A smart gripping and packaging device for receiving materials in a carton gluing machine

Abstract

The present invention discloses an intelligent grabbing and packaging device for receiving materials of a box gluing machine, comprising a feeding mechanism, a grabbing mechanism for grabbing materials on the feeding mechanism, a discharging mechanism, a packaging mechanism, and a product output mechanism; the grabbing mechanism is used to grab the product on the feeding mechanism and place it on the discharging mechanism, the discharging mechanism is used to push the product to the packaging mechanism for packaging, and the product output mechanism is used to pack the packaged product. The packaging device of the present invention has a simple structure, convenient maintenance, low production cost, and high utilization value; the device is efficient, stable, safe, and saves space; it can replace the work of traditional manual grabbing and packaging, and at the same time can eliminate the problem of the clamp lifting the paper box when grabbing; the device has the principles of fast, stable, and accurate, thereby meeting the needs of existing customers.

Description

Technical Field

[0001] The present invention relates to the field of mechanical automation technology, and in particular to an intelligent grabbing and packaging device for collecting materials of a folder-gluing machine. Background Art

[0002] In the traditional printing industry, the paper boxes are output by the folder gluer and continuously output to the designated box receiving position through the conveyor belt. Then, a certain number of paper boxes are manually grabbed and lapped up before being tied up with rubber bands or strapped with a baler. Each process requires people to complete, and the production efficiency is low. If you want to improve the production efficiency, you need to add more workers to work, resulting in a large proportion of labor costs.

[0003] With the continuous development of society, enterprises are now facing the problem of difficulty in recruiting workers, high wages, rising production costs and other factors, which have caused enterprises to face various severe challenges.

[0004] During the grabbing process of the existing grabbing clamp, due to the continuous output of the formed carton, the clamp will lift up the carton outside the clamp when grabbing. The emergence of this problem seriously affects the progress of intelligent grabbing, and it cannot independently complete the repeated grabbing work, reflecting that the existing clamp technology has poor practicality and stability, so it is impossible to realize automation to replace manual grabbing, so it has not been used in actual production so far. Therefore, reducing the labor intensity of workers and improving the degree of automation of grabbing and packaging are increasingly valued by the majority of companies. To this end, many manufacturers and professional engineers have carried out fruitful development and research, but there is currently no equipment on the market that can replace manual repeated grabbing, and is efficient, stable, safe, and saves space, and can cooperate with a robot to complete intelligent grabbing and packaging. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an intelligent grabbing and packaging equipment for collecting materials of a folder gluing machine. The equipment consists of a plurality of workstations, each of which is tightly connected and suitable for installing a robot, thereby achieving an intelligent grabbing and packaging all-in-one equipment, which can greatly improve production efficiency, reduce labor costs and floor space.

[0006] In order to achieve the above object, the technical solution of the present invention is as follows:

[0007] An intelligent grabbing and packaging device for receiving materials of a folder gluing machine comprises a feeding mechanism, a grabbing mechanism for grabbing materials on the feeding mechanism, a discharging mechanism, a packaging mechanism, and a product output mechanism; the grabbing mechanism is used to grab the products on the feeding mechanism and place them on the discharging mechanism, the discharging mechanism is used to push the products to the packaging mechanism for packaging, and the product output mechanism is used to pack the packaged products.

[0008] Preferably, the feeding mechanism includes a conveying mechanism, a loading mechanism disposed on the conveying mechanism, and a first sensing mechanism disposed beside the conveying mechanism.

[0009] Preferably, the grasping mechanism includes a clamp seat, a four-axis robot connected to the clamp seat, a product separation mechanism connected to one end of the clamp seat, a first clamping mechanism placed on the side of the product separation mechanism, and a first clamping mechanism placed on the bottom of the clamp seat; the grasping mechanism also includes a connecting block arranged on the clamp seat and a flange seat arranged on the connecting block; the flange seat is connected to the four-axis robot.

