Negative pressure type packaging plate moving mechanical arm and packaging plate production system

Abstract

This utility model discloses a negative pressure packaging board moving robotic arm and a packaging board production system, relating to the field of packaging board production technology. The negative pressure packaging board moving robotic arm includes a mounting platform, on which a robotic arm body is mounted. A gripping component is provided at the end of the robotic arm body. The gripping component has multiple radially arranged tracks, each track equipped with a packaging suction cup. The gripping component also includes a driving component for driving the packaging suction cups to move along the tracks. A packaging board production system includes the aforementioned negative pressure packaging board moving robotic arm, as well as a conveyor belt and a stacking platform. The conveyor belt is equipped with an image analysis and detection instrument. This utility model significantly improves the screening and handling efficiency in the packaging board production process, reduces labor intensity, improves product quality, and meets the needs of modern large-scale production.

Description

Technical Field

[0001] This utility model relates to the field of packaging board production technology, specifically to a negative pressure packaging board moving robotic arm and packaging board production system. Background Technology

[0002] In today's packaging and printing industry, automated production lines have become the primary production mode for many printing plants. Inevitably, some packaging will be incompletely printed after printing is completed. If these substandard products enter the market, they will severely damage the company's brand image and the consumer's user experience. Therefore, identifying and filtering out these incompletely printed packages is crucial.

[0003] Currently, machine vision technology is widely used in the industry to identify and inspect packaging printing. This technology, equipped with cameras and sensors, can accurately detect features such as the size, shape, color, and quality of printed packaging. For example, in pharmaceutical packaging printing, it can accurately identify and detect key information such as drug names and specifications. However, existing technology has significant drawbacks. When machine vision identifies substandard packaging, it can usually only prompt a human to remove the incompletely printed packaging. Manual operation has many disadvantages. On the one hand, the efficiency of manually moving substandard packaging is extremely low, making it difficult to meet the pace of large-scale production; on the other hand, human operation is prone to fatigue and negligence, leading to missed or false detections, allowing some substandard products to be mixed in with qualified products.

[0004] Therefore, existing technologies need to be improved. Utility Model Content

[0005] The technical problem to be solved by this utility model is the low efficiency of manually moving unqualified packaging boards in the prior art. The purpose is to provide a negative pressure packaging board moving robotic arm and packaging board production system. By adopting corresponding technical means, the unqualified packaging boards can be moved efficiently, which can greatly improve the screening and handling efficiency in the packaging board production process, reduce labor intensity, improve product quality, and meet the needs of modern large-scale production.

[0006] This utility model is achieved through the following technical solution:

[0007] In a first aspect, this utility model provides a negative pressure packaging board moving robotic arm, which includes a mounting platform, a robotic arm body on the mounting platform, a gripping member at the end of the robotic arm body, a plurality of radially arranged tracks on the gripping member, packaging suction cups on the tracks, and a driving member for driving the packaging suction cups to move along the tracks.

[0008] Furthermore, in this invention, the gripping component is configured as multiple mounting strips arranged radially, with uniform spacing between the mounting strips, and the mounting strips are connected to the ends of the robotic arm body.

[0009] Furthermore, in this invention, the aforementioned mounting strip is configured with six evenly spaced strips.

[0010] Furthermore, in this utility model, the gripping member described above is provided with a bracket, the two ends of the track are connected to the bracket, the driving member includes a lead screw and a drive motor that are connected to each other, the lead screw is rotatably connected to the bracket, and the side wall of the packaging suction cup is provided with a first slider and a second slider. The first slider is provided with a sliding hole for the track to pass through, and the second slider is provided with a screw hole for the lead screw to pass through.

[0011] Furthermore, in this utility model, the inner end of the aforementioned lead screw is provided with a first transmission gear, and a transmission rod is provided between two adjacent first transmission gears, with second transmission gears meshing with the first transmission gears at both ends of the transmission rod.

[0012] Furthermore, in this invention, the gripping member described above is provided with a bearing seat that supports the rotation of the transmission rod.

[0013] Furthermore, in this utility model, the gripping component described above is provided with a strip groove for the packaging suction cup to be inserted.

[0014] Furthermore, in this invention, the lead screw and the drive motor are configured as a gear transmission connection.

[0015] Furthermore, in this invention, the aforementioned drive motor is configured as a stepper motor.

