Ribbon shearing machine based on manipulator

Abstract

According to the technical scheme, the cable tie shearing machine is characterized in that the manipulator is provided with a gripper assembly for carrying a carton unit, the gripper assembly is provided with a main plate, and the gripper assembly comprises a baffle vertically and rotatably connected to the main plate and used for blocking and limiting the carton unit in the conveying direction of a conveying belt; the downward pressing part vertically lifts and extrudes the carton unit to loosen the binding belt; the lower roller and the lower groove plate are transversely inserted below the loose cable tie to hoist the cable tie; the upper roller vertically ascends and descends to clamp the binding belt at the lower roller, and the upper roller is provided with a power source for driving the upper roller to rotate to pull the binding belt; the pneumatic scissors vertically ascend and descend to move to the lower groove plate; when the carton units are placed on the conveying belt, the baffles are used for blocking and limiting, the pneumatic scissors cut off the binding belts, the upper roller and the lower roller rotate to pull out the binding belts from the carton units, the baffles are used for blocking and aligning the carton units with the binding belts cut off, so that the cartons placed on the conveying belt are difficult to scatter, and the orderly stacked cartons can be conveniently grabbed one by one behind the conveying mechanism.

Description

Technical Field

[0001] The present invention relates to a cable tie cutting device, and more particularly to a cable tie cutting machine based on a robot. Background Art

[0002] Paper factories use cable ties to bundle packaged cartons into units, and then stack them on pallets for transportation. When the cartons are transported to packaging companies, such as breweries, the bundles of cartons need to be cut with cable ties and placed on conveyor belts. Since the entire conveyor line is in continuous operation, when a unit of loosened cartons is placed on the conveyor belt, the conveyor belt exerts friction on the cartons, causing the stacked cartons to be unstable and fall randomly on the conveyor belt. This makes it difficult for the robot arm to grab the cartons one by one on the conveyor belt. Summary of the Invention

[0003] The purpose of the present invention is to provide a cable tie cutting machine based on a robot, which uses a baffle to align the carton units with cut cable ties, so that the cartons placed on the conveyor belt are difficult to scatter, and it is convenient for the conveying mechanism to grab the neatly stacked cartons one by one.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions: A cable tie cutting machine based on a robot comprises a conveyor belt and a multi-axis rotating robot, the robot is provided with a gripper assembly for carrying a carton unit, the gripper assembly is provided with a main board, comprising: a baffle which is vertically connected to the main board and blocks and limits the carton unit in the conveying direction of the conveyor belt; a lower pressure piece which is vertically lifted and squeezed to squeeze the carton unit to make the cable tie loose; a lower roller and a lower trough plate which are laterally inserted under the loose cable tie to lift the cable tie; an upper roller which is vertically lifted to clamp the cable tie at the lower roller, the upper roller being provided with a power source which drives it to rotate and pull the cable tie; a pneumatic scissor which is vertically lifted to move to the lower trough plate; when the carton unit is placed on the conveyor belt, the baffle is blocked and limited, the pneumatic scissors cut the cable tie, and the upper and lower rollers are rotated to pull the cable tie out of the carton unit.

[0005] Preferably, the vertical baffle is arranged in contact with one side of the cable tie.

[0006] Preferably, the lower roller is fixed with a stop block for limiting the insertion depth of the cable tie in a blocking manner.

[0007] Preferably, the pressing member is a pressing roller, a vertical No. 1 cylinder is fixed on the main board, and the pressing member is fixed on the telescopic end of the No. 1 cylinder.

[0008] Preferably, the main board is fixed with a vertical No. 2 cylinder, and the telescopic end of the No. 2 cylinder is fixed to the connecting plate; the pneumatic scissors are installed on the connecting plate, and the power source and the upper roller are installed on the connecting plate.

[0009] Preferably, the main board is installed with a horizontal cylinder, the telescopic end of the horizontal cylinder is installed with a slider, the slider is installed with a vertical No. 3 cylinder, the telescopic end of the No. 3 cylinder is fixed with an L-plate, and the bent end of the L-plate is fixed with a lower roller and a lower groove plate.

