automation, effectively increases production effect Rate.

Further, also referring to Fig. 1 to Figure 11, a kind of specific implementation as manipulator provided by the utility model Mode, for the convenience for improving installation and using, the first grasping mechanism 3 and the second grasping mechanism 4 are respectively positioned on main body rack 2 Lower section.

Specifically, rewinding platform 7 is the horizontal net band of dryer, baking is directly entered when being taken out from printing platform Dry equipment is conducive to improve production efficiency.

Further, also referring to Fig. 1 to Fig. 6, a kind of specific implementation as manipulator provided by the utility model Mode, main body rack 2 with sliding rail 1 along the first preset path for being slidably connected, and the first preset path is perpendicular to the second default road Diameter.In order to rationally utilize space, rewinding platform 7 to place between the region of stock 6 and the region of printing platform placement stock 6 There is a certain distance, main body rack 2 is moved along sliding rail 1 to the direction close to printing platform, is grabbed after stock 6 along sliding rail 1 moves to the direction far from printing platform, until stock 6 is made to be in the overlying regions that rewinding platform 7 places stock 6, makes Grasping mechanism effectively can capture and transfer stock 6.

Further, Fig. 7 and Fig. 8 is please referred to, as a kind of specific implementation mode of manipulator provided by the utility model, Adjustment mechanism includes being set to the double piston-rod cylinder 505 affixed with main body rack 2, and the piston rod of double piston-rod cylinder 505 is distinguished It is connect with the second grasping mechanism 4.Since the tool of double piston-rod cylinder 505 is there are two piston rod, two piston rods are grabbed with second respectively After taking mechanism 4 to connect, the position of the second grasping mechanism 4 can be made to stablize, do not swung, stability in use is good, and is separately provided Double piston-rod cylinder 505 is simple and compact for structure, is easily installed and subsequently overhauls.

Further, it please refers to Fig.1 to Fig. 6, as a kind of specific implementation mode of manipulator provided by the utility model, Adjustment mechanism 5 include the fixed seat 501 affixed with main body rack 2 and be separately connected fixed seat 501 and the second grasping mechanism 4 and Lifting unit for making the second grasping mechanism 4 lift.Fixed seat 501 is played is integrally attached to main body rack by adjustment mechanism 5 Effect on 2；Lifting unit is for directly driving the lifting of the second grasping mechanism 4.

Further, as a kind of specific implementation mode of manipulator provided by the utility model, lifting unit includes rising The nut seat for dropping motor, the leading screw of axis connection being exported with lifting motor and is coordinated on the second grasping mechanism 4 and with leading screw.Silk Thick stick is coaxially disposed with lifting motor output shaft, drives leading screw rotation by the rotation of lifting motor output shaft, and then make nut seat It can move along the vertical direction, simple in structure, use cost is relatively low.

Further, it is risen refering to fig. 1 to Fig. 6 as a kind of specific implementation mode of manipulator provided by the utility model Drop unit includes the lifting cylinder 502 being set in fixed seat 501, and the piston rod of lifting cylinder 502 runs through fixed seat 501 and main body Holder 2 and lower end is connect with the second grasping mechanism 4.Lifting cylinder 502 occupies little space, and connection structure is simple, is conducive to make to set Standby overall structure is compacter, and cylinder is handling strong, can accurately control the height of lifting.

Further, it please refers to Fig.1 to Fig. 6, as a kind of specific implementation mode of manipulator provided by the utility model, Lifting unit 5 further includes the guide rod 503 being connect with the second grasping mechanism 4 through fixed seat 501 and lower end.Guide rod 503 can have Effect to the second grasping mechanism 4 provide guiding role, prevent the second grasping mechanism 4 occurs in lifting process swing, it is crooked Situation ensures the validity of crawl.Guide rod 503 can be arranged two, and there are three connect such lifting unit 5 with the second grasping mechanism 4 Contact, it is more preferable using stationarity.

Specifically, it please refers to Fig.1 to Fig. 6, to ensure that guide rod 503 steadily lifts, between guide rod 503 and fixed seat 501 also Equipped with guide holder 504.The thickness of guide holder 504 is more than the thickness of fixed seat 501.