[0016] Secondly, this utility model also provides a packaging board production system, which includes the aforementioned negative pressure packaging board moving robotic arm, as well as a conveyor belt and a stacking platform, wherein the conveyor belt is equipped with an image analysis and detection instrument.

[0017] Compared with the prior art, this utility model has the following advantages and beneficial effects:

[0018] This utility model's negative pressure packaging board moving robotic arm enables automated gripping and moving operations, significantly improving the efficiency of screening and handling defective packaging boards. Compared to manual operation, the robotic arm can work continuously for 24 hours a day, with a high operating speed, meeting the needs of large-scale production. Even after prolonged use, the negative pressure packaging board moving robotic arm can accurately grip defective packaging boards, avoiding missed or incorrect inspections that may occur with manual operation, thus improving product quality. Furthermore, by adjusting the position of the packaging suction cup on the gripping component through the drive mechanism, it can pick up packaging boards of different sizes, broadening its application range. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the negative pressure packaging board moving robotic arm of this utility model;

[0021] Figure 2 This is a schematic diagram of the gripping component of this utility model;

[0022] Figure 3 This is a schematic diagram of the driving component of this utility model;

[0023] Figure 4 for Figure 2 Enlarged view of point A in the middle;

[0024] Figure 5 This is a schematic diagram of the packaging board production system of this utility model.

[0025] The attached diagram shows the markings and corresponding component names: 1-Mounting platform, 2-Main body of robotic arm, 3-Gripper, 301-Bracket, 302-Strip groove, 4-Railway, 5-Packaging suction cup, 501-First slider, 502-Second slider, 6-Driver, 601-Lead screw, 602-Drive motor, 603-Transmission gear one, 604-Transmission rod, 605-Transmission gear two, 7-Bearing seat, 8-Conveyor belt, 9-Stacking platform, 10-Image analysis and detection instrument. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only for explaining the present utility model and are not intended to limit the present utility model. The following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of the present utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this utility model.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] Example 1

[0029] This embodiment 1 provides a negative pressure type robotic arm for moving packaging boards, such as... Figures 1-4 As shown, the specific structure is described below.

[0030] Combination Figure 1 As shown, in this embodiment, the negative pressure packaging plate moving robotic arm mainly consists of a mounting platform 1, a robotic arm body 2, a gripping component 3, a track 4, a packaging suction cup 5, and a driving component 6.

[0031] Mounting platform 1 serves as the foundational support structure for the entire robotic arm, providing a stable mounting platform for other components and ensuring the stability of the robotic arm during operation. Mounting platform 1 is a rectangular platform constructed from cast concrete, ensuring its stability. The top surface of mounting platform 1 is rectangular, with a length of 1000mm and a width of 800mm, providing sufficient support area to ensure the stability of the robotic arm body 2 during operation.

[0032] Furthermore, in combination Figure 1As shown, the main body 2 of the robotic arm adopts the existing industrial robotic arm technology and is mounted on the mounting platform 1, enabling multi-degree-of-freedom movement. The gripper 3 is mounted at the end of the main body 2 and is the key component for realizing the packaging board gripping function. Multiple tracks 4 are arranged radially on the gripper 3, providing tracks for the movement of the packaging suction cup 5. The packaging suction cup 5 adopts the existing electronically controlled packaging suction cup 5, which achieves adsorption and gripping of the packaging board by contacting the surface of the packaging board and forming a negative pressure. The drive unit 6 is used to drive the packaging suction cup 5 to move along the tracks 4 to adjust the position of the packaging suction cup 5 on the gripper 3 to adapt to the gripping needs of packaging boards of different sizes.

[0033] In this embodiment 1, combined with Figure 1 and Figure 2 As shown, the gripper 3 consists of six mounting strips, which are made of metal. These six mounting strips are fixedly installed at the end of the robotic arm body 2 and are evenly distributed radially around the end of the robotic arm body 2. One end of each mounting strip is fixedly connected to the end of the robotic arm body 2 with bolts, ensuring a stable connection and allowing the movement of the robotic arm body 2 to be accurately transmitted to the gripper 3.

[0034] In this embodiment, combined with Figure 2 and Figure 3 As shown, two brackets 301 are provided on one mounting strip of the gripper 3. Each bracket 301 is a metal plate, which is connected to the gripper 3 by screws through a flange at the bottom. The track 4 is a metal rod, and its two ends are connected to the brackets 301 on both sides.