[0010] Preferably, the mainboard is provided with a slide rail for the slider to slide laterally, and the slider slides on the slide rail.

[0011] Preferably, the lower roller and the lower groove plate are both provided with an inclined guide surface at one end inserted into the cable tie.

[0012] Preferably, the main board is rotatably connected to a rotating shaft, and the baffle is fixed to the rotating shaft; a thrust cylinder is installed on the main board, a rack is fixed to the telescopic end of the thrust cylinder, a gear is fixed on the rotating shaft, and the rack and the gear are meshed; the thrust cylinder is extended and retracted to drive the main board to rotate, and the pressure-maintaining thrust cylinder positions the main board at the rotating position.

[0013] Preferably, the main board is provided with a camera capture module for identifying carton units.

[0014] In summary, the present invention has at least one of the following beneficial effects: The rotating baffle is mainly used to position the carton unit partition on the conveyor belt. During the process of cutting and pulling the tie, the baffle is used to limit the carton unit so that it can be neatly and stably positioned on the conveyor belt. The conveyor belt will not cause the carton unit to fall over during transportation.

[0015] The upper roller and the lower roller clamp the cable tie to facilitate lifting the carton unit, and their rotation can pull out the cut cable tie, which has a synergistic effect of lifting and extracting the cable tie. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 2 is a schematic structural diagram of a cable tie cutting machine based on a manipulator in an embodiment; Figure 2 Schematic diagram of the connection between the manipulator and the gripper assembly in the embodiment; Figure 3 is a schematic diagram of a gripper assembly in an embodiment; Figure 4 This is a schematic diagram of the gripper assembly removing the baffle in the embodiment. Figure 1 ; Figure 5 This is a schematic diagram of the gripper assembly removing the baffle in the embodiment. Figure 2 ; Figure 6 This is a schematic diagram of the carton unit grabbing process in the embodiment; Figure 7 is a schematic diagram of a carton unit placed on a conveyor belt in an embodiment; Figure 8 Schematic diagram of the transmission relationship between the power source and the upper roller in the embodiment; Figure 9 Schematic diagram of two baffles vertically spaced on both sides of the main board in an embodiment; Figure 10 Schematic diagram of two baffles deployed laterally on a mainboard in an embodiment.

[0017] In the picture: 1. Conveyor belt; 2. Robotic arm; 3. Gripper assembly; 31. Main board; 4. Baffle; 5. Lower pressure piece; 61. Lower roller; 62. Upper roller; 63. Power source; 64. Stop block; 71. Lower trough plate; 72. Pneumatic scissors; 8. Inclined guide surface; 91, cylinder number one; 92, No. 2 cylinder; 921, connecting plate; 93, No. 3 cylinder; 931, transverse cylinder; 932, L-plate; 933, slider; 934, slide rail; 94, thrust cylinder; 941, rotating shaft; 942, rack; 943, gear; 944, clearance groove; 101. Camera capture module; 001, cable tie; 002, carton unit. DETAILED DESCRIPTION

[0018] The present invention will be further described in detail below with reference to the accompanying drawings.

[0019] Example 1, a cable tie cutting machine based on a manipulator, referring to Figure 1 , including carton units 002 stacked on a pallet, each carton unit 002 is made up of multiple cartons stacked together and tied with a single tie 001; The robot 2 is located between the pallet and the conveyor belt 1. The robot 2 moves the carton unit 002 from the pallet to the conveyor belt 1, and then cuts and pulls out the cable tie 001 on the carton unit 002. The carton unit 002 is neatly stacked for transportation on the conveyor belt 1, which makes it easy for the conveyor belt 1 to grab the transported carton units 002 one by one. The grabbing method at the rear can be sucked by a suction cup, which will not be described in detail here.

[0020] Robot 2 is a five-axis linkage robot 2. Figure 1 The dotted lines in FIG. 1 represent the directions of the five rotation axes of the manipulator 2 .

[0021] The manipulator 2 is equipped with a gripper assembly 3. The five-axis linkage of the manipulator 2 can realize the movement of the gripper assembly 3 up and down, left and right, front and back, as well as the independent rotation of the gripper assembly 3.

