Specification feeding machine

Abstract

The utility model belongs to the technical field of laser, and particularly relates to a specification feeding machine which comprises a mechanical arm, a carrying cart and a U-shaped grabbing claw, the U-shaped opening direction of the grabbing claw is parallel to the upper surface of the carrying cart, and the upper surface of the grabbing claw is fixedly connected with the execution end of the mechanical arm. Auxiliary baffles are arranged on the two sides, in the U-shaped opening direction, of the top wall of the grabbing claw through drivers, a specification temporary storage cavity matched with the grabbing claw is formed in the upper surface of the carrying cart, and the carrying cart can enter the stroke range of the mechanical arm. According to the specification feeding machine, the mode that the mechanical arm with the U-shaped grabbing claw is matched with the carrying cart is adopted, the designed specification feeding machine can automatically carry stacks of specifications into a printing or packaging machine, and therefore the problem that a clamping principle is adopted by a mechanical arm of an existing feeding machine, and consequently specification feeding cannot be conducted is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of manufacturing feeding equipment, and particularly relates to a manual feeding machine for product manuals. BACKGROUND

[0002] A large number of product manuals need to be transported between printing and packaging. During the transportation, the manuals are placed in piles. Since ordinary feeding machines are mostly of the mechanical hand type, the ordinary mechanical hand is clamping, and therefore the manuals are easily clamped and damaged when being gripped by the ordinary mechanical hand. Even the clamping force received by the manuals in the same pile is not the same, and therefore the manuals at the top of the pile are easily caused to slide off. Therefore, a manual feeding machine needs to be designed to cope with the printing and packaging of the manuals. CONTENT OF THE UTILITY MODEL

[0003] The application aims at the defects of the prior art, and adopts a mechanical hand provided with a U-shaped gripping claw in cooperation with a carrier to design a manual feeding machine for product manuals, so that the manuals in piles can be automatically transported into a printing or packaging machine, thereby solving the problem that the mechanical hand of the current feeding machine is of the clamping principle and cannot feed the manuals.

[0004] In order to achieve the above-mentioned purpose, the application adopts the technical scheme of:

[0005] A manual feeding machine for product manuals, comprising a mechanical hand, a carrier, and a U-shaped gripping claw, wherein the opening direction of the U-shaped gripping claw is parallel to the upper surface of the carrier, the upper surface of the gripping claw is fixedly connected with the execution end of the mechanical hand, and the top wall of the gripping claw is provided with auxiliary baffles on both sides in the opening direction of the U-shaped gripping claw through a drive, the upper surface of the carrier is provided with a manual temporary storage cavity matched with the gripping claw, and the carrier can enter the stroke range of the mechanical hand.

[0006] Preferably, a first sensor is arranged on the top wall of the gripping claw close to the bottom wall of the U-shaped gripping claw, the sensing surface of the first sensor faces the inside of the U-shaped gripping claw, the first sensor is signal-connected with the mechanical hand, a second sensor is arranged on the outer bottom wall of the U-shaped gripping claw close to the bottom wall of the gripping claw, and the second sensor is signal-connected with the mechanical hand.

[0007] Preferably, a through hole is arranged on the top wall of the gripping claw close to the bottom wall of the U-shaped gripping claw, and the first sensor is arranged at the through hole.

[0008] Preferably, rollers are arranged on the inner bottom surface of the gripping claw, the rollers are parallel to the upper surface of the carrier and perpendicular to the opening direction of the U-shaped gripping claw.

[0009] Preferably, the driver includes a horizontal cylinder, a vertical cylinder, the horizontal cylinder is arranged at the top of the grabbing claw, the horizontal cylinder is parallel to the upper surface of the grabbing claw, the horizontal cylinder is perpendicular to the direction of the U-shaped opening of the grabbing claw, the execution end of the horizontal cylinder is fixedly provided with a mounting seat, the mounting seat is fixedly provided with the vertical cylinder, the vertical cylinder is perpendicular to the direction of the U-shaped opening of the grabbing claw and the horizontal cylinder, the free end of the piston rod of the vertical cylinder faces the lower surface of the grabbing claw, and the free end of the piston rod of the vertical cylinder is fixedly provided with the auxiliary baffle.

