CN104071572A - Vacuum sucker transportation manipulator and plate transportation device - Google Patents
Vacuum sucker transportation manipulator and plate transportation device Download PDFInfo
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- CN104071572A CN104071572A CN201410306035.8A CN201410306035A CN104071572A CN 104071572 A CN104071572 A CN 104071572A CN 201410306035 A CN201410306035 A CN 201410306035A CN 104071572 A CN104071572 A CN 104071572A
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- film
- sucker
- die cavity
- vacuum
- type conveying
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Abstract
The invention provides a vacuum sucker transportation manipulator which is used for transporting plates and comprises a sucker cavity lower film, a sucker cavity upper film, a sealing rubber ring, a vacuum generator and an air source. At least one plate-shaped structure and a sucking hole are formed in the lower surface of the sucker cavity lower film, and the sucking hole is formed in the plate-shaped structure. The sucker cavity upper film is located above the sucker cavity lower film and connected with the sucker cavity lower film to form a cavity, and a first opening and a second opening are formed in the sucker cavity upper film. The sealing rubber ring is located between the sucker cavity lower film and the sucker cavity upper film. The vacuum generator is connected with the first opening. The air source is connected with the vacuum generator through a first electromagnetic valve and is connected with the second opening through a second electromagnetic valve. A plate transportation device is further provided, and a rectangular coordinate robot and the vacuum sucker type transportation manipulator are combined. The vacuum sucker transportation manipulator and the plate transportation device are simple in structure, low in manufacture cost, capable of converting two actions of plate sucking and plate placing quickly and capable of achieving transportation of straw plates at different work positions.
Description
Technical field
The present invention relates to the technical field of Handling device, relate in particular to a kind of vacuum cap type conveying robot and service plate Handling device.
Background technology
Disposable tableware has conveniently a little, has met society people's quick rhythm of life.Meanwhile, its quality safety and discarded tableware waste natural resources, tableware manufacturing process and discarded tableware also can not be ignored the pollution problem of environment, China has issued " about the notice of food and beverage enterprise's withdraw from use one time foam tableware " in calendar year 2001, but because disposable foamed plastic tableware has lightweight, be incubated withstand voltage, the advantages such as price is lower, catering trade is for the excessive use of disposable foamed plastic tableware, simultaneously, because disposable foamed plastic tableware processing technology and not reproducible use cause, the harm of human body and environment be can not be ignored, increase the weight of environmental pressure, " energy-saving and emission-reduction " that propose with China run in the opposite direction.Therefore, the environment-friend substitution product of " disposable foamed plastic tableware " arise at the historic moment, stalk environmental protection tableware with its easy degraded, recoverable, pollutant emission is few, raw material is clean and wide material sources, to features such as human body nonhazardous, represent its environmental protection, health, the inexpensive and a series of preceence such as economize on resources to common people.
Stalk environmental protection tableware, with rice husk, straw, wood chip and food processing waste material are by a kind of tableware container of the process stempressing moulding such as cleaning, sterilization, pulverizing, because raw MAT'L is gathered materials on the spot, really up to the mark, nontoxic, the environmental protection of with low cost, heat-resisting resistance to compression, quality and the feature such as production process, three-waste free discharge, widespread production is including the multiple environmental protection tableware bowl, cup, dish, dish.
Existing stalk environmental protection tableware production facilities, due to complex procedures, in production process, workman's dependence is too high, labour intensity is large, the sultry humidity of the working environment of workers, and manual operation product rejection rate is higher, be unfavorable for producing in enormous quantities, therefore, carry out the vacuum cap type conveying robot of stalk service plate product, there is important practical significance and demand.
Summary of the invention
The features and advantages of the present invention are partly statement in the following description, or can be apparent from this description, or can learn by putting into practice the present invention.
