CN208379344U - With the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism - Google Patents
With the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism Download PDFInfo
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- CN208379344U CN208379344U CN201820762630.6U CN201820762630U CN208379344U CN 208379344 U CN208379344 U CN 208379344U CN 201820762630 U CN201820762630 U CN 201820762630U CN 208379344 U CN208379344 U CN 208379344U
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Abstract
This application involves paper matrix industries, more particularly to it is a kind of with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it can more quickly be contacted by pick-and-place locking portion compatible with l Water Paper mould shape and draw preliminary molding l Water Paper mould on paper matrix molding equipment, reduce the risk that paper matrix is fallen, greatly improve the yield rate of paper matrix, and the application occurs by negative pressure sucker with the phenomenon that negative pressure absorbing l Water Paper mould is avoided that folder deformation etc. causes product bad, and then greatly improves the production efficiency of paper matrix.
Description
[technical field]
This application involves paper matrix industry more particularly to a kind of paper matrix intelligence loading and unloading with stable pick-and-place part mechanism are mechanical
Hand.
[background technique]
The manipulator for being currently used for forming absorption paper matrix in forming machine from paper matrix generally includes support frame, moveable to be arranged
In the mechanical arm assembly on support frame, mechanical arm assembly includes installation lifting support moving up and down, peace on the support frame
It is used to inhale the paper matrix suction means for putting paper matrix loaded on lifting support lower end.The mechanical arm assembly high degree of automation of such structure,
Paper matrix after one-step forming, can just be drawn by being set to, and taken out without artificial, avoided jeopardizing worker's safety.
But existing paper matrix suction means is generally existing that structure is complicated, and the paper matrix deformation or damage when drawing paper matrix
The case where happen occasionally, while there is the risk that easily falls in paper matrix, greatly reduce the production efficiency of paper matrix.
The negative pressure through-hole thus prevents preliminary formation wet paper matrix to become with the tentatively molding l Water Paper mould of negative-pressure adsorption
Shape or phenomena such as damage, and then product qualification rate can be increased substantially.
[summary of the invention]
To solve the paper matrix suction means for being currently used for drawing paper matrix in the presence of structure is complicated, and paper matrix becomes when drawing paper matrix
The case where shape or damage, happens occasionally, while paper matrix has the risk easily fallen, greatly reduces the skill of the production efficiency of paper matrix
Art problem, the application provide a kind of with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism.
The application is technical solution used by solving its technical problem:
With the paper matrix intelligence loading and unloading manipulator for picking and placing part mechanism is stablized, including the sliding support being set on bracket and set
It is set on the transversal driving mechanism on sliding support for driving sliding support to slide along bracket transverse reciprocating, the sliding support
There is lifting support, the lifting support is equipped with the vertical driving for driving lifting support vertically to reciprocatingly slide along sliding support
Mechanism, the lower end of the lifting support, which is equipped with, can inhale the paper matrix suction means for putting paper matrix, and the paper matrix suction means includes that can inhale
The l Water Paper mould of moisture releasing paper matrix inhales laying mechanism, and the l Water Paper mould suction laying mechanism is put equipped with suction compatible with l Water Paper mould shape to be adapted to
Portion, the suction put offered on locking portion can external negative pressure device with the negative pressure sucker of negative pressure taking moisture releasing paper matrix, the paper matrix is inhaled
Taking device further includes that the dry paper matrix on lifting support and being located at below l Water Paper mould suction laying mechanism inhales laying mechanism, described dry
Paper matrix inhale laying mechanism be equipped with can external negative pressure device the negative pressure sucker of paper matrix is allowed to dry with negative pressure taking.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the l Water Paper mould inhale laying mechanism
Include:
First longitudinal direction bracket on the downside of the lifting support；
First longitudinal direction mechanical arm is slidably connected on the first longitudinal direction bracket, and the suction puts locking portion set on described
The end of first longitudinal direction mechanical arm；
First longitudinal direction driving mechanism is set between the first longitudinal direction bracket and the first longitudinal direction mechanical arm, for driving
The first longitudinal direction mechanical arm is moved along the longitudinally reciprocal sliding of first longitudinal direction bracket；
When standby, the first longitudinal direction 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 dry paper matrix inhales laying mechanism
Second longitudinal direction bracket is set on lifting support and is located at the lower section of the first longitudinal direction bracket；
Second longitudinal direction mechanical arm is slidably connected on the second longitudinal direction bracket, and the negative pressure sucker is set to described the
The end of two longitudinal mechanical arms；
Second longitudinal direction driving mechanism is set between the second longitudinal direction bracket and the second longitudinal direction mechanical arm, for driving
The second longitudinal direction mechanical arm is moved along the longitudinally reciprocal sliding of second longitudinal direction bracket.
