Automatic paperboard stacking manipulator

Abstract

The utility model relates to an automatic paperboard stacking manipulator which comprises a base and a mechanical arm assembly which is arranged on the base and has multiple degrees of freedom, the front end of the mechanical arm assembly is connected with a grabbing assembly, and the grabbing assembly comprises a clamping part and a rotating part located on the clamping part. The clamping part comprises a mounting base and two mounting plates located on the two sides of the mounting base in the length direction of the mounting base, and a first driving mechanism used for driving the two mounting plates to move face to face or relatively is arranged on the upper side of the mounting base. The rotating part comprises movable plates arranged on the inner sides of the mounting plates and second driving mechanisms used for driving the movable plates to rotate. According to the automatic paperboard stacking manipulator, bundled paperboards can be automatically overturned during stacking, manual overturning is not needed, the labor intensity of workers is relieved, and efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cardboard processing, and particularly relates to an automatic palletizing manipulator for cardboard. Background Art

[0002] When transferring the printed cardboard to the die-cutting process, the cardboard is first palletized onto a transfer cart by a robotic arm assembly, and then transferred to the die-cutting process by the transfer cart for processing. To avoid friction between the die and the printed surface on the upper surface of the cardboard during cutting and damage to the printed surface, the cardboard needs to be flipped before being placed on the conveyor belt at the die-cutting process. Currently, the bundled cardboard is usually flipped manually one by one, which not only increases the labor intensity of workers but also has low efficiency. Summary of the Utility Model

[0003] The technical problem to be solved by the utility model is to provide an automatic palletizing manipulator for cardboard, which can automatically flip the bundled cardboard during palletizing without manual flipping, reduce the labor intensity of workers, and improve efficiency.

[0004] The technical solution adopted by the utility model to solve its technical problem is: an automatic palletizing manipulator for cardboard, including a base and a robotic arm assembly with multiple degrees of freedom arranged on the base. The front end of the robotic arm assembly is connected with a grasping assembly. The grasping assembly includes a clamping part and a rotating part located on the clamping part. The clamping part includes a mounting seat and two mounting plates located on both sides of the mounting seat along its length direction. A first driving mechanism for driving the two mounting plates to move towards or away from each other is arranged on the upper side of the mounting seat. The rotating part includes movable plates respectively arranged on the inner sides of each mounting plate and a second driving mechanism for driving the movable plates to rotate.

[0005] The working principle of this solution is as follows: when palletizing the bundled cardboard, first move the mounting seat to directly above the cardboard stack through the robotic arm assembly, and then move the mounting seat downward so that the mounting plates located on both sides of the mounting seat are respectively located on both sides of the cardboard stack. Drive the two mounting plates to move towards each other through the first driving mechanism, so that the movable plates located on the inner sides of the mounting plates are in contact with both sides of the cardboard stack to clamp the cardboard stack. Then drive the grasping assembly and the cardboard stack to move upward through the robotic arm assembly. After removing the cardboard stack from the conveyor belt, drive the movable plates to rotate through the second driving mechanism to flip the cardboard stack clamped between the two movable plates, and then palletize the flipped cardboard stack onto a transfer cart for transfer.

[0006] Compared with the prior art, the beneficial effects of this solution are as follows: Compared with manual operation, by using a grasping component and a robotic arm component that can drive the cardboard to automatically flip, after flipping the bundled cardboard and then stacking it, not only can the labor intensity of workers be reduced, but also the stacking efficiency can be improved.

[0007] As a preferred embodiment of the present utility model, each mounting plate is in an inverted L shape, including a horizontally arranged first connecting plate and a vertically arranged second connecting plate. The movable plate is located inside the second connecting plate. The second driving mechanism includes a motor arranged outside the second connecting plate. The output shaft of the motor passes through the second connecting plate and is connected to the movable plate. The second driving mechanism includes a double-acting cylinder arranged above the mounting seat. The piston rods on both sides of the double-acting cylinder are respectively connected to the inner sides of the two first connecting plates.

