Roll paper rotating device and feeding equipment

Abstract

The utility model relates to the technical field of packaging auxiliary material feeding, in particular to a roll paper rotating device and feeding equipment, the feeding equipment comprises a machine frame, the roll paper rotating device and a mechanical arm, the roll paper rotating device and the mechanical arm are both installed on the machine frame, and the roll paper rotating device comprises a supporting seat, a rotating driving piece, a rotating piece, a limiting piece and a detection sensor. The supporting seat is fixed to the machine frame, the rotation driving part is installed on the supporting seat, the rotating part is installed at the driving end of the rotation driving part, the limiting part is fixed to the rotating part and used for placing an aluminum foil roll, and the detection sensor is installed on one side of the limiting part. The aluminum foil roll is rotated by 180 degrees through the rotary driving piece, so that the aluminum foil roll forms a needed roll paper opening direction, and then the aluminum foil roll is fed through the mechanical arm.

Description

TECHNICAL FIELD

[0001] The utility model relates to packing auxiliary material loading technical field especially, it relates to a kind of roll paper rotating device and loading equipment. BACKGROUND

[0002] Aluminum foil roll is important packaging material in roll packing workshop, it is generally placed in packaging machine nearby to facilitate artificial or equipment feeding packaging machine;Aluminum foil roll is generally divided into two parts of mandrel and aluminum foil, aluminum foil is formed aluminum foil roll by winding on mandrel, then the aluminum foil roll processed is placed on tray, aluminum foil roll can be as long as thousands of meters after unfolding, and a disc of aluminum foil roll weighs more than ten kilograms.

[0003] The raw and auxiliary materials entering the packaging machine have specific direction and rotational direction requirements, and the aluminum foil roll is the same, and it needs to strictly follow the rotational direction (counterclockwise or clockwise) on the technical requirements before entering the packaging machine.

[0004] At present, the aluminum foil roll on the stack board is generally placed on the corresponding buffer channel by artificial or equipment;If the direction of the aluminum foil roll placed on the stack board is consistent with the technical requirements, the aluminum foil roll is directly taken by artificial or equipment and placed on the buffer channel, and then the aluminum foil is connected to the packaging machine by artificial.

[0005] If the direction of the aluminum foil roll placed on the stack board is opposite to the technical requirements, the aluminum foil roll needs to be turned over 180° by artificial before each package is placed, and then the turned aluminum foil roll is placed on the corresponding buffer channel, and dozens of rolls of materials are consumed in a shift, and the weight of aluminum foil roll is heavy, which brings heavy roll paper turning work to the workers on site. INVENTION CONTENTS

[0006] The utility model aims at providing a kind of roll paper rotating device and loading equipment, help roll paper to rotate to correct unwinding direction, and assist worker loading.

[0007] To achieve this purpose, the utility model adopts the following technical solutions:

[0008] A kind of roll paper rotating device, comprising:

[0009] support seat;

[0010] rotary drive part, installation is in the support seat, and the drive end of the rotary drive part is installed with rotary part;

[0011] limiting part, the limiting part is fixedly installed on the rotary part, and the limiting part is formed with V-shaped groove with opening upward;

[0012] detection sensor, for detecting whether there is material on the limiting part, and being communicated with the rotary drive part.

[0013] Preferably, the rotation axis of the rotating member is vertically arranged to drive the product to rotate in a horizontal plane by a required angle.

[0014] Preferably, the V-shaped groove comprises a pair of oppositely arranged limiting side walls, and the pair of limiting side walls are symmetrically arranged about the rotation axis of the rotating member.

[0015] The utility model also provides a kind of loading equipment, including above-mentioned paper roll rotating device, and the loading equipment includes:

[0016] Rack, the paper roll rotating device is fixed on the rack;

[0017] Mechanical hand, is installed on the rack, and the mechanical hand includes suction cup, clamping jaw and vision system;

[0018] Flat paper buffer channel is arranged in one side of the rack, and the suction cup of the mechanical hand is used to load flat paper to the flat paper buffer channel;

[0019] Paper roll buffer channel is arranged in the other side of the rack, and the clamping jaw of the mechanical hand is used to load the paper roll to the paper roll buffer channel.

[0020] Preferably, the mechanical hand includes mechanical base connected with the rack, and the mechanical base is fixed with connecting plate, and the detection sensor is installed on the connecting plate.

