Automatic paper tray loading machine

Abstract

The utility model discloses an automatic paper holder loading machine which comprises a paper holder feeding mechanism, an XYZ-axis grabbing mechanism, a paper holder separating mechanism, a paper holder conveying mechanism, a manipulator mechanism and a box body feeding mechanism, the paper holder separating mechanism is arranged close to the paper holder feeding mechanism, and the XZY-axis grabbing mechanism is arranged over the paper holder feeding mechanism and the paper holder separating mechanism. The paper support separating mechanism is arranged on the paper support conveying mechanism, the paper support feeding mechanism and the box body feeding mechanism are located at the front end and the rear end of the paper support conveying mechanism respectively, and the mechanical arm mechanism is arranged close to the paper support conveying mechanism and the box body feeding mechanism. The single paper tray can be automatically loaded into the paper box, and the working efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of paper box processing, in particular to an automatic paper tray loading machine. Background Art

[0002] There is usually a paper tray inside the paper box to hold the product. During the production process of the paper box, the paper tray needs to be loaded into the paper box, usually manually, with low loading efficiency. Moreover, the formed paper tray is usually pasted together in a group of two, and the paper tray is also separated manually, with low separation efficiency. Utility Model Content

[0003] The utility model aims to provide an automatic paper tray loading machine, which can automatically load a single paper tray into a paper box with high working efficiency.

[0004] In order to solve the above technical problems, the utility model adopts the following solutions:

[0005] An automatic paper tray loading machine includes a paper tray feeding mechanism, an XYZ axis grabbing mechanism, a paper tray separation mechanism, a paper tray conveying mechanism, a manipulator mechanism, and a box feeding mechanism. The paper tray separation mechanism is arranged near the paper tray feeding mechanism, the XZY axis grabbing mechanism is arranged just above the paper tray feeding mechanism and the paper tray separation mechanism, the paper tray separation mechanism is arranged on the paper tray conveying mechanism, the paper tray feeding structure and the box feeding mechanism are respectively located at the front and rear ends of the paper tray conveying mechanism, and the manipulator mechanism is arranged near the paper tray conveying mechanism and the box feeding mechanism. Its functions are as follows: through the arrangement of the paper tray feeding mechanism, the feeding of the paper tray can be realized; through the arrangement of the XYZ axis grabbing mechanism, the paper tray on the paper tray feeding mechanism can be moved to the paper tray separation mechanism; through the arrangement of the paper tray separation mechanism, two paper trays pasted together can be automatically separated; through the arrangement of the manipulator mechanism, the separated single paper tray can be placed in the paper box on the box feeding mechanism; through the arrangement of the box feeding mechanism, the box can be conveyed.

[0006] Furthermore, the paper holder feeding mechanism includes a conveyor belt and a paper holder placed on the top surface of the conveyor belt, the paper holder is in the shape of a column with a U-shaped cross section, and the paper holder is evenly provided with paper holder grooves perpendicular to the bottom surface of the paper holder along the length direction. The conveyor belt itself is a prior art and is not described in detail. Its function is that, through the setting of the paper holder, multiple paper holders arranged parallel to each other can be placed vertically in the paper holder grooves.

[0007] Furthermore, the left and right ends of the paper holder are symmetrically provided with a flush plate which is perpendicular to the bottom surface of the paper holder and the paper holder slot. The function of the flush plate is to place the paper holder on the paper holder flush with each other for easy positioning.

[0008] Furthermore, the XYZ axis gripping mechanism includes a clamping cylinder, on which a guide rail parallel to the ground is provided, the extension direction of the guide rail is parallel to the conveying direction of the paper tray conveying mechanism, two clamping arms are provided in the guide rail, and each clamping arm is provided with a clamping pad opposite to the other clamping arm. The clamping cylinder itself and the guide rail and clamping arm on the clamping cylinder all adopt the existing technology and are not described in detail. Its function is to avoid crushing the paper tray in the process of clamping the paper tray by providing the clamping pad.

[0009] Furthermore, it also includes an installation platform, and the paper support conveying mechanism, paper support separation mechanism and box feeding mechanism are all located on the installation platform, the paper support conveying mechanism includes two conveyor belts arranged opposite to each other, and the paper support separation mechanism is arranged between the two conveyor belts. A lifting cylinder is connected to the installation platform, and the telescopic rod of the lifting cylinder is connected to the paper support conveying mechanism, and the telescopic direction of the lifting cylinder is arranged perpendicular to the top surface of the conveyor belt. The conveyor belt itself is a prior art and will not be described in detail. Its function is that, through the setting of the lifting cylinder, the paper support separation mechanism can be controlled to move downward, and the separated paper support is placed on the conveyor belt for conveyance by the conveyor belt.

