CN112830245A - Automatic paper mould taking and placing mechanism and manipulator - Google Patents
Automatic paper mould taking and placing mechanism and manipulator Download PDFInfo
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- CN112830245A CN112830245A CN202110131243.9A CN202110131243A CN112830245A CN 112830245 A CN112830245 A CN 112830245A CN 202110131243 A CN202110131243 A CN 202110131243A CN 112830245 A CN112830245 A CN 112830245A
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- rotating shaft
- clamping piece
- paper mold
- clamping
- taking
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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
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
- B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The invention relates to the technical field of paper mold production equipment, in particular to an automatic paper mold taking and placing mechanism which comprises a frame, wherein a longitudinal feeding device is arranged on the frame, a taking and placing support is arranged on the longitudinal feeding device, the longitudinal feeding device drives the taking and placing support to reciprocate longitudinally, and a paper mold clamping device used for clamping a screen frame bearing a paper mold is arranged on the taking and placing support. The invention also discloses a manipulator which comprises an automatic paper mold taking and placing mechanism and a vertical feeding mechanism for driving the automatic paper mold taking and placing mechanism to vertically move. According to the automatic paper mold taking and placing mechanism and the manipulator provided by the invention, the paper mold clamping device can stably clamp in the moving process, the influence of transverse or longitudinal load is small, the risk of falling of the paper mold is low, the production quality of the paper mold is favorably ensured, the production efficiency of the paper mold is improved, and meanwhile, compared with a suction device in the prior art, the automatic paper mold taking and placing mechanism is small in energy consumption and low in cost, and is favorable for modern large-scale production.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of paper mold production equipment, in particular to an automatic paper mold taking and placing mechanism and a manipulator.
[ background of the invention ]
With the development of science and technology and the improvement of environmental protection consciousness of people, paper products such as paper tableware or paper fresh-keeping trays are popular with more and more people, so that the development of the paper product production industry to automation intelligence is promoted. In the process of paper mold forming production of paper tableware and the like, a wet paper mold which is preliminarily formed needs to be taken out of a forming device and transferred to a drying device, and after drying is finished, a dry paper mold is taken out of the drying device and collected. Generally have among the prior art and adopt suction means's manipulator, the screen frame that will bear the weight of wet paper mould removes to drying equipment from preliminary former, the screen frame that will bear the weight of dry paper mould afterwards takes out from drying equipment, this kind of manipulator degree of automation is high, however, adopt suction means to receive horizontal or vertical load when absorbing the transfer, there is the risk that drops, and lead to the paper mould to warp easily, greatly influenced the quality of paper mould and reduced the production efficiency of paper mould, its energy consumption is big simultaneously, high cost, be unfavorable for modernization large-scale production.
[ summary of the invention ]
The invention aims to provide an automatic paper mold taking and placing mechanism and a manipulator, which solve the problem that when a paper mold is taken, placed and transferred by a suction device in the prior art, the paper mold is easy to fall off due to horizontal or longitudinal load, and the quality of the paper mold is affected.
In order to solve the above problems, the present invention provides the following technical solutions:
the automatic paper mould taking and placing mechanism comprises a frame, wherein a longitudinal feeding device is arranged on the frame, a taking and placing support is arranged on the longitudinal feeding device, the longitudinal feeding device drives the taking and placing support to move in a reciprocating mode along the longitudinal direction, and a paper mould clamping device used for clamping a screen frame bearing a paper mould is arranged on the taking and placing support.
According to the automatic paper mold taking and placing mechanism, the paper mold clamping device comprises a first clamping piece and a second clamping piece which are arranged oppositely, a linkage assembly and a driving device are arranged between the first clamping piece and the second clamping piece, and the driving device drives the linkage assembly to drive the first clamping piece and the second clamping piece to move close to or away from each other so as to clamp or loosen a screen frame bearing a paper mold.