[0021] Preferably, the mechanical hand includes mechanical arm and end effector, and the end effector includes support frame, and the suction cup, the clamping jaw and the vision system are all installed on the support frame, and the direction of the suction cup suction material and the clamping direction of the clamping jaw are perpendicular.

[0022] Preferably, the end effector includes six-dimensional force sensor, and the six-dimensional force sensor is connected with the mechanical arm of the mechanical hand.

[0023] Preferably, the loading equipment further includes partition paper buffer device, and the partition paper buffer device includes material storage inclined plane and material measurement sensor arranged in the material storage inclined plane.

[0024] Preferably, the flat paper buffer channel includes conveying belt and conveying support spliced by multiple section split supports, and the conveying belt rotates on the conveying support.

[0025] Preferably, the conveying support is provided with material blocking plate on both sides along its conveying direction.

[0026] The utility model has the advantages of:

[0027] The paper roll rotating device comprises a support base, a rotating driving part, a rotating part, a limiting part and a detection sensor, the support base is fixed on a rack, the rotating driving part is installed on the support base, the rotating part is installed on the driving end of the rotating driving part, the limiting part is fixed on the rotating part, the limiting part is used for placing the aluminum foil roll, the detection sensor is used for detecting whether the aluminum foil roll is on the limiting part, when the aluminum foil roll exists, the rotating driving part is used for rotating the aluminum foil roll by 180 degrees, so that the aluminum foil roll forms a required paper roll opening direction, and the rotating direction of the aluminum foil roll is adjusted.

[0028] The utility model discloses a feeding equipment which comprises a paper roll rotating device, a rack, a mechanical hand, a flat paper buffer channel and a paper roll buffer channel, a suction cup, a clamping jaw and a vision system are arranged on the mechanical hand, the suction cup of the mechanical hand can place the trademark paper on the flat paper buffer channel, or the clamping jaw can place the aluminum foil roll on the paper roll buffer channel, thereby realizing feeding of two materials. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is the aluminum foil roll schematic drawing in the utility model embodiment;

[0030] Figure 2 It is the trademark paper schematic drawing in the utility model embodiment;

[0031] Figure 3 It is the whole schematic diagram of the feeding equipment in the utility model embodiment;

[0032] Figure 4 It is the schematic diagram of the paper roll rotating device in the utility model embodiment;

[0033] Figure 5 It is the schematic diagram of the end effector in the utility model embodiment;

[0034] Figure 6 It is the schematic diagram of the flat paper buffer channel in the utility model embodiment.

[0035] In the figure: 1, rack; 2, manipulator; 3, flat paper buffer channel; 4, roll paper buffer channel; 5, partition paper buffer channel; 11, trademark paper; 12, aluminum foil roll; 21, mechanical base; 22, mechanical arm; 221, connecting plate; 23, end effector; 231, support frame; 232, suction cup; 233, clamping jaw; 234, six-dimensional force sensor; 235, vision system; 236, mounting plate; 31, conveying belt; 32, conveying support; 321, feeding section support; 3211, roller; 322, fixed length section support; 3221, driving motor; 323, variable length section support; 324, butt joint section support; 33, material blocking plate; 51, material storage slope; 52, material measuring sensor; 61, support seat; 62, rotary driving part; 63, rotary part; 64, limiting part; 641, limiting side wall; 642, V-shaped groove; 65, detection sensor. DETAILED DESCRIPTION

[0036] The utility model will be described in further detail below in combination with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not limited to the utility model. In addition, it should be noted that in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all the structures.

[0037] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0038] In the utility model, unless otherwise explicitly specified and limited, the first feature "on" or "below" the second feature can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] In the description of the present embodiment, the terms "upper", "lower", "right", "left" and the like orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0040] With reference to Figures 1 to 6 The present embodiment provides a paper roll rotating device and a feeding equipment, wherein the feeding equipment is used for feeding flat paper and paper roll, the flat paper referred to in the present embodiment can be trademark paper 11 and partition paper (not shown in the figure), and the trademark paper 11 and the partition paper are both flat plane paper, and the paper roll can be an aluminum foil roll 12, which is wound in a ring shape and has an aerial mandrel inside.

[0041] With reference to Figure 3 The feeding equipment comprises a rack 1, a mechanical hand 2 arranged on the rack 1, a paper roll rotating device arranged on the rack 1, a flat paper buffering channel 3, a paper roll buffering channel 4 and a partition paper buffering device. The trademark paper 11 stack and the aluminum foil roll 12 paper stack are placed on one side of the rack 1, and the mechanical hand 2 feeds respectively, grabs the trademark paper 11 to the flat paper buffering channel 3 for feeding, and grabs the aluminum foil roll 12 paper to the paper roll buffering channel 4 for feeding.

