CN108466835A - The full-automatic loading and unloading puma manipulator of paper matrix - Google Patents
The full-automatic loading and unloading puma manipulator of paper matrix Download PDFInfo
- Publication number
- CN108466835A CN108466835A CN201810490543.4A CN201810490543A CN108466835A CN 108466835 A CN108466835 A CN 108466835A CN 201810490543 A CN201810490543 A CN 201810490543A CN 108466835 A CN108466835 A CN 108466835A
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- Prior art keywords
- longitudinal direction
- paper matrix
- holder
- mechanical arm
- lifting support
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- 239000011159 matrix material Substances 0.000 title claims abstract description 60
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000002745 absorbent Effects 0.000 claims description 7
- 239000002250 absorbent Substances 0.000 claims description 7
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 230000008450 motivation Effects 0.000 claims 4
- 230000005611 electricity Effects 0.000 claims 1
- 230000002708 enhancing effect Effects 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000969 carrier Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21J—FIBREBOARD; MANUFACTURE OF ARTICLES FROM CELLULOSIC FIBROUS SUSPENSIONS OR FROM PAPIER-MACHE
- D21J5/00—Manufacture of hollow articles by transferring sheets, produced from fibres suspensions or papier-mâché by suction on wire-net moulds, to couch-moulds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
This application involves paper matrix industry more particularly to a kind of full-automatic loading and unloading puma manipulator of paper matrix, wet mould jig can be retracted to the underface of lifting support when standby, reduce the cantilever of wet mould jig as far as possible, and then reduce the load-bearing of lifting support, enhancing structure stability；Similarly, the cantilever of dry mould jig is reduced in the underface that lifting support is can be retracted to when dry mould jig is standby as far as possible, is further reduced the load-bearing of lifting support, enhancing structure stability；In addition, the vertical lifting mechanism of the application is driven using screw structure and by vertical driving motor, the brake load of motor can be mitigated, and have certain self-locking effect, safety and reliability using the small helical pitch lead screw of major diameter using screw rod transmission precision higher.
Description
【Technical field】
This application involves paper matrix industry more particularly to a kind of full-automatic loading and unloading puma manipulators of paper matrix.
【Background technology】
It is currently used for generally including holder from the equipment that paper matrix is molded absorption paper matrix in forming machine, is movably set to branch
Mechanical arm assembly on frame, the mechanical arm assembly include rack-mount first mechanical arm moving up and down, are installed on
One mechanical arm lower end and can longitudinally reciprocal movement second mechanical arm, be installed on second mechanical arm lower end for drawing the true of paper matrix
Suction adsorption device, the vacuum absorption device are set to the end of second mechanical arm and are driven in second mechanical arm.The machine of such structure
Tool hand component high degree of automation, paper matrix after one-step forming, can just be drawn by the vacuum absorption device in second mechanical arm,
Without manually taking out, avoid jeopardizing worker's safety.
But the mechanical arm assembly of such structure is when drawing paper matrix, since the fixed pivot of second mechanical arm is located at the
The end of two mechanical arms, when the suction of the vacuum absorption device on mechanical arm being caused to put paper matrix, the pulling cantilever of mechanical arm is longer, and first
Mechanical arm entirety weight-bearing load is larger, and overall structure stable type is poor.
It is necessary in view of this, carrying out improvement to the structure for being currently used in the manipulator for drawing paper matrix.
【Invention content】
It is the manipulator that solves to be currently used for drawing paper matrix there are pulling cantilever is longer, overall structure stability is poor to ask
Topic, the application provide a kind of full-automatic loading and unloading puma manipulator of paper matrix, can reduce the pulling cantilever of manipulator, and then reduce machine
The load-bearing of tool hand, enhancing structure stability.
The application is technical solution used by solving its technical problem：
The full-automatic loading and unloading puma manipulator of paper matrix, including：
It is slidably connected on supporting rack and slides laterally bearing；
Transversal driving mechanism slides laterally set on described on bearing, and bearing is slid laterally along supporting rack cross for driving
To reciprocatingly sliding；
Lifting support, be slidably connected to it is described slide laterally on bearing, and be driven in and slide laterally bearing；
Vertical driving mechanism is set on the lifting support, for driving lifting support to slide laterally bearing described in
Vertically reciprocatingly slide；
Paper matrix absorbent module is set on the lifting support, and the paper matrix absorbent module includes：
First longitudinal direction holder on the downside of the lifting support；
First picks and places mechanical arm, is slidably connected on the first longitudinal direction holder, and is driven in the lifting support and uses
In picking and placeing l Water Paper mould；
First longitudinal direction driving mechanism, between the first longitudinal direction holder and described first pick and place mechanical arm, for driving
Dynamic described first picks and places mechanical arm along the longitudinally reciprocal sliding of first longitudinal direction holder；
When standby, described first, which picks and places mechanical arm, the underface of lifting support is retracted to along first longitudinal direction bracket slide simultaneously
It is opposite with first longitudinal direction holder.
