Wood support paperboard grabbing production line

Abstract

The utility model provides a wooden support paperboard grabbing production line which aims at solving the problems that in the prior art, manual wooden support paperboard transferring and stacking are low in efficiency and complex in working procedure. The automatic paperboard shaping device comprises a seven-axis robot, a plurality of wood support libraries, a plurality of paperboard libraries and a group of shaping mechanisms, the wood support libraries, the paperboard libraries and the group of shaping mechanisms are arranged in the length direction of the ground axis of the seven-axis robot, a flange plate is arranged at the tail end of the freedom degree of the seven-axis robot, and a suction cup assembly used for grabbing paperboards is arranged on the side edge of the flange plate. Clamping jaw assemblies used for grabbing wood supports are arranged at the two ends of the flange plate. The wood support and paperboard stacking and aligning device can replace manual work to complete the procedures of wood support transferring, paperboard transferring, wood support and paperboard stacking, aligning, final transferring to a main conveying line and the like, manpower input is reduced, the transferring procedures are standardized, and the transferring efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the field of material transfer technology, and in particular to a wooden pallet cardboard gripping production line. Background Technology

[0002] Existing wooden pallet and paper pallet stacking production lines rely on manual stacking and transfer. Within the site, the cardboard warehouse must first be filled with cardboard, then the wooden pallet warehouse must be filled with wooden pallets. The cardboard is then stacked on the wooden pallets in accordance with the cardboard arrangement, and finally transferred to the main conveyor line. The entire process requires multiple manual interventions, resulting in low efficiency and high costs. Utility Model Content

[0003] This application addresses the shortcomings of the prior art by providing a wooden pallet and cardboard gripping production line that can replace manual labor in completing processes such as wooden pallet transfer, cardboard transfer, wooden pallet and cardboard stacking and alignment, and finally transfer to the main conveyor line. This reduces manpower input, standardizes the transfer process, and significantly improves transfer efficiency.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A wooden pallet and cardboard gripping production line includes a seven-axis robot and multiple wooden pallet storages, multiple cardboard storages, and a set of shaping mechanisms arranged along its horizontal axis. The seven-axis robot has a flange plate at its end of its degrees of freedom. The flange plate has suction cup assemblies for gripping cardboard on its side and gripper assemblies for gripping wooden pallets at both ends.

[0006] Furthermore, the suction cup assembly includes a profile plate fixed to the side of the flange plate, and a solenoid valve suction cup is installed under each profile plate.

[0007] Furthermore, the gripper assembly includes two sets of trusses fixed to the lower surface of the flange plate, with guide rails vertically connected between the opposing trusses. The guide rails are arranged facing downwards, and sliders are slidably arranged at both ends of each guide rail. A hanging plate is arranged under the slider, and an extension cylinder is arranged on the guide rail near the slider. The driving end of the extension cylinder is connected to the hanging plate.

[0008] Furthermore, each set of trusses is provided with an ejection assembly at its end. Each set of ejection assemblies includes an ejection cylinder fixed to the truss. The drive end of the ejection cylinder is connected to an extension frame. The end of the extension frame is connected to a push rod. The end of the push rod is provided with a pad.

[0009] Furthermore, the shaping mechanism includes a frame, the upper surface of which is composed of multiple sets of spaced profiles forming a placement surface, a top plate is provided at the center of the frame facing the placement surface, and multiple sets of positioning cylinders are provided at both ends of the frame, with a positioning plate provided at the driving end of each positioning cylinder.

[0010] The beneficial effects of this utility model are as follows:

[0011] Compared with existing technologies, the wooden pallet and cardboard gripping production line provided by this utility model can replace manual labor in completing processes such as wooden pallet transfer, cardboard transfer, stacking and aligning wooden pallets and cardboard, and finally transferring them to the main conveyor line. This reduces manpower input, standardizes the transfer process, and improves transfer efficiency. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the suction cup assembly and gripper assembly in this utility model.

[0014] The components include: 1. a seven-axis robot; 2. a wooden pallet warehouse; 3. a cardboard warehouse; 5. a flange plate; and 9. a ground axis.

[0015] 4. Shaping mechanism; 41. Frame; 42. Shelf surface; 43. Top plate; 44. Positioning cylinder; 45. Positioning plate;

[0016] 5. Suction cup assembly; 51. Profile plate; 52. Solenoid valve suction cup;

[0017] 6. Gripper assembly; 61. Truss; 62. Guide rail; 63. Hanging plate; 64. Extending cylinder;

[0018] 8. Ejection assembly; 81. Ejection cylinder; 82. Extension frame; 83. Pad block. Detailed Implementation

[0019] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0020] This utility model provides a wooden pallet cardboard gripping production line, which aims to solve the problems of low efficiency and complex processes in the existing manual transfer and stacking of wooden pallets cardboard.