[0042] With reference to Figure 4 The paper roll rotating device is used for rotating the aluminum foil roll 12 by 180°, and comprises a support seat 61, a rotating driving part 62 arranged on the support seat 61, a rotating part 63 and a limiting part 64. The support seat 61 is a metal block, which can be fixed on the rack 1 by bolts. The rotating driving part 62 can be a hollow rotating platform or a rotating cylinder, and in the present scheme, the hollow rotating platform is preferred. The hollow rotating platform is a high-precision transmission equipment in the industrial field, which can provide high rotation accuracy. When the control system in the hollow rotating platform issues a motion instruction, the positioning accuracy of the servo motor can reach within ±1 arc minute, and the encoder feedbacks the rotating position information of the platform to the control system in real time. The control system adjusts the movement of the motor according to the feedback information, and accurately positions the rotating angle at 180°. The rotating driving part 62 is fixed on the support seat 61 by bolts, and the rotating part 63 is a metal disc. The rotating part 63 is arranged on the driving end of the hollow rotating platform, and is driven by the hollow rotating platform to rotate in the horizontal plane, i.e. the rotating shaft of the rotating part 63 is vertical, so that the aluminum foil roll 12 can be rotated in the direction of opening the paper roll.

[0043] It should be noted that the initial rotation direction of the aluminum foil roll 12 can be observed by the staff, and after determining that the aluminum foil roll 12 needs to be rotated, the rotation command can be clicked on the operation interface of the entire device.

[0044] The limiting member 64 is a metal plate member, which is installed on the rotating member 63 by bolts, and can also be fixed by welding. The limiting member 64 includes a pair of oppositely arranged limiting side walls 641, which are symmetrically arranged about the rotation axis of the rotating member 63. The limiting side walls 641 are inclined with respect to the horizontal plane, and a pair of limiting side walls 641 form a V-shaped groove 642 opening upward, in which the aluminum foil roll 12 can be placed, and the axis of the aluminum foil roll 12 is horizontal. Such arrangement can limit the aluminum foil roll 12 in roll shape, which is convenient and fast, and the aluminum foil roll 12 can be placed from above, which is beneficial to the work of the upper mechanical hand 2.

[0045] A detection sensor 65 is further arranged on one side of the limiting member 64, which is used to detect whether there is an aluminum foil roll 12 on the limiting member 64. The detection sensor 65 can be a photoelectric sensor, and the detection sensor 65 is in communication connection with the rotating drive member 62. When the detection sensor 65 detects a signal and detects that the aluminum foil roll 12 is placed on the limiting member 64, the rotating drive member 62 drives the aluminum foil roll 12 to rotate 180°, thereby completing the rotation of the aluminum foil roll 12.

[0046] The mechanical hand 2 includes a mechanical base 21, a mechanical arm 22 and an end effector 23. The mechanical base 21 is fixedly connected to the rack 1 by bolts, the mechanical arm 22 extends from the mechanical base 21, and the end effector 23 is installed at the top end of the mechanical arm 22. The end effector 23 can grasp the material, and the mechanical arm 22 realizes the material transportation.

[0047] A connecting plate 221 is installed on the mechanical base 21 by bolts, and the detection sensor 65 is fixed on the connecting plate 221, and the detection direction of the detection sensor 65 faces the limiting member 64, i.e. the place where the aluminum foil roll 12 is placed on the paper roll rotating device, so as to identify whether there is material on the limiting member 64. The detection sensor 65 is arranged on the mechanical base 21, which is beneficial to the line arrangement of the detection sensor 65. In other embodiments, the detection sensor 65 can also be installed on the limiting member 64, so as to facilitate wiring and accurate detection of whether there is material.

[0048] Referring to Figure 5The end effector 23 comprises a support frame 231, a suction cup 232, a clamping jaw 233, a six-dimensional force sensor 234, and a vision system 235, the suction cup 232, the clamping jaw 233, the six-dimensional force sensor 234, and the vision system 235 are all mounted on the support frame 231, the support frame 231 is spliced from metal plates and can be connected by bolts or welding. The six-dimensional force sensor 234 is connected to the mechanical arm 22 through a flange, so that the entire end effector 23 can be sensitively perceived when it touches the worker, and the manipulator 2 can be stopped in time to protect the worker. And the parameters of the manipulator 2 and the six-dimensional force sensor 234 can be adjusted, when subjected to a small external force, the manipulator 2 can also stop moving, and the worker will not feel the impact of force, and the on-site man-machine collaborative work can be carried out safely and efficiently.

