CN208292251U - The full-automatic loading and unloading puma manipulator of paper matrix - Google Patents
The full-automatic loading and unloading puma manipulator of paper matrix Download PDFInfo
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- CN208292251U CN208292251U CN201820763181.7U CN201820763181U CN208292251U CN 208292251 U CN208292251 U CN 208292251U CN 201820763181 U CN201820763181 U CN 201820763181U CN 208292251 U CN208292251 U CN 208292251U
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Abstract
This application involves paper matrix industry more particularly to a kind of full-automatic loading and unloading puma manipulator of paper matrix, wet mould jig can be retracted to the underface of lifting support when standby, reduce the cantilever of wet mould jig as far as possible, and then reduce the load-bearing of lifting support, enhancing structure stability；Similarly, the cantilever of dry mould jig is reduced in the underface that can be retracted to lifting support when dry mould jig is standby as far as possible, is further reduced the load-bearing of lifting support, enhancing structure stability；In addition, the vertical lifting mechanism of the application is driven using screw structure and by vertical driving motor, it can reduce the brake load of motor, and higher using screw rod transmission precision, using the small lead screw rod of major diameter, there is certain self-locking effect, more secure and reliable.
Description
[technical field]
This application involves paper matrix industry more particularly to a kind of full-automatic loading and unloading puma manipulators of paper matrix.
[background technique]
The equipment for being currently used for forming absorption paper matrix in forming machine from paper matrix generally includes bracket, is movably set to branch
Mechanical arm assembly on frame, the mechanical arm assembly include rack-mount first mechanical arm moving up and down, are installed on
One mechanical arm lower end and can longitudinally reciprocal movement second mechanical arm, be installed on second mechanical arm lower end for drawing the true of paper matrix
Suction adsorption device, the vacuum absorption device are set to the end of second mechanical arm and are driven in second mechanical arm.The machine of such structure
Tool hand component high degree of automation, paper matrix after one-step forming, can just be drawn by the vacuum absorption device being set in second mechanical arm,
Without manually taking out, avoid jeopardizing worker's safety.
But the mechanical arm assembly of such structure is when drawing paper matrix, since the fixed pivot of second mechanical arm is located at the
The end of two mechanical arms, when the vacuum absorption device suction on mechanical arm being caused to put paper matrix, the pulling cantilever of mechanical arm is longer, and first
Mechanical arm entirety weight-bearing load is larger, and overall structure stable type is poor.
It is necessary in view of this, carrying out improvement to the structure for the manipulator for being currently used in absorption paper matrix.
[summary of the invention]
It is the manipulator that solves to be currently used for drawing paper matrix there are pulling cantilever is longer, overall structure stability is poor to ask
Topic, the application provide a kind of full-automatic loading and unloading puma manipulator of paper matrix, can reduce the pulling cantilever of manipulator, and then reduce machine
The load-bearing of tool hand, enhancing structure stability.
The application is technical solution used by solving its technical problem:
The full-automatic loading and unloading puma manipulator of paper matrix, comprising:
It is slidably connected on support frame and slides laterally support；
Transversal driving mechanism slides laterally on support set on described, slides laterally support along support frame cross for driving
To reciprocatingly sliding；
Lifting support, be slidably connected to it is described slide laterally on support, and be driven in and slide laterally support；
Vertical driving mechanism is set on the lifting support, for driving lifting support to slide laterally support described in
Vertically reciprocatingly slide；
Paper matrix absorbent module is set on the lifting support, and the paper matrix absorbent module includes:
First longitudinal direction bracket on the downside of the lifting support；
First picks and places mechanical arm, is slidably connected on the first longitudinal direction bracket, and is driven in the lifting support and uses
In pick-and-place l Water Paper mould；
First longitudinal direction driving mechanism is set to the first longitudinal direction bracket and described first and picks and places between mechanical arm, for driving
It moves described first and picks and places mechanical arm along the longitudinally reciprocal sliding of first longitudinal direction bracket；
When standby, the first pick-and-place mechanical arm can be retracted to the underface of lifting support along first longitudinal direction bracket slide simultaneously
It is opposite with first longitudinal direction bracket.