[0021] like Figure 1 and Figure 2 As shown, this utility model includes a seven-axis robot 1 and multiple wooden pallet storage 2, multiple cardboard storage 3 and a set of shaping mechanisms 4 arranged along its ground axis 9. The seven-axis robot 1 has a flange plate 5 at the end of its degree of freedom. The flange plate 5 has a suction cup assembly for gripping cardboard on its side and a gripper assembly 6 for gripping wooden pallets at both ends.

[0022] In one embodiment of the present invention, the suction cup assembly includes a profile plate 51 fixed to the side of the flange plate 5, and a solenoid valve suction cup 52 is installed below each profile plate 51.

[0023] In one embodiment of this utility model, the gripper assembly 6 includes two sets of trusses 61 fixed to the lower surface of the flange plate 5. A guide rail 62 is vertically connected between the opposing trusses 61. The guide rail 62 is arranged facing downward. A slider is slidably arranged at both ends of each guide rail 62. A hanging plate 63 is arranged under the slider. An extension cylinder 64 is arranged near the slider of the guide rail 62. The driving end of the extension cylinder 64 is connected to the hanging plate 63.

[0024] In one embodiment of the present invention, each set of trusses 61 is further provided with an ejection assembly 8 at its end. Each set of ejection assemblies 8 includes an ejection cylinder 81 fixed on the truss 61. The drive end of the ejection cylinder 81 is connected to an extension frame 82. The end of the extension frame 82 is connected to a push rod. The end of the push rod is provided with a pad block 83.

[0025] In one embodiment of this utility model, the shaping mechanism 4 includes a frame 41. The upper surface of the frame 41 is formed by multiple sets of spaced profiles to form a placement surface 42. A top plate 43 is provided at the center of the frame 41 facing the placement surface 42. Multiple sets of positioning cylinders 44 are provided at both ends of the frame 41. Each positioning cylinder 44 has a positioning plate 45 at its driving end.

[0026] The specific structure and working principle of this utility model are as follows:

[0027] like Figure 1 As shown, this utility model includes a set of seven-axis robots 1 in the field. The seven-axis robot 1 is an industrial robot with seven degrees of freedom. Compared with the traditional six-axis robot, it has one more ground axis 9, which can move linearly and freely along the length of the ground axis 9. The seven-axis robot 1 starts from the robot base, passes through the upper arm and forearm, and then to the end effector. Each joint can control the movement. In this utility model, the end joint of the connecting flange plate 5 is a rotary joint. The specific selection and working principle of the seven-axis robot 1 will not be described in detail here.

[0028] On one side of the ground axis 9 of the seven-axis robot 1, as shown in the figure, the first wooden pallet 2, the cardboard pallet 3, the shaping mechanism 4, the second wooden pallet 2 and the third wooden pallet 2 are arranged from left to right. In other embodiments, the number and position of the pallets can be changed according to the requirements. This utility model integrates a suction cup assembly, a gripper assembly 6 and an ejection assembly 8 at the end of the degree of freedom of the seven-axis robot 1.

[0029] The suction cup assembly is used to grip the cardboard after the robot is in position. Its principle is based on the solenoid valve suction cup 52. In this embodiment, four sets of solenoid valve suction cups 52 are provided on both sides of the flange plate 5.

[0030] The gripper assembly 6 is used to grasp the wooden pallet after the robot is in position. Since the wooden pallet has a recessed, hollow internal structure, lifting it requires a hanging plate 63 to insert into the hollow part of the pallet. This invention provides a truss 61 and guide rails 62 on the flange plate 5 to provide a foundation for the installation of the hanging plate 63 and the cylinder. As shown in the figure, there are two sets of guide rails 62 on each side of the seven-axis robot 1 (due to angle limitations, only one set is visible in the figure; in reality, there are two symmetrical sets). Each set of guide rails 62 is equipped with an extendable cylinder 64 and a hanging plate 63 at its front and rear ends. The hanging plate 63 slides inverted on the guide rail 62 via a slider. The action of the extendable cylinder 64 controls the hanging plate 63 to move away from or insert into the wooden pallet, thus achieving grasping during lifting.