When standby, the second longitudinal direction 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；
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the first longitudinal direction driving machine
Structure includes the first longitudinal direction rack gear on first longitudinal direction bracket, and the first longitudinal direction mechanical arm is equipped with first longitudinal direction driving electricity
Machine, the output shaft of the first longitudinal direction driving motor are equipped with the first longitudinal direction gear being meshed with the first longitudinal direction rack gear, institute
State first longitudinal direction gear drives the first pick-and-place mechanical arm along first longitudinal direction rack gear under the driving of the first longitudinal direction driving motor
Longitudinal sliding motion.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the first longitudinal direction driving machine
Structure further includes the first longitudinal direction sliding rail on the downside of first longitudinal direction bracket, and the first longitudinal direction mechanical arm is equipped with the first sliding
Seat, the upside of first sliding seat are equipped with the first longitudinal direction sliding block being slidably connected with the first longitudinal direction sliding rail.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the second longitudinal direction driving machine
Structure includes the second longitudinal direction rack gear on second longitudinal direction bracket, and the second longitudinal direction mechanical arm is equipped with second longitudinal direction driving electricity
Machine, the output shaft of the second longitudinal direction driving motor are equipped with the second longitudinal direction gear being meshed with the second longitudinal direction rack gear, institute
State second longitudinal direction gear drives second longitudinal direction mechanical arm along second longitudinal direction rack gear under the driving of the second longitudinal direction driving motor
Longitudinal sliding motion.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the second longitudinal direction driving machine
Structure further includes the second longitudinal direction sliding rail on the downside of second longitudinal direction bracket, and the second longitudinal direction mechanical arm is equipped with the second sliding
Seat, the upside of second sliding seat are equipped with the second longitudinal direction sliding block being slidably connected with the second longitudinal direction sliding rail.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the l Water Paper mould inhale laying mechanism
On suction to put locking portion include suction seat and the cover board in suction seat, air flow chamber, the cover board are equipped in the suction seat
It is equipped with the gas being connected to the air flow chamber and flows into connector, the negative pressure sucker is set in the suction seat.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the lower end of the lifting support
It is connected with fixed frame, the front of the first longitudinal direction bracket and the second longitudinal direction bracket is fixed on the fixed frame.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the vertical driving mechanism packet
Include the screw rod being set on the inside of lifting support and the vertical driving motor being slidably connected on the outside of lifting support, the vertical driving electricity
It is driven by belt so that lifting support be driven to slide laterally support described between the output section of machine and the screw rod and is vertically slided
Dynamic, the vertical driving mechanism further includes the vertical rails on lifting support, and the support that slides laterally is equipped with and institute
State the vertical sliding block that vertical rails are slidably connected.
Paper matrix intelligence loading and unloading manipulator as described above with stable pick-and-place part mechanism, the transversal driving mechanism packet
The horizontal drive motor being set on the sliding support is included, the output shaft of the horizontal drive motor is equipped with and the transverse direction on bracket
It is sliding to be additionally provided with the transverse direction being slidably connected with the horizontal slide rail on bracket on the sliding support for the transverse gear that rack gear is meshed
Block.
Compared with prior art, the application has the following advantages:
1, the application with stablize pick and place part mechanism paper matrix intelligence loading and unloading manipulator, by with l Water Paper mould shape phase
The pick-and-place locking portion of adaptation can more quickly contact and draw preliminary molding l Water Paper mould on paper matrix molding equipment, reduce paper matrix and fall
The risk fallen greatly improves the yield rate of paper matrix, and the application is avoided that folder becomes by negative pressure sucker with negative pressure absorbing l Water Paper mould
The phenomenon that shape etc. causes product bad occurs, and then greatly improves the production efficiency of paper matrix.
2, the paper matrix intelligence loading and unloading manipulator with stable pick-and-place part mechanism of the application, (i.e. first is vertical for wet mould jig
To mechanical arm) it is standby when can be retracted to the underface of lifting support, reduce the cantilever of wet mould jig as far as possible, and then reduce lifting
The load-bearing of bracket, enhancing structure stability；Similarly, it can be retracted to lifting branch when dry mould jig (i.e. second longitudinal direction mechanical arm) is standby
The cantilever of dry mould jig is reduced in the underface of frame as far as possible, is further reduced the load-bearing of lifting support, enhancing structure stability.
3, the paper matrix intelligence loading and unloading manipulator with stable pick-and-place part mechanism of the application, vertical drive use silk
Rod structure is simultaneously driven by vertical driving motor, can reduce the brake load of motor, and higher using screw rod transmission precision, using big
The small lead screw rod of diameter, there is 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 paper matrix intelligence loading and unloading manipulator of the application；
Fig. 2 is the structural schematic diagram two of the paper matrix intelligence loading and unloading manipulator of the application；
Fig. 3 is the structural schematic diagram three of the paper matrix intelligence loading and unloading manipulator of the application；
Fig. 4 is the structural schematic diagram of the vertical driving mechanism of the application；
Fig. 5 is the structural schematic diagram of the first longitudinal direction mechanical arm of the application；
Fig. 6 is the portion the A enlarged diagram of Fig. 5.
[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 6, it is a kind of with stablizing the paper matrix intelligence loading and unloading manipulator for picking and placing part mechanism, including
Sliding support 1, transversal driving mechanism 2, lifting support 3, vertical driving mechanism 4 and paper matrix suction means.Wherein:
Sliding support 1 is slidably connected on the bracket of paper matrix molding equipment, and transversal driving mechanism 2 is set on sliding support 1,
For driving sliding support 1 to slide along bracket transverse reciprocating.Specifically, the transversal driving mechanism 2 includes being set to the sliding
Horizontal drive motor 21 on support 1, the output shaft of the horizontal drive motor 21 is equipped with mutually to be nibbled with the horizontal tooth bar on bracket
The transverse gear 22 of conjunction is additionally provided with the transverse slider 23 being slidably connected with the horizontal slide rail on bracket on the sliding support 1, horizontal
Transverse gear 22 can be driven to rotate to driving motor 21, since horizontal tooth bar is fixedly installed on bracket, horizontal drive motor is driven
Transverse gear then transversely rack gear can move that sliding support is driven to slide laterally along bracket when dynamic transverse gear rotation, structure
It is compact.Certainly, transversal driving mechanism can also realize sliding support for the form that servo motor is matched with toothed belt transmission structure
Slide laterally.
Lifting support 3 is slidably connected on the sliding support 1, and is driven in sliding support.
Vertical driving mechanism 4 is set on the lifting support 3, for driving lifting support 3 vertical along the sliding support 1
It reciprocatingly slides.Specifically, the vertical driving mechanism 4 includes being set to the screw rod 41 of 3 inside of lifting support and being slidably connected to liter
The vertical driving motor 42 in 3 outside of descending branch frame, passes through skin between the output section and the screw rod 41 of the vertical driving motor 42
To drive lifting support 3 to slide vertically along the sliding support 1, vertical driving motor is passed V belt translation by belt transmission structure
Dynamic, since screw rod is fixedly installed on lifting support, lifting support can then slide vertically along sliding support, in the present embodiment, erect
It is driven to elevating mechanism using screw structure and by vertical driving motor, can reduce the brake load of motor, and passed using screw rod
Dynamic precision is higher, using the small lead screw rod of major diameter, there is certain self-locking effect, more secure and reliable.Certainly, vertical driving mechanism
Sliding vertically for lifting support can be realized for the form that servo motor is matched with toothed belt transmission structure.
The inside of the lifting support 3 is additionally provided with the mounting rack 31 for installing screw rod 41, and the mounting rack 31 is equipped with
It is sheathed on the upper fixed block 32 and lower fixed block 33 of the top and bottom of the screw rod 41 respectively, the upper fixing block 32 and lower solid
Determine block 33 to be connected with the mounting rack 31 to fix screw rod 41.In the present embodiment, the screw rod 41 is located on the mounting rack 31
Lower end be additionally provided be used to support screw rod rotation bearing block 34.
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 sliding support 1 is equipped with the vertical sliding block 10 that is slidably connected with the vertical rails 43, vertical sliding block
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 and slide
It is set in vertical rails, when vertical driving motor drives screw rod rotation, vertical sliding block and vertical rails cooperation make lifting support
Along the vertical smooth sliding of sliding support, the stability of lifting support has been greatly reinforced.
The lifting support 3 is equipped with the vertical chute 35, slidably connects in the vertical chute 35 described for installing
The motor mounting rack 36 of vertical driving motor 42, the motor mounting rack 36 is including mounting plate 361 and is set to the vertical chute
Mounting leg 362 on 35, the mounting leg 362 are set to the lower end of the mounting plate 361, and the vertical driving motor 42 is set
In on the mounting plate 361.
The paper matrix suction means include can moisture adsorption and releasing paper matrix l Water Paper mould inhale laying mechanism 6 and be set to lifting support 3 on simultaneously
The dry paper matrix for inhaling 6 lower section of laying mechanism positioned at the l Water Paper mould inhales laying mechanism 7.It includes first longitudinal direction that the l Water Paper mould, which inhales laying mechanism 6,
Bracket 51, first picks and places mechanical arm 52 and first longitudinal direction driving mechanism 53；It includes second longitudinal direction branch that the dry paper matrix, which inhales laying mechanism 7,
Frame 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 longitudinal direction 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 first longitudinal direction 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 between the first longitudinal direction bracket 51 and the first longitudinal direction mechanical arm 52, is used
In driving the first longitudinal direction mechanical arm 52 along the longitudinally reciprocal sliding of the first longitudinal direction bracket 51, when standby, described first is vertical
To 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 the first longitudinal direction is mechanical
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
Drive first longitudinal direction 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, the first longitudinal direction 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 longitudinal direction 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 second longitudinal direction 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 between the second longitudinal direction bracket 54 and the second longitudinal direction mechanical arm 55, is used
In driving the second longitudinal direction mechanical arm 55 along the longitudinally reciprocal sliding of the second longitudinal direction bracket 54, when standby, described second is vertical
To 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 is vertical
Be equipped with second longitudinal direction driving motor 562 to mechanical arm 55, 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 longitudinal direction 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, the second longitudinal direction 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 l Water Paper mould suction laying mechanism 6 is equipped with suction compatible with l Water Paper mould shape and puts locking portion 60, and the suction is put suitable
With offered in portion can external negative pressure device with the negative pressure sucker 61 of negative pressure taking moisture releasing paper matrix, the paper matrix suction means further includes
On lifting support 3 and it is located at the dry paper matrix suction laying mechanism 7 that the l Water Paper mould inhales 6 lower section of laying mechanism, the dry paper matrix suction is put
Mechanism 7 be equipped with can external negative pressure device the negative pressure sucker 70 of paper matrix is allowed to dry with negative pressure taking.Specifically, the first longitudinal direction is mechanical
It is equipped with suction compatible with l Water Paper mould shape on the downside of the front end of arm 52 and puts locking portion 523, the suction is put to be offered on locking portion 523
Can external negative pressure device with the negative pressure sucker 5231 of negative pressure taking moisture releasing paper matrix, set on the downside of the front end of the second longitudinal direction mechanical arm 55
Have can external negative pressure device the negative pressure sucker 553 of paper matrix is allowed to dry with negative pressure taking.It is put by suction compatible with l Water Paper mould shape suitable
It can more quickly be contacted with portion and draw preliminary molding l Water Paper mould on paper matrix molding equipment, and inhaled by negative pressure sucker with negative pressure
The phenomenon for taking l Water Paper mould to be avoided that folder deformation etc. causes product bad occurs, and then greatly improves the production efficiency of paper matrix.
In addition, the lower end of the lifting support 3 is connected with fixed frame 30, the first longitudinal direction bracket 51 and described second
The front of longitudinal carrier 54 is fixed on the fixed frame 30.The lower end of lifting support is connected with frame structure, for connecting
The first longitudinal direction bracket and second longitudinal direction bracket of first longitudinal direction mechanical arm and second longitudinal direction mechanical arm are fixed in the frame structure,
The effectively structural stability of enhancing manipulator.