The automatic paper mold taking and placing mechanism comprises a first rotating shaft, a first connecting rod connected with the first rotating shaft, a second connecting rod connected with the second rotating shaft, a swinging rod connected with the first connecting rod and the second connecting rod, and a third rotating shaft connected with the swinging rod, wherein the driving device is connected with the third rotating shaft, the first clamping piece is arranged on the first rotating shaft, the second clamping piece is arranged on the second rotating shaft, and the driving device drives the third rotating shaft to rotate so as to drive the swinging rod to swing so as to drive the first connecting rod and the second connecting rod to swing and further drive the first rotating shaft and the second rotating shaft to rotate so as to drive the first clamping piece and the second clamping piece to move close to or away from.
The automatic paper mold taking and placing mechanism comprises a first rotating shaft, a second rotating shaft, a third clamping piece and a fourth clamping piece, wherein the first rotating shaft is connected with the second rotating shaft, the second rotating shaft is connected with the first rotating shaft, the first rotating shaft is connected with the second rotating shaft, the second rotating shaft is connected with the second rotating shaft, and the second rotating shaft is rotated to swing to drive the fourth clamping piece and the second clamping piece to move in opposite directions.
According to the automatic paper mold taking and placing mechanism, the taking and placing support is provided with the guide rods extending along the relative movement direction of the first clamping piece and the second clamping piece, the guide connecting blocks are arranged between the first clamping piece and the third clamping piece and between the second clamping piece and the fourth clamping piece, and the guide connecting blocks are connected with the guide rods in a nested manner.
According to the automatic paper mold picking and placing mechanism, the number of the first clamping piece, the number of the second clamping piece, the number of the third clamping piece and the number of the fourth clamping piece are two, the first clamping piece and the third clamping piece are respectively connected to the first rotating shaft in a combined mode, and the second clamping piece and the fourth clamping piece are respectively connected to the second rotating shaft in a combined mode.
The automatic pick and place mechanism for paper mold as described above, the longitudinal feeding device comprising:
a longitudinal guide rail fixedly connected with the frame;
the longitudinal sliding block is arranged on the longitudinal guide rail in a sliding mode and is fixedly connected with the taking and placing support;
and the power device is connected with the longitudinal sliding block and is used for driving the longitudinal sliding block to slide along the longitudinal guide rail.
The power device comprises a first synchronous component, the first synchronous component comprises a first driving wheel, a first driven wheel and a first synchronous belt tensioned on the first driving wheel and the first driven wheel, and the first driving wheel is connected with a longitudinal driving motor.
The power device further comprises a second synchronous component arranged in parallel with the first synchronous component, the second synchronous component comprises a second driving wheel, a second synchronous wheel and a second synchronous belt tensioned on the second driving wheel and a second driven wheel, and a synchronous rod is connected between the second driving wheel and the first driving wheel.
The manipulator comprises the automatic paper mold taking and placing mechanism and a vertical feeding mechanism for driving the automatic paper mold taking and placing mechanism to vertically move.
Compared with the prior art, the invention has the following advantages:
the invention provides an automatic paper mould taking and placing mechanism and a manipulator, wherein a paper mould clamping device is arranged on a taking and placing support, when a paper mould needs to be transferred, a longitudinal feeding device drives the taking and placing support to drive the paper mould clamping device to enter a forming device, the paper mould clamping device clamps a net frame carrying a preliminarily formed wet paper mould, then the paper mould clamping device is driven by the longitudinal feeding device to move out of the forming device and transfer the paper mould to a drying device, after the net frame carrying the preliminarily formed wet paper mould is put down, the paper mould clamping device clamps the net frame carrying the dried dry paper mould, the paper mould clamping device is driven by the longitudinal feeding device to move out of the drying device, compared with a suction device in the prior art, the paper mould clamping device can stably clamp in the moving process, the influence of transverse or longitudinal load is small, the falling risk of the paper mould is low, the production quality of the paper mould is favorably ensured, the production efficiency of the paper mould is improved, and simultaneously compared with, the energy consumption is low, the cost is low, and the method is beneficial to modern large-scale production.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural view of a transfer robot according to an embodiment of the present invention.
Fig. 3 is an enlarged view of a portion a in fig. 2.
