Flexible grabbing device for label paper

Abstract

The invention discloses a label paper flexible grabbing device which comprises a moving mechanism, a mechanical arm arranged on the moving mechanism in a sliding mode and a variable-pitch grabbing mechanism arranged on the mechanical arm, and the moving mechanism, the mechanical arm and the variable-pitch grabbing mechanism are in communication connection with a control system. The variable-distance grabbing mechanism comprises a mounting plate, a fixed suction cup assembly arranged in the middle of the mounting plate, movable suction cup assemblies arranged on the two sides of the mounting plate and sliding along the mounting plate and a first driving piece arranged on the mounting plate and used for driving the movable suction cup assemblies to slide along the mounting plate, and the mounting plate is connected with the mechanical arm in a matched mode. The device is reliable in structure and good in use performance, the manipulator can grab a target in a large range, the working range of the device is expanded through the moving platform with a simple structure, the multifunctional clamp is arranged at the end of the manipulator, the grabbing and placing functions of auxiliary materials of various specifications are achieved, the use requirement is met, the distribution accuracy is improved, labor input is reduced, and the production efficiency is improved. And the labor intensity of operators is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of trademark paper grasping, and particularly relates to a flexible trademark paper grasping device. Background Art

[0002] Currently, the small box trademark paper and the strip box trademark paper used in the production process of the cigarette packing workshop are both auxiliary material trays output from the auxiliary material warehouse. They are placed in the designated area near the packaging machine by manual forklifts or AGV cars. The trademark paper automatic loading system of the packaging machine provides trademark paper supply for the packaging machine. Currently, the trademark paper mainly relies on manual operation, with low efficiency. There is an urgent need for a flexible trademark paper grasping device to separately place the small box trademark paper on the small box trademark paper tray and the strip box trademark paper on the strip box trademark paper tray into the corresponding outer packaging removing devices at the front end of the system for subsequent process treatment. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a flexible trademark paper grasping device.

[0004] The technical solution of the present invention for solving the above technical problems is as follows: A flexible trademark paper grasping device includes a moving mechanism, a manipulator slidably arranged on the moving mechanism, and a variable-spacing grasping mechanism arranged on the manipulator. The moving mechanism, the manipulator, and the variable-spacing grasping mechanism are respectively in communication connection with a control system;

[0005] The variable-spacing grasping mechanism includes a mounting plate, a fixed suction cup assembly arranged in the middle of the mounting plate, a moving suction cup assembly arranged on both sides of the mounting plate and sliding along the mounting plate, and a first driving member arranged on the mounting plate and used for driving the moving suction cup assembly to slide along the mounting plate. The mounting plate is cooperatively connected with the manipulator.

[0006] Further, the moving suction cup assembly includes a moving suction cup seat or a variable-spacing sponge suction cup mounting plate slidably arranged on the mounting plate, multiple groups of suction cups arranged on the moving suction cup seat, or a porous sponge suction cup arranged on the variable-spacing sponge suction cup mounting plate, and a photoelectric sheet arranged on the moving suction cup seat or the variable-spacing sponge suction cup mounting plate close to the first driving member side, and the photoelectric sheet is matched with a groove-shaped switch arranged on the mounting plate.

[0007] Further, the first driving member includes a servo motor, a driving pulley connected to the output shaft of the servo motor, a driven pulley arranged at the end of the mounting plate far from the driving pulley, and a synchronous toothed belt sleeved on the driving pulley and the driven pulley;

[0008] A belt clamping plate mounted on the moving suction cup seat or the variable-spacing sponge suction cup mounting plate on one side of the servo motor is fixed on one side of the circumferential direction of the synchronous toothed belt, and a belt clamping plate mounted on a group of moving suction cup seats or variable-spacing sponge suction cup mounting plates on the driven pulley side is fixed on the other side of the circumferential direction of the synchronous toothed belt.

[0009] Furthermore, a first slide rail is provided on the mounting plate, and a first slider is sleeved on the first slide rail in a matching manner. The first slider is arranged on the moving suction cup seat or the variable pitch sponge suction cup mounting plate.