[0010] Preferably, the product separation mechanism is a separation plug plate, which can separate the target product from the product assembly line; the first clamping mechanism includes a linear guide block, a paper pressing plate, two guide rods, and an elastic mechanism sleeved on each guide rod; one end of each guide rod is connected to the linear guide block, and the other end is connected to the paper pressing plate.

[0011] Preferably, the first clamping mechanism includes a first driving mechanism and a clamping plate arranged at the output end of the first driving mechanism; the elastic mechanism is configured as a spring; and the first driving mechanism is configured as a cylinder.

[0012] Preferably, the discharge mechanism includes a mounting plate, a second drive mechanism arranged on the mounting plate, a push plate arranged at the output end of the second drive mechanism, a second sensor mechanism and two first baffles arranged next to the second drive mechanism in sequence; the push plate passes through the two first baffles, and under the action of the second drive mechanism, the products in the two first baffles can be pushed to the packaging mechanism.

[0013] Preferably, the packaging mechanism includes a packaging machine, a third driving mechanism arranged above the packaging machine, a second clamping mechanism connected to the output end of the third driving mechanism, a second pressing mechanism placed below the second clamping mechanism and on the packaging machine, and a material blocking mechanism arranged opposite to the second pressing mechanism.

[0014] Preferably, the second clamping mechanism comprises a second baffle, a clamping cylinder arranged on the second baffle, a pressure plate fixing block placed at the output end of the clamping cylinder, and a first pressure plate arranged on the pressure plate fixing block; the first baffle is connected to the output end of the third driving mechanism;

[0015] Preferably, the second clamping mechanism includes two clamping cylinders arranged side by side and a second pressure plate arranged at the output end of each clamping cylinder; the material blocking mechanism includes a material blocking cylinder and a third baffle plate arranged at the output end of the material blocking cylinder.

[0016] Preferably, the transmission mechanism is a first belt conveyor; the loading mechanism is a material box; the first sensing mechanism is set as a first photoelectric sensor; the second driving mechanism is set as a first rodless cylinder; the second sensing mechanism is set as a second photoelectric sensor; the third driving mechanism is set as a second rodless cylinder; and the product output mechanism is a second belt conveyor.

[0017] The technical solution of the present invention has the following beneficial effects: the packaging equipment of the present invention has a simple structure, convenient maintenance, low production cost and high utilization value; the equipment is efficient, stable, safe and saves space; it can replace the traditional manual grasping and packaging work, and at the same time eliminate the problem of the paper box being lifted up by the clamp when grasping; the equipment has the principles of fast, stable and accurate, thereby meeting the needs of existing customers. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention;

[0019] Figure 2 The structure of the grabbing mechanism of the present invention is shown in FIG. Figure 1 ;

[0020] Figure 3 The structure of the grabbing mechanism of the present invention is shown in FIG. Figure 2 ;

[0021] Figure 4 The structure of the material discharging mechanism of the present invention is shown in FIG.

[0022] Figure 5 It is a schematic diagram of the packaging mechanism structure of the present invention. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0026] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the present invention, unless otherwise clearly specified and limited, a first feature is “on” or “below” a second feature.

[0028] “Under” may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature being “above”, “above”, and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being “under”, “below”, and “below” the second feature includes the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0029] Reference Figures 1 to 5 The present invention provides an intelligent grabbing and packaging device for receiving materials of a folder gluer, comprising a feeding mechanism, a grabbing mechanism 40 for grabbing materials on the feeding mechanism, a discharge mechanism 50 disposed next to the grabbing mechanism 40, a packaging mechanism 60 disposed next to the discharge mechanism 50, and a product output mechanism 70 disposed next to the packaging mechanism; the grabbing mechanism 40 is used to grab the product on the feeding mechanism and place it on the discharge mechanism 50, the discharge mechanism 50 is used to push the product to the packaging mechanism 60 for packaging, and the product output mechanism 70 is used to pack the packaged products.

[0030] The feeding mechanism includes a conveying mechanism 20 , a loading mechanism 30 disposed on the conveying mechanism 20 , and a first sensing mechanism (not shown) disposed beside the conveying mechanism 20 .

