Feeding and discharging manipulator for pearl wool pasting and working method thereof

Abstract

The invention discloses a pearl wool pasting feeding and discharging manipulator and a working method thereof, and belongs to the technical field of pearl wool packaging box processing. The material taking device is characterized by comprising a connecting assembly, a material taking assembly and a material unloading assembly. The connecting assembly is used for being connected with the material taking assembly and the discharging assembly and connected with the six-axis industrial robot, and the six-axis industrial robot controls displacement of the whole mechanical arm. The material taking assembly is provided with at least one set of clamping jaws, each set of clamping jaws is provided with a material taking air cylinder and a plurality of probes, the material taking air cylinders drive the probes to move downwards to be inserted into the pearl wool materials, material grabbing is completed, and then the surfaces of the pearl wool materials are glued. The discharging assembly comprises a discharging air cylinder and an auxiliary separating plate, under the action of the six-axis industrial robot and the like, the glued face of the pearl wool material makes contact with the hardboard, the discharging air cylinder drives the auxiliary separating plate, the probe and the pearl wool material are separated, and material pasting is completed. The device is high in mechanization degree and low in labor intensity, the product quality is guaranteed, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to an EPE pasting loading and unloading manipulator and a working method thereof, and belongs to the technical field of EPE packaging box processing. Background Art

[0002] Pearl cotton is composed of countless independent bubbles produced by physical foaming of low-density polyethylene resin. It overcomes the shortcomings of ordinary foamed plastic, such as fragility, deformation, and poor recovery. It has many advantages such as waterproof and moisture-proof, shockproof, sound insulation, heat preservation, good plasticity, strong toughness, recycling, environmental protection, and strong impact resistance. It also has good chemical resistance and is an ideal substitute for traditional packaging materials.

[0003] The packaging box made of pearl cotton profile generally needs to be glued on the pearl cotton material and then pasted with cardboard to form a complete packaging box, which can be used as an electronic product packaging box. At present, the pasting of pearl cotton material and cardboard is done manually, which is inefficient, labor-intensive, and cannot guarantee product quality, which is not conducive to production. Summary of the invention

[0004] The purpose of the present invention is to provide a pearl cotton pasting loading and unloading robot and a working method thereof in view of the deficiencies of the above-mentioned prior art, which can realize grabbing a single piece of pearl cotton material and pasting it on a cardboard through the robot, with a high degree of mechanization, low labor intensity, guaranteed product quality and greatly improved work efficiency.

[0005] The technical solution of the present invention is as follows: The first object of the present invention is to provide a loading and unloading manipulator for pearl cotton pasting, which is characterized in that it includes: a connecting component, a material picking component, and a discharging component. The connecting component is used to connect the material picking component and the discharging component, and is connected to a six-axis industrial robot, and the displacement of the entire manipulator is controlled by the six-axis industrial robot. At least one set of clamps is provided in the material picking component, and each set of clamps is provided with a material picking cylinder and a plurality of probes. The material picking cylinder drives the probe to go down and insert it into the pearl cotton material to complete the material grabbing, and then glue is applied on the surface of the pearl cotton material. The discharging component includes a discharging cylinder and an auxiliary separation plate. Under the action of the six-axis industrial robot, etc., the glue-coated side of the pearl cotton material is brought into contact with the cardboard. The discharging cylinder drives the auxiliary separation plate to separate the probe from the pearl cotton material to complete the material pasting.

[0006] Furthermore, a limiting ring is welded on the upper part of each probe as the upper position of the probe; a circular ring magnet is welded on the lower part of each probe as the lower position of the probe; the probe is in the middle position between the limiting ring and the circular ring magnet as the middle position. The limiting ring and the circular ring magnet are welded to the probe. The limiting ring is not a magnet and does not generate magnetic attraction. It cooperates with the auxiliary separation plate to separate the probe from the pearl cotton material; the circular ring magnet has magnetic attraction and can be magnetically connected to the auxiliary pressure plate.

[0007] Furthermore, the material picking assembly is also provided with an auxiliary pressing plate, and the output shaft of the material picking cylinder is fixedly connected to the auxiliary pressing plate; the probe slides through the auxiliary pressing plate, and the auxiliary pressing plate is connected to the lower end surface of the annular magnet by magnetic attraction. The auxiliary pressing plate and the probe slide in cooperation, and can be connected to the probe as a whole under the magnetic attraction of the annular magnet, and can also be separated from the annular magnet (probe) under the action of the material picking cylinder.

