Robot gripper device for paperboard feeding of die-cutting machine

Abstract

A robot gripper device for die-cutting machine paperboard feeding comprises a main body device, two pressing devices and a paperboard lifting and separating device, the main body device comprises a main support, the bottom of the main support is fixedly connected with a main supporting fork, the main supporting fork extends forwards in the horizontal direction, and the main supporting fork is fixedly connected with the main support. The two pressing devices each comprise a vertically-arranged first movable support, and any first movable support is provided with a lower supporting fork and an upper pressing fork. According to the paper stack separating device, the paperboard is stably lifted through the tooth-shaped groove in a rotating and lifting mode, then the paperboard is clamped and conveyed through the upper pressing fork and the lower supporting fork, manual carrying is replaced, the manual labor intensity is reduced, and the carrying efficiency is improved. And by adjusting the distance between the two pressing devices, the device can be suitable for various specifications of paperboards with the width smaller than 2100 mm, and the universality is high.

Description

Technical Field

[0001] The invention relates to the field of machinery, in particular to corrugated paper production equipment, in particular to a robot gripper device used for feeding paperboards of a die-cutting machine. Background Art

[0002] The corrugated paper production line produces stacks of cardboard, which need to be processed by a die-cutting machine before being made into cartons. Before the die-cutting machine is processed, the cardboard is manually carried into the die-cutting machine for loading. Dozens of cardboard need to be carried at a time. This loading method is cumbersome, time-consuming and labor-intensive, with high labor intensity and low handling efficiency. Summary of the invention

[0003] The object of the present invention is to provide a robot gripper device for feeding cardboard to a die-cutting machine. The robot gripper device for feeding cardboard to a die-cutting machine is intended to solve the technical problems in the prior art of manually carrying cardboard into a die-cutting machine, which is complicated, time-consuming and labor-intensive, has high labor intensity and low work efficiency.

[0004] The present invention discloses a robot gripper device for feeding cardboard to a die-cutting machine, comprising a main body device, two pressing devices, and a cardboard lifting and separating device.

[0005] The main device comprises a main support, the bottom of which is fixedly connected to a main support fork, which extends forward in a horizontal direction.

[0006] The two clamping devices each include a first vertically arranged movable bracket, the two first movable brackets are respectively arranged on the left and right sides of the main bracket and form a sliding pair parallel to the width direction of the main supporting fork on the main bracket, two first driving devices are arranged on the main bracket, and the power output ends of the two first driving devices are respectively connected to the two first movable brackets, and any first movable bracket is respectively provided with a lower supporting fork, an upper pressing fork, and a second driving device, the lower supporting fork is fixedly arranged at the bottom of the first movable bracket, the upper pressing fork and the first movable bracket form a sliding pair parallel to the length direction of the first movable bracket, and the power output end of the second driving device is connected to the upper pressing fork,

[0007] The cardboard lifting and separating device comprises a second movable frame, which forms a sliding pair with the main supporting fork parallel to the length direction of the main supporting fork, a third driving device is arranged on the main supporting fork, a power output end of the third driving device is connected to the second movable frame, a rotating plate is hingedly connected to the upper side of the second movable frame through a rotating shaft, a fourth driving device is arranged on the second movable frame, a power output end of the fourth driving device is connected to the rotating plate, a lifting seat is arranged on the side of the rotating plate, the lifting seat and the rotating plate form a sliding pair parallel to the height direction of the rotating plate, a fifth driving device is fixedly arranged on the rotating plate, a power output end of the fifth driving device is connected to the lifting seat, and toothed grooves are arranged at intervals on the side of the lifting seat along its height direction.

[0008] Furthermore, the main bracket is provided with two parallel and spaced first guide rails, the first guide rails are parallel to the width direction of the main supporting fork, and the two first movable brackets are respectively arranged on the first guide rails through sliders.

[0009] Furthermore, the first driving device is a first translation cylinder.

[0010] Furthermore, a second guide rail is arranged on the first movable bracket, the second guide rail is parallel to the length direction of the first movable bracket, and the upper pressure fork is arranged on the second guide rail through a slider.

[0011] Furthermore, the second driving device is a second translation cylinder.

[0012] Furthermore, a third guide rail is provided on the main supporting fork, the third guide rail is parallel to the length direction of the main supporting fork, and the second movable frame is provided on the third guide rail via a slider.

