Automatic feeding device for aluminum foil paper of packaging machine

Abstract

The utility model relates to packing machine technical field provides a kind of packing machine aluminium foil paper automatic feeding device, comprising: mechanical arm, scanning sensor, positioning sensor and control component, mechanical arm includes end gripper;Scanning sensor is located on end gripper, for scanning and determining whether there is aluminium foil paper below end gripper;Positioning sensor is located on end gripper, for determining the paper core position of aluminium foil paper;Scanning sensor, positioning sensor and end gripper are respectively connected with control component communication, control component controls positioning sensor operation based on the signal obtained by scanning sensor, controls end gripper and grabs aluminium foil paper based on the position signal obtained by positioning sensor.The utility model determines the paper core position of aluminium foil paper accurately by scanning sensor and positioning sensor, and end gripper can accurately grab and store aluminium foil paper, realize accurate, efficient automatic supply, improve packaging operation efficiency, and high safety.

Description

Technical Field

[0001] This utility model relates to the field of packaging machine technology, and in particular to an automatic aluminum foil feeding device for packaging machines. Background Technology

[0002] In the field of packaging machinery, the FX2 packaging machine, as a highly efficient and automated packaging equipment, is widely used in the packaging of various products. The automatic aluminum foil feeding system is a key component of the FX2 packaging machine, and its performance directly affects the efficiency and quality of the entire packaging process. However, the traditional automatic aluminum foil feeding system of the FX2 packaging machine uses a Cartesian coordinate robotic arm to grasp and stack the aluminum foil rolls. Although this achieves a certain degree of continuous automatic feeding of aluminum foil, there are instances where the end gripper cannot accurately position the core of the aluminum foil, leading to malfunctions, downtime, increased maintenance burden, and reduced packaging efficiency. Utility Model Content

[0003] This utility model provides an automatic aluminum foil feeding device for packaging machines, which solves the problem that existing automatic aluminum foil feeding devices for packaging machines cannot accurately position the paper core of the aluminum foil, causing malfunctions and downtime, increasing maintenance burden, and affecting packaging efficiency.

[0004] This utility model provides an automatic aluminum foil feeding device for a packaging machine, comprising: a robotic arm including an end effector gripper; a scanning sensor disposed on the end effector gripper for scanning and determining whether aluminum foil exists below the end effector gripper; a positioning sensor disposed on the end effector gripper for determining the core position of the aluminum foil; and a control component, wherein the scanning sensor, the positioning sensor, and the end effector gripper are respectively communicatively connected to the control component, and the control component controls the operation of the positioning sensor based on the signal obtained by the scanning sensor, and controls the end effector gripper to pick up the aluminum foil based on the position signal obtained by the positioning sensor.

[0005] According to the present invention, an automatic aluminum foil feeding device for a packaging machine is provided, wherein the positioning sensor includes a first positioning sensor, a second positioning sensor, a third positioning sensor and a fourth positioning sensor, and the first positioning sensor, the second positioning sensor, the third positioning sensor and the fourth positioning sensor are arranged at intervals along the circumference of the end gripper.

[0006] According to the present invention, an automatic aluminum foil feeding device for a packaging machine is provided. The packaging machine is equipped with a material request switch, which is communicatively connected to the control component and is used to input a material request signal to the control component.

[0007] According to the present invention, an automatic aluminum foil feeding device for a packaging machine further includes a protective cover, which is disposed on the outer periphery of the robotic arm; the protective cover has an opening, and a protective switch is provided at the opening; the protective switch is communicatively connected to the control component.

[0008] According to the present invention, an automatic aluminum foil feeding device for a packaging machine is provided, wherein the protective switch includes a safety light curtain, a safety light curtain transmitter is provided on the first side of the opening, and a safety light curtain receiver is provided on the second side of the opening. The safety light curtain transmitter is used to emit the light curtain, and the safety light curtain receiver is used to receive the light curtain and emit a signal. The safety light curtain receiver is communicatively connected to the control component.

[0009] According to the present invention, an automatic aluminum foil feeding device for a packaging machine further includes an alarm device, which is disposed on the outer wall of the protective cover. The alarm device is communicatively connected to the control component, and the control component is used to control the alarm device to issue alarm information.

[0010] According to the present invention, an automatic aluminum foil feeding device for a packaging machine includes an audible and visual alarm.

[0011] According to the present invention, an automatic aluminum foil feeding device for a packaging machine is provided, wherein the end gripper is equipped with a solenoid valve and a drive cylinder, the solenoid valve is connected to the drive cylinder through a pipeline, the solenoid valve is communicatively connected to the control component, and the solenoid valve is used to control the action of the drive cylinder.

[0012] The automatic aluminum foil feeding device for a packaging machine provided by this utility model also includes a teach pendant, which is communicatively connected to the control component. The teach pendant is used to input the position and posture information of the robotic arm and to realize program playback through online programming.

[0013] According to the present invention, an automatic aluminum foil feeding device for a packaging machine further includes a drive component, which is communicatively connected to the robotic arm and to the control component. The control component adjusts the position and posture of the robotic arm based on the target position and posture information input by the teach pendant.

[0014] The automatic aluminum foil feeding device for packaging machines provided by this utility model accurately determines the core position of the aluminum foil through scanning and positioning sensors. The end gripper can accurately grab and stack the aluminum foil, achieving precise and efficient automatic feeding, improving packaging operation efficiency; it is highly safe, reduces the number of downtime due to malfunctions, and reduces maintenance burden. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a wiring diagram of the input unit of the control component provided by this utility model; Figure 2 This is a wiring diagram of the output unit of the control component provided by this utility model; Figure 3 This is a structural schematic diagram of the safety shield provided by this utility model; Figure 4 This is a control flowchart of the automatic aluminum foil feeding device for packaging machines provided by this utility model; Figure label: 1. Scanning sensor; 2. First positioning sensor; 3. Second positioning sensor; 4. Third positioning sensor; 5. Fourth positioning sensor; 6. Material control switch; 7. Alarm device; 8. Solenoid valve; 9. Drive cylinder; 10. Protective cover; 11. Protective switch. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0019] In the description of the embodiments of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0022] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0023] The following is combined Figures 1-4 This invention describes an automatic aluminum foil feeding device for packaging machines.

[0024] The automatic aluminum foil feeding device for packaging machines provided in this embodiment includes a robotic arm, a scanning sensor 1, a positioning sensor, and a control component.

[0025] The robotