Automatic separating and feeding device for stacked stained paper

Abstract

The invention relates to an automatic separating and feeding device for stacked stained paper. The automatic separating and feeding device comprises an air blowing unit, a stained paper counting unit, a stained paper pile position detecting unit, a stained paper pile height limiting device, a stained paper pile bearing table, a stained paper pile positioning device, a lifting device, a stained paper stripping device, a stained paper pile, a stained paper picking end picker and the like. And the stained paper pick-up tooling is mounted at the tail end of an industrial robot and other operation machines. The blowing unit, the stained paper counting unit, the stained paper pile position detection unit, the stained paper pile height limiting device, the stained paper pile positioning device, the lifting device, the stained paper stripping device, the stained paper pile and other functional units are respectively arranged at corresponding positions in the stained paper pile bearing table unit. Through sequential coordination actions of all the functional units, the industrial robot with a stained paper picking end picker and a suction cup is matched to act, and the functions of feeding single stained paper of a stacked stained paper pile in a separated mode and automatically stripping the adhered redundant stained paper are automatically achieved.

Description

Technical Field

[0001] The present invention relates to the field of automated production, and in particular to an automated sheet-feeding device and production equipment for stacked flower paper. Background Art

[0002] Reliably separating a single sheet of decal or paper from a stack of paper is a widespread need in packaging, banknotes, decoration, and other fields. From an automation perspective, separating soft paper, especially irregularly shaped sheets with rough edges, from a stack is a challenging task. This process is typically performed manually, which is not only labor-intensive but also poses health risks to workers due to the chemicals used in decal printing and dyeing, unsanitary conditions, and other factors.

[0003] Currently, the most common paper separation equipment includes banknote sorters and printing presses, most of which use friction to separate sheets. Some banknote stacks are stored vertically, while many printing presses use stacking or negative pressure suction to separate individual sheets. However, a common characteristic of these devices is their complex mechanisms and high cost.

[0004] The challenges of automated sheet sorting technology include the tendency for stacks of paper to randomly stick together during the sorting process. Failure to effectively address this problem can cause automated production line downtime. Unlike banknote sorters, paper used in many industrial packaging and decorative applications often requires less precise and consistent cutting in upstream processes, exacerbating the potential for sticking. Furthermore, the sheer variety of paper sizes and shapes in these applications creates a challenge in adapting automated equipment to multiple tasks.

[0005] In view of the fact that random separation and adhesion of decal paper are prone to occur during the automated manufacturing process, and that decal paper has many types and a wide range of shapes and sizes, the present invention proposes a solution for separating the sheets by stacking flexible decal paper based on the principle of air blowing and negative pressure separation. This solution has been verified through experiments and actual production and can better meet the actual needs of automated production. Summary of the Invention

[0006] The present invention aims to provide automated decal paper separation and loading production equipment, comprising a workbench unit, an air blowing unit, a decal paper counting unit, a decal paper stack position detection unit, a decal paper stack height limiter, a decal paper stack support platform, a decal paper stack positioning device, a lifting device, a decal paper peeling device, and a decal paper stack and decal paper pickup device. Each functional unit coordinates its own processes and overall timing, and, in conjunction with an industrial robot or other operating device, the equipment automatically separates and loads individual decal paper sheets from a stack.

[0007] The specific scheme of the present invention is:

[0008] The paper picking end picker unit is mounted on the end of an industrial robot or other working machine via a connecting flange and a set of screws. The air blowing unit, paper counting unit, paper stack position detection unit, paper stack height limiter, paper stack positioning device, lifting device, paper peeling device, and paper stack are each screwed and arranged in an orderly manner on the paper stack support platform, which is mounted on the workbench. When starting work, the position and size of each unit are reasonably arranged and arranged according to the actual shape and size of the decals, the weight of a single decal, etc., and compressed air is connected to the air blowing nozzle. By controlling the position and angle of the air blowing as well as the air volume and frequency, the decals in the target decal pile are blown up. Under the physical and mechanical coordination of the decal pile position detection unit, the decal pile height limiting device, the decal pile positioning device, the decal peeling device, etc., the second and multiple decals in the decal pile are automatically dropped back onto the decal pile, so that the single decal on the top of the decal pile is sucked up by the suction cup of the end picker and separated from the decal pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of the overall functional unit structure of the device;

[0010] Figure 2 Schematic diagram of the overall structure of the device;

[0011] Figure 3 It is a structural schematic diagram of the blowing device of the device;

[0012] Figure 4 is a schematic diagram of an end effector of the device;

[0013] Figure 5 A schematic diagram of a paper flower counting device of the device;

[0014] Figure 6 Schematic diagram of the device for detecting the height of a flower paper stack;

[0015] Figure 7 A schematic diagram of a working table device of the device;

[0016] Figure 8 A schematic diagram of a device for positioning a flower paper stack;

[0017] Figure 9 A schematic diagram of a lifting device for the device;

[0018] Figure 10 A three-dimensional schematic diagram of the overall structure of the device;

[0019] Figure 11 The following are photos of the implementation of the device.

