CN208294109U - A kind of moving and turning machine tool hand and the printing paste robot using it - Google Patents

A kind of moving and turning machine tool hand and the printing paste robot using it Download PDF

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Publication number
CN208294109U
CN208294109U CN201820474285.6U CN201820474285U CN208294109U CN 208294109 U CN208294109 U CN 208294109U CN 201820474285 U CN201820474285 U CN 201820474285U CN 208294109 U CN208294109 U CN 208294109U
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China
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vertical shift
moving
starching
machine tool
traversing
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Withdrawn - After Issue
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CN201820474285.6U
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Chinese (zh)
Inventor
刘昌臻
陈思鑫
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Huaway IoT Technology Co Ltd
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Huaway IoT Technology Co Ltd
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Abstract

The utility model discloses a kind of moving and turning machine tool hand and using its printing paste robot.Specifically, moving and turning machine tool hand includes traversing mould group, vertical shift mould group, traversing servo mechanism, vertical shift servo mechanism, mounting rack, rotary servo, U-shaped rotating arm and clamping device, it is provided with cross moving track, traversing sliding block in traversing mould group, vertical shift track, vertical shift sliding block are provided in vertical shift mould group;Traversing sliding block is mounted on cross moving track, vertical shift sliding block is mounted on vertical shift track, and mounting rack is fixedly connected with vertical shift sliding block, and rotary servo is mounted on mounting rack, U-shaped rotating arm couples with the output shaft of rotary servo, and clamping device is arranged on U-shaped rotating arm inner wall.The invention also discloses a kind of printing paste robots, including braced frame, transmission mechanism, starching mechanism and above-mentioned moving and turning machine tool hand.The utility model is mobile by the clamping that moving and turning machine tool hand carries out wall brick and controls wall brick overturning, suitable for the wall brick clamping and overturning of different size, effectively raises the stability and overturning efficiency of switching process.

