A cardboard transfer system

Abstract

The present application relates to the technical field of transfer devices, and in particular to a cardboard transfer system. It includes a cardboard conveying system, a stacking system, a manipulator device, and a transfer vehicle; the manipulator device includes a base, on which a multi-joint manipulator arm is movably mounted along the length direction, a claw seat is fixed at the end of the movable joint of the multi-joint manipulator arm, a fixed upper clamping plate and a movable lower clamping plate are provided on the clamping plate, and a friction belt that can be rotated forward and backward is provided on the lower clamping plate. The cardboard falls from the conveyor belt into the container by itself to achieve self-stack. After the cardboard is stacked, the push rod on the lower clamping plate pushes the convex ball to descend and pulls the push plate to push the cardboard stack toward the claw hand, and finally is clamped by the claw hand and transferred to the transfer vehicle. The cardboard stack falls into the claw hand by itself through the pushing of the push plate and the pulling of the friction belt, which is convenient for loading and unloading of the cardboard stack, and does not require manual adjustment, which is more convenient and fast, and improves the stacking and clamping efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of transfer devices, and in particular to a cardboard transfer system. Background Art

[0002] The cardboard production process usually includes the following main steps: raw material preparation, raw material crushing and pulping, cardboard forming, drying, cutting, etc. After the cardboard is cut into the required size by the cutting machine, it usually needs to be stacked and packaged to ensure that it will not be damaged during transportation and storage.

[0003] However, during production in the workshop, it is necessary to unload the cardboard to be processed from the transfer vehicle to the next level process, such as cutting the formed cardboard; or stacking and packing the cardboard that has been processed or has been processed, such as the cut cardboard. These unloading processes are all done manually in traditional enterprises, which are inefficient and labor-intensive. For this reason, robotic arms that improve loading efficiency have been greatly promoted. The robotic arm transfers the cardboard through components such as suction cups or clamps. However, the suction cup can only absorb one cardboard at a time, and the efficiency is still not high. When using a plywood, the traditional clamp is a hard part, and it is easy to poke the surface of the cardboard at the beginning of clamping, resulting in waste. When clamping multiple layers, applying a large clamping force can easily cause the cardboard to deform; applying a small clamping force can easily loosen and scatter. In addition, after stacking multiple layers of cardboard, the existing robotic arm clamp cannot easily clamp from the upper and lower end surfaces of the cardboard, and clamping from the side is easy to loosen and fall.

[0004] To this end, the present invention provides a cardboard transfer system to improve unloading efficiency and convenience of clamping multiple layers of cardboard. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art and to propose a cardboard transfer system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A cardboard transfer system, comprising a cardboard conveying system, a stacking system, a manipulator device, and a transfer vehicle;

[0008] The stacking system comprises a container with a bracket, the container is open on one side facing the manipulator device, a push plate is slidably installed on the side of the container away from the manipulator device, a spring 6 is arranged between the push plate and the container, a convex ball vertically slidably installed on the bottom wall of the container is connected to the bottom end of the push plate through a flexible member 1, and a spring 1 is connected between the convex ball and the bottom wall of the container;

[0009] The robot device includes a base, on which a multi-joint robot arm is movably installed along the length direction, a claw seat is fixed at the end of the movable joint of the multi-joint robot arm, a fixed upper clamp and a movable lower clamp are provided on the clamp, a friction belt that can be reversed is provided on the lower clamp, a telescopic plate is provided between the upper clamp and the lower clamp on the side of the friction belt facing the claw seat, a spring seven is provided between the telescopic plate and the upper clamp, a baffle is rotatably installed at the end of the upper clamp, a torsion spring is provided between the baffle and the upper clamp, a flexible part two is provided on the baffle, a change of direction shaft two is provided on the upper clamp at the end of the baffle, the flexible part two is connected to the telescopic plate after bypassing the change of direction shaft two, and a telescopic push rod is provided on the lower clamp, and the push rod is used correspondingly to the convex ball.

[0010] Preferably, the lower clamping plate includes a mounting tube slidably installed along the height direction of the claw seat, a bidirectional threaded screw is rotatably installed in the mounting tube, a plurality of movable claws are symmetrically installed on the bidirectional threaded screw, a fixed claw is fixed on the mounting tube at the center of the bidirectional threaded screw, friction belts are provided on the plurality of movable claws, and the driving wheels of all friction belts are driven by the same motor three for forward and reverse rotation.

[0011] Preferably, a wedge block is slidably installed on the fixed claw at the end of the telescopic plate stroke, a spring two is provided between the wedge block and the fixed claw, an active lever is provided on the output shaft of the motor three, a driven lever is provided at the inner ring of the axis of the driving wheel, a rocker bar is provided on the output shaft at the fixed claw, a shift block cooperating with the rocker bar is slidably installed on the fixed claw below the rocker bar, a spring three is provided between the shift block and the fixed claw, a changing shaft one is provided below the shift block on the side away from the wedge block, a flexible member three is connected to the shift block, and the flexible member three is connected to the bottom end of the wedge block after winding around the changing shaft one.

[0012] Preferably, each of the movable claws is provided with a protective cover at the end of the friction belt.

[0013] Preferably, guide rails are provided on the base at intervals along the length direction, a tray is slidably mounted on the two guide rails, a turntable is provided on the tray, the multi-joint robotic arm is fixed on the turntable, a motor 1 is fixed on the side of the tray, a gear is fixed on the output shaft of the motor 1, a fixed rack parallel to the guide rails is fixed on the base, and the gear is meshed with the fixed rack.

