CN203622422U - Carrying mechanical arm used for pulp modeling forming machine - Google Patents
Carrying mechanical arm used for pulp modeling forming machine Download PDFInfo
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- CN203622422U CN203622422U CN201320735610.7U CN201320735610U CN203622422U CN 203622422 U CN203622422 U CN 203622422U CN 201320735610 U CN201320735610 U CN 201320735610U CN 203622422 U CN203622422 U CN 203622422U
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- line slideway
- sidesway
- vertical lift
- slide block
- cylinder
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Abstract
The utility model relates to a carrying mechanical arm used for a pulp modeling forming machine. The mechanical arm has three freedom degrees and can move in the X direction, the Y direction and the Z direction. Moving (lateral moving) in the X direction is realized through two rodless cylinders and linear guide rails, and three-state location can be realized accurately. Moving (horizontal moving) in the Y direction and moving (vertical rising and falling) in the Z direction are realized through a motor and lead screws, and accurate location in any position within the stroke range can be realized. Grabbing and placing down of a steel tray are realized through power-on and power-off of an electric magnet, the mechanical arm can be used for directly receiving goods produced on the pulp modeling forming machine from a die through the tray, then the goods are placed on a trolley in order, and uniform drying processing is conducted on the goods. The mechanical arm has the advantages of being simple in structure, easy to manufacture, low in cost and stable in performance, can replace manual work, and saves labor force and production cost.
Description
Technical field
The utility model relates to a kind of conveying robot for paper pulp model formation machine
Background technology
Paper mould is take paper pulp as raw material, with making dewatering of pulp with the mould of filter screen, and fiberizing and produce the method for required product.Paper mould has functional, the feature of economic environmental protection.The mainstream model of China's paper pulp molding forming equipment is reciprocal lift at present, in production process, generally adopt and manually the goods of receiving from forming machine is transferred to dolly, this process is for simply repeating, but labour intensity is larger, workman bears heavier, designed the utility model, for the freight handling of paper pulp model formation machine for this reason.There is not yet in the market this type of manipulator.
Summary of the invention
The problem that need to manually complete in order to solve the freight handling of paper pulp model formation machine production, the utility model has designed manipulator a kind of simple and reliable for structure, economic and practical.
The utility model is achieved through the following technical solutions: a kind of conveying robot for paper pulp model formation machine is by support, motor, and screw mandrel, Rodless cylinder, line slideway and electromagnet assembling, controlled to realize by PLC.First vertical lift motor 1 is connected by shaft coupling with screw mandrel 2, and by stent support, the slide block of the nut of vertical lift screw mandrel 2 and vertical lift line slideway 1 is fixed together, and vertical lift line slideway 1, vertical lift line slideway 2 16 are fixing over the ground.The peaceful silk shifting rod 11 of translation motor 15 is to be also connected by shaft coupling, the slide block of the nut of translation screw mandrel 11 and translation line slideway 10 is fixed together, and the two ends, left and right of translation motor 15, translation screw mandrel 11, translation line slideway 10 are arranged on the slide block of vertical lift line slideway 1, vertical lift line slideway 2 16.Sidesway cylinder 1 is fixed on the slide block of translation line slideway 10, the cylinder body of sidesway cylinder 1 and the guide rail of sidesway line slideway 28 link together by connector simultaneously, the slide block of the slide block of sidesway cylinder 1 and sidesway line slideway 28 and link 7 are bolted together by connector, the left and right sides of link 7 connects respectively the cylinder body of sidesway cylinder 2 12 and the slide block of sidesway line slideway 1, wherein the slide block of the cylinder body of sidesway cylinder 2 12 and sidesway line slideway 3 13 links together, and together with the slide block of sidesway cylinder 2 12 is bolted on the guide rail of sidesway line slideway 3 13.At sidesway line slideway 1, the rational position place of the guide rail of sidesway line slideway 3 13 has been bolted respectively 2 electromagnet 5, puts pallet for inhaling.Two pairs of electromagnet on sidesway line slideway 1, sidesway line slideway 3 13 are fixed together by connecting rod 14, guarantee the sidesway line slideway 1 of link 7 both sides, 3 13 and 4 electromagnet synchronization actions of sidesway line slideway.At electromagnet, place is added with stretch sensor, and the signal that PLC can transmit according to stretch sensor judges whether goods falls to pallet and the weight of the goods that falls.