[0008] Furthermore, the auxiliary separation plate is connected by four wing plates and a center plate to form an H shape, and the output shaft of the discharge cylinder is fixedly connected to the center plate. The clamps are divided into four groups, symmetrically distributed in pairs with the discharge cylinder as the center; in each group of clamps, there are 6 probes, which are symmetrically arranged in two rows. All probes slide through the four wing plates of the auxiliary separation plate respectively, and the probes slide and cooperate with the corresponding wing plates on the auxiliary separation plate, and the auxiliary separation plate is located in the middle position between the limit ring and the annular magnet.

[0009] Furthermore, the connection assembly includes a connection seat and a cover plate, and the cylinder bodies of the unloading cylinder and the picking cylinder are fixed to the bottom of the cover plate. The cover plate is used to integrate the picking assembly and the unloading assembly into one, and the connection seat is installed at the top center position of the upper surface of the cover plate for connecting with the six-axis industrial robot.

[0010] When grabbing the pearl cotton material, the probe is inserted into the pearl cotton material to facilitate picking it up and positioning it, and then the glue is applied to the lower surface of the pearl cotton material through the glue rolling machine. However, when the pearl cotton material is just pasted on the cardboard, since the glue is not completely dried, the probe is pulled out at this time, and the pearl cotton material is easily taken away from the cardboard. The pearl cotton pasting loading and unloading manipulator of the present invention can perfectly solve the above problems. Through the telescopic control of the material taking cylinder and the unloading cylinder, and the cooperation of the three stations of the probe, the grasping of the pearl cotton material, the pasting of the pearl cotton material and the cardboard, and the separation of the probe and the pearl cotton material can be smoothly completed. There is no need to drive each probe separately, and a large number of driving motors or driving cylinders are not required, which reduces the weight and control difficulty of the manipulator.

[0011] A second object of the present invention is to provide a working method of a pearl cotton pasting loading and unloading manipulator, which is characterized in that it comprises the following steps: 1) The probes of each group of grippers slide through the H-shaped auxiliary separation plate and the auxiliary pressure plate in turn; in the initial state, the picking cylinder contracts, and the auxiliary pressure plate connected to the output shaft of the picking cylinder is connected to the lower end surface of the corresponding annular magnet through magnetic attraction, and is located at the lower position of the probe; the unloading cylinder extends, and the H-shaped auxiliary separation plate connected to the output shaft of the unloading cylinder is located at the middle position of the probe; 2) The material-retrieving cylinder extends, driving the auxiliary pressing plate downward. Under the action of the annular magnet, the probe moves downward along with the auxiliary pressing plate, so that the probe is inserted into the pearl cotton material. At this time, the unloading cylinder does not move, and the limit ring moves downward along with the probe and contacts the upper surface of the H-type auxiliary separation plate. 3) The material-retrieving cylinder shrinks and resets, driving the auxiliary pressing plate upward. Under the action of the annular magnet, the probe carries the pearl cotton material upward along with the auxiliary pressing plate. At this time, the unloading cylinder does not move, and the limit ring moves upward with the probe and separates from the upper surface of the H-shaped auxiliary separation plate. The auxiliary separation plate is in the middle position of the probe, and the material is retrieved. 4) Multiple sets of grippers repeat steps 2)-3) one by one in sequence to complete the material removal; 5) With the help of the six-axis industrial robot, glue the pearl cotton materials on all the grippers, and then use the six-axis industrial robot to move the entire manipulator to the top of the cardboard to be pasted; 6) The material-retrieving cylinder extends, driving the auxiliary pressing plate downward. Under the action of the annular magnet, the probe moves downward with the auxiliary pressing plate, so that the glue-coated side of the pearl cotton material contacts and sticks to the corresponding cardboard; at this time, the unloading cylinder does not move, and the limit ring moves downward with the probe to contact the upper surface of the H-type auxiliary separation plate, and the H-type auxiliary separation plate is in the upper position of the probe; 7) The unloading cylinder contracts, driving the H-shaped auxiliary separation plate upward. At the same time, the limit ring is lifted upward, driving the probe upward, and overcoming the magnetic attraction, so that the annular magnet is separated from the auxiliary pressure plate; at this time, the material taking cylinder does not move, the auxiliary pressure plate continues to press the pearl cotton material, and the probe moves upward to complete the separation from the pearl cotton material; 8) The material-retrieving cylinder shrinks and resets, driving the auxiliary pressing plate upward, so that the auxiliary pressing plate is in the lower position of the probe and contacts the lower end surface of the annular magnet, completing the pearl cotton pasting work; the unloading cylinder extends, so that the auxiliary separation plate moves downward and is in the middle position of the probe; 9) Repeat steps 6)-8) for each set of jaws in sequence to complete the pasting of the pearl cotton material.