[0010] Furthermore, each group of suction cups or porous sponge suction cups is independently configured with a group of pressure switches for detecting the vacuum state of the suction cups or porous sponge suction cups.

[0011] Furthermore, the fixed suction cup assembly includes a fixed suction cup seat and a fixed suction cup or a porous sponge suction cup arranged on the fixed suction cup seat. The fixed suction cup seat is arranged at the middle position of the mounting plate.

[0012] Furthermore, the moving mechanism includes a support frame, a mounting platform slidably arranged on the support frame, and a second driving member for driving the mounting platform to slide along the support frame. The manipulator is mounted on the mounting platform.

[0013] Furthermore, the second driving assembly includes a motor, a planetary gear reducer arranged at the output end of the motor, a driving wheel arranged on the output shaft of the planetary gear reducer, and a tensioning wheel connected to the driving wheel through a synchronous belt. A synchronous belt connecting plate is arranged at the bottom of the mounting platform for connecting the synchronous belt and the mounting platform.

[0014] Furthermore, limiting columns are arranged on both sides of the mounting platform.

[0015] Furthermore, a second slide rail is provided on the support frame, and the second slide rail is in sliding fit with a second slider arranged on the mounting platform.

[0016] The present invention has the following beneficial effects: The trademark paper flexible grasping device provided by the present invention has a reliable structure and good use performance, realizes the grasping of targets by the manipulator within a large range, expands the working range of the device through a simple-structured moving platform, and a multifunctional fixture is arranged at the end of the manipulator. The grasping and placing functions of various specifications of auxiliary materials are realized through a variable pitch grasping mechanism, and two choices of grasping execution parts are provided to meet the use requirements. The distribution accuracy is improved, the labor input is reduced, and the labor intensity of operators is lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the present invention;

[0018] Figure 2 is a schematic structural diagram of the suction cup type variable pitch grasping mechanism in the present invention Figure 1 ;

[0019] Figure 3 is a schematic structural diagram of the suction cup type variable pitch grasping mechanism in the present invention Figure 2 ;

[0020] Figure 4Schematic structural diagram of the porous sponge suction cup type variable pitch grasping mechanism in the present invention;

[0021] Figure 5 Schematic structure of the moving mechanism in the present invention Figure 1 ;

[0022] Figure 6 Schematic structure of the moving mechanism in the present invention Figure 2 ;

[0023] Figures 1 to 6 The reference numerals shown in the figure are respectively represented as: 1 - moving mechanism, 2 - manipulator, 3 - variable pitch grasping mechanism, 5 - limit post, 30 - mounting plate, 31 - fixed suction cup assembly, 32 - moving suction cup assembly, 33 - first driving member, 320 - moving suction cup seat, 321 - variable pitch sponge suction cup mounting plate, 322 - suction cup, 324 - photoelectric sheet, 325 - groove type switch, 330 - servo motor, 331 - driving pulley, 332 - driven pulley, 333 - synchronous toothed belt, 334 - belt clamping plate, 35 - first slide rail, 36 - first slider, 37 - pressure switch, 310 - fixed suction cup seat, 311 - fixed suction cup, 312 - porous sponge suction cup, 10 - support frame, 11 - mounting platform, 12 - second driving member, 120 - motor, 121 - planetary gear reducer, 122 - driving wheel, 123 - tensioning wheel, 124 - synchronous belt, 13 - second slide rail, 14 - second slider. Detailed implementation manners

[0024] The principles and features of the present invention will be described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0025] As Figure 1 shown, a flexible grasping device for trademark paper includes a moving mechanism 1, a manipulator 2 slidably arranged on the moving mechanism 1, and a variable pitch grasping mechanism 3 arranged on the manipulator 2. The moving mechanism 1, the manipulator 2, and the variable pitch grasping mechanism 3 are respectively communicatively connected to a control system. The control system adopts a PLC control system or other existing control systems, and is mainly used for automatically controlling each mechanism. The moving mechanism 1 is placed as the base of the flexible grasping device for trademark paper at the corresponding position on the ground, and can drive the manipulator 2 to move at both ends of the moving mechanism 1. After moving to the corresponding positions of the small box trademark paper tray and the strip box trademark paper tray, the small box trademark paper and the strip box trademark paper are respectively grasped. During the grasping process, the variable pitch grasping mechanism 3 is responsible for changing the distance between the suction cups 322 according to the size of the grasping auxiliary materials preset by the program, and through system judgment and control, so as to achieve the functions of grasping and placing the small box trademark paper and the strip box trademark paper.

