CN209506203U - A kind of bilateral material grasping manipulator mechanism - Google Patents
A kind of bilateral material grasping manipulator mechanism Download PDFInfo
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- CN209506203U CN209506203U CN201821927019.0U CN201821927019U CN209506203U CN 209506203 U CN209506203 U CN 209506203U CN 201821927019 U CN201821927019 U CN 201821927019U CN 209506203 U CN209506203 U CN 209506203U
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- material folding
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Abstract
The utility model provides a kind of bilateral material grasping manipulator mechanism, multipair the second driving device for material folding is set in the horizontal direction, therefore multiple stations can be arranged in user in the horizontal direction, collect a kind of horizontal integration of packaging industry multistation, so that the height for lowering equipment longitudinal direction saves manpower and raising efficiency with degree of linking；The second multipair driving device may be implemented to take the product in current station to next station, both the automatic material grasping of whole stations can have been realized, relative to being operated by hand entirely in traditional technology, waste a large amount of manpower, social resources are wasted, technical solution used by the application is greatly improved its production efficiency.
Description
Technical field
The utility model relates to material grabbing mechanism field, espespecially a kind of bilateral material grasping manipulator mechanism.
Background technique
In packaging industry, carton can be handled using packet tissue machine and flanging defoaming machine, and one in existing technology
As be combined into one using flanging defoaming machine and packet tissue machine, carton is handled using up-down structure form, but single-station
It is bad to act more, production product quality, and feeding and discharging are carried out using full manual operations, wastes a large amount of manpower,
Waste social resources.
Summary of the invention
To solve the above problems, the utility model provides a kind of bilateral material grasping manipulator mechanism, collect packaging industry multistation
A kind of horizontal integration, save manpower and raising efficiency with degree of linking to lower the height of equipment longitudinal direction；And it can realize
The automatic material grasping of whole stations wastes a large amount of manpower relative to operating by hand entirely in traditional technology, wastes social resources,
Technical solution used by the application is greatly improved its production efficiency.
To achieve the above object, the technical solution adopted in the utility model is to provide a kind of bilateral material grasping manipulator mechanism,
Including for the positioning mechanism of product orientation to be processed, the discharging station for being used to be placed through processing product, setting to be positioned
Conveying mechanism between mechanism and discharging station；Wherein conveying mechanism include first driving device, two be parallel to each other and along fixed
Position mechanism toward discharging station direction extend the first sliding rail, several be set on the first sliding rail and it is fixed first cunning
Block, wherein two first sliding rails are slidably arranged in respectively on two the first sliding blocks；The first driving device is respectively with two
First sliding rail is drivingly connected, so that the first sliding rail is moved along the direction of the first sliding block；First sliding rail is along its length
Multiple second driving devices are provided with, and are mutually aligned between the second driving device on two first sliding rails, wherein each second drives
Dynamic device drive connection has material folding plate, and drives the material folding plate on two first sliding rails close to each other.
Further, the positioning mechanism includes for placing the station to adding material of product, being located at station to adding material far from conveyer
The front and back positioning cylinder of structure one end, positioned at station to adding material close to two backgauge cylinders of the two sides of conveying mechanism one end；Before described
The movable end of positioning cylinder is connected with scraping wings afterwards, and drives scraping wings that product is pushed into station to adding material；The backgauge cylinder institute
The movable end stated is connected with striker plate, and striker plate is driven to support product only in station to adding material close to conveying mechanism one end.
Further, second driving device includes material folding cylinder, material folding fixed plate, the material folding fixed plate fixed setting
On the first sliding rail, the material folding cylinder is fixed on material folding fixed plate and its movable end is connect with material folding plate.
Further, the surface of the material folding fixed plate is equipped with the waist hole extended along the activity direction of material folding cylinder, the folder
Expect that cylinder is fixed by equipped realize of screw and waist hole.
Further, second driving device further includes installation riser, material folding connecting rod, material folding locating piece, wherein installing
Vertical plate is vertically fixed on the surface of material folding fixed plate, and the material folding cylinder movable end passes through installation riser and connects with material folding plate
It connects；The surface of the installation riser is provided with linear bearing, and one end of the material folding connecting rod passes through linear bearing and and material folding
Plate connection, the other end of material folding connecting rod are fixedly connected with material folding locating piece.
Further, the first sliding rail is additionally provided with third driving device, wherein the third driving device is fixed at first
On sliding rail, and third driving device and the second driving device are drivingly connected, and make the second driving device along the first sliding block direction
It is mobile.
Further, the third driving device includes positioning cylinder, positioning slide, positioning sliding block, wherein the positioning is slided
Rail is fixed on the first sliding rail, and the positioning sliding block is slidably arranged on positioning slide, and in second driving device
Material folding fixed plate be fixed on positioning sliding block；Wherein the movable end of the positioning cylinder is connect with positioning sliding block, and is driven
Dynamic positioning sliding block is moved along positioning slide direction.
Further, the first driving device include servo motor, main drive link, driving fixed plate, two it is mutually flat
Row and the fixed frame extended along positioning mechanism toward discharging station direction；The wherein both ends difference of the lateral surface of every fixed frame
Equipped with driving synchronous pulley and driven synchronous pulley, and drives and be arranged with driving skin on synchronous pulley and driven synchronous pulley
Band, the surface of the driving fixed plate are fixed on the lateral surface of drive belt, and the bottom surface of the driving fixed plate is fixed on first
On sliding rail, wherein the both ends of the main drive link between two fixed frames be each passed through fixed frame and with two sides
Synchronous pulley connection is driven, the servo motor drives main drive link to rotate and the drive belt of two sides is driven to rotate, simultaneously
The first sliding rail is driven to move on the first sliding block by driving fixed plate.
Further, the lateral surface of the fixed frame is equipped with several limiting photoelectric switch, wherein setting in driving fixed plate
There is inductive switching piece corresponding with limiting photoelectric switch, wherein servo motor drives the inductive switching piece in driving fixed plate to pass through
The limiting photoelectric switch of first sliding block lateral surface.
The utility model has the beneficial effects that:
1. existing equipment is shaped mostly with single-station, be configured to need human relay working when flow line production, labor intensive and
Multipair the second driving for material folding is arranged in low efficiency, and bilateral material grasping manipulator mechanism provided by the present application in the horizontal direction
Device, therefore multiple stations can be arranged in user in the horizontal direction, collect a kind of horizontal integration of packaging industry multistation, to subtract
The height of low equipment longitudinal direction saves manpower and raising efficiency with degree of linking.
2. corresponding number is arranged in conveying mechanism and by actual production needs and actual station quantity
Second driving device, and second driving device on both sides is mutually aligned, wherein each second driving device drive connection has material folding
Plate, and make the realization material folding close to each other of the material folding plate on both sides；Second driving device on both sides is driven by first driving device
It is moved along the first sliding block；During the work time, driving carries out feeding into positioning mechanism first, then passes through first driving device
Second driving device on driving both sides is moved along the first sliding block, is driven to next station, and due to setting on each station
There is product, therefore the second multipair driving device may be implemented to take the product in current station to next station, it both can be real
The automatic material grasping for having showed whole stations wastes a large amount of manpower relative to operating by hand entirely in traditional technology, wastes society's money
Source, technical solution used by the application are greatly improved its production efficiency.
Detailed description of the invention
Fig. 1 is this specific embodiment positioning mechanism structural schematic diagram.
Fig. 2 is this specific embodiment conveying mechanism structural schematic diagram.
Fig. 3 is the front view of this specific embodiment overall mechanism.
Fig. 4 is the enlarged structure schematic diagram in Fig. 3 at A.
Fig. 5 is this specific embodiment the second driving device structure schematic diagram.
Fig. 6 is this specific embodiment third driving device structure schematic diagram.
Fig. 7 is the schematic diagram that this specific embodiment first driving device drives the first sliding rail.
Fig. 8 is enlarged structure schematic diagram at B in Fig. 7.
Drawing reference numeral explanation: 1. positioning mechanisms；11. front and back positioning cylinder；12. scraping wings；13. backgauge cylinder；14. backgauge
Plate；15. station to adding material；21. the first sliding rail；22. the first sliding block；23. the second driving device；231. material folding cylinder；232. material folding
Plate；233. material folding fixed plates；234. installation riser；235. linear bearing；236. material folding connecting rods；237. material folding locating pieces；
238. waist hole；3. third driving device；31. positioning cylinder；32. positioning slide；33. positioning sliding block；41. driving fixed plate；42.
Inductive switching piece；43. limiting photoelectric switch；5. discharge station；61. servo motor；62. driving synchronous pulley；63. driven synchronization
Belt wheel；64. drive belt；65. main drive link；66. fixed frame.
Specific embodiment
The utility model is described in detail with Figure of description combined with specific embodiments below.
It please refers to shown in Fig. 1-8, the utility model is about to achieve the above object, the technical solution adopted in the utility model
Be to provide a kind of bilateral material grasping manipulator mechanism, including for by the positioning mechanism 1 of product orientation to be processed, be used to be placed through
Handle the conveying mechanism between the discharging station 5, setting positioning mechanism 1 and the station 5 that discharges of product；Wherein conveying mechanism includes the
One driving device, two the first sliding rails 21 for being parallel to each other and extending toward discharging station direction along positioning mechanism, several are arranged
On the first sliding rail and fixed first sliding block 22, wherein two article of first sliding rail 21 is slidably arranged in two respectively
On one sliding block 22；Wherein the first driving device is drivingly connected with two first sliding rails 21 respectively, so that the first sliding rail 21
It moves in direction along the first sliding block 22；First sliding rail 21 is provided with multiple second driving devices 23, and two along its length
The second driving device 23 on first sliding rail 21 is mutually aligned, wherein each second driving device 23 drive connection has material folding plate
232, and drive the material folding plate 232 on two first sliding rails 21 close to each other.
Wherein in this embodiment, by actual station quantity, work to be expected successively is set with according to production mode reform
Position 15, envelope paper station, long side flanging de-bubble station, short side flanging de-bubble station, discharging station 5, therefore set in conveying mechanism
Be equipped with three pair of second driving device 23, for envelope paper station, long side flanging de-bubble station, short side flanging de-bubble station folder
Material；And second driving device 23 on both sides is mutually aligned, wherein each second driving device 23 drive connection has material folding plate 232,
And make the realization material folding close to each other of material folding plate 232 on both sides；Second driving device on both sides is driven by first driving device
23 move along the first sliding block 22；
During the work time, the first driving device in conveying mechanism drives first sliding rail 21 on both sides along the first sliding block 22
Direction it is mobile, and run to positioning mechanism 1, then the second driving device 23 on two first sliding rails positioned at front end drives folder
Flitch clamps the product on positioning mechanism 1；Then first driving device drives first sliding rail 21 on both sides sliding along first
The direction of block 22 is mobile, and makes the product picked up positioned at the second driving device 23 of front end by both sides along remotely located
The direction of mechanism 1 is mobile, realizes to product from positioning mechanism 1 toward the conveying of next station；
And since in above process, other second driving devices 23 on two first sliding rails also correspond to station simultaneously
Product clamped, when first driving device drives first sliding rail 21 on both sides to move along the direction of remotely located mechanism 1
When, other second driving devices 23, which are also achieved, is driven to the conveying of next station product by current station, therefore multipair
The second driving device 23 may be implemented that next station will be taken in the product of current station, can both realize whole stations
Automatic material grasping waste a large amount of manpower relative to operating by hand entirely in traditional technology, waste social resources, this is specific real
It applies technical solution used by example and is greatly improved its production efficiency.
And existing equipment is shaped mostly with single-station, is configured to need human relay working, labor intensive when flow line production
And low efficiency, and bilateral material grasping manipulator mechanism provided by the present application, multipair second for material folding is set in the horizontal direction and is driven
Dynamic device, therefore multiple stations can be arranged in user in the horizontal direction, collect a kind of horizontal integration of packaging industry multistation, thus
The height for lowering equipment longitudinal direction saves manpower and raising efficiency with degree of linking.
