A corrugated cardboard positioning and conveying device for corrugated box forming

Abstract

The present invention discloses a corrugated cardboard positioning and conveying device for corrugated box forming, belonging to the field of cardboard conveying technology, comprising a cardboard conveying seat mounted on a multi-degree-of-freedom robotic arm, a transmission cavity being defined within the cardboard conveying seat, a suction inner support column being fixedly connected to the inner wall of the transmission cavity, the end of the suction inner support column extending outward through the transmission cavity and fixedly connected to a pickup suction cup, a suction pump connected to the pickup suction cup being provided on the cardboard conveying seat, an outer rotating sleeve shaft being rotatably connected to the outer wall of the suction inner support column, and two symmetrically arranged detection components being connected to the outer wall of the outer rotating sleeve shaft via a connecting ring. The present invention drives a main detection rod and a side detection rod to rotate by a driving motor, and during the rotation process, a servo motor drives the side detection rod to displace, so that a roller detector at the end of the side detection rod can detect the edge of the corrugated cardboard, and effectively detects damage and length dimensions along the edge of the corrugated cardboard by pre-designing a path.

Description

Technical Field

[0001] The invention relates to the technical field of cardboard conveying, in particular to a corrugated cardboard positioning and conveying device for corrugated paper box forming. Background Art

[0002] The cardboard box is made by folding a whole piece of corrugated cardboard. The existing processing technology is to cut the corrugated cardboard and then convey it to the forming machine for processing. The size of the cardboard box is affected by the corrugated cardboard. If the corrugated cardboard is too large or too small, the formed cardboard box will not meet the requirements. The current method of detecting the corrugated cardboard is often to sample and detect its size. This method of detection is random and cannot be discovered and screened in time, which will cause the yield of the cardboard box to decrease. Moreover, the corrugated cardboard is composed of cardboard on both sides and the corrugated board in the middle. The corrugated board located inside cannot be measured intuitively, and it is impossible to judge whether there are cavities in the internal corrugated cardboard. The corrugated board with cavities will affect the quality of the formed cardboard box. For this reason, a corrugated cardboard positioning and conveying device for corrugated box forming is proposed. Summary of the Invention

[0003] The purpose of the present invention is to solve the problem of poor quality detection effect of corrugated paperboard used for cardboard box forming in the prior art, and to propose a corrugated paperboard positioning and conveying device for corrugated paperboard used for corrugated paperboard box forming.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A corrugated cardboard positioning and conveying device for corrugated box forming includes a cardboard conveying seat mounted on a multi-degree-of-freedom robotic arm, a transmission cavity defined within the cardboard conveying seat, an inner suction support column fixedly connected to the inner wall of the transmission cavity, an end of the inner suction support column extending outward through the transmission cavity and fixedly connected to a pickup suction cup, a suction pump connected to the pickup suction cup provided on the cardboard conveying seat, an outer rotating sleeve shaft rotatably connected to the outer side wall of the inner suction support column, and two symmetrically arranged detection components connected to the outer side wall of the outer rotating sleeve shaft via a connecting ring;

[0006] The detection assembly includes a main detection rod connected to a connecting ring, side detection rods are connected to both sides of the main detection rod via sliding limiters, and hollow detection parts are provided on both the main detection rod and the side detection rods. The side detection rods on both sides are commonly connected to a detection end seat, and the detection end seat is rotatably connected to the detection seat via a universal ball. The detection seat is connected to a roller detector via a pressure assembly, and the detection seat is provided with a horizontal displacement sensor for detecting the movement distance of the roller detector;

[0007] A rack drive rod is fixedly connected to the side detection rod located on one side, and a drive motor and a servo motor are provided on the cardboard conveying seat. The drive motor is connected to the outer rotating sleeve shaft through a rotating assembly, and the servo motor is connected to the transmission sleeve shaft through a reciprocating transmission assembly. The transmission sleeve shaft is fixedly connected to the connecting ring, and the transmission sleeve shaft is sleeved on the outer side wall of the outer rotating sleeve shaft and extended outward to be fixedly connected to a moving gear, and the moving gear is meshed with the rack drive rod.