[0010] Furthermore, the paper holder separation mechanism includes two symmetrically arranged opening and closing arms, on which a vacuum suction cup is arranged. It also includes a mounting plate, on which four hinged seats are arranged, and a rotating shaft is hingedly arranged between every two relatively arranged hinged seats, and the two rotating shafts are arranged parallel to each other, each rotating shaft is fixedly connected to an opening and closing arm, and each rotating shaft is fixedly connected to a linkage gear, and the linkage gear is coaxially arranged with the corresponding rotating shaft, and the two linkage gears are meshed with each other. A driving cylinder is connected to the bottom surface of the connecting plate, and a connecting block is connected to the end of the telescopic rod of the driving cylinder, and the connecting block is connected to a transmission rack, and a transmission gear fixedly connected to the rotating shaft is coaxially arranged on one of the rotating shafts, and the transmission gear is meshed with the transmission rack. The vacuum suction cup adopts the existing technology and is not described in detail. Its function is to separate two paper holders that are stuck together through the setting of the paper holder separation mechanism.

[0011] Furthermore, the manipulator mechanism includes a first axis, a second axis, and a third axis. The first axis, the second axis, and the third axis are all perpendicular to the bottom surface and are not coaxial with each other. A first connecting member is provided between the first axis and the second axis, and a second connecting member is provided between the second axis and the third axis. The first connecting member rotates around the first axis, and the second connecting member rotates around the second axis. A lifting cylinder is provided in the second connecting member, and the third axis is the telescopic axis of the lifting cylinder.

[0012] Furthermore, the third shaft is connected to a suction head clamp, and at least four vacuum suction cups are evenly distributed in a rectangular shape on the suction head clamp, and the vacuum suction cups on the suction head clamp are all arranged perpendicular to the bottom surface.

[0013] Furthermore, at least two position sensors are sequentially arranged on the box feeding mechanism along the feeding direction, and the position of the paper box on the box feeding mechanism can be detected by the arrangement of the position sensors.

[0014] Furthermore, the box feeding mechanism is provided with a positioning mechanism for fixing the paper box on the box feeding mechanism and a blocking mechanism for blocking the subsequent paper boxes from being advanced in sequence from the end point to the starting point. The box feeding mechanism is provided with a mounting frame for installing the positioning mechanism or the blocking mechanism. The positioning mechanism and the blocking mechanism are both provided with a limit cylinder whose telescopic direction is perpendicular to the ground. A baffle which is arranged perpendicularly to the conveying direction of the box feeding mechanism and the ground is provided on the bottom surface of the limit cylinder. A position sensor is respectively provided at the positioning mechanism and the blocking mechanism.

[0015] The paper tray feeding mechanism, XYZ axis grasping mechanism, manipulator mechanism, and box feeding mechanism themselves all adopt existing technologies and will not be described in detail.

[0016] The utility model has the beneficial effects:

[0017] 1. Through the setting of the paper tray feeding mechanism, the paper tray can be fed; through the setting of the XYZ axis grabbing mechanism, the paper tray on the paper tray feeding mechanism can be moved to the paper tray separation mechanism; through the setting of the paper tray separation mechanism, two paper trays pasted together can be automatically separated; through the setting of the manipulator mechanism, the separated single paper tray can be placed in the paper box on the box feeding mechanism; through the setting of the box feeding mechanism, the box can be transported. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the three-dimensional structure of Example 1;

[0019] Figure 2 for Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0020] Figure 3 is a schematic diagram of the three-dimensional structure of the paper support in Example 1;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the clamping cylinder in Example 1;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the paper support separation mechanism with a lifting cylinder in Example 1.

[0023] Figure numerals: 1. paper tray feeding mechanism; 101. conveyor belt; 102. paper tray; 103. paper tray slot; 104. material leveling plate; 2. XYZ axis grasping mechanism; 201. clamping cylinder; 202. guide rail; 203. clamping arm; 204. clamping pad; 3. paper tray separation mechanism; 301. opening and closing arm; 4. paper tray conveying mechanism; 401. conveyor belt; 402. lifting cylinder; 5. manipulator mechanism; 501. first axis; 502. second axis; 503. third axis; 504. first connecting member; 505. second connecting member; 506. suction head clamp; 6. box feeding mechanism; 601. position sensor; 602. positioning mechanism; 603. blocking mechanism. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the embodiments and drawings, but the implementation manner of the present invention is not limited thereto.