[0014] Preferably, there is a gap between the container and the paperboard.

[0015] Preferably, the stacking system further comprises a cardboard alignment structure arranged on the container:

[0016] The cardboard alignment structure comprises two groups of alignment splints, which are slidably installed on both sides of the container opening and are provided with springs five between the two alignment splints and the container, pull rings are provided at the bottom ends of the two alignment splints, and flexible parts four corresponding to the pull rings are provided on the side walls of the convex balls, and the movable ends of the flexible parts four pass through the corresponding side pull rings and are fixed with solid buckles.

[0017] Preferably, limiting plates are provided on both sides of the upper clamping plate.

[0018] Preferably, two sets of slide rails are symmetrically and fastenedly installed on the end surface of the movable joint of the claw seat facing away from the multi-joint robotic arm, sliders are slidably installed on the two slide rails, a lower clamp is fastenedly installed on the two sliders, a clamping screw is rotatably installed on the claw seat, and the clamping screw is driven by motor 2.

[0019] Compared with the prior art, the present invention provides a cardboard transfer system, which has the following beneficial effects:

[0020] The cardboard falls from the conveyor belt into the container and stacks itself without manual assistance, reducing labor. After the cardboard is stacked, the push rod on the lower clamping plate pushes the convex ball down to pull the push plate to push the cardboard stack toward the claw hand, and finally it is clamped by the claw hand and transferred to the transfer vehicle, thereby realizing the self-transfer of the cardboard stack. The whole process is automatic, requiring less manpower, which can not only reduce the labor burden, but also improve the efficiency of stacking and clamping. And through the push of the push plate and the traction of the friction belt, the cardboard stack falls into the claw hand by itself, which is convenient for loading and unloading of the cardboard stack, and no human adjustment is required, which is more convenient and faster.

[0021] Other advantages, objectives and features of the present invention will be described in part in the following description; and in part, will be apparent to those skilled in the art based on an examination of the following; or, may be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view plane distribution schematic diagram of the transfer system of the present invention.

[0023] Figure 2 It is a schematic diagram of the top plan distribution of the transfer system of the present invention.

[0024] Figure 3 It is a three-dimensional schematic diagram of the manipulator device of the present invention.

[0025] Figure 4 For the present invention Figure 3 Axial schematic diagram from another perspective after removing the guide rail cover.

[0026] Figure 5 It is a schematic diagram of the forward axis of the claw seat assembly of the present invention.

[0027] Figure 6 It is a schematic diagram of the claw seat assembly of the present invention toward the rear axis.

[0028] Figure 7 The present invention is a cross-sectional schematic diagram of a claw seat being assembled with a fixed claw.

[0029] Figure 8 For the present invention Figure 5 Local schematic diagram of point A.

[0030] Fig. 9 For the present invention Figure 7 Partial schematic diagram of point B.

[0031] Fig.10 For the present invention Figure 7 Partial schematic diagram at point C.

[0032] Fig.11 For the present invention Figure 5 Local schematic diagram at point D.

[0033] Fig.12 It is a three-dimensional schematic diagram of the stacking system of the present invention.

[0034] Fig.13 It is a top view schematic diagram of the stacking system of the present invention.

[0035] Fig.14 For the present invention Fig.13 Schematic diagram of the cross section at EE.

[0036] Fig.15 For the present invention Fig.13 Schematic diagram of the cross section at FF.

[0037] Fig.16 It is a three-dimensional schematic diagram of the driving structure of the push plate and the aligning clamp plate in the stacking system of the present invention.

[0038] Fig.17 It is a cross-sectional view and a partial schematic diagram of the movable claw of the present invention.

[0039] Fig.18 It is a three-dimensional schematic diagram of the lower clamping jaw of the present invention.

[0040] Fig.19 It is a schematic diagram of the claw seat assembly and stacking system of the present invention.

[0041] In the figure: 1. conveyor belt; 2. stacking system; 3. multi-joint robot arm; 4. base; 5. sealing cover; 6. transfer vehicle; 7. claw seat; 8. upper clamping plate; 9. lower clamping plate; 10. isolation plate; 11. telescopic plate; 12. flexible part 2; 13. baffle; 14. limit plate; 15. shield; 16. ejector rod; 17. active lever; 18. driven lever; 19. swing rod; 20. block; 21. wedge block; 22. U-shaped block; 23, output shaft; 24, change-direction shaft one; 25, change-direction shaft two; 26, flexible part three; 27, friction belt; 28, driving wheel; 201, container; 202, push plate; 203, convex ball; 204, flexible part one; 205, flexible part four; 206, solid buckle; 207, alignment splint; 208, pull ring; 901, mounting tube; 902, bidirectional threaded screw; 903, moving claw; 904, fixed claw. DETAILED DESCRIPTION

[0042] The following will be combined with the attached embodiment of the present invention Figure 1-19 , the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0043] Embodiment 1, in order to solve the problems existing in the prior art, this embodiment provides a cardboard transfer system, including a cardboard conveying system, a stacking system 2, a manipulator device, and a transfer vehicle 6;

[0044] The stacking system 2 comprises a container 201 with a bracket, the container 201 is open on one side facing the manipulator device, a push plate 202 is slidably installed on the side of the container 201 away from the manipulator device, a spring 6 is arranged between the push plate 202 and the container 201, the bottom end of the push plate 202 is connected to a convex ball 203 vertically slidably installed on the bottom wall of the container 201 through a flexible member 204, and a spring 1 is connected between the convex ball 203 and the bottom wall of the container 201;