Fig. 4 is an exploded view of the transfer robot according to the embodiment of the present invention.
Fig. 5 is an enlarged view of a portion B in fig. 4.
Fig. 6 is a schematic structural diagram of a part of the automatic paper mold pick-and-place mechanism according to the embodiment of the invention.
Fig. 7 is a schematic structural diagram of a paper mold clamping device according to an embodiment of the invention.
Fig. 8 is an enlarged view of the portion C in fig. 7.
Fig. 9 is a schematic structural diagram of a stacking robot according to an embodiment of the present invention.
Fig. 10 is an enlarged view of a portion D in fig. 9.
Fig. 11 is a schematic structural view illustrating connection between a guard rail and a base according to an embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of the present invention.
Referring to fig. 1 to 11, the present embodiment provides an intelligent robot transferring apparatus for paper mold production.
Intelligent mechanical arm transfer equipment is used in paper mould production, including frame 1, be equipped with the manipulator 2 that transfers that is used for transferring wet paper mould and dry paper mould on the frame 1 to and be used for carrying out the pile manipulator 3 of pile with the dry paper mould that transfers manipulator 2 and transfer, transfer manipulator 2 movably set up on frame 1 just it gets and puts mechanism 4 to be equipped with the automatic machine of getting of paper mould on the manipulator 2 to transfer, the automatic machine of getting of paper mould 4 includes frame 41, be equipped with vertical feeding device 42 on the frame 41, be equipped with on the vertical feeding device 42 and get and put support 43, vertical feeding device 42 drive get and put support 43 along vertical reciprocating motion, it is equipped with the paper mould clamping device 44 that is used for the centre gripping to bear the reel of paper mould on the support 43 to get. The intelligent manipulator transfer device for producing the paper mold provided by the embodiment is provided with a transfer manipulator 2 and a stacking manipulator 3, wherein an automatic paper mold taking and placing mechanism 4 in the transfer manipulator 2 is provided with a taking and placing support 43 capable of reciprocating along the longitudinal direction, a paper mold clamping device 44 is arranged on the taking and placing support 43, when the paper mold needs to be transferred, the longitudinal feeding device 42 drives the taking and placing support 43 to drive the paper mold clamping device 44 to enter the forming device, the paper mold clamping device 44 clamps a net frame carrying a preliminarily formed wet paper mold, then the net frame carrying the dried dry paper mold is moved out of the forming device under the driving of the longitudinal feeding device 42 and transferred to the drying device, after the net frame carrying the preliminarily formed wet paper mold is put down, the paper mold clamping device 44 clamps the net frame carrying the dried dry paper mold, the dried dry paper mold is moved out of the drying device under the driving of the longitudinal feeding device 42 and then moved to the lower part of the stacking manipulator 3, and the dry paper mold is stacked by the stacking, its degree of automation is high, compares suction means among the prior art moreover, and paper mould clamping device 44 can stabilize the centre gripping in the removal process, receives horizontal or vertical load's influence for a short time, and the paper mould risk of dropping is low, is favorable to ensuring the production quality of paper mould, improves the production efficiency of paper mould, compares suction means among the prior art simultaneously, and its energy consumption is little, with low costs, is favorable to modernization large-scale production.
The transfer manipulator 2 further comprises a vertical feeding mechanism 45 for driving the automatic paper mold taking and placing mechanism 4 to vertically move, and the height of the automatic paper mold taking and placing mechanism 4 is adjusted through the vertical feeding mechanism 45, so that the automatic paper mold taking and placing mechanism 4 can be suitable for transfer, taking and placing at different heights, and the transfer manipulator is high in practicability and wide in application range.