[0026] As Figures 2 to 4As shown in the figure, the variable pitch grasping mechanism 3 includes a mounting plate 30, a fixed suction cup assembly 31 disposed in the middle of the mounting plate 30, a moving suction cup assembly 32 disposed on both sides of the mounting plate 30 and sliding along the mounting plate 30, and a first driving member 33 disposed on the mounting plate 30 and used to drive the moving suction cup assembly 32 to slide along the mounting plate 30. The mounting plate 30 is cooperatively connected with the manipulator 2. A connecting flange is provided on the mounting plate 30, and the other end of the connecting flange is connected to the manipulator 2. The mounting plate 30 provides an installation space for other parts on the variable pitch grasping mechanism 3. The fixed suction cup assembly 31 is mounted at the middle part of the bottom surface of the mounting plate 30 and is responsible for mounting three groups of suction cups 322 or a group of porous sponge suction cups 312.

[0027] The moving suction cup assembly 32 includes a moving suction cup seat 320 or a variable pitch sponge suction cup mounting plate 321 slidably disposed on the mounting plate 30, multiple groups of suction cups 322 disposed on the moving suction cup seat 320 or a porous sponge suction cup 312 disposed on the variable pitch sponge suction cup mounting plate 321, and a photoelectric sheet 324 disposed on the moving suction cup seat 320 or the variable pitch sponge suction cup mounting plate 321 near one side of the first driving member 33, and the photoelectric sheet 324 is matched with a groove switch 325 disposed on the mounting plate 30. The first driving member 33 includes a servo motor 330, a driving pulley 331 cooperatively connected to the output shaft of the servo motor 330, a driven pulley 332 disposed at the end of the mounting plate 30 away from the driving pulley 331, and a synchronous toothed belt 333 sleeved on the driving pulley 331 and the driven pulley 332. A belt clamp 334 mounted on the moving suction cup seat 320 or the variable pitch sponge suction cup mounting plate 321 on one side of the servo motor 330 is fixed on one side of the circumferential direction of the synchronous toothed belt 333, and a belt clamp 334 mounted on a group of moving suction cup seats 320 or the variable pitch sponge suction cup mounting plate 321 on the side of the driven pulley 332 is fixed on the other side of the circumferential direction of the synchronous toothed belt 333.

[0028] The servo motor 330 is installed on one side of the top surface of the mounting plate 30. A driving pulley 331 is installed on the output shaft of the servo motor 330; a driven pulley 332 is installed on the other side of the bottom surface of the mounting plate 30. The synchronous belt 124 uses a synchronous toothed belt 333. The synchronous toothed belt 333 is sleeved on the brackets of the driving pulley 331 and the driven pulley 332. By means of the slot holes on the mounting plate 30 where the driven pulley 332 is installed, the position of the driven pulley 332 is adjusted to achieve the tensioning of the synchronous toothed belt 333. Two first slide rails 35 are installed on both sides of the long side at the bottom of the mounting plate 30. A set of sliders is sleeved at each end of each first slide rail 35; two first sliders 36 on the same side of the two first slide rails 35 are installed on a moving suction cup seat 320 or a variable pitch sponge suction cup mounting plate 321. A belt clamping plate 334 installed on a set of moving suction cup seats 320 or variable pitch sponge suction cup mounting plates 321 on the side of the servo motor 330 is fixed on one side in the circumferential direction of the synchronous toothed belt 333, and a belt clamping plate 334 installed on a set of moving suction cup seats 320 or variable pitch sponge suction cup mounting plates 321 on the side of the driven pulley 332 is fixed on the other side in the circumferential direction of the synchronous toothed belt 333. A suction cup 322 mounting plate 30 is installed at the bottom of the moving suction cup seat 320, and a set of porous sponge suction cups 312 is installed at the bottom of each variable pitch sponge suction cup mounting plate 321. Three groups of suction cups 322 are installed below the suction cup 322 mounting plate 30. A limit post 5 is installed on the side of the driven pulley 332, which plays a limiting role for the moving suction cup seat 320 or the variable pitch sponge suction cup mounting plate 321, avoiding direct collision with other parts during debugging and resulting in part damage. A photoelectric piece 324 is installed on the moving suction cup seat 320 or the variable pitch sponge suction cup mounting plate 321 on the side of the servo motor 330. When the photoelectric piece 324 is inserted into the groove type switch 325, the system determines that the suction cup 322 is in place and locks the servo motor 330; each group of suction cups 322 or porous sponge suction cups 312 is independently configured with a set of pressure switches 37, which are responsible for detecting the vacuum state of the suction cups 322 or porous sponge suction cups 312.

