CN214643727U - Integrated paper-separating clamping and conveying manipulator - Google Patents
Integrated paper-separating clamping and conveying manipulator Download PDFInfo
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Abstract
The utility model relates to an integrated paper separating and clamping manipulator, which separates paper by the transverse movement of a front paper clamping plate of a paper separating driving mechanism driving clamp, namely the front paper clamping plate of the clamp is used as a paper separating mechanism, so that the paper separating mechanism and the paper clamping mechanism are organically integrated together to form the integrated paper separating and clamping manipulator with compact structure, the structure is simpler, the production cost and the assembly difficulty can be reduced, and the occupied area is reduced; moreover, the two clamps are simultaneously overturned by one overturning mechanism, so that the overturning mechanism has better overturning stability and avoids the deviation of the tissue strip in overturning clamping and conveying.
Description
Technical Field
The utility model relates to a paper handkerchief processing equipment especially relates to an integration divides paper to press from both sides and send manipulator.
Background
Chinese patent document CN211895261U is a full servo paper towel grabbing manipulator previously applied by the applicant, which is provided with a paper taking and transferring and turning device, to solve the problems of many carrying processes, low carrying efficiency, complex overall structure of the device, high manufacturing cost, and frequent deviation of the position of the paper towel in the process of carrying 1.5 m paper towel strips, which is compact in structure, small in occupied space, and effectively improves the working efficiency, and can avoid the position deviation of the paper towel strips in the transferring process, thereby ensuring the subsequent cutting quality.
To above-mentioned full servo paper handkerchief snatchs manipulator, must adopt a paper separating mechanism to part the paper handkerchief of closely laminating around with earlier when getting paper, expose the gap, could snatch the paper handkerchief clamp after the manipulator will part through full servo paper handkerchief and get, and specific working process is as follows: when the color code detection sensor detects the tissue strips printed with the color codes, the controller enables the front conveying device to pause conveying, meanwhile, the tissue spreading assembly of the paper separating mechanism is accurately inserted into the gap between the two layers of tissue strips printed with the color codes, the gap between the two layers of tissue strips is enlarged, and then the tissue shifting piece assemblies of the two paper separating mechanisms are controlled to be inserted into the gap and move towards the left side and the right side, so that the layers of tissue strips are separated; then the paper clamping mechanism of the full servo paper towel grabbing mechanical arm descends to clamp the separated group of paper towel strips, then the paper clamping mechanism clamps the group of paper towel strips to ascend together, then the group of paper towel strips are translated backwards to the upper side of the conveying device (in the process, the paper clamping mechanism is driven by the turnover mechanism of the full servo paper towel grabbing mechanical arm to swing to turn the group of paper towel strips by 90 degrees), then the group of paper towel strips are clamped to descend together, the group of paper towel strips are placed on the rear conveying device, and the rear conveying device conveys the group of paper towel strips to a subsequent cutting processing device.
The paper taking process needs to be completed by at least two independent devices of the full-servo paper towel separating mechanism and the paper clamping mechanism, and the problems of multiple parts, complex assembly and the like exist, so that the problems of high production and maintenance cost, large occupied space and the like are caused. In addition, there may be a problem of inconsistent motion, resulting in a shift in the position of the towel strip.
Disclosure of Invention
The utility model aims to solve the problem that an integration divides paper to press from both sides and send manipulator is provided, this kind of integration divides paper to press from both sides and send manipulator simple structure, can reduction in production cost and the equipment degree of difficulty, reduces area. The technical scheme is as follows:
the utility model provides an integration divides paper to press from both sides and send manipulator, which comprises a frame, front and back translation mechanism, front and back translation seat, elevating system, the seat goes up and down, tilting mechanism, upset seat and two at least anchor clamps, front and back translation mechanism installs in the frame, front and back translation seat is installed on front and back translation mechanism's power take off, elevating system installs on front and back translation seat, the seat that goes up and down is installed on elevating system's power take off, tilting mechanism installs on the seat that goes up and down, the seat that turns over is installed on tilting mechanism's power take off, each anchor clamps are all installed on the seat that turns over, its characterized in that: the integrated paper separating and feeding manipulator further comprises a paper separating driving mechanism, and the paper separating driving mechanism is installed on the overturning seat; and each clamp is arranged on the power output end of the paper separating driving mechanism, and the paper separating driving mechanism can drive each clamp to move relatively.