For overcoming the problem of prior art, the invention provides a kind of vacuum cap type conveying robot, for carrying service plate, it is characterized in that, comprise: film under sucker die cavity, its lower surface is provided with at least one dish configuration and sucker, and this sucker is positioned in this dish configuration; Film on sucker die cavity, is positioned under this suction disc type film top, and with this suction disc type under film be connected to form cavity, on sucker die cavity, film is provided with the first opening and the second opening; O-ring seal, under this sucker die cavity on film and sucker die cavity between film.Vacuum generator, is connected with this first opening; Source of the gas, is connected with this vacuum generator by the first electromagnetic valve, and is connected with this second opening by the second electromagnetic valve.
Preferably, on this sucker die cavity film together with under this sucker die cavity, film is bolted.
Preferably, on this sucker die cavity, film is identical or close with the size shape of film under this sucker die cavity.
Preferably, also comprise support, be connected with film on this sucker die cavity.
Preferably, under this sucker die cavity, the lower surface of film is provided with four dish configuration and sucker.
Preferably, the diameter of this sucker is 1.5mm.
The present invention also provides a kind of service plate Handling device, it is characterized in that, comprising: rectangular robot, for completing along the motion of translation in X, Y, Z axis; Be provided with above-mentioned arbitrary this vacuum cap type conveying robot at the mechanism's end moving along Z axis of this rectangular robot.
Preferably, this rectangular robot comprises: main frame, and top is rectangular frame, two long limits of this rectangular frame are provided with tooth bar; Sub-frame, is a rectangular frame, and bottom is provided with gear and motor, for walking along X-direction on the tooth bar of this main frame; Two long limits of this sub-frame are provided with tooth bar; Vertically framework, which is provided with gear and motor, for walking along Y direction on the tooth bar of this sub-frame; On this vertical framework, be also provided with the mechanism that can move along Z-direction.
By reading specification sheets, those of ordinary skill in the art will understand feature and the content of these technical schemes better.
Brief description of the drawings
Below by describing particularly the present invention with reference to accompanying drawing and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and do not form the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the upward view of the vacuum cap type conveying robot of the embodiment of the present invention.
Fig. 2 is the birds-eye view of the vacuum cap type conveying robot of the embodiment of the present invention.
Fig. 3 is the lateral plan of the vacuum cap type conveying robot of the embodiment of the present invention.
Fig. 4 is the structure of the service plate Handling device of the embodiment of the present invention.
Detailed description of the invention
As shown in Figure 1, Figure 2, Figure 3 shows, the invention provides a kind of vacuum cap type conveying robot, for carrying service plate, it is characterized in that, comprise: film 5 under sucker die cavity, its lower surface is provided with at least one dish configuration 3 and sucker 4, and this sucker 4 is positioned in dish configuration 3; Film 8 on sucker die cavity, is positioned at film 5 tops under this suction disc type, and with this suction disc type under film 5 be connected to form cavity, on sucker die cavity, film is provided with the first opening 6 and the second opening 7; O-ring seal 11, under this sucker die cavity on film 5 and sucker die cavity between film 8.Vacuum generator (not shown), is connected with this first opening 6; Source of the gas (not shown), is connected with this vacuum generator by the first electromagnetic valve, and is connected with this second opening 7 by the second electromagnetic valve.So, by electromagnetic valve change vacuum chuck device air-breathing and blow two processes, can coordinate service plate handling process, specifically, the first opening 6 can be used for realizing the action of " picking up " stalk service plate product, and the second opening 7 is connected with the second electromagnetic valve by pipeline, and be connected to source of the gas, convertible intake method, oppositely blows, and realizes the action of " putting down " stalk service plate product.
In the present embodiment, on this sucker die cavity, film 8 is identical or close with the size shape of film 5 under sucker die cavity, and on sucker die cavity under film 8 and sucker die cavity film 5 link together by bolt 9.Under this sucker die cavity, the lower surface of film 8 is provided with four dish configuration 3 and sucker 4, and the diameter of this sucker is 1.5mm, is evenly distributed in dish configuration 3, once can pick up four stalk service plates.Also comprise support 10, be connected with film 8 on this sucker die cavity.