[0031] The working principle of the feeding mechanism in this embodiment is as follows: when working, the paper box is continuously output on the conveying mechanism 20. When the highest point of the paper box reaches the detection position of the first sensor mechanism, the first sensor mechanism transmits a signal to the robot control system, and the four-axis robot 401 quickly reaches the grasping position from the grasping waiting position and tracks within the grasping range. When the tracking speed of the four-axis robot 401 is consistent with the moving speed of the paper box, the z-axis drops and the clamp grasps the paper box.

[0032] The grasping mechanism 40 includes a clamp seat 410, a four-axis robot 401 connected to the clamp seat 410, a product separation mechanism 404 connected to one end of the clamp seat 410, a first clamping mechanism 405 placed on the side of the product separation mechanism 404, and a first clamping mechanism 403 placed at the bottom of the clamp seat 410; the grasping mechanism also includes a connecting block 406 arranged on the clamp seat 410 and a flange seat 407 arranged on the connecting block 406; the flange seat 407 is connected to the four-axis robot 401.

[0033] The product separation mechanism 404 is a separation plug plate 404a, which can separate the target product from the product assembly line; the first clamping mechanism 405 includes a linear guide block 405a, a paper pressing plate 405b, two guide rods 405c, and an elastic mechanism 405d sleeved on each guide rod 405c; one end of each guide rod 405c is connected to the linear guide block 405a, and the other end is connected to the paper pressing plate 405b; the first clamping mechanism 405 is used to press the paper box that has not been grasped to prevent the paper box from being lifted.

[0034] The first clamping mechanism 403 includes a first driving mechanism 403a and a clamping plate 403b arranged at the output end of the first driving mechanism 403a; the elastic mechanism 405d is configured as a spring; the first driving mechanism 403a is configured as a cylinder, the main function of which is to move back and forth and push the clamping plate 403b to clamp the product.

[0035] The working principle of the grabbing mechanism in this embodiment is as follows: first, the four-axis robot 401 is used to quickly track and locate the target object on the product (paper box) production line and then grab it. When grabbing, the separation plug plate 404a is inserted into the target object, and the paper pressing paper 405b is pressed against the paper box outside the separation plug plate 404a by the elastic mechanism 405d (spring) and the guide rod 405c. When the separation plug plate 404a is lowered to a fixed position, the first driving mechanism 403a pushes the clamping plate 403b to clamp the paper box of a fixed thickness, and then the separation plug plate 404a is lifted up with the cooperation of the four-axis robot 401. While being lifted up, the paper pressing paper 405b is subjected to the elastic force of the spring to press down the lifted paper box until the separation plug plate 404a is completely lifted up from the product production line, thereby completing the grabbing work.

[0036] The discharge mechanism 50 includes a mounting plate 505, a second driving mechanism 501 arranged on the mounting plate 505, a push plate 502 arranged at the output end of the second driving mechanism 501, a second sensing mechanism 504 and two first baffles 503 arranged next to the second driving mechanism 502 in sequence; the push plate 502 passes through the two first baffles 503, and under the action of the second driving mechanism 501, the products in the two first baffles 503 can be pushed to the packaging mechanism 60.

[0037] The working principle of the material discharging mechanism in this embodiment is as follows: when the grabbing mechanism 40 places the paper box at the two first baffles 503, the second driving mechanism 501 drives the push plate 502 to push the paper box to the strapping position of the packaging mechanism 60, and then strapping is performed.

[0038] The packaging mechanism 60 includes a packaging machine 601, a third driving mechanism 602 arranged above the packaging machine 601, a second clamping mechanism connected to the output end of the third driving mechanism 602, a second pressing mechanism placed below the second clamping mechanism and on the packaging machine, and a material blocking mechanism arranged opposite to the second pressing mechanism.