[0045] The manipulator device comprises a base 4, on which a multi-joint manipulator 3 is movably mounted along the length direction, a claw seat 7 is fixed to the end of the movable joint of the multi-joint manipulator 3, a fixed upper clamping plate 8 and a movable lower clamping plate 9 are provided on the claw seat 7, a plurality of universal balls are provided on the inner end surface of the upper clamping plate 8, a friction belt 27 which can be reversible is provided on the lower clamping plate 9, a telescopic plate 11 is provided between the upper clamping plate 8 and the lower clamping plate 9 on the side of the friction belt 27 facing the claw seat 7, a spring seven is provided between the telescopic plate 11 and the upper clamping plate 8, a baffle 13 is rotatably mounted at the end of the upper clamping plate 8, a torsion spring is provided between the baffle 13 and the upper clamping plate 8, a flexible member 2 12 is provided on the baffle 13, a change of direction shaft 25 is provided on the upper clamping plate 8 at the end of the baffle 13, the flexible member 2 12 is connected to the telescopic plate 11 after bypassing the change of direction shaft 25, a telescopic push rod 16 is provided on the lower clamping plate 9, and the push rod 16 is used correspondingly to the convex ball 203.

[0046] Principle details of this embodiment:

[0047] A cardboard transfer system, comprising a cardboard conveying system, a stacking system 2, a manipulator device, and a transfer vehicle 6;

[0048] The paperboard conveying system comprises a conveyor belt 1 for conveying supporting paperboards, such as cut or dried paperboards.

[0049] The stacking system 2 includes a container 201, and a bracket is installed at the bottom of the container 201 by bolts. The upper end of the container 201 is flared, and the flared size is larger than the width of the conveyor belt 1. The flared end of the container 201 is located directly below the end of the conveyor belt 1. The container 201 is open on the side facing the manipulator device for unloading. A notch is provided on the side of the container 201 away from the manipulator device, and a push plate 202 is embedded in the notch, and a slide groove is provided on the bottom wall of the container 201 along the notch and the center line of the opening. The slide groove passes through the bottom wall of the container 201, and the push plate 202 is slidably installed in the slide groove, and the bottom end of the push plate 202 passes through the slide groove. A spring 6 is provided between the container 201 and the push plate 202 in the slide groove. There are multiple guide columns in a circular array near the opening at the bottom end of the container 201, and a convex ball 203 is installed on the multiple guide columns for vertical sliding, and a spring 1 is sleeved on the upper guide column along the convex ball 203. A flexible member 204 is provided on the side of the convex ball 203, and the flexible member 204 is connected to the bottom wall of the push plate 202. Under the action of the spring 1 and the spring 6, the flexible member 204 is always kept in a straight state.

[0050] The manipulator device comprises a base 4, on which a multi-joint mechanical arm 3 is movably mounted along the length direction, and a claw seat 7 is fixed at the end of the movable joint of the multi-joint mechanical arm 3. An upper clamping plate 8 is fastened and mounted on the upper end of the claw seat 7. Two sets of slide rails are symmetrically fastened and mounted on the end surface of the movable joint of the multi-joint mechanical arm 3 on the claw seat 7. Slide blocks are slidably mounted on both slide rails, and a lower clamping plate 9 is fastened and mounted on both slide blocks, so that the lower clamping plate 9 is slidably mounted on the claw seat 7. The claw seat 7, the upper clamping plate 8, and the lower clamping plate 9 together constitute the claw hand of the multi-joint mechanical arm 3. A clamping screw is also rotatably mounted between the two sets of slide rails on the claw seat 7, and the clamping screw is driven by a motor 2 fixed to the bottom end of the claw seat 7. A screw pair (screw pair) is provided on the lower clamping plate 9, which is threadedly connected to the clamping screw, thereby driving the lower clamping claw to approach or move away from the upper clamping plate 8 along the slide rail, thereby realizing the clamping and releasing actions. An inverted C-shaped isolation plate 10 is provided on the claw seat 7. The isolation plate 10 is located on the side of the claw seat 7 away from the end of the movable joint of the multi-joint robot arm 3. After clamping the cardboard, the cardboard rests on the isolation plate 10 to isolate the cardboard from the clamping screw to prevent contact and damage.

[0051] The lower clamping plate 9 is rotatably mounted with a driving wheel 28 and a driven wheel at both ends, and the driving wheel 28 is driven by a motor 3 fixed on the side of the lower clamping plate 9. The lower clamping plate 9 is rotatably mounted with a tensioning wheel below the driving wheel 28. The driving wheel 28, the driven wheel, and the tensioning wheel are all wrapped with a friction belt 27, which has a high friction coefficient and thus generates a large friction force. The surface of the friction belt 27 is visible above the surface of the lower clamping plate 9. The inner ring of the friction belt 27 and the surfaces of the driving wheel 28, the driven wheel, and the tensioning wheel are all provided with teeth, thereby achieving the effect of tooth meshing, and ensuring that the friction belt 27 can still rotate stably after bearing a load.