Specifically, the paper mold clamping device 44 includes a first clamping member 441 and a second clamping member 442 which are arranged oppositely, a linkage assembly 443 and a driving device 444 are arranged between the first clamping member 441 and the second clamping member 442, and the driving device 444 drives the linkage assembly 443 to drive the first clamping member 441 and the second clamping member 442 to move close to or away from each other so as to clamp or release the mesh frame carrying the paper mold. In this embodiment, the driving device 444 is an air cylinder, when the paper mold is taken and placed, the first clamping member 441 and the second clamping member 442 clamp the screen frame carrying the paper mold under the action of the driving device 444 and the linkage assembly 443, and the first clamping member 441 and the second clamping member 442 are stressed uniformly, so that the clamping is more stable, the paper mold is effectively prevented from falling in the moving process, and the production efficiency is improved.
Specifically, the linkage assembly 443 includes a first rotating shaft 4431, a first connecting rod 4432 connected to the first rotating shaft 4431, a second rotating shaft 4433, and a second connecting rod 4434 connected to the second rotating shaft 4433, a swinging rod 4435 connected to the first connecting rod 4432 and the second connecting rod 4434, and a third rotating shaft 4436 connected to the swinging rod 4435 are disposed between the first connecting rod 4432 and the second connecting rod 4434, the driving device 444 is connected to the third rotating shaft 4436, the first clamping member 441 is disposed on the first rotating shaft 4431, the second clamping member 442 is disposed on the second rotating shaft 4433, and the driving device 444 drives the third rotating shaft 4436 to rotate to drive the swinging rod 4435 to swing to drive the first connecting rod 4432 and the second connecting rod 4434 to swing to drive the first rotating shaft 4431 and the second rotating shaft 4433 to drive the first clamping member 441 and the second clamping member 442 to move closer to or farther from. The driving device 444 only needs to drive the third rotating shaft 4436 to rotate, so that the first clamping part 441 and the second clamping part 442 can be driven to be clamped or loosened, the structure is simple, the linkage effect is good, and the clamping is more stable.
Further, the paper mold clamping device 44 further includes a third clamping member 445 and a fourth clamping member 446 which are oppositely disposed, a first linkage rod 447 is disposed between the third clamping member 445 and the first clamping member 441, the first linkage rod 447 is connected to the first rotating shaft 4431 and can swing along with the rotation of the first rotating shaft 4431 to drive the third clamping member 445 and the first clamping member 441 to move in opposite directions, a second linkage rod 448 is disposed between the fourth clamping member 446 and the second clamping member 442, and the second linkage rod 448 is connected to the second rotating shaft 4433 and can swing along with the rotation of the second rotating shaft 4433 to drive the fourth clamping member 446 and the second clamping member 442 to move in opposite directions. When the first rotating shaft 4431 and the second rotating shaft 4433 rotate to bring the first clamping piece 441 and the second clamping piece 442 to relatively close and clamp, the third clamping piece 445 and the fourth clamping piece 446 are relatively far away and released. The first clamping piece 441 and the second clamping piece 442 are arranged at the same height, the third clamping piece 445 and the fourth clamping piece 446 are arranged at the same height, when the paper mould is taken and placed, the first clamping piece 441, the second clamping piece 442, the third clamping piece 445 and the fourth clamping piece 446 move in turn, after the first clamping piece 441 and the second clamping piece 442 loosen and put down a screen frame carrying a preliminarily formed wet paper mould, the third clamping piece 445 and the fourth clamping piece 446 clamp the screen frame carrying the dry paper mould, the paper mould clamping device 44 can complete the taking and placing actions without moving positions, the taking and placing requirements of different positions can be met, and the paper mould clamping device is more convenient to use.
Further, the pick-and-place bracket 43 is provided with a guide rod 431 extending along the relative movement direction of the first clamping member 441 and the second clamping member 442, guide connection blocks 449 are arranged between the first clamping member 441 and the third clamping member 445 and between the second clamping member 442 and the fourth clamping member 446, and the guide connection blocks 449 are connected with the guide rod 431 in a nesting manner. The groove for the insertion of the guide rod 431 is formed in the guide connecting block 449, so that when the first clamping member 441 and the second clamping member 442 move relatively, the first clamping member 441 and the second clamping member 442 can move more stably due to the guide effect of the guide connecting block 449 and the guide rod 431, and the rapid positioning and clamping are facilitated.