[0013] Furthermore, the third driving device is an annular synchronous belt driving device, which includes a motor and two synchronous belt pulleys. The motor is connected to one of the synchronous belt pulleys, a synchronous belt is connected between the two synchronous belt pulleys, and the second movable frame is connected to the synchronous belt through a synchronous belt clamp.

[0014] Furthermore, the fourth driving device includes a rotating cylinder, the rear end of the rotating cylinder is hinged to a support through a pin, the support is fixed on the second movable frame, and the piston rod of the rotating cylinder is hinged to the rotating plate through a pin.

[0015] Furthermore, a fourth guide rail is arranged on the rotating plate, and the lifting seat is arranged on the fourth guide rail through a slider.

[0016] Furthermore, the fifth driving device is a lifting cylinder.

[0017] Compared with the prior art, the present invention has a positive and obvious effect. The paper stack separation device of the present invention adopts a swinging and lifting method to stably lift the paperboard through the toothed groove, and then the upper pressing fork and the lower supporting fork clamp and transport the paperboard, which replaces manual handling, reduces manual labor intensity, and improves handling efficiency. By adjusting the distance between the two clamping devices, it can be used for various specifications of paperboards with a width of less than 2100mm, and has strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a schematic diagram of a robot gripper device for feeding cardboard to a die-cutting machine.

[0019] Figure 2 This is a first schematic diagram of a main device in a robot gripper device for feeding cardboard to a die-cutting machine according to the present invention.

[0020] Figure 3 This is a second schematic diagram of a main device in a robot gripper device for feeding cardboard to a die-cutting machine according to the present invention.

[0021] Figure 4 The present invention is a schematic diagram of a clamping device in a robot gripper device for feeding cardboard to a die-cutting machine.

[0022] Figure 5 This is a first schematic diagram of a cardboard lifting and separating device in a robot gripper device for cardboard feeding of a die-cutting machine according to the present invention.

[0023] Figure 6 This is a second schematic diagram of a cardboard lifting and separating device in a robot gripper device for cardboard feeding of a die-cutting machine according to the present invention.

[0024] Figure 7 The present invention is a schematic diagram of the interior of a cardboard lifting and separating device in a robot gripper device for feeding cardboard to a die-cutting machine. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the embodiments, and all similar structures and similar variations of the present invention should be included in the protection scope of the present invention. The use of directions such as up, down, front, back, left, and right in the present invention is only for the convenience of description and is not a limitation on the technical solution of the present invention.

[0026] like Figure 1-Figure 7 As shown, a robot gripper device for feeding cardboard to a die-cutting machine of the present invention comprises a main body device 1, two pressing devices 2, and a cardboard lifting and separating device 3.

[0027] The main device 1 includes a main bracket 4, the bottom of which is fixedly connected to a main support fork 5, which extends forward in a horizontal direction.

[0028] The two clamping devices 2 each include a vertically arranged first movable bracket 6, the two first movable brackets 6 are respectively arranged on the left and right sides of the main bracket 4 and form a sliding pair parallel to the width direction of the main supporting fork 5 with the main bracket 4, two first driving devices are arranged on the main bracket 4, and the power output ends of the two first driving devices are respectively connected to the two first movable brackets 6, and any first movable bracket 6 is respectively provided with a lower supporting fork 7, an upper pressing fork 8, and a second driving device, the lower supporting fork 7 is fixedly arranged at the bottom of the first movable bracket 6, the upper pressing fork 8 and the first movable bracket 6 form a sliding pair parallel to the length direction of the first movable bracket 6, and the power output end of the second driving device is connected to the upper pressing fork 8.

[0029] The cardboard lifting and separating device 3 includes a second mobile frame 9, which forms a sliding pair with the main supporting fork 5 parallel to the length direction of the main supporting fork 5. A third driving device is arranged on the main supporting fork 5, and a power output end of the third driving device is connected to the second mobile frame 9. A rotating plate 25 is hingedly connected to the upper side of the second mobile frame 9 through a rotating shaft 10. A fourth driving device is arranged on the second mobile frame 9, and a power output end of the fourth driving device is connected to the rotating plate 25. A lifting seat 11 is arranged on the side of the rotating plate 25, and the lifting seat 11 and the rotating plate 25 form a sliding pair parallel to the height direction of the rotating plate 25. A fifth driving device is fixedly arranged on the rotating plate 25, and a power output end of the fifth driving device is connected to the lifting seat 11. The side of the lifting seat 11 is provided with toothed grooves 12 at intervals along its height direction.