[0052] A telescopic plate 11 is provided between the upper clamping plate 8 and the lower clamping plate 9. Straight grooves are provided on the upper clamping plate 8 and the lower clamping plate 9. The extension parts at the upper and lower ends of the telescopic plate 11 are respectively embedded in the two straight grooves and slidably installed between the upper clamping plate 8 and the lower clamping plate 9. The telescopic plate 11 is located on the side of the friction belt 27 facing the claw seat 7. A spring 7 is provided between the telescopic plate 11 and the upper clamping plate 8. A notch is provided at the end of the upper clamping plate 8. A supporting leg is provided on the side of the notch. A change-of-direction shaft 25 is provided on the supporting leg. A baffle 13 is rotatably installed below the change-of-direction shaft 25 at the notch. A torsion spring is provided between the baffle 13 and the upper clamping plate 8. Under the action of the torsion spring, the baffle 13 always has a tendency to tilt upward. A pull rod is provided at the bottom wall of the end of the baffle 13 facing the claw seat 7. A flexible member 2 12 is fixed on the pull rod. The flexible member 2 12 is connected to the top wall of the telescopic plate 11 after bypassing the change-of-direction shaft 25.

[0053] The lower clamping plate 9 is provided with a telescopic push rod 16. In the present embodiment, the push rod 16 is any one of a hydraulic rod, an electric telescopic rod, and a pneumatic rod. When in use, the push rod 16 and the convex ball 203 are used in correspondence.

[0054] The transfer vehicle 6 is a cart with wheels, and the wheels are provided with a self-locking mechanism.

[0055] Preferably, in this solution, a plurality of universal balls are evenly distributed on the end surface of the upper clamping plate 8 facing the lower clamping plate 9, or a friction belt 27 is also provided, which cooperates with the friction belt 27 on the lower clamping plate 9 to make the cardboard enter the claw more smoothly.

[0056] According to the above technical solution:

[0057] When in use, the dried or cut cardboards are arranged in sequence on the conveyor belt 1 and move toward the stacking system 2 as the conveyor belt 1 runs.

[0058] The cardboard falls from the end of the conveyor belt 1 into the container 201 . The upper end of the container 201 is flared and has a width greater than the width of the conveyor belt 1 , that is, greater than the width of the cardboard, so that the cardboard can fall into the container 201 stably and be stacked in the container 201 in sequence.

[0059] After stacking multiple layers, the motor 2 is started to control the lower clamping plate 9 to rise and fall, so as to adjust the spacing between the upper clamping plate 8 and the lower clamping plate 9 to meet the thickness spacing of the multiple layers of paperboard. After the spacing between the upper clamping plate 8 and the lower clamping plate 9 is adjusted to a suitable position, the multi-joint mechanical arm 3 is operated, the claw moves to the opening of the container 201, and the friction belt 27 is flush with the bottom wall of the container 201. The top rod 16 extends and pushes the convex ball 203 to descend, and the convex ball 203 descends and pulls the push plate 202 to move toward the opening of the container 201 through the flexible member 2 12, thereby pushing the multiple layers of paperboard to move outside the container 201 and causing the end of the paperboard to fall onto the lower clamping plate 9. The motor 3 drives the friction belt 27 to rotate counterclockwise through the driving wheel 28, thereby pulling the multiple layers of paperboard to move toward the claw seat 7 to achieve the clamping of the multiple layers of paperboard. The universal ball on the upper clamping plate 8 can reduce the friction resistance between the upper layer of paperboard and the upper clamping plate 8, so that the multiple layers of paperboard are clamped by the claw in a more regular state.

[0060] When the cardboard approaches the claw seat 7, it will move synchronously against the telescopic plate 11, and the spring seven will be compressed. The telescopic plate 11 will pull the baffle 13 through the flexible member 2 12 to deflect and block the front side of the cardboard, thereby locking the cardboard in the claw hand. After the cardboard falls into the lower clamping plate 9, the push rod 16 shrinks, and the push plate 202 is reset under the action of the spring six. The motor 2 drives the clamping screw to rotate, and drives the upper clamping plate 8 to move upward, so that the upper layer of the cardboard is against the bottom end of the upper clamping plate 8, thereby completing the clamping of the cardboard. In this process, the presence of the baffle 13 can prevent the cardboard from loosening due to shaking and other factors during the movement of the lower clamping plate 9 and falling off from the claw hand port, and can also increase the restriction of the claw hand on the cardboard during the transfer process, and improve the clamping firmness.

[0061] The multi-joint mechanical arm 3 continues to operate, and moves the claw to the side of the transfer vehicle 6. The motor 3 drives the friction belt 27 to rotate clockwise through the driving wheel 28, so that the cardboard moves out of the claw and falls on the transfer vehicle 6, and the transfer vehicle 6 is pushed to realize the transportation and transfer of the cardboard.

[0062] In this solution, the cardboard falls from the conveyor belt 1 to the container 201 to achieve self-stack, without manual assistance, reducing manpower. After the cardboard is stacked, the push rod 16 on the lower clamping plate 9 pushes the convex ball 203 down to pull the push plate 202 to push the cardboard stack to move toward the claw hand, and finally it is clamped by the claw hand and transferred to the transfer vehicle 6, thereby realizing the self-transfer of the cardboard stack. The whole process is automatic, with less manpower requirements, which can not only reduce the labor burden, but also improve the stacking and clamping efficiency. And through the push of the push plate 202 and the traction of the friction belt 27, the cardboard stack falls into the claw hand by itself, which is convenient for loading and unloading of the cardboard stack, and no human adjustment is required, which is more convenient and fast.