[0010] Preferably, the auxiliary baffle is parallel to the direction of the U-shaped opening of the grabbing claw and the vertical cylinder, and the auxiliary baffle is perpendicular to the horizontal cylinder.

[0011] Preferably, the specification temporary storage cavity includes a notch and four vertical columns, the four vertical columns are vertically arranged on the upper surface of the carrier, and the four vertical columns are separately located at four vertices of a virtual rectangle on the upper surface of the carrier. The projection of each vertical column on the upper surface of the carrier is an L-shaped, and the straight angle formed by the projection of each L-shaped on the upper surface of the carrier corresponds to an angle of the virtual rectangle. The two ends of the notch penetrate out of the carrier, the notch penetrates the virtual rectangle between the two ends, the notch is parallel to the length line of the virtual rectangle, and the depth of the notch is greater than or equal to the thickness of the side wall of the U-shaped upper surface of the grabbing claw away from the mechanical arm.

[0012] Preferably, the carrier is provided with a handle, a universal wheel and a retractable supporting leg, the bottom of the carrier is provided with at least four universal wheels and at least four supporting legs, and the handle is arranged on the side wall of the carrier.

[0013] Preferably, the mounting hole is arranged through the bottom plate of the carrier, the supporting leg includes a nut, a screw rod and a foot plate, the lower end of the screw rod is fixedly connected with the foot plate, the outer diameter of the screw rod is smaller than the inner diameter of the mounting hole, and the two ends of the screw rod are threadedly connected with two nuts, and the outer diameter of the nut is greater than the inner diameter of the mounting hole.

[0014] Compared with the prior art, the application has the following beneficial effects:

[0015] 1. The specification feeding machine is designed by adopting the mode that the mechanical arm provided with the grabbing claw with the U-shaped opening cooperates with the carrier, and a pile of specifications can be automatically transported into a printing or packaging machine, thereby solving the problem that the mechanical arm of the existing feeding machine adopts the clamping principle and cannot feed the specifications.

[0016] 2. In this application, the second sensor is used to identify the position of the gripper on the robotic arm as it descends, and the first sensor is used to identify whether the gripper has reached the bottom of the U-shape of the gripper when it grasps the instruction manual. In use, a priming sensor is set up, with its upper surface lower than the upper surface of the transport vehicle. The distance between the upper surface of the priming sensor and the upper surface of the transport vehicle is equal to the distance between the inner sidewalls of the U-shape on the gripper relative to its lower side. After the second sensor on the robotic arm detects this sensor, the robotic arm drives the gripper to move towards the opening of the U-shape, causing one sidewall of the U-shape to insert into the bottom of the instruction manual and support it. Then, as the robotic arm rises, it lifts the instruction manual.

[0017] 3. In this application, when the instruction manual is placed on the transport vehicle, it is placed within a virtual rectangle, and then four pillars block the placed instruction manual to prevent it from slipping off the transport vehicle. The slot is designed to allow the U-shaped sidewall of the gripper, located at the bottom, to insert into the lower surface of the instruction manual placed on the transport vehicle. In this way, the instruction manual will be lifted off the transport vehicle as the gripper rises. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this application;

[0019] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0020] Figure 3 for Figure 2 Enlarged view of point B in the middle;

[0021] Figure 4 This is a partial schematic diagram showing the transport vehicle outside the travel range of the robotic arm in this application;

[0022] Figure 5 This is a diagram showing the relationship between the robotic arm and the gripper in this application;

[0023] Figure 6 This is a structural diagram showing the structure after removing one support leg from the transport vehicle itself.

[0024] Among them, 1. robotic arm; 2. transport vehicle; 3. gripper; 4. auxiliary baffle; 5. first sensor; 6. second sensor; 7. through hole; 8. roller; 9. horizontal cylinder; 10. vertical cylinder; 11. mounting base; 12. slot; 13. column; 14. handle; 15. caster wheel; 16. mounting hole; 17. nut; 18. screw; 19. foot plate. Detailed Implementation

[0025] like Figures 1-6As shown, a kind of instruction manual feeding machine, including manipulator 1, carrier 2, U-shaped grab claw 3, the opening direction of the U-shaped grab claw 3 is parallel to the upper surface of the carrier 2, the upper surface of the grab claw 3 is fixedly connected with the execution end of the manipulator 1, the top wall of the grab claw 3 is provided with auxiliary baffle 4 on both sides of the opening direction of the U-shaped grab claw 3 by driver, the upper surface of the carrier 2 is provided with instruction manual temporary storage cavity matched with the grab claw 3, and the carrier 2 can enter the stroke range of the manipulator 1.

