CN110004770A - A kind of paper deacidification Twin-shaft machinery arm - Google Patents
A kind of paper deacidification Twin-shaft machinery arm Download PDFInfo
- Publication number
- CN110004770A CN110004770A CN201910442099.3A CN201910442099A CN110004770A CN 110004770 A CN110004770 A CN 110004770A CN 201910442099 A CN201910442099 A CN 201910442099A CN 110004770 A CN110004770 A CN 110004770A
- Authority
- CN
- China
- Prior art keywords
- bracket
- mould group
- axis manipulator
- straight line
- workbench
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M7/00—After-treatment of prints, e.g. heating, irradiating, setting of the ink, protection of the printed stock
- B41M7/0063—Preservation or restoration of currency, books or archival material, e.g. by deacidifying
-
- D—TEXTILES; PAPER
- D21—PAPER-MAKING; PRODUCTION OF CELLULOSE
- D21H—PULP COMPOSITIONS; PREPARATION THEREOF NOT COVERED BY SUBCLASSES D21C OR D21D; IMPREGNATING OR COATING OF PAPER; TREATMENT OF FINISHED PAPER NOT COVERED BY CLASS B31 OR SUBCLASS D21G; PAPER NOT OTHERWISE PROVIDED FOR
- D21H25/00—After-treatment of paper not provided for in groups D21H17/00 - D21H23/00
- D21H25/18—After-treatment of paper not provided for in groups D21H17/00 - D21H23/00 of old paper as in books, documents, e.g. restoring
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Paper (AREA)
Abstract
The invention discloses a kind of paper deacidification Twin-shaft machinery arms, belong to paper deacidification technical field.Including workbench, the X-axis manipulator run along the longitudinal direction of workbench is equipped in the lower part of workbench, it is equipped with the Y-axis manipulator run along the broadside of workbench at the upper part of the worktable, the X-axis manipulator is connected with the Y-axis manipulator by horizontally disposed u-bracket, the bottom of u-bracket is connect with X-axis manipulator, Y-axis manipulator is mounted on the top of u-bracket, Y-axis manipulator can be equipped with the spray head for spraying depickling liquid under the drive of u-bracket with X-axis robot movement on Y-axis manipulator.The present invention can guarantee that spraying liquid is uniform, and pH value of paper is controllable, easily-controllable after spraying, while improving deacidification efficiency, reduces operator's working strength, achieves energy-saving and emission reduction purposes.
Description
Technical field
The present invention relates to paper deacidification technical field, more particularly to a kind of paper deacidification Twin-shaft machinery hand
Arm.
Background technique
According to incompletely statistics: the paper document pH value in China's 20-30 age in 20th century is all 4.0 hereinafter, in serious acid
Change state, the pH value pH value of the paper document of the fifties is 5.0 hereinafter, being in more serious acidification state.Paper is slow
Ageing process in, acidizing degree is that have direct relation with rate of deterioration, paper acidification will cause under paper folding strength
Drop, leads to paper sheet break.Deacidification technique becomes one of the most important measure of papery protection.
Current small-sized liquid phase deacidification equipment is in a handheld based on spray gun spray, hand spray depickling liquid paper uniformly compared with
Difference, depickling quality are affected by human factors greatly, and production efficiency is low, and the consumption of depickling liquid cannot be according to processed antiquarian
It is adjusted, causes the waste of depickling liquid serious, in addition operator's fatiguability, is not suitable for working long hours.
Summary of the invention
In order to guarantee that spraying liquid is uniform, pH value of paper is controllable, easily-controllable after spraying, while improving deacidification efficiency, reduces behaviour
Make person works' intensity, the purpose of energy-saving and emission-reduction, the present invention provides a kind of paper deacidification Twin-shaft machinery arm.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of paper deacidification Twin-shaft machinery arm, including workbench are equipped with the length along workbench in the lower part of workbench
The X-axis manipulator of edge direction operation is equipped with the Y-axis manipulator run along the broadside of workbench, institute at the upper part of the worktable
It states X-axis manipulator and is connected with the Y-axis manipulator by horizontally disposed u-bracket, the bottom of u-bracket and X-axis manipulator
Connection, Y-axis manipulator are mounted on the top of u-bracket, and Y-axis manipulator can be transported under the drive of u-bracket with X-axis manipulator
It is dynamic, the spray head for spraying depickling liquid is installed on Y-axis manipulator.