Furthermore, the number of the first clamping member 441, the second clamping member 442, the third clamping member 445 and the fourth clamping member 446 is two, two of the first clamping member 441 and the third clamping member 445 are respectively connected to the first rotating shaft 4431 in a combined manner, and two of the second clamping member 442 and the fourth clamping member 446 are respectively connected to the second rotating shaft 4433 in a combined manner. Through the cooperation of two sets of holders jointly, four counterpoint installation departments of the net frame that the centre gripping carried the paper mould respectively make the paper mould more steady at the removal in-process, are favorable to reducing the risk that the paper mould dropped.
Specifically, the longitudinal feeding device 42 includes:
a longitudinal rail 421 fixedly connected to the frame 41;
the longitudinal sliding block 422 is slidably arranged on the longitudinal guide rail 421, and the longitudinal sliding block 422 is fixedly connected with the taking and placing support 43;
and the power device 423 is connected with the longitudinal sliding block 422 and is used for driving the longitudinal sliding block 422 to slide along the longitudinal guide rail 421.
The power device 423 drives the longitudinal sliding block 422 to slide along the longitudinal guide rail 421 fixedly connected with the frame 41, so as to drive the taking and placing support 43 fixedly connected with the longitudinal sliding block 422 to move longitudinally, manual operation is not needed, and the degree of automation is high.
Specifically, the power device 423 includes a first synchronizing assembly 4231, and the first synchronizing assembly 4231 includes a first driving wheel, a first driven wheel, and a first synchronizing belt tensioned on the first driving wheel and the first driven wheel, and the first driving wheel is connected with a longitudinal driving motor 4232. The first driving wheel is driven to rotate by the longitudinal driving motor 4232, so that the first synchronous belt is driven to move, the longitudinal sliding block 422 connected with the first synchronous belt and the taking and placing support 43 are driven to move, and the conveying device is simple in structure and good in conveying effect.
Further, the power device 423 further comprises a second synchronizing assembly 4233 arranged in parallel with the first synchronizing assembly 4231, the second synchronizing assembly 4233 comprises a second driving wheel, a second synchronizing wheel and a second synchronizing belt tensioned on the second driving wheel and a second driven wheel, and a synchronizing rod 4234 is connected between the second driving wheel and the first driving wheel. The first synchronizing assembly 4231 and the second synchronizing assembly 4233 are arranged side by side, and are driven to run synchronously through the synchronizing rod 4234, so that the driving taking and placing support 43 moves longitudinally more stably and smoothly, the transfer is more stable, and the transfer efficiency is higher.
Specifically, the stacking manipulator 3 comprises a suction cup assembly 31 for sucking the dry paper mold and a vertical driving assembly 32 for driving the suction cup assembly 31 to vertically reciprocate. When transferring manipulator 2 and transferring the dry paper mould to 3 belows of pile manipulator, sucking disc subassembly 31 in the pile manipulator 3 inhales the screen frame that tightly carries the dry paper mould, transfer manipulator 2 and remove to other regions from 3 belows of pile manipulator, vertical drive assembly 32 in the pile manipulator 3 drives sucking disc subassembly 31 vertical migration and carries out the pile, and automatic pile operation of accomplishing need not artifical pile, is favorable to promoting the paper mould production automation.
Specifically, vertical drive assembly 32 include with sucking disc subassembly 31 fixed connection's vertical guide rail 321 and slide locate on vertical guide rail 321 and with frame 1 fixed connection's vertical slider 322, be equipped with vertical driving motor 323 on the vertical slider 322, the output of vertical driving motor 323 is equipped with gear 324, be equipped with on sucking disc subassembly 31 along vertical extension and with the rack 325 of gear 324 meshing. The vertical driving motor 323 drives the gear 324 to be meshed with the rack 325, so as to drive the vertical slider 322 to slide relative to the vertical guide rail 321, and further drive the sucker assembly 31 to vertically move relative to the machine base 1.