[0026] In the embodiment, when in use, the carrier 2 is pushed into the stroke range of the manipulator 1, then the instruction manual is placed in the instruction manual temporary storage cavity, and the U-shaped opening direction of the grab claw 3 is parallel to the upper surface of the carrier 2 (that is, the U-shaped opening direction of the grab claw 3 is horizontal), so that when the grab claw 3 grabs the instruction manual, one side wall of the U-shaped grab claw 3 supports the bottom of the instruction manual, and the instruction manual is provided with supporting force instead of left-right or front-back direction clamping force, which is different from the left-right or front-back direction clamping force provided by the common manipulator, so that the top instruction manual of the pile of instruction manuals will not slide off, and the instruction manual will not be damaged.

[0027] As a preferred mode, the top wall of the grab claw 3 is provided with first sensor 5 near the bottom wall of the U-shaped grab claw 3, the sensing surface of the first sensor 5 faces the U-shaped grab claw 3, the first sensor 5 is signal connected with the manipulator 1, and the outer bottom wall of the U-shaped grab claw 3 is provided with second sensor 6 near the bottom wall of the grab claw 3, and the second sensor 6 is signal connected with the manipulator 1.

[0028] After the above setting, the second sensor 6 is used to identify the position of the descending grab claw 3 on the manipulator 1, and the first sensor 5 is used to identify whether the instruction manual reaches the bottom of the U-shaped grab claw 3 when the grab claw 3 grabs the instruction manual. In use, an original point sensing object is arranged, the upper surface of the original point sensing object is lower than the upper surface of the carrier by a distance, and the distance from the upper surface of the original point sensing object to the upper surface of the carrier is equal to the distance between the inner side walls of the U-shaped grab claw 3 located below each other, so that after the second sensor 6 on the manipulator 1 senses the sensing object, the manipulator 1 drives the grab claw 3 to move towards the opening direction of the U-shaped grab claw 3, so that one side wall of the U-shaped grab claw 3 is inserted into the bottom of the instruction manual to support the instruction manual, and then the instruction manual is lifted up in the process of the manipulator rising.

[0029] As a preferred mode, a through hole 7 is arranged on the top wall of the grabbing claw 3 near the bottom wall of the U-shaped grabbing claw 3, and the first sensor 5 is arranged at the through hole 7. After the through hole 7 is arranged, the first sensor 5 can sense the manual inside the U-shaped grabbing claw 3.

[0030] As a preferred mode, a roller 8 is arranged on the inner bottom surface of the grabbing claw 3, which is parallel to the upper surface of the carrier 2 and perpendicular to the opening direction of the U-shaped grabbing claw 3. The arrangement of the roller 8 reduces the friction between the inner side wall of the U-shaped grabbing claw 3 and the lower surface of the manual during the process of inserting the U-shaped side wall of the grabbing claw 3 into the lower surface of the manual.

[0031] As a preferred mode, the driver includes a horizontal cylinder 9, a vertical cylinder 10, the horizontal cylinder 9 is arranged on the top of the grabbing claw 3, the horizontal cylinder 9 is parallel to the upper surface of the grabbing claw 3, the horizontal cylinder 9 is perpendicular to the opening direction of the U-shaped grabbing claw 3, the execution end of the horizontal cylinder 9 is fixedly arranged with a mounting seat 11, the mounting seat 11 is fixedly arranged with the vertical cylinder 10, the vertical cylinder 10 is perpendicular to the horizontal cylinder 9 and the opening direction of the U-shaped grabbing claw 3, the free end of the piston rod of the vertical cylinder 10 is towards the lower surface of the grabbing claw 3, and the free end of the piston rod of the vertical cylinder 10 is fixedly arranged with the auxiliary baffle 4. After the U-shaped grabbing claw 3 is filled with manuals, in order to prevent the manuals from falling off the grabbing claw 3, the driver drives the horizontal cylinder 9 to move, so as to find the width of the manual inside the U-shaped grabbing claw 3, and then the vertical cylinder 10 is elongated to drive the auxiliary baffle 4 to block the two side openings of the U-shaped grabbing claw 3, thereby preventing the manuals from falling off the grabbing claw 3.