At work, control system inputs paper information according to client to the present invention, and planning spraying path determines spray head position
It sets, trip order.And corresponding speed, position command information are assigned respectively to X-axis manipulator and the Y-axis manipulator, Y-axis is mechanical
Hand moves under the drive of X-axis manipulator, with u-bracket along X-axis both forward and reverse directions, meanwhile, Y-axis manipulator is in u-bracket
Top drive spray head to move along Y-axis both forward and reverse directions, i.e. spray head, can be according under the drive of X-axis manipulator and Y-axis manipulator
Complete spraying movement in the track of paper information planning setting.
Further, the X-axis manipulator includes first straight line mould group, first motor, the first drag chain and the first key way, and
One straight line mould group is mounted on the lower part of workbench, and first motor is connect with first straight line mould group, and it is straight that the first key way is mounted on first
On bracket below line mould group, the first drag chain is arranged in the first key way, and the bottom of u-bracket is fixed on first straight line mould group
On, one end of the first drag chain is fixed in the first key way, and the other end of the first drag chain and the bottom of u-bracket connect.First drags
Chain and the first key way are for arranging Twin-shaft machinery arm retinue cable, to built-in during mechanical arm is in high speed reciprocating motion
Cable, oil pipe, tracheae, water pipe etc. play the role of traction and protection.
Further, the Y-axis manipulator includes second straight line mould group, the second motor, the second drag chain and the second key way, and
Two straight line mould groups and the second motor are installed in the top of u-bracket and the second mould group and the first mould group different surface beeline each other, and
Two motors are connect with second straight line mould group, and the second key way is mounted on the top of u-bracket and is arranged close to second straight line mould group, the
Two drag chains are arranged in the second key way, and one end of the second drag chain is fixed in the second key way, the other end of the second drag chain and setting
Spray head at the top of u-bracket connects.Second drag chain and the second key way are for arranging Twin-shaft machinery arm retinue cable, in machine
Tool arm plays the role of traction and protection to built-in cable, oil pipe, tracheae, water pipe etc. during high speed reciprocating motion.
Further, the u-bracket includes the first segment bar for being equipped with cavity, second segment bar and third section bar, and first
Section bar is horizontal to be connected in first straight line mould group, and second segment bar is vertical to be connected on first segment bar, third section bar level
It is connected on second segment bar and the top of workbench is arranged in third section bar, the spray head and second straight line Mo Zu are arranged in respectively
On third section bar.It is passed through out of cavity convenient for the tracheae and perfusion tube of spray head, plays the role of traction and protection.
Further, the junction between first segment bar and second segment bar is equipped with the first chamfering, in second segment bar and the
Junction between three sections of bars is equipped with the second chamfering.The setting of first chamfering and the second chamfering can prevent perfusion tube in first segment
Junction between bar and second segment bar and the junction between second segment bar and third section bar are obstructed by corner angle, make its dozen
Knot blocks the pipeline of perfusion tube, and the liquid for causing spray head to come out weakens, and influences spraying effect.
Further, the spray head includes jet pipe, be connected on the side wall of jet pipe depickling liquid inlet and spray gas into
Port is equipped with nozzle in the bottom of jet pipe, and the shape of the nozzle is fan-shaped.
Compared with the prior art, the invention has the beneficial effects that:
At work, control system inputs paper information according to client to the present invention, and planning spraying path determines spray head position
It sets, trip order.And corresponding speed, position command information are assigned respectively to X-axis manipulator and the Y-axis manipulator, Y-axis is mechanical
Hand moves under the drive of X-axis manipulator, with u-bracket along X-axis both forward and reverse directions, meanwhile, Y-axis manipulator is in u-bracket
Top drive spray head to move along Y-axis both forward and reverse directions, i.e. spray head, can be according under the drive of X-axis manipulator and Y-axis manipulator
Complete spraying movement in the track of paper information planning setting.
In spraying process, the positive and negative both direction operation of X-axis manipulator can be carried out spray coating operations, and Y-axis manipulator also can
Positive and negative direction walks, and completes the positioning work of spray head, makes deacidification equipment in the spraying depickling operation for meeting different in width paper
Can positive and negative direction spraying, reduce path forms, reduce the working time, improve spray coating operations efficiency.