[0030] Furthermore, two parallel and spaced first guide rails 13 are provided on the main support 4 , the first guide rails 13 are parallel to the width direction of the main support fork 5 , and two first movable supports 6 are respectively provided on the first guide rails 13 through sliders.

[0031] Furthermore, the first driving device is a first translation cylinder 14 .

[0032] Furthermore, a second guide rail 15 is disposed on the first movable bracket 6 , and the second guide rail 15 is parallel to the length direction of the first movable bracket 6 . The upper pressure fork 8 is disposed on the second guide rail 15 via a slider 23 .

[0033] Furthermore, the second driving device is a second translation cylinder 16 .

[0034] Furthermore, a third guide rail 17 is provided on the main supporting fork 5 , and the third guide rail 17 is parallel to the length direction of the main supporting fork 5 . The second movable frame 9 is provided on the third guide rail 17 via a slider 24 .

[0035] Furthermore, the third driving device is an annular synchronous belt driving device 18, which includes a motor and two synchronous belt pulleys. The motor is connected to one of the synchronous belt pulleys, and a synchronous belt 19 is connected between the two synchronous belt pulleys. The second movable frame 9 is connected to the synchronous belt 19 through a synchronous belt clamp 20.

[0036] Furthermore, the fourth driving device includes a rotating cylinder 21, the tail of the rotating cylinder 21 is hinged to a support 22 through a pin, the support 22 is fixed on the second mobile frame 9, and the piston rod of the rotating cylinder 21 is hinged to the rotating plate 25 through a pin.

[0037] Furthermore, a fourth guide rail 26 is disposed on the rotating plate 25 , and the lifting seat 11 is disposed on the fourth guide rail 26 via a slider.

[0038] Furthermore, the fifth driving device is a lifting cylinder 27.

[0039] Specifically, the main support fork 5, sliding pair, driving device, lower support fork 7, upper pressure fork 8, toothed groove 12, guide rail, slider, cylinder, annular synchronous belt driving device 18, etc. in this embodiment all adopt well-known solutions in the prior art, which are well understood by those skilled in the art and will not be described in detail here.

[0040] When working, the robot gripper device of the present invention is connected to the power end of the robot through the main body device 1.

[0041] The working process of this embodiment:

[0042] Process 1: The upper conveyor conveys the cardboard stack to the front side of a limiting device, and the limiting device blocks the cardboard stack and prevents it from moving. According to the size of the cardboard stack, the two first translation cylinders 14 respectively drive the two clamping devices 2 to move along the first guide rail 13 to make the distance between the two clamping devices 2 appropriate. The larger the size of the cardboard stack, the larger the distance between the two clamping devices 2.

[0043] Process 2: A robot moves to the corresponding position with the loading gripper device, and the third driving device, i.e., the annular synchronous belt driving device 18, drives the cardboard lifting and separating device 3 to move forward along the third guide rail 17, so that the toothed groove 12 of the lifting seat 11 clamps the side of the cardboard pile, and the rotating cylinder 21 drives the rotating plate 25 to rotate around the rotating shaft 10, thereby driving the lifting seat 11 to rotate, and the lifting cylinder 27 drives the lifting seat 11 to rise along the fourth guide rail 26, and a certain number of cardboards are lifted through the toothed groove 12, and a gap is formed between the lifted cardboard on the top and the cardboard on the bottom.

[0044] Process 3: The robot with the main device 1 continues to approach the cardboard pile, and the two lower supporting forks 7 are inserted into the gap of the lifted cardboard. Then, the two upper pressing forks 8 are driven by the second translation cylinder 16 to press the upper surface of the lifted cardboard, so that the upper pressing forks 8 and the lower supporting forks 7 clamp the cardboard, and the lifting seat 11 of the cardboard lifting and separating device 3 returns to its original position. A pile of cardboard is grabbed multiple times, and each time a certain number of cardboards are lifted by the cardboard lifting and separating device 3.