Control system of the present utility model adopts PLC to control, control motor that can be convenient and reliable and the motion of Rodless cylinder, simultaneously in order to adapt to the feature of the many kinds of small lot in paper model production process, add the use of touch-screen, so that the real time modifying to robot movement parameter in production process.
The beneficial effects of the utility model are to realize the automatic forwarding function of forming machine goods from mould to charging carriage, simple and reliable for structure, with low cost, can save labour and production cost.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model;
Fig. 2 is the utility model at manipulator in getting the left view of empty pallet or the arrangement of goods sidesway cylinder portion on dolly time;
The left view of Fig. 3 sidesway cylinder portion during in adjusted position configuration state that is the utility model at manipulator;
Fig. 4 is the left view of the utility model in manipulator sidesway cylinder portion in the time getting cargo state;
In figure, 1, vertical lift motor, 2, vertical lift screw mandrel, 3, vertical lift line slideway one, 4, pallet, 5, electromagnet, 6, sidesway line slideway one, 7, link, 8, sidesway line slideway two, 9, sidesway cylinder one, 10, translation line slideway, 11, translation screw mandrel, 12, sidesway cylinder two, 13, sidesway line slideway three, 14, connecting rod, 15, translation motor, 16, vertical lift line slideway two.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for illustrating the utility model, but are not used for limiting scope of the present utility model.
Structure of the present utility model connects as Fig. 1, shown in 2.First the motor 1 of vertical lift is connected by shaft coupling with screw mandrel 2, and by stent support, the slide block of the nut of vertical lift screw mandrel 2 and vertical lift line slideway 1 is fixed together, and vertical lift line slideway 1 and vertical lift line slideway 2 16 are fixing over the ground.Translation motor 15 is to be also connected by shaft coupling with screw mandrel 11, the slide block of the nut of translation screw mandrel 11 and translation line slideway 10 is fixed together, translation motor 15, screw mandrel 11, the two ends, left and right of line slideway 10 are arranged on the slide block of vertical lift line slideway 1, vertical lift line slideway 2 16 by bolt.Sidesway cylinder 1 is fixed on the slide block of translation line slideway 10, the cylinder body of sidesway cylinder 1 and the guide rail of sidesway line slideway 28 link together by connector simultaneously, the slide block of the slide block of sidesway cylinder 1 and sidesway line slideway 28 and link 7 are bolted together by connector, the left and right sides of link 7 connects respectively the cylinder body of sidesway cylinder 2 12 and the slide block of sidesway line slideway 1, wherein the slide block of the cylinder body of sidesway cylinder 2 12 and sidesway line slideway 3 13 links together, and together with the slide block of sidesway cylinder 2 12 is bolted on the guide rail of sidesway line slideway 3 13.At sidesway line slideway 1, the rational position place of the guide rail of sidesway line slideway 3 13 has been bolted respectively 2 electromagnet, puts pallet for inhaling.Electromagnet on sidesway line slideway 1, sidesway line slideway 3 13 is fixed together by connecting rod 14, guarantees sidesway line slideway 1,3 13 and 4 electromagnet synchronization actions of sidesway line slideway.At electromagnet, place is added with stretch sensor, and the signal that PLC can transmit according to stretch sensor judges whether goods falls to pallet and the weight of the goods that falls.
When paper pulp model formation machine is about to produce goods, open before mould, vertical lift motor 1, translation motor 15 is worked, adjust the position of manipulator, make to open when mould, manipulator is in the time of Fig. 4 state, pallet is just in time under die forming machine, and the top edge of pallet is a little less than the lower limb of goods.Should guarantee that in this course manipulator can carry out vertical lift and move horizontally in the space between dolly and forming machine normally, and can not collide dolly or forming machine.
After mould is opened, sidesway cylinder 1 moves to the one end shown in Fig. 4 from the one end shown in Fig. 3 under the guide effect of sidesway guide rail 28, and state is now the state of manipulator picking thing.Now should guarantee that goods can fall normally to pallet and can be by the structure member of manipulator as sidesway cylinder 1, sidesway cylinder 2 12 and sidesway line slideway 1, sidesway line slideway 28, 3 13 impacts of sidesway line slideway, receive after goods, sidesway cylinder 1 moves to the one end shown in Fig. 3 from the one end shown in Fig. 4 under the guide effect of sidesway guide rail 28, this distance of crossing between range request pallet 4 and link 7 should be higher than the height of produced goods, with guarantee goods normally by and can not bump to such an extent as to damage goods with the link of manipulator 7.