The transfer direction of the towel strip described in this specification is from front to back. The two clamps described in this specification move relatively in the left-right direction.
The specific structure of the above-mentioned clamp can refer to the above-mentioned specification of the prior application (chinese patent document CN 211895261U) of the applicant, and specifically includes a rodless cylinder, and a front paper clamping plate and a rear paper clamping plate which are arranged side by side, wherein the cylinder bodies of the rodless cylinders of the two clamps are installed on the power output end of the paper separating driving mechanism, the rear paper clamping plate is installed on the cylinder body of the rodless cylinder, and the front paper clamping plate is connected with the slide block of the rodless cylinder. When the paper towel clamping device works, the sliding blocks of the rodless cylinders respectively drive the front paper clamping plates to move towards or back to the rear paper clamping plates, so that paper towel strips are clamped or released.
Before the paper separating and clamping work is carried out, the paper separating driving mechanism drives the two clamps to move oppositely, so that the two clamps are positioned at the position corresponding to the middle of the tissue strip; when the paper separating machine works, the front and rear translation mechanisms drive the whole manipulator to move forwards to reach the position above the tissue strips, then the lifting mechanism drives the turnover mechanism and the clamps to descend, so that the front paper clamping plates of the clamps are inserted into the gap between the two layers of tissue strips, then the paper separating driving mechanism drives the two clamps to move backwards to the two ends of the tissue strips, and the front paper clamping plates of the two clamps open the gap between the two layers of tissue strips to finish paper separating work; then, the two clamps respectively clamp two ends of a tissue strip, the turnover mechanism drives the turnover seat to enable the two clamps to simultaneously clamp the tissue strip to turn over by 90 degrees, then the lifting mechanism drives the turnover mechanism, the paper separation driving mechanism, the two clamps and the tissue strip to ascend together, the lifting mechanism, the turnover mechanism, the paper separation driving mechanism, the two clamps and the tissue strip are driven by the front and back translation mechanism to move backwards, the lifting mechanism drives the turnover mechanism, the paper separation driving mechanism, the two clamps and the tissue strip to descend together, and the tissue strip is placed on a subsequent conveying device to be conveyed to the next process; and then, controlling the front and back translation mechanism, the turnover mechanism, the paper separation driving mechanism and the two clamps to reset, and preparing to perform next paper separation, clamping, turnover and transfer on the tissue strips.
The paper separating driving mechanism drives the front paper clamping plate of the clamp to transversely move to separate paper, namely the front paper clamping plate of the clamp is used as the paper separating mechanism, so that the paper separating mechanism and the paper clamping mechanism are organically integrated together, and the integrated paper separating and clamping manipulator with a compact structure is formed.
In order to improve the stability of clamping and paper feeding, at least one clamp can be fixedly arranged between the two clamps according to actual production requirements, so that the middle part of the tissue strip can be clamped when the two clamps clamp the two ends of the tissue strip.
As a preferred scheme of the utility model, the paper separating driving mechanism comprises a paper separating driving motor, a paper separating driving synchronous belt, a paper separating driving wheel, a paper separating driving driven wheel and a paper separating driving guide rail, wherein the paper separating driving wheel, the paper separating driving driven wheel and the paper separating driving guide rail are all arranged on the lower surface of the turnover seat, the paper separating driving synchronous belt tensions the paper separating driving wheel and the paper separating driving driven wheel, the paper separating driving motor is arranged on the turnover seat, and an output shaft of the paper separating driving motor is in transmission connection with the paper separating driving wheel; the two clamps are respectively arranged on the advancing section and the returning section of the paper separation driving synchronous belt, and can move left and right along the paper separation driving guide rail.
When the paper is separated and opened, the clamp descends, the front paper clamping plate is inserted into a gap between the two paper towel strips, then the paper separating driving motor drives the paper separating driving synchronous belt to rotate, the two clamps move towards two ends of the paper towel strips from the middle of the paper towel strips respectively, then the front paper clamping plates of the two clamps move along the gap between the two paper towel strips and open the paper towel strips, and then the rodless cylinders of the clamps drive the front paper clamping plates and the rear paper clamping plates to clamp the paper towel strips.
As a further preferred scheme of the present invention, the turnover mechanism comprises a turnover motor, a turnover shaft and the turnover seat, the turnover motor is fixedly mounted on the lifting seat, the turnover shaft extends from left to right and both ends of the turnover shaft are rotatably mounted on the lifting seat, the turnover shaft is in transmission connection with an output shaft of the turnover motor; the extending direction of the turnover seat is consistent with that of the turnover shaft, and two ends of the upper surface of the turnover seat are correspondingly and fixedly connected with two ends of the turnover shaft.