[0045] Process 4: The robot drives the loading gripper device to carry the cardboard to the loading position of the die-cutting machine, and then the robot withdraws backwards. At the same time, in order to prevent the main support fork 5 and the lower support fork 7 from bringing out the cardboard, the annular synchronous belt drive device 18 drives the cardboard lifting and separating device 3 to move forward along the third guide rail 17. The forward speed of the cardboard lifting and separating device 3 is basically the same as the backward speed of the robot, which is equivalent to the cardboard lifting and separating device 3 being immovable relative to the loading device, so that the lifting seat 11 presses against the side of the cardboard, thereby preventing the main support fork 5 and the lower support fork 7 from bringing out the cardboard. After the main support fork 5 and the lower support fork 7 are completely withdrawn, the cardboard falls into the loading device.

[0046] Process 5: Loop.

[0047] The paper stack separation device of the present invention adopts a rotating and lifting method to stably lift the paperboard through the toothed groove 12, and then the upper pressing fork 8 and the lower supporting fork 7 clamp and transport the paperboard, replacing manual handling, reducing manual labor intensity, and improving handling efficiency. By adjusting the distance between the two pressing devices 2, it can be used for various specifications of paperboards with a width of less than 2100mm, and has strong versatility.

Claims

1. A robot gripper device for feeding cardboard into a die-cutting machine, characterized in that: It includes a main device, two pressing devices, and a cardboard lifting and separating device. The main device comprises a main support, the bottom of which is fixedly connected to a main support fork, which extends forward in a horizontal direction. The two clamping devices each include a vertically arranged first movable bracket, the two first movable brackets are respectively arranged on the left and right sides of the main bracket and form a sliding pair parallel to the width direction of the main supporting fork on the main bracket, two first driving devices are arranged on the main bracket, and the power output ends of the two first driving devices are respectively connected to the two first movable brackets, and any first movable bracket is respectively provided with a lower supporting fork, an upper pressing fork, and a second driving device, the lower supporting fork is fixedly arranged at the bottom of the first movable bracket, the upper pressing fork and the first movable bracket form a sliding pair parallel to the length direction of the first movable bracket, and the power output end of the second driving device is connected to the upper pressing fork, The cardboard lifting and separating device comprises a second movable frame, which forms a sliding pair with the main supporting fork parallel to the length direction of the main supporting fork, a third driving device is arranged on the main supporting fork, a power output end of the third driving device is connected to the second movable frame, a rotating plate is hingedly connected to the upper side of the second movable frame through a rotating shaft, a fourth driving device is arranged on the second movable frame, a power output end of the fourth driving device is connected to the rotating plate, a lifting seat is arranged on the side of the rotating plate, the lifting seat and the rotating plate form a sliding pair parallel to the height direction of the rotating plate, a fifth driving device is fixedly arranged on the rotating plate, a power output end of the fifth driving device is connected to the lifting seat, and toothed grooves are arranged at intervals on the side of the lifting seat along its height direction.

2. A robot gripper device for feeding cardboard into a die-cutting machine according to claim 1, characterized in that: The main bracket is provided with two parallel and spaced first guide rails, the first guide rails are parallel to the width direction of the main supporting fork, and the two first movable brackets are respectively arranged on the first guide rails through sliders.

3. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The first driving device is a first translation cylinder.

4. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The first movable bracket is provided with a second guide rail, the second guide rail is parallel to the length direction of the first movable bracket, and the upper pressure fork is arranged on the second guide rail through a slider.

5. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The second driving device is a second translation cylinder.

6. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The main supporting fork is provided with a third guide rail, the third guide rail is parallel to the length direction of the main supporting fork, and the second moving frame is arranged on the third guide rail through a slider.

7. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The third driving device is an annular synchronous belt driving device, which includes a motor and two synchronous belt pulleys. The motor is connected to one of the synchronous belt pulleys, a synchronous belt is connected between the two synchronous belt pulleys, and the second movable frame is connected to the synchronous belt through a synchronous belt clamp.

8. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The fourth driving device comprises a rotating cylinder, the tail of which is hinged to a support through a pin, the support is fixed on the second moving frame, and the piston rod of the rotating cylinder is hinged to the rotating plate through a pin.

9. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The rotating plate is provided with a fourth guide rail, and the lifting seat is arranged on the fourth guide rail through a sliding block.

10. The robot gripper device for feeding cardboard to a die-cutting machine according to claim 1, characterized in that: The fifth driving device is a lifting cylinder.

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