[0022] The specific structure of the gripper assembly 3 is as follows: Reference Figure 2-Figure 5 , The gripper assembly 3 is provided with a main board 31, which is fixed to the manipulator 2 by screws; The main board 31 is a metal plate, and an ear seat is provided on one side of the main board 31. The ear seat is rotatably connected to a rotating shaft 941, and a baffle 4 is fixed to the rotating shaft 941; the baffle 4 can be rotated vertically; the baffle 4 can be rotated vertically below the main board 31, and the baffle 4 can also be rotated to be parallel to the main board 31.

[0023] Figure 4 A thrust cylinder 94 is fixed to the lower surface of the main board 31. A rack 942 is fixed to the piston end of the thrust cylinder 94. A gear 943 is fixed to the rotating shaft 941. The rack 942 and the gear 943 are engaged, so that the thrust cylinder 94 extends and retracts to drive the main board 31 to rotate. Figure 3-Figure 4 ,, a clearance groove 944 is opened on the main board 31. When the rack 942 extends outward, the rack 942 is located in the clearance groove 944 to avoid collision between the main board 31 and the rack 942.

[0024] When the main board 31 is in a vertical or horizontal state, the thrust cylinder 94 is in a pressure-maintaining state. At this time, the main board 31 is difficult to rotate freely, and the main board 31 can be positioned in the rotation position.

[0025] Figure 3 On the other side of the main board 31, a camera module 101 for identifying the carton unit 002 is installed. The camera module 101 is a camera. The camera module 101 shoots the carton unit 002 on the pallet so that the robot 2 can accurately grab the carton unit 002. The camera capture module 101 and the baffle 4 are located on both sides of the main board 31 .

[0026] Figure 4 A vertical cylinder No. 1 91 is fixed to the lower surface of the main board 31, and a lower pressure piece 5 is fixed to the lower end of the cylinder No. 1 91. The lower pressure piece 5 is a pressure roller. The pressure roller squeezes the carton unit 002, so that the carton unit 002 is further squeezed and compressed, so that more insertion space is freed up on the upper surface of the cable tie 001 and the carton unit 002.

[0027] Figure 5 , a vertical No. 2 cylinder 92 is fixed to the lower surface of the main board 31, and the No. 2 cylinder 92 is located on one side of the No. 1 cylinder 91; The telescopic end of the second cylinder 92 is fixed with a connecting plate 921; Figure 8In the middle, the connecting plate 921 is respectively fixed with a downward pneumatic scissors 72 and an intermediate box body, a power source 63 is installed in the intermediate box body, and a rotating upper roller 62 is installed at the lower end of the intermediate box body. The power source 63 can drive the upper roller 62 to rotate.

[0028] The power source 63 is a motor, which is installed in the middle box. The motor and the upper roller 62 are linked by a bevel gear 943 group, and the motor can drive the upper roller 62 to rotate.

[0029] Reference Figure 5 Driven by the No. 2 air cylinder 92, the pneumatic scissors 72 and the upper roller 62 move up and down synchronously.

[0030] A transverse cylinder 931 is fixed to the lower surface of the main board 31. A slider 933 is installed at the telescopic end of the transverse cylinder 931. A slide rail 934 is fixed to the lower surface of the main board 31. The track of the slide rail 934 is a straight track. The slider 933 slides on the slide rail 934. A vertical No. 3 air cylinder 93 is installed on the slider 933 , and an L-plate 932 is fixed to the lower telescopic end of the No. 3 air cylinder 93 , and a lower roller 61 and a lower groove plate 71 are fixed to the bent end of the L-plate 932 .

[0031] The lower roller 61 is a rotatable round roller, and the lower roller 61 is a driven roller.

[0032] The upper roller 62 and the lower roller 61 are aligned up and down, and the upper roller 62 can be pressed onto the lower roller 61.

[0033] Reference Figure 4 The lower groove plate 71 is rectangular and has a groove facing the pneumatic scissors 72. The groove is designed to facilitate the pneumatic scissors 72 to cut the cable tie 001 in the groove.