[0008] Preferably, a detection port is provided on the detection seat, and the roller detector includes a sensing end column arranged in the detection port, the end of the sensing end column is fixedly connected to a U-shaped connecting piece, and the end of the U-shaped connecting piece is rotatably connected to an edge roller.

[0009] Preferably, the pressure-applying component includes a limiting telescopic opening opened on the inner wall of the detection opening, the sensing end column is located in the detection opening, and both ends are fixedly connected to a telescopic block located in the limiting telescopic opening, and the telescopic block is connected to the inner wall of the limiting telescopic opening through a pressure spring.

[0010] Preferably, the sliding limiter comprises a rectangular sliding opening formed on the main detection rod, and a rectangular sliding bar located in the rectangular sliding opening is fixedly connected to the side wall of the side detection rod.

[0011] Preferably, the cavity detection component includes a vertical displacement sensor, the bottom of the vertical displacement sensor is rotatably connected to an extrusion wheel via a connecting ball, and both the main detection rod and the side detection rod are provided with mounting openings for installing the vertical displacement sensor.

[0012] Preferably, the rotating assembly includes a rotating gear fixedly connected to the output end of the driving motor, and the outer side wall of the outer rotating sleeve is fixedly connected to a rotating gear meshing with the rotating gear.

[0013] Preferably, the reciprocating transmission assembly includes a worm shaft fixedly connected to the output end of the servo motor, and the outer side wall of the transmission sleeve shaft is fixedly connected to a transmission worm wheel meshing with the worm shaft.

[0014] Preferably, a hollow conveying channel is opened inside the suction inner support column, and one end of the suction pump is connected to a suction connecting pipe, which passes through the cardboard conveying seat and is connected to the hollow conveying channel.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention drives the main detection rod and the side detection rod to rotate by a driving motor. During the rotation process, the servo motor drives the side detection rod to move, so that the roller detector at the end of the side detection rod can detect the edge of the corrugated cardboard. By pre-designing the path, effective detection of damage along the edge and length of the corrugated cardboard can be achieved.

[0017] 2. The present invention detects the surface of the corrugated board through the extrusion wheel on the side detection rod and the main detection rod. When the corrugated board is broken or there is a hole inside the corrugated board, the extrusion wheel will bump during the movement, causing the vertical displacement sensor connected to it to sense the change in thickness, thereby realizing effective detection of the corrugated board surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of a corrugated paperboard positioning and conveying device for corrugated paperboard box forming proposed by the present invention;

[0019] Figure 2 This is a schematic diagram of the main cross-sectional structure of a corrugated paperboard positioning and conveying device for corrugated paperboard box forming proposed by the present invention;

[0020] Figure 3 for Figure 2 Schematic diagram of the enlarged structure at A in the middle;

[0021] Figure 4 This is a schematic diagram of the inverted structure of a corrugated paperboard positioning and conveying device for corrugated paperboard box forming proposed by the present invention;

[0022] Figure 5 Figure 4 Schematic diagram of the enlarged structure at B in the middle;

[0023] Figure 6 Figure 4 Schematic diagram of the enlarged structure at C in the middle;

[0024] Figure 7 This is a bottom view schematic diagram of the structure of a corrugated paperboard positioning and conveying device for corrugated paperboard box forming proposed by the present invention;

[0025] Figure 8 This is a schematic cross-sectional view of a device for positioning and conveying corrugated paperboard for forming corrugated paperboard boxes proposed by the present invention, located above the moving gear;

[0026] Figure 9 This is a schematic cross-sectional view below the moving gear of a corrugated paperboard positioning and conveying device for corrugated paperboard box forming proposed by the present invention;

[0027] Figure 10 This is a schematic diagram of the position relationship between the corrugated paperboard positioning and conveying device for corrugated paperboard forming proposed by the present invention and the paperboard during detection operation;

[0028] Figure 11 This is a schematic diagram of the principle of equally dividing triangles in a corrugated cardboard positioning and conveying device for corrugated box forming proposed by the present invention.