The paper matrix absorbent module further include:
Second longitudinal direction bracket on lifting support and below the first longitudinal direction bracket；
Second picks and places mechanical arm, is slidably connected on the second longitudinal direction bracket, and is driven in the lifting support and uses
In the dry paper matrix of pick-and-place；
Second longitudinal direction driving mechanism is set to the second longitudinal direction bracket and described second and picks and places between mechanical arm, for driving
It moves described second and picks and places mechanical arm along the longitudinally reciprocal sliding of second longitudinal direction bracket；
When standby, the second pick-and-place mechanical arm can be retracted to the underface of lifting support along second longitudinal direction bracket slide simultaneously
It is opposite with second longitudinal direction bracket.
The lower end of the lifting support is connected with fixed frame, the first longitudinal direction bracket and the second longitudinal direction bracket
Front is fixed on the fixed frame.
The vertical driving mechanism includes the screw rod being set on the inside of lifting support and is slidably connected on the outside of lifting support
Vertical driving motor is driven to drive lifting branch by belt between the output section and the screw rod of the vertical driving motor
Frame slides laterally support described in and slides vertically.
The vertical driving mechanism further includes the vertical rails on lifting support, and the support that slides laterally is equipped with
The vertical sliding block being slidably connected with the vertical rails.
The first longitudinal direction driving mechanism includes the first longitudinal direction rack gear on first longitudinal direction bracket, and described first picks and places
Mechanical arm is equipped with first longitudinal direction driving motor, and the output shaft of the first longitudinal direction driving motor is equipped with and the first longitudinal direction tooth
The first longitudinal direction gear that item is meshed, the first longitudinal direction gear drive first under the driving of the first longitudinal direction driving motor
Mechanical arm is picked and placed along first longitudinal direction rack gear longitudinal sliding motion.
The first longitudinal direction driving mechanism further includes the first longitudinal direction sliding rail on the downside of the first longitudinal direction bracket, and described first
It picks and places mechanical arm and is equipped with the first sliding seat, the upside of first sliding seat is equipped with to be slidably connected with the first longitudinal direction sliding rail
First longitudinal direction sliding block.
The second longitudinal direction driving mechanism includes the second longitudinal direction rack gear on second longitudinal direction bracket, and described second picks and places
Mechanical arm is equipped with second longitudinal direction driving motor, and the output shaft of the second longitudinal direction driving motor is equipped with and the second longitudinal direction tooth
The second longitudinal direction gear that item is meshed, the second longitudinal direction gear drive second under the driving of the second longitudinal direction driving motor
Mechanical arm is picked and placed along second longitudinal direction rack gear longitudinal sliding motion.
The second longitudinal direction driving mechanism further includes the second longitudinal direction sliding rail on the downside of the second longitudinal direction bracket, and described second
It picks and places mechanical arm and is equipped with the second sliding seat, the upside of second sliding seat is equipped with to be slidably connected with the second longitudinal direction sliding rail
Second longitudinal direction sliding block.
Described first picks and places equipped with pick-and-place locking portion compatible with l Water Paper mould shape on the downside of the front end of mechanical arm, described to take
Put offered on locking portion can external negative pressure device with the negative pressure sucker of negative pressure taking moisture releasing paper matrix, described second picks and places mechanical arm
Be equipped on the downside of front end can external negative pressure device the negative pressure sucker of paper matrix is allowed to dry with negative pressure taking.
