CN110450185B - Pulp molding product dry and wet blank transfer robot - Google Patents
Pulp molding product dry and wet blank transfer robot Download PDFInfo
- Publication number
- CN110450185B CN110450185B CN201910708337.0A CN201910708337A CN110450185B CN 110450185 B CN110450185 B CN 110450185B CN 201910708337 A CN201910708337 A CN 201910708337A CN 110450185 B CN110450185 B CN 110450185B
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- Prior art keywords
- vacuum
- hose
- dry
- transfer robot
- wet blank
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- 238000000465 moulding Methods 0.000 title claims abstract description 22
- 241000252254 Catostomidae Species 0.000 claims abstract description 3
- 238000007664 blowing Methods 0.000 claims description 39
- 238000007599 discharging Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 239000000047 product Substances 0.000 description 28
- 230000001276 controlling effect Effects 0.000 description 4
- 229920001131 Pulp (paper) Polymers 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007731 hot pressing Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- 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
- B25J15/0625—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with a valve
-
- 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
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pulp molding product dry-wet blank transfer robot which comprises a base and a manipulator arranged on the base, and is characterized in that the tail end of the manipulator is fixedly connected with a sucker frame; one side of the sucker frame is provided with a plurality of vacuum suckers for sucking dry blanks, and the other side of the sucker frame is provided with a plurality of vacuum cavities for sucking wet blanks. According to the invention, the six-axis mechanical arm is used for controlling the sucker frame to perform three-dimensional movement, the vacuum sucker and the vacuum cavity are integrated on the sucker frame, and the dry blank and the wet blank can be respectively sucked and blown back for discharging, so that the automatic transfer work of the dry blank and the wet blank is realized, the investment of equipment is reduced, the production cost is reduced, and the efficiency and the enterprise benefit are greatly improved.
Description
Technical Field
The invention belongs to the technical field of pulp molding equipment, and particularly relates to a pulp molding product dry-wet blank transfer robot.
Background
Paper tableware, paper fresh-keeping trays and other paper products are made of paper materials, so that the cost is low, the paper tableware, the paper fresh-keeping trays and other paper products can be treated in a burying or burning mode, serious environmental pollution is avoided, the paper tableware, the paper fresh-keeping trays and other paper products have high environmental protection value, and the paper tableware, the paper fresh-keeping trays and other paper products are more and more popular to be applied to life of people.
Paper tableware, paper fresh-keeping tray and other paper products are produced with paper pulp molding machine, and through pressurizing and dehumidifying paper pulp in paper pulp molding machine to form wet blank, hot pressing the wet blank in hot pressing setting machine to form dry blank, and final trimming with trimming machine to obtain the final product. In the production process, three kinds of equipment including a forming machine, a setting machine and an edge cutter are used, wet blanks are required to be taken out from the forming machine and conveyed to the setting machine in the working process, and dry blanks are required to be taken out from the setting machine and conveyed to the edge cutter. In the past, the traditional operation mode adopts a manual transfer mode, and hot press setting generates a large amount of high-temperature steam to cause severe working environment, so that workers work slowly and carefully to ensure self safety and low working efficiency.
It can be seen that there is a need for improvements and improvements in the art.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a pulp molding product dry and wet blank transfer robot which has high intelligent degree, is stable and reliable and can automatically finish the transfer work of dry blanks and wet blanks.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the pulp molding product dry-wet blank transfer robot comprises a base and a manipulator arranged on the base, wherein the tail end of the manipulator is fixedly connected with a sucker frame; one side of the sucker frame is provided with a plurality of vacuum suckers for sucking dry blanks, and the other side of the sucker frame is provided with a plurality of vacuum cavities for sucking wet blanks.
In the pulp molding product dry-wet blank transfer robot, the manipulator is a six-axis manipulator.
In the pulp molding product dry-wet blank transfer robot, the vacuum sucking discs are arranged in an array.
In the pulp molding product dry-wet blank transfer robot, the vacuum cavities are arranged in an array.