As a further preferable scheme of the present invention, the lifting mechanism comprises a lifting driving motor, a lifting driving shaft and at least two lifting devices, the lifting driving motor and the lifting driving shaft are both mounted on the front and rear translation seats, and the lifting driving shaft extends from left to right and is in transmission connection with an output shaft of the lifting driving motor; the lifting device comprises a lifting fixed seat, a lifting movable seat, a lifting guide rail, a transmission gear and a transmission rack, the lifting fixed seat is sequentially arranged on a front translation seat and a rear translation seat from left to right, the lifting guide rail is vertically arranged on the lifting fixed seat, and the lifting movable seat is arranged on the lifting guide rail and can move up and down along the lifting guide rail; the transmission rack is vertically arranged on the lifting moving seat, and the transmission gear is connected to the lifting driving shaft in a transmission way and meshed with the transmission rack; the lifting moving seats jointly form the lifting seat. The lifting driving motor drives the lifting driving shaft to rotate, the transmission gear rotates along with the lifting driving shaft, and the transmission rack drives the lifting moving seat to lift along the lifting guide rail under the meshing action of the transmission gear.
The lifting device can be arranged according to the specific structure of the turnover motor and the turnover shaft. In order to improve the lifting stability of the turnover mechanism, at least three lifting devices can be arranged, wherein two lifting devices are arranged at the positions corresponding to the two ends of the turnover shaft, the two ends of the turnover shaft are rotatably arranged on the corresponding lifting movable seats, and the turnover motor is arranged on the middle lifting movable seat.
As a further preferable scheme of the present invention, the front-back translation mechanism includes a translation motor, a driving pulley shaft, a left driving pulley, a left driven pulley, a left synchronous belt, a left translation seat, a left horizontal slide rail, a right driving pulley, a right driven pulley, a right synchronous belt, a right translation seat and a right horizontal slide rail; the left translation seat is mounted on the left horizontal sliding rail and is in sliding fit with the left horizontal sliding rail, the right translation seat is mounted on the right horizontal sliding rail and is in sliding fit with the right horizontal sliding rail, the left end of the front translation seat is mounted on the left translation seat, and the right end of the front translation seat is mounted on the right translation seat; the driving pulley shaft is rotatably arranged on the rack and is in transmission connection with a power output shaft of the translation motor; the left synchronous belt and the right synchronous belt are arranged side by side left and right, the left driving belt wheel and the right driving belt wheel are in transmission connection with a driving belt wheel shaft and are arranged side by side left and right, the left driven belt wheel and the right driven belt wheel can be rotatably installed on the rack and are arranged side by side left and right, the left driving belt wheel and the left driven belt wheel tension the left synchronous belt together, and the right driving belt wheel and the right driven belt wheel tension the right synchronous belt together; the left synchronous belt and the right synchronous belt are provided with two straight line segments moving forwards and backwards, the straight line segment corresponding to the left synchronous belt is connected with the left translation seat, and the straight line segment corresponding to the right synchronous belt is connected with the right translation seat. During operation, the translation motor drives the driving pulley shaft and the two driving pulleys to rotate, the two translation seats are driven by the corresponding straight line sections of the two synchronous belts to simultaneously translate forwards or backwards along the corresponding horizontal sliding rails, and then the lifting mechanism, the turnover mechanism and the clamping jaw are driven to translate forwards or backwards for a certain distance.
Compared with the prior art, the utility model, have following advantage:
the integrated paper separating and clamping manipulator of the utility model separates paper by the transverse movement of the front paper clamping plate of the paper separating driving mechanism driving clamp, namely the front paper clamping plate of the clamp is used as the paper separating mechanism, so that the paper separating mechanism and the paper clamping mechanism are organically integrated together, and the integrated paper separating and clamping manipulator with compact structure is formed, the structure is simpler, the production cost and the assembly difficulty can be reduced, and the occupied area is reduced; moreover, the two clamps are simultaneously overturned by one overturning mechanism, so that the overturning mechanism has better overturning stability and avoids the deviation of the tissue strip in overturning clamping and conveying.