[0029] Since the belt clamping plates 334 clamp the left and right sides of the synchronous toothed belt 333 respectively, when the servo motor 330 rotates, the suction cups 322 or the porous sponge suction cups 312 on both sides can move simultaneously to both sides or move simultaneously towards the middle. After the manipulator 2 drives the variable pitch grasping mechanism 3 to reach the specified grasping position, when the system identifies that the auxiliary material to be grasped is the small box label paper, the system controls the servo motor 330 to rotate forward, driving the moving suction cup seats 320 or the variable pitch sponge suction cup mounting plates 321 on both sides to move towards the middle to the specified stroke. Then, the manipulator 2 drives the variable pitch grasping mechanism 3 to approach three adjacent groups of small box label papers on the small box label paper auxiliary tray. The suction cup 322 is evacuated. After the pressure switch 37 determines that the vacuum value meets the standard, the manipulator 2 drives the variable pitch grasping mechanism 3 to move the three groups of small box label papers to the placement station. When reaching above the placement station, the control system controls the servo motor 330 to rotate reversely, driving the moving suction cup seats 320 or the variable pitch sponge suction cup mounting plates 321 on both sides to move towards both sides to the preset position, that is, the position where the photoelectric piece 324 is inserted into the groove switch 325. The servo motor 330 is locked. After the manipulator 2 drives the variable pitch grasping mechanism 3 to place the small box label paper on the placement station, the suction cup 322 or the porous sponge suction cup 312 cuts off the vacuum and releases the three groups of small box label papers. When the control system identifies that the auxiliary material to be grasped is the strip box label paper, the system controls the servo motor 330 to rotate forward, driving the moving suction cup seats 320 or the variable pitch sponge suction cup mounting plates 321 on both sides to move towards the middle to the specified stroke. Then, the manipulator 2 drives the variable pitch grasping mechanism 3 to approach a group of strip box label papers on the strip box label paper auxiliary tray. The suction cup 322 is evacuated. After the pressure switch 37 determines that the vacuum value meets the standard, the manipulator 2 drives the variable pitch grasping mechanism 3 to move the strip box label paper to the placement station. The suction cup 322 or the porous sponge suction cup 312 cuts off the vacuum and releases a group of strip box label papers. By repeating this process, the function of grasping both the small box label paper and a group of strip box label papers can be achieved.

[0030] The fixed suction cup assembly 31 includes a fixed suction cup seat 310 and a fixed suction cup 311 or a porous sponge suction cup 312 provided on the fixed suction cup seat 310. The fixed suction cup seat 310 is provided at the middle position of the mounting plate 30.

[0031] As Figures 5 to 6 shown, the moving mechanism 1 includes a support frame 10, a mounting platform 11 slidably arranged on the support frame 10, and a second driving member 12 for driving the mounting platform 11 to slide along the support frame 10. The manipulator 2 is installed on the mounting platform 11. A second slide rail 13 is provided on the support frame 10. The second slide rail 13 is slidably engaged with a second slider 14 provided on the mounting platform 11. Through the cooperation of the second slide rail 13 and the second slider 14, the manipulator 2 slides along the support frame 10 to adjust and change the position according to the usage requirements.