[0012] The pearl cotton pasting loading and unloading manipulator of the present invention can grab a plurality of pearl cotton materials in succession through a six-axis industrial robot, and can realize the extension and retraction of all probes (only the probe at the pasting station moves, and other probes remain stationary) through a material taking cylinder, and complete the separation of the pearl cotton material from the probe after pasting through a unloading cylinder, which is convenient to control and has a low structural manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a front view of the EPE pasting loading and unloading manipulator of the present invention (with four sets of clamps, in the initial state); Figure 2 for Figure 1 Stereoscopic image of Figure 3 It is a schematic diagram of the connecting components in the loading and unloading manipulator for pasting pearl cotton of the present invention; Figure 4 It is a schematic diagram of the loading and unloading manipulator for the pearl cotton pasting of the present invention (with two sets of clamping claws, in the initial state); Figure 5 It is a schematic diagram of the unloading component in the loading and unloading robot for pasting pearl cotton of the present invention; Figure 6 A schematic diagram of a group of clamping claws in a loading and unloading manipulator for pasting pearl cotton of the present invention; Figure 7 This is a schematic diagram of the EPE pasting loading and unloading manipulator of the present invention in an initial state (with four sets of clamps and without the connecting components); Figure 8 This is a schematic diagram of a group of grippers picking up materials in the EPE pasting loading and unloading manipulator of the present invention (with four groups of grippers and without connecting components); Fig. 9 It is a schematic diagram of a state where a group of clamps in the EPE pasting loading and unloading manipulator of the present invention are separated from the EPE material (four groups of clamps are provided, and the connecting components are removed); In the figure: a connecting seat 1, a cover plate 2, a material taking cylinder 3, a probe 4, a limit ring 5, a circular ring magnet 6, an auxiliary pressing plate 7, a discharge cylinder 8, and an auxiliary separation plate 9. DETAILED DESCRIPTION

[0014] Example 1 A pearl cotton pasting loading and unloading robot comprises: a connecting component, a material taking component and a material unloading component.

[0015] Connect components such as Figure 3 As shown, it includes a connecting seat 1 and a cover plate 2. The cover plate is used to integrate the material picking component and the material unloading component into one. The connecting seat is installed at the top center position of the upper surface of the cover plate and is used to connect with the six-axis industrial robot.

[0016] Reclaiming components, such as Figure 4 As shown, there are two sets of clamping jaws. Each set of clamping jaws, such as Figure 6 As shown, there are provided a feeding cylinder 3, 6 probes 4, a limiting ring 5, a circular ring-shaped magnet 6, and an auxiliary pressing plate 7, and the output shaft of the feeding cylinder is fixedly connected to the auxiliary pressing plate. The limiting ring is non-magnetic and is welded to the upper part of each probe as the upper position of the probe; the circular ring-shaped magnet is welded to the lower part of each probe as the lower position of the probe; the middle position of the probe between the limiting ring and the circular ring-shaped magnet is the middle position. The probe slides through the auxiliary pressing plate, and the auxiliary pressing plate is connected to the lower end surface of the circular ring-shaped magnet by magnetic attraction.

[0017] Unloading components, such as Figure 5As shown, it includes a discharge cylinder 8 and an auxiliary separation plate 9. The auxiliary separation plate is formed into an H shape by connecting four wing plates and a center plate. The output shaft of the discharge cylinder is fixedly connected to the center plate.

[0018] The unloading cylinder and the taking cylinder are fixed on the cover plate. Figure 4 As shown, all probes slide through the four wing plates of the auxiliary separation plate respectively, and the auxiliary separation plate is located at the middle position between the limiting ring and the annular magnet.

[0019] The material picking cylinder drives the probe downward and inserts it into the pearl cotton material to complete the material grabbing, and then glue is applied on the surface of the pearl cotton material; the glued side of the pearl cotton material is in contact with the cardboard, and the unloading cylinder drives the auxiliary separation plate to separate the probe from the pearl cotton material to complete the material pasting.