[0029] In the figure: 1. Cardboard conveying seat; 2. Transmission cavity; 3. Suction inner support column; 4. Pick-up suction cup; 5. Suction pump; 6. Outer rotating sleeve; 7. Connecting ring; 8. Main detection rod; 9. Side detection rod; 10. Detection end seat; 11. Detection seat; 12. Horizontal displacement sensor; 13. Rack drive rod; 14. Drive motor; 15. Transmission sleeve; 16. Moving gear; 17. Sensing end column; 18. U-shaped connector; 19. Edge roller; 20. Telescopic block; 21. Rectangular sliding mouth; 22. Rectangular sliding bar; 23. Vertical displacement sensor; 24. Extrusion wheel; 25. Rotating gear; 26. Rotating gear; 27. Worm shaft; 28. Transmission worm gear; 29. ​​Suction connecting pipe; 30. Servo motor; 31. Universal ball; 32. Connecting ball; 33. Hollow conveying channel; 34. Limit telescopic mouth; 35. Pressure spring DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] Example

[0032] Reference Figure 1-11 , including a cardboard conveying seat 1 installed on a multi-degree-of-freedom robotic arm. It is worth noting that the multi-degree-of-freedom robotic arm is an existing technology. It is a device for driving the cardboard conveying seat 1 to move and pick up corrugated boards. It will not be described in detail here. A transmission cavity 2 is opened in the cardboard conveying seat 1. The inner wall of the transmission cavity 2 is fixedly connected to a suction inner support column 3. The end of the suction inner support column 3 passes through the transmission cavity 2 and extends outward, and is fixedly connected to a picking suction cup 4. In this solution, the corrugated cardboard is made of oily cardboard on the surface. The picking suction cup 4 can achieve effective adsorption of the corrugated cardboard. Similarly, when targeting other cardboards, the picking suction cup 4 can be replaced by a robotic arm, which is a conventional technical means.

[0033] The cardboard conveying seat 1 is provided with a suction pump 5 connected to the picking suction cup 4. The suction pump 5 is a prior art and will not be described in detail here. Furthermore, a hollow conveying channel 33 is opened inside the suction inner support column 3, and one end of the suction pump 5 is connected to a suction connecting pipe 29. The suction connecting pipe 29 passes through the cardboard conveying seat 1 and is connected to the hollow conveying channel 33. The suction pump 5 is used to generate suction to achieve effective adsorption of the corrugated cardboard.

[0034] The outer side wall of the suction inner support column 3 is rotatably connected to the outer rotating sleeve shaft 6, and the outer side wall of the outer rotating sleeve shaft 6 is connected to two sets of detection components that are symmetrically arranged through a connecting ring 7;

[0035] The detection component includes a main detection rod 8 connected to the connecting ring 7, and the side detection rods 9 are connected to the two sides of the main detection rod 8 through sliding limiters. Furthermore, the sliding limiters include a rectangular sliding opening 21 opened on the main detection rod 8, and the side wall of the side detection rod 9 is fixedly connected to a rectangular sliding bar 22 located in the rectangular sliding opening 21.

[0036] A further advantage of adopting the above arrangement is that, by providing the rectangular sliding bar 22 and the rectangular sliding opening 21 , horizontal movement between the side detection rod 9 and the main detection rod 8 can be achieved, and effective connection between the two can be ensured.

[0037] Both the main detection rod 8 and the side detection rod 9 are provided with a cavity detection part. Furthermore, the cavity detection part includes a vertical displacement sensor 23. The bottom of the vertical displacement sensor 23 is rotatably connected to the extrusion wheel part 24 through a connecting ball 32. Both the main detection rod 8 and the side detection rod 9 are provided with an installation port for installing the vertical displacement sensor 23.