[0020] in: - air blowing device, - Flower paper picking end picker, - Paper flower counting device, -Devices for detecting the position of flower paper piles, -Height limit device for flower paper stack, - workbench, -Paper stack positioning device, -Paper flower carrier, -Decoration paper peeling device, - Paper stack, 101-Blowing nozzle horizontal adjustment bracket, 102-Blowing nozzle height adjustment bracket, 103-Trachea, 104-Blowing nozzle bracket, 105-Blowing nozzle tightening nut 1, 106-Blowing nozzle tightening nut 2, 107-Blowing nozzle, 108-Blowing nozzle mounting plate, 109-Blowing nozzle mounting block, 201-Suction cup screw, 202-Flange, 203-Suction cup mounting plate, 204-End picker frame, 205-Suction cup, 206-Suction cup bracket, 207-Nut 1, 208-Nut 2, 301-Nut 2, 302-Bracket, 303-Nut 1, 304-Paper counting sensor, 401-Position sensor Sensor 1, 402-bracket, 403-position sensor 2, 501-decoration paper stack height limit spring, 601-workbench, 60101-first guide hole, 60102-second guide hole, 701-limit rod, 702-fastening screw, 703-guide rail, 704-slider, 705-mounting block, 801-decoration paper loading plate, 802-guide rod, 80201-first guide rod, 80202-first guide rod, 803-guide sleeve, 80301-first guide sleeve, 80302-second guide sleeve, 804-screw nut, 805-screw, 901-decoration paper peeling spring, 1001-decoration paper stack.

[0021] Beneficial effects

[0022] Compared with the prior art, the technical solution of the present invention has the following characteristics:

[0023] (1) Realize simple, reliable, and low-cost automated operations: In the field of automation, soft, irregular materials with poor cutting precision consistency are generally considered difficult to operate. The automated separation of a stack of decals is a difficult problem. The solution of the present invention only requires a few simple components and does not require high manufacturing precision. It can reliably realize the automated separation of soft flat decals.

[0024] (2) High flexibility and adaptability: By combining and adjusting simple components, it can be expanded to be used in the separation of flat decals of various shapes and sizes.

[0025] (3) Upgrading the production line can significantly reduce the equipment investment cost: This solution is simple in technology and low in cost, and can significantly reduce the cost of equipment investment such as auxiliary tooling and product conversion required for the automation of flower paper production. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0027] See Figure 1-11 As shown, the present invention provides an automatic decal paper sheeting and feeding device and its technical solution, including a workbench unit and installed on the workbench unit Air blowing device Decal paper counting device Flower paper pile position detection device Height limit device for paper stack Decorative paper stack positioning device Decal paper carrier Decal paper peeling device Paper flower stack and flower paper pickup end picker

[0028] The workbench unit As the frame of the entire equipment, the flower paper bearing unit Integrally mounted on the workbench unit On the flower paper stack Placed on the paper carrier unit On the top, the flower paper stack positioning device And blowing device Decal paper counting device Flower paper pile position detection device Height limit device for paper stack And flower paper peeling device are respectively arranged on the flower paper supporting platform unit around and installed on the workbench unit superior.

[0029] In this embodiment, see Figure 2 and Figure 7 , the workbench unit It consists of a workbench 601, on which corresponding positions are processed a center hole, a slot, a screw hole, etc., for installing the device in addition to the workbench unit. The workbench unit Mounting holes are also processed on the workbench 601 for connecting the workbench 601 with corresponding supporting legs (not shown) to form a whole frame of the entire device.