[0031] The ejector assembly 8 is used to prevent the cardboard from falling off in time due to atmospheric pressure after the suction cup assembly has gripped and lifted the cardboard into place, thus assisting in the falling off; it is equipped with four sets at the four ends of the truss 61, which eject the cardboard through the action of the ejector cylinder 81.

[0032] Specific work steps:

[0033] 1. Fill the three wooden pallet warehouses 2 and one cardboard warehouse 3 with goods;

[0034] 2. The robot moves above the designated wooden pallet 2, the extension cylinder 64 of the hanging plate 63 opens, and the entire robotic arm drives the gripper assembly 6 to descend.

[0035] 3. Descend to the position of the first wooden support and stop descending. The extension cylinder 64 of the hanging plate 63 retracts, and the hanging plate 63 is inserted between the upper and lower plates of the wooden support;

[0036] 4. The robot rises, and the hanging plate 63 drives the wooden tray to rise. The robot then places the wooden tray on the shaping mechanism 4.

[0037] 5. The robot moves above the cardboard box 3, the extension cylinder 64 of the hanging plate 63 opens, and the entire gripper assembly 6 descends;

[0038] 6. When the solenoid valve suction cup 52 contacts the first layer of cardboard, the descent stops. The solenoid valve of the suction cup opens, and the suction cup holds the cardboard.

[0039] 7. The robot rises, pulling the cardboard along with it, and places the cardboard on the wooden tray that was previously in place;

[0040] 8. The positioning cylinders 44 on the four sides of the shaping mechanism 4 push the wooden tray and cardboard to the middle to complete the shaping action;

[0041] 9. The robot moves above the shaping mechanism 4, the cylinder of the hanging plate 63 opens, the gripper assembly 6 descends, and the descent stops when the hanging plate 63 descends to the middle position of the wooden support;

[0042] 10. The extension cylinder 64 of the hanging plate 63 retracts, the hanging plate 63 enters the middle of the wooden tray, the robot rises, and the wooden tray and cardboard rise together.

[0043] 11. The robot rotates 180 degrees and places the wooden tray and cardboard into the main conveyor line at the back of the site.

[0044] The above description is an explanation of the present utility model and not a limitation thereof. The scope of the present utility model is defined by the claims. Within the protection scope of the present utility model, any form of modification may be made.

Claims

1. A wood-to-paperboard grab line, characterized by: Seven-axis robot (1) and a plurality of wood warehouse (2), a plurality of paperboard warehouse (3) and a set of whole type mechanism (4) are arranged along the length direction of the earth axis (9), the freedom end of the seven-axis robot (1) is provided with flange plate (5), the side of the flange plate (5) is provided with suction cup assembly for grabbing paperboard, both ends of the flange plate (5) are provided with clamping jaw assembly (6) for grabbing wood.

2. A wood pallet paperboard grabbing line as claimed in claim 1, characterized in that: The suction cup assembly includes a mold plate (51) fixed to the side of the flange plate (5), and an electromagnetic valve suction cup (52) is installed below each mold plate (51).

3. A wood pallet paperboard grabbing line as claimed in claim 1, characterized in that: The clamping jaw assembly (6) includes two groups of trusses (61) fixed to the lower surface of the flange plate (5), and a guide rail (62) is vertically connected between the opposite trusses (61), the guide rail (62) is arranged facing downward, a sliding block is arranged at both ends of each guide rail (62), a hanging plate (63) is arranged below the sliding block, an extension cylinder (64) is arranged close to the sliding block of the guide rail (62), and the driving end of the extension cylinder (64) is connected with the hanging plate (63).

4. A wood pallet paperboard picking line as claimed in claim 3, wherein: The end of each group of trusses (61) is also provided with an ejection assembly (8), each group of ejection assemblies (8) includes an ejection cylinder (81) fixed to the truss (61), the driving end of the ejection cylinder (81) is connected with an extension frame (82), the end of the extension frame (82) is connected with a ejector rod, and the end of the ejector rod is provided with a pad (83).

5. A wood pallet paperboard grabbing line as claimed in claim 1, characterized in that: The whole type mechanism (4) includes a rack (41), the upper surface of the rack (41) is composed of a plurality of groups of profile bars arranged at intervals to form a placement surface (42), the center of the rack (41) is provided with a top block plate (43) facing the placement surface (42), and the two ends of the rack (41) are provided with a plurality of positioning cylinders (44), and the driving end of each positioning cylinder (44) is provided with a positioning plate (45).

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