[0038] The side detection rods 9 on both sides are commonly connected to the detection end seat 10, and the detection end seat 10 is rotatably connected to the detection seat 11 through a universal ball 31. The detection seat 11 is connected to a roller detector through a pressure component. Furthermore, the pressure component includes a limiting telescopic opening 34 opened on the inner wall of the detection port, the sensing end column 17 is in the detection port, and both ends are fixedly connected to a telescopic block 20 in the limiting telescopic opening 34. The telescopic block 20 is connected to the inner wall of the limiting telescopic opening 34 through a pressure spring 35. The setting of the telescopic block 20 can achieve a certain pressure applied to the sensing end column 17, so that it can always fit the edge of the corrugated cardboard.

[0039] Furthermore, a detection port is provided on the detection seat 11 , and the roller detector includes a sensing terminal column 17 arranged in the detection port, the end of the sensing terminal column 17 is fixedly connected to a U-shaped connector 18 , and the end of the U-shaped connector 18 is rotatably connected to an edge roller 19 .

[0040] A further benefit of adopting the above method is that the edge roller 19 can effectively detect the edges of the corrugated cardboard during the rotation of the main detection rod 8. When the edge of the corrugated cardboard is broken or the length size does not correspond, the edge roller 19 will move, and the horizontal displacement sensor 12 will be sensed under the action of the movement of the sensing end column 17, thereby concluding that the corrugated cardboard is unqualified.

[0041] refer to Figure 11 , combined with the trigonometric function relationship, we can derive the following:

[0042] Before the corrugated cardboard is assembled into a box body, it is a whole rectangular piece of corrugated cardboard. At this time, the suction position of the pickup suction cup 4 is at the center of the rectangular corrugated cardboard, which can divide the rectangle into multiple triangles of the same size. At this time, the driving motor 14 that controls the rotation and the servo motor 30 that controls the extension distance of the side detection rod 9 are in a trigonometric function relationship. That is, in the area within a triangle, when the angle of the side detection rod 9 changes continuously during the rotation process, the length of the side detection rod 9 will change in a linear function relationship according to the change in angle. Under this condition, a pre-designed path is performed, and the rotation rate of the driving motor 14 and the servo motor 30 after simultaneous start is programmed and controlled according to rectangular corrugated cardboards of different sizes. This can achieve the effect of the roller detector set at the end of the side detection rod 9 always contacting the edge of the corrugated cardboard. When the size of the broken piece does not match, the sensing end column 17 inside the roller detector that has been in contact with the edge of the corrugated cardboard will be displaced. When the displacement occurs, it will be sensed by the horizontal displacement sensor 12 to achieve the effect of identifying the edge of the corrugated cardboard, thereby achieving effective detection of the breakage and deformation of the edge of the corrugated cardboard.

[0043] The detection base 11 is provided with a horizontal displacement sensor 12 for detecting the movement distance of the roller detector; in this solution, the vertical displacement sensor 23 and the horizontal displacement sensor 12 are both existing technologies, which can effectively detect the size of the corrugated board and will not be described in detail here;

[0044] A rack drive rod 13 is fixedly connected to the side detection rod 9 located on one side, and a drive motor 14 and a servo motor 30 are provided on the cardboard conveying seat 1. The drive motor 14 is connected to the outer rotating sleeve shaft 6 through a rotating assembly. Furthermore, the rotating assembly includes a rotating gear 25 fixedly connected to the output end of the drive motor 14, and the outer side wall of the outer rotating sleeve shaft 6 is fixedly connected to a rotating gear 26 that is meshed with the rotating gear 25.

[0045] It should be noted that the drive motor 14 and the servo motor 30 are turned on synchronously, wherein the speed of the drive motor 14 is kept constant, and the rotation of the servo motor 30 is reasonably calculated to ensure that the edge roller 19 can just contact the side wall of the cardboard at different rotation angles, thereby ensuring the accuracy of the detection process.