Only there is mechanical mechanism on the longitudinal direction of board in the prior art simultaneously, is in the transverse direction of board
It opens and closes completely, whether this structure still can not moved freely in origin position in working position by carton.Improve envelope
The working efficiency of paper and flanging defoaming machine board, the utilization of this mechanism is so that four face de-bubbles of flanging de-bubble are completed in a station
Long side and short side sub-station de-bubble can be resolved into.The mechanism bottleneck for overcoming the four face de-bubbles of flanging de-bubble mechanism, can be improved
The production efficiency of entire board.
Refering to Figure 1, further, the positioning mechanism 1 include for place the station to adding material 15 of product, be located to
Expect front and back positioning cylinder 11 of the station 15 far from conveying mechanism one end, positioned at station to adding material 15 close to the two sides of conveying mechanism one end
Two backgauge cylinders 13, the movable end of the front and back positioning cylinder 11 is connected with scraping wings 12, and drives scraping wings 12 that will produce
Product are pushed into station to adding material 15；Movable end described in the backgauge cylinder 13 is connected with striker plate 14, and drives striker plate 14 that will produce
Product support only in station to adding material 15 close to conveying mechanism one end.In this embodiment, positioning mechanism 1 is used for being placed on wait expect
The positioning of 15 product of station facilitates clamping of the conveying mechanism to product；Product is placed on station to adding material by preposition device
When 15, in order to ensure subsequent work, pass through the cooperation realization pair of front and back positioning cylinder 11 and two backgauge cylinders 13
The accurate positioning of product, after the completion of positioning, two backgauge cylinders 13 will release supporting only to product.
It please refers to shown in Fig. 5, further, second driving device 23 includes material folding cylinder 231, material folding fixed plate 233,
The material folding fixed plate 233 is fixed on the first sliding rail 21, the material folding cylinder 231 be fixed on material folding fixed plate 233 and
Its movable end is connect with material folding plate 232.Wherein in this embodiment the second driving device 23 using cylinder and material folding
The clamping to product is realized in the cooperation of plate 232, but should be noted that embodiment of above is only to the utility model
Preferred embodiment is described, and is not defined to the scope of the utility model, and user can also choose other drivings
Device realizes same effect.
It please refers to shown in Fig. 5, further, the surface of the material folding fixed plate 233 is equipped with along 231 activity direction of material folding cylinder
The waist hole 238 of extension, the material folding cylinder 231 are fixed by equipped realize of screw and waist hole 238.In this embodiment,
In order to cooperate the product of different in width, user can adjust material folding cylinder 231 in material folding fixed plate by adjusting waist hole 238
Position on 233, and then the distance between adjustable both sides material folding cylinder 231.
It please refers to shown in Fig. 5, further, second driving device 23 further includes installation riser 234, material folding connecting rod
236, material folding locating piece 237, wherein installation riser 234 is vertically fixed on the surface of material folding fixed plate 233, and the material folding cylinder
231 movable ends pass through installation riser 234 and connect with material folding plate 232；The surface of the installation riser 234 is provided with linear bearing
235, one end of the material folding connecting rod 236 passes through linear bearing 235 and connect with material folding plate 232, material folding connecting rod 236 it is another
One end is fixedly connected with material folding locating piece 237.It in this embodiment, can also be by the way that material folding locating piece 237 be arranged, to control
The 232 mobile upper limit of institute of material folding plate processed, and then the distance between adjustable both sides material folding plate 232.
It please refers to shown in Fig. 1-8, further, the junction of the first sliding rail 21 and the second driving device 23 is additionally provided with third drive
Dynamic device 3, wherein the third driving device 3 is fixed on the first sliding rail 21, and third driving device 3 and the second driving
Device 23 is drivingly connected, and the second driving device 23 is moved along 22 direction of the first sliding block.Wherein due between each station
Distance it is not identical, therefore before life's work, by actual needs, adjusted by third driving device 3 adjacent in same
The distance of two the second driving devices 23, to adapt to different size products.