[0049] The support frame 231 comprises a mounting plate 236, the suction cup 232 is installed below the mounting plate 236, the clamping jaw 233 and the vision system 235 are installed above the mounting plate 236, the vision system 235 is a 3D vision camera, the suction cup 232 is used for vacuum suction of the trademark paper 11, and the clamping jaw 233 is a three-finger electric claw used for grabbing the aluminum foil roll 12. The three-finger electric claw inserts into the shaft of the aluminum foil roll 12 and fixes the aluminum foil roll 12 by internal support, and can also maintain the internal support state when the manipulator 2 suddenly loses power, so as not to drop the aluminum foil roll 12.

[0050] The two suction cups 232 are arranged in pairs, and in this embodiment, two groups of suction cups 232 are adopted to provide sufficient suction force and ensure accurate suction of the trademark paper 11.

[0051] The suction cup 232 and the clamping jaw 233 grab materials from different directions, and the direction in which the suction cup 232 sucks materials is perpendicular to the clamping direction of the clamping jaw 233. In this way, for different products, the orientation of the end effector 23 can be rotated to grab materials by corresponding grabbing work, and the two kinds of grabbing work do not interfere with each other.

[0052] The roll paper buffer channel 4 can adopt a conveying belt to convey and is arranged beside the aluminum foil roll 12 stack, the aluminum foil roll 12 on the stack is placed into the roll paper rotating device by the manipulator 2, rotated to the correct orientation, and then placed into the roll paper buffer channel 4 by the manipulator 2 for conveying and entering subsequent operations.

[0053] The separator paper in each layer of the trademark paper 11 is separated by the separator paper, so after opening the trademark paper 11, the separator paper needs to be removed. The separator paper buffer device is located on one side of the flat paper buffer channel 3, and the separator paper buffer device is used to store the separator paper extracted from the trademark paper 11. The separator paper buffer device includes a material storage slope 51 and a material measurement sensor 52 arranged on the material storage slope 51. The material storage slope 51 is an inclined slope, and the separator paper can be placed on it. A groove can be formed on the material storage slope 51 for placing the material measurement sensor 52. Among them, the inclined material storage slope 51 structure is more in line with the posture of the mechanical hand 2 when discharging, and each joint of the mechanical hand 2 does not need to be rotated to the limit state to take and place the separator paper, and the pipeline package on the mechanical hand 2 will not be pulled; the material measurement sensor 52 can detect the material in real time, and when there is no material, the system will start counting again, and when the count reaches the upper limit, the device will prompt manual removal of the separator paper.

[0054] Referring to Figure 6 , the flat paper buffer channel 3 is a belt conveying channel, and the flat paper buffer channel 3 includes a conveying belt 31 and a conveying support 32. The conveying belt 31 rotates on the conveying support 32. The trademark paper 11 placed on the conveying belt 31 by the mechanical hand 2 is transported to the position where the operation is needed by the conveying belt 31.

[0055] The conveying support 32 of the embodiment adopts a segmented structure, and the conveying support 32 includes multiple segmented supports. Specifically, the conveying support 32 includes a discharging segment support 321, a fixed length segment support 322, a variable length segment support 323, and a butt joint segment support 324. The discharging segment support 321 and the butt joint segment support 324 are the first and last ends of the conveying support 32, and the end portions thereof are provided with rollers 3211 abutting against the end portions of the conveying belt 31, so that the conveying belt 31 rotates in a ring shape.

[0056] The length of the variable length segment support 323 is variable. The variable manner is to have multiple supports with different lengths in reserve, which are replaced at this position as needed, so as to reduce the length of the entire conveying support 32.

[0057] In the embodiment, the discharging segment support 321, the fixed length segment support 322, the variable length segment support 323, and the butt joint segment support 324 are connected by metal plates and bolts. For example, the discharging segment support 321 is spliced with the fixed length segment support 322, the metal plate is connected at the splicing position, and the bolts are used to fixedly connect the metal plate with the discharging segment support 321 and the fixed length segment support 322. In this way, the multiple segmented supports can be fixed together.

