Feeding and discharging manipulator for pearl wool pasting

Abstract

A feeding and discharging manipulator for pearl wool pasting belongs to the technical field of pearl wool packaging box processing. The material taking device is characterized by comprising a connecting assembly, a material taking assembly and a material unloading assembly. The connecting assembly is used for being connected with the material taking assembly and the discharging assembly and connected with the six-axis industrial robot, and the six-axis industrial robot controls displacement of the whole mechanical arm. The material taking assembly is provided with at least one set of clamping jaws, each set of clamping jaws is provided with a material taking air cylinder and a plurality of probes, the material taking air cylinders drive the probes to move downwards to be inserted into the pearl wool materials, material grabbing is completed, and then the surfaces of the pearl wool materials are glued. The discharging assembly comprises a discharging air cylinder and an auxiliary separating plate, under the action of the six-axis industrial robot and the like, the glued face of the pearl wool material makes contact with the hardboard, the discharging air cylinder drives the auxiliary separating plate, the probe and the pearl wool material are separated, and material pasting is completed. The device is high in mechanization degree and low in labor intensity, the product quality is guaranteed, and the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to pearl wool pasting up and down material mechanical hand belongs to pearl wool packing box processing technical field. BACKGROUND

[0002] Pearl wool is by low density polyethylene plastic through physical foaming produces innumerable independent bubble composition, overcome the ordinary foaming glue fragile, deformation, recovery poor shortcoming, with water -proof, moisture -proof, shock -proof, sound -proof, heat -insulating, plastic property is good, tenacity is strong, cyclic reconstruction, environmental protection, many advantages such as strong anti -impact force, also have good chemical resistance, is the ideal alternative of traditional packing material.

[0003] The packing box made of pearl wool profile generally needs to be pasted with pearl wool material after gluing and then with hardboard, so as to form a complete packing box, which can be used as an electronic product packing box. At present, the pasting of pearl wool material and hardboard is manually processed, which is low in efficiency, high in labor intensity of workers and unable to guarantee product quality, and is not conducive to production and manufacturing. UTILITY MODEL CONTENT

[0004] The utility model aims at the deficiency of prior art, provides a kind of pearl wool pasting up and down material mechanical hand, and the single piece pearl wool material is realized by mechanical hand and is pasted on hardboard, and the degree of mechanization is high, labor intensity is small, product quality is guaranteed, and work efficiency is greatly improved.

[0005] The technical scheme of the utility model is as follows:

[0006] The utility model aims at providing a kind of pearl wool pasting up and down material mechanical hand, and the characteristic is, including: connecting component, material taking component, unloading component. Connecting component is used to connect material taking component, unloading component, and is connected with six-axis industrial robot, and the displacement of entire mechanical hand is controlled by six-axis industrial robot. At least one set of clamping jaw is provided in material taking component, each set of clamping jaw is respectively provided with material taking cylinder and multiple probes, material taking cylinder drives probe to descend and insert into pearl wool material, material grabbing is completed, and then glue is applied on the surface of pearl wool material. Unloading component includes an unloading cylinder and an auxiliary separation plate, under the action of six-axis industrial robot, the glued side of pearl wool material is contacted with hardboard, the unloading cylinder drives the auxiliary separation plate to separate probe from pearl wool material, and material pasting is completed.

[0007] Furthermore, a limiting ring is welded to the top of each probe, serving as the probe's upper position; a circular magnet is welded to the bottom of each probe, serving as the probe's lower position; and the probe's center position, located between the limiting ring and the circular magnet, serves as the middle position. Both the limiting ring and the circular magnet are welded to the probe. The limiting ring is non-magnetic and does not generate magnetic attraction, but works in conjunction with the auxiliary separation plate to separate the probe from the EPE material. The circular magnet has magnetic attraction and can be magnetically connected to the auxiliary pressure plate.