[0034] In order to facilitate the insertion of the lower roller 61 and the lower groove plate 71 under the cable tie 001, an inclined guide surface 8 is provided on one end of the lower roller 61 and the lower groove plate 71 inserted into the cable tie 001.

[0035] A stop block 64 is fixed to the upper end of the lower roller 61. For the cable tie 001 sliding into the lower roller 61, the stop block 64 blocks the cable tie 001 and limits the depth of the cable tie 001 sliding into the lower roller 61; and the stop block 64 is located on one side of the upper roller 62; therefore, when the upper roller 62 and the lower roller 61 are squeezed, the upper roller 62 will not crush the stop block 64.

[0036] When the upper roller 62 and the lower roller 61 clamp the cable tie 001, the two rollers clamp and rotate to pull the cable tie 001. Therefore, when the upper roller 62 and the lower roller 61 rotate around their own rotation axis, the rotation axis is arranged parallel to the baffle 4; Figure 7Therefore, when the baffle 4 is vertical, the baffle 4 is arranged in contact with one side of the cable tie 001. When the cable tie 001 is pulled out, the baffle 4 effectively blocks the carton unit 002.

[0037] Working principle, see Figure 6 , The gripper assembly 3 moves to above the carton unit 002, and the camera capture module 101 photographs the carton unit 002, so that the gripper assembly 3 is aligned with the carton unit 002 below; Then the No. 1 cylinder 91 moves downward, causing the lower pressing member 5 to press the carton unit 002 downward, and more space is created between the carton unit 002 and the cable tie 001; Then, the No. 3 cylinder 93 moves downward, so that the lower roller 61 and the lower groove plate 71 are lower than the cable tie 001. The transverse cylinder 931 is further extended, so that the lower roller 61 and the lower groove plate 71 are inserted under the cable tie 001. Then, the No. 3 cylinder 93 moves upward slightly, so that the cable tie 001 is tightened. Then, the No. 2 air cylinder 92 moves downward, the upper roller 62 and the lower roller 61 clamp the cable tie 001, and the unfolded pneumatic scissors 72 align with the cable tie 001 on the lower groove plate 71, completing the lifting of the carton unit 002 by the gripper assembly 3; Then, the robot 2 rotates and transports the hoisted carton unit 002 to the conveyor belt 1; Then, the baffle 4 is rotated to be vertical, and the baffle 4 blocks one side of the carton unit 002.

[0038] Reference Figure 7 Then the scissors are started to cut the cable tie 001, and the upper roller 62 and the lower roller 61 rotate to pull out the cut cable tie 001. At this time, the carton unit 002 with the cable tie 001 pulled out is neatly placed on the conveyor belt 1 because the moving direction of the conveyor belt 1 is blocked by the baffle 4; Then the baffle 4 rotates upward to a horizontal position, and the carton unit 002 is transported to the subsequent unit.

[0039] The advantage of this solution is that due to the design of the baffle 4, the friction of the tie 001 on the carton during the pulling process will not cause the carton to fall over; The clamping of the upper roller 62 and the lower roller 61 facilitates the lifting of the carton unit 002 on the one hand, and facilitates the subsequent rotation and pulling of the cable tie 001 on the other hand.

[0040] The lower roller 61 and the lower groove plate 71 provide two lifting points for the tie 001, making the carton unit 002 more stable during lifting.

[0041] The downward pressing member 5 takes into account the large gap between stacked cartons. Its downward pressing action creates more space under the inserted cable tie 001, and cooperates with the subsequent upward movement of the No. 2 cylinder 92 to tighten the cable tie 001 during lifting, making the lifting of the carton more stable.

[0042] In this solution, the air cylinder and the pneumatic scissors 72 are supplied with air by hoses, and a large hose margin is left on the manipulator 2, so that the hose will not cause interference during the rotation of the manipulator 2.