[0063] In this solution, before the cardboard is clamped, the baffle 13 is fixed by a torsion spring, which is not very strong. Therefore, in this embodiment, a structure for limiting the baffle 13 in a static state is provided: the swing rod 19 is replaced with a limit gear coaxially rotating with the baffle 13, the limit gear is meshed with a limit rack slidably mounted on the end surface of the upper clamping plate 8, and the limit rack is connected to the upper end of the telescopic plate 11 through a pull rod. Compared with the flexible member 3 26, this solution is a rigid connection. Fig. 9 As shown, a U-shaped block 22 is also vertically slidably installed in the open slot on the fixed claw 904. The U-shaped block 22 is located on the right side of the lever, and a spring 4 is provided between the bottom end of the U-shaped block 22 and the open slot. The elastic resistance of the spring 4 is less than the elastic resistance of the spring 7. The left cantilever of the U-shaped block 22 is located at the beginning of the travel of the telescopic plate 11, and the distance between the two cantilever arms of the U-shaped block 22 is greater than the width of the telescopic plate 11.

[0064] When the device is empty or not in use, the left side wall of the U-shaped block 22 abuts against the left side of the telescopic plate 11, so the telescopic plate 11 will not move to the left. Through the pull rod, the position of the limit rack remains unchanged, so the gear will not drive the baffle 13 to deflect, thereby achieving the static limit of the baffle 13.

[0065] Embodiment 2, in a further embodiment of the present scheme, the lower clamping plate 9 includes a mounting tube 901 which is slidably installed along the height direction of the claw seat 7, a bidirectional threaded screw 902 is rotatably installed in the mounting tube 901, a plurality of movable claws 903 are symmetrically installed on the bidirectional threaded screw 902, a fixed claw 904 is fixed on the mounting tube 901 at the center of the bidirectional threaded screw 902, and the plurality of movable claws 903 are all provided with a friction belt 27, and the driving wheels 28 of all friction belts 27 are driven by the same motor 3 for forward and reverse rotation.

[0066] Principle details of this embodiment:

[0067] The upper clamping plate 8 is convex in shape, with a narrow front end and a wide rear side, so as to avoid collision and interference between the upper clamping plate 8 and equipment such as the side wall of the container 201 when the claw moves, and the convex shape does not affect the clamping of the cardboard by the wide rear side.

[0068] The lower clamping plate 9 includes a mounting tube 901, a plurality of movable claws 903, and a fixed claw 904:

[0069] The two sliding blocks are fixedly mounted on both sides of one end of the mounting tube 901 facing the claw plate and are slidably connected with the two slide rails, so that the mounting tube 901 is slidably connected with the claw seat 7 .

[0070] The mounting tube 901 is open on one side away from the claw seat 7, and a plurality of movable claws 903 extend into the mounting tube 901 from the opening of the mounting tube 901 and are slidably connected to the mounting tube 901. A bidirectional threaded lead screw 902 is rotatably installed in the mounting tube 901, and the bidirectional threaded lead screw 902 is driven by a motor 4 fixed to the end of the mounting tube 901 and can rotate forward and reverse. The bidirectional threaded lead screw 902 is symmetrically provided with two sections of threads with opposite rotation directions, so that the components screwed on the two sections of threads move synchronously relative to or opposite to each other. A plurality of movable claws 903 are symmetrically screwed and installed on the two sections of threads of the bidirectional threaded lead screw 902, and the number of movable claws 903 on the two sections of threads corresponds to each other and is symmetrically arranged. Two groups of isolation plates 10 are provided, and the two groups of isolation plates 10 are symmetrically and fastened on both sides of the claw seat 7, and are staggeredly installed between multiple moving claws 903 on two sections of threads (in the attached drawings of this scheme, the isolation plate 10 extends between two moving claws 903, which will limit the relative or reverse movement distance of the moving claws 903. Preferably, the isolation plate 10 is against the end face of the mounting tube 901 facing the claw seat 7, which can not only achieve the isolation of the cardboard and components such as the clamping screw, but also does not limit the movement of the moving claws 903).

[0071] The fixed claw 904 is fixedly mounted at the center of one end of the mounting tube 901 away from the claw seat 7, the push rod 16 is mounted on the fixed claw 904, and the movable parts at both ends of the telescopic plate 11 are respectively mounted on the fixed claw 904 and the upper clamping plate 8.

[0072] A plurality of movable claws 903 are rotatably mounted with a driving wheel 28, a driven wheel, and a tensioning wheel, and a friction belt 27 is wound around the driving wheel 28, the driven wheel, and the tensioning wheel. The rotating shaft of the driving wheel 28 is hollow, and the motor 3 is fixed at one end of the mounting tube 901. An extension shaft is rotatably mounted at both ends of the mounting tube 901, and the extension shaft is connected to the output shaft 23 of the motor 3 and serves as an extension of the output shaft 23 of the motor 3. The output shaft 23 of the motor 3 is axially slidably connected to the driving wheels 28 of all movable claws 903, and the driving shaft is tightly connected to the driving wheel 28 of the fixed claw 904. The axial sliding connection is any one of: spline, spline groove matching; non-circular shaft and non-circular hole matching (such as rectangular shaft and rectangular hole). In this way, all friction belts 27 can be synchronously driven to rotate by one motor 3.

[0073] In this way, the shapes and structures of the upper clamping plate 8 and the lower clamping plate 9 are further restricted to adapt to the production environment in the workshop. When clamping cardboard, the multiple moving claws 903 of the lower clamping plate 9 are adjusted in position to adapt to the width of the cardboard and the position of the cardboard stack, thereby improving the flexibility of use.

