Paper cover grabbing manipulator for silk coil boxing

Abstract

The paper cover grabbing manipulator comprises a supporting frame, a mounting rod is slidably connected to the supporting frame, a connecting rod is slidably connected to the mounting rod in the vertical direction, a connecting plate is connected to the lower end of the connecting rod, and a plurality of material taking suction cups used for sucking paper covers are installed on the lower end face of the connecting plate; the lower end face of the connecting plate is connected with at least two guiding sets side by side in the length direction of the connecting plate, each guiding set comprises at least two guiding columns, and each guiding column comprises a fixing column connected with the lower end face of the mounting plate and a guiding part connected with the lower end of the fixing column. And the cross sectional area of the guide part is gradually reduced along the vertical downward direction. When the paper cover is sucked, the guide column is inserted into the through hole, so that the relative position of the paperboard and the connecting plate is determined, then the paper cover is sucked by the material taking suction cup, and therefore it is ensured that the paper cover can be accurately placed in a packaging box, and the paper cover is prevented from inclining and bending.

Description

Technical Field

[0001] The present application relates to the field of packaging equipment, and particularly to a paper cover grabbing manipulator for packing silk reels into boxes. Background Art

[0002] Currently, in the prior art, during the production process of chemical fibers, the silk reels produced finally need to be packed into boxes. People often use manipulators for packing to reduce the labor intensity. During the process of packing the silk reels, the silk reels need to be placed in layers in the packing box. Therefore, after placing the lower-layer silk reels, it is necessary to place a paper cover on the lower-layer silk reels to facilitate the continuous placement of silk reels. A winding core is usually provided in the middle of the silk reel, and through holes for the winding core of the silk reel to be inserted are usually opened on the paper cover.

[0003] Currently, the patent with the publication number CN110479897B discloses a punching press suction cup manipulator, including a bottom plate, a distribution box, a gear lifting mechanism, an up-and-down three-axis mechanism, and an electrostatic protection mechanism. The four sides of the bottom plate are fixedly connected with lifting foot cups for adjusting the height, and a vertically arranged distribution box is fixedly connected to the upper surface of the bottom plate. When in use, after receiving the working signal of the punching press in the distribution box, it starts to work. The distribution box supplies power to the translation guide rod cylinder, and the translation guide rod cylinder controls the suction cup support to translate horizontally. After translating to the designated position, it descends through the up-and-down three-axis mechanism. After descending to the designated position, it sucks materials through the vacuum suction cup. Then the suction cup support ascends, and the translation guide rod cylinder resets, automatically unloading the sheet material, thus completing an automatic stroke. During this process, the materials are taken through the vacuum suction cup.

[0004] Regarding the above related technologies, the inventor believes that there are the following defects: when the above manipulator sucks the paper cover, it is difficult to keep the relative position between the paper cover and the manipulator consistent each time, resulting in the paper cover sometimes being unable to be aligned with the carton smoothly, causing the paper cover to tilt and bend during the process of being placed into the packing box. Therefore, it needs to be improved. Utility Model Content

[0005] Aiming at the deficiencies of the prior art, the present application provides a paper cover grabbing manipulator for packing silk reels into boxes, aiming to solve the above problems.

[0006] A paper cover grabbing manipulator for packing silk reels into boxes includes a support frame. An installation rod is slidably connected to the support frame. A connecting rod is slidably connected to the installation rod in the vertical direction. The lower end of the connecting rod is connected with a connecting plate. A plurality of material-taking suction cups for sucking the paper cover are installed on the lower end surface of the connecting plate. At least two groups of guiding groups are connected in parallel along the length direction of the lower end surface of the connecting plate. Each guiding group includes at least two guiding columns. The guiding column includes a fixed column connected to the lower end surface of the installation plate and a guiding part connected to the lower end of the fixed column. The cross-sectional area of the guiding part gradually decreases in the vertically downward direction.

[0007] By adopting the above technical solution, when sucking the paper cover, when the connecting plate moves downward, the guide part of the guide column is first inserted into the through hole on the paper cover, and the connecting plate continues to move downward, and the guide column is inserted into the through hole, thereby determining the relative position of the paperboard and the connecting plate, and then the material taking suction cup sucks the paper cover, thereby ensuring that the paper cover can be accurately placed in the packaging box, and avoiding the paper cover from tilting and bending.

[0008] Optionally, a fixing plate is connected to the vertical side wall of the mounting rod, a fixing frame is connected to the fixing plate, two first guide rails are connected in parallel to the connecting rod, two first sliders slidably matched with the first guide rails are connected to the fixing plate, a first driving rack is connected to the side of the connecting rod facing away from the first guide rail, a reducer is connected to the fixing frame, a first driving motor is installed on the reducer, and an output shaft of the reducer passes through the fixing frame and is connected to a first driving gear meshing with the first driving rack.