[0030] In this embodiment, see Figure 2 、 Figure 7 and Figure 9 , the flower paper carrying platform unit The system includes a decal carrier plate 801, a guide rod 802, a guide sleeve 803, a lead screw nut 804, and a lead screw 805. The lead screw nut 804 is T-shaped and passes through the center hole of the workbench 601. It is fixed to the workbench 601 via six screw holes provided on the end cap of the lead screw nut 804. The lead screw 805 passes through the lead screw nut 804 and engages with it. The top of the lead screw 805 is machined with a circular boss that fits into the center hole of the decal carrier plate 801. The guide rod 802 includes a first guide rod 80201 and a second guide rod 80202. The guide sleeve 803 includes a first guide sleeve 80301 and a second guide sleeve 80302. The first and second guide sleeves 80301 and 80302 are T-shaped and pass through corresponding first and second guide holes 60101 and 60102 on the workbench 601. They are each screwed to the workbench 601 via two screw holes provided on the end caps of the first and second guide sleeves 80301 and 80302. The first and second guide rods 80201 and 80202 are each mounted on the first and second guide sleeves 80301 and 80302, respectively. The decal carrier 801 is a disc-shaped workpiece with stepped holes corresponding to the first and second guide rods 80201 and 80202. The top ends of the first and second guide rods 80201 and 80202 are each machined with a circular boss with a central threaded hole. These bosses fit into corresponding holes in the decal carrier 801 and are fastened together with screws.

[0031] In this embodiment, see Figure 2 and Figure 8 , the flower paper stack positioning device It includes a limiting rod 701, a fastening screw 702, a guide rail 703, a slider 704, and a mounting block 705. The guide rail 703 is installed in the guide rail groove of the workbench 601 by a set of screws. The slider 704 is fixed to the guide rail 703 by screws. The mounting block 705 is fixed to the slider 704 by screws. The fastening screw 702 is screwed onto the mounting block 705. One end of the limiting rod 701 has a thread, which is tightened to the mounting block 705 through the thread. There are 2 or more sets, which are distributed on the paper bearing platform according to the shape requirements of the paper. and are fixedly mounted on the workbench 601 respectively.

[0032] In this embodiment, see Figure 2 and Figure 3 , the blowing device The air blowing nozzle assembly includes a horizontal adjustment bracket 101, a height adjustment bracket 102, an air pipe 103, an air blowing nozzle bracket 104, an air blowing nozzle tightening nut 105, an air blowing nozzle tightening nut 206, an air blowing nozzle 107, an air blowing nozzle mounting plate 108, and an air blowing nozzle mounting block 109. The air blowing nozzle mounting plate 108 is an L-shaped bent sheet metal part with two wing surfaces, one of which has a mounting hole machined thereon. The air blowing nozzle 107 is tightened and mounted to the mounting hole on the wing surface of the air blowing nozzle mounting plate 108 by tightening the air blowing nozzle tightening nut 206 and the air blowing nozzle tightening nut 105. The air pipe 103 is inserted into the tail port of the air blowing nozzle 107. The other wing surface of the air blowing nozzle mounting plate 108 has a mounting hole, which is fastened to the corresponding screw hole on the side end of the air blowing nozzle mounting block 109 by screws. The front of the nozzle mounting block 109 has a screw hole through which a bolt rod passes and is locked with a nut in the slot of the nozzle horizontal adjustment bracket 101. The nozzle horizontal adjustment bracket 101 is screwed to the nozzle height adjustment bracket 102, which is screwed to the nozzle bracket 104. The nozzle bracket 104 is also screwed to the workbench 601.

[0033] In this embodiment, see Figure 2 and Figure 5 , the flower paper counting device The device includes a second nut 301, a bracket 302, a first nut 303, and a decal counting sensor 304. The bracket 302 is an L-shaped bent sheet metal part with two wing surfaces. One wing surface is machined with a screw mounting hole, which is used to mount the bracket 302 on the workbench 601. The other wing surface is machined with a long hole, through which the decal counting sensor 304 passes. The second nut 301 and the first nut 303 are used to fix the sensor to the long hole in the bracket 302.

[0034] In this embodiment, see Figure 2 and Figure 6 , the paper stack position detection device It includes position sensor 1 401, bracket 402, and position sensor 2 403. Bracket 402 is an L-shaped bent sheet metal part with two wing surfaces. One of the wing surfaces is machined with a screw mounting hole, and the bracket 402 is mounted on the workbench 601 by screws. The other wing surface is machined with a long hole, and position sensor 1 401 and position sensor 2 403 pass through the long hole and are fixed by screws at two positions above and below the long hole of the bracket 402.