The paper matrix absorbent module further includes：
Second longitudinal direction holder on lifting support and below the first longitudinal direction holder；
Second picks and places mechanical arm, is slidably connected on the second longitudinal direction holder, and is driven in the lifting support and uses
In picking and placeing dry paper matrix；
Second longitudinal direction driving mechanism, between the second longitudinal direction holder and described second pick and place mechanical arm, for driving
Dynamic described second picks and places mechanical arm along the longitudinally reciprocal sliding of second longitudinal direction holder；
When standby, described second, which picks and places mechanical arm, the underface of lifting support is retracted to along second longitudinal direction bracket slide simultaneously
It is opposite with second longitudinal direction holder.
The lower end of the lifting support is connected with fixed frame, the first longitudinal direction holder and the second longitudinal direction holder
Front is fixed on the fixed frame.
The vertical driving mechanism includes the lead screw being set on the inside of lifting support and is slidably connected on the outside of lifting support
Vertical driving motor, by belt transmission to drive lifting branch between the output section and the lead screw of the vertical driving motor
Frame slides laterally bearing described in and slides vertically.
The vertical driving mechanism further includes the vertical rails being set on lifting support, and the bearing that slides laterally is equipped with
The vertical sliding block being slidably connected with the vertical rails.
The first longitudinal direction driving mechanism includes the first longitudinal direction rack being set on first longitudinal direction holder, and described first picks and places
Mechanical arm is equipped with first longitudinal direction driving motor, and the output shaft of the first longitudinal direction driving motor is equipped with and the first longitudinal direction tooth
The first longitudinal direction gear that item is meshed, the first longitudinal direction gear drive first under the driving of the first longitudinal direction driving motor
Mechanical arm is picked and placeed along first longitudinal direction rack longitudinal sliding motion.
The first longitudinal direction driving mechanism further include be set to first longitudinal direction holder on the downside of first longitudinal direction sliding rail, described first
It picks and places mechanical arm and is equipped with the first sliding seat, the upside of first sliding seat is equipped with to be slidably connected with the first longitudinal direction sliding rail
First longitudinal direction sliding block.
The second longitudinal direction driving mechanism includes the second longitudinal direction rack being set on second longitudinal direction holder, and described second picks and places
Mechanical arm is equipped with second longitudinal direction driving motor, and the output shaft of the second longitudinal direction driving motor is equipped with and the second longitudinal direction tooth
The second longitudinal direction gear that item is meshed, the second longitudinal direction gear drive second under the driving of the second longitudinal direction driving motor
Mechanical arm is picked and placeed along second longitudinal direction rack longitudinal sliding motion.
The second longitudinal direction driving mechanism further include be set to second longitudinal direction holder on the downside of second longitudinal direction sliding rail, described second
It picks and places mechanical arm and is equipped with the second sliding seat, the upside of second sliding seat is equipped with to be slidably connected with the second longitudinal direction sliding rail
Second longitudinal direction sliding block.
Described first pick and place be equipped on the downside of the front end of mechanical arm it is compatible with l Water Paper mould shape pick and place locking portion, it is described to take
Put offered on locking portion can external negative pressure device mechanical arm is picked and placeed with the negative pressure sucker of negative pressure taking moisture releasing paper matrix, described second
Be equipped on the downside of front end can external negative pressure device the negative pressure sucker of paper matrix is allowed to dry with negative pressure taking.
Compared with prior art, the application has the following advantages：
1, when the full-automatic loading and unloading puma manipulator of the paper matrix of the application, wet mould jig (i.e. first picks and places mechanical arm) are standby
The underface of lifting support is can be retracted to, reduces the cantilever of wet mould jig as far as possible, and then reduce the load-bearing of lifting support, enhancing
Structural stability；Similarly, the underface that lifting support is can be retracted to when dry mould jig (i.e. second picks and places mechanical arm) is standby, to the greatest extent may be used
The cantilever that dry mould jig can be reduced, is further reduced the load-bearing of lifting support, enhancing structure stability.