[0046] The servo motor 30 is connected to the transmission sleeve shaft 15 through a reciprocating transmission assembly, and the transmission sleeve shaft 15 is rotationally connected to the outer rotating sleeve shaft 6. Furthermore, the reciprocating transmission assembly includes a worm shaft 27 fixedly connected to the output end of the servo motor 30, and the outer side wall of the transmission sleeve shaft 15 is fixedly connected to a transmission worm wheel 28 meshing with the worm shaft 27.

[0047] The transmission sleeve shaft 15 is fixedly connected to the connecting ring 7 . The transmission sleeve shaft 15 is sleeved on the outer side wall of the outer rotating sleeve shaft 6 and extends outwardly to be fixedly connected to a moving gear 16 . The moving gear 16 is meshed with the rack drive rod 13 .

[0048] It is worth noting that this solution involves the use of dual motors. In order to ensure that the transmission structures of the two are implemented on the same axis, a variety of transmission gears are designed for distribution. This is to improve the reasonable distribution between the structures so that the various structures can be compactly matched together, so that while rotating to detect the surface of the corrugated cardboard, the position of the roller detector on the edge of the corrugated cardboard can be changed at all times, thereby achieving the effect of synchronous realization of the two.

[0049] When the present invention is in use, corrugated cardboards of the same size are inspected, and the stacked and cut corrugated cardboards are transported by the cardboard conveying seat 1. During the transportation process, the suction force generated by the suction pump 5 is transmitted to the pickup suction cup 4 to pick up the top of the stacked corrugated cardboard. After picking up, the corrugated cardboard is transported to the conveyor belt for forming the cardboard box under the transportation of the multi-degree-of-freedom mechanical arm. During the transportation process, the driving motor 14 and the servo motor 30 are turned on to work. The driving motor 14 drives the rotating gear 26 to rotate through the rotating gear 25, thereby driving the outer rotating sleeve shaft 6 connected thereto to rotate, thereby driving the connecting ring 7 connected thereto to drive the main detection rod 8 to rotate. During the rotation process, the edge roller 1 set at the end of the main detection rod 8 will be caused 9 contacts the edge of the corrugated cardboard. During the contact process, the servo motor 30 drives the worm shaft 27 connected thereto to drive the transmission worm gear 28 to rotate, thereby driving the transmission sleeve shaft 15 connected thereto to rotate. Under the action of the moving gear 16, the rack drive rod 13 moves, driving the side detection rods 9 on both sides to extend outward, so that the edge rollers 19 can effectively detect the edges of the corrugated cardboard around the edges during the rotation of the main detection rod 8. When the edge of the corrugated cardboard is broken or the length size does not correspond, the edge rollers 19 will move, and under the action of the movement of the sensing end column 17, the horizontal displacement sensor 12 will be sensed, thereby concluding that the corrugated cardboard is unqualified, and controlling the multi-degree-of-freedom robotic arm to perform screening, thereby realizing the detection of the length, width and integrity of the corrugated cardboard;

[0050] During this process, the extrusion wheel 24 arranged on the main detection rod 8 and the side detection rod 9 will achieve full contact with the surface of the corrugated cardboard during the rotation. During the contact process, when the corrugated cardboard is broken or there is a hole in the corrugated cardboard inside, the extrusion wheel 24 will be bumpy during the movement, thereby causing the vertical displacement sensor 23 connected to it to sense the change in thickness, thereby achieving effective detection of the surface of the corrugated cardboard.