[0035] In this embodiment, see Figure 2 and Figure 4 , the flower paper picking end picker It includes a suction cup screw 201, a flange plate 202, a suction cup mounting plate 203, a crossbeam 204, a suction cup 205, a suction cup frame 206, a nut 1 207 and a nut 208. The crossbeam 204 is composed of one or more and the flange plate 202 through screws to form a paper picking end picker. The structural frame of the device is provided with a mechanical interface for external equipment such as a robotic arm on the flange plate 202. The suction cup mounting plate 203 is provided with a center hole, screw holes and positioning slots, and is mounted on the crossbeam 204 through the positioning slots and screws. The suction cup screw 201, the suction cup frame 206 and the suction cup 205 are assembled together to form a suction cup. The suction cup screw 201 passes through the center hole on the suction cup mounting plate 203 and is fastened to the suction cup mounting plate 203 by nuts 1 207 and 208. It includes a group of suction cups, which are composed of one or more suction cups. The example in the figure shows an end picker composed of a group of four suction cups.

[0036] Each unit automatically realizes the function of loading the flower paper sheets by coordinating the actions of the end picker and the suction cup driven by an industrial robot or other operating machine through overall and individual timing coordination.

[0037] In this embodiment, see Figures 1-9 The decal paper stack 1001 is placed on the decal paper carrier 801, and the lead screw 805 is rotated manually or automatically to drive the decal paper carrier 801 and the guide sleeve 803 to move up and down, and the decal paper carrier 801 is adjusted to an appropriate height. The lead screw 805 has a self-locking function to lock the decal paper carrier 801 at the selected height.

[0038] Manually or automatically tighten the fastening screw 702 to loosen it, manually or automatically adjust the position of the mounting block 705 on the slider 704 to position the limiting rod 701 in a suitable position relative to the paper stack 1001, manually or automatically tighten the fastening screw 702 to tighten it, and thus secure the mounting block 705 and the slider 704 relative to the guide rail 703. Adjust all the paper stack positioning devices in this manner. The flower paper stack positioning device A group may consist of 2 or more devices, such as a group of 4 devices in this example.

[0039] The height of the paper decal counting sensor 304 fastened to the long hole of the bracket 302 is manually or automatically adjusted so that the paper decal counting sensor 304 is at a suitable height and distance above the highest point of the paper decal pile. The paper decal counting sensor 304 is used to detect the number of paper decals passing through the sensitive area of ​​the paper decal counting sensor 304, thereby realizing paper decal counting.

[0040] Manually or automatically adjust the height of the position sensor 1 401 and the position sensor 2 403 fastened to the long hole of the bracket 402, so that 403 is at a suitable height and distance position above the highest point of the flower paper pile, for measuring the height limit position of the flower paper pile, and so that the position sensor 1 401 is at a suitable height and distance position slightly above the lowest point of the flower paper pile, for measuring the low position of the flower paper pile.

[0041] Manually or automatically adjust the front-to-back position of the blow nozzle mounting block 109, where it is fastened to the elongated hole of the blow nozzle horizontal adjustment bracket 101, to ensure that the blow nozzle 107 is at an appropriate distance from the paper stack. Manually or automatically adjust the height of the blow nozzle height adjustment bracket 102, where it is screwed to the blow nozzle bracket 104, to ensure that the blow nozzle 107 is at an appropriate height. Manually or automatically adjust the screwed position of the blow nozzle 104 on the workbench 601 and its angle relative to the paper stack 1001, to ensure that the blow nozzle 107 is in an appropriate position relative to the paper stack 1001. By adjusting the fastening screws of the blow nozzle mounting plate 108 and the blow nozzle mounting block 109 and adjusting the relative angle between the blow nozzle mounting plate 108 and the blow nozzle mounting block 109, the blowing angle of the blow nozzle 107 relative to the paper stack 1001 is adjusted. This, combined with the combination of adjusting the blowing volume and time of the blow nozzle 107, achieves the paper separation function.

[0042] When starting to work, the blowing nozzle 107 adjusts the position and angle according to the target paper stack 1001, and blows air to the target paper stack 1001 at a certain blowing volume and frequency. Under the action of the airflow, the paper stack 1001 floats up, and the top single paper floats to the height limited by the paper stack height limit spring 501. At this time, the paper picking end picker Driven by a robot arm or other working machine, it reaches the top of the paper pile and moves downward, pressing the blown paper onto the paper carrier 801. Due to the presence of a set of limit rods 701, the paper can only move up and down within the area enclosed by the limit rods 701. The suction cup group will suck up the top single piece of decal paper, and the robotic arm will drive the end picker and the top single piece of decal paper to move upward. Due to the static friction between the decal papers, the second or even multiple decal papers will also be brought up together. When the multiple decal papers move to the decal paper peeling device, When the decal sheet peeling spring 901 reaches its height, it mimics the twisting action of a human finger. The negative pressure applied by the suction cup 205 overcomes the resistance of the movement and continues to rise through the decal sheet peeling spring 901. The second decal sheet and the subsequent decal sheets, lifted up, fall due to the sliding resistance exerted by the decal sheet peeling spring 901. Constrained by a set of limit rods 701, the lifted second decal sheet and the subsequent decal sheets fall back onto the original stack, thus achieving automatic decal sheet separation. The robotic arm then guides the single decal sheet to the target location, completing the decal sheet separation cycle.