[0009] Optionally, the upper end surface of the connecting plate is connected to a supporting rod in the vertical direction, and a limiting plate is connected between the upper end of the supporting rod and the upper end of the connecting rod.

[0010] Optionally, two second guide rails are connected in parallel to the upper end surface of the support frame, positioning bars are connected to both ends of the mounting rod, and the lower end surface of the positioning bar is connected to a second sliding block that slidably cooperates with the second guide rails.

[0011] Optionally, the upper end surface of the support frame is connected to a second drive rack, the mounting rod is connected to a support plate, the upper end surface of the support plate is mounted with a second drive motor, and the output shaft of the second drive motor passes through the support plate and is connected to a second drive gear meshing with the second drive rack.

[0012] Optionally, an anti-collision rod is connected to a side of the mounting rod facing away from the connecting rod, and an elastic anti-collision column is connected to one end of the anti-collision rod.

[0013] In summary, this application includes the following beneficial technical effects:

[0014] When sucking the paper cover, when the connecting plate moves down, the guide part of the guide column is first inserted into the through hole on the paper cover, and the connecting plate continues to move down, and the guide column is inserted into the through hole, thereby determining the relative position of the cardboard and the connecting plate, and then the material picking suction cup sucks the paper cover, thereby ensuring that the paper cover can be accurately placed in the packaging box to prevent the paper cover from tilting and bending. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of an embodiment of the present application.

[0016] Figure 2It is a partial structural schematic diagram of an embodiment of the present application.

[0017] Figure 3 It is a partial structural schematic diagram of an embodiment of the present application from a bottom view perspective.

[0018] Explanation of reference numerals:

[0019] 1. Support frame; 11. Second guiding slide rail; 12. Second driving rack; 2. Mounting rod; 21. Positioning strip; 22. Support plate; 13. Second driving motor; 3. Connecting rod; 31. First guiding slide rail; 32. First driving rack; 4. Connecting plate; 41. Material taking suction cup; 5. Guide post; 51. Fixed post; 52. Guiding portion; 6. Fixed plate; 61. Fixed frame; 62. Reducer; 63. First driving motor; 7. Support rod; 71. Limiting plate; 8. Anti-collision rod; 81. Anti-collision post. Detailed implementation manners

[0020] To facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings and specific implementation manners. It should be noted that when an element is expressed as "fixed to" another element, it can be directly on the other element, or there can be one or more intermediate elements therebetween. When an element is expressed as "connected to" another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in this specification are only for the purpose of illustration.

[0021] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific implementation manners and are not used to limit the present application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0022] An embodiment of the present application discloses a paper cover grabbing manipulator for packing silk rolls into boxes. Refer to Figure 1 and Figure 2 , which includes a support frame 1. A mounting rod 2 is slidably connected to the support frame 1. A connecting rod 3 is slidably connected to the mounting rod 2 in the vertical direction. The lower end of the connecting rod 3 is fixedly connected to a connecting plate 4 in the horizontal direction.

[0023] Refer to Figure 1 and Figure 2, a fixing plate 6 is fixedly connected to the vertical side wall of the mounting rod 2, and a fixing frame 61 is fixedly connected to the fixing plate 6. Two first guiding sliding rails 31 are fixedly connected to the connecting rod 3 in parallel. Two first sliding blocks that are slidably matched with the first guiding sliding rails 31 are fixedly connected to the fixing plate 6. A first driving rack 32 is fixedly connected to the side of the connecting rod 3 away from the first guiding sliding rails 31. A speed reducer 62 is fixedly connected to the side of the fixing frame 61 away from the fixing plate 6. A first driving motor 63 is installed on the speed reducer 62, and the first driving motor 63 is a servo motor capable of forward and reverse rotation. The output shaft of the speed reducer 62 passes through the fixing frame 61 and is fixedly connected to a first driving gear that meshes with the first driving rack 32. The first driving motor 63 drives the first driving gear to rotate, thereby driving the connecting rod 3 to slide up and down along the direction of the first driving rack 32.

[0024] Referring to Figure 1 and Figure 2 , a support rod 7 is fixedly connected to the upper end surface of the connecting plate 4 in the vertical direction. A limiting plate 71 is fixedly connected between the upper end of the support rod 7 and the upper end of the connecting rod 3. The support rod 7 can improve the connection firmness between the connecting plate 4 and the connecting rod 3.

[0025] Referring to Figure 1 and Figure 2 , an anti-collision rod 8 is fixedly connected to the side of the mounting rod 2 away from the connecting rod 3. One end of the anti-collision rod 8 is connected to an elastic anti-collision column 81, and the anti-collision column 81 is made of rubber material.