As shown in Figure 4, the present invention also provides a kind of service plate Handling device, it is characterized in that, comprising: rectangular robot, for completing along the motion of translation in X, Y, Z axis; The mechanism moving along Z axis 60 ends at this rectangular robot are provided with above-mentioned vacuum cap type conveying robot 50.So can coordinate the action needs on different station, realize conversion " picking up ", " putting down " two kinds of actions fast, avoid vacuum chuck device in handling process " to stick to the pan " phenomenon.
In the present embodiment, rectangular robot is mainly realized in conjunction with motor, rack-and-gear transmission by mechanical framework structure, that is this vacuum cap type conveying robot 50 drives by motor, the transmission of rack-and-gear, at three square upward movements of X, Y, Z axis of mechanical framework structure.Specifically, this rectangular robot comprises: main frame 10, and top is rectangular frame, two long limits of this rectangular frame are provided with tooth bar 51; Sub-frame 20, is a rectangular frame, and bottom is provided with gear and motor 41, for walking along X-direction on the tooth bar 51 at this main frame; Two long limits of this sub-frame are provided with tooth bar 52; Vertically framework 30, which is provided with gear and motor 42, for walking along Y direction on the tooth bar 52 at this sub-frame; On this vertical framework, be also provided with the mechanism 60 moving along Z-direction.Above-mentioned X-direction is the length direction of main frame 10, and Y direction is the Width of main frame 10, and Z-direction is the short transverse of main frame 10.Other can complete along the rectangular robot of the motion of translation in X, Y, Z axis and also can match with vacuum cap type conveying robot provided by the invention, give an example no longer one by one at this.
Vacuum cap type conveying robot provided by the invention is by film under film, sucker die cavity on sucker die cavity, the compositions such as vacuum generator, O-ring seal, and simple in structure, low cost of manufacture, can change " picking up ", " putting down " two kinds of actions fast.The invention provides service plate Handling device, in conjunction with rectangular robot and vacuum cap type conveying robot, realize the carrying action of stalk service plate product on different station, be applicable to the carrying work of stalk service plate product, solve in existing stalk environmental protection tableware production facilities use, workman's dependence is too high, and labour intensity is large, the working environment of workers is severe, and the more high deficiency of manual operation product rejection rate.
With reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention above, can have multiple flexible program to realize the present invention.For example, illustrate as the part of an embodiment or the feature described can be used for another embodiment to obtain another embodiment.These are only the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention, the equivalence that all utilizations specification sheets of the present invention and accompanying drawing content are done changes, within being all contained in interest field of the present invention.
Claims (8)
1. a vacuum cap type conveying robot, for carrying service plate, is characterized in that, comprising:
Film under sucker die cavity, its lower surface is provided with at least one dish configuration and sucker, and described sucker is positioned in described dish configuration;
Film on sucker die cavity, is positioned under described suction disc type film top, and with described suction disc type under film be connected to form cavity, on sucker die cavity, film is provided with the first opening and the second opening;
O-ring seal, under described sucker die cavity on film and sucker die cavity between film.
Vacuum generator, is connected with described the first opening;
Source of the gas, is connected with described vacuum generator by the first electromagnetic valve, and is connected with described the second opening by the second electromagnetic valve.
2. vacuum cap type conveying robot according to claim 1, is characterized in that, on described sucker die cavity, film is together with under described sucker die cavity, film is bolted.
3. vacuum cap type conveying robot according to claim 1, is characterized in that, on described sucker die cavity, film is identical or close with the size shape of film under described sucker die cavity.
4. vacuum cap type conveying robot according to claim 1, is characterized in that, also comprises support, is connected with film on described sucker die cavity.
5. vacuum cap type conveying robot according to claim 1, is characterized in that, under described sucker die cavity, the lower surface of film is provided with four dish configuration and sucker.
6. vacuum cap type conveying robot according to claim 1, is characterized in that, the diameter of described sucker is 1.5mm.
7. a service plate Handling device, is characterized in that, comprising:
Rectangular robot, for completing along the motion of translation in X, Y, Z axis;
The mechanism's end moving along Z axis of described rectangular robot be provided with as arbitrary in claim 1 to 7 as described in vacuum cap type conveying robot.