[0032] As a preferred mode, the auxiliary baffle 4 is parallel to the opening direction of the U-shaped grabbing claw 3 and the vertical cylinder 10, and is perpendicular to the horizontal cylinder 9.

[0033] As a preferred mode, the specification temporary storage cavity comprises a slot 12 and four vertical columns 13, the four vertical columns 13 are vertically arranged on the upper surface of the carrier 2, the four vertical columns 13 are separately arranged at the four vertices of a virtual rectangle on the upper surface of the carrier 2, the projection of each vertical column 13 on the upper surface of the carrier 2 is an L shape, the right angle formed by the projection of each L shape on the upper surface of the carrier 2 corresponds to an angle of the virtual rectangle, the two ends of the slot 12 are both penetrated to the outside of the carrier 2, the slot 12 penetrates the virtual rectangle between the two ends, the slot 12 is parallel to the length line of the virtual rectangle, and the depth of the slot 12 is greater than or equal to the thickness of the side wall of the U-shaped upper side away from the mechanical arm 1. After such arrangement, when the specification is placed on the carrier 2, it is placed in the virtual rectangle, and then the four vertical columns 13 block the placed specification to prevent the specification from sliding off the carrier 2, and the slot 12 is arranged to facilitate the insertion of the side wall of the U-shaped upper side of the gripper 3 located below into the lower surface of the specification placed on the carrier 2. After that, the specification will be lifted off the carrier 2 during the lifting of the gripper 3.

[0034] As a preferred mode, the carrier is provided with a handle 14, a universal wheel 15 and a retractable supporting leg, the bottom of the carrier 2 is provided with at least four universal wheels 15 and at least four supporting legs, and the handle 14 is arranged on the side wall of the carrier 2. The handle 14 and the universal wheel 15 are arranged to facilitate the movement of the carrier, and after the carrier moves to a designated position (within the travel range of the mechanical arm 1), the carrier can be supported by the supporting leg to prevent the movement of the carrier 2 caused by the universal wheel 15. A plurality of specification temporary storage cavities can be arranged on one carrier 2.

[0035] As a preferred mode, the bottom plate of the carrier 2 is provided with a mounting hole 16, the supporting leg comprises a nut 17, a screw rod 18 and a foot plate 19, the lower end of the screw rod 18 is fixedly connected with the foot plate 19, the outer diameter of the screw rod 18 is smaller than the inner diameter of the mounting hole 16, two nuts 17 are threadedly connected between the two ends of the screw rod 18, and the outer diameter of the nut 17 is greater than the inner diameter of the mounting hole 16. After such arrangement, the carrier 2 can be locked on the screw rod 18 by two nuts 17. When the distance from the lower end of the screw rod 18 to the lower surface of the carrier 2 is greater than the distance from the lower edge of the universal wheel 15 to the lower surface of the carrier 2, the universal wheel 15 is away from the ground, and the movement of the universal wheel 15 will not drive the movement of the carrier 2.

Claims

1. A specification sheet loader characterized by, The utility model relates to a mechanical hand (1), a carrier (2), a U type's grab claw (3), the opening direction of the U type of grab claw (3) is parallel to the upper surface of carrier (2), the upper surface of grab claw (3) is fixedly connected with the execution end of mechanical hand (1), the top wall of grab claw (3) is equipped with auxiliary baffle (4) through driver on the both sides of the opening direction of the U type of grab claw (3), the upper surface of carrier (2) is equipped with the specification temporary storage cavity that cooperates with grab claw (3), carrier (2) can enter the range of stroke of mechanical hand (1).