Drawings
FIG. 1 is a schematic structural view of a top-left 45-degree top down view of a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a preferred embodiment of the present invention with a 45 degree top right view;
FIG. 3 is a schematic structural view of the preferred embodiment of the present invention showing a 45 degree lower elevation angle from the front left;
FIG. 4 is a schematic structural view of a front right lower 45 elevation angle of the preferred embodiment of the present invention;
wherein, each is marked as: 1-frame, 2-forward-backward translation mechanism, 201-translation motor, 202-driving pulley shaft, 203-left driving pulley, 204-left driven pulley, 205-left synchronous belt, 206-left translation seat, 207-left horizontal sliding rail, 208-right driving pulley, 209-right driven pulley, 210-right synchronous belt, 211-right translation seat, 212-right horizontal sliding rail, 3-forward-backward translation seat, 4-lifting mechanism, 41-lifting driving motor, 42-lifting driving shaft, 43-lifting device, 431-lifting fixed seat, 432-lifting movable seat, 433-lifting guide rail, 434-transmission gear, 435-transmission rack, 5-turnover mechanism, 501-turnover motor, 502-turnover shaft, 503-turnover seat, 6-paper separation driving mechanism, 601-paper separation driving motor, 602-paper separation driving synchronous belt, 603-paper separation driving wheel, 604-paper separation driving driven wheel, 605-paper separation driving guide rail, 7-clamp, 701-rodless cylinder, 702-front paper clamping plate and 703-rear paper clamping plate.
Detailed Description
The following further describes the preferred embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1 to 4, an integrated paper-separating pinch manipulator comprises a frame 1, a front-back translation mechanism 2, a front-back translation seat 3, a lifting mechanism 4, a lifting seat, a turnover mechanism 5, a turnover seat 503, a paper-separating driving mechanism 6 and three clamps 7; the front-back translation mechanism 2 comprises a translation motor 201, a driving pulley shaft 202, a left driving pulley 203, a left driven pulley 204, a left synchronous belt 205, a left translation seat 206, a left horizontal sliding rail 207, a right driving pulley 208, a right driven pulley 209, a right synchronous belt 210, a right translation seat 211 and a right horizontal sliding rail 212; the translation motor 201, the left horizontal sliding rail 207 and the right horizontal sliding rail 212 are all installed on the rack 1, the left horizontal sliding rail 207 and the right horizontal sliding rail 212 are all arranged along the front-back direction, the left translation seat 206 is installed on the left horizontal sliding rail 207 and is in sliding fit with the left horizontal sliding rail 207, the right translation seat 211 is installed on the right horizontal sliding rail 212 and is in sliding fit with the right horizontal sliding rail 212, the left end of the front-back translation seat 3 is installed on the left translation seat 206, and the right end of the front-back translation seat 3 is installed on the right translation seat 211; the driving pulley shaft 202 is rotatably arranged on the frame 1, and the driving pulley shaft 202 is in transmission connection with a power output shaft of the translation motor 201; the left synchronous belt 205 and the right synchronous belt 210 are arranged side by side left and right, the left driving pulley 203 and the right driving pulley 208 are in transmission connection with the driving pulley shaft 202 and are arranged side by side left and right, the left driven pulley 204 and the right driven pulley 209 can be rotatably installed on the rack 1 and are arranged side by side left and right, the left driving pulley 203 and the left driven pulley 204 jointly tension the left synchronous belt 205, and the right driving pulley 208 and the right driven pulley 209 jointly tension the right synchronous belt 210; the left synchronous belt 205 and the right synchronous belt 210 are provided with two straight line segments moving back and forth, the corresponding straight line segment of the left synchronous belt 205 is connected with the left translation seat 206, and the corresponding straight line segment of the right synchronous belt 210 is connected with the right translation seat 211.
As shown in fig. 1 to 4, the lifting mechanism 4 includes a lifting driving motor 41, a lifting driving shaft 42 and three lifting devices 43, the lifting driving motor 41 and the lifting driving shaft 42 are both mounted on the front and rear translation base 3, and the lifting driving shaft 42 extends from left to right and is in transmission connection with an output shaft of the lifting driving motor 41; two lifting devices 43 are arranged at the corresponding positions at the two ends of the lifting driving shaft 42, and one lifting device 43 is arranged at the corresponding position in the middle of the lifting driving shaft 42; the lifting device 43 comprises a lifting fixed seat 431, a lifting movable seat 432, a lifting guide rail 433, a transmission gear 434 and a transmission rack 435, wherein the lifting fixed seat 431 is sequentially arranged on the front and rear translation seats 3 from left to right, the lifting guide rail 433 is vertically arranged on the lifting fixed seat 431, and the lifting movable seat 432 is arranged on the lifting guide rail 433 and can move up and down along the lifting guide rail 433; the transmission rack 435 is vertically arranged on the lifting moving base 432, and the transmission gear 434 is in transmission connection with the lifting driving shaft 42 and is meshed with the transmission rack 435; the plurality of movable elevation bases 432 together constitute an elevation base.