The pulp molding product dry-wet blank transfer robot also comprises a vacuum main pipe, a blowing main pipe and a split-flow integrated block; the manipulator is fixedly provided with a first angle seat valve connected with the vacuum main pipe and a second angle seat valve connected with the blowing main pipe, and the first angle seat valve and the second angle seat valve are respectively connected with an inlet of the split-flow integrated block; the outlet of the split-flow integrated block is connected with a first hose which is communicated with the vacuum cavity.
In the pulp molding product dry-wet blank transfer robot, the vacuum main pipe is also connected with a vacuum hose, and the vacuum hose is connected with a vacuum electromagnetic valve; the air blowing main pipe is also connected with a first air blowing hose, the first air blowing hose is connected with a two-position three-way electromagnetic valve, and the outlet of the two-position three-way electromagnetic valve is connected with a second air blowing hose connected with the inlet of the vacuum electromagnetic valve; and the outlet of the vacuum electromagnetic valve is connected with a second hose communicated with the vacuum chuck.
In the pulp molding product dry-wet blank transfer robot, the vacuum cavity is provided with a plurality of air holes; the sucker frame is provided with a cavity communicated with the air hole, and the cavity is communicated with the first hose.
In the pulp molding product dry-wet blank transfer robot, two cavities are arranged, and two pipe joints communicated with the cavities are arranged on the sucker frame; the split-flow integrated block is provided with two split-flow outlets, and two ends of the first hose are respectively connected with the pipe joint and the split-flow outlets; the vacuum solenoid valves are provided with two.
In the pulp molding product dry-wet blank transfer robot, the manipulator is fixed with an electromagnetic valve island, and the outlet of the electromagnetic valve island is respectively connected with a third hose and a fourth hose; the third hose is connected to the air inlet of the first angle seat valve; the fourth hose is connected to the air inlet of the second angle seat valve; the electromagnetic valve island is connected with an air supply pipe.
The beneficial effects are that:
the invention provides a pulp molding product dry-wet blank transfer robot which has high intelligent degree, is stable and reliable, and can automatically finish transfer work of dry blanks and wet blanks.
According to the invention, the six-axis mechanical arm is used for controlling the sucker frame to perform three-dimensional movement, the vacuum sucker and the vacuum cavity are integrated on the sucker frame, the dry blank and the wet blank can be respectively sucked and blown back for discharging, the automatic transfer work of the dry blank and the wet blank is realized, the investment of equipment can be reduced, the production cost is reduced, and the efficiency and the enterprise benefit are greatly improved.
Drawings
Fig. 1 is a perspective view of a dry and wet blank transfer robot for pulp molded products.
Fig. 2 is an enlarged view of the H portion in fig. 1.
Fig. 3 is a perspective view of a dry and wet blank transfer robot for pulp molded products according to the second embodiment of the invention.
Fig. 4 is an enlarged view of the portion I in fig. 3.
Fig. 5 is an enlarged view of a portion J in fig. 3.
Fig. 6 is a top view of a suction cup holder in the pulp molded product dry and wet blank transfer robot provided by the invention.
Fig. 7 is a sectional view of J-J of fig. 6.
Fig. 8 is a front view of a suction cup holder in the pulp molded product dry and wet blank transfer robot provided by the invention.
Fig. 9 is a sectional view of H-H of fig. 8.
Fig. 10 is a left side view of a suction cup holder in the pulp molded product dry and wet blank transfer robot provided by the invention.
Fig. 11 is a schematic structural connection diagram of a first corner seat valve, a second corner seat valve and a split-flow integrated block in the pulp molded product dry-wet blank transfer robot provided by the invention.