2, the lower end of the full-automatic loading and unloading puma manipulator of the paper matrix of the application, lifting support is connected with frame structure, uses
Mechanical arm and second, which is picked and placeed, in connection first picks and places the first longitudinal direction holder of mechanical arm and second longitudinal direction holder is fixed on the frame
In structure, the structural stability of manipulator is further enhanced.
3, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, vertical lifting mechanism is using screw structure and by vertical
Driving motor drives, and can mitigate the brake load of motor, and use screw rod transmission precision higher, using the small helical pitch silk of major diameter
Bar has certain self-locking effect, safety and reliability.
【Description of the drawings】
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 accompanying drawings in the following description is only some embodiments of the present application, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the structural schematic diagram one of the full-automatic loading and unloading puma manipulator of paper matrix of the application；
Fig. 2 is the structural schematic diagram two of the full-automatic loading and unloading puma manipulator of paper matrix of the application；
Fig. 3 is the structural schematic diagram three of the full-automatic loading and unloading puma manipulator of paper matrix of the application；
Fig. 4 is the first of the application to pick and place the structural schematic diagram of mechanical arm；
Fig. 5 is the portions the A enlarged diagram of Fig. 4.
【Specific implementation mode】
The application is described further below in conjunction with the accompanying drawings and the specific embodiments.
Attached drawing 1 is please referred to attached drawing 5, a kind of full-automatic loading and unloading puma manipulator of paper matrix, including slide laterally bearing 1,
Laterally driven structure 2, lifting support 3, vertical driving mechanism 4 and paper matrix absorbent module 5.Wherein：
It slides laterally bearing 1 to be slidably connected on the supporting rack of paper matrix former, transversal driving mechanism 2 is set to laterally sliding
On dynamic bearing 1, bearing 1 is slid laterally along the sliding of supporting rack transverse reciprocating for driving.Specifically, the transversal driving mechanism 2
Include set on the horizontal drive motor 21 slid laterally on bearing 1, the output shaft of the horizontal drive motor 21 be equipped with
The transverse gear 22 that horizontal tooth bar on supporting rack is meshed, described slide laterally are additionally provided with and the cross on supporting rack on bearing 1
The transverse slider 23 being slidably connected to sliding rail, horizontal drive motor 21 can drive transverse gear 22 to rotate, since horizontal tooth bar is solid
Surely be set on supporting rack, horizontal drive motor drive transverse gear rotation when transverse gear then can transversely rack movement to
Drive slides laterally bearing and is slid laterally along supporting rack, compact-sized.Certainly, transversal driving mechanism be alternatively servo motor with it is same
The matched form realization of step belt drive structure slides laterally sliding laterally for bearing.
Lifting support 3 slides laterally described in being slidably connected on bearing 1, and is driven in and slides laterally bearing.
Vertical driving mechanism 4 is set on the lifting support 3, for driving lifting support 3 to slide laterally bearing 1 along described
Vertically reciprocatingly slide.Specifically, the vertical driving mechanism 4 includes being set to the lead screw 41 of 3 inside of lifting support and being slidably connected
Vertical driving motor 42 in 3 outside of lifting support, leads between the output section and the lead screw 41 of the vertical driving motor 42
Belt transmission is crossed to drive lifting support 3 to be slid vertically along the bearing 1 that slides laterally, vertical driving motor is passed by belt
Dynamic structure driven, since lead screw is fixedly installed on lifting support, lifting support then can transversely sliding support slide vertically, this
In embodiment, vertical lifting mechanism is driven using screw structure and by vertical driving motor, can mitigate the brake load of motor, and
There are certain self-locking effect, safety and reliability using the small helical pitch lead screw of major diameter using screw rod transmission precision higher.Certainly, vertically
Driving mechanism is alternatively servo motor and realizes sliding vertically for lifting support with the matched form of toothed belt transmission structure.
Further, the vertical driving mechanism 4 further includes being set on lifting support 3 and being distributed in 41 both sides of the lead screw
Vertical rails 43, the bearing 1 that slides laterally is equipped with the vertical sliding block 10 that is slidably connected with the vertical rails 43, vertically
Sliding block is equipped with 4~8, in the present embodiment, it is preferable that vertical sliding block is equipped with 6, and coordinates with the vertical rails on lifting support
It is slideably positioned in vertical rails, when vertical driving motor drives lead screw rotation, vertical sliding block makes lifting with vertical rails cooperation
The holder transversely vertical smooth sliding of sliding support, has greatly reinforced the stability of lifting support.