[0043] Example 2, a cable tie cutting machine based on a manipulator, which differs from Example 1 in that: Figure 9 and 10, a baffle 4 is also provided on one side of the main board 31 on which the camera capture module 101 is provided, the two baffles 4 are symmetrical with respect to the main board 31, and the two baffles 4 have the same rotational drive mode; the two baffles 4 can play the role of front and rear clamping settings for the carton unit 002, so that the carton unit 002 is more stable on the conveyor belt 1.

[0044] The housing of the camera capture module 101 is provided with a through hole. Figure 10 The middle right rotating shaft 941 can pass through the through hole, so the rotation of the right baffle 4 is not affected.

[0045] Furthermore, the clearance groove 944 of the right baffle 4 provides enough clearance space for the camera capture module 101 , so that the baffle 4 will not collide with the camera capture module 101 during the vertical rotation process of the baffle 4 .

[0046] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A cable tie cutting machine based on a manipulator, comprising a conveyor belt (1) and a multi-axis rotating manipulator (2), wherein the manipulator (2) is provided with a gripper assembly (3) for carrying a carton unit (002), and the gripper assembly (3) is provided with a main board (31), wherein the characteristics are: include: A baffle (4) is vertically rotatably connected to the main board (31) and blocks and limits the carton unit (002) in the conveying direction of the conveyor belt (1); A lower pressing member (5) that vertically lifts and squeezes the carton unit (002) to loosen the cable tie (001); A lower roller (61) and a lower groove plate (71) are inserted laterally below the loose cable tie (001) to lift the cable tie (001); The upper roller (62) is lifted vertically to clamp the cable tie (001) at the lower roller (61), and the upper roller (62) is provided with a power source (63) for driving the upper roller (62) to rotate and pull the cable tie (001); The pneumatic scissors (72) are moved vertically to the lower trough plate (71); When the carton unit (002) is placed on the conveyor belt (1), the baffle (4) is used for blocking and limiting, the pneumatic scissors (72) cut the cable tie (001), and the upper roller (62) and the lower roller (61) rotate to pull the cable tie (001) out of the carton unit (002).

2. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The vertical baffle (4) is arranged to fit one side of the cable tie (001).

3. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The lower roller (61) is fixed with a stop block (64) for limiting the insertion depth of the cable tie (001) in a blocking manner.

4. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The pressing member (5) is a pressing roller, a vertical cylinder (91) is fixed to the main board (31), and the pressing member (5) is fixed to the telescopic end of the cylinder (91).

5. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The main plate (31) is fixed with a vertical No. 2 cylinder (92), and the telescopic end of the No. 2 cylinder (92) is fixed with a connecting plate (921); The pneumatic scissors (72) are mounted on the connecting plate (921), and the power source (63) and the upper roller (62) are mounted on the connecting plate (921).

6. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The main plate (31) is provided with a transverse cylinder (931), a slide block (933) is provided at the telescopic end of the transverse cylinder (931), a vertical No. 3 cylinder (93) is provided on the slide block (933), an L-plate (932) is fixed at the telescopic end of the No. 3 cylinder (93), and a lower roller (61) and a lower groove plate (71) are fixed at the bent end of the L-plate (932).

7. The cable tie cutting machine based on a manipulator according to claim 6, characterized in that: The main board (31) is provided with a slide rail (934) for the slider (933) to slide laterally, and the slider (933) slides on the slide rail (934).

8. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: An inclined guide surface (8) is provided on one end of the lower roller (61) and the lower groove plate (71) inserted into the cable tie (001).

9. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The main board (31) is rotatably connected to a rotating shaft (941), and the baffle (4) is fixed to the rotating shaft (941); The main board (31) is equipped with a thrust cylinder (94), a rack (942) is fixed to the telescopic end of the thrust cylinder (94), a gear (943) is fixed on the rotating shaft (941), and the rack (942) and the gear (943) are meshed; The thrust cylinder (94) is extended and retracted to drive the main plate (31) to rotate, and the thrust cylinder (94) which maintains pressure positions the main plate (31) at the rotation position.

10. The cable tie cutting machine based on a manipulator according to claim 1, characterized in that: The main board (31) is provided with a camera capture module (101) for identifying the carton unit (002).

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