Detailed Description
The invention provides a pulp molding product dry-wet blank transfer robot, which is used for making the purposes, technical schemes and effects of the invention clearer and more definite, and is further described in detail below by referring to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
Referring to fig. 1 and 8, the invention provides a pulp molding product dry-wet blank transfer robot, which comprises a base 911 and a manipulator 91 arranged on the base 911, wherein the manipulator 91 is a six-axis manipulator. The tail end 912 (or connecting part) of the manipulator 91 is fixedly connected with a sucker frame 94; one side of the suction cup frame 94 is provided with a plurality of vacuum suction cups 941 for sucking dry blanks, and the other side of the suction cup frame 94 is provided with a plurality of vacuum cavities 944 for sucking wet blanks. As shown in fig. 6, 8 and 9, the vacuum chucks 941 are arranged in an array. The vacuum cavities 944 are arranged in an array. The six-axis mechanical arm is electrically connected with a control device, the control device can be a PLC controller, but is not limited to the PLC controller, the control device controls the six mechanical arms to automatically swing six mechanical joints of the six mechanical arms, so that the sucker frame is controlled to complete three-dimensional movement, then a vacuum cavity 944 is utilized to automatically suck wet blanks, and then reverse blowing and discharging are carried out, so that the transfer work of the wet blanks from a forming machine to a shaping machine is realized; after the shaping work is finished, the six-axis mechanical arm automatically absorbs the dry blank by utilizing the vacuum chuck, and then reversely blows and discharges the blank, so that the transfer work of the dry blank from the shaping machine to the edge cutter is realized.
As shown in fig. 1, 2, 3, 4, 5, 8 and 11, the pulp molded product dry-wet blank transfer robot further comprises a vacuum manifold 92, a blowing manifold 93 and a split-flow integrated block 97; the manipulator 91 is fixed with a first angle seat valve 95 connected with the vacuum main pipe 92 and a second angle seat valve 96 connected with the blowing main pipe 93, and the first angle seat valve 95 and the second angle seat valve 96 are respectively connected with the inlet of the split manifold 97; the outlet of the split manifold 97 is connected to a first hose 971, and the first hose 971 communicates with a vacuum cavity 944. The blow manifold 93 is provided with a blow pressure reducing valve 931 for regulating the pressure of the air flowing through the blow manifold.
In this embodiment, the blow manifold 93 and the vacuum manifold 92 laid on the ground are long straight metal pipes such as stainless steel pipes. The blowing manifold 93 and the vacuum manifold 92 fixed on the manipulator 91 by the plastic pipe clamp 913 are PVC steel wire hoses, wherein the blowing manifold 93 is connected to the inlet 961 of the second angle seat valve 96, and the second angle seat valve 96 is arranged to realize frequent switching of blowing of wet blanks (placing wet blanks to stations by back blowing); the vacuum manifold 92 is connected to an inlet 951 of a first corner seat valve 95 that is provided for effecting frequent switching of the vacuum suction of the wet blank (by sucking the wet blank to shift its position). The first hose 971 is connected to an outlet 972 of the manifold block 97.
The vacuum manifold 92 and the blowing manifold 93 are connected to the split manifold block 97, and through the arrangement of the split manifold block 97, the switching operation (switching operation of vacuum suction and blowing discharge) of the first corner seat valve 95 and the second corner seat valve 96 is used for completing the switching operation of reverse blowing discharge and vacuum suction of wet blanks. That is, when the first corner seat valve is in an open state, the second corner seat valve is in a closed state, and at the moment, the vacuum cavity 944 is in a vacuum state, and the suction cup frame 94 vacuum-sucks the wet blank by using the vacuum cavity which is in accordance with the shape of the wet blank; when the second angle seat valve is in an open state, the first angle seat valve is in a closed state, and at the moment, the vacuum cavity is filled with air (air with a certain pressure flows out of the vacuum cavity), and the sucker frame blows and discharges wet blanks by using the vacuum cavity.
Specifically, as shown in fig. 7 and 9, the vacuum cavity 944 is provided with a plurality of fine and dense air holes 946; the suction cup holder 94 is provided with a cavity 945 which is communicated with the air hole 946, and the cavity 945 is communicated with the first hose 971. As the first hose is connected with the split-flow integrated block 97, the first hose is sequentially communicated with the cavity and the air hole; when the first angle seat valve is in a closed state, air flows to the outside from the air holes, and back blowing and discharging of wet blanks are completed; when the first angle seat valve is in an open state, a vacuum state is formed in the air hole, and the wet blank is sucked in a vacuum way.