It please refers to shown in Fig. 6, further, the third driving device 3 includes positioning cylinder 31, positioning slide 32, positioning
Sliding block 33, wherein the positioning slide 32 is fixed on the first sliding rail 21, and the positioning sliding block 33 is slidably arranged in and determines
On the sliding rail 32 of position, and the material folding fixed plate 233 in second driving device 23 is fixed on positioning sliding block 33；Wherein institute
The movable end for stating positioning cylinder 31 is connect with positioning sliding block 33, and positioning sliding block 33 is driven to move along 32 direction of positioning slide.This
The positioning cylinder 31 that uses in specific embodiment, positioning slide 32, the cooperation between positioning sliding block 33, realize and adjust in same
The distance of two adjacent the second driving devices 23 is to adapt to different size products.
It please refers to shown in Fig. 7-8, further, the first driving device includes servo motor 61, main drive link 65, drives
Dynamic fixed plate 41, two is parallel to each other and along the fixed frame 66 that positioning mechanism extends toward discharging station direction, wherein each solid
The both ends for determining the lateral surface of rack 66 are respectively equipped with driving synchronous pulley 62 and driven synchronous pulley 63, and drive synchronous pulley
62 and driven synchronous pulley 63 on be arranged with drive belt 64, wherein it is described driving fixed plate 41 surface be fixed on driving skin
With 64 lateral surface, the bottom surface of the driving fixed plate 41 is fixed on the first sliding rail 21, wherein being located at two fixed frames 66
Between the both ends of main drive link 65 be each passed through the first sliding block 22 and connect with the driving synchronous pulley 62 of two sides, it is described to watch
It takes motor 61 to drive main drive link 65 to rotate and the drive belt 64 of two sides is driven to rotate, while passing through driving 41 band of fixed plate
Dynamic first sliding rail 21 moves on the first sliding block 22.
It please refers to shown in Fig. 4, further, the both ends of the lateral surface of fixed frame 66 are respectively equipped with limiting photoelectric switch 43,
Wherein driving fixed plate 41 is equipped with inductive switching piece 42 corresponding with limiting photoelectric switch 43, and wherein servo motor 61, which drives, drives
Inductive switching piece 42 in dynamic fixed plate 41 passes through the limiting photoelectric switch 43 at sliding rail both ends.Inductive switching piece 42 senses limit
Open the light signal, feeds back to the control system of servo motor 61, and the accurate positioning of delivery is realized by the above mechanism and control.
Embodiment of above is only that preferred embodiments of the present invention are described, not to the utility model
Range be defined, under the premise of not departing from the spirit of the design of the utility model, this field ordinary engineering and technical personnel to this
The various changes and improvements that the technical solution of utility model is made should all fall into the guarantor that claims of the utility model determine
It protects in range.
Claims (9)
1. a kind of bilateral material grasping manipulator mechanism, it is characterised in that: including for by the positioning mechanism of product orientation to be processed, use
In the conveying mechanism for being placed through the discharging station of processing product, being arranged between positioning mechanism and discharging station；Wherein convey
If mechanism include first driving device, two be parallel to each other and along positioning mechanism toward discharging station direction extend the first sliding rail,
Dry is set on the first sliding rail and fixed first sliding block, wherein two first sliding rails are slidably arranged in two respectively
On a first sliding block；The first driving device is drivingly connected with two first sliding rails respectively, so that the first sliding rail is along first
The direction of sliding block is mobile；First sliding rail is provided with multiple second driving devices along its length, and on two first sliding rails
It is mutually aligned between second driving device, wherein each second driving device drive connection has material folding plate, and drives two first sliding rails
On material folding plate it is close to each other.
2. a kind of bilateral material grasping manipulator mechanism according to claim 1, it is characterised in that: the positioning mechanism includes using
In the station to adding material of placement product, the front and back positioning cylinder positioned at station to adding material far from conveying mechanism one end, it is located at station to adding material
Two backgauge cylinders close to the two sides of conveying mechanism one end；The movable end of the front and back positioning cylinder is connected with scraping wings, and
Drive scraping wings that product is pushed into station to adding material；Movable end described in the backgauge cylinder is connected with striker plate, and drives backgauge
Plate supports product only in station to adding material close to conveying mechanism one end.