[0051] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A corrugated cardboard positioning and conveying device for corrugated box forming, comprising a cardboard conveying seat (1) mounted on a multi-degree-of-freedom robotic arm, characterized in that: A transmission cavity (2) is provided in the cardboard conveying seat (1), and an inner suction support column (3) is fixedly connected to the inner wall of the transmission cavity (2). The end of the inner suction support column (3) passes through the transmission cavity (2) and extends outward, and is fixedly connected to a pickup suction cup (4). A suction pump (5) connected to the pickup suction cup (4) is provided on the cardboard conveying seat (1), and an outer side wall of the inner suction support column (3) is rotatably connected to an outer rotating sleeve shaft (6). The outer side wall of the outer rotating sleeve shaft (6) is connected to two sets of detection components that are symmetrically arranged through a connecting ring (7); The detection assembly comprises a main detection rod (8) connected to the connecting ring (7), side detection rods (9) are connected to both sides of the main detection rod (8) via sliding limiters, hollow detection parts are provided on both the main detection rod (8) and the side detection rods (9), the side detection rods (9) on both sides are commonly connected to a detection end seat (10), the detection end seat (10) is rotatably connected to a detection seat (11) via a universal ball (31), a roller detector is connected to the detection seat (11) via a pressure assembly, and a horizontal displacement sensor (12) for detecting the moving distance of the roller detector is provided on the detection seat (11); A rack drive rod (13) is fixedly connected to the side detection rod (9) located on one side, and a drive motor (14) and a servo motor (30) are provided on the cardboard conveying seat (1). The drive motor (14) is connected to the outer rotating sleeve shaft (6) through a rotating assembly, and the servo motor (30) is connected to the transmission sleeve shaft (15) through a reciprocating transmission assembly. The transmission sleeve shaft (15) is fixedly connected to the connecting ring (7). The transmission sleeve shaft (15) is sleeved on the outer side wall of the outer rotating sleeve shaft (6) and is fixedly connected to a moving gear (16) extending outward. The moving gear (16) is meshed with the rack drive rod (13); The detection seat (11) is provided with a detection port, and the roller detector includes a sensing end column (17) arranged in the detection port, the end of the sensing end column (17) is fixedly connected to a U-shaped connecting piece (18), and the end of the U-shaped connecting piece (18) is rotatably connected to an edge roller (19); The pressure component includes a limiting telescopic opening (34) provided on the inner wall of the detection opening, the sensing end column (17) is located in the detection opening, and both ends are fixedly connected to a telescopic block (20) located in the limiting telescopic opening (34), and the telescopic block (20) is connected to the inner wall of the limiting telescopic opening (34) via a pressure spring (35); The cavity detection member comprises a vertical displacement sensor (23), the bottom of the vertical displacement sensor (23) is rotatably connected to an extrusion wheel member (24) via a connecting ball (32), and both the main detection rod (8) and the side detection rod (9) are provided with mounting openings for mounting the vertical displacement sensor (23); The rotating assembly comprises a rotating gear (25) fixedly connected to the output end of the driving motor (14), and the outer side wall of the outer rotating sleeve shaft (6) is fixedly connected to a rotating gear (26) meshing with the rotating gear (25).

2. The device for positioning and conveying corrugated paperboard for forming a corrugated paperboard box according to claim 1, characterized in that: The sliding limiter comprises a rectangular sliding opening (21) formed on the main detection rod (8), and a rectangular sliding bar (22) located in the rectangular sliding opening (21) is fixedly connected to the side wall of the side detection rod (9).

3. The device for positioning and conveying corrugated paperboard for forming a corrugated paperboard box according to claim 1, characterized in that: The reciprocating transmission assembly comprises a worm shaft (27) fixedly connected to the output end of the servo motor (30), and a transmission worm wheel (28) meshingly connected to the worm shaft (27) is fixedly connected to the outer side wall of the transmission sleeve shaft (15).

4. The device for positioning and conveying corrugated paperboard for forming a corrugated paperboard box according to claim 3, characterized in that: A hollow conveying channel (33) is provided inside the suction inner support column (3), and one end of the suction pump (5) is connected to a suction connecting pipe (29). The suction connecting pipe (29) passes through the cardboard conveying seat (1) and is connected to the hollow conveying channel (33).

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