Description

A kind of moving and turning machine tool hand and the printing paste robot using it
Technical field
The utility model relates to a kind of mechanical device, specially a kind of moving and turning machine tool hand, and printed for wall brick surface The printing paste machine of mortar processed.
Background technique
Printing paste machine is a kind of by several side applying mortars of wall brick, and fixes the automated machine equipment of mortar.Application number A kind of wall brick turnover mechanism and its printing paste robot are disclosed for 201711240612.8 utility model patent, using rollover stand The overturning of wall brick is carried out, the defect of the structure is, the applicable wall brick specification of each rollover stand is restricted, therefore it is applicable in model It encloses relatively narrow.
Summary of the invention
The purpose of this utility model is to provide a kind of moving and turning machine tool hand and using its printing paste robot, it is applicable in model It is good to enclose wide and stability.To achieve the above object, the utility model uses following technical scheme:
The utility model discloses a kind of moving and turning machine tool hands, including traversing mould group, vertical shift mould group, traversing servo Structure, vertical shift servo mechanism, mounting rack, rotary servo, U-shaped rotating arm and clamping device, the vertical shift mould group are vertically pacified Above traversing mould group;It is provided with cross moving track, traversing sliding block in the traversing mould group, is arranged in the vertical shift mould group There are vertical shift track, vertical shift sliding block;The traversing sliding block is mounted on cross moving track, and edge under the action of traversing servo mechanism Cross moving track is mobile;The vertical shift sliding block is mounted on vertical shift track, and along vertical shift rail under the action of vertical shift servo mechanism Road is mobile;The mounting rack is fixedly connected with vertical shift sliding block, and the rotary servo is mounted on mounting rack, described U-shaped rotating arm couples with the output shaft of rotary servo, and the rotary servo controls U-shaped rotating arm 360 degree rotation, The clamping device is arranged on U-shaped rotating arm inner wall.
Wherein, the clamping device includes clamping block, activity clamping block and control push rod, the clamping block and control Push rod is separately positioned on the inner wall of U-shaped rotating arm two sides, and the activity clamping block couples with control push rod, and the control pushes away Bar is air-leg or electric pushrod.
Preferably, the U-shaped bottom of the U-shaped rotating arm is equipped with compressible rubber mat.It further include two groups of travel switches, point It She Zhi not be on traversing sliding block and vertical shift sliding block.
Further, further include a guide rail installation frame, be arranged above vertical shift mould group, it is solid above the vertical shift mould group Surely there are several sliding blocks, the guide rail installation frame bottom end is provided with sliding rail, and upper end is provided with several mounting blocks, the sliding block peace It is moved in sliding rail, and along sliding rail.
The invention also discloses a kind of printing paste robots, including braced frame, transmission mechanism, starching mechanism and movement Turning manipulator, the transmission mechanism is set to the lower section of braced frame, for transmitting wall brick;The moving and turning machine tool Hand is fixed on the support frame, and structure is above structure, and for clamping and overturning wall brick, the starching mechanism is set to branch In support frame frame and it is located above U-shaped rotating arm, starching is carried out to wall brick.
Wherein, the transmission mechanism includes preceding supply unit and rear supply unit;Preceding supply unit and rear supply unit The two sides of moving and turning machine tool hand are respectively arranged at for the wall brick before transmitting printing paste and the wall brick after printing paste, the rear conveying The accommodation groove for accommodating U-shaped rotating arm is provided on unit.
Further, further include cutting mechanism, be located above preceding supply unit, the cutting mechanism includes that vertical shift is led Rail, vertical shift motor, slipping block, rotating electric machine and chopping disk, the slipping block are mounted on vertical shift guide rail, the vertical shift electricity Machine control slipping block moves on vertical shift guide rail, and the rotating electric machine is fixed on slipping block, the chopping disk and rotation Motor is axially coupled, and the rotating electric machine control cutting disc spins, the preceding supply unit is arranged immediately below chopping disk There is chopping disk accommodation groove.
Preferably, further include one for absorbing the dust exhaust apparatus of chopping disk dust, be set to below chopping disk and with cutting Dise knife mouth tangential direction coincides.
Wherein, starching mechanism includes starching disk, mortar Container, driving member;The starching disk is horizontally disposed;The starching A sizing open is offered on disk;The width of the sizing open is less than the width to starching wall brick;The length of the sizing open is greater than Any one specification to starching wall brick;The mortar Container runs through setting in the vertical direction;The mortar Container can The movement for being close to starching disk upper surface is realized by driving member;Mortar can be poured into the mortar Container, for putting It is placed in below the sizing open and carries out starching to starching wall brick.
