Method for inserting flat hook into paper card package

Abstract

According to the method for inserting the flat hook in the paper card packaging process, adopted equipment comprises a vibration conveying guide rail and a three-axis mechanical arm, and a flat hook clamp is arranged at the front end of a third arm and used for clamping the flat hook; by rotating the three mechanical arms, the flat hook is gradually conveyed to the hook inserting preparation position, the flat hook is partially and obliquely conveyed into the paper card, the parallel strip on the front side of the flat hook completely enters the paper card and is parallel to the paper card, then the flat hook is made to move by a certain distance in parallel, and circulation is conducted in this way. According to the invention, the action of a human hand is simulated, the flat hook can be smoothly inserted into the paper card, and the paper card cannot be damaged.

Description

Technical Field

[0001] The invention belongs to the technical field of packaging machinery, and in particular relates to a method for inserting a flat hook into a paper card package. Background Art

[0002] The card folding and labeling machine is a packaging machine, commonly used for towels, socks, gloves and other products. Its basic operation process is to use the printed paper card with a certain thickness and hardness as the packaging material, fold it at the set position, so as to fold the rectangular paper card into a U shape, and then insert the items to be packaged into the opening of the U-shaped card, and then use the glue needle gun to inject the glue needle to fix the two ends of the U-shaped card and the packaged items together. In some cases, the seller wants to display such products on the shelf in the form of hanging, so a hook needs to be added to the paper card.

[0003] There are two types of hooks used in the industry, one is called a pointed hook and the other is called a flat hook. Both hooks have an arc-shaped tail and can be used to hang on the shelf; the pointed hook has a sharp head and elastic sides, which can be inserted into the opening of the paper card, and then the elastic sides are opened so that it will not fall out of the paper card; the flat hook has a head composed of two basically horizontal parallel strips, and the tail and the two parallel strips are integrally formed to form a sheet body. The two parallel strips form notches on the left and right sides, so that the flat hook can be basically inserted into the opening of the paper card horizontally. After insertion, one of the two horizontal strips is outside the paper card and the other is inside the paper card, so that the hook will not fall out of the paper card.

[0004] The applicant has applied for a utility model patent named "Paper Card Hook Device", with patent number 202322799090.5, which includes a sheet-shaped hook with an acute-angled head and an arc-shaped tail, a base, a container and a push plate. The container is fixedly mounted on the base, and the push plate is telescopically mounted on the base and pushed and retracted by a driving mechanism; the container is arranged above the push plate, and the bottom surface of the container is matched with the main body gap of the top surface of the push plate; the container has a transparent accommodating cavity, and several hooks are placed in the accommodating cavity in an up-and-down manner; the front end of the top surface of the push plate has a recessed portion, the size of the recessed portion matches the tail of the hook, and the depth of the recessed portion is not greater than the thickness of the hook; when the push plate is retracted, the position of the recessed portion corresponds to the rear of the accommodating cavity. Obviously, the hook used in this device is a sharp hook.

[0005] In actual use, when the sharp head of the hook is inserted into the paper card, it will touch the packaged object, such as socks. At this time, the burrs on the sharp head may hook and damage the object, so high-end products tend to use flat hooks. However, there is no equipment in the prior art that can insert flat hooks into paper cards, and hook insertion still relies entirely on manual work. Summary of the invention

[0006] The purpose of the present invention is to overcome the above disadvantages and provide a method for inserting a flat hook into a paper card package.