Further, the base 1 comprises a beam 11 and upright columns 12 arranged at two ends of the beam 11, an electric box 5 is arranged on one side of each upright column 12, and the upright columns 12 are communicated with the beam 11 and the electric box 5. During wiring, the vertical columns 12 and the cross beams 11 can be internally wired and communicated with the electronic box 5, so that wiring is more regular and convenient.
Further, the automatic paper mold taking and placing mechanism further comprises a protective guard 6 for protecting the operation safety, and the protective guard 6 is arranged on one side, away from the feeding direction of the automatic paper mold taking and placing mechanism 4, of the machine base 1 in a surrounding mode. In this embodiment, the guard rail 6 includes a first guard rail 61 and a second guard rail 62 hinged to the base 1 and capable of being turned over relative to the base 1, a third guard rail 63 is slidably connected to the first guard rail 61, and a fourth guard rail 64 capable of moving close to or away from the third guard rail 63 is slidably connected to the second guard rail 62. As shown in fig. 11, the guard rail 6 can be opened or closed by moving the third guard rail 63 and the fourth guard rail 64 in the normal use; also can be through first guardrail 61 and second guardrail 62 of upset in order to open or close guardrail 6, first guardrail 61 and second guardrail 62 all are equipped with the pulley, drive third guardrail 63 upset when first guardrail 61 when opening, drive fourth guardrail 64 upset when opening second guardrail 62, are convenient for form great opening in order to satisfy demands such as equipment maintenance.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Automatic mechanism of putting of getting of paper mould, its characterized in that: the device comprises a frame (41), wherein a longitudinal feeding device (42) is arranged on the frame (41), a taking and placing support (43) is arranged on the longitudinal feeding device (42), the longitudinal feeding device (42) drives the taking and placing support (43) to reciprocate along the longitudinal direction, and a paper mold clamping device (44) used for clamping a screen frame bearing a paper mold is arranged on the taking and placing support (43).
2. The automatic pick and place mechanism of paper mold as claimed in claim 1, characterized in that: the paper mold clamping device (44) comprises a first clamping piece (441) and a second clamping piece (442) which are arranged oppositely, a linkage assembly (443) and a driving device (444) are arranged between the first clamping piece (441) and the second clamping piece (442), and the driving device (444) drives the linkage assembly (443) to drive the first clamping piece (441) and the second clamping piece (442) to move close to or away from each other so as to clamp or release the mesh frame carrying the paper mold.
3. The automatic pick and place mechanism of paper mold as claimed in claim 2, characterized in that: the linkage assembly (443) comprises a first rotating shaft (4431), a first connecting rod (4432) connected with the first rotating shaft (4431), a second rotating shaft (4433) and a second connecting rod (4434) connected with the second rotating shaft (4433), a swinging rod (4435) connected with the first connecting rod (4432) and the second connecting rod (4434) and a third rotating shaft (4436) connected with the swinging rod (4435) are arranged between the first connecting rod (4432) and the second connecting rod (4434), the driving device (444) is connected with the third rotating shaft (4436), the first clamping piece (441) is arranged on the first rotating shaft (4431), the second clamping piece (442) is arranged on the second rotating shaft (4433), the driving device (444) drives the third rotating shaft (4436) to rotate to drive the swinging rod (4435) to swing so as to drive the first connecting rod (4432) and the second connecting rod (4434) to swing to drive the first rotating shaft (441) and the second rotating shaft (4431) to drive the second clamping piece (442) to rotate to drive the first rotating shaft (4431) and the second rotating shaft (4433) to drive the first rotating shaft (441) and the second rotating shaft (4431) to rotate to A proximal or distal movement.
4. The automatic pick and place mechanism of paper mold as claimed in claim 3, characterized in that: the paper mold clamping device (44) further comprises a third clamping piece (445) and a fourth clamping piece (446) which are arranged oppositely, a first linkage rod (447) is arranged between the third clamping piece (445) and the first clamping piece (441), the first linkage rod (447) is connected with the first rotating shaft (4431) and can swing along with the rotation of the first rotating shaft (4431) to drive the third clamping piece (445) and the first clamping piece (441) to move in opposite directions, a second linkage rod (448) is arranged between the fourth clamping piece (446) and the second clamping piece (442), the second linkage rod (448) is connected with the second rotating shaft (4433) and can swing along with the rotation of the second rotating shaft (4433) to drive the fourth clamping piece (446) and the second clamping piece (442) to move in opposite directions.