[0035] Furthermore, in combination Figure 3 As shown, the driving component 6 includes a lead screw 601 and a drive motor 602 that are connected to each other. A hole is provided on the bracket 301, and the two ends of the track 4 are inserted into the hole in the bracket 301 to achieve a rotatable connection. The track 4 and the lead screw 601 are parallel to each other. The drive motor 602 serves as the power source and is a stepper motor, driving the lead screw 601 to rotate through gear transmission.

[0036] The packaging suction cup 5 has a first slider 501 and a second slider 502 fixed to its side wall. The first slider 501 has a sliding hole through which the track 4 passes, allowing the packaging suction cup 5 to slide along the track 4. The second slider 502 has a screw hole through which the lead screw 601 passes. When the lead screw 601 rotates, the second slider 502 will move along the axial direction of the lead screw 601 due to the action of the thread, thereby driving the packaging suction cup 5 to move on the track 4.

[0037] In this embodiment, each mounting strip is equipped with a drive motor 602, which is connected to a PLC controller. The PLC controller adjusts the position of the packaging suction cup 5 on the mounting strip according to the instructions input by the user. Each packaging suction cup 5 can be adjusted individually.

[0038] Furthermore, such as Figure 2 As shown, a single drive motor 602 can also be installed to achieve synchronous movement of multiple packaging suction cups 5. Combined with... Figure 2 and Figure 4 As shown, a transmission gear 603 is fixedly installed on the inner end of the lead screw 601. A transmission rod 604 is provided between the transmission gears 603 of two adjacent mounting strips. Transmission gears 605 that mesh with the transmission gears 603 are fixedly installed at both ends of the transmission rod 604. When a drive motor 602 drives one of the lead screws 601 to rotate, the other lead screws 601 can be driven to rotate synchronously through the transmission of the transmission gears 603, 605, and 604, thereby realizing the synchronous movement of multiple packaging suction cups 5 and improving gripping efficiency. It should be noted that, through this transmission method, since the lead screws 601 of two adjacent mounting strips rotate in different directions, the only difference between the specifications of two adjacent lead screws 601 is the thread direction, and the thread directions are opposite, which enables the packaging suction cups 5 on the two lead screws 601 to move synchronously.

[0039] like Figure 4 As shown, the gripper 3 is also provided with a bearing seat 7 to support the rotation of the transmission rod 604. The transmission rod 604 and the bearing seat 7 are connected. The bearing seat 7 can reduce the friction of the transmission rod 604 during rotation, improve the transmission efficiency, and ensure the smoothness of the transmission.

[0040] Combination Figure 3 and Figure 4 As shown, the gripper 3 is provided with a strip groove 302 for the insertion of the packaging suction cup 5. The packaging suction cup 5 can be inserted into the gripper 3 along the strip groove 302. The drive motor 602 is configured as a stepper motor. The stepper motor has precise control accuracy and good response performance, and can accurately control the rotation angle and speed of the lead screw 601, thereby achieving precise control of the position of the packaging suction cup 5 and meeting the needs of gripping packaging boards of different sizes.

[0041] Example 2

[0042] Combination Figure 5 As shown, this embodiment provides a packaging board production system, which includes the negative pressure packaging board moving robotic arm of Embodiment 1, and also includes a conveyor belt 8 and a stacking platform 9. The conveyor belt 8 is equipped with an image analysis and detection instrument 10.

[0043] The working principle of the packaging board production system is as follows:

[0044] Initial state: When waiting for work, the main body 2 of the robotic arm is in a retracted state, the gripper 3 is located above the conveyor belt 8, and the packaging suction cup 5 is in the initial position on the track 4, close to the center of the gripper 3. The drive motor 602 is in a stopped state, the lead screw 601 remains stationary, and all components are in a standby state.

[0045] Inspection Phase: The conveyor belt 8 continues to operate, transporting the packaging panels forward. When the packaging panel passes the image analysis and inspection instrument 10, the instrument inspects it. The image analysis and inspection instrument 10 uses an image recognition algorithm to quickly and accurately identify the printed content on the packaging panel, compare it with a preset standard image, and determine whether the printing is incomplete. If a defective packaging panel is detected, the image analysis and inspection instrument 10 immediately transmits a signal to the control system.