[0008] Furthermore, the retrieving assembly is equipped with an auxiliary pressure plate, which is fixedly connected to the output shaft of the retrieving cylinder. The probe slides through the auxiliary pressure plate, which is magnetically connected to the lower end surface of the annular magnet. The auxiliary pressure plate and the probe slide together, allowing them to be connected to the probe by the magnetic attraction of the annular magnet and separated from the annular magnet (probe) by the action of the retrieving cylinder.

[0009] Furthermore, the auxiliary separation plate is composed of four wings connected to a center plate to form an H-shape, and the output shaft of the discharge cylinder is fixedly connected to the center plate. The jaws are arranged in four groups, symmetrically spaced in pairs around the discharge cylinder. Each group of jaws contains six probes, arranged symmetrically in two rows. All probes slide through the four wings of the auxiliary separation plate, slidingly engaging with their corresponding wings. The auxiliary separation plate is located in the center position between the limit ring and the annular magnet.

[0010] Furthermore, the connection assembly includes a connection base and a cover plate. The cylinder bodies of the discharge cylinder and the pick-up cylinder are fixedly connected to the bottom of the cover plate. The cover plate is used to integrate the pick-up and discharge assemblies into one body. The connection base is installed at the top center of the upper surface of the cover plate for connection to the six-axis industrial robot.

[0011] When grabbing the EPE material, the probe is inserted into the EPE material to facilitate picking it up and positioning it, and then the glue roller is used to make the lower surface of the EPE material stick to the glue. However, when the EPE material is just pasted on the cardboard, since the glue has not dried completely, pulling out the probe at this time can easily pull the EPE material away from the cardboard. The EPE pasting loading and unloading manipulator of the present utility model can perfectly solve the above problems. Through the telescopic control of the material taking cylinder and the unloading cylinder, and the cooperation of the three working positions of the probe, it can smoothly complete the grabbing of the EPE material, the pasting of the EPE material and the cardboard, and the separation of the probe and the EPE material. There is no need to drive each probe separately, and no need for a large number of drive motors or drive cylinders, which reduces the weight and control difficulty of the manipulator.

[0012] When the above-mentioned manipulator is in use, the following steps are included:

[0013] 1) The probes of each group of clamping jaws slide through the H-shaped auxiliary separation plate and the auxiliary pressing plate in turn. In the initial state, the taking cylinder is retracted, the auxiliary pressing plate connected to the output shaft of the taking cylinder is connected to the lower end face of the corresponding circular magnet by magnetic attraction, and is in the lower position of the probe; the unloading cylinder is extended, and the H-shaped auxiliary separation plate connected to the output shaft of the unloading cylinder is in the middle position of the probe;

[0014] 2) The taking cylinder is extended to drive the auxiliary pressing plate to move downward. Under the action of the circular magnet, the probe moves downward with the auxiliary pressing plate, so that the probe is inserted into the pearl wool material. At this time, the unloading cylinder is stationary, and the limiting ring moves downward with the probe and contacts the upper surface of the H-shaped auxiliary separation plate;

[0015] 3) The taking cylinder is retracted to drive the auxiliary pressing plate to move upward. Under the action of the circular magnet, the probe moves upward with the auxiliary pressing plate and the pearl wool material. At this time, the unloading cylinder is stationary, the limiting ring moves upward with the probe and separates from the upper surface of the H-shaped auxiliary separation plate, the auxiliary separation plate is in the middle position of the probe, and the taking is completed;

[0016] 4) The groups of clamping jaws sequentially repeat steps 2) to 3) to complete the taking one by one;

[0017] 5) With the help of a six-axis industrial robot, glue is applied to the pearl wool material on all clamping jaws, and then the entire mechanical hand is moved above the hardboard to be pasted by the six-axis industrial robot;