Due to using Twin-shaft machinery arm spraying method, keep track, speed in deacidifying liquid spraying process controllable, spraying is equal
Even, pH value of paper is controllable, easily-controllable after spraying, and deacidification efficiency is improved while improving depickling quality, reduces operator's work
Intensity achieves energy-saving and emission reduction purposes.
Detailed description of the invention
Fig. 1 is a kind of schematic view of the front view of paper deacidification Twin-shaft machinery arm of the invention；
Fig. 2 is a kind of side structure schematic view of paper deacidification Twin-shaft machinery arm of the invention；
Fig. 3 is a kind of schematic diagram of the spray head of paper deacidification Twin-shaft machinery arm of the invention.
Marked in the figure: 1- workbench, 2-U type bracket, 3- spray head, 4- first straight line mould group, 5- first motor, 6- first are dragged
Chain, the first key way of 7-, 8- second straight line mould group, the second motor of 9-, the second drag chain of 10-, the second key way of 11-, 12- first segment bar,
13- second segment bar, 14- third section bar, 15- jet pipe, 16- depickling liquid inlet, 17- spray gas air inlet, 18- nozzle.
Specific embodiment
The present invention will be further described with reference to the examples below, and described embodiment is only present invention a part
Embodiment is not whole embodiment.Based on the embodiments of the present invention, those skilled in the art are not making
Other embodiments used obtained, belong to protection scope of the present invention under the premise of creative work.
Embodiment 1:
As illustrated in fig. 1 and 2, a kind of paper deacidification Twin-shaft machinery arm, including workbench 1 are set in the lower part of workbench 1
There is the X-axis manipulator of the longitudinal direction operation along workbench 1, is equipped with the broadside fortune along workbench 1 on the top of workbench 1
Capable Y-axis manipulator, the X-axis manipulator and the Y-axis manipulator are connected by horizontally disposed u-bracket 2, u-bracket 2
Bottom connect with X-axis manipulator, Y-axis manipulator is mounted on the top of u-bracket 2, and Y-axis manipulator can be in the band of u-bracket 2
With X-axis robot movement under dynamic, the spray head 3 for spraying depickling liquid is installed on Y-axis manipulator.As shown in figure 3, the spray head
3 include jet pipe 15, depickling liquid inlet 16 and spray gas air inlet 17 is connected on the side wall of jet pipe 15, at the bottom of jet pipe 15
Portion is equipped with nozzle 18, and the shape of the nozzle 18 is fan-shaped.By the compressed gas control opening and closing of spray head 3 and fan-shaped atomized；Structure
Reliable easy to use, spraying is uniform.
The X-axis manipulator of the present embodiment includes first straight line mould group 4, first motor 5, the first drag chain 6 and the first key way 7,
First straight line mould group 4 is mounted on the lower part of workbench 1, and first motor 5 is connect with first straight line mould group 4, and the first key way 7 is mounted on
On the bracket of 4 lower section of first straight line mould group, the first drag chain 6 is arranged in the first key way 7, and the bottom of u-bracket 2 is fixed on first
In straight line mould group 4, one end of the first drag chain 6 is fixed in the first key way 7, the other end of the first drag chain 6 and the bottom of u-bracket 2
Portion's connection.First straight line mould group 4 uses belt straight line mould group, and first motor 5 is servo motor, and belt straight line mould group uses servo
Motor driven, speed is up to 500mm/s.
The Y-axis manipulator of the present embodiment includes second straight line mould group 8, the second motor 9, the second drag chain 10 and the second key way
11, second straight line mould group 8 and the second motor 9 are installed in the top of u-bracket 2 and the second mould group and the first mould group antarafacial each other
Straight line, the second motor 9 are connect with second straight line mould group 8, and the second key way 11 is mounted on the top of u-bracket 2 and close second directly
Line mould group 8 is arranged, and the second drag chain 10 is arranged in the second key way 11, and one end of the second drag chain 10 is fixed in the second key way 11,
The other end of second drag chain 10 is connect with the spray head 3 at the top that u-bracket 2 is arranged in.Second straight line mould group 8 uses belt straight line
Mould group, the second motor 9 are servo motor, and belt straight line mould group is driven using servo motor, and speed is up to 500mm/s.