[0074] In this embodiment, a plurality of struts can be provided along the length direction of the side of the transfer vehicle 6. When unloading, the moving claws 903 are staggered between the struts, the cardboard is first placed on the struts, and then the cardboard is moved outwards by the friction belt 27, and the cardboard falls onto the transfer vehicle 6 along the struts, which is more stable than directly moving the cardboard outwards from the side of the transfer vehicle 6.

[0075] Embodiment 3, in a further embodiment of the present scheme, a wedge block 21 is slidably installed on the fixed claw 904 at the end of the stroke of the telescopic plate 11, a spring two is provided between the wedge block 21 and the fixed claw 904, an active lever 17 is provided on the output shaft 23 of the motor three, a driven lever 18 is provided at the inner ring of the axis of the driven wheel, a rocker rod 19 is provided on the output shaft 23 at the fixed claw 904, a shift block 20 cooperating with the rocker rod 19 is slidably installed on the fixed claw 904 below the rocker rod 19, a spring three is provided between the shift block 20 and the fixed claw 904, a change of direction shaft one 24 is provided below the shift block 20 away from the wedge block 21, a flexible member three 26 is connected to the shift block 20, and the flexible member three 26 is connected to the bottom end of the wedge block 21 after winding around the change of direction shaft one 24.

[0076] Principle details of this embodiment:

[0077] The deflection of the baffle 13 is driven by the cardboard against the telescopic plate 11, and the flexible member 204 pulls and drives. However, when the cardboard is loosened violently, the blocking effect of the baffle 13 is not strong. Therefore, in this embodiment, a measure is provided to improve the buckling and fastening of the baffle 13:

[0078] The fixed claw 904 is provided with a vertical end face slide groove at the end of the travel of the telescopic plate 11, and a convex ring is provided in the slide groove. A wedge block 21 is vertically slidably installed above the convex ring in the slide groove, and a spring 2 is provided between the wedge block 21 and the convex ring, and the wedge surface of the wedge block 21 is away from the claw seat 7. An active lever 17 is provided on the output shaft 23 of the motor 3, and a driven lever 18 is provided at the inner circle of the axis of the driving wheel 28. An open groove is provided on the fixed claw 904 at the output shaft 23 of the motor 3, and the bottom end of the open groove is connected to the bottom end of the slide groove. A swing rod 19 is fixedly installed in the middle of the open groove on the output shaft 23 of the motor 3, and a shift block 20 is slidably installed in the direction of the vertical output shaft 23 below the swing rod 19 in the open groove, and a spring 3 is provided between the shift block 20 and the fixed claw 904. A change-of-direction shaft 24 is provided in the open groove below the shift block 20 and on the side away from the wedge block 21. A flexible member 26 is connected to the shift block 20. The flexible member 26 passes through the slide groove from the bottom end of the slide groove after winding around the change-of-direction shaft 24 and is connected to the bottom end of the wedge block 21.

[0079] According to the above technical solution:

[0080] The motor 3 drives the output shaft 23 to rotate counterclockwise, and the active lever 17 presses against the driven lever 18 to drive the driving wheel 28 to rotate counterclockwise, thereby driving the friction belt 27 to rotate counterclockwise, and then driving the cardboard to move inwardly into the claw. Fig. 9 As shown, during the counterclockwise rotation of the output shaft 23, the swing rod 19 continuously moves the shifting block 20 away from the claw seat 7, and the shifting block 20 is reset under the action of the spring 3. In this process, the flexible member 3 26 will not pull the wedge block 21.

[0081] During the process of the cardboard continuously moving inward on the lower clamping plate 9, the end of the cardboard moves against the telescopic plate 11. After the cardboard hits the isolation plate 10, the telescopic plate 11 moves to the end of the stroke. In this process, the bottom end of the telescopic plate 11 hits the wedge surface of the wedge block 21 and presses the wedge block 21 downward. After the bottom end of the telescopic plate 11 separates from the wedge block 21, the wedge block 21 is reset under the action of the second spring and hits the end surface of the telescopic plate 11 away from the claw seat 7. The cardboard hits the isolation plate 10 and no longer moves inward, while the wedge block 21 hits the bottom end of the telescopic plate 11 and restricts the telescopic plate 11. The telescopic plate 11 will not move to the initial position, so the position of the baffle 13 after deflection is fixed, and the baffle 13 will not be opened due to shaking during the movement, thereby ensuring the stability of the baffle 13 against the cardboard.

[0082] When the cardboard needs to be unloaded onto the transfer vehicle 6, the baffle 13 needs to be opened so that the cardboard can be moved outward. At this time, the motor 3 drives the output shaft 23 to rotate clockwise, as shown in FIG. Fig.17 and attached Fig. 9 As shown, the active lever 17 will contact the driven lever 18 only after the output shaft 23 rotates nearly a full circle clockwise. During this interval, the swing rod 19 rotates clockwise to press against the shift block 20 and move toward the claw seat 7, and the wedge block 21 will be pulled downward by the flexible member 3 26 to separate from the telescopic plate 11, and the telescopic plate 11 will no longer be limited. After the active lever 17 contacts the driven lever 18 again, the active lever 17 presses against the driven lever 18 to drive the driving wheel 28 to rotate clockwise, thereby driving the friction belt 27 to rotate clockwise, so that the cardboard moves outward to achieve unloading.