Further, the starching mechanism further includes mixing component, and one end is fixed above mortar Container, The other end protrudes into mortar Container.
It preferably, further include a warehouse mechanism, warehouse mechanism entrance is located at bottom for being inverted mortar, the outlet of warehouse mechanism Above mortar Container.
Due to the above structure, the utility model has the following beneficial effects:
1. the utility model structure is simple, carry out the clamping movement of wall brick by moving and turning machine tool hand and control wall brick to turn over Turn, suitable for the wall brick clamping and overturning of different size, effectively raises the stability and overturning efficiency of switching process.
2. being equipped with compressible rubber mat in the U-shaped bottom of U-shaped rotating arm, make wall brick and U-shaped rotating arm flexible contact, rises slow The effect of protection is rushed, and during the overturning of U-shaped rotating arm, frictional force can be increased, prevents wall brick sliding from falling.
3. by adding cutting mechanism, the function that makes printing paste robot that can realize that brick is cut.Add the realization of warehouse mechanism Automatically starching mechanism is added in mortar, improves the automatization level of entire process.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model moving and turning machine tool hand original state.
Fig. 2 is the schematic side view of Fig. 1.
Fig. 3 is the structural schematic diagram of Fig. 1 movable part stroke.
Fig. 4 is the structural schematic diagram of U-shaped rotating arm rollover states in Fig. 3.
Fig. 5 is the structural schematic diagram of the utility model printing paste robot.
Fig. 6 is the structural schematic diagram that Fig. 5 conceals braced frame.
Fig. 7 is status diagram when being put into accommodation groove in Fig. 6 after U-shaped rotation wall overturning.
Fig. 8 is the schematic front view of Fig. 7.
Fig. 9 is the structural schematic diagram of cutting mechanism.
Primary clustering symbol description:
100: moving and turning machine tool hand, 110: traversing mould group, 111: cross moving track, 112: traversing sliding block, 113: stroke is opened It closes, 120: vertical shift mould group, 121: vertical shift track, 122: vertical shift sliding block, 123: sliding block, 130: traversing servo mechanism, 140: vertical shift Servo mechanism, 150: mounting rack, 160: rotary servo, 170:U type rotating arm, 171: compressible rubber mat, 180: clamping dress It sets, 181: clamping block, 182: activity clamping block, 183: control push rod, 190: guide rail installation frame, 191: sliding rail, 192: mounting blocks
200: braced frame
300: transmission mechanism, 310: preceding supply unit, 311: chopping disk accommodation groove, 320: rear supply unit, 321: accommodating Slot
400: cutting mechanism, 410: vertical shift guide rail, 420: vertical shift motor, 430: slipping block, 440: rotating electric machine, 450: cutting Cut disk
500: starching mechanism, 510: starching disk, 511: sizing open, 520: mortar Container, 530: driving member, 540: stirring Component.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and have Body embodiment is described in further detail the utility model.
Embodiment one
As shown in figures 1-4, the utility model discloses a kind of moving and turning machine tool hands, including traversing mould group 110, vertical shift Mould group 120, traversing servo mechanism 130, vertical shift servo mechanism 140, mounting rack 150, rotary servo 160, U-shaped rotating arm 170 and clamping device 180.
Vertical shift mould group 120 is installed vertically on traversing 110 top of mould group.It is set respectively in traversing mould group 110 and vertical shift mould group 120 It is equipped with cross moving track 111 and vertical shift track 121.Traversing sliding block 112 is mounted on cross moving track 111, and in traversing servo mechanism It is moved under the action of 130 along cross moving track 111.Vertical shift sliding block 122 is mounted on vertical shift track 121, and in vertical shift servo mechanism It is moved under the action of 140 along vertical shift track 121.It is mounted on travel switch 113 in traversing mould group 110 and vertical shift mould group 120, point It She Zhi not be on traversing sliding block 112 and vertical shift sliding block 122.Mounting rack 150 is fixedly connected with vertical shift sliding block 122, rotating servo machine Structure 160 is mounted on mounting rack 150.U-shaped rotating arm 170 couples with the output shaft of rotary servo 160, rotary servo The 160 U-shaped rotating arms 170 of control carry out 360 degree rotation.
It further include a guide rail installation frame 190 above vertical shift mould group 120.Vertical shift mould group 120 is fixedly arranged above several sliding blocks 123,190 bottom end of guide rail installation frame is provided with sliding rail 191, and upper end is provided with several mounting blocks 192, and sliding block 123 is mounted on sliding rail In 191, and moved along sliding rail 191.
If Fig. 2 shows, clamping device 180 includes clamping block 181, activity clamping block 182 and control push rod 183.Clamp block 181 And activity clamping block 182 can according to need and several are arranged, and each 1 is only shown in figure.Clamp block 181 and control push rod 183 It is separately positioned on U-shaped 170 two sides inner wall of rotating arm, activity clamping block 182 couples with control push rod 183, and control push rod 183 is Air-leg or electric pushrod.The U-shaped bottom of U-shaped rotating arm 170 is equipped with compressible rubber mat 171.