[0025] In the description of the present utility model, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "longitudinal", "lateral", "horizontal", "inside", "outside", "front", "back", "top", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present utility model.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "open", "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Example 1

[0028] An automatic paper tray loading machine, such as Figure 1As shown, it includes a paper support feeding mechanism 1, an XYZ axis grasping mechanism 2, a paper support separation mechanism 3, a paper support conveying mechanism 4, a manipulator mechanism 5, and a box feeding mechanism 6. The paper support separation mechanism 3 is arranged near the paper support feeding mechanism 1, the XZY axis grasping mechanism is arranged directly above the paper support feeding mechanism 1 and the paper support separation mechanism 3, the paper support separation mechanism 3 is arranged on the paper support conveying mechanism 4, the paper support feeding structure and the box feeding mechanism 6 are respectively located at the front and rear ends of the paper support conveying mechanism 4, and the manipulator mechanism 5 is arranged near the paper support conveying mechanism 4 and the box feeding mechanism 6. Its functions are as follows: through the setting of the paper tray feeding mechanism 1, the feeding of the paper tray can be realized; through the setting of the XYZ axis grasping mechanism 2, the paper tray on the paper tray feeding mechanism 1 can be moved to the paper tray separation mechanism 3; through the setting of the paper tray separation mechanism 3, two paper trays pasted together can be automatically separated; through the setting of the manipulator mechanism 5, the separated single paper tray can be placed in the paper box on the box feeding mechanism 6; through the setting of the box feeding mechanism 6, the box body can be transported.

[0029] Specifically, Figure 1 As shown, the paper support feeding mechanism 1 includes a conveyor belt 101 and a paper support 102 placed on the top surface of the conveyor belt 101. Figure 3 As shown, the paper holder 102 is a columnar body with a U-shaped cross section, and the paper holder 102 is evenly provided with paper holder slots 103 arranged perpendicularly to the bottom surface of the paper holder 102 along the length direction. The conveyor belt 101 itself is a prior art and is not described in detail. Its function is that through the arrangement of the paper holder 102, multiple paper holders arranged parallel to each other can be vertically placed in the paper holder slots 103.

[0030] Specifically, Figure 3 As shown, the left and right ends of the paper holder 102 are symmetrically provided with a flush plate 104 which is vertically arranged with the bottom surface of the paper holder 102 and the paper holder slot 103. Its function is that, through the arrangement of the flush plate 104, the paper holder on the paper holder 102 can be placed flush on the left and right sides for easy positioning.

[0031] Specifically, Figure 1 As shown, the XYZ axis grasping mechanism 2 includes a clamping cylinder 201, as shown in Figure 4 As shown, a guide rail 202 parallel to the ground is provided on the clamping cylinder 201, and the extension direction of the guide rail 202 is parallel to the conveying direction of the paper holder conveying mechanism 4. Two clamping arms 203 are provided in the guide rail 202, and each clamping arm 203 is provided with a clamping pad 204 opposite to the other clamping arm 203. The clamping cylinder 201 itself and the guide rail 202 and the clamping arm 203 on the clamping cylinder 201 are all based on the existing technology, and will not be described in detail. Its function is to prevent the paper holder from being crushed during the process of clamping the paper holder by setting the clamping pad 204.

[0032] Specifically, Figure 2 As shown, it also includes a mounting platform, and the paper support conveying mechanism 4, the paper support separation mechanism 3 and the box feeding mechanism 6 are all located on the mounting platform. The paper support conveying mechanism 4 includes two conveyor belts 401 arranged opposite to each other, and the paper support separation mechanism 3 is arranged between the two conveyor belts 401. A lifting cylinder 402 is connected to the mounting platform, and the telescopic rod of the lifting cylinder 402 is connected to the paper support conveying mechanism 4, and the telescopic direction of the lifting cylinder 402 is arranged perpendicular to the top surface of the conveyor belt 401. The conveyor belt 401 itself is a prior art and will not be described in detail. Its function is that, through the setting of the lifting cylinder 402, the paper support separation mechanism 3 can be controlled to move downward, and the separated paper support is placed on the conveyor belt 401, and is transported by the conveyor belt 401.