[0032] The second driving component includes a motor 120, a planetary gear reducer 121 arranged at the output end of the motor 120, a driving wheel 122 arranged on the output shaft of the planetary gear reducer 121, and a tensioning wheel 123 connected to the driving wheel 122 through a synchronous belt 124. A synchronous belt connecting plate is arranged at the bottom of the installation platform 11 for connecting the synchronous belt 124 and the installation platform 11. The motor 120 adopts a servo motor. The motor is connected to the planetary gear reducer 121, and the installation surface of the planetary gear reducer 121 is fixed on the installation bracket of the motor 120. The tensioning seat is installed on the other side of the end of the machine frame and is responsible for installing the tensioning wheel 123. A driving wheel is installed on the output shaft of the planetary gear reducer 121 to provide power for the synchronous belt 124, and the tensioning wheel 123 provides a tensioning force for the synchronous belt 124. The second slide rails 13 are installed on both sides of the upper plane of the machine frame and cooperate with the second sliders 14 to provide support and guiding functions for the installation platform 11 of the manipulator 2. Both sides of the bottom of the installation platform 11 of the manipulator 2 are connected to two groups of second sliders 14. A synchronous belt connecting clamp is arranged in the middle of the bottom of the installation platform 11 of the manipulator 2 to connect the synchronous belt 124 and the installation platform 11 of the manipulator 2. Limit posts 5 are installed on both sides of the machine frame to limit the installation platform 11 of the manipulator 2 and avoid direct collision with the machine frame during debugging, resulting in damage to parts.

[0033] The moving mechanism 1 serves as the moving platform of the manipulator 2 and is arranged at the middle position on one side of the small box trademark paper auxiliary material tray and the strip box trademark paper auxiliary material tray. The servo motor 330 rotates to drive the planetary gear reducer 121 to output power to the driving wheel. Then, through the cooperation of the driving wheel and the tensioning wheel 123, circumferential rotation power is provided for the synchronous belt 124. The synchronous belt 124 is clamped by the synchronous belt connecting clamp at the bottom of the installation platform 11 of the manipulator 2, converting the circumferential movement of the synchronous belt 124 into a linear movement of the installation platform 11 of the manipulator 2. The two slide rails on the bracket are for the sliders installed on both sides of the installation bottom plate of the manipulator 2 to provide constraints and support for the linear movement of the installation bottom plate of the manipulator 2. An end fixing plate of the drag chain is installed on the installation platform 11 of the manipulator 2 and cooperates with the end fixing plate of the drag chain installed on one side of the machine frame to fix both ends of the drag chain. During the sliding process of the installation platform 11 of the manipulator 2, the drag chain moves along with the installation platform 11 of the manipulator 2 under the guiding action provided by the drag chain support plate, providing movement constraints for the cable of the manipulator 2 during the movement of the manipulator 2. Each rotating wheel group and moving part in the moving shaft is provided with a guard plate to play a safety protection role and ensure the personal safety of the staff.

[0034] When the system determines to grab the label paper of the small box, the motor rotates forward to drive the moving platform of the manipulator 2 to move to one side of the auxiliary material tray of the small box label paper. During the grabbing process of the manipulator 2, the motor is locked to provide a stable supporting effect for the manipulator 2. After the system determines that the grabbing task of the small box label paper is completed and it is necessary to grab the label paper of the strip box, the motor rotates in reverse to drive the moving platform of the manipulator 2 to move to one side of the auxiliary material tray of the strip box label paper, and so on, to achieve the purpose of the large-range operation of the small six-axis manipulator 2.