As shown in fig. 1 to 4, the turnover mechanism 5 includes a turnover motor 501, a turnover shaft 502 and the turnover base 503, wherein the turnover motor 501 is fixedly mounted on the middle lifting moving base; the turnover shaft 502 extends from left to right, two ends of the turnover shaft 502 are rotatably connected with the lifting moving seats at two sides, the middle part of the turnover shaft 502 is rotatably connected with the lifting moving seat at the middle part, and the turnover shaft 502 is in transmission connection with an output shaft of the turnover motor 501; the extending direction of the turning seat 503 is consistent with the turning shaft 502, and two ends of the upper surface of the turning seat 503 are correspondingly and fixedly connected with two ends of the turning shaft 502.
As shown in fig. 1 to 4, the paper separation driving mechanism 6 includes a paper separation driving motor 601, a paper separation driving synchronous belt 602, a paper separation driving wheel 603, a paper separation driving driven wheel 604 and a paper separation driving guide rail 605, the paper separation driving wheel 603, the paper separation driving driven wheel 604 and the paper separation driving guide rail 605 are all disposed on the lower surface of the turnover seat 503, the paper separation driving synchronous belt 602 tensions the paper separation driving wheel 603 and the paper separation driving driven wheel 604, and the paper separation driving synchronous belt 602 is provided with a forward section and a return section; the paper separating driving motor 601 is arranged on the overturning seat 503, and an output shaft of the paper separating driving motor 601 is in transmission connection with the paper separating driving wheel 603; one of the clamps 7 is fixedly arranged in the middle of the lower surface of the turnover seat 503, and the other two clamps 7 are respectively arranged on the advancing section and the returning section of the paper separation driving synchronous belt 602.
In this embodiment, the specific structure of the clamp 7 may refer to the specification of the prior application (chinese patent document CN 211895261U) of the applicant, and specifically includes a rodless cylinder 701, and a front cardboard clip 702 and a rear cardboard clip 703 arranged side by side; the cylinder bodies of the rodless cylinders 701 of the two paper separating clamps 7 are correspondingly arranged on the advancing section and the returning section of the paper separating driving synchronous belt 602, and the cylinder body of the rodless cylinder 701 of the other paper separating clamp 7 for improving the clamping stability is fixedly arranged in the middle of the lower surface of the overturning seat 503; the rear paper clamping plate 703 is arranged on the cylinder body of the rodless cylinder 701, and the front paper clamping plate 702 is connected with the slide block of the rodless cylinder 701. When the paper towel clamping device works, the sliding blocks of the rodless cylinders 701 respectively drive the front paper clamping plates 702 to move towards or back to the rear paper clamping plates 703, so that the paper towel strips are clamped or released.