[0043] The device can be used to position the flower paper stack The design and arrangement of the number and position of the blowing device Decal paper counting device Flower paper pile position detection device Height limit device for paper stack Decal paper peeling device The layout position, height, angle, and paper decoration platform Size, pick-up end picker The size of the paper can be coordinated to adapt to the sheeting operation of various sizes and flat paper.

[0044] Figure 10 3D schematic diagram of the entire device. Figure 11 The left and right figures respectively show the actual production effects of two kinds of flower papers with different shapes and sizes.

Claims

1. An automatic sheet-feeding device for stacked decal paper, characterized by: It includes a workbench unit, and an air blowing device, a flower paper counting device, a flower paper pile position detection device, a flower paper pile height limiting device, a flower paper pile positioning device, a flower paper pile supporting platform unit, a flower paper peeling device, a flower paper pile and a flower paper picking end picker installed on the workbench unit.

2. The automatic stacking and loading device for decals according to claim 1, characterized in that: The flower paper stack is placed on the flower paper loading plate, and the flower paper stack positioning device, blowing device, flower paper counting device, flower paper stack position detection device, flower paper stack height limiting device and flower paper peeling device are respectively arranged around the flower paper loading platform unit and installed on the workbench unit.

3. The automatic stacking and loading device for decals according to claim 1 is characterized by: The flower paper stack supporting platform unit includes a flower paper loading plate, a guide rod, a guide sleeve, a screw nut and a screw; the flower paper stack positioning device includes a limit rod, a fastening screw, a guide rail, a slider and a mounting block; there are multiple sets of flower paper stack positioning devices; different flower paper stack positioning devices can be selected according to the shape requirements of the flower paper to be arranged around the flower paper supporting platform unit and each of them is fixedly mounted on the workbench.

4. The automatic stacking and loading device for decals according to claim 1 is characterized by: The automatic decal paper separating and loading device includes an air blowing device with adjustable position and angle, a decal paper peeling device, a decal paper stack height limiting device, a decal paper counting device, and a decal paper stack position detection device, which together realize the automatic separation of individual decal paper stacks and the automatic falling back of stuck decal papers.

5. The automatic stacking and loading device for decals according to claim 1 is characterized by: The device is designed to perform sheet separation operations for flat paper of various sizes and shapes by designing the number and position arrangement of the paper stack positioning devices, adjusting the position and angle of the paper peeling device, the size of the paper carrying platform, and the size of the paper picking-up end picker, and assisted by the coordinated work of the air blowing device, the paper stack counting device, the paper stack position detection device, and the paper stack height limiting device.

6. The automatic stacking and loading device for decals according to claim 1 is characterized in that To complete the paper separation operation, the air blowing nozzle (107) adjusts the position and angle according to the target paper stack (1001), and blows air to the target paper stack (1001) at a certain air volume and frequency. Under the action of the airflow, the paper stack (1001) separates the paper and floats the paper up, and the top single paper floats to the height limited by the paper stack height limiting spring (501). Driven by the robot arm operation machine, the paper picking end picker (2) reaches the top of the paper stack and moves downward to press the blown paper onto the paper loading plate (801). Due to the presence of a set of limit rods (701), the paper can only move up and down within the restricted area surrounded by the set of limit rods. The suction cup group of the paper picking end picker (2) moves to suck up the top single paper, and the robot arm drives the end picker and the top single paper to move upward. There is electrostatic friction between the decals, so the second or even more decals will be lifted up and move upward together; when the multiple decals move to the height of the decal peeling spring (901) of the decal peeling device (9), the decal peeling spring (901) imitates the twisting action of human fingers, and the top single decal continues to rise through the decal peeling spring (901) due to the negative pressure applied by the suction cup (205) to resist the sliding resistance, while the second decal and the multiple decals below it fall due to the sliding resistance applied by the decal peeling spring (901); due to the restriction of a set of limit rods (701), the second decal and the multiple decals below it fall onto the original decal pile, thereby realizing automatic separation of the decals; then, the robotic arm drives the single decal to the target position, completing a single operation of separating and taking the decals.

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