The use principle of the present embodiment are as follows: if Fig. 1 shows, when original state, traversing sliding block 112 is located at the leftmost side, and vertical shift is sliding Block 122 is located at lower side, U-shaped rotating arm 170 it is opening down, workpiece to be clamped is located at U-shaped 170 lower section of rotating arm.Then It controls 183 control activity of push rod clamping block 182 to move, activity clamping block 182 and clamping block 181 clamp workpiece.It is horizontal if Fig. 3 shows Shifting servo mechanism 130 controls traversing sliding block 112 and moves to the right, and vertical shift servo mechanism 140 controls vertical shift sliding block 122 and transports upwards It is dynamic, it is moved to designated position.It is rotated as shown in figure 4, rotary servo 160 controls U-shaped rotating arm 170, makes workpiece rotation extremely Required angle.
Embodiment two
As shown in figure 5, the utility model discloses a kind of printing paste robot, including braced frame 200, transmission mechanism 300, Cutting mechanism 400, dust exhaust apparatus (not shown), starching mechanism 500, warehouse mechanism (not shown) and moving and turning machine Tool hand 100.Transmission mechanism 300 is set to the lower section of braced frame 200, for transmitting wall brick.Moving and turning machine tool hand 100 is fixed In braced frame 200, structure is the structure of embodiment one, for clamping and overturning wall brick.Cutting mechanism 400 is located at transmission For cutting wall brick above mechanism 300.Starching mechanism 500 is set in braced frame 200 and is located at U-shaped 170 top of rotating arm, Starching is carried out to wall brick.Warehouse mechanism is located in braced frame 200 or outside braced frame 200, and warehouse mechanism entrance is located at bottom For being inverted mortar, the outlet of warehouse mechanism is located above mortar Container, for being the conveying mortar automatically of starching mechanism 500.
As can be seen from figures 6 to 8, transmission mechanism 300 includes preceding supply unit 310 and rear supply unit 320.Preceding supply unit 310 and rear supply unit 320 be respectively arranged at the two sides of moving and turning machine tool hand 100 and be used to transmit the wall brick before printing paste and printing paste Wall brick afterwards is provided with chopping disk accommodation groove 311 on preceding supply unit 310, is provided on rear supply unit 320 for accommodating U The accommodation groove 321 of type rotating arm 170.
As shown in figure 9, cutting mechanism 400 includes vertical shift guide rail 410, vertical shift motor 420, slipping block 430, rotating electric machine 440 and chopping disk 450.Slipping block 430 is mounted on vertical shift guide rail 410.Vertical shift motor 420 controls slipping block 430 and leads in vertical shift It is moved on rail 410, rotating electric machine 440 is fixed on slipping block 430, and chopping disk 450 and rotating electric machine 440 are axially coupled, rotation Motor 440 controls chopping disk 450 and rotates.Dust exhaust apparatus is used to absorb chopping disk 450 and cuts the dust that wall brick process generates, and sets It coincides in 450 lower section of chopping disk and with the edge of a knife tangential direction of chopping disk 450.
Starching mechanism 500 includes starching disk 510, mortar Container 520, driving member 530, mixing component 540.Starching disk 510 is horizontally disposed, and a sizing open 511 is offered on starching disk 510, and the width of sizing open 511 is less than the width to starching wall brick, General settable 511 two sides of sizing open and wall brick border width are 10mm, so that being applied to from the mortar of the outflow of sizing open 511 It will not be overflowed from wall brick edge after on wall brick.The length of sizing open 511 is greater than any one specification to starching wall brick.Mortar holds Device 520 is set in the vertical direction through setting, and mortar Container 520 can be realized by driving member 530 is close to table on starching disk 510 The movement in face.540 one end of mixing component is fixed at 520 top of mortar Container, and the other end protrudes into mortar Container 520 Internal mortar is stirred.
The course of work of the utility model printing paste robot is as follows:
1, before being put into wall brick on supply unit 310, wall brick enters cutting mechanism 400, and cutting mechanism 400 cuts wall brick At required specification.
2, moving and turning machine tool hand 100 clamps wall brick, and is moved to 500 lower section of starching mechanism, and U-shaped rotating arm 170 rotates 90 degree, keep the side of wall brick upward, the movement of mortar Container 520 carries out wall brick side to smear slurry.After slurry has been smeared in side, U-shaped rotation Pivoted arm 170 is rotated by 90 °, and keeps the bottom surface of wall brick upward, and the movement of mortar Container 520 carries out wall brick bottom surface to smear slurry.
3, after two sides mortar has been smeared, wall brick is moved to rear supply unit 320, U-shaped rotation by moving and turning machine tool hand 100 Arm 170 is located in accommodation groove, as shown in Figure 7, Figure 8.Wall brick lower surface is placed exactly on rear supply unit 320 at this time, and with Supply unit 320 is transmitted to outside braced frame 200 and realizes brick output afterwards.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in Change or replacement, should be covered within the scope of the utility model.