[0018] 6) The taking cylinder is extended to drive the auxiliary pressing plate to move downward. Under the action of the circular magnet, the probe moves downward with the auxiliary pressing plate, so that the pearl wool material is in contact with and pasted to the corresponding hardboard. At this time, the unloading cylinder is stationary, the limiting ring moves downward with the probe and contacts the upper surface of the H-shaped auxiliary separation plate, and the H-shaped auxiliary separation plate is in the upper position of the probe;

[0019] 7) The unloading cylinder is retracted to drive the H-shaped auxiliary separation plate to move upward, and at the same time, the limiting ring is lifted upward to drive the probe to move upward and overcome the magnetic attraction force, so that the circular magnet is separated from the auxiliary pressing plate. At this time, the taking cylinder is stationary, the auxiliary pressing plate continuously presses the pearl wool material, and the probe moves upward to complete the separation from the pearl wool material;

[0020] 8) The taking cylinder is retracted to drive the auxiliary pressing plate to move upward, so that the auxiliary pressing plate is in the lower position of the probe and contacts the lower end face of the circular magnet, and the pearl wool pasting work is completed. The unloading cylinder is extended to drive the auxiliary separation plate to move downward and be in the middle position of the probe;

[0021] 9) Each group of clamping jaws sequentially repeats steps 6) to 8) to complete the pearl wool pasting work.

[0022] The pearl wool pasting feeding and discharging mechanical hand can grasp multiple pearl wool materials through one six-axis industrial robot, can realize the extension and retraction of all probes through one material taking cylinder (only the probe at the pasting station follows, and other probes remain unchanged), and can separate the pearl wool material from the probe after pasting through one discharging cylinder, so that the control is convenient, and the structure manufacturing cost is low. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a front view of the pearl wool pasting feeding and discharging mechanical hand (four sets of clamping jaws are arranged, and the initial state is shown);

[0024] Figure 2 It is a perspective view of the pearl wool pasting feeding and discharging mechanical hand; Figure 1

[0025] Figure 3 It is a schematic view of a connecting assembly in the pearl wool pasting feeding and discharging mechanical hand;

[0026] Figure 4 It is a schematic view of the pearl wool pasting feeding and discharging mechanical hand (two sets of clamping jaws are arranged, and the initial state is shown);

[0027] Figure 5 It is a schematic view of a discharging assembly in the pearl wool pasting feeding and discharging mechanical hand;

[0028] Figure 6 It is a schematic view of one set of clamping jaws in the pearl wool pasting feeding and discharging mechanical hand;

[0029] Figure 7 It is a schematic view of the pearl wool pasting feeding and discharging mechanical hand in the initial state (four sets of clamping jaws are arranged, and the connecting assembly is removed);

[0030] Figure 8 It is a schematic view of one set of clamping jaws in the pearl wool pasting feeding and discharging mechanical hand in a material taking state (four sets of clamping jaws are arranged, and the connecting assembly is removed);

[0031] Figure 9 It is a schematic view of one set of clamping jaws in the pearl wool pasting feeding and discharging mechanical hand in a separation state from the pearl wool material (four sets of clamping jaws are arranged, and the connecting assembly is removed);

[0032] In the drawing: connecting seat 1, cover plate 2, material taking cylinder 3, probe 4, limiting circular ring 5, circular ring-shaped magnet 6, auxiliary pressing plate 7, discharging cylinder 8, auxiliary separation plate 9. DETAILED DESCRIPTION

[0033] Embodiment 1

[0034] A pearl wool pasting feeding and discharging mechanical hand, comprising: a connecting assembly, a material taking assembly, and a discharging assembly.​

[0035] The connecting assembly, as shown in Figure 3 , comprises a connecting seat 1 and a cover plate 2, the cover plate is used to integrate the material taking assembly and the material unloading assembly, the connecting seat is installed at the top center position of the upper surface of the cover plate and is used to be connected with the six-axis industrial robot.