[0083] According to the above structure, not only is it achieved that when clamping the cardboard, the baffle 13 is locked to ensure the stability of the cardboard; but also when unloading the cardboard, the baffle 13 is first unlocked and then the cardboard is driven outward, alternating between the two, and the cardboard unloading process will not be affected by the limiting structure of the baffle 13.

[0084] In the present invention, the size of the rocker arm 19 and the installation position angle relationship between the rocker arm 19 and the active shifting rod 17 are in accordance with the following conditions: after the output shaft 23 rotates clockwise to abut against the shifting block 20, the rocker arm 19 will not separate from the shifting block 20 before the telescopic plate 11 moves to the right side of the wedge block 21.

[0085] Embodiment 4, in the further embodiment of this scheme, refer to the attached Figure 8 As shown, each of the moving claws 903 is provided with a shield 15 at the end of the friction belt 27 to prevent the end of the friction belt 27 from abutting against other components and affecting the rotation of the friction belt 27.

[0086] Embodiment 5, a further embodiment of the present scheme, in this embodiment, a mobile structure of a multi-joint robotic arm 3 is provided: guide rails are provided on the base 4 at intervals along the length direction, a tray is slidably mounted on the two guide rails, a turntable is provided on the tray, the multi-joint robotic arm 3 is fixed on the turntable, a motor 1 is fixed on the side of the tray, a gear is fixed on the output shaft 23 of the motor 1, a fixed rack parallel to the guide rail is fixed on the base 4, and the gear is meshed with the fixed rack.

[0087] The motor drives the gear to rotate, and the gear meshes with the fixed rack to drive the tray to move. The turntable can make the multi-joint robot arm 3 move more flexibly to cope with the transfer vehicle 6 at different positions and different unloading positions on the transfer vehicle 6.

[0088] A foldable cover 5 is provided on the guide rail for protection and isolation.

[0089] Embodiment 6, in a further embodiment of the present invention, there is a gap between the container 201 and the paperboard. The distance between the length and width of the container 201 and the length and width of the paperboard is 5-10CM, and there is a gap, so that when the paperboard falls into the container 201, there will be no jamming problem, and it will fall into the container 201 steadily for stacking.

[0090] Embodiment 7, based on Embodiment 6, in a further embodiment of this solution, when there is a gap, the paperboards may not be aligned and stacked after falling into the container 201. Therefore, in this embodiment, the stacking system 2 further includes a paperboard alignment structure provided on the container 201:

[0091] The cardboard alignment structure includes two groups of alignment splints 207, which are slidably installed on both sides of the opening of the container 201 and are provided with springs five between the two alignment splints 207 and the container 201, and the bottom ends of the two alignment splints 207 are provided with pull rings 208, and the side walls of the convex balls 203 are provided with flexible parts four 205 corresponding to the pull rings 208 one by one, and the movable ends of the flexible parts four 205 pass through the corresponding side pull rings 208 and are fixed with solid buckles 206.

[0092] Principle details of this embodiment:

[0093] The cardboard alignment structure includes two groups of alignment clamps 207. The container 201 is also provided with installation grooves at both sides of the opening. The two groups of alignment clamps 207 are slidably installed in the installation grooves, and springs 5 ​​are provided between the two alignment clamps 207 and the container 201. The bottom ends of the two alignment clamps 207 are provided with pull rings 208. The side walls of the convex balls 203 are provided with flexible parts 205 corresponding to the pull rings 208. The movable ends of the flexible parts 205 pass through the corresponding side pull rings 208 and are fixed with solid buckles 206. The flexible parts 205 are actively connected with the pull rings 208.

[0094] According to the above technical solution:

[0095] During clamping, the push rod 16 stretches and moves downward against the convex ball 203, and the convex ball 203 drives the flexible member 1 204 and the two flexible members 205 to move downward. Since the flexible member 1 204 is fixedly connected to the push plate 202, the flexible member 1 204 will first pull the push plate 202 to push the cardboard outward. After the convex ball 203 drops a certain distance, the solid buckle 206 presses against the pull ring 208, thereby pulling the two alignment clamps 207 to move toward the center of the container 201. With the cooperation of the push plate 202 and the two alignment clamps 207, the cardboard tends to be aligned and stacked, which is convenient for clamping and can also reduce the looseness during clamping and movement.

[0096] The widths of the push plate 202 and the alignment clamping plate 207 are consistent, and the cardboard will not be deflected sideways during the pushing process.

[0097] By adjusting the position of the buckle, the moving distance of the alignment clamp 207 can be adjusted to adapt to the alignment operation of cardboards of different lengths.

[0098] Embodiment 8, in a further embodiment of the present invention, both sides of the upper clamping plate 8 are provided with limiting plates 14. The limiting plates 14 limit both sides of the paperboard to improve the clamping stability.

[0099] In this solution, the flexible member 1 204, the flexible member 2 12, the flexible member 3 26, and the flexible member 4 205 are rope members, such as any one of a steel strand wrapped with a smooth outer skin, a steel wire rope, and an inelastic pull rope.

[0100] The tips of the wedge-shaped block 21 and the U-shaped block 22 are rounded to avoid piercing the cardboard.