The paper matrix absorbent module 5 picks and places mechanical arm 52, first longitudinal direction driving mechanism including first longitudinal direction holder 51, first
53, second longitudinal direction holder 54, second pick and place mechanical arm 55 and second longitudinal direction driving mechanism 56.Wherein：
First longitudinal direction holder 51 is set to 3 downside of lifting support, it is preferable that the middle part of first longitudinal direction holder 51 is set to lifting branch
The downside of frame 3, can enhancing structure stability.
First, which picks and places mechanical arm 52, is slidably connected on first longitudinal direction holder 51, and is driven in lifting support 3 for picking and placeing
L Water Paper mould, when operation, the first fixing end for picking and placeing mechanical arm 52 is fixed on the middle part of first longitudinal direction holder 51, can effectively inhibit to control
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 used between the first longitudinal direction holder 51 and described first pick and place mechanical arm 52
Mechanical arm 52 is picked and placeed along 51 longitudinally reciprocal sliding of the first longitudinal direction holder in driving described first, and when standby, described first takes
Put mechanical arm 52 can along first longitudinal direction holder 51 it is slidably retractable to the underface of lifting support 3 and with 51 phase of first longitudinal direction holder
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 531 being set on first longitudinal direction holder 51, and described first picks and places machinery
Arm 52 is equipped with first longitudinal direction driving motor 532, and the output shaft of the first longitudinal direction driving motor 532 is equipped with to be indulged with described first
The first longitudinal direction gear being meshed to rack 531, the first longitudinal direction gear is under the first longitudinal direction driving motor 532 driving
First is driven to pick and place mechanical arm 52 along 531 longitudinal sliding motion of first longitudinal direction rack.
In the present embodiment, the first longitudinal direction driving mechanism 53 further includes being set to the first of 51 downside of first longitudinal direction holder to indulge
To sliding rail 533, described first, which picks and places mechanical arm 52, is equipped with the first sliding seat 521, and the upside of first sliding seat 521 is equipped with
The first longitudinal direction sliding block 522 being slidably connected with the first longitudinal direction sliding rail 533, first longitudinal direction sliding block are equipped with 4~8, this implementation
In example, it is preferable that first longitudinal direction sliding block is equipped with 6, jitter problem when wet mould jig effectively being inhibited to take product.
Second longitudinal direction holder 54 is set to the lower section on lifting support 3 and positioned at the first longitudinal direction holder 51, it is preferable that the
Two longitudinal carriers are set to the underface of first longitudinal direction holder and are oppositely arranged with first longitudinal direction holder, keep overall structure more steady
It is fixed.
Second, which picks and places mechanical arm 55, is slidably connected on the second longitudinal direction holder 54, and is driven in the lifting support 3
For picking and placeing dry paper matrix, when operation, the second fixing end for picking and placeing mechanical arm is fixed on the middle part of second longitudinal direction holder, 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 used between the second longitudinal direction holder 54 and described second pick and place mechanical arm 55
Mechanical arm 55 is picked and placeed along 54 longitudinally reciprocal sliding of the second longitudinal direction holder in driving described second, and when standby, described second takes
Put mechanical arm 55 can along second longitudinal direction holder 54 it is slidably retractable to the underface of lifting support 3 and with 54 phase of second longitudinal direction holder
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 561 being set on second longitudinal direction holder 54, and described second takes
Put mechanical arm 55 and be equipped with second longitudinal direction driving motor 562, the output shaft of the second longitudinal direction driving motor 562 be equipped with it is described
The second longitudinal direction gear that second longitudinal direction rack 561 is meshed, the second longitudinal direction gear is in the second longitudinal direction driving motor 562
Driving under drive and second pick and place mechanical arm 55 along 561 longitudinal sliding motion of second longitudinal direction rack.
In the present embodiment, the second longitudinal direction driving mechanism 56 further includes being set to the second of 54 downside of second longitudinal direction holder to indulge
To sliding rail 563, described second, which picks and places mechanical arm 55, is equipped with the second sliding seat 551, and the upside of second sliding seat 551 is equipped with
The second longitudinal direction sliding block 552 being slidably connected with the second longitudinal direction sliding rail 563.Specifically, second longitudinal direction sliding block is equipped with 4, can
Jitter problem when dry mould jig effectively being inhibited to take product.