At work, control system inputs paper information according to client to the present invention, and planning spraying path determines 3, spray head
It sets, trip order.And corresponding speed, position command information are assigned respectively to X-axis manipulator and the Y-axis manipulator, Y-axis is mechanical
Hand moves under the drive of X-axis manipulator, with u-bracket 2 along X-axis both forward and reverse directions, meanwhile, Y-axis manipulator is in u-bracket
2 top drives spray head 3 to move along Y-axis both forward and reverse directions, i.e. spray head 3, can be under the drive of X-axis manipulator and Y-axis manipulator
Spraying movement is completed according to the track of paper information planning setting.
First drag chain 6 and the first key way 7 are for arranging Twin-shaft machinery arm retinue cable, in 4 high speed of first straight line mould group
Play the role of traction and protection to built-in cable, oil pipe, tracheae, water pipe etc. in reciprocatory movement.
Second drag chain 10 and the second key way 11 are high in second straight line mould group 8 for arranging Twin-shaft machinery arm retinue cable
Play the role of traction and protection to built-in cable, oil pipe, tracheae, water pipe etc. in fast reciprocatory movement.
Embodiment 2:
As shown in Figure 1, this implementation is to advanced optimize on the basis of embodiment 1, the present embodiment emphasis illustrates and implements
The improvements that example 1 is compared, something in common repeat no more, and in the present embodiment, the u-bracket 2 includes being equipped with cavity
First segment bar 12, second segment bar 13 and third section bar 14, first segment bar 12 is horizontal to be connected in first straight line mould group 4, and second
Section bar 13 is vertical to be connected on first segment bar 12, third section bar 14 it is horizontal be connected on second segment bar 13 and third section bar 14
The top of workbench 1 is set, and the spray head 3 and second straight line mould group 8 are separately positioned on third section bar 14.Convenient for spray head 3
Tracheae and perfusion tube passed through out of cavity, play the role of traction and protection.
Embodiment 3:
As shown in Figure 1, this implementation is to advanced optimize on the basis of embodiment 1, the present embodiment emphasis illustrates and implements
The improvements that example 1 is compared, something in common repeat no more, in the present embodiment, between first segment bar 12 and second segment bar 13
Junction be equipped with the first chamfering, junction between second segment bar 13 and third section bar 14 is equipped with the second chamfering.First falls
The setting of angle and the second chamfering can prevent junction of the perfusion tube between first segment bar 12 and second segment bar 13 and
Junction between two sections of bars 13 and third section bar 14 is obstructed by corner angle, so that it is knotted and is blocked the pipeline of perfusion tube, leads to spray head 3
Liquid out weakens, and influences spraying effect.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of paper deacidification Twin-shaft machinery arm, including workbench (1), it is characterised in that: set in the lower part of workbench (1)
There is the X-axis manipulator of the longitudinal direction operation along workbench (1), is equipped with the broadside along workbench (1) on the top of workbench (1)
The Y-axis manipulator of direction operation, the X-axis manipulator and the Y-axis manipulator are connected by horizontally disposed u-bracket (2),
The bottom of u-bracket (2) is connect with X-axis manipulator, and Y-axis manipulator is mounted on the top of u-bracket (2), and Y-axis manipulator can be
With X-axis robot movement under the drive of u-bracket (2), the spray head (3) for spraying depickling liquid is installed on Y-axis manipulator.
2. a kind of paper deacidification Twin-shaft machinery arm according to claim 1, it is characterised in that: the X-axis manipulator
Including first straight line mould group (4), first motor (5), the first drag chain (6) and the first key way (7), first straight line mould group (4) installation
In the lower part of workbench (1), first motor (5) is connect with first straight line mould group (4), and the first key way (7) is mounted on first straight line
On bracket below mould group (4), in the first key way (7), the bottom of u-bracket (2) is fixed on first for the first drag chain (6) setting
In straight line mould group (4), one end of the first drag chain (6) is fixed in the first key way (7), the other end of the first drag chain (6) and U-shaped branch
The bottom of frame (2) connects.
3. a kind of paper deacidification Twin-shaft machinery arm according to claim 1 or 2, it is characterised in that: the Y-axis is mechanical
Hand includes second straight line mould group (8), the second motor (9), the second drag chain (10) and the second key way (11), second straight line mould group (8)
Top and the second mould group and the first mould group different surface beeline each other of u-bracket (2), the second electricity are installed in the second motor (9)
Machine (9) is connect with second straight line mould group (8), and the second key way (11) is mounted on the top of u-bracket (2) and close to second straight line mould
Group (8) setting, in the second key way (11), one end of the second drag chain (10) is fixed on the second key way for the second drag chain (10) setting
(11) in, spray head (3) of the other end of the second drag chain (10) with setting at the top of u-bracket (2) is connect.