[0046] Grasping Phase: After receiving a signal from a defective packaging board, the control system starts the drive motor 602 based on the dimensions of the packaging board extracted by the image analysis and detection instrument 10. The drive motor 602 begins to rotate, driving the lead screw 601 to rotate via the coupling. Because the screw hole on the second slider 502 engages with the threaded connection of the lead screw 601, the rotation of the lead screw 601 causes the second slider 502 to move axially along the lead screw 601, thereby driving the packaging suction cup 5 to move along the track 4 towards the packaging board. Simultaneously, because adjacent lead screws 601 are connected by transmission gear 1 603, transmission gear 2 605, and transmission rod 604, one drive motor 602 can drive multiple lead screws 601 to rotate synchronously, achieving synchronous movement of multiple packaging suction cups 5. The robotic arm body 2 moves the packaging suction cup 5 to a suitable position, contacting the surface of the packaging board. At this point, the vacuum system built into the robotic arm body 2 is activated, creating negative pressure inside the packaging suction cup 5, firmly adhering to the packaging board.

[0047] Moving and stacking stage: After the packaging suction cup 5 adheres to the packaging plate, the control system controls the robotic arm body 2 to begin operation. The joints of the robotic arm body 2 move sequentially, lifting the gripper 3 and the packaging plate adhered to it from above the conveyor belt 8, and moving them along a predetermined trajectory above the stacking platform 9. When the packaging plate reaches the appropriate position above the stacking platform 9, the control system stops the vacuum system, the internal pressure of the packaging suction cup 5 returns to normal, and the packaging plate detaches from the packaging suction cup 5 and falls onto the stacking platform 9. After stacking is completed, the robotic arm body 2 returns to its initial position, awaiting the next work instruction.

[0048] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above description is only a specific embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A negative pressure type packaging board moving robotic arm, characterized in that, The device includes a mounting platform (1), on which a robotic arm body (2) is provided. At the end of the robotic arm body (2), a gripper (3) is provided. The gripper (3) is provided with multiple radially arranged tracks (4). Packaging suction cups (5) are provided on the tracks (4). The gripper (3) is also provided with a drive (6) that drives the packaging suction cups (5) to move along the tracks (4).

2. The negative pressure packaging plate moving robotic arm according to claim 1, characterized in that, The gripper (3) is configured as multiple mounting strips arranged radially, with uniform spacing between the mounting strips, and the mounting strips are connected to the end of the robotic arm body (2).

3. The negative pressure packaging plate moving robotic arm according to claim 2, characterized in that, The mounting strip is configured with six evenly spaced strips.

4. The negative pressure packaging plate moving robotic arm according to claim 1, characterized in that, The gripper (3) is provided with a bracket (301), and the two ends of the track (4) are connected to the bracket (301). The drive (6) includes a lead screw (601) and a drive motor (602) that are connected to each other. The lead screw (601) is rotatably connected to the bracket (301). The side wall of the packaging suction cup (5) is provided with a first slider (501) and a second slider (502). The first slider (501) is provided with a sliding hole through which the track (4) passes, and the second slider (502) is provided with a screw hole through which the lead screw (601) passes.

5. The negative pressure packaging plate moving robotic arm according to claim 4, characterized in that, The inner end of the lead screw (601) is provided with a first transmission gear (603), and a transmission rod (604) is provided between two adjacent first transmission gears (603). The two ends of the transmission rod (604) are provided with second transmission gears (605) that mesh with the first transmission gear (603).

6. The negative pressure packaging plate moving robotic arm according to claim 5, characterized in that, The gripper (3) is provided with a bearing seat (7) that supports the rotation of the transmission rod (604).

7. The negative pressure packaging plate moving robotic arm according to claim 4, characterized in that, The gripper (3) is provided with a strip groove (302) for the packaging suction cup (5) to be inserted.

8. The negative pressure packaging plate moving robotic arm according to claim 4, characterized in that, The lead screw (601) and the drive motor (602) are configured to be connected by gear transmission.

9. The negative pressure packaging plate moving robotic arm according to claim 4, characterized in that, The drive motor (602) is configured as a stepper motor.

10. A packaging board production system, characterized in that, The system includes a negative pressure packaging board moving robotic arm as described in any one of claims 1-9, and also includes a transport conveyor belt (8) and a stacking platform (9), wherein the transport conveyor belt (8) is equipped with an image analysis and detection instrument (10).

Images