Box leather pre-folding device suitable for mechanical arm to grab box leather
By using the pre-folding device of the cylinder and suction cup assembly when the manipulator of the carton sealing machine grabs the carton, the problem that the carton cannot be slightly opened leading to molding failure is solved, and effective pre-folding and forming of the carton is achieved, improving the efficiency of the carton. Product quality and equipment efficiency.
Patent Information
- Application Number
- CN202421241046.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-31
- Publication Date
- 2025-01-24
- Estimated Expiration
- 2034-05-31
AI Technical Summary
When the box sealer uses a six-axis robot to grab the box skin, some box skins cannot be slightly opened due to shallow creases, internal vacuum cavity or tape adhesion, which causes the robot folding edge plate to fold the box skin. The anti-parallelogram mechanism of the box skin appears, causing the box skin to be not folded into a "mouth" shape, but folded into a "clang" shape, which in turn causes the box skin to be formed to fail.
Design a box skin pre-folding device, which includes a cylinder and a suction cup assembly. The cylinder is fixed on the cylinder bracket, and the top of the cylinder is connected to the suction cup assembly. When the manipulator grabs and lifts the box skin, the cylinder drives the suction cup assembly to move upward to suck the bottom of the box skin to complete the pre-folding of the box skin.
By premier folding when the robotic hand is grasped, the failed failure of the box molding is avoided, and the effective operating rate of product quality and equipment is improved.
Smart Images
Figure CN222388455U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of cigarette carton sealing machine case skin folding, and particularly relates to a case skin pre-folding device suitable for a manipulator to grab the case skin. Background Technique
[0002] The statements herein only provide the background technique related to the utility model, and do not necessarily constitute the prior art.
[0003] The carton sealing machine uses a six-axis manipulator to grab the case skin. The manipulator fixture自带 four large suction cups in the middle to adsorb the large sides of the carton. After the manipulator grabs the case skin to a certain height, the bottom of the case skin slightly opens due to gravity, and then the folding plate moves towards the middle to fold and form the carton. During the production process, it is found that for some case skins, due to shallow creases, or the formation of a vacuum cavity inside the case skin, or due to tape adhesion, etc., after the case skin is grabbed and lifted by the manipulator, it cannot slightly open by its own gravity. Therefore, when the folding plate of the manipulator folds the case skin, the case skin will have an anti-parallelogram mechanism action, resulting in the case skin not being folded into a "mouth" shape, but being folded into a "乛" shape, which causes the case skin forming to fail. Summary of the Utility Model
[0004] Aiming at the deficiencies of the prior art, the purpose of the utility model is to provide a case skin pre-folding device suitable for a manipulator to grab the case skin, which can complete the pre-folding of the case skin during the process of the manipulator grabbing and lifting the case skin.
[0005] In order to achieve the above purpose, the utility model is realized by the following technical solutions:
[0006] In a first aspect, the utility model provides a case skin pre-folding device suitable for a manipulator to grab the case skin, including a cylinder, the cylinder is fixed to a cylinder bracket, and the top of the cylinder is connected to a suction cup assembly; the cylinder bracket includes an L-shaped bracket, the L-shaped bracket includes a connected horizontal plate and a vertical plate, the cylinder is fixed to the horizontal plate, and the vertical plate and a connecting plate are fixedly connected.
[0007] As a further technical solution, the horizontal plate is provided with a first long hole, two first long holes are provided, the bottom of the cylinder is placed on the surface of the horizontal plate, and the bottom of the cylinder and the horizontal plate are fixedly connected by a first fastener, and the first fastener passes through the first long hole.
[0008] As a further technical solution, the vertical plate and the connecting plate are connected by a second fastener; the vertical plate is provided with a second long hole, the connecting plate is provided with a first connection hole, and the second fastener passes through the first connection hole and the second long hole.
[0009] As a further technical solution, the connecting plate is provided with a second connecting hole, and a connecting piece is passed through the second connecting hole of the connecting plate to fix the connecting plate and the bottom cross beam of the carton sealing machine.
[0010] As a further technical solution, the bottom crossbeam of the carton sealing machine is fixed to the bottom of the bottom plate, and the cylinder and suction cup assembly are placed under the bottom plate.
[0011] As a further technical solution, the suction cup assembly is arranged corresponding to the hole of the bottom plate.