[0008] The beneficial effects of this solution: The double-acting cylinder and the piston rod drive the two first connecting plates to move relative to or towards each other, thereby driving the second connecting plate to move relative to or towards each other to clamp or release the bundled cardboard stack; the motor drives the movable plate to rotate, thereby driving the cardboard stack to flip. Setting the motor outside the second connecting plate has a reasonable structure.

[0009] As a preferred embodiment of the present utility model, each of the movable plates is cylindrical.

[0010] The beneficial effects of this solution: If the movable plate is set to a cuboid shape, if the size of the movable plate is too long, it is easy to collide with the first connecting plate during rotation. If the size of the movable plate is too short, it cannot ensure that its inner side is in contact with the side of each cardboard, and the clamping effect is not good. Therefore, setting the movable plate to a cylindrical shape can not only avoid the collision between the movable plate and the first connecting plate during rotation, with smooth rotation, but also ensure the clamping effect on the cardboard stack.

[0011] As a preferred embodiment of the present utility model, a connecting column is arranged along the axial direction on one side of each movable plate close to the second connecting plate. A flange is arranged on the circumference of the side of the connecting column away from the movable plate. A groove for cooperating with the connecting column is opened on the inner side of each second connecting plate. An annular groove for cooperating with the flange is opened on the side wall of the groove. The thickness of the connecting column is greater than the depth of the groove.

[0012] Beneficial effects of this solution: By mating the connecting columns and grooves respectively provided on one side of the movable plate and the second connecting plate, the movable plate and the second connecting plate are connected. The connecting column is limited by the cooperation of the flange provided at the front end of the connecting column and the annular groove provided on the side wall of the groove, preventing it from exiting the groove, thus making the connection between the movable plate and the second connecting plate more stable. The thickness of the connecting column is greater than the depth of the groove, leaving a gap between the rotating plate and the second connecting plate, which can prevent the rotating plate from coming into large-area contact with the second connecting plate and generating significant friction during rotation, affecting the flipping efficiency.

[0013] As a preferred embodiment of the present utility model, a placement seat for installing a motor is provided on the outside of each second connecting plate.

[0014] Beneficial effects of this solution: Installing the motor on the placement seat located outside the second connecting plate avoids the motor being suspended, and the structure is reasonable.

[0015] As a preferred embodiment of the present utility model, through holes are provided along the length direction of the mounting seat, and sliding grooves communicating with the through holes are provided along the length direction on the upper side of the mounting seat. Both first connecting plates are located in the through holes and are slidably mated therewith. Connecting blocks extending vertically out of the sliding grooves are provided on the upper sides of both first connecting plates. The piston rods on both sides of the double-acting cylinder are respectively connected to the two connecting blocks on the two first connecting plates.

[0016] Beneficial effects of this solution: Compared with separately arranging the mounting plate and the mounting seat and only connecting them through the piston rod of the double-acting cylinder, arranging the first connecting plate in the through hole on the mounting seat can strengthen the connection between the mounting plate and the mounting seat. The setting of the sliding groove and the connecting block enables the double-acting cylinder to drive the mounting plate to move relatively or towards each other normally. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of an embodiment of the automatic cardboard palletizing manipulator of the present utility model.

[0018] Figure 2 is Figure 1 a schematic diagram of the structure of the grasping assembly in

[0019] Figure 3 a schematic diagram of the structure of the mounting plate in the clamping part.

[0020] Figure 4 It is a schematic diagram of the structure of the mounting seat in the clamping part.

[0021] Figure 5 a schematic diagram of the structure of the movable plate in the rotating part. Detailed Embodiments

[0022] The preferred embodiments of the present utility model will be described below in conjunction with the accompanying drawings. It should be understood that the described preferred embodiments are only used to explain the present utility model and will not limit the protection scope of the present utility model.

[0023] Terms such as "first" and "second" in the description, claims, and embodiments of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0024] The present utility model will be further described in detail below through preferred specific embodiments:

[0025] The reference numerals in the accompanying drawings of the specification include: base 1, robotic arm assembly 2, first robotic arm 201, second robotic arm 202, third robotic arm 203, connecting portion 3, grasping assembly 4, mounting seat 5, through hole 501, sliding groove 502, mounting plate 6, first connecting plate 601, second connecting plate 602, groove 603, annular groove 604, first through hole 605, movable plate 7, second through hole 701, connecting column 8, flange 801, motor 9, placing seat 10, double-acting cylinder 11, connecting block 12, rotary table 13, first mounting seat 14, first motor assembly 15, second motor assembly 16, second mounting seat 17.