In the time that stretch sensor transmission carrys out signal indication goods and is normally shed on pallet, sidesway cylinder 1 moves to the one end shown in Fig. 3 from the one end shown in Fig. 4 under the guide effect of sidesway line slideway 28.If after manipulator picking state puts in place, after stretch sensor 2s, transmit yet the signal that normally comes off of goods, the slight jitter of pallet realized rotating among a small circle by vertical lift motor 1, to impel coming off of goods.If stretch sensor does not transmit the signal that goods normally comes off yet after 3s, will give the alarm and notify staff the handling failure of coming.
Vertical lift motor 1 in the time that manipulator is obtained the state of goods in Fig. 3, translation motor 15 is worked, and adjusts the position of manipulator, makes the pallet that has goods to be positioned over to the tram on dolly when manipulator during in Fig. 2 state.Should guarantee that in this course manipulator can carry out vertical lift and move horizontally in the space between dolly and forming machine normally, and can not collide dolly or forming machine.After the adjustment of the position of manipulator is proper, sidesway cylinder 2 12 moves to the one end shown in Fig. 2 from the one end shown in Fig. 3 under the guide effect of sidesway line slideway 1 and sidesway line slideway 3 13, when robot movement is to the state shown in Fig. 2, electromagnet power-off, puts down the pallet that goods is housed.It is reasonable that This move requires manipulator to probe into the length of dolly, and manipulator probes into the height of the dolly part distance between can not be two-layer higher than dolly.
After pallet is put down, manipulator returns to the state of Fig. 3, vertical lift motor 1, and translation motor 15 is worked, and adjusts the position of manipulator, makes again can obtain the empty pallet being placed on dolly according to predefined procedure when the state in Fig. 2 when manipulator.Be taken in manipulator position adjust proper after, sidesway cylinder 2 12 moves to the one end shown in Fig. 2 from the one end shown in Fig. 3 under the guide effect of sidesway line slideway 1 and sidesway line slideway 3 13, when robot movement is to the state shown in Fig. 2, electromagnet obtains electric, obtains empty pallet.
Obtain after empty pallet when manipulator, again return to the state of Fig. 3, prepare the goods that accesses next time.Now complete a circulation.
Claims (2)
1. the conveying robot for paper pulp model formation machine, comprise vertical lift motor (1), vertical lift screw mandrel (2), vertical lift line slideway one (3), vertical lift line slideway two (16), translation motor (15), translation screw mandrel (11), translation line slideway (10), sidesway cylinder one (9), sidesway cylinder two (12), link (7), sidesway line slideway one (6), sidesway line slideway two (8), sidesway line slideway three (13), electromagnet (5), pallet (4), connecting rod (14), it is characterized in that: vertical lift motor (1) and vertical lift screw mandrel (2) are rack-mount, the slide block of the nut of vertical lift screw mandrel (2) and vertical lift line slideway one (3) is fixed together, vertical lift line slideway one (3), vertical lift line slideway two (16) is fixing over the ground, translation motor (15), translation screw mandrel (11) and translation line slideway (10) are arranged on vertical lift line slideway one (3), on the slide block of vertical lift line slideway two (16), the slide block of the nut of translation screw mandrel (11) and translation line slideway (10) is fixed together, sidesway cylinder (9) is arranged on the slide block of translation line slideway (10), the cylinder body of the guide rail of sidesway line slideway two (8) and sidesway cylinder one (9) is fixed together, the slide block of sidesway line slideway two (8) is connected with the slide block of sidesway cylinder one (9), link (7) is also fixed on the slide block of sidesway line slideway two (8) simultaneously, one side of link (7) connects sidesway cylinder two (12), opposite side connects the slide block of sidesway line slideway one (6), the slide block of sidesway line slideway three (13) is fixed on the cylinder body of sidesway cylinder two (12), its guide rail is connected with the slide block of sidesway cylinder two (12), four electromagnet (5) and stretch sensor are separately fixed at sidesway line slideway one (6), on the guide rail of sidesway line slideway three (13), the electromagnet (5) of guide rail both sides is also connected and fixed by connecting rod (14), realize the slide block synchronizing moving of itself and sidesway cylinder two (12).