[0039] The second clamping mechanism includes a second baffle 604, a clamping cylinder 603 disposed on the second baffle 604, a pressure plate fixing block disposed at the output end of the clamping cylinder 603, and a first pressure plate 606 disposed on the pressure plate fixing block 605; the second baffle 604 is connected to the output end of the third driving mechanism 602;

[0040] The second clamping mechanism includes two clamping cylinders 607 arranged side by side, and a second pressure plate (not shown in the figure) arranged at the output end of each clamping cylinder 607; the material blocking mechanism includes a material blocking cylinder 608 and a third baffle 609 arranged at the output end of the material blocking cylinder 608.

[0041] The working principle of the packaging mechanism in this embodiment is as follows: when packaging, the material blocking cylinder 608 is in the output state, and the clamping cylinder 603 is in the input state; when the second driving mechanism 501 pushes the paper box to the third baffle 609, the clamping cylinder 607 outputs to drive the second pressing plate to push the material box to the second baffle 604 for clamping, and at the same time the clamping cylinder 603 outputs to clamp the paper box, and then packaging is carried out.

[0042] The transmission mechanism 70 is a first belt conveyor; the loading mechanism 30 is a material box; the first sensing mechanism is set as a first photoelectric sensor; the second driving mechanism 501 is set as a first rodless cylinder; the second sensing mechanism 504 is set as a second photoelectric sensor; the third driving mechanism 602 is set as a second rodless cylinder; the product output mechanism 70 is a second belt conveyor.

[0043] The working principle of the conveying mechanism in this embodiment is as follows: the third driving mechanism 602 drives the clamping cylinder 603 to move and transport the finished product to the finished product output position, and then the second belt conveyor transports the finished product for packing.

[0044] The working principle of the present invention is as follows:

[0045] Step 1: The paper boxes are processed by existing equipment, and then neatly and orderly output through the conveying mechanism 20, and then the paper boxes are stood up and output by the loading mechanism 30;

[0046] Step 2: The cartons are continuously output on the conveying mechanism 20. When the highest point of the cartons reaches the detection position of the first sensor mechanism (not shown in the figure), the first sensor mechanism transmits a signal to the robot control system. The four-axis robot 401 quickly reaches the grasping position from the grasping waiting position and tracks within the grasping range. When the tracking speed of the four-axis robot 401 is consistent with the moving speed of the cartons, the z-axis drops and the controller issues a command to the fixture.

[0047] Step 3: The gripper will be used for gripping. When gripping, the separation plug plate 404a is inserted into the target object. When inserted to the fixed position, the first driving mechanism 403a drives the clamping plate 403b to clamp the paper box, and then feedback is given to the four-axis robot 401 to make the z-axis rise and take out the clamped paper box; during the removal process, the pressing paper board 405b, under the action of the spring elastic force, presses down the paper box brought up by the separation plug plate 404a; this is mainly to prevent the paper box from being lifted up and interfering with the detection of the first photoelectric sensor and the next gripping action;

[0048] Step 4: Move the grabbed carton to the designated discharge position through the four-axis robot 401. If there is no signal input from the third photoelectric sensor at the packaging position, the gripper of the clamp is released to discharge the material.

[0049] Step 5: When the four-axis robot 401 has finished unloading, the electrical control system sends a command to the second drive mechanism 501, so that the second drive mechanism 501 drives the push plate 502 to push the carton to the strapping position of the baler 601, and then strapping is performed; before the second drive mechanism 501 is actuated, the material blocking cylinder 608 is in an output state, and the clamping cylinder 603 is in an input state; when the second drive mechanism 501 pushes the carton to the third baffle 609, the clamping cylinder 607 outputs and drives the second pressing plate to push the material box to the second baffle 604 for clamping, and at the same time, the clamping cylinder 603 outputs and clamps the carton, and then packaging is performed;

[0050] Step 6: After the baler completes the baling work, the material blocking cylinder 608 and the clamping cylinder 607 switch input states, and the third driving mechanism 602 drives the clamping cylinder 603 to move, pulling the packaged carton to the receiving position, and the third photoelectric sensor at the baling position changes from on to off; thus completing a cycle of grabbing, releasing, and baling. Such a repetitive workflow can realize the automation of production.