To sum up, compared with prior art, the paper matrix intelligence loading and unloading manipulator of the application has the following advantages:
1, the application with stablize pick and place part mechanism paper matrix intelligence loading and unloading manipulator, by with l Water Paper mould shape phase
The pick-and-place locking portion of adaptation can more quickly contact and draw preliminary molding l Water Paper mould on paper matrix molding equipment, reduce paper matrix and fall
The risk fallen greatly improves the yield rate of paper matrix, and the application is avoided that folder becomes by negative pressure sucker with negative pressure absorbing l Water Paper mould
The phenomenon that shape etc. causes product bad occurs, and then greatly improves the production efficiency of paper matrix.
2, the paper matrix intelligence loading and unloading manipulator with stable pick-and-place part mechanism of the application, (i.e. first is vertical for wet mould jig
To mechanical arm) it is standby when can be retracted to the underface of lifting support, reduce the cantilever of wet mould jig as far as possible, and then reduce lifting
The load-bearing of bracket, enhancing structure stability；Similarly, it can be retracted to lifting branch when dry mould jig (i.e. second longitudinal direction mechanical arm) is standby
The cantilever of dry mould jig is reduced in the underface of frame as far as possible, is further reduced the load-bearing of lifting support, enhancing structure stability.
3, the paper matrix intelligence loading and unloading manipulator with stable pick-and-place part mechanism of the application, vertical drive use silk
Rod structure is simultaneously driven by vertical driving motor, can reduce the brake load of motor, and higher using screw rod transmission precision, using big
The small lead screw rod of diameter, there is 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. with stablize pick and place part mechanism paper matrix intelligence loading and unloading manipulator, including be set to bracket on sliding support (1) and
Transversal driving mechanism (2) on sliding support (1) for driving sliding support to slide along bracket transverse reciprocating, the sliding
Support (1) is equipped with lifting support (3), and the lifting support (3) is equipped with for driving lifting support (3) along sliding support
(1) the vertical driving mechanism (4) vertically to reciprocatingly slide, the lower end of the lifting support (3), which is equipped with, can inhale the paper matrix for putting paper matrix suction
Take device, it is characterised in that: the paper matrix suction means include can moisture adsorption and releasing paper matrix l Water Paper mould inhale laying mechanism (6), it is described wet
Paper matrix suction laying mechanism (6) is equipped with suction compatible with l Water Paper mould shape and puts locking portion (60), and the suction is put to be opened up on locking portion
Have can external negative pressure device with the negative pressure sucker (61) of negative pressure taking moisture releasing paper matrix, the paper matrix suction means further include be set to lifting
On bracket and the dry paper matrix below laying mechanism (6) is inhaled positioned at the l Water Paper mould and inhales laying mechanism (7), and the dry paper matrix inhales laying mechanism
(7) be equipped with can external negative pressure device the negative pressure sucker (70) of paper matrix is allowed to dry with negative pressure taking.
2. according to claim 1 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The l Water Paper mould inhales laying mechanism (6)
First longitudinal direction bracket (51) on the downside of the lifting support (3)；
First longitudinal direction mechanical arm (52) is slidably connected on the first longitudinal direction bracket (51), and locking portion (60) are put in the suction
Set on the end of the first longitudinal direction mechanical arm (52)；
First longitudinal direction driving mechanism (53), be set to the first longitudinal direction bracket (51) and the first longitudinal direction mechanical arm (52) it
Between, for driving the first longitudinal direction mechanical arm (52) along the longitudinally reciprocal sliding of the first longitudinal direction bracket (51)；
When standby, the first longitudinal direction 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)；
The dry paper matrix inhales laying mechanism (7)
Second longitudinal direction bracket (54) is set on lifting support (3) and is located at the lower section of the first longitudinal direction bracket (51)；
Second longitudinal direction mechanical arm (55) is slidably connected on the second longitudinal direction bracket (54), and the negative pressure sucker (70) sets
In the end of the second longitudinal direction mechanical arm (55)；
Second longitudinal direction driving mechanism (56), be set to the second longitudinal direction bracket (54) and the second longitudinal direction mechanical arm (55) it
Between, for driving the second longitudinal direction mechanical arm (55) along the longitudinally reciprocal sliding of the second longitudinal direction bracket (54)；
When standby, the second longitudinal direction 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. according to claim 2 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The first longitudinal direction driving mechanism (53) includes the first longitudinal direction rack gear (531) on first longitudinal direction bracket (51), and described the
One longitudinal mechanical arm (52) is equipped with first longitudinal direction driving motor (532), the output shaft of the first longitudinal direction driving motor (532)
Equipped with the first longitudinal direction gear being meshed with the first longitudinal direction rack gear (531), the first longitudinal direction gear is vertical described first
Drive first longitudinal direction mechanical arm (52) along first longitudinal direction rack gear (531) longitudinal sliding motion under to the driving of driving motor (532).