[0007] The technical solution adopted by the present invention is as follows: a method for inserting a flat hook into a paper card package, wherein the flat hook is a sheet-like body, comprising a circular arc-shaped tail and a head composed of two horizontal parallel strips, the tail and the two parallel strips are integrally formed, and the two parallel strips form notches on the left and right sides; the characteristic is that the adopted equipment comprises a vibrating transmission guide rail, and the flat hooks are sent out one by one on the vibrating transmission guide rail with the tail facing forward; the invention also comprises a base, which is located on one side of the vibrating transmission guide rail, and a first arm is provided on the base, which is rotatably connected to the base; the front end of the first arm is rotatably connected to the second arm, the front end of the second arm is rotatably connected to the third arm, and the front end of the third arm is provided with a flat hook clamp, which is used to open and close the tail of the flat hook at the front end of the vibrating transmission guide rail; the first motor drives the first arm to rotate relative to the base according to the instruction, the second motor drives the second arm to rotate relative to the first arm according to the instruction, the third motor drives the third arm to rotate relative to the second arm according to the instruction, and the finger cylinder drives the flat hook clamp to open and close according to the instruction; the invention also comprises a paper card positioning mechanism, which fixes the packaged object with the paper card at a specific position; The steps include: 1) Rotate the first arm, the second arm and the third arm so that the front end of the third arm moves to the front end of the flat hook conveyor belt, and the flat hook clamp clamps the tail of the first flat hook; 2) Rotate the first arm, the second arm and the third arm to send the clamped flat hook to the hook insertion preparation position, where the flat hook is in contact with the paper card or has a clearance fit, and the angle formed by the parallel strips of the flat hook and the paper card is between 10-40°; 3) at least rotate the third arm so that a portion of the front parallel strip of the flat hook enters the paper card until a notch on one side of the flat hook contacts the paper card, at which point the angle formed by the parallel strip of the flat hook and the paper card is between 5° and 20°; 4) Rotate at least the second and third arms to push the flat hook forward, and adjust the angle of the flat hook at the same time, until the front parallel strip of the flat hook completely enters the paper card. At this time, the angle between the parallel strip of the flat hook and the paper card is 0°; 5) At least rotate the first arm and the second arm to make the flat hook move parallel to the opposite direction of entering the paper card by a certain distance; 6) Release the flat hook clamp, rotate the first arm, the second arm and the third arm, return to the initial position described in step 1), and perform the cycle operation.

[0008] During the insertion of the flat hook, the paper card, that is, the packaged object with the paper card, has a fixed spatial position; the flat hook is also fixed in height, and the height of the paper card and the flat hook can be adjusted to be completely consistent, so the work can actually be completed by controlling the two-dimensional coordinates and angles of the flat hook. The present invention actually adopts a three-axis mechanical arm mechanism, and the rotation of each axis can be independently controlled, and the flat hook can be realized in any motion trajectory within a certain area through combined programming.

[0009] Moreover, the shape and size of the flat hook, as well as the paper card and the opening shape on the paper card, are also standardized. Therefore, the present invention can simulate the movement of a human hand by designing the motion trajectory of the flat hook, and smoothly insert the flat hook into the paper card without damaging the paper card. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of a flat hook.

[0011] Figure 2 It is a diagram of socks and paper cards to be hooked.

[0012] Figure 3 It is an overall schematic diagram of this embodiment.

[0013] Figure 4 It is a top view schematic diagram of the initial position of this embodiment.

[0014] Figure 5 It is a top view schematic diagram after the first step of this embodiment is completed.

[0015] Figure 6 It is a top view schematic diagram after the second step of this embodiment is completed.

[0016] Figure 7 It is a top view schematic diagram after the third step of this embodiment is completed.

[0017] Figure 8 It is a top view schematic diagram after the fourth step of this embodiment is completed. DETAILED DESCRIPTION

[0018] See also Figure 1 The flat hook 1 is a standard part, which is a sheet-like body as a whole, including an arc-shaped tail 11 and a head composed of two horizontal parallel strips 12 and 13. The tail and the two parallel strips are integrally formed, and the tail 11 is open on the left side. The definition of left and right will be used below; the two parallel strips form a notch 14 on the left side and a notch 15 on the right side. It can also be seen in the figure that the parallel strips 12 and 13 are not simple horizontal strips, but also have certain bends.

[0019] See also Figure 2The end of the sock 20 to be hooked has a fixed paper card 2, which is folded into a U shape to cover the front and back sides of the sock end and fixed with a glue needle. The end surface of the paper card 2, that is, the bottom surface of the U shape, has a pre-opening 25 for the hook to be inserted therein.