The following description will be made in detail with reference to the accompanying drawings and the preferred embodiments of the present invention for the working process of the integrated paper-separating and clamping manipulator:
(1) before the paper separating and clamping work is carried out, a paper separating driving motor 601 drives a paper separating driving wheel 603, a paper separating driving synchronous belt 602 and a paper separating driving driven wheel 604 to rotate, so that two clamps 7 at two sides move towards the middle and are close to the clamp 7 fixedly arranged at the middle, and the three clamps 7 are positioned at positions corresponding to the middle of a paper towel strip; meanwhile, the front paper clamping plate 702 of the clamp 7 moves back to the rear paper clamping plate 703, so that the clamp 7 is in an open state;
(2) the translation motor 201 drives the driving pulley shaft 202 to drive the left driving pulley 203 and the right driving pulley 208, so that the left translation seat 206 and the right translation seat 211 respectively move forwards from back to back along the left horizontal slide rail 207 and the right horizontal slide rail 212 under the driving of the left synchronous belt 205 and the right synchronous belt 210, the whole manipulator moves forwards to reach the upper part of the tissue strips, and the front paper clamping plates 702 of the three clamps 7 are positioned right above the middle gap between the two tissue strips;
(3) the lifting driving motor 41 drives the lifting driving shaft 42 to rotate, so that the transmission gear 434 on the lifting driving shaft 42 is meshed with the transmission rack 435 of the lifting moving seat 432, the three lifting moving seats 432 are driven to move downwards along the lifting guide rail 433 of the corresponding lifting fixed seat 431, and the front paper clamping plates 702 of the three clamps 7 are inserted into a gap between two tissue strips from top to bottom;
(4) the paper separation driving motor 601 drives the paper separation driving wheel 603, the paper separation driving synchronous belt 602 and the paper separation driving driven wheel 604 to rotate again, so that the two clamps 7 on the two sides move from the middle to the two ends of the tissue strips, and the front paper clamping plates 702 of the two clamps 7 open the gap between the two tissue strips to complete the paper separation work;
(5) the front paper clamping plates 702 of the three clamps 7 move towards the corresponding rear paper clamping plates 703, so that the three clamps 7 respectively clamp the two ends and the middle part of the tissue strip; then the lifting driving motor 41 drives the lifting driving shaft 42 to rotate, and the three lifting moving seats 432 are driven to move upwards along the lifting guide rails 433 of the corresponding lifting fixed seats 431 through the engagement of the transmission gears 434 on the lifting driving shaft 42 and the transmission racks 435 of the lifting moving seats 432, so that the tissue strips are clamped;
(6) the turnover motor 501 drives the turnover shaft 502 to rotate, so that the whole turnover seat 503 is turned over 90 degrees upwards, and the three clamps 7 are turned over 90 degrees upwards simultaneously in a state of clamping the tissue strips; then the front-back translation mechanism 2 drives the front-back translation seat 3 to move from front to back to the position above a subsequent tissue belt conveying device, the turnover mechanism 5 drives the turnover seat 503 to turn over 90 degrees downwards, the lifting mechanism 4 drives the tissue strip to be placed on the subsequent tissue belt conveying device, and the clamp 7 releases the tissue strip and sends the tissue strip to the next procedure from the subsequent conveying device;
(7) the front and back translation mechanism 2, the turnover mechanism 5, the paper separation driving mechanism 6 and each clamp 7 reset to prepare for next paper separation, clamping, turnover and transfer of the tissue strips.
The integrated paper separating and clamping manipulator of the utility model separates paper by driving the front paper clamping plate 702 of the clamp 7 to move transversely through the paper separating driving mechanism 6, namely the front paper clamping plate 702 of the clamp 7 is used as a paper separating mechanism, so that the paper separating mechanism and the paper clamping mechanism are organically integrated together to form the integrated paper separating and clamping manipulator with compact structure, the structure is simpler, the production cost and the assembly difficulty can be reduced, and the occupied area is reduced; moreover, the two clamps 7 are simultaneously turned by one turning mechanism 5, so that the turning stability is better, and the deviation of the tissue strip in turning pinch is avoided.
In addition, it should be noted that the names of the parts and the like of the embodiments described in the present specification may be different, and all the equivalent or simple changes made according to the structure, the features and the principle of the present invention are included in the protection scope of the present invention. Various modifications, additions and substitutions may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (5)
1. The utility model provides an integration divides paper to press from both sides and send manipulator, which comprises a frame, front and back translation mechanism, front and back translation seat, elevating system, the seat goes up and down, tilting mechanism, upset seat and two at least anchor clamps, front and back translation mechanism installs in the frame, front and back translation seat is installed on front and back translation mechanism's power take off, elevating system installs on front and back translation seat, the seat that goes up and down is installed on elevating system's power take off, tilting mechanism installs on the seat that goes up and down, the seat that turns over is installed on tilting mechanism's power take off, each anchor clamps are all installed on the seat that turns over, its characterized in that: the integrated paper separating and feeding manipulator further comprises a paper separating driving mechanism, and the paper separating driving mechanism is installed on the overturning seat; and each clamp is arranged on the power output end of the paper separating driving mechanism, and the paper separating driving mechanism can drive each clamp to move relatively.