3. a kind of bilateral material grasping manipulator mechanism according to claim 1, it is characterised in that: the second driving device packet
Material folding cylinder, material folding fixed plate are included, the material folding fixed plate is fixed on the first sliding rail, and the material folding cylinder is fixed on folder
Expect fixed plate and its movable end is connect with material folding plate.
4. a kind of bilateral material grasping manipulator mechanism according to claim 3, it is characterised in that: the table of the material folding fixed plate
Face is equipped with the waist hole extended along the activity direction of material folding cylinder, and the material folding cylinder is fixed by equipped realize of screw and waist hole.
5. a kind of bilateral material grasping manipulator mechanism according to claim 3, it is characterised in that: second driving device is also
Including installation riser, material folding connecting rod, material folding locating piece, wherein installation riser is vertically fixed on the surface of material folding fixed plate, and
The material folding cylinder movable end passes through installation riser and connect with material folding plate；The surface of the installation riser is provided with linear axis
It holds, one end of the material folding connecting rod passes through linear bearing and connect with material folding plate, and the other end of material folding connecting rod and material folding are fixed
Position block is fixedly connected.
6. a kind of bilateral material grasping manipulator mechanism according to claim 5, it is characterised in that: the first sliding rail is additionally provided with third
Driving device, wherein the third driving device is fixed on the first sliding rail, and third driving device is filled with the second driving
Drive connection is set, and the second driving device is moved along the first sliding block direction.
7. a kind of bilateral material grasping manipulator mechanism according to claim 6, it is characterised in that: the third driving device packet
Positioning cylinder, positioning slide, positioning sliding block are included, wherein the positioning slide is fixed on the first sliding rail, the positioning is slided
Block is slidably arranged on positioning slide, and the material folding fixed plate in second driving device is fixed on positioning sliding block；
Wherein the movable end of the positioning cylinder is connect with positioning sliding block, and positioning sliding block is driven to move along positioning slide direction.
8. a kind of bilateral material grasping manipulator mechanism according to claim 1, it is characterised in that: the first driving device packet
Include servo motor, main drive link, driving fixed plate, two be parallel to each other and along positioning mechanism toward discharging station direction extend
Fixed frame；Wherein the both ends of the lateral surface of every fixed frame are respectively equipped with driving synchronous pulley and driven synchronous pulley,
And drive belt is arranged on driving synchronous pulley and driven synchronous pulley, the surface of the driving fixed plate is fixed on driving
The bottom surface of the lateral surface of belt, the driving fixed plate is fixed on the first sliding rail, wherein between two fixed frames
The both ends of main drive link be each passed through fixed frame and connect with the driving synchronous pulley of two sides, the servo motor driving
Main drive link rotates and the drive belt of two sides is driven to rotate, while driving the first sliding rail sliding first by driving fixed plate
It is moved on block.
9. a kind of bilateral material grasping manipulator mechanism according to claim 8, it is characterised in that: the outside of the fixed frame
Face is equipped with several limiting photoelectric switch, wherein driving fixed plate is equipped with inductive switching piece corresponding with limiting photoelectric switch,
Wherein servo motor drives the inductive switching piece in driving fixed plate across the limiting photoelectric switch of the first sliding block lateral surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821927019.0U CN209506203U (en) | 2018-11-21 | 2018-11-21 | A kind of bilateral material grasping manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821927019.0U CN209506203U (en) | 2018-11-21 | 2018-11-21 | A kind of bilateral material grasping manipulator mechanism |
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| Publication Number | Publication Date |
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| CN209506203U true CN209506203U (en) | 2019-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821927019.0U Active CN209506203U (en) | 2018-11-21 | 2018-11-21 | A kind of bilateral material grasping manipulator mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168243A (en) * | 2020-01-02 | 2020-05-19 | 西安交通大学 | Laser polishing processing equipment |
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2018
- 2018-11-21 CN CN201821927019.0U patent/CN209506203U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168243A (en) * | 2020-01-02 | 2020-05-19 | 西安交通大学 | Laser polishing processing equipment |
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