4. a kind of paper deacidification Twin-shaft machinery arm according to claim 3, it is characterised in that: the u-bracket (2)
First segment bar (12), second segment bar (13) and third section bar (14) including being equipped with cavity, the company of first segment bar (12) level
It connects in first straight line mould group (4), second segment bar (13) is vertical to be connected on first segment bar (12), and third section bar (14) is horizontal
Be connected on second segment bar (13) and third section bar (14) setting is in the top of workbench (1), the spray head (3) and second is directly
Line mould group (8) is separately positioned on third section bar (14).
5. a kind of paper deacidification Twin-shaft machinery arm according to claim 4, it is characterised in that: in first segment bar (12)
Junction between second segment bar (13) is equipped with the first chamfering, the connection between second segment bar (13) and third section bar (14)
Place is equipped with the second chamfering.
6. a kind of paper deacidification Twin-shaft machinery arm according to claim 4, it is characterised in that: spray head (3) packet
It includes jet pipe (15), depickling liquid inlet (16) and spray gas air inlet (17) is connected on the side wall of jet pipe (15), in jet pipe
(15) bottom is equipped with nozzle (18), and the shape of the nozzle (18) is fan-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910442099.3A CN110004770A (en) | 2019-05-24 | 2019-05-24 | A kind of paper deacidification Twin-shaft machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910442099.3A CN110004770A (en) | 2019-05-24 | 2019-05-24 | A kind of paper deacidification Twin-shaft machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110004770A true CN110004770A (en) | 2019-07-12 |
Family
ID=67177890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910442099.3A Pending CN110004770A (en) | 2019-05-24 | 2019-05-24 | A kind of paper deacidification Twin-shaft machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110004770A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4571149A (en) * | 1983-04-14 | 1986-02-18 | Westinghouse Electric Corp. | General purpose orthogonal axes manipulator system |
| CN105019305A (en) * | 2015-07-02 | 2015-11-04 | 浙江大学 | Continuous deacidifying system |
| CN205324028U (en) * | 2015-12-10 | 2016-06-22 | 珠海市斗门区旭日陶瓷有限公司 | Two -fluid ceramic kiln denitration spray gun |
| CN206643914U (en) * | 2017-04-06 | 2017-11-17 | 东莞钱工智能科技有限公司 | Three-axis manipulator |
| CN207081944U (en) * | 2017-07-06 | 2018-03-09 | 深圳市君奕豪科技有限公司 | A kind of real-time alignment device of three axles applied to high-end exposure machine |
| CN207712456U (en) * | 2017-11-30 | 2018-08-10 | 深圳市视显光电技术有限公司 | Label mechanical arm assembly |
| CN210177275U (en) * | 2019-05-24 | 2020-03-24 | 四川锐立文物保护科技有限公司 | Double-shaft mechanical arm for deacidification of paper |
-
2019
- 2019-05-24 CN CN201910442099.3A patent/CN110004770A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4571149A (en) * | 1983-04-14 | 1986-02-18 | Westinghouse Electric Corp. | General purpose orthogonal axes manipulator system |
| CN105019305A (en) * | 2015-07-02 | 2015-11-04 | 浙江大学 | Continuous deacidifying system |
| CN205324028U (en) * | 2015-12-10 | 2016-06-22 | 珠海市斗门区旭日陶瓷有限公司 | Two -fluid ceramic kiln denitration spray gun |
| CN206643914U (en) * | 2017-04-06 | 2017-11-17 | 东莞钱工智能科技有限公司 | Three-axis manipulator |
| CN207081944U (en) * | 2017-07-06 | 2018-03-09 | 深圳市君奕豪科技有限公司 | A kind of real-time alignment device of three axles applied to high-end exposure machine |
| CN207712456U (en) * | 2017-11-30 | 2018-08-10 | 深圳市视显光电技术有限公司 | Label mechanical arm assembly |
| CN210177275U (en) * | 2019-05-24 | 2020-03-24 | 四川锐立文物保护科技有限公司 | Double-shaft mechanical arm for deacidification of paper |
Non-Patent Citations (1)
| Title |
|---|
| 程阔（主编）: "自动线安装与调试", vol. 1, 中国科学技术大学出版社, pages: 195 - 196 * |
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