[0051] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An intelligent grabbing and packaging device for receiving materials of a folder-gluing machine, characterized in that: It includes a feeding mechanism, a grabbing mechanism for grabbing materials on the feeding mechanism, a discharging mechanism, a packaging mechanism, and a product output mechanism; the grabbing mechanism is used to grab the products on the feeding mechanism and place them on the discharging mechanism, the discharging mechanism is used to push the products to the packaging mechanism for packaging, and the product output mechanism is used to pack the packaged products; The feeding mechanism comprises a conveying mechanism, a loading mechanism placed on the conveying mechanism, and a first sensing mechanism placed beside the conveying mechanism; The gripping mechanism includes a fixture seat, a four-axis robot connected to the fixture seat, a product separation mechanism connected to one end of the fixture seat, a first pressing mechanism disposed on the side of the product separation mechanism, and a first clamping mechanism disposed at the bottom of the fixture seat; the gripping mechanism also includes a connecting block disposed on the fixture seat and a flange seat disposed on the connecting block; the flange seat is connected to the four-axis robot; The unloading mechanism includes a mounting plate, a second driving mechanism arranged on the mounting plate, a push plate arranged at the output end of the second driving mechanism, a second sensing mechanism and two first baffles arranged next to the second driving mechanism in sequence; the push plate passes through the two first baffles and can push the products in the two first baffles to the packaging mechanism under the action of the second driving mechanism; The packaging mechanism includes a packaging machine, a third driving mechanism arranged above the packaging machine, a second clamping mechanism connected to the output end of the third driving mechanism, a second pressing mechanism arranged below the second clamping mechanism and on the packaging machine, and a material blocking mechanism arranged opposite to the second pressing mechanism; When the grabbing mechanism places the paper box at the two first baffles, the second driving mechanism drives the push plate to push the paper box to the strapping position of the packaging mechanism, and then strapping is performed.

2. The intelligent grabbing and packaging equipment for receiving materials of a folder-gluing machine according to claim 1 is characterized in that: The product separation mechanism is a separation plug plate, which can separate the target product from the product assembly line; the first clamping mechanism includes a linear guide block, a paper pressing plate, two guide rods, and an elastic mechanism sleeved on each guide rod; one end of each guide rod is connected to the linear guide block, and the other end is connected to the paper pressing plate.

3. The intelligent grabbing and packaging equipment for receiving materials of a folder-gluing machine according to claim 2 is characterized in that: The first clamping mechanism includes a first driving mechanism and a clamping plate arranged at the output end of the first driving mechanism; the elastic mechanism is a spring; and the first driving mechanism is a cylinder.

4. The intelligent grabbing and packaging equipment for receiving materials in a folder-gluing machine according to claim 1 is characterized in that: The second clamping mechanism includes a second baffle, a clamping cylinder arranged on the second baffle, a pressure plate fixing block placed at the output end of the clamping cylinder, and a first pressure plate arranged on the pressure plate fixing block; the second baffle is connected to the output end of the third driving mechanism.

5. The intelligent grabbing and packaging equipment for receiving materials of a folder-gluing machine according to claim 1 is characterized in that: The second pressing mechanism includes two pressing cylinders arranged side by side and a second pressing plate arranged at the output end of each pressing cylinder; the material blocking mechanism includes a material blocking cylinder and a third blocking plate arranged at the output end of the material blocking cylinder.

6. The intelligent grabbing and packaging equipment for receiving materials in a folder-gluing machine according to claim 4 is characterized in that: The transmission mechanism is a first belt conveyor; the loading mechanism is a material box; the first sensing mechanism is set as a first photoelectric sensor; the second driving mechanism is set as a first rodless cylinder; the second sensing mechanism is set as a second photoelectric sensor; the third driving mechanism is set as a second rodless cylinder; and the product output mechanism is a second belt conveyor.

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