Compared with prior art, the application has the following advantages:
1, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, when wet mould jig (i.e. first picks and places mechanical arm) is standby
It can be retracted to the underface of lifting support, reduce the cantilever of wet mould jig as far as possible, and then reduce the load-bearing of lifting support, enhancing
Structural stability；Similarly, the underface that can be retracted to lifting support when dry mould jig (the i.e. second pick-and-place mechanical arm) is standby, to the greatest extent may be used
The cantilever that can be reduced dry mould jig is further reduced the load-bearing of lifting support, enhancing structure stability.
2, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, the lower end of lifting support are connected with frame structure, use
The first longitudinal direction bracket of mechanical arm and the second pick-and-place mechanical arm is picked and placed in connection first and second longitudinal direction bracket is fixed on the frame
In structure, the structural stability of manipulator is further enhanced.
3, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, vertical lifting mechanism is using screw structure and by vertical
Driving motor driving can reduce the brake load of motor, and higher using screw rod transmission precision, using the small lead silk of major diameter
Bar has certain self-locking effect, more secure and reliable.
[Detailed description of the invention]
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram one of the full-automatic loading and unloading puma manipulator of paper matrix of the application；
Fig. 2 is the structural schematic diagram two of the full-automatic loading and unloading puma manipulator of paper matrix of the application；
Fig. 3 is the structural schematic diagram three of the full-automatic loading and unloading puma manipulator of paper matrix of the application；
Fig. 4 is the structural schematic diagram of the first pick-and-place mechanical arm of the application；
Fig. 5 is the portion the A enlarged diagram of Fig. 4.
[specific embodiment]
The application is described further below in conjunction with the accompanying drawings and the specific embodiments.
Attached drawing 1 is please referred to attached drawing 5, a kind of full-automatic loading and unloading puma manipulator of paper matrix, including slide laterally support 1,
Laterally driven structure 2, lifting support 3, vertical driving mechanism 4 and paper matrix absorbent module 5.Wherein:
It slides laterally support 1 to be slidably connected on the support frame of paper matrix molding equipment, transversal driving mechanism 2 is set to laterally sliding
On dynamic support 1, support 1 is slid laterally along the sliding of support frame transverse reciprocating for driving.Specifically, the transversal driving mechanism 2
Including being set to the horizontal drive motor 21 slid laterally on support 1, the output shaft of the horizontal drive motor 21 be equipped with
The transverse gear 22 that horizontal tooth bar on support frame is meshed, described slide laterally are additionally provided with and the cross on support frame on support 1
The transverse slider 23 being slidably connected to sliding rail, horizontal drive motor 21 can drive transverse gear 22 to rotate, since horizontal tooth bar is solid
Surely be set on support frame, when horizontal drive motor drives transverse gear rotation transverse gear then can transversely rack gear it is mobile to
Drive slides laterally support and slides laterally along support frame, compact-sized.Certainly, transversal driving mechanism can also be servo motor and same
The form realization that step belt drive structure matches slides laterally sliding laterally for support.
Lifting support 3 slides laterally on support 1 described in being slidably connected to, and is driven in and slides laterally support.
Vertical driving mechanism 4 is set on the lifting support 3, for driving lifting support 3 to slide laterally support 1 along described
Vertically reciprocatingly slide.Specifically, the vertical driving mechanism 4 includes being set to the screw rod 41 of 3 inside of lifting support and being slidably connected
Vertical driving motor 42 in 3 outside of lifting support, leads between the output section and the screw rod 41 of the vertical driving motor 42
Belt transmission is crossed to drive lifting support 3 to slide vertically along the support 1 that slides laterally, vertical driving motor is passed by belt
Dynamic structure driven, since screw rod is fixedly installed on lifting support, lifting support can then slide along the transverse direction support and slide vertically, this
In embodiment, vertical lifting mechanism is driven using screw structure and by vertical driving motor, can reduce the brake load of motor, and
It is higher using screw rod transmission precision, using the small lead screw rod of major diameter, there are certain self-locking effect, more secure and reliable.Certainly, vertically
Driving mechanism can also realize sliding vertically for lifting support for the form that servo motor is matched with toothed belt transmission structure.