Further, as a kind of specific implementation mode of manipulator provided by the utility model, guide rod 503 is can bullet Property deformation guide rod.

It should be noted that lifting unit includes but not limited to the structure of the example above.

Further, referring to Fig. 9, a kind of specific implementation mode as manipulator provided by the utility model, Under the premise of one grasping mechanism 3 and the second grasping mechanism 4 are respectively positioned on 2 lower section of main body rack, adjustment mechanism 5 includes being set to printing to put down Elastic swing arm 507 that the guide plate 506 of platform exit side, one end and main body rack 2 connect and set on 4 lower section of the second grasping mechanism and Cushion idler 508 for rolling cooperation with the upper face of guide plate 506, the other end of elastic swing arm 507 and the second gripper Structure 4 connects, and when the table top of printing platform is located at the state for tilting discharging, the upper face of guide plate 506 is from printing platform to master The direction of body support frame 2 continuously decreases；In a free state, the crawl position of the first grasping mechanism 3 and the second grasping mechanism 4 Crawl position is in same level, and 508 bottom end of cushion idler is concordant with the bottom end of 506 upper face of guide plate.Work as needs When feeding, main body rack 2 is whole to be moved along the second preset path to printing platform 13, when the arrival of the second grasping mechanism 4 is led When to 506 edge of plate, 508 bottom end of cushion idler touches 506 bottom edge of guide plate, and subsequent cushion idler 508 is being led Gradually be elevated under to the guiding role of 506 upper face of plate, elastic swing arm 507 ensure after cushion idler 508 always with guide plate 506 roll cooperation, reaching when reaching crawl position while also the top of guide plate 506, the first grasping mechanism 3 and the Two grasping mechanisms 4 capture stock 3 simultaneously；After the completion of crawl, 2 entirety of main body rack is along the second preset path far from printing platform 13, cushion idler 508 gradually sinks under the guiding role of 506 upper face of guide plate, cushion idler after elastic swing arm 507 ensures 508 roll cooperation with guide plate 506 always, and when cushion idler 508 is detached from guide plate 506, elastic swing arm 507 resets, The crawl position of first grasping mechanism 3 and the crawl position of the second grasping mechanism 4 are restored to the shape in same level again State transfers stock 3 at this time.5 overall structure of adjustment mechanism is simple, can reach tune without external control device The effect of whole second grasping mechanism, 4 height, use cost are low.

Further, it please refers to Fig.1, Fig. 2 and Fig. 4, a kind of specific implementation as manipulator provided by the utility model Mode in order to simplify structure, while ensureing the validity of crawl and Slope angle adjustment, and the first grasping mechanism 3 and main body rack 2 are solid It connects.

Further, it is as a kind of specific implementation mode of manipulator provided by the utility model to Fig. 6 refering to fig. 1 The distribution of the first grasping mechanism 3 and the second grasping mechanism 4 is adapted to, while rationally utilizing space, is structure is compacter, main body Holder 2 include two long axis be mutually parallel bar shaped frame body 201, be set to two bar shaped frame bodies, 201 top and both sides are respectively with two It is the affixed fixed plate 202 in the same end of a bar shaped frame body 201, affixed with two 201 downsides of bar shaped frame bodies respectively and be used for and cunning The sliding panel 203 that rail 1 is slidably connected and the main body driving unit for driving sliding panel 203 to be slided along sliding rail 1, bar shaped frame body 201 long axis is parallel to the first preset path.

Further, it please refers to Fig.1 and Fig. 3, as a kind of specific implementation mode of manipulator provided by the utility model, Bar shaped frame body 201 is equipped with is respectively perpendicular to the first preset path and second default along the distribution of the first preset path and opening direction The adjusting straight slot 204 in path is equipped between the first grasping mechanism 3 and main body rack 2 for keeping the first grasping mechanism 2 logical along adjusting Slot 204 slides and makes the first screw thread clamp system 8 that the first grasping mechanism 3 is locked with main body rack 2, fixed seat 501 and main body It is equipped between holder 2 for making fixed seat 501 along adjust that straight slot 204 slides and make that fixed seat 501 and main body rack 2 lock the Two screw thread clamp systems 9.By unscrewing the first screw thread clamp system 8 and the second screw thread clamp system 9, make the first grasping mechanism 3 Increase with 501 gap of fixed seat, and then the position of the first grasping mechanism 3 and fixed seat 501 can be adjusted；It is adjusted to designated position Afterwards, it tightens the first screw thread clamp system 8 and fixation can be realized in the second screw thread clamp system 9, simple in structure, good fixing effect, It adjusts more flexible, adapts to the crawl of the stock 6 of more specifications.