[0012] As a further technical solution, a photoelectric sensor is fixedly arranged at a setting position of the bottom plate, and the photoelectric sensor is connected to the controller.
[0013] As a further technical solution, a negative pressure solenoid valve is provided at the suction cup assembly, the suction cup assembly is connected to the negative pressure source, the negative pressure solenoid valve is provided on the pipeline between the suction cup assembly and the negative pressure source, and the negative pressure solenoid valve is connected to the controller.
[0014] As a further technical solution, the cylinder is provided with a positive pressure solenoid valve, and the positive pressure solenoid valve is connected to a controller.
[0015] As a further technical solution, the suction cup assembly adopts a multi-layer suction cup; a reinforcing rod is connected between the horizontal plate and the vertical plate, and the reinforcing rod is arranged obliquely.
[0016] The beneficial effects of the above utility model are as follows:
[0017] The device of the utility model connects the cylinder bracket to the bottom of the bottom plate of the carton sealing machine, and the cylinder can drive the suction cup assembly to move up and down. When the robot grabs the box skin and lifts it, the cylinder drives the suction cup assembly to move up and suck the bottom of the box skin, so as to complete the pre-folding of the box skin, and cooperate with the folding plate of the carton sealing machine to fold the box skin, thus avoiding the failure of pushing cigarettes into the box due to the failure of box skin forming, thereby improving product quality and the effective operation rate of equipment.
[0018] The device of the utility model installs the suction cup assembly on the top of the cylinder piston rod, and the suction cup is driven to rise and fall by the action of the cylinder, which will not affect the normal pushing of the box skin.
[0019] The device of the utility model can change the corresponding installation position by setting the first long hole and the second long hole on the L-shaped frame, so as to be more suitable for the installation of the corresponding working scene. In addition, two first long holes are set on the transverse plate, and the cylinder is connected to the two first long holes through the first fasteners to enhance the installation stability. At the same time, the positions of the first fasteners in the two first long holes can be staggered, so that the cylinder can be installed symmetrically and more firmly.
[0020] The device of the utility model is provided with a photoelectric sensor, a controller, a positive pressure solenoid valve and a negative pressure solenoid valve. The controller can automatically control the actions of the cylinder and the suction cup assembly. When the photoelectric sensor senses the box skin, the cylinder moves the suction cup assembly to rise, and the negative pressure is opened at the same time, so that the suction cup assembly sucks the box skin; when the photoelectric sensor cannot sense the box skin, the cylinder moves to descend, and the negative pressure is closed at the same time, releasing the box skin. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.
[0022] Figure 1 This is a schematic diagram of a box skin pre-folding device suitable for a robot to grab a box skin according to one or more embodiments of the utility model.
[0023] Figure 2 is a schematic diagram of an L-shaped frame according to one or more embodiments of the present invention;
[0024] Figure 3 is a schematic diagram of a connection plate according to one or more embodiments of the present invention;
[0025] Figure 4 It is a schematic diagram of installation and use of a box skin pre-folding device suitable for a robot to grab a box skin according to one or more embodiments of the utility model;
[0026] In the figure: 1. Cylinder bracket, 2. Suction cup assembly, 3. Cylinder, 4. Bottom beam, 5. Bottom plate, 6. Drilling;
[0027] 11. L-shaped frame, 12. connecting plate, 111. horizontal plate, 112. vertical plate, 113. first long hole, 114. first fastener, 115. reinforcing rod, 116. second long hole, 117. second fastener, 121. first connecting hole, 122. second connecting hole.
[0028] In order to show the positions of various parts, the distances or sizes between them are exaggerated and the schematic diagram is for reference only. DETAILED DESCRIPTION
[0029] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.
[0030] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless otherwise explicitly stated in the present invention, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or their combinations;
[0031] For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, they only indicate that they are consistent with the up, down, left and right directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.
[0032] Terminology explanation section: If the terms "install", "connect", "connect", "fixed" and so on appear in the present invention, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements, or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.
[0033] In a typical implementation of the present invention, Figure 1 As shown, a box skin pre-folding device suitable for a robot to grab a box skin is proposed, comprising a cylinder bracket 1, a cylinder 3 and a suction cup assembly 2, wherein the cylinder 3 is fixed to the cylinder bracket 1, and the cylinder 3 is connected to the suction cup assembly 2.