2. The integrated paper-separating pinch manipulator of claim 1, characterized in that: the paper separating driving mechanism comprises a paper separating driving motor, a paper separating driving synchronous belt, a paper separating driving wheel, a paper separating driving driven wheel and a paper separating driving guide rail, the paper separating driving wheel, the paper separating driving driven wheel and the paper separating driving guide rail are all arranged on the lower surface of the overturning seat, the paper separating driving synchronous belt tensions the paper separating driving wheel and the paper separating driving driven wheel, the paper separating driving motor is installed on the overturning seat, and an output shaft of the paper separating driving motor is in transmission connection with the paper separating driving wheel; the two clamps are respectively arranged on the advancing section and the returning section of the paper separation driving synchronous belt, and can move left and right along the paper separation driving guide rail.
3. The integrated paper-separating pinch manipulator according to claim 2, characterized in that: the turnover mechanism comprises a turnover motor, a turnover shaft and the turnover seat, the turnover motor is fixedly arranged on the lifting seat, the turnover shaft extends from left to right, two ends of the turnover shaft are rotatably arranged on the lifting seat, and the turnover shaft is in transmission connection with an output shaft of the turnover motor; the extending direction of the turnover seat is consistent with that of the turnover shaft, and two ends of the upper surface of the turnover seat are correspondingly and fixedly connected with two ends of the turnover shaft.
4. The integrated paper-separating pinch manipulator of claim 3, characterized in that: the lifting mechanism comprises a lifting driving motor, a lifting driving shaft and at least two lifting devices, the lifting driving motor and the lifting driving shaft are both arranged on the front and rear translation seats, and the lifting driving shaft extends from left to right and is in transmission connection with an output shaft of the lifting driving motor; the lifting device comprises a lifting fixed seat, a lifting movable seat, a lifting guide rail, a transmission gear and a transmission rack, the lifting fixed seat is sequentially arranged on a front translation seat and a rear translation seat from left to right, the lifting guide rail is vertically arranged on the lifting fixed seat, and the lifting movable seat is arranged on the lifting guide rail and can move up and down along the lifting guide rail; the transmission rack is vertically arranged on the lifting moving seat, and the transmission gear is connected to the lifting driving shaft in a transmission way and meshed with the transmission rack; the lifting moving seats jointly form the lifting seat.
5. The integrated paper-separating pinch manipulator of claim 4, wherein: the front and back translation mechanism comprises a translation motor, a driving pulley shaft, a left driving pulley, a left driven pulley, a left synchronous belt, a left translation seat, a left horizontal sliding rail, a right driving pulley, a right driven pulley, a right synchronous belt, a right translation seat and a right horizontal sliding rail; the left translation seat is mounted on the left horizontal sliding rail and is in sliding fit with the left horizontal sliding rail, the right translation seat is mounted on the right horizontal sliding rail and is in sliding fit with the right horizontal sliding rail, the left end of the front translation seat is mounted on the left translation seat, and the right end of the front translation seat is mounted on the right translation seat; the driving pulley shaft is rotatably arranged on the rack and is in transmission connection with a power output shaft of the translation motor; the left synchronous belt and the right synchronous belt are arranged side by side left and right, the left driving belt wheel and the right driving belt wheel are in transmission connection with a driving belt wheel shaft and are arranged side by side left and right, the left driven belt wheel and the right driven belt wheel can be rotatably installed on the rack and are arranged side by side left and right, the left driving belt wheel and the left driven belt wheel tension the left synchronous belt together, and the right driving belt wheel and the right driven belt wheel tension the right synchronous belt together; the left synchronous belt and the right synchronous belt are provided with two straight line segments moving forwards and backwards, the straight line segment corresponding to the left synchronous belt is connected with the left translation seat, and the straight line segment corresponding to the right synchronous belt is connected with the right translation seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120629322.8U CN214643727U (en) | 2021-03-29 | 2021-03-29 | Integrated paper-separating clamping and conveying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120629322.8U CN214643727U (en) | 2021-03-29 | 2021-03-29 | Integrated paper-separating clamping and conveying manipulator |
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| Publication Number | Publication Date |
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| CN214643727U true CN214643727U (en) | 2021-11-09 |
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| CN202120629322.8U Active CN214643727U (en) | 2021-03-29 | 2021-03-29 | Integrated paper-separating clamping and conveying manipulator |
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| CN (1) | CN214643727U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162638A (en) * | 2021-12-28 | 2022-03-11 | 安徽振新孛辰机械制造有限公司 | A manipulator for clamping paper |
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2021
- 2021-03-29 CN CN202120629322.8U patent/CN214643727U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114162638A (en) * | 2021-12-28 | 2022-03-11 | 安徽振新孛辰机械制造有限公司 | A manipulator for clamping paper |
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