Further, it please refers to Fig.1 to Fig. 6, as a kind of specific implementation mode of manipulator provided by the utility model, In order to simplify structure, while ensureing the validity of crawl and Slope angle adjustment, there are one the second grasping mechanism 4 is set.

Further, it please refers to Fig.1 to Fig. 6, as a kind of specific implementation mode of manipulator provided by the utility model, First grasping mechanism 3 include the first connecting seat 301, set on 301 one end of the first connecting seat first crawl control cylinder 302 and with First clamping jaw 303 of the piston rod connection of the first crawl control cylinder 302；Second grasping mechanism 4 include the second connecting seat 401, It is connect set on the second crawl control cylinder 402 of 401 one end of the second connecting seat and with the piston rod of the second crawl control cylinder 402 The second clamping jaw 403.First screw thread clamp system 8 is connect with the first connecting seat 301, and the second screw thread clamp system 9 and second connects Joint chair 401 connects.The action for controlling the tightening of clamping jaw by cylinder and loosening, compact-sized, grasping force is easy to control, no It will appear and fail to grip with or tension and the case where damaging stock 6 occur.First connecting seat 301 is connect with main body rack 2, and second connects Joint chair 401 is connect with adjustment mechanism 5.

Further, refering to fig. 1 to Fig. 6, as a kind of specific implementation mode of manipulator provided by the utility model, by In being all made of pneumatic control, many pipelines, pipeline outside sheathed pipe can be drawn from the first grasping mechanism and the second grasping mechanism Set is oriented to make pipeline concentrate, facilitates management, the support plate 205 for being connect with pipe sleeve is additionally provided in fixed plate.

Also, two bar shaped frame bodies 201, fixed plate 202 and sliding panel 203 form in one end of main body rack 2 and can make The space that pipeline or pipe sleeve pass through, further facilitates lineation.

Further, refering to Fig. 5 and Fig. 6, as a kind of specific implementation mode of manipulator provided by the utility model, One grasping mechanism 3 and the second grasping mechanism 4 are connect with runing rest 10 respectively, and runing rest 10 is close to the first grasping mechanism 3 One end and main body rack 2 are hinged, the lower end of the piston rod of lifting cylinder 502 and the lower end of guide rod 503 respectively with runing rest 10 It is connected close to one end of the second grasping mechanism 4.First grasping mechanism 3 and the second grasping mechanism 4 energy under the drive of adjustment mechanism 5 Articulated shaft that is enough while surrounding runing rest 10 and main body rack 2 rotates, and then the first gripper after 10 level of runing rest The crawl position of structure 3 and the second grasping mechanism 4 also on the same horizontal plane, can equally realize the effect of height adjustment.

Further, as a kind of specific implementation mode of manipulator provided by the utility model, in order to coordinate first to grab It takes the position of mechanism 3 and the second grasping mechanism 4 to adjust, be additionally provided on runing rest 10 and adjust straight slot 204 corresponding first Holder straight slot and the second support straight slot parallel with first support straight slot, the first grasping mechanism 3 are connected through a screw thread part and One holder straight slot connects, and fixed seat 501 is connected through a screw thread part and is connect with straight slot 204 is adjusted, and the piston rod of lifting cylinder 502 passes through First support straight slot is worn, guide rod 503 runs through second support straight slot.

Further, 0 and Figure 11 refering to fig. 1, as a kind of specific implementation mode of manipulator provided by the utility model, It is vertical with the long axis of straight slot 204 is adjusted and be used to coordinate with the first screw thread clamp system 8 that first grasping mechanism 3 is equipped with long axis First fine tuning hole 11, adjustment mechanism 5 be equipped with long axis with adjust the long axis of straight slot 204 it is vertical and be used for and the second screw thread clamping The second fine tuning hole 12 that mechanism 9 coordinates.Hole 12 is finely tuned in first fine tuning hole 11 and second can be on the road for being parallel to the second preset path Fine tuning is made to the position of the first grasping mechanism 3 and adjustment mechanism 5 on diameter, the first grasping mechanism 3 and second can be made to grab to reach The purpose for taking mechanism 4 effectively to be captured.