[0058] At the same time, the split design brings great convenience to the processing, on-site debugging and maintenance of the support, and greatly reduces the design cycle.

[0059] In order to prevent the trademark paper 11 in conveying from flowing out of the channel, the conveying support 32 is provided with a material blocking plate 33 on both sides, the material blocking plate 33 can be made of metal material, the bottom of the material blocking plate 33 can be fixed on the conveying support 32 through bolts, and the material blocking plate 33 is arranged along the conveying direction of the trademark paper 11 and limits the trademark paper 11.

[0060] The working principle of the embodiment is that the visual system 235 on the manipulator 2 takes pictures of the on-site trademark paper 11 or aluminum foil roll 12, collects material information, and then the manipulator 2 grasps the corresponding material according to the coordinate information, places the aluminum foil roll 12 on the paper roll rotating device, rotates the aluminum foil roll 12 by 180°, adjusts to the correct direction, and then the manipulator 2 puts the aluminum foil roll 12 into the paper roll buffer channel 4.

[0061] When the trademark paper 11 is grasped, the manipulator 2 returns to the standby position, the end effector 23 on the manipulator 2 adjusts the posture, aligns one side of the suction cup 232 with the trademark paper 11, uses the suction cup 232 to suck the trademark paper 11, and puts the trademark paper 11 into the flat paper buffer channel 3.

[0062] Among them, the trademark paper 11 between each layer will be separated by a partition paper, when a layer of trademark paper 11 is taken out, the partition paper needs to be taken out and then the new material is grasped.

[0063] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not limited to the implementation mode of the utility model. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be carried out without departing from the protection scope of the utility model. Here, it is unnecessary and impossible to enumerate all the implementation modes. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A paper roll rotating device, characterized in that, include: Support base (61); A rotary drive (62) is mounted on the support base (61), and a rotary component (63) is mounted on the drive end of the rotary drive (62); A limiting member (64) is fixedly installed on the rotating member (63), and the limiting member (64) has an upward-opening V-shaped groove (642); A detection sensor (65) is used to detect whether there is material on the limiting member (64) and is communicatively connected to the rotary drive member (62).

2. The paper roll rotating device according to claim 1, characterized in that, The rotating shaft of the rotating component (63) is vertically arranged to drive the product to rotate at the required angle in the horizontal plane.

3. The paper roll rotating device according to claim 2, characterized in that, The V-groove (642) includes a pair of opposing limiting sidewalls (641), which are symmetrical about the rotation axis of the rotating member (63).

4. A feeding device, characterized in that, Including the paper roll rotating device according to any one of claims 1-3, the feeding device includes: The machine frame (1) is fixed to the machine frame (1); A robotic arm (2) is mounted on the frame (1). The robotic arm (2) includes a suction cup (232), a gripper (233), and a vision system (235). A flat paper buffer channel (3) is provided on one side of the frame (1), and the suction cup (232) of the robot (2) is used to feed flat paper onto the flat paper buffer channel (3); A paper roll buffer channel (4) is located on the other side of the frame (1), and the gripper (233) of the robot (2) is used to feed the paper roll onto the paper roll buffer channel (4).

5. The feeding device according to claim 4, characterized in that, The robotic arm (2) includes a mechanical base (21) connected to the frame (1), a connecting plate (221) fixed on the mechanical base (21), and a detection sensor (65) mounted on the connecting plate (221).

6. The feeding device according to claim 4 or 5, characterized in that, The robotic arm (2) includes a robotic arm (22) and an end effector (23). The end effector (23) includes a support frame (231). The suction cup (232), the gripper (233), and the vision system (235) are all mounted on the support frame (231). The direction in which the suction cup (232) picks up the material is perpendicular to the gripping direction of the gripper (233).

7. The feeding device according to claim 6, characterized in that, The end effector (23) includes a six-dimensional force sensor (234), which is connected to the robotic arm (22) of the robotic hand (2).

8. The feeding device according to claim 4, characterized in that, The feeding device also includes a partition paper buffer device, which includes a storage inclined surface (51) and a material measuring sensor (52) disposed in the storage inclined surface (51).

9. The feeding device according to claim 8, characterized in that, The flat paper buffer channel (3) includes a conveyor belt (31) and a conveyor support (32) composed of multiple split supports. The conveyor belt (31) rotates on the conveyor support (32).

10. The feeding device according to claim 9, characterized in that, The conveying support (32) is provided with baffles (33) on both sides along its transport direction.

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