[0035] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A flexible grasping device for trademark paper, characterized in that, It includes a moving mechanism (1), a manipulator (2) slidably arranged on the moving mechanism (1), and a variable-pitch grasping mechanism (3) arranged on the manipulator (2). The moving mechanism (1), the manipulator (2), and the variable-pitch grasping mechanism (3) are respectively communicatively connected to a control system; The variable-pitch grasping mechanism (3) includes a mounting plate (30), a fixed suction cup assembly (31) arranged in the middle of the mounting plate (30), moving suction cup assemblies (32) arranged on both sides of the mounting plate (30) and sliding along the mounting plate (30), and a first driving member (33) arranged on the mounting plate (30) and used to drive the moving suction cup assemblies (32) to slide along the mounting plate (30). The mounting plate (30) is cooperatively connected with the manipulator (2).

2. The trademark paper flexible grasping device according to claim 1, wherein The moving suction cup assembly (32) includes a moving suction cup seat (320) or a variable-pitch sponge suction cup mounting plate (321) slidably arranged on the mounting plate (30), multiple groups of suction cups (322) arranged on the moving suction cup seat (320) or a porous sponge suction cup (312) arranged on the variable-pitch sponge suction cup mounting plate (321), and a photoelectric sheet (324) arranged on the moving suction cup seat (320) or the variable-pitch sponge suction cup mounting plate (321) on the side close to the first driving member (33). And the photoelectric sheet (324) is matched with a groove-type switch (325) arranged on the mounting plate (30).

3. The trademark paper flexible gripping device according to claim 2, wherein, The first driving member (33) includes a servo motor (330), a driving pulley (331) cooperatively connected to the output shaft of the servo motor (330), a driven pulley (332) arranged at the end of the mounting plate (30) far from the driving pulley (331), and a synchronous toothed belt (333) sleeved on the driving pulley (331) and the driven pulley (332); A belt clamp (334) mounted on the moving suction cup seat (320) or the variable-pitch sponge suction cup mounting plate (321) on one side of the servo motor (330) is fixed on one circumferential side of the synchronous toothed belt (333), and a belt clamp (334) mounted on a group of moving suction cup seats (320) or the variable-pitch sponge suction cup mounting plate (321) on the side of the driven pulley (332) is fixed on the other circumferential side of the synchronous toothed belt (333).

4. The trademark paper flexible gripping device according to claim 2, characterized in that, A first slide rail (35) is arranged on the mounting plate (30), a first slider (36) is cooperatively sleeved on the first slide rail (35), and the first slider (36) is arranged on the moving suction cup seat (320) or the variable-pitch sponge suction cup mounting plate (321).

5. The trademark paper flexible gripping device according to claim 4, characterized in that, The fixed suction cup assembly (31) includes a fixed suction cup seat (310) and a fixed suction cup (311) or a porous sponge suction cup (312) arranged on the fixed suction cup seat (310). The fixed suction cup seat (310) is arranged at the middle position of the mounting plate (30).

6. The trademark paper flexible gripping device according to claim 5, characterized in that, Each group of the fixed suction cups (311), the suction cups (322), or the porous sponge suction cups (312) is independently configured with a pressure switch (37) for detecting the vacuum state of the suction cups (322) or the porous sponge suction cups (312).

7. The trademark paper flexible grasping device according to any one of claims 1 to 6, characterized in that The moving mechanism (1) includes a support frame (10), a mounting platform (11) slidably arranged on the support frame (10), and a second driving member (12) for driving the mounting platform (11) to slide along the support frame (10). The manipulator (2) is mounted on the mounting platform (11).

8. The trademark paper flexible gripping device according to claim 7, wherein, The second driving assembly (12) includes a motor (120), a planetary gear reducer (121) arranged at the output end of the motor (120), a driving wheel (122) arranged on the output shaft of the planetary gear reducer (121), and a tensioning wheel (123) connected to the driving wheel (122) through a synchronous belt (124). A synchronous belt connecting plate is arranged at the bottom of the mounting platform (11) for connecting the synchronous belt (124) and the mounting platform (11).

9. The trademark paper flexible gripping device according to claim 7, characterized in that, Limit posts (5) are arranged on both sides of the mounting platform (11).

10. The trademark paper flexible grasping device according to claim 7, characterized in that, A second slide rail (13) is arranged on the support frame (10), and the second slide rail (13) is in sliding fit with a second slider (14) arranged on the mounting platform (11).

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