[0033] Specifically, Figure 5 As shown, the paper holder separation mechanism 3 includes two symmetrically arranged opening and closing arms 301, and the opening and closing arms 301 are provided with a vacuum suction cup. It also includes a mounting plate, on which four hinged seats are arranged, and a rotating shaft is hingedly arranged between each two relatively arranged hinged seats, and the two rotating shafts are arranged parallel to each other, each rotating shaft is fixedly connected to an opening and closing arm 301, and each rotating shaft is fixedly connected to a linkage gear, and the linkage gear is coaxially arranged with the corresponding rotating shaft, and the two linkage gears are meshed, and a driving cylinder is connected to the bottom surface of the connecting plate, and a connecting block is connected to the end of the telescopic rod of the driving cylinder, and the connecting block is connected to a transmission rack, and a transmission gear fixedly connected to the rotating shaft is coaxially arranged on one of the rotating shafts, and the transmission gear is meshed with the transmission rack. The vacuum suction cup adopts the existing technology and is not described in detail. Its function is that through the setting of the paper holder separation mechanism 3, two paper holders that are attached together can be separated.

[0034] Specifically, Figure 2 As shown, the manipulator mechanism 5 includes a first axis 501, a second axis 502, and a third axis 503. The first axis 501, the second axis 502, and the third axis 503 are all perpendicular to the bottom surface and are not coaxial with each other. A first connecting member 504 is provided between the first axis 501 and the second axis 502, and a second connecting member 505 is provided between the second axis 502 and the third axis 503. The first connecting member 504 rotates around the first axis 501, and the second connecting member 505 rotates around the second axis 502. A lifting cylinder is provided in the second connecting member 505, and the third axis 503 is the telescopic axis of the lifting cylinder.

[0035] Specifically, Figure 2 As shown, the third shaft 503 is connected to a suction head clamp 506 , and at least four vacuum suction cups are evenly distributed in a rectangular shape on the suction head clamp 506 , and the vacuum suction cups on the suction head clamp 506 are all arranged perpendicular to the bottom surface.

[0036] Specifically, Figure 2As shown, at least two position sensors 601 are sequentially arranged along the feeding direction on the box body feeding mechanism 6. Its function is that, through the arrangement of the position sensors 601, the position of the paper box on the box body feeding mechanism 6 can be detected.

[0037] Specifically, Figure 1 , Figure 2 As shown, the box feeding mechanism 6 is provided with a positioning mechanism 602 for fixing the paper box on the box feeding mechanism 6 and a blocking mechanism 603 for blocking the subsequent paper box from advancing in sequence from the end point to the starting point, and the box feeding mechanism 6 is provided with a mounting frame for installing the positioning mechanism 602 or the blocking mechanism 603, the positioning mechanism 602 and the blocking mechanism 603 are both provided with a limiting cylinder whose extension direction is perpendicular to the ground, and a baffle which is arranged perpendicularly to the conveying direction of the box feeding mechanism 6 and the ground is provided on the bottom surface of the limiting cylinder, and a position sensor 601 is respectively provided at the positioning mechanism 602 and the blocking mechanism 603.

[0038] The paper tray feeding mechanism 1, the XYZ axis grasping mechanism 2, the manipulator mechanism 5, and the box feeding mechanism 6 themselves all adopt the existing technology and will not be described in detail.

[0039] The working principle of this embodiment is described as follows: two closely attached paper trays are placed vertically on the paper tray 102 as a group and transported to the corresponding position by the paper tray feeding mechanism 1, and then the paper tray feeding mechanism 1 is paused, and the paper tray on the paper tray 102 is grabbed by the XYZ axis grasping mechanism 2 and moved to the paper tray separation mechanism 3, and the opening and closing arms 301 of the paper tray separation mechanism 3 are combined to clamp the paper tray on the clamping cylinder 201, and the vacuum suction cups on the opening and closing arms 301 are started to respectively suck different paper trays, and then the opening and closing arms 301 are opened to separate the two paper trays, and then the lifting cylinder 402 is driven to lower the paper tray separation mechanism 3, and the separated paper tray is placed on the conveyor belt 401. After the conveyor belt 401 transports the paper tray to the corresponding position, it is grabbed by the suction head clamp 506 on the robot and placed in the paper box on the box feeding mechanism 6, and the automatic installation of the paper tray is completed.

[0040] The above is only a preferred embodiment of the utility model and does not limit the utility model in any form. According to the technical essence of the utility model, within the spirit and principles of the utility model, any simple modification, equivalent replacement and improvement made to the above embodiment still falls within the protection scope of the technical solution of the utility model.