[0020] See also Figure 3 . This embodiment includes a sock conveying and positioning mechanism 21, which conveys the sock 20 to be hooked to the specific position and fixes it. The conveying and positioning mechanism is a prior art and will not be described in detail here. Please refer to the literature mentioned in the background technology. It also includes a vibration plate 100 and a vibration conveying guide rail 10. The flat hooks 1 are vibrated and discharged in the vibration plate 100, and are sent out one by one from the vibration conveying guide rail 10 with the tail 11 facing forward and the opening facing left. The above-mentioned vibration device is also a prior art and will not be described in detail here. The device used in the embodiment is the D300 vibration plate produced by Dongguan Yufeng Automation Equipment Co., Ltd., and the accompanying vibration conveying guide rail.

[0021] There is a base 3 next to the vibration transmission guide rail 10, and a first arm 41 is provided on the base 3, which is rotatably connected to the base through a first motor (not visible in the figure); a second arm 42 is provided at the end of the first arm, which is rotatably connected to the first arm through a second motor 52; a third arm 43 is provided at the end of the second arm, which is rotatably connected to the second arm through a third motor 53; a flat hook clamp 44 is provided at the end of the third arm, which can be opened and closed in the vertical direction by controlling a finger cylinder (not shown in the drawing).

[0022] From the above description, it can be seen that this embodiment can basically be divided into three devices, namely, the flat hook and vibration device, the sock positioning device with a paper card, and the robotic arm device. These three devices can be physically connected or not connected, but they should be kept too far apart in space so that the robotic arm can work in both the vibration transmission guide rail and the paper card area.

[0023] Figures 4 to 8 In the figure, the flat hook 1 is too small and is not clear after enlargement. Figure 1 and text descriptions for understanding.

[0024] See also Figure 4 , Figure 1 This figure shows step 1 of the invention content. In the initial state, the first arm 41 is perpendicular to the sock conveying and positioning mechanism and parallel to the vibration conveying guide rail 10, which is used as the reference line of the first arm; the second arm 42 is perpendicular to the first arm 41, and the third arm 43 is perpendicular to the second arm 42, so that the flat hook clamp 44 can clamp the first flat hook 1 at the front end of the vibration conveying guide rail. It can be seen in the figure that the flat hook has been inserted into the paper card 2 of the previous operation.

[0025] See also Figure 5 , Figure 1This figure shows step 2 of the invention content section. At this time, the first arm 41 rotates counterclockwise to 5° with the reference line, the second arm 42 rotates to 71° with the first arm 41, and the third arm 43 rotates to 58° with the second arm 42. As a result, the parallel strip 12 of the flat hook 1 clamped by the flat hook clamp is 18° with the end surface of the paper card 2, and the flat hook 1 is close to the pre-opening 25 of the paper card. The gap between the two can be ignored, that is, the hook preparation position mentioned above.

[0026] See also Figure 6 , Figure 1 This figure shows step 3 of the invention content part. In this embodiment, the first arm, the second arm, and the third arm all rotate, wherein the first arm 41 rotates to form 3° with the reference line, the second arm 42 rotates to form 75° with the first arm 41, and the third arm 43 rotates to form 62° with the second arm 42. As a result, the parallel strips 12 of the flat hook 1 clamped by the flat hook clamp form 16° with the end surface of the paper card 2, and the left side portion of the parallel strips 12 of the flat hook 1 enters the pre-opening 25 of the paper card, and the bottom of the notch 14 contacts the paper card.

[0027] See also Figure 7 , Figure 1 . This figure shows step 4 of the invention content part. In this embodiment, the first arm, the second arm, and the third arm all rotate, wherein the first arm 41 rotates to 18° with the reference line, the second arm 42 rotates to 60° with the first arm 41, and the third arm 43 rotates to 78° with the second arm 42. As a result, the parallel strips 12 of the flat hook 1 clamped by the flat hook clamp form 0° with the end surface of the paper card 2, and all the parallel strips 12 of the flat hook 1 enter the pre-opening 25 of the paper card, leaving only the parallel strips 13 outside the paper card.