[0036] The material taking assembly, as shown in Figure 4 , is provided with two groups of clamping jaws. Each group of clamping jaws, as shown in Figure 6 , is respectively provided with a material taking cylinder 3, six probes 4, a limiting ring 5, a ring-shaped magnet 6 and an auxiliary pressing plate 7, the output shaft of the material taking cylinder is fixedly connected with the auxiliary pressing plate. The limiting ring has no magnetism and is welded at the upper part of each probe as an upper working position of the probe; the ring-shaped magnet is welded at the lower part of each probe as a lower working position of the probe; the middle position of the probe between the limiting ring and the ring-shaped magnet is a middle working position. The probe slides through the auxiliary pressing plate, and the auxiliary pressing plate is connected to the lower end surface of the ring-shaped magnet by magnetic attraction.

[0037] The material unloading assembly, as shown in Figure 5 , comprises a material unloading cylinder 8 and an auxiliary separation plate 9, the auxiliary separation plate is formed in H shape by four wing plates and a center plate, and the output shaft of the material unloading cylinder is fixedly connected with the center plate.

[0038] The material unloading cylinder and the material taking cylinder are fixedly connected to the cover plate, as shown in Figure 4 , all the probes slide through the four wing plates of the auxiliary separation plate, and the auxiliary separation plate is located at the middle working position between the limiting ring and the ring-shaped magnet.

[0039] The material taking cylinder drives the probes to descend and insert into the pearl wool material to complete the material grabbing, and then the pearl wool material is coated with glue; the coated side of the pearl wool material is contacted with the hardboard, the material unloading cylinder drives the auxiliary separation plate to separate the probes from the pearl wool material to complete the material pasting.

[0040] Example 2

[0041] Different from example 1, in this example, the clamping jaws are four groups, as shown in Figure 1 , Figure 2 , the four groups of clamping jaws are symmetrically distributed two by two with the material unloading cylinder as the center; in each group of clamping jaws, the probes are six in total and are symmetrically arranged in front and back two rows. All the probes slide through the four wing plates of the auxiliary separation plate, the probes slide with the corresponding wing plates of the auxiliary separation plate, and the auxiliary separation plate is located at the middle working position between the limiting ring and the ring-shaped magnet.

[0042] When the mechanical hand of this example is used, the following steps are included:

[0043] 1) In the initial state, as shown in Figure 7 ,As shown, four groups of material taking cylinders retract, and the auxiliary pressing plates connected with the material taking cylinder output shafts are connected to the lower end surface of the corresponding annular magnet through magnetic attraction, and the four groups of auxiliary pressing plates are in the lower position of the probe; the material unloading cylinder extends, and the H-shaped auxiliary separating plate connected with the material unloading cylinder output shaft is in the middle position of the probe;

[0044] 2) The first group of clamping jaws moves (the other groups of clamping jaws do not move), as shown in Figure 8

[0045] The material taking cylinder extends, drives the auxiliary pressing plate to move downward, and the probe moves downward with the auxiliary pressing plate under the action of the annular magnet (the annular magnet magnetically attracts the auxiliary pressing plate and is welded with the probe), so that the probe is inserted into the pearl wool material below; at this time, the material unloading cylinder is stationary, and the limiting annular ring moves downward with the probe and contacts the upper surface of the H-shaped auxiliary separating plate;

[0046] 3) The material taking cylinder of the first group of clamping jaws retracts and resets, drives the auxiliary pressing plate to move upward, and the probe moves upward with the pearl wool material together with the auxiliary pressing plate under the action of the annular magnet; at this time, the material unloading cylinder is stationary, the limiting annular ring moves upward with the probe and separates from the upper surface of the H-shaped auxiliary separating plate, the auxiliary separating plate is in the middle position of the probe, and the material taking is completed;

[0047] 4) The four groups of clamping jaws sequentially repeat steps 2) - 3) one by one to complete the material taking one by one;

[0048] 5) Glue is applied to the pearl wool material on all the clamping jaws, and then the entire mechanical hand is moved to above the hardboard to be pasted by a six-axis industrial robot;