4. according to claim 3 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The first longitudinal direction driving mechanism (53) further includes the first longitudinal direction sliding rail (533) on the downside of first longitudinal direction bracket (51), institute
First longitudinal direction mechanical arm (52) are stated equipped with the first sliding seat (521), the upside of first sliding seat (521) be equipped with it is described
The first longitudinal direction sliding block (522) that first longitudinal direction sliding rail (533) is slidably connected.
5. according to claim 2 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The second longitudinal direction driving mechanism (56) includes the second longitudinal direction rack gear (561) on second longitudinal direction bracket (54), and described the
Two longitudinal mechanical arms (55) are equipped with second longitudinal direction driving motor (562), the output shaft of the second longitudinal direction driving motor (562)
Equipped with the second longitudinal direction gear being meshed with the second longitudinal direction rack gear (561), the second longitudinal direction gear is vertical described second
Drive second longitudinal direction mechanical arm (55) along second longitudinal direction rack gear (561) longitudinal sliding motion under to the driving of driving motor (562).
6. according to claim 5 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The second longitudinal direction driving mechanism (56) further includes the second longitudinal direction sliding rail (563) on the downside of second longitudinal direction bracket (54), institute
Second longitudinal direction mechanical arm (55) are stated equipped with the second sliding seat (551), the upside of second sliding seat (551) be equipped with it is described
The second longitudinal direction sliding block (552) that second longitudinal direction sliding rail (563) is slidably connected.
7. according to claim 2 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
It includes suction seat and the cover board in suction seat, the suction that locking portion (60) is put in the suction that the l Water Paper mould inhales on laying mechanism (6)
It takes and is equipped with air flow chamber in seat, the cover board is equipped with the gas being connected to the air flow chamber and flows into connector, the negative pressure sucker
(61) it is set in the suction seat.
8. according to claim 2 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The lower end of the lifting support (3) is connected with fixed frame (30), the first longitudinal direction bracket (51) and the second longitudinal direction branch
The front of frame (54) is fixed on the fixed frame (30).
9. according to claim 1 with the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism, it is characterised in that:
The vertical driving mechanism (4) includes the screw rod (41) being set on the inside of lifting support (3) and is slidably connected to lifting support (3) outside
The vertical driving motor (42) of side is passed between the output section and the screw rod (41) of the vertical driving motor (42) by belt
It moves that lifting support (3) is driven to slide vertically along the support (1) that slides laterally, the vertical driving mechanism (4) further includes
Vertical rails (43) on lifting support (3), described slide laterally support (1) are equipped with and vertical rails sliding company
The vertical sliding block (10) connect.
10. according to claim 1 with the paper matrix intelligence loading and unloading manipulator for picking and placing part mechanism is stablized, feature exists
In: the transversal driving mechanism (2) includes the horizontal drive motor (21) on the sliding support (1), described laterally to drive
The output shaft of dynamic motor (21) is equipped with the transverse gear (22) being meshed with the horizontal tooth bar on bracket, the sliding support (1)
On be additionally provided with the transverse slider (23) being slidably connected with the horizontal slide rail on bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820762630.6U CN208379344U (en) | 2018-05-21 | 2018-05-21 | With the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820762630.6U CN208379344U (en) | 2018-05-21 | 2018-05-21 | With the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208379344U true CN208379344U (en) | 2019-01-15 |
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| CN201820762630.6U Expired - Fee Related CN208379344U (en) | 2018-05-21 | 2018-05-21 | With the paper matrix intelligence loading and unloading manipulator for stablizing pick-and-place part mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108396595A (en) * | 2018-05-21 | 2018-08-14 | 广东科捷龙机器人有限公司 | With the stable paper matrix intelligence loading and unloading manipulator for picking and placeing part mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108396595A (en) * | 2018-05-21 | 2018-08-14 | 广东科捷龙机器人有限公司 | With the stable paper matrix intelligence loading and unloading manipulator for picking and placeing part mechanism |
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