[0020] Example 2 Different from the first embodiment, the clamping jaws in this embodiment are four groups, such as Figure 1 , Figure 2 As shown, the four groups of jaws are symmetrically distributed in pairs with the unloading cylinder as the center; in each group of jaws, there are 6 probes, which are symmetrically arranged in two rows. All probes slide through the four wing plates of the auxiliary separation plate, and the probes slide and cooperate with the corresponding wing plates on the auxiliary separation plate, and the auxiliary separation plate is located in the middle position between the limit ring and the annular magnet.

[0021] Example 3 A working method of a pearl cotton pasting loading and unloading manipulator, which is provided with four sets of clamping claws, comprises the following steps: 1) In the initial state, such as Figure 7 As shown, the four groups of material-taking cylinders are retracted, and the auxiliary pressing plates connected to the output shafts of the material-taking cylinders are connected to the lower end surfaces of the corresponding annular magnets through magnetic attraction, and the four groups of auxiliary pressing plates are located at the lower working position of the probe; the unloading cylinders are extended, and the H-shaped auxiliary separation plate connected to the output shafts of the unloading cylinders is located at the middle working position of the probe; 2) The first set of grippers moves (the other sets of grippers do not move), such as Figure 8 As shown: The material-retrieving cylinder extends, driving the auxiliary pressing plate downward. Under the action of the annular magnet (the annular magnet magnetically attracts the auxiliary pressing plate and is welded to the probe), the probe moves downward with the auxiliary pressing plate, so that the probe is inserted into the pearl cotton material below. At this time, the unloading cylinder does not move, and the limit ring moves downward with the probe to contact the upper surface of the H-shaped auxiliary separation plate. 3) The picking cylinder of the first set of grippers shrinks and resets, driving the auxiliary pressing plate upward. Under the action of the annular magnet, the probe carries the pearl cotton material upward along with the auxiliary pressing plate; at this time, the unloading cylinder does not move, the limit ring moves upward with the probe and separates from the upper surface of the H-shaped auxiliary separation plate, and the auxiliary separation plate is in the middle position of the probe, completing the material picking; 4) The four groups of grippers repeat steps 2)-3) one by one in sequence to complete the material removal; 5) Glue the pearl cotton materials on all the grippers, and then use the six-axis industrial robot to move the entire manipulator to the top of the cardboard to be pasted; 6) The first set of grippers’ cylinders extend (the other sets of grippers remain stationary), such as Figure 8 As shown, the auxiliary pressing plate is driven downward, and under the action of the annular magnet, the probe moves downward together with the auxiliary pressing plate, so that the glue-coated side of the pearl cotton material contacts and sticks to the corresponding cardboard; at this time, the unloading cylinder does not move, and the limit ring moves downward with the probe to contact the upper surface of the H-type auxiliary separation plate, and the H-type auxiliary separation plate is in the upper position of the probe; 7) The unloading cylinder contracts, driving the H-shaped auxiliary separation plate upward. At the same time, the limit ring is lifted upward, driving the probe upward, and overcoming the magnetic attraction, so that the annular magnet is separated from the auxiliary pressure plate. Fig. 9 As shown; at this time, the material taking cylinder does not move, the auxiliary pressing plate continues to press the pearl cotton material, and the probe moves upward to complete the separation from the pearl cotton material; at this time, only the probe corresponding to the first group of clamps in the sticking state will follow the unloading cylinder to move to the upper limit, and the probes of other clamps will not move; 8) The material-retrieving cylinder shrinks and resets, driving the auxiliary pressing plate upward, so that the auxiliary pressing plate is in the lower position of the probe and contacts the lower end surface of the annular magnet, completing the pearl cotton pasting work; the unloading cylinder extends, so that the auxiliary separation plate moves downward and is in the middle position of the probe; 9) Repeat steps 6)-8) for each set of jaws in sequence to complete the pasting of the pearl cotton material.

Claims

1. Pearl cotton pasting loading and unloading robot, its characteristics are: include: A connection component connected to a six-axis industrial robot; The material taking component is provided with at least one set of clamping jaws, and each set of clamping jaws is provided with a material taking cylinder and a plurality of probes; The material picking cylinder drives the probe downward and inserts it into the pearl cotton material to complete the material grabbing; The unloading component includes a unloading cylinder and an auxiliary separation plate; the unloading cylinder drives the auxiliary separation plate to separate the probe from the pearl cotton material to complete the material bonding.

2. The EPE pasting loading and unloading manipulator according to claim 1 is characterized in that: A limiting ring is welded on the upper part of each probe as the upper position of the probe; a circular ring magnet is welded on the lower part of each probe as the lower position of the probe; the middle position of the probe between the limiting ring and the circular ring magnet is the middle position.