[0034] Among them, Figure 1-Figure 3 As shown, the cylinder support 1 includes an L-shaped frame 11 and a connecting plate 12. The L-shaped frame 11 includes a horizontal plate 111 and a vertical plate 112 connected to each other, and the horizontal plate 111 and the vertical plate 112 are vertically connected to form an L-shaped structure; the cylinder 3 is fixed to the horizontal plate 111, and the vertical plate 112 and the connecting plate 12 are fixedly connected.
[0035] Specifically, the transverse plate 111 is provided with a first elongated hole 113, and the first elongated hole 113 is provided in the transverse direction. Two first elongated holes 113 can be provided in parallel, and the bottom of the cylinder 3 is placed on the surface of the transverse plate, and the bottom of the cylinder 3 and the transverse plate 111 are fixedly connected by a first fastener 114, and the first fastener is provided through the first elongated hole. By providing the first elongated hole, the connection position of the cylinder on the transverse plate can be changed, and then its position can be adjusted to be more suitable for installation in corresponding working scenes. In addition, two first elongated holes are provided in the transverse plate, and the cylinder is connected to the two first elongated holes by first fasteners such as bolts to enhance the installation stability. At the same time, the positions of the first fasteners in the two first elongated holes can be staggered, so that the cylinder can be installed symmetrically and more stably.
[0036] In a preferred embodiment, a reinforcing rod 115 is connected between the transverse plate 111 and the vertical plate 112 , and the reinforcing rod is arranged at an angle to improve the structural strength of the L-shaped frame.
[0037] Furthermore, the vertical plate 112 and the connecting plate 12 can be fixedly connected by a second fastener 117; the vertical plate 112 has a second long hole 116, and the connecting plate 12 has a first connecting hole 121, the first connecting hole 121 corresponds to the second long hole 116, and the second fastener 117 passes through the second long hole 116 and the first connecting hole 121 to fix the vertical plate and the connecting plate. A plurality of second fasteners can be provided to enhance the connection stability. Due to the provision of the second long hole, the installation position of the connecting plate can be adjusted as needed, thereby being more suitable for the corresponding installation scenario.
[0038] The connecting plate 12 is a planar plate-shaped structure, and a second connecting hole 122 is also provided on the connecting plate 12. The connecting plate 12 is installed at the bottom crossbeam 4 of the carton sealing machine. A bolt or other connecting member can be inserted into the second connecting hole 122 to fix the connecting plate 12 and the bottom crossbeam 4. A plurality of second connecting holes can be provided, which are staggered up and down, and the connection is more stable. The bottom crossbeam 4 of the carton sealing machine is fixed to the bottom of the bottom plate 5, and the cylinder and the suction cup assembly are placed under the bottom plate. The L-shaped frame can provide sufficient installation space for the cylinder and the suction cup assembly.
[0039] In order to facilitate the suction cup assembly to absorb the box skin, the suction cup assembly 2 is correspondingly arranged at the perforation 6 of the bottom plate 5, and the suction cup assembly can absorb the box skin through the perforation.
[0040] Among them, the bottom of the suction cup assembly 2 is fixedly arranged on the action execution end of the cylinder 3, that is, the top of the telescopic rod of the cylinder is connected to the suction cup assembly, driving the suction cup assembly to move up and down without hindering the pushing of the box skin.
[0041] In this embodiment, the suction cup assembly uses a multi-layer suction cup.
[0042] A negative pressure solenoid valve is arranged at the suction cup assembly 2, the suction cup assembly is connected to the negative pressure source, the negative pressure solenoid valve is arranged on the pipeline between the suction cup assembly and the negative pressure source, the negative pressure solenoid valve is connected to the controller, and the controller sends a signal to the negative pressure solenoid valve to control the on and off of the negative pressure of the suction cup assembly, so as to realize the suction cup assembly to suck or release the box skin.
[0043] Furthermore, the cylinder 3 is provided with a positive pressure solenoid valve, which is connected to a controller, and the controller sends a signal to the positive pressure solenoid valve to control whether the cylinder is actuated or not.