[0049] 6) The material taking cylinder of the first group of clamping jaws extends (the other groups of clamping jaws do not move), as shown in Figure 8 , drives the auxiliary pressing plate to move downward, and the probe moves downward with the auxiliary pressing plate under the action of the annular magnet, so that the glued side of the pearl wool material contacts and is pasted with the corresponding hardboard; at this time, the material unloading cylinder is stationary, the limiting annular ring moves downward with the probe and contacts the upper surface of the H-shaped auxiliary separating plate, and the H-shaped auxiliary separating plate is in the upper position of the probe;

[0050] 7) The material unloading cylinder retracts, drives the H-shaped auxiliary separating plate to move upward, at the same time, the limiting annular ring is lifted upward, drives the probe to move upward, and overcomes the magnetic attraction, so that the annular magnet is separated from the auxiliary pressing plate, as shown in Figure 9 ; at this time, the material taking cylinder is stationary, the auxiliary pressing plate continuously presses the pearl wool material, the probe moves upward, and the separation of the pearl wool material is completed; at this time, only the probe corresponding to the first group of clamping jaws in the pasting state moves to the upper limit with the material unloading cylinder, and the probes of the other clamping jaws do not move;

[0051] ​8) The material taking cylinder retracts, drives the auxiliary pressing plate to go up, makes the auxiliary pressing plate contact with the lower end surface of the annular magnet in the probe lower station, and completes the pearl wool sticking work; the unloading cylinder extends, makes the auxiliary separating plate go down and be in the probe middle station;

[0052] 9) Each group of clamping jaws repeats steps 6) - 8) in sequence, and completes the pearl wool material sticking work.

Claims

1. The EPE pasting loading and unloading robot is characterized by: include: Connecting assembly, connected to the six-axis industrial robot; The material taking component is provided with at least one set of grippers, and each set of grippers is provided with a material taking cylinder and multiple probes; The material picking cylinder drives the probe downward and inserts it into the EPE material to complete the material grabbing; The unloading component includes a unloading cylinder and an auxiliary separation plate; the unloading cylinder drives the auxiliary separation plate to separate the probe from the pearl cotton material to complete the material bonding.

2. The EPE pasting loading and unloading robot according to claim 1 is characterized in that: A limiting ring is welded on the upper part of each probe, which serves as the upper working position of the probe; a circular ring magnet is welded on the lower part of each probe, which serves as the lower working position of the probe; the middle position of the probe between the limiting ring and the circular ring magnet serves as the middle working position.

3. The EPE pasting loading and unloading robot according to claim 2 is characterized in that: The material picking assembly is further provided with an auxiliary pressing plate, and the output shaft of the material picking cylinder is fixedly connected to the auxiliary pressing plate; the probe slides through the auxiliary pressing plate, and the auxiliary pressing plate is connected to the lower end surface of the annular magnet by magnetic attraction.

4. The EPE pasting loading and unloading robot according to claim 3 is characterized in that: The auxiliary separation plate is formed into an H shape by connecting four wing plates and a center plate, and the output shaft of the unloading cylinder is fixedly connected to the center plate.

5. The EPE pasting loading and unloading robot according to claim 4 is characterized in that: The clamping jaws are divided into four groups, which are symmetrically distributed in pairs with the unloading cylinder as the center; in each group of clamping jaws, there are 6 probes in total, which are symmetrically arranged in two rows, front and back.

6. The EPE pasting loading and unloading robot according to claim 5 is characterized in that: All probes slide through the four wing plates of the auxiliary separation plate respectively, and the auxiliary separation plate is located at the middle position between the limiting ring and the annular magnet.

7. The EPE pasting loading and unloading robot according to claim 6 is characterized in that: The connecting assembly includes a connecting seat and a cover plate, and the cylinder bodies of the unloading cylinder and the taking cylinder are fixedly connected to the bottom of the cover plate.

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