5. The automatic pick and place mechanism of paper mold as claimed in claim 4, characterized in that: the picking and placing support (43) is provided with a guide rod (431) extending along the relative movement direction of a first clamping piece (441) and a second clamping piece (442), guide connecting blocks (449) are arranged between the first clamping piece (441) and a third clamping piece (445) and between the second clamping piece (442) and a fourth clamping piece (446), and the guide connecting blocks (449) are connected with the guide rod (431) in a nesting mode.
6. The automatic pick and place mechanism of paper mold as claimed in claim 4, characterized in that: the number of the first clamping pieces (441), the second clamping pieces (442), the third clamping pieces (445) and the fourth clamping pieces (446) is two, the two first clamping pieces (441) and the third clamping pieces (445) are respectively connected to the first rotating shaft (4431) in a combined mode, and the two second clamping pieces (442) and the fourth clamping pieces (446) are respectively connected to the second rotating shaft (4433) in a combined mode.
7. The automatic pick and place mechanism of paper mold as claimed in claim 1, characterized in that: the longitudinal feed device (42) comprises:
a longitudinal guide rail (421) fixedly connected with the frame (41);
the longitudinal sliding block (422) is arranged on the longitudinal guide rail (421) in a sliding manner, and the longitudinal sliding block (422) is fixedly connected with the taking and placing support (43);
and the power device (423) is connected with the longitudinal sliding block (422) and is used for driving the longitudinal sliding block (422) to slide along the longitudinal guide rail (421).
8. The automatic pick and place mechanism of paper mold as claimed in claim 7, wherein: the power device (423) comprises a first synchronizing assembly (4231), the first synchronizing assembly (4231) comprises a first driving wheel, a first driven wheel and a first synchronizing belt tensioned on the first driving wheel and the first driven wheel, and the first driving wheel is connected with a longitudinal driving motor (4232).
9. The automatic pick and place mechanism of paper mold as claimed in claim 8, wherein: the power device (423) further comprises a second synchronizing assembly (4233) which is arranged in parallel with the first synchronizing assembly (4231), the second synchronizing assembly (4233) comprises a second driving wheel, a second synchronizing wheel and a second synchronizing belt tensioned on the second driving wheel and a second driven wheel, and a synchronizing rod (4234) is connected between the second driving wheel and the first driving wheel.
10. Manipulator, its characterized in that: comprises the automatic paper mold taking and placing mechanism of any one of claims 1 to 9 and a vertical feeding mechanism (45) for driving the automatic paper mold taking and placing mechanism to move vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110131243.9A CN112830245A (en) | 2021-01-30 | 2021-01-30 | Automatic paper mould taking and placing mechanism and manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110131243.9A CN112830245A (en) | 2021-01-30 | 2021-01-30 | Automatic paper mould taking and placing mechanism and manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN112830245A true CN112830245A (en) | 2021-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110131243.9A Pending CN112830245A (en) | 2021-01-30 | 2021-01-30 | Automatic paper mould taking and placing mechanism and manipulator |
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| Country | Link |
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| CN (1) | CN112830245A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113571333A (en) * | 2021-06-30 | 2021-10-29 | 浙江田中精机股份有限公司 | Main shaft threading clamping mechanism |
| CN114538042A (en) * | 2022-03-24 | 2022-05-27 | 傲然特(苏州)智能科技有限公司 | Inverter component turnover device |
-
2021
- 2021-01-30 CN CN202110131243.9A patent/CN112830245A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113571333A (en) * | 2021-06-30 | 2021-10-29 | 浙江田中精机股份有限公司 | Main shaft threading clamping mechanism |
| CN114538042A (en) * | 2022-03-24 | 2022-05-27 | 傲然特(苏州)智能科技有限公司 | Inverter component turnover device |
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