8. vacuum cap type conveying robot according to claim 1, is characterized in that, described rectangular robot comprises:
Main frame, top is rectangular frame, two long limits of described rectangular frame are provided with tooth bar;
Sub-frame, is a rectangular frame, and bottom is provided with gear and motor, for walking along X-direction on the tooth bar of described main frame; Two long limits of described sub-frame are provided with tooth bar;
Vertically framework, which is provided with gear and motor, for walking along Y direction on the tooth bar of described sub-frame; On described vertical framework, be also provided with the mechanism moving along Z-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410306035.8A CN104071572A (en) | 2014-07-01 | 2014-07-01 | Vacuum sucker transportation manipulator and plate transportation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410306035.8A CN104071572A (en) | 2014-07-01 | 2014-07-01 | Vacuum sucker transportation manipulator and plate transportation device |
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| Publication Number | Publication Date |
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| CN104071572A true CN104071572A (en) | 2014-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410306035.8A Pending CN104071572A (en) | 2014-07-01 | 2014-07-01 | Vacuum sucker transportation manipulator and plate transportation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608138A (en) * | 2014-11-28 | 2015-05-13 | 中国科学院合肥物质科学研究院 | Vacuum plate sucking device for straw dining plate |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4045073A (en) * | 1975-04-11 | 1977-08-30 | Moba Holding Barneveld B.V. | Device for displacing an egg-tray |
| EP0163201A2 (en) * | 1984-05-22 | 1985-12-04 | BINI & C. S.r.l. | Process and apparatus for the lifting and carriage of objects placed on tray-like supports |
| US4787662A (en) * | 1987-08-28 | 1988-11-29 | Hewlett-Packard Company | Vacuum driven gripping tool |
| CN2656365Y (en) * | 2003-06-07 | 2004-11-17 | 黄友总 | Paper drum mechanical hand transfer mechanism of paper bowl machine |
| CN201446530U (en) * | 2009-06-23 | 2010-05-05 | 彩虹集团电子股份有限公司 | Absorption mechanism for carrying cone product |
| CN103661306A (en) * | 2013-11-28 | 2014-03-26 | 西安航天精密机电研究所 | Full-automatic battery changing system for electric vehicles |
| JP2015070001A (en) * | 2013-09-26 | 2015-04-13 | 株式会社ディスコ | Conveying device for plate-like material |
-
2014
- 2014-07-01 CN CN201410306035.8A patent/CN104071572A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4045073A (en) * | 1975-04-11 | 1977-08-30 | Moba Holding Barneveld B.V. | Device for displacing an egg-tray |
| EP0163201A2 (en) * | 1984-05-22 | 1985-12-04 | BINI & C. S.r.l. | Process and apparatus for the lifting and carriage of objects placed on tray-like supports |
| US4787662A (en) * | 1987-08-28 | 1988-11-29 | Hewlett-Packard Company | Vacuum driven gripping tool |
| CN2656365Y (en) * | 2003-06-07 | 2004-11-17 | 黄友总 | Paper drum mechanical hand transfer mechanism of paper bowl machine |
| CN201446530U (en) * | 2009-06-23 | 2010-05-05 | 彩虹集团电子股份有限公司 | Absorption mechanism for carrying cone product |
| JP2015070001A (en) * | 2013-09-26 | 2015-04-13 | 株式会社ディスコ | Conveying device for plate-like material |
| CN103661306A (en) * | 2013-11-28 | 2014-03-26 | 西安航天精密机电研究所 | Full-automatic battery changing system for electric vehicles |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608138A (en) * | 2014-11-28 | 2015-05-13 | 中国科学院合肥物质科学研究院 | Vacuum plate sucking device for straw dining plate |
| CN109789560A (en) * | 2016-08-08 | 2019-05-21 | 厨房机器人技术公司 | Tableware steerable system and method |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
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Application publication date: 20141001 |