[0026] Referring to Figure 1 and Figure 2 , two second guiding sliding rails 11 are fixedly connected to the upper end surface of the support frame 1 in parallel. Positioning strips 21 are fixedly connected to both ends of the mounting rod 2. Second sliding blocks that are slidably matched with the second guiding sliding rails 11 are fixedly connected to the lower end surfaces of the positioning strips 21. A second driving rack 12 is fixedly connected to the upper end surface of the support frame 1, and the second driving rack 12 is parallel to the second guiding sliding rails 11. A support plate 22 is fixedly connected to the mounting rod 2. A second driving motor 13 is fixedly installed on the upper end surface of the support plate 22, and the second driving motor 13 is a servo motor capable of forward and reverse rotation. The output shaft of the second driving motor 13 passes through the support plate 22 and is fixedly connected to a second driving gear that meshes with the second driving rack 12. The second driving motor 13 drives the second driving gear to rotate, and the second driving gear drives the mounting rod 2 to reciprocate along the length direction of the second driving rack 12.

[0027] Referring to Figure 2 and Figure 3, eight material-taking suction cups 41 for sucking paper covers are installed on the lower end surface of the connecting plate 4. Two groups of guiding groups are connected in parallel along the length direction of the lower end surface of the connecting plate 4. Each guiding group includes three guiding columns 5. The guiding column 5 includes a fixed column 51 fixedly connected to the lower end surface of the mounting plate and a guiding part 52 fixedly connected to the lower end of the fixed column 51. The guiding part 52 is frustum-shaped, and the diameter of the guiding part 52 gradually decreases along the vertically downward direction. When sucking the paper cover, when the connecting plate 4 moves downward, the guiding part 52 of the guiding column 5 first inserts into the through hole on the paper cover. The connecting plate 4 continues to move downward, and the guiding column 5 inserts into the through hole, thereby determining the relative position between the cardboard and the connecting plate 4. Then the material-taking suction cup 41 sucks the paper cover, so as to ensure that the paper cover can be accurately placed into the packing box and prevent the paper cover from tilting and bending.

[0028] The above are all the preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A paper cover grabbing robot for silk roll packaging, characterized in that: The invention comprises a support frame (1), a mounting rod (2) being slidably connected to the support frame (1), a connecting rod (3) being slidably connected to the mounting rod (2) in a vertical direction, a connecting plate (4) being connected to the lower end of the connecting rod (3), a plurality of material-taking suction cups (41) for sucking paper covers being installed on the lower end surface of the connecting plate (4), at least two guide groups being connected in parallel to the lower end surface of the connecting plate (4) along its own length direction, each of the guide groups comprising at least two guide columns (5), the guide columns (5) comprising a fixing column (51) connected to the lower end surface of the mounting plate and a guide portion (52) connected to the lower end of the fixing column (51), the cross-sectional area of ​​the guide portion (52) gradually decreasing in the vertical downward direction.

2. The paper cover grabbing robot for silk roll packaging according to claim 1 is characterized in that: A fixing plate (6) is connected to the vertical side wall of the mounting rod (2), a fixing frame (61) is connected to the fixing plate (6), two first guide rails (31) are connected in parallel to the connecting rod (3), two first sliders slidably matched with the first guide rails (31) are connected to the fixing plate (6), a first driving rack (32) is connected to the side of the connecting rod (3) away from the first guide rail (31), a reducer (62) is connected to the fixing frame (61), a first driving motor (63) is installed on the reducer (62), and an output shaft of the reducer (62) passes through the fixing frame (61) and is connected to a first driving gear meshing with the first driving rack (32).

3. The paper cover grabbing robot for silk roll packaging according to claim 2, characterized in that: The upper end surface of the connecting plate (4) is connected to a support rod (7) in the vertical direction, and a limiting plate (71) is connected between the upper end of the support rod (7) and the upper end of the connecting rod (3).

4. The paper cover grabbing robot for silk roll packaging according to claim 1, characterized in that: The upper end surface of the support frame (1) is connected to two second guide rails (11) in parallel, both ends of the mounting rod (2) are connected to positioning strips (21), and the lower end surface of the positioning strip (21) is connected to a second sliding block that slidably cooperates with the second guide rails (11).

5. The paper cover grabbing robot for silk roll packaging according to claim 4, characterized in that: The upper end surface of the support frame (1) is connected to a second drive rack (12), the mounting rod (2) is connected to a support plate (22), the upper end surface of the support plate (22) is mounted with a second drive motor (13), the output shaft of the second drive motor (13) passes through the support plate (22) and is connected to a second drive gear meshing with the second drive rack (12).

6. The paper cover grabbing robot for silk roll packaging according to claim 1, characterized in that: A side of the installation rod (2) facing away from the connection rod (3) is connected to an anti-collision rod (8), and one end of the anti-collision rod (8) is connected to an elastic anti-collision column (81).

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