Further, the vertical driving mechanism 4 further includes being set on lifting support 3 and being distributed in 41 two sides of screw rod
Vertical rails 43, the support 1 that slides laterally is equipped with the vertical sliding block 10 that is slidably connected with the vertical rails 43, vertically
Sliding block is equipped with 4~8, in the present embodiment, it is preferable that vertical sliding block is equipped with 6, and cooperates with the vertical rails on lifting support
It is slideably positioned in vertical rails, when vertical driving motor drives screw rod rotation, vertical sliding block makes to go up and down with vertical rails cooperation
Bracket slides along the transverse direction the vertical smooth sliding of support, has greatly reinforced the stability of lifting support.
The paper matrix absorbent module 5 includes that first longitudinal direction bracket 51, first picks and places mechanical arm 52, first longitudinal direction driving mechanism
53, second longitudinal direction bracket 54, second picks and places mechanical arm 55 and second longitudinal direction driving mechanism 56.Wherein:
First longitudinal direction bracket 51 is set to 3 downside of lifting support, it is preferable that the middle part of first longitudinal direction bracket 51 is set to lifting branch
The downside of frame 3, can enhancing structure stability.
First pick-and-place mechanical arm 52 is slidably connected on first longitudinal direction bracket 51, and is driven in lifting support 3 for picking and placing
L Water Paper mould, when operation, the fixing end of the first pick-and-place mechanical arm 52 is fixed on the middle part of first longitudinal direction bracket 51, can be effectively suppressed and controls
Jitter problem when tool takes product, while wet mould jig can be increased and bear to load, greatly improve the production efficiency of paper matrix.
First longitudinal direction driving mechanism 53 is set to the first longitudinal direction bracket 51 and described first and picks and places between mechanical arm 52, uses
In driving described first to pick and place mechanical arm 52 along the longitudinally reciprocal sliding of the first longitudinal direction bracket 51, when standby, described first is taken
Put mechanical arm 52 can along the slidably retractable underface to lifting support 3 of first longitudinal direction bracket 51 and with 51 phase of first longitudinal direction bracket
It is right, the cantilever of wet mould jig is reduced as far as possible, and then reduces the load-bearing of lifting support, enhancing structure stability.Specifically, described
First longitudinal direction driving mechanism 53 includes the first longitudinal direction rack gear 531 on first longitudinal direction bracket 51, and described first picks and places machinery
Arm 52 is equipped with first longitudinal direction driving motor 532, and the output shaft of the first longitudinal direction driving motor 532 is equipped with to be indulged with described first
The first longitudinal direction gear being meshed to rack gear 531, the first longitudinal direction gear is under the first longitudinal direction driving motor 532 driving
First is driven to pick and place mechanical arm 52 along 531 longitudinal sliding motion of first longitudinal direction rack gear.
In the present embodiment, the first longitudinal direction driving mechanism 53 further includes indulging set on the first of 51 downside of first longitudinal direction bracket
To sliding rail 533, described first, which picks and places mechanical arm 52, is equipped with the first sliding seat 521, and the upside of first sliding seat 521 is equipped with
The first longitudinal direction sliding block 522 being slidably connected with the first longitudinal direction sliding rail 533, first longitudinal direction sliding block are equipped with 4~8, this implementation
In example, it is preferable that first longitudinal direction sliding block is equipped with 6, jitter problem when wet mould jig effectively being inhibited to take product.
Second longitudinal direction bracket 54 is set to the lower section on lifting support 3 and being located at the first longitudinal direction bracket 51, it is preferable that the
Two longitudinal carriers are set to the underface of first longitudinal direction bracket and are oppositely arranged with first longitudinal direction bracket, keep overall structure more steady
It is fixed.