2. A recipe loading machine according to claim 1, characterized in that The first sensor (5) is provided on the top wall of the grab claw (3) near the bottom wall of the U-shaped grab claw (3), the sensing surface of the first sensor (5) faces the inside of the U-shaped grab claw (3), the first sensor (5) is signal connected with the mechanical hand (1), the second sensor (6) is provided on the outer bottom wall of the U-shaped grab claw (3) near the bottom wall of the grab claw (3), and the second sensor (6) is signal connected with the mechanical hand (1).

3. A recipe loading machine according to claim 2, wherein The first sensor (5) is provided on the top wall of the grab claw (3) near the bottom wall of the U-shaped grab claw (3), the sensing surface of the first sensor (5) faces the inside of the U-shaped grab claw (3), the first sensor (5) is signal connected with the mechanical hand (1), the second sensor (6) is provided on the outer bottom wall of the U-shaped grab claw (3) near the bottom wall of the grab claw (3), and the second sensor (6) is signal connected with the mechanical hand (1).

4. The instruction sheet loader of claim 1 wherein, The first sensor (5) is provided on the top wall of the grab claw (3) near the bottom wall of the U-shaped grab claw (3), the sensing surface of the first sensor (5) faces the inside of the U-shaped grab claw (3), the first sensor (5) is signal connected with the mechanical hand (1), the second sensor (6) is provided on the outer bottom wall of the U-shaped grab claw (3) near the bottom wall of the grab claw (3), and the second sensor (6) is signal connected with the mechanical hand (1).

5. A recipe loading machine according to claim 1, wherein The drive includes a horizontal cylinder (9) and a vertical cylinder (10), the horizontal cylinder (9) is arranged on the top of the grab claw (3), the horizontal cylinder (9) is parallel to the upper surface of the grab claw (3), the horizontal cylinder (9) is perpendicular to the opening direction of the U-shaped grab claw (3), the execution end of the horizontal cylinder (9) is fixedly provided with a mounting seat (11), the vertical cylinder (10) is fixedly arranged on the mounting seat (11), the vertical cylinder (10) is perpendicular to the horizontal cylinder (9) and the opening direction of the U-shaped grab claw (3), the free end of the piston rod of the vertical cylinder (10) faces the lower surface of the grab claw (3), and the free end of the piston rod of the vertical cylinder (10) is fixedly provided with the auxiliary baffle (4).

6. A recipe loading machine according to claim 5, wherein The auxiliary baffle (4) is parallel to the vertical cylinder (10) and the opening direction of the U-shaped grab claw (3), and the auxiliary baffle (4) is perpendicular to the horizontal cylinder (9).

7. A recipe loading machine according to claim 1, wherein The description temporary cavity includes a notch (12) and four vertical columns (13), the four vertical columns (13) are vertically arranged on the upper surface of the carrier (2), the four vertical columns (13) are separately located at four vertices of a virtual rectangle on the upper surface of the carrier (2), the projection of each vertical column (13) on the upper surface of the carrier (2) is an L-shaped, the straight angle formed by the projection of each L-shaped on the upper surface of the carrier (2) corresponds to an angle of the virtual rectangle, both ends of the notch (12) penetrate out of the carrier (2), the notch (12) penetrates the virtual rectangle between both ends, the notch (12) is parallel to the length line of the virtual rectangle, and the depth of the notch (12) is greater than or equal to the thickness of the side wall of the U-shaped back side of the grabbing claw (3) away from the mechanical hand (1).

8. A recipe loading machine according to claim 1, wherein The carrier is provided with a handle (14), a universal wheel (15) and a retractable supporting leg, the bottom of the carrier (2) is provided with at least four universal wheels (15) and at least four supporting legs, and the sidewall of the carrier (2) is provided with the handle (14).

9. A recipe loading machine according to claim 8, wherein The bottom plate of the carrier (2) is provided with a mounting hole (16), the supporting leg includes a nut (17), a screw rod (18) and a foot plate (19), the lower end of the screw rod (18) is fixedly connected with the foot plate (19), the outer diameter of the screw rod (18) is smaller than the inner diameter of the mounting hole (16), and the two ends of the screw rod (18) are threadedly connected with two nuts (17), and the outer diameter of the nut (17) is greater than the inner diameter of the mounting hole (16).

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