[0028] See also Figure 8 , Figure 1 This figure shows step 5 of the invention content part. In this embodiment, the first arm, the second arm, and the third arm all rotate, wherein the first arm 41 rotates to 20° with the reference line, the second arm 42 rotates to 59° with the first arm 41, and the third arm 43 rotates to 79° with the second arm 42. As a result, the parallel strips 12 of the flat hook 1 clamped by the flat hook clamp are still at 0° with the end surface of the paper card 2, and the parallel strips 12 of the flat hook 1 are still all retained in the pre-opening 25 of the paper card, but the whole is translated, that is, in Figure 8 The paper card is then moved rightward in the direction of the notch 15 so that the bottom of the notch 15 contacts the paper card.

[0029] exist Figures 6 to 8In the several steps, it is not necessary to rotate all the mechanical arms, and only rotating one or two of them can also achieve the purpose, but in order to achieve better results, this embodiment designs that all three mechanical arms rotate, which is a better implementation method. The angle parameters listed above are the best implementation methods of the present invention; all angle parameters ±2° are relatively suitable parameter ranges, and each step can still be completed well.

[0030] At this point, one hook insertion operation is completed and each arm returns to Figure 4 The state shown starts the next cycle.

Claims

1. A method for inserting a flat hook into a paper card package, wherein the flat hook is a sheet-like body, comprising an arc-shaped tail and a head composed of two horizontal parallel strips, the tail and the two parallel strips are integrally formed, and the two parallel strips form notches on the left and right sides; the characteristics are: The adopted equipment includes a vibrating conveying guide rail, on which the flat hooks are delivered one by one with their tails facing forward; a base located on one side of the vibrating conveying guide rail, on which a first arm, a second arm and a third arm are rotatably connected in sequence are arranged, and a flat hook clamp is arranged at the front end of the third arm, which is used to open and close to clamp the tail of the flat hook at the front end of the vibrating conveying guide rail; and a paper card positioning mechanism is further included to fix the packaged object with the paper card at a specific position; The steps include: 1) Rotate the first arm, the second arm and the third arm so that the front end of the third arm moves to the front end of the flat hook conveyor belt, and the flat hook clamp clamps the tail of the first flat hook; 2) Rotate the first arm, the second arm and the third arm to send the clamped flat hook to the hook insertion preparation position, where the flat hook is in contact with the paper card or has a clearance fit, and the angle formed by the parallel strips of the flat hook and the paper card is between 10-40°; 3) at least rotate the third arm so that a portion of the front parallel strip of the flat hook enters the paper card until a notch on one side of the flat hook contacts the paper card, at which point the angle formed by the parallel strip of the flat hook and the paper card is between 5° and 20°; 4) Rotate at least the second and third arms to push the flat hook forward, and adjust the angle of the flat hook at the same time, until the front parallel strip of the flat hook completely enters the paper card. At this time, the angle between the parallel strip of the flat hook and the paper card is 0°; 5) At least rotate the first arm and the second arm to make the flat hook move parallel to the opposite direction of entering the paper card by a certain distance; 6) Release the flat hook clamp, rotate the first arm, the second arm and the third arm, return to the initial position described in step 1), and perform the cycle operation.

2. The method for inserting a flat hook into a paper card package according to claim 1, characterized in that: In the steps 3), 4) and 5), the first arm, the second arm and the third arm are all rotated.

3. The method for inserting a flat hook into a paper card package according to claim 1, characterized in that: In the step 1), the first arm is parallel to the vibration transmission guide rail as a reference line, the second arm is perpendicular to the first arm, and the third arm is perpendicular to the second arm; In step 2), the first arm is rotated to form an angle of 5±2° with the reference line, the second arm is rotated to form an angle of 71±2° with the first arm, and the third arm is rotated to form an angle of 58±2° with the second arm; In step 3), the first arm is rotated to form an angle of 3±2° with the reference line, the second arm is rotated to form an angle of 75±2° with the first arm, and the third arm is rotated to form an angle of 62±2° with the second arm; In step 4), the first arm is rotated to form an angle of 18±2° with the reference line, the second arm is rotated to form an angle of 60±2° with the first arm, and the third arm is rotated to form an angle of 78±2° with the second arm; In the step 5), the first arm is rotated to form an angle of 20±2° with the reference line, the second arm is rotated to form an angle of 59±2° with the first arm, and the third arm is rotated to form an angle of 79±2° with the second arm.

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