Second pick-and-place mechanical arm 55 is slidably connected on the second longitudinal direction bracket 54, and is driven in the lifting support 3
For picking and placing dry paper matrix, when operation, the fixing end of the second pick-and-place mechanical arm is fixed on the middle part of second longitudinal direction bracket, can effectively press down
Jig processed takes jitter problem when product, while can increase dry mould jig and bear to load, and greatly improves the production effect of paper matrix
Rate.
Second longitudinal direction driving mechanism 56 is set to the second longitudinal direction bracket 54 and described second and picks and places between mechanical arm 55, uses
In driving described second to pick and place mechanical arm 55 along the longitudinally reciprocal sliding of the second longitudinal direction bracket 54, when standby, described second is taken
Put mechanical arm 55 can along the slidably retractable underface to lifting support 3 of second longitudinal direction bracket 54 and with 54 phase of second longitudinal direction bracket
It is right, the cantilever of dry mould jig is reduced as far as possible, and then reduce the load-bearing of lifting support, further enhance structural stability.Specifically
Ground, the second longitudinal direction driving mechanism 56 include the second longitudinal direction rack gear 561 on second longitudinal direction bracket 54, and described second takes
Mechanical arm 55 is put equipped with second longitudinal direction driving motor 562, the output shaft of the second longitudinal direction driving motor 562 be equipped with it is described
The second longitudinal direction gear that second longitudinal direction rack gear 561 is meshed, the second longitudinal direction gear is in the second longitudinal direction driving motor 562
Driving under drive second pick and place mechanical arm 55 along 561 longitudinal sliding motion of second longitudinal direction rack gear.
In the present embodiment, the second longitudinal direction driving mechanism 56 further includes indulging set on the second of 54 downside of second longitudinal direction bracket
To sliding rail 563, described second, which picks and places mechanical arm 55, is equipped with the second sliding seat 551, and the upside of second sliding seat 551 is equipped with
The second longitudinal direction sliding block 552 being slidably connected with the second longitudinal direction sliding rail 563.Specifically, second longitudinal direction sliding block is equipped with 4, can
Jitter problem when dry mould jig effectively being inhibited to take product.
The described first front end downside for picking and placing mechanical arm 52 is equipped with pick-and-place locking portion 523 compatible with l Water Paper mould shape,
Offered on the pick-and-place locking portion 523 can external negative pressure device with the negative pressure sucker 5231 of negative pressure taking moisture releasing paper matrix, described
Be equipped on the downside of the front end of two pick-and-place mechanical arms 55 can external negative pressure device the negative pressure sucker 553 of paper matrix is allowed to dry with negative pressure taking.Pass through
Pick-and-place locking portion compatible with l Water Paper mould shape can be contacted more quickly and be drawn preliminary molding wet on paper matrix molding equipment
Paper matrix, and occur by negative pressure sucker with the phenomenon that negative pressure absorbing l Water Paper mould is avoided that clamping deformation etc. causes product bad, into
And greatly improve the production efficiency of paper matrix.
To sum up, compared with prior art, the full-automatic loading and unloading puma manipulator of the paper matrix of the application has the following advantages:
1, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, when wet mould jig (i.e. first picks and places mechanical arm) is standby
It can be retracted to the underface of lifting support, reduce the cantilever of wet mould jig as far as possible, and then reduce the load-bearing of lifting support, enhancing
Structural stability；Similarly, the underface that can be retracted to lifting support when dry mould jig (the i.e. second pick-and-place mechanical arm) is standby, to the greatest extent may be used
The cantilever that can be reduced dry mould jig is further reduced the load-bearing of lifting support, enhancing structure stability.
2, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, the lower end of lifting support are connected with frame structure, use
The first longitudinal direction bracket of mechanical arm and the second pick-and-place mechanical arm is picked and placed in connection first and second longitudinal direction bracket is fixed on the frame
In structure, the structural stability of manipulator is further enhanced.
3, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, vertical lifting mechanism is using screw structure and by vertical
Driving motor driving can reduce the brake load of motor, and higher using screw rod transmission precision, using the small lead silk of major diameter
Bar has certain self-locking effect, more secure and reliable.
The foregoing is merely the preferred embodiments of the application, not be used to limit the application implementation range, other it is all its
Principle and basic structure are same as the present application or approximate, within the scope of protection of this application.
Claims (10)
1. the full-automatic loading and unloading puma manipulator of paper matrix, comprising:
It is slidably connected on support frame and slides laterally support (1)；
Transversal driving mechanism (2) slides laterally on support (1) set on described, slides laterally support (1) along support for driving
The sliding of frame transverse reciprocating；
Lifting support (3), be slidably connected to it is described slide laterally on support (1), and be driven in and slide laterally support (1)；
Vertical driving mechanism (4), is set on the lifting support (3), for driving lifting support (3) to slide laterally along described
Support (1) vertically reciprocatingly slides；
Paper matrix absorbent module (5) is set on the lifting support (3), it is characterised in that: paper matrix absorbent module (5) packet
It includes:
First longitudinal direction bracket (51) on the downside of the lifting support (3)；
First picks and places mechanical arm (52), is slidably connected on the first longitudinal direction bracket (51), and is driven in the lifting branch
Frame (3) is for picking and placing l Water Paper mould；
First longitudinal direction driving mechanism (53), be set to the first longitudinal direction bracket (51) and it is described first pick and place mechanical arm (52) it
Between, for driving described first to pick and place mechanical arm (52) along the longitudinally reciprocal sliding of the first longitudinal direction bracket (51)；
When standby, described first picks and places mechanical arm (52) can be slidably retractable to lifting support (3) along first longitudinal direction bracket (51)
Underface is simultaneously opposite with first longitudinal direction bracket (51).
2. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 1, it is characterised in that: the paper matrix absorption group
Part (5) further include:
Second longitudinal direction bracket (54) on lifting support (3) and below the first longitudinal direction bracket (51)；
Second picks and places mechanical arm (55), is slidably connected on the second longitudinal direction bracket (54), and is driven in the lifting branch
Frame (3) is for picking and placing dry paper matrix；
Second longitudinal direction driving mechanism (56), be set to the second longitudinal direction bracket (54) and it is described second pick and place mechanical arm (55) it
Between, for driving described second to pick and place mechanical arm (55) along the longitudinally reciprocal sliding of the second longitudinal direction bracket (54)；
When standby, described second picks and places mechanical arm (55) can be slidably retractable to lifting support (3) along second longitudinal direction bracket (54)
Underface is simultaneously opposite with second longitudinal direction bracket (54).
3. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 2, it is characterised in that: the lifting support
(3) lower end is connected with fixed frame (30), the front of the first longitudinal direction bracket (51) and the second longitudinal direction bracket (54)
It is fixed on the fixed frame (30).
4. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 1, it is characterised in that: the vertical driving machine
Structure (4) includes the screw rod (41) being set on the inside of lifting support (3) and the vertical driving being slidably connected on the outside of lifting support (3) electricity
Machine (42) is driven to drive lifting by belt between the output section and the screw rod (41) of the vertical driving motor (42)
Bracket (3) slides vertically along the support (1) that slides laterally.
5. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 4, it is characterised in that: the vertical driving machine
Structure (4) further includes the vertical rails (43) on lifting support (3), it is described slide laterally support (1) be equipped with it is described perpendicular
The vertical sliding block (10) being slidably connected to sliding rail.
6. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 1, it is characterised in that: the first longitudinal direction is driven
Motivation structure (53) includes the first longitudinal direction rack gear (531) on first longitudinal direction bracket (51), and described first picks and places mechanical arm
(52) first longitudinal direction driving motor (532) are equipped with, the output shaft of the first longitudinal direction driving motor (532) is equipped with and described the
The first longitudinal direction gear that one longitudinal rack (531) is meshed, the first longitudinal direction gear is in the first longitudinal direction driving motor
(532) first is driven to pick and place mechanical arm (52) along first longitudinal direction rack gear (531) longitudinal sliding motion under driving.
7. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 6, it is characterised in that: the first longitudinal direction is driven
Motivation structure (53) further includes the first longitudinal direction sliding rail (533) on the downside of first longitudinal direction bracket (51), and described first picks and places machinery
Arm (52) is equipped with the first sliding seat (521), and the upside of first sliding seat (521) is equipped with and the first longitudinal direction sliding rail
(533) the first longitudinal direction sliding block (522) being slidably connected.
8. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 2, it is characterised in that: the second longitudinal direction is driven
Motivation structure (56) includes the second longitudinal direction rack gear (561) on second longitudinal direction bracket (54), and described second picks and places mechanical arm
(55) second longitudinal direction driving motor (562) are equipped with, the output shaft of the second longitudinal direction driving motor (562) is equipped with and described the
The second longitudinal direction gear that two longitudinal racks (561) are meshed, the second longitudinal direction gear is in the second longitudinal direction driving motor
(562) second is driven to pick and place mechanical arm (55) along second longitudinal direction rack gear (561) longitudinal sliding motion under driving.
9. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 8, it is characterised in that: the second longitudinal direction is driven
Motivation structure (56) further includes the second longitudinal direction sliding rail (563) on the downside of second longitudinal direction bracket (54), and described second picks and places machinery
Arm (55) is equipped with the second sliding seat (551), and the upside of second sliding seat (551) is equipped with and the second longitudinal direction sliding rail
(563) the second longitudinal direction sliding block (552) being slidably connected.
10. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 2, it is characterised in that: described first picks and places
Pick-and-place locking portion (523) compatible with l Water Paper mould shape, the pick-and-place locking portion are equipped on the downside of the front end of mechanical arm (52)
(523) offered on can external negative pressure device with the negative pressure sucker (5231) of negative pressure taking moisture releasing paper matrix, described second pick and place it is mechanical
Be equipped on the downside of the front end of arm (55) can external negative pressure device the negative pressure sucker (553) of paper matrix is allowed to dry with negative pressure taking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820763181.7U CN208292251U (en) | 2018-05-21 | 2018-05-21 | The full-automatic loading and unloading puma manipulator of paper matrix |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820763181.7U CN208292251U (en) | 2018-05-21 | 2018-05-21 | The full-automatic loading and unloading puma manipulator of paper matrix |
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| Publication Number | Publication Date |
|---|---|
| CN208292251U true CN208292251U (en) | 2018-12-28 |
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ID=64727460
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820763181.7U Expired - Fee Related CN208292251U (en) | 2018-05-21 | 2018-05-21 | The full-automatic loading and unloading puma manipulator of paper matrix |
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| CN (1) | CN208292251U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466835A (en) * | 2018-05-21 | 2018-08-31 | 广东科捷龙机器人有限公司 | The full-automatic loading and unloading puma manipulator of paper matrix |
| CN111942878A (en) * | 2020-07-29 | 2020-11-17 | 广州华工环源绿色包装技术股份有限公司 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
| CN112813736A (en) * | 2019-11-18 | 2021-05-18 | 潘耀华 | Robot forming flexible production line and forming method for paper pulp molded product |
-
2018
- 2018-05-21 CN CN201820763181.7U patent/CN208292251U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466835A (en) * | 2018-05-21 | 2018-08-31 | 广东科捷龙机器人有限公司 | The full-automatic loading and unloading puma manipulator of paper matrix |
| CN112813736A (en) * | 2019-11-18 | 2021-05-18 | 潘耀华 | Robot forming flexible production line and forming method for paper pulp molded product |
| CN111942878A (en) * | 2020-07-29 | 2020-11-17 | 广州华工环源绿色包装技术股份有限公司 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
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Granted publication date: 20181228 |