Claims (12)

1. a kind of moving and turning machine tool hand, it is characterised in that: watched including traversing mould group, vertical shift mould group, traversing servo mechanism, vertical shift Mechanism, mounting rack, rotary servo, U-shaped rotating arm and clamping device are taken,
The vertical shift mould group is installed vertically on above traversing mould group;Cross moving track, traversing is provided in the traversing mould group Sliding block is provided with vertical shift track, vertical shift sliding block in the vertical shift mould group;The traversing sliding block is mounted on cross moving track, And it is moved under the action of traversing servo mechanism along cross moving track;The vertical shift sliding block is mounted on vertical shift track, and vertical It is moved under the action of shifting servo mechanism along vertical shift track;The mounting rack is fixedly connected with vertical shift sliding block, and the rotation is watched It takes mechanism to be mounted on mounting rack, the U-shaped rotating arm couples with the output shaft of rotary servo, the rotating servo The U-shaped rotating arm 360 degree rotation of mechanism controls, the clamping device are arranged on U-shaped rotating arm inner wall.
2. moving and turning machine tool hand as described in claim 1, it is characterised in that: the clamping device includes clamping block, work Dynamic clamping block and control push rod, the clamping block and control push rod are separately positioned on the inner wall of U-shaped rotating arm two sides, described Activity clamping block couples with control push rod, and the control push rod is air-leg or electric pushrod.
3. moving and turning machine tool hand as claimed in claim 1 or 2, it is characterised in that: the U-shaped bottom of the U-shaped rotating arm Compressible rubber mat is installed.
4. moving and turning machine tool hand as claimed in claim 3, it is characterised in that: further include two groups of travel switches, be respectively set On traversing sliding block and vertical shift sliding block.
5. moving and turning machine tool hand as claimed in claim 4, it is characterised in that: further include a guide rail installation frame, setting exists Above vertical shift mould group, the vertical shift mould group is fixedly arranged above several sliding blocks, and the guide rail installation frame bottom end is provided with sliding rail, Upper end is provided with several mounting blocks, and the sliding block is mounted in sliding rail, and is moved along sliding rail.
6. a kind of printing paste robot, it is characterised in that: including braced frame, transmission mechanism, starching mechanism and moving and turning machine tool Hand, the transmission mechanism is set to the lower section of braced frame, for transmitting wall brick;The moving and turning machine tool hand is fixed on In braced frame, structure is the described in any item structures of Claims 1 to 5, for clamping and overturning wall brick, the starching Mechanism is set in braced frame and is located above U-shaped rotating arm, carries out starching to wall brick.
7. printing paste robot as claimed in claim 6, it is characterised in that: the transmission mechanism include preceding supply unit and after Supply unit;Preceding supply unit and rear supply unit are respectively arranged at the two sides of moving and turning machine tool hand for before transmitting printing paste Wall brick after wall brick and printing paste is provided with the accommodation groove for accommodating U-shaped rotating arm on the rear supply unit.
8. printing paste robot as claimed in claim 6, it is characterised in that: further include cutting mechanism, be located at preceding supply unit Top, the cutting mechanism include vertical shift guide rail, vertical shift motor, slipping block, rotating electric machine and chopping disk, the slipping block It is mounted on vertical shift guide rail, the vertical shift motor control slipping block moves on vertical shift guide rail, and the rotating electric machine is fixed On slipping block, the chopping disk axially couples with rotating electric machine, the rotating electric machine control cutting disc spins, described Preceding supply unit is provided with chopping disk accommodation groove immediately below chopping disk.
9. printing paste robot as claimed in claim 8, it is characterised in that: further include one for absorbing the dust suction of chopping disk dust Device is set to below chopping disk and coincides with chopping disk edge of a knife tangential direction.
10. printing paste robot as claimed in claim 6, it is characterised in that: the starching mechanism includes starching disk, mortar appearance Set device, driving member;The starching disk is horizontally disposed;A sizing open is offered on the starching disk;The width of the sizing open is small In the width to starching wall brick;The length of the sizing open is greater than any one specification to starching wall brick;The mortar accommodating Device runs through setting in the vertical direction;The mortar Container can realize the fortune for being close to starching disk upper surface by driving member It is dynamic;Mortar can be poured into the mortar Container, for be placed in below the sizing open to starching wall brick carry out starching.
11. printing paste robot as claimed in claim 10, it is characterised in that: the starching mechanism further includes mixing component, One end is fixed above mortar Container, and the other end protrudes into mortar Container.
12. printing paste robot as described in claim 10 or 11, it is characterised in that: further include a warehouse mechanism, warehouse mechanism Entrance is located at bottom and is located above mortar Container for being inverted mortar, the outlet of warehouse mechanism.
CN201820474285.6U 2018-04-04 2018-04-04 A kind of moving and turning machine tool hand and the printing paste robot using it Withdrawn - After Issue CN208294109U (en)

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110259160A (en) * 2018-04-04 2019-09-20 厦门华蔚物联网科技有限公司 A kind of moving and turning machine tool hand and the printing paste robot using it
CN110792275A (en) * 2019-11-29 2020-02-14 重庆科技学院 Movable wall building device
CN112267697A (en) * 2020-10-15 2021-01-26 清华大学 Building robot for brick mortar coating
CN112324155A (en) * 2020-11-10 2021-02-05 周同生 Assembled building version reinforcing bar is tied up robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110259160A (en) * 2018-04-04 2019-09-20 厦门华蔚物联网科技有限公司 A kind of moving and turning machine tool hand and the printing paste robot using it
CN110259160B (en) * 2018-04-04 2024-03-08 厦门华蔚物联网科技有限公司 Remove upset manipulator and use its seal thick liquid robot
CN110792275A (en) * 2019-11-29 2020-02-14 重庆科技学院 Movable wall building device
CN110792275B (en) * 2019-11-29 2023-08-11 重庆科技学院 Movable wall building device
CN112267697A (en) * 2020-10-15 2021-01-26 清华大学 Building robot for brick mortar coating
CN112324155A (en) * 2020-11-10 2021-02-05 周同生 Assembled building version reinforcing bar is tied up robot

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