The described first front end downside for picking and placeing mechanical arm 52 picks and places locking portion 523 equipped with compatible with l Water Paper mould shape,
It is described pick and place offered on locking portion 523 can external negative pressure device with the negative pressure sucker 5231 of negative pressure taking moisture releasing paper matrix, described
Two pick and place be equipped on the downside of the front end of mechanical arm 55 can external negative pressure device the negative pressure sucker 553 of paper matrix is allowed to dry with negative pressure taking.Pass through
The locking portion that picks and places compatible with l Water Paper mould shape can be contacted more quickly and be drawn preliminary molding wet on paper matrix former
Paper matrix, and it is avoided that the phenomenon that clamping deformation etc. causes product bad occurs by negative pressure sucker with negative pressure absorbing l Water Paper mould, into
And greatly improve the production efficiency of paper matrix.
To sum up, compared with prior art, the full-automatic loading and unloading puma manipulator of the paper matrix of the application has the following advantages：
1, when the full-automatic loading and unloading puma manipulator of the paper matrix of the application, wet mould jig (i.e. first picks and places mechanical arm) are standby
The underface of lifting support is can be retracted to, reduces the cantilever of wet mould jig as far as possible, and then reduce the load-bearing of lifting support, enhancing
Structural stability；Similarly, the underface that lifting support is can be retracted to when dry mould jig (i.e. second picks and places mechanical arm) is standby, to the greatest extent may be used
The cantilever that dry mould jig can be reduced, is further reduced the load-bearing of lifting support, enhancing structure stability.
2, the lower end of the full-automatic loading and unloading puma manipulator of the paper matrix of the application, lifting support is connected with frame structure, uses
Mechanical arm and second, which is picked and placeed, in connection first picks and places the first longitudinal direction holder of mechanical arm and second longitudinal direction holder is fixed on the frame
In structure, the structural stability of manipulator is further enhanced.
3, the full-automatic loading and unloading puma manipulator of the paper matrix of the application, vertical lifting mechanism is using screw structure and by vertical
Driving motor drives, and can mitigate the brake load of motor, and use screw rod transmission precision higher, using the small helical pitch silk of major diameter
Bar has certain self-locking effect, safety and reliability.
The foregoing is merely the preferred embodiments of the application, not be used for limit the application implementation range, other it is all its
Principle and basic structure are same as the present application or approximate, within the protection domain of the application.
Claims (10)
1. the full-automatic loading and unloading puma manipulator of paper matrix, including：
It is slidably connected on supporting rack and slides laterally bearing (1)；
Transversal driving mechanism (2) slides laterally set on described on bearing (1), and bearing (1) is slid laterally along support for driving
Frame transverse reciprocating slides；
Lifting support (3), be slidably connected to it is described slide laterally on bearing (1), and be driven in and slide laterally bearing (1)；
Vertical driving mechanism (4), is set on the lifting support (3), for driving lifting support (3) to be slid laterally along described
Bearing (1) vertically reciprocatingly slides；
Paper matrix absorbent module (5) is set on the lifting support (3), it is characterised in that：Paper matrix absorbent module (5) packet
It includes：
First longitudinal direction holder (51) on the downside of the lifting support (3)；
First picks and places mechanical arm (52), is slidably connected on the first longitudinal direction holder (51), and is driven in the lifting branch
Frame (3) is for picking and placeing l Water Paper mould；
First longitudinal direction driving mechanism (53), be set to the first longitudinal direction holder (51) with described first pick and place mechanical arm (52) it
Between, for driving described first to pick and place mechanical arm (52) along the longitudinally reciprocal sliding of the first longitudinal direction holder (51)；
When standby, described first picks and places mechanical arm (52) can be slidably retractable to lifting support (3) along first longitudinal direction holder (51)
Underface is simultaneously opposite with first longitudinal direction holder (51).
2. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 1, it is characterised in that：The paper matrix absorption group
Part (5) further includes：
Second longitudinal direction holder (54) on lifting support (3) and below the first longitudinal direction holder (51)；
Second picks and places mechanical arm (55), is slidably connected on the second longitudinal direction holder (54), and is driven in the lifting branch
Frame (3) is for picking and placeing dry paper matrix；
Second longitudinal direction driving mechanism (56), be set to the second longitudinal direction holder (54) with described second pick and place mechanical arm (55) it
Between, for driving described second to pick and place mechanical arm (55) along the longitudinally reciprocal sliding of the second longitudinal direction holder (54)；
When standby, described second picks and places mechanical arm (55) can be slidably retractable to lifting support (3) along second longitudinal direction holder (54)
Underface is simultaneously opposite with second longitudinal direction holder (54).
3. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 2, it is characterised in that：The lifting support
(3) lower end is connected with fixed frame (30), the front of the first longitudinal direction holder (51) and the second longitudinal direction holder (54)
It is fixed on the fixed frame (30).
4. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 1, it is characterised in that：The vertical driving machine
Structure (4) includes the lead screw (41) being set on the inside of lifting support (3) and the vertical driving being slidably connected on the outside of lifting support (3) electricity
Machine (42), by belt transmission to drive lifting between the output section and the lead screw (41) of the vertical driving motor (42)
Holder (3) slides vertically along the bearing (1) that slides laterally.
5. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 4, it is characterised in that：The vertical driving machine
Structure (4) further includes the vertical rails (43) being set on lifting support (3), it is described slide laterally bearing (1) be equipped with it is described perpendicular
The vertical sliding block (10) being slidably connected to sliding rail.
6. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 1, it is characterised in that：The first longitudinal direction is driven
Motivation structure (53) includes the first longitudinal direction rack (531) being set on first longitudinal direction holder (51), and described first picks and places mechanical arm
(52) it is equipped with first longitudinal direction driving motor (532), the output shaft of the first longitudinal direction driving motor (532) is equipped with and described the
The first longitudinal direction gear that one longitudinal rack (531) is meshed, the first longitudinal direction gear is in the first longitudinal direction driving motor
(532) first is driven to pick and place mechanical arm (52) along first longitudinal direction rack (531) longitudinal sliding motion under driving.
7. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 6, it is characterised in that：The first longitudinal direction is driven
Motivation structure (53) further includes the first longitudinal direction sliding rail (533) being set on the downside of first longitudinal direction holder (51), and described first picks and places machinery
Arm (52) is equipped with the first sliding seat (521), and the upside of first sliding seat (521) is equipped with and the first longitudinal direction sliding rail
(533) the first longitudinal direction sliding block (522) being slidably connected.
8. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 2, it is characterised in that：The second longitudinal direction is driven
Motivation structure (56) includes the second longitudinal direction rack (561) being set on second longitudinal direction holder (54), and described second picks and places mechanical arm
(55) it is equipped with second longitudinal direction driving motor (562), the output shaft of the second longitudinal direction driving motor (562) is equipped with and described the
The second longitudinal direction gear that two longitudinal racks (561) are meshed, the second longitudinal direction gear is in the second longitudinal direction driving motor
(562) second is driven to pick and place mechanical arm (55) along second longitudinal direction rack (561) longitudinal sliding motion under driving.
9. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 8, it is characterised in that：The second longitudinal direction is driven
Motivation structure (56) further includes the second longitudinal direction sliding rail (563) being set on the downside of second longitudinal direction holder (54), and described second picks and places machinery
Arm (55) is equipped with the second sliding seat (551), and the upside of second sliding seat (551) is equipped with and the second longitudinal direction sliding rail
(563) the second longitudinal direction sliding block (552) being slidably connected.
10. the full-automatic loading and unloading puma manipulator of paper matrix according to claim 2, it is characterised in that：Described first picks and places
Be equipped on the downside of the front end of mechanical arm (52) it is compatible with l Water Paper mould shape pick and place locking portion (523), it is described to pick and place locking portion
(523) offered on can external negative pressure device machinery is picked and placeed with the negative pressure sucker (5231) of negative pressure taking moisture releasing paper matrix, described second
Be equipped on the downside of the front end of arm (55) can external negative pressure device the negative pressure sucker (553) of paper matrix is allowed to dry with negative pressure taking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810490543.4A CN108466835A (en) | 2018-05-21 | 2018-05-21 | The full-automatic loading and unloading puma manipulator of paper matrix |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810490543.4A CN108466835A (en) | 2018-05-21 | 2018-05-21 | The full-automatic loading and unloading puma manipulator of paper matrix |
Publications (1)
| Publication Number | Publication Date |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109607179A (en) * | 2019-01-18 | 2019-04-12 | 刘建庭 | A kind of equipment for feeding |
| CN111942878A (en) * | 2020-07-29 | 2020-11-17 | 广州华工环源绿色包装技术股份有限公司 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
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| CN111942878A (en) * | 2020-07-29 | 2020-11-17 | 广州华工环源绿色包装技术股份有限公司 | Intelligent mechanical arm for full-automatic feeding and discharging of pulp molding |
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