[0026] As shown in the Figure 1 accompanying drawings: The automatic cardboard palletizing robot of this embodiment includes a base 1 and a robotic arm assembly 2 with multiple degrees of freedom arranged on the base 1. The robotic arm assembly 2 includes a first robotic arm 201 arranged at the upper end of the base 1, a second robotic arm 202 arranged at the front end of the first robotic arm 201, and a third robotic arm 203 arranged at the front end of the second robotic arm 202. The base 1 is provided with a rotary table 1317, and the rotation of the rotary table 13 drives the first robotic arm 201 to rotate in the horizontal direction. A first mounting seat 14 is arranged on the upper side of the first robotic arm 201, and a first motor assembly 15 is horizontally connected to the first mounting seat 14. The second robotic arm 202 is rotatably connected to the output shaft of the first motor assembly 15, and the second motor assembly 16 drives the second robotic arm 202 to rotate in the vertical plane. A second mounting seat 17 is arranged on one side of the front end of the second robotic arm 202, and a second motor assembly 16 is horizontally connected to the second mounting seat 17. The third robotic arm 203 is rotatably connected to the output shaft of the second motor assembly 16, and the third motor 9 assembly drives the third robotic arm 203 to rotate in the vertical plane. The front end of the third robotic arm 203 is connected with a grasping assembly 4 through a connecting portion 3. The grasping assembly 4 includes a clamping portion and a rotating portion located on the clamping portion.

[0027] As shown in the Figures 2 to 4As shown in the figure: The clamping part includes a mounting base 5 and two mounting plates 6 located on both sides of the mounting base 5 along its length direction. A through hole 501 is formed in the mounting base 5 along its length direction. A sliding groove 502 communicating with the through hole 501 is formed on the upper side of the mounting base 5 along its length direction. In this embodiment, two sliding grooves 502 are symmetrically arranged. Each mounting plate 6 is in an inverted L shape, including a horizontally arranged first connecting plate 601 and a vertically arranged second connecting plate 602. Both first connecting plates 601 are located in the through hole 501 and are in sliding fit with it. Connecting blocks 12 extending vertically out of the sliding groove 502 are provided on the upper sides of both first connecting plates 601. A first driving mechanism for driving the two mounting plates 6 to move towards or away from each other is provided on the upper side of the mounting base 5. Specifically, the second driving mechanism is a double-acting cylinder 11. The piston rods on both sides of the double-acting cylinder 11 are respectively connected to the two connecting blocks 12 on the two first connecting plates 601.

[0028] As shown in the attached Figure 3 figure: A groove 603 is formed on the inner side of each second connecting plate 602. An annular groove 604 is formed on the side wall of each groove 603. A placing seat 10 is provided on the outer side of each second connecting plate 602. A first through hole 605 is formed in each second connecting plate 602 along the axial direction of the groove 603.

[0029] As shown in the attached Figure 2 and attached Figure 5 figure: The rotating part includes movable plates 7 respectively arranged on the inner sides of each mounting plate 6. Each movable plate 7 is cylindrical. Specifically, the movable plate 7 is located on the inner side of the second connecting plate 602. A connecting column 8 for cooperating with the groove 603 is arranged on one side of each movable plate 7 close to the second connecting plate 602 along its axial direction. The thickness of the connecting column 8 is greater than the depth of the groove 603. A flange 801 for cooperating with the annular groove 604 is arranged on the circumference of one side of each connecting column 8 away from the movable plate 7. A second through hole 701 corresponding to the position of the first through hole 605 is formed in each movable plate 7. The second through hole 701 penetrates the connecting column 8.

[0030] The rotating part further includes a second driving mechanism for driving the movable plate 7 to rotate. The second driving mechanism includes a motor 9 arranged on the placing seat 10 on the outer side of the second connecting plate 602. The output shaft of the motor 9 sequentially passes through the first through hole 605 on the second connecting plate 602 and the second through hole 701 on the movable plate 7 and is fixed to the movable plate 7.