3. The EPE pasting loading and unloading manipulator according to claim 2 is characterized in that: The material picking assembly is also provided with an auxiliary pressing plate, and the output shaft of the material picking cylinder is fixedly connected to the auxiliary pressing plate; the probe slides through the auxiliary pressing plate, and the auxiliary pressing plate is connected to the lower end surface of the annular magnet by magnetic attraction.

4. The EPE pasting loading and unloading manipulator according to claim 3 is characterized in that: The auxiliary separation plate is connected by four wing plates and a center plate to form an H shape, and the output shaft of the unloading cylinder is fixedly connected to the center plate.

5. The EPE pasting loading and unloading manipulator according to claim 4 is characterized in that: The clamping jaws are divided into four groups, which are symmetrically distributed in pairs with the unloading cylinder as the center; in each group of clamping jaws, there are 6 probes in total, which are symmetrically arranged in two rows, front and back.

6. The EPE pasting loading and unloading manipulator according to claim 5 is characterized in that: All probes slide through the four wing plates of the auxiliary separation plate respectively, and the auxiliary separation plate is located at the middle position between the limiting ring and the annular magnet.

7. The EPE pasting loading and unloading manipulator according to claim 6 is characterized in that: The connecting assembly comprises a connecting seat and a cover plate, and the cylinder bodies of the unloading cylinder and the taking cylinder are fixedly connected to the bottom of the cover plate.

8. The working method of the EPE pasting loading and unloading manipulator according to claim 3 is characterized in that: The following steps are involved: 1) The probes of each group of grippers slide through the H-shaped auxiliary separation plate and the auxiliary pressure plate in turn; in the initial state, the picking cylinder contracts, and the auxiliary pressure plate connected to the output shaft of the picking cylinder is connected to the lower end surface of the corresponding annular magnet through magnetic attraction, and is located at the lower position of the probe; the unloading cylinder extends, and the H-shaped auxiliary separation plate connected to the output shaft of the unloading cylinder is located at the middle position of the probe; 2) The material-retrieving cylinder extends, driving the auxiliary pressing plate downward. Under the action of the annular magnet, the probe moves downward along with the auxiliary pressing plate, so that the probe is inserted into the pearl cotton material. At this time, the unloading cylinder does not move, and the limit ring moves downward along with the probe and contacts the upper surface of the H-type auxiliary separation plate. 3) The material-retrieving cylinder shrinks and resets, driving the auxiliary pressing plate upward. Under the action of the annular magnet, the probe carries the pearl cotton material upward along with the auxiliary pressing plate; At this time, the unloading cylinder does not move, the limit ring moves upward with the probe and separates from the upper surface of the H-shaped auxiliary separation plate, the auxiliary separation plate is in the middle position of the probe, and the material is taken out; 4) Multiple sets of grippers repeat steps 2)-3) one by one in sequence to complete the material removal; 5) Glue the pearl cotton materials on all the grippers, and then use the six-axis industrial robot to move the entire manipulator to the top of the cardboard to be pasted; 6) The material-retrieving cylinder extends, driving the auxiliary pressing plate downward. Under the action of the annular magnet, the probe moves downward with the auxiliary pressing plate, so that the glue-coated side of the pearl cotton material contacts and sticks to the corresponding cardboard; at this time, the unloading cylinder does not move, and the limit ring moves downward with the probe to contact the upper surface of the H-type auxiliary separation plate, and the H-type auxiliary separation plate is in the upper position of the probe; 7) The unloading cylinder contracts, driving the H-shaped auxiliary separation plate upward. At the same time, the limit ring is lifted upward, driving the probe upward, and overcoming the magnetic attraction, so that the annular magnet is separated from the auxiliary pressure plate; at this time, the material taking cylinder does not move, the auxiliary pressure plate continues to press the pearl cotton material, and the probe moves upward to complete the separation from the pearl cotton material; 8) The material-retrieving cylinder shrinks and resets, driving the auxiliary pressing plate upward, so that the auxiliary pressing plate is in the lower position of the probe and contacts the lower end surface of the annular magnet, completing the pearl cotton pasting work; the unloading cylinder extends, so that the auxiliary separation plate moves downward and is in the middle position of the probe; 9) Repeat steps 6)-8) for each set of jaws in sequence to complete the pasting of the pearl cotton material.

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