[0044] Furthermore, the bottom plate 5 is provided with a fixed photoelectric sensor at a set position, such as by installing the photoelectric sensor at the rear of the bottom plate through bolts and brackets; the photoelectric sensor is connected to the controller, the photoelectric sensor can detect the position of the carton, the controller receives the photoelectric sensor signal, and issues a corresponding control command. If it is necessary to adsorb the carton skin, the positive pressure solenoid valve receives the controller command, controls the cylinder to move, thereby controlling the lifting and lowering of the suction cup assembly, and the negative pressure solenoid valve receives the controller command, and controls the negative pressure on and off.
[0045] It can be understood that the positive pressure solenoid valve, negative pressure solenoid valve, photoelectric sensor and controller are all existing electronic components, and the corresponding signal flow and control coordination are all existing technologies. With the photoelectric sensor as the command input end, the PLC as the controller, the positive pressure solenoid valve and the negative pressure solenoid valve as the actuators, the cylinder action is controlled by the positive pressure solenoid valve, and the negative pressure on and off of the suction cup assembly is controlled by the negative pressure solenoid valve. Therefore, when the photoelectric sensor senses the box skin, the cylinder moves the suction cup assembly to rise, and the negative pressure is turned on at the same time, and the suction cup assembly sucks the box skin; when the photoelectric sensor cannot sense the box skin, the cylinder moves down, and the negative pressure is turned off at the same time, releasing the box skin.
[0046] Through this device, after the box skin reaches the bottom plate, the cylinder drives the suction cup assembly to rise and suck the bottom of the box skin. When the carton sealing machine robot grabs the box skin and lifts it, the suction force of the suction cup opens the bottom of the box skin, completing the pre-folding of the box skin, and then the robot folding plate folds it to ensure that the box skin folding meets the requirements.
[0047] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.
Claims
1. A box skin pre-folding device suitable for a robot to grab a box skin, characterized in that: It includes a cylinder, which is fixed to a cylinder bracket, and the top of the cylinder is connected to a suction cup assembly; the cylinder bracket includes an L-shaped frame, the L-shaped frame includes a horizontal plate and a vertical plate connected to each other, the cylinder is fixed to the horizontal plate, and the vertical plate is fixedly connected to the connecting plate.
2. The box skin pre-folding device according to claim 1, characterized in that: The transverse plate is provided with two first long holes, the cylinder bottom is placed on the surface of the transverse plate, and the cylinder bottom and the transverse plate are fixedly connected by a first fastener, and the first fastener is arranged through the first long hole.
3. The box skin pre-folding device according to claim 1, characterized in that: The vertical plate and the connecting plate are connected by a second fastener; the vertical plate is provided with a second elongated hole, the connecting plate is provided with a first connecting hole, and the second fastener is inserted through the first connecting hole and the second elongated hole.
4. The box skin pre-folding device according to claim 1, characterized in that: The connecting plate is provided with a second connecting hole, and a connecting piece is passed through the second connecting hole of the connecting plate to fix the connecting plate and the bottom cross beam of the carton sealing machine.
5. The box skin pre-folding device according to claim 4, characterized in that: The bottom crossbeam of the carton sealing machine is fixed to the bottom of the bottom plate, and the cylinder and suction cup assembly are placed below the bottom plate.
6. The box skin pre-folding device according to claim 5, characterized in that: The suction cup assembly is correspondingly arranged at the punched hole of the bottom plate.
7. The box skin pre-folding device according to claim 5, characterized in that: A photoelectric sensor is fixedly arranged at a setting position of the bottom plate, and the photoelectric sensor is connected to the controller.
8. The box skin pre-folding device according to claim 7, characterized in that: A negative pressure solenoid valve is arranged at the suction cup assembly, the suction cup assembly is connected to the negative pressure source, the negative pressure solenoid valve is arranged on a pipeline between the suction cup assembly and the negative pressure source, and the negative pressure solenoid valve is connected to a controller.
9. The box skin pre-folding device according to claim 7, characterized in that: The cylinder is provided with a positive pressure solenoid valve, and the positive pressure solenoid valve is connected to a controller.
10. The box skin pre-folding device according to claim 1, characterized in that: The suction cup assembly adopts a multi-layer suction cup; a reinforcing rod is connected between the transverse plate and the vertical plate, and the reinforcing rod is arranged obliquely.