[0031] Specific palletizing process:

[0032] When stacking and bundling cardboard, first move the mounting base 5 to directly above the cardboard stack through the robotic arm assembly 2, and then move the mounting base 5 downward so that the mounting plates 6 on both sides of the mounting base 5 are respectively located on both sides of the cardboard stack. Drive the two mounting plates 6 to move relatively through the double-acting cylinder 11, so that the movable plates 7 on the inner sides of the mounting plates 6 are in contact with both sides of the cardboard stack, clamp the cardboard stack, and then drive the grasping assembly 4 and the cardboard stack to move upward through the robotic arm assembly 2. When moving the cardboard stack from the conveyor belt to above the transfer vehicle, drive the movable plate 7 to rotate through the motor 9, flip the cardboard stack, and then stack the flipped cardboard stack onto the transfer vehicle.

[0033] The preferred embodiments of the present application have been described in detail in conjunction with the accompanying drawings. The typical well-known structures and common general knowledge technologies in the preferred embodiments are not described in detail here. Those of ordinary skill in the art can, under the inspiration given by this embodiment, perfect and implement the technical solution of the present utility model in combination with their own capabilities. Some typical well-known structures, well-known methods or common general knowledge technologies should not become an obstacle for those of ordinary skill in the art to implement the present application.

[0034] The scope of protection required by the present application shall be subject to the content of its claims, and the content recorded in the utility model content, specific implementation manners and the accompanying drawings of the specification is used to interpret the claims.

[0035] Within the scope of the technical concept of the present application, several modifications can also be made to the specific implementation manners of the present application, and these modified specific implementation manners should also be regarded as within the scope of protection of the present application.

Claims

1. A cardboard automatic palletizing robot, comprising a base and a multi-degree-of-freedom robot arm assembly disposed on the base, wherein a grabbing assembly is connected to the front end of the robot arm assembly, and characterized in that: The grabbing assembly includes a clamping portion and a rotating portion located on the clamping portion, the clamping portion includes a mounting seat and two mounting plates located on both sides of the mounting seat along the length direction of the mounting seat, a first driving mechanism for driving the two mounting plates to move toward or relative to each other is provided on the upper side of the mounting seat, and the rotating portion includes a movable plate respectively arranged on the inner side of each mounting plate and a second driving mechanism for driving the movable plate to rotate.

2. The cardboard automatic palletizing robot according to claim 1 is characterized in that: Each mounting plate is in an inverted L shape, including a first connecting plate arranged horizontally and a second connecting plate arranged vertically, the movable plate is located on the inner side of the second connecting plate, the second driving mechanism includes a motor arranged on the outer side of the second connecting plate, the output shaft of the motor passes through the second connecting plate and is connected to the movable plate, the second driving mechanism includes a two-way cylinder arranged on the upper side of the mounting seat, and the piston rods located on both sides of the two-way cylinder are respectively connected to the inner sides of the two first connecting plates.

3. The cardboard automatic palletizing robot according to claim 1 is characterized in that: Each of the movable plates is cylindrical.

4. The cardboard automatic palletizing robot according to claim 2 is characterized in that: A connecting column is provided along the axial direction on one side of each movable plate close to the second connecting plate, and a flange is provided on the circumference of the connecting column away from the movable plate. A groove for cooperating with the connecting column is provided on the inner side of each second connecting plate, and an annular groove for cooperating with the flange is provided on the side wall of the groove, and the thickness of the connecting column is greater than the depth of the groove.

5. The cardboard automatic palletizing robot according to claim 2 is characterized in that: The outer side of each second connecting plate is provided with a placement seat for mounting the motor.

6. The cardboard automatic palletizing robot according to claim 2 is characterized by: A through hole is opened on the mounting seat along its length direction, and a slide groove connected to the through hole is opened on the upper side of the mounting seat along its length direction. The two first connecting plates are both located in the through hole and slideably cooperate with it. The upper sides of the two first connecting plates are provided with connecting blocks extending out of the slide groove in the vertical direction, and the piston rods located on both sides of the two-way cylinder are respectively connected to the two connecting blocks on the two first connecting plates.

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