As shown in fig. 6, 8, 9, 10 and 11, in this embodiment, two cavities 945 are provided, and each cavity 945 is in communication with air holes 946 of a plurality of vacuum cavities 944; the suction cup frame 94 is provided with two pipe joints 942 communicated with the cavity 945, and at this moment, the split-flow integrated block 97 is provided with two split-flow outlets 972, and two ends of the first hose 971 are respectively connected with the pipe joints 942 and the split-flow outlets 972. As shown in fig. 1 and 8, the suction cup holder 94 is provided with a connection end 943, and the connection end 943 is fixedly connected to the distal end 912 of the robot 91 by a bolt. The first hose 971 is a PU steel hose.
As shown in fig. 2, 4, 5 and 11, the vacuum manifold 92 is further connected with a vacuum hose 991, and the vacuum hose 991 is connected with a vacuum solenoid valve 99; the air blowing main pipe 93 is also connected with a first air blowing hose 994, the first air blowing hose 994 is connected with a two-position three-way electromagnetic valve 993, and the outlet of the two-position three-way electromagnetic valve 993 is connected with a second air blowing hose 992 connected with the inlet of the vacuum electromagnetic valve 99; a second hose 995 is connected to the outlet of the vacuum solenoid valve 99 and communicates with the vacuum chuck 941. The vacuum hose 991, the first air blowing hose 994, the second air blowing hose 992, and the second hose 995 are PU hoses.
The on-off switching of the second blowing hose 992, the vacuum hose 991 and the vacuum solenoid valve 99 is controlled by the operation of the vacuum solenoid valve 99. When the air passage between the vacuum hose 991 and the vacuum solenoid valve 99 is communicated, the air passage between the second air blowing hose 992 and the vacuum solenoid valve 99 is blocked, and at the moment, the second hose 995 communicated with the vacuum solenoid valve 99 is in a vacuum state, so that the vacuum suction is performed on the dry blank through the vacuum chuck 941; on the contrary, the air path between the second air blowing hose 992 and the vacuum solenoid valve 99 is communicated, and at the moment, the second hose 995 is circulated with pressure air, and the pressure air flows out through the vacuum chuck 941, so that the back blowing and discharging work of the sucked dry blank can be completed. The vacuum solenoid valve 99 is provided for frequent switching of the vacuum suction and back blowing operations for the dry blanks. The two-position three-way electromagnetic valve 993 is used for controlling the on-off of the air passage between the first air blowing hose 994 and the second air blowing hose 992.
In this embodiment, two vacuum solenoid valves 99 are provided, and two shunt pipes are connected to the vacuum hose 991 and the second air blowing hose 992 through three-way connectors respectively, and the shunt pipes are correspondingly connected to the vacuum solenoid valves 99, and the two vacuum solenoid valves 99 are used to work simultaneously so as to increase the air flow, thereby improving the suction and back blowing effects of the vacuum chuck.
As shown in fig. 2, 4 and 11, the manipulator 91 is fixed with a solenoid valve island 98, and the outlet of the solenoid valve island 98 is connected with a third hose 981 and a fourth hose 982 respectively; a third hose 981 is connected to the air inlet of the first seat valve 95; a fourth hose 982 is connected to the air inlet of the second angle seat valve 96; a gas supply line 983 is connected to the solenoid valve island 98. The angle seat valve is a guide angle seat valve operated by adopting a single-action pneumatic actuator with spring safety protection, has the characteristics of short-time frequent starting, sensitive response and accurate action, and accurately controls the gas flow by pneumatic control. In the present embodiment, the first and second seat valves 95 and 96 are double-acting seat valves (two working holes are formed in the actuator), so that the third and fourth hoses 981 and 982 are respectively provided with two hoses, which are respectively connected to the first and second seat valves 95 and 96, respectively, to control their working states. The air supply line 983 provides working air to the solenoid valve island 98 to allow the solenoid valve island 98 to control the opening (second seat valve closed) or closing (second seat valve open) of the first seat valve, respectively.
The control device is used for electrically controlling the electromagnetic valve, the control valve and other electrical components so as to realize vacuum suction and back blowing discharging of dry blanks and wet blanks by utilizing the six-axis mechanical arm and the sucker frame.
In summary, the invention provides the pulp molding product dry-wet blank transfer robot which has high intelligent degree, is stable and reliable, and can automatically finish the transfer work of dry blanks and wet blanks.