The utility model also provides a kind of screen printing apparatus, including above-mentioned manipulator.

Screen printing apparatus provided by the utility model compared with prior art, by using above-mentioned manipulator, can make The stock that is completed for printing is neat to be overlayed on rewinding platform, and the flows such as convenient follow-up drying effectively improve production efficiency.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model Protection domain within.

Claims (10)

1. manipulator, it is characterised in that：The first grasping mechanism including main body rack, on the main body rack, with it is described At least one second grasping mechanism that first grasping mechanism is distributed along the first preset path and be separately connected the main body rack and Second grasping mechanism is simultaneously used to adjust the height of second grasping mechanism and makes the crawl position of second grasping mechanism The adjustment mechanism being in the crawl position of first grasping mechanism in same level is set, first preset path is parallel In printing platform table top and horizontal by angle be arranged.

2. manipulator as described in claim 1, it is characterised in that：The adjustment mechanism includes being set to consolidate with the main body rack The piston rod of the double piston-rod cylinder connect, the double piston-rod cylinder is connect with second grasping mechanism respectively.

3. manipulator as described in claim 1, it is characterised in that：The adjustment mechanism includes affixed with the main body rack Fixed seat and the liter for being separately connected the fixed seat and second grasping mechanism and being used to that second grasping mechanism to be made to lift Unit drops.

4. manipulator as claimed in claim 3, it is characterised in that：The lifting unit includes the liter being set in the fixed seat Sending down abnormally ascending cylinder, the piston rod of the lifting cylinder is through the fixed seat and the main body rack and lower end and second gripper Structure connects.

5. manipulator as claimed in claim 4, it is characterised in that：The lifting unit further include through the fixed seat and under Hold the guide rod being connect with second grasping mechanism.

6. manipulator as described in claim 1, it is characterised in that：First grasping mechanism and second grasping mechanism are equal Below the main body rack, the adjustment mechanism includes guide plate, one end and the institute set on the printing platform exit side State the elastic swing arm of main body rack connection and below second grasping mechanism and for the upper face with the guide plate The cushion idler of cooperation is rolled, the other end of the elastic swing arm is connect with second grasping mechanism, when the printing platform Table top be located at tilt discharging state when, the upper face of the guide plate is from the printing platform to the side of the main body rack To continuously decreasing；In a free state, the crawl position of the crawl position of second grasping mechanism and first grasping mechanism It sets in same level.

7. manipulator as claimed in claim 3, it is characterised in that：The main body rack includes the item that two long axis are mutually parallel Shape frame body, above two bar shaped frame bodies and the fixation affixed with the same end of two bar shaped frame bodies respectively of both sides Plate, respectively with sliding panel affixed and for being slidably connected with sliding rail on the downside of two bar shaped frame bodies and for driving the cunning The long axis of the main body driving unit that movable plate is slided along the sliding rail, the bar shaped frame body is parallel to first preset path.

8. manipulator as claimed in claim 7, it is characterised in that：The bar shaped frame body is equipped with along first preset path Distribution and opening direction are respectively perpendicular to the adjusting straight slot of first preset path and the second preset path, first crawl It is equipped between mechanism and the main body rack for making first grasping mechanism be slided along the adjusting straight slot and making described the First screw thread clamp system of one grasping mechanism and main body rack locking, sets between the fixed seat and the main body rack It is useful for the second spiral shell for making the fixed seat slide and make the fixed seat to be locked with the main body rack along the adjusting straight slot Line clamp system.

9. manipulator as claimed in claim 8, it is characterised in that：First grasping mechanism is equipped with long axis and the adjusting The first vertical and for coordinating with the first screw thread clamp system fine tuning hole of the long axis of straight slot, the adjustment mechanism are equipped with The second vertical with the adjusting long axis of straight slot and for coordinating with the second screw thread clamp system fine tuning hole of long axis.

10. screen printing apparatus, it is characterised in that：It include the manipulator as described in any one of claim 1-9.