Claims

1. An automatic paper tray loading machine, characterized in that: The invention comprises a paper support feeding mechanism (1), an XYZ axis grasping mechanism (2), a paper support separation mechanism (3), a paper support conveying mechanism (4), a manipulator mechanism (5), and a box body feeding mechanism (6); the paper support separation mechanism (3) is arranged near the paper support feeding mechanism (1); the XYZ axis grasping mechanism is arranged directly above the paper support feeding mechanism (1) and the paper support separation mechanism (3); the paper support separation mechanism (3) is arranged on the paper support conveying mechanism (4); the paper support feeding structure and the box body feeding mechanism (6) are respectively located at the front and rear ends of the paper support conveying mechanism (4); and the manipulator mechanism (5) is arranged near the paper support conveying mechanism (4) and the box body feeding mechanism (6).

2. The automatic paper tray loading machine according to claim 1, characterized in that: The paper support feeding mechanism (1) comprises a conveyor belt (101) and a paper support (102) placed on the top surface of the conveyor belt (101); the paper support (102) is in the shape of a column with a U-shaped cross section; the paper support grooves (103) arranged perpendicular to the bottom surface of the paper support (102) are evenly arranged along the length direction of the paper support (102).

3. The automatic paper tray loading machine according to claim 2, characterized in that: The left and right ends of the paper holder (102) are symmetrically provided with leveling plates (104) which are vertically arranged with respect to the bottom surface of the paper holder (102) and the paper holder groove (103).

4. The automatic paper tray loading machine according to claim 1, characterized in that: The XYZ axis grasping mechanism (2) comprises a clamping cylinder (201), the clamping cylinder (201) is provided with a guide rail (202) arranged parallel to the ground, the extension direction of the guide rail (202) is parallel to the conveying direction of the paper support conveying mechanism (4), two clamping arms (203) are arranged in the guide rail (202), and each clamping arm (203) is provided with a clamping pad (204) arranged opposite to the other clamping arm (203).

5. The automatic paper tray loading machine according to claim 1, characterized in that: The invention also comprises a mounting platform, wherein the paper support conveying mechanism (4), the paper support separating mechanism (3) and the box feeding mechanism (6) are all located on the mounting platform, the paper support conveying mechanism (4) comprises two conveying belts (401) arranged opposite to each other, the paper support separating mechanism (3) is arranged between the two conveying belts (401), and a lifting cylinder (402) is connected to the mounting platform, the telescopic rod of the lifting cylinder (402) is connected to the paper support conveying mechanism (4), and the telescopic direction of the lifting cylinder (402) is arranged perpendicular to the top surface of the conveying belt (401).

6. The automatic paper tray loading machine according to claim 4, characterized in that: The paper tray separation mechanism (3) comprises two symmetrically arranged opening and closing arms (301), and a vacuum suction cup is provided on the opening and closing arms (301).

7. The automatic paper tray loading machine according to claim 4, characterized in that: The manipulator mechanism (5) comprises a first shaft (501), a second shaft (502), and a third shaft (503); the first shaft (501), the second shaft (502), and the third shaft (503) are all perpendicular to the bottom surface and are not coaxial with each other; a first connecting member (504) is provided between the first shaft (501) and the second shaft (502); a second connecting member (505) is provided between the second shaft (502) and the third shaft (503); the first connecting member (504) rotates around the first shaft (501), and the second connecting member (505) rotates around the second shaft (502); a lifting cylinder is provided inside the second connecting member (505), and the third shaft (503) is a telescopic shaft of the lifting cylinder.

8. The automatic paper tray loading machine according to claim 7, characterized in that: The third shaft (503) is connected to a suction head clamp (506), and at least four vacuum suction cups are evenly distributed in a rectangular shape on the suction head clamp (506), and the vacuum suction cups on the suction head clamp (506) are all arranged perpendicular to the bottom surface.

9. The automatic paper tray loading machine according to claim 1, characterized in that: At least two position sensors (601) are arranged in sequence on the box feeding mechanism (6) along the feeding direction.

10. The automatic paper tray loading machine according to claim 9, characterized in that: The box feeding mechanism (6) is provided with a positioning mechanism (602) for fixing a paper box on the box feeding mechanism (6) and a blocking mechanism (603) for blocking the subsequent paper box from advancing in sequence from the end point to the start point. The box feeding mechanism (6) is provided with a mounting frame for mounting the positioning mechanism (602) or the blocking mechanism (603). The positioning mechanism (602) and the blocking mechanism (603) are both provided with a limit cylinder whose telescopic direction is perpendicular to the ground. A baffle plate is provided on the bottom surface of the limit cylinder and is perpendicular to the conveying direction of the box feeding mechanism (6) and the ground. A position sensor (601) is provided at the positioning mechanism (602) and the blocking mechanism (603).

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