[0101] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

[0102] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0103] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A cardboard transfer system, characterized in that: It comprises a cardboard conveying system, a stacking system (2), a manipulator device, and a transfer vehicle (6); the cardboard conveying system comprises a conveyor belt (1) for conveying cardboard to a container (201) of the stacking system (2) for stacking; The stacking system (2) comprises a container (201) with a bracket, the container (201) is open on one side facing the manipulator device, a push plate (202) is slidably mounted on the side of the container (201) facing away from the manipulator device, a spring six is ​​arranged between the push plate (202) and the container (201), the bottom end of the push plate (202) is connected to a convex ball (203) vertically slidably mounted on the bottom wall of the container (201) via a flexible member one (204), and a spring one is connected between the convex ball (203) and the bottom wall of the container (201); The robot device comprises a base (4), a multi-joint robot arm (3) is movably mounted on the base (4) along the length direction, a claw hand is fixed to the end of the movable joint of the multi-joint robot arm (3), and the claw hand comprises a claw seat (7), a fixed upper clamping plate (8) and a movable lower clamping plate (9) are provided on the claw seat (7), a friction belt (27) that can be rotated forward and reverse is provided on the lower clamping plate (9), and a telescopic plate (27) is provided between the upper clamping plate (8) and the lower clamping plate (9) on the side of the friction belt (27) facing the claw seat (7). 11), a spring seven is provided between the telescopic plate (11) and the upper clamping plate (8), a baffle plate (13) is rotatably mounted at the end of the upper clamping plate (8), a torsion spring is provided between the baffle plate (13) and the upper clamping plate (8), a flexible member two (12) is provided on the baffle plate (13), a change-of-direction shaft two (25) is provided on the upper clamping plate (8) at the end of the baffle plate (13), the flexible member two (12) is connected to the telescopic plate (11) after bypassing the change-of-direction shaft two (25), and a retractable top rod (16) is provided on the lower clamping plate (9); After the cardboards are stacked, the push rod (16) on the lower clamping plate (9) pushes against the convex ball (203) to descend, thereby pulling the push plate (202) to push the cardboard stack toward the claw hand, and finally the cardboard stack is clamped by the claw hand and transferred to the transfer vehicle (6).

2. A cardboard transfer system according to claim 1, characterized in that: The lower clamping plate (9) comprises a mounting tube (901) slidably mounted along the height direction of the claw seat (7), a bidirectional threaded screw (902) being rotatably mounted in the mounting tube (901), a plurality of movable claws (903) being symmetrically mounted on the bidirectional threaded screw (902), a fixed claw (904) being fixed at the center of the bidirectional threaded screw (902) on the mounting tube (901), a friction belt (27) being provided on each of the plurality of movable claws (903), and the driving wheels (28) of all the friction belts (27) being driven by the same motor three for forward and reverse rotation.

3. A cardboard transfer system according to claim 2, characterized in that: A wedge block (21) is slidably mounted on the fixed claw (904) at the end of the travel of the telescopic plate (11), a spring 2 is arranged between the wedge block (21) and the fixed claw (904), an active lever (17) is arranged on the output shaft (23) of the motor 3, a driven lever (18) is arranged at the inner ring of the axis of the driving wheel (28), a swing rod (19) is arranged on the output shaft (23) at the fixed claw (904), a shift block (20) cooperating with the swing rod (19) is slidably mounted on the fixed claw (904) below the swing rod (19), a spring 3 is arranged between the shift block (20) and the fixed claw (904), a change-of-direction shaft 1 (24) is arranged below the shift block (20) on the side away from the wedge block (21), a flexible member 3 (26) is connected to the shift block (20), and the flexible member 3 (26) is connected to the bottom end of the wedge block (21) after winding around the change-of-direction shaft 1 (24).

4. A cardboard transfer system according to claim 2, characterized in that: Each of the movable claws (903) is provided with a protective cover (15) at the end of the friction belt (27).

5. A cardboard transfer system according to claim 1, characterized in that: The base (4) is provided with guide rails at intervals along the length direction, a tray is slidably mounted on the two guide rails, a turntable is provided on the tray, the multi-joint mechanical arm (3) is fixed on the turntable, a motor 1 is fixed on the side of the tray, a gear is fixed on the output shaft (23) of the motor 1, a fixed rack parallel to the guide rails is fixed on the base (4), and the gear is meshed with the fixed rack.

6. A cardboard transfer system according to claim 1, characterized in that: There is a gap between the container (201) and the cardboard.

7. A cardboard transfer system according to claim 6, characterized in that: The stacking system (2) further comprises a cardboard alignment structure arranged on the container (201): The cardboard alignment structure comprises two groups of alignment clamps (207), the two alignment clamps (207) are slidably mounted on both sides of the opening of the container (201) and a spring five is arranged between the two alignment clamps (207) and the container (201), the bottom ends of the two alignment clamps (207) are each provided with a pull ring (208), the side wall of the convex ball (203) is provided with a flexible member four (205) corresponding to the pull ring (208) one by one, the movable end of the flexible member four (205) passes through the corresponding side pull ring (208) and the end is fixed with a solid buckle (206).

8. A cardboard transfer system according to claim 1, characterized in that: Limiting plates (14) are provided on both sides of the upper clamping plate (8).

9. A cardboard transfer system according to claim 1, characterized in that: Two sets of slide rails are symmetrically fastened and installed on the end surface of the claw seat (7) on one side of the movable joint facing away from the multi-joint mechanical arm (3), and sliders are slidably installed on the two slide rails. A lower clamping plate (9) is fastened and installed on the two sliders together. A clamping screw is rotatably installed on the claw seat (7), and the clamping screw is driven by motor 2.

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