According to the invention, the six-axis mechanical arm is used for controlling the sucker frame to perform three-dimensional movement, the vacuum sucker and the vacuum cavity are integrated on the sucker frame, the dry blank and the wet blank can be respectively sucked and blown back for discharging, the automatic transfer work of the dry blank and the wet blank is realized, the investment of equipment can be reduced, the production cost is reduced, and the efficiency and the enterprise benefit are greatly improved.
It will be understood that equivalents and modifications will occur to those skilled in the art in light of the present invention and their spirit, and all such modifications and substitutions are intended to be included within the scope of the present invention as defined in the following claims.
Claims (7)
1. The pulp molding product dry-wet blank transfer robot comprises a base and a manipulator arranged on the base, and is characterized in that the tail end of the manipulator is fixedly connected with a sucker frame; one side of the sucker frame is provided with a plurality of vacuum suckers for sucking dry blanks, and the other side of the sucker frame is provided with a plurality of vacuum cavities for sucking wet blanks;
the device also comprises a vacuum main pipe, a blowing main pipe and a split-flow integrated block; the manipulator is fixedly provided with a first angle seat valve connected with the vacuum main pipe and a second angle seat valve connected with the blowing main pipe, and the first angle seat valve and the second angle seat valve are respectively connected with an inlet of the split-flow integrated block; the outlet of the split-flow integrated block is connected with a first hose which is communicated with the vacuum cavity;
the vacuum main pipe is also connected with a vacuum hose, and the vacuum hose is connected with a vacuum electromagnetic valve; the air blowing main pipe is also connected with a first air blowing hose, the first air blowing hose is connected with a two-position three-way electromagnetic valve, and the outlet of the two-position three-way electromagnetic valve is connected with a second air blowing hose connected with the inlet of the vacuum electromagnetic valve; the outlet of the vacuum electromagnetic valve is connected with a second hose communicated with the vacuum chuck;
the sucker frame is provided with a cavity communicated with the air hole, and the cavity is communicated with the first hose;
the manipulator is fixed with solenoid valve island, solenoid valve island is connected with an air supply pipe.
2. The pulp molded article dry and wet blank transfer robot of claim 1, wherein the robot is a six-axis robot.
3. The pulp molded article dry and wet blank transfer robot of claim 1, wherein the vacuum cups are arranged in an array.
4. The pulp molded article dry and wet blank transfer robot of claim 1, wherein the vacuum cavities are arranged in an array.
5. The pulp molded article dry and wet blank transfer robot of claim 1, wherein the vacuum cavity is provided with a plurality of air holes.
6. The pulp molded product dry-wet blank transfer robot according to claim 1, wherein two cavities are provided, and the suction cup is provided with two pipe joints communicated with the cavities; the split-flow integrated block is provided with two split-flow outlets, and two ends of the first hose are respectively connected with the pipe joint and the split-flow outlets; the vacuum solenoid valves are provided with two.
7. The pulp molded product dry-wet blank transfer robot according to claim 1, wherein the outlets of the solenoid valve islands are respectively connected with a third hose and a fourth hose; the third hose is connected to the air inlet of the first angle seat valve; the fourth hose is connected to the air inlet of the second angle seat valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910708337.0A CN110450185B (en) | 2019-08-01 | 2019-08-01 | Pulp molding product dry and wet blank transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910708337.0A CN110450185B (en) | 2019-08-01 | 2019-08-01 | Pulp molding product dry and wet blank transfer robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110450185A CN110450185A (en) | 2019-11-15 |
| CN110450185B true CN110450185B (en) | 2023-12-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910708337.0A Active CN110450185B (en) | 2019-08-01 | 2019-08-01 | Pulp molding product dry and wet blank transfer robot |
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| CN (1) | CN110450185B (en) |
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| CN210551320U (en) * | 2019-08-01 | 2020-05-19 | 广东华工佳源环保科技有限公司 | Dry and wet blank transfer robot for paper pulp molded product |
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2019
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| JPH06247507A (en) * | 1993-02-26 | 1994-09-06 | Tokyo Electron Yamanashi Kk | Conveyer arm |
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| Publication number | Publication date |
|---|---|
| CN110450185A (en) | 2019-11-15 |
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