2. a kind of conveying robot for paper pulp model formation machine according to claim 1, it is characterized in that: the control system of this manipulator adopts PLC to control, add the application of touch-screen simultaneously, carried out real-time change to realize robot movement parameter according to the specification of producing goods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320735610.7U CN203622422U (en) | 2013-11-19 | 2013-11-19 | Carrying mechanical arm used for pulp modeling forming machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320735610.7U CN203622422U (en) | 2013-11-19 | 2013-11-19 | Carrying mechanical arm used for pulp modeling forming machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203622422U true CN203622422U (en) | 2014-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320735610.7U Expired - Fee Related CN203622422U (en) | 2013-11-19 | 2013-11-19 | Carrying mechanical arm used for pulp modeling forming machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203622422U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879777A (en) * | 2014-03-27 | 2014-06-25 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying device of spool of stranding machine |
| CN104647346A (en) * | 2013-11-19 | 2015-05-27 | 广东工业大学 | Carrying manipulator for pulp molding machine |
| CN104942571A (en) * | 2015-06-29 | 2015-09-30 | 四川福润得数码科技有限责任公司 | Operation device and assembly line for automatically assembling upper and lower covers of shielding cases on line |
| CN105538322A (en) * | 2016-02-04 | 2016-05-04 | 河南兴泰科技实业有限公司 | Automatic putaway robot |
| CN105598976A (en) * | 2014-11-17 | 2016-05-25 | 克朗斯股份公司 | Handling device and method for handling items |
| CN106976072A (en) * | 2017-04-28 | 2017-07-25 | 苏州三基铸造装备股份有限公司 | Electromagnetism inserts gripper equipment |
| CN107476139A (en) * | 2017-08-03 | 2017-12-15 | 福建绿叶机器人科技有限公司 | A kind of string environment protecting tableware production line and preparation method |
| CN108466254A (en) * | 2018-03-27 | 2018-08-31 | 陈洁 | It is a kind of can automatic clamping casting smelting operation console |
| CN110450177A (en) * | 2019-08-23 | 2019-11-15 | 北京云迹科技有限公司 | Straight-line motion mechanism and robot with it |
| US11560673B2 (en) | 2019-01-31 | 2023-01-24 | Be Green Packaging Llc | Pulp molding production line and processing method thereof |
| US12031271B2 (en) | 2019-01-31 | 2024-07-09 | Shurcon Manufacturing, Inc. | Transfer device applied to pulp molded manipulator, and production line |
-
2013
- 2013-11-19 CN CN201320735610.7U patent/CN203622422U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104647346A (en) * | 2013-11-19 | 2015-05-27 | 广东工业大学 | Carrying manipulator for pulp molding machine |
| CN103879777A (en) * | 2014-03-27 | 2014-06-25 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying device of spool of stranding machine |
| CN105598976A (en) * | 2014-11-17 | 2016-05-25 | 克朗斯股份公司 | Handling device and method for handling items |
| CN104942571A (en) * | 2015-06-29 | 2015-09-30 | 四川福润得数码科技有限责任公司 | Operation device and assembly line for automatically assembling upper and lower covers of shielding cases on line |
| CN105538322A (en) * | 2016-02-04 | 2016-05-04 | 河南兴泰科技实业有限公司 | Automatic putaway robot |
| CN106976072A (en) * | 2017-04-28 | 2017-07-25 | 苏州三基铸造装备股份有限公司 | Electromagnetism inserts gripper equipment |
| CN107476139A (en) * | 2017-08-03 | 2017-12-15 | 福建绿叶机器人科技有限公司 | A kind of string environment protecting tableware production line and preparation method |
| CN107476139B (en) * | 2017-08-03 | 2023-11-24 | 福建绿叶机器人科技有限公司 | Plant fiber environment-friendly tableware production line and preparation method |
| CN108466254A (en) * | 2018-03-27 | 2018-08-31 | 陈洁 | It is a kind of can automatic clamping casting smelting operation console |
| US11560673B2 (en) | 2019-01-31 | 2023-01-24 | Be Green Packaging Llc | Pulp molding production line and processing method thereof |
| US12031271B2 (en) | 2019-01-31 | 2024-07-09 | Shurcon Manufacturing, Inc. | Transfer device applied to pulp molded manipulator, and production line |
| CN110450177A (en) * | 2019-08-23 | 2019-11-15 | 北京云迹科技有限公司 | Straight-line motion mechanism and robot with it |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140604 Termination date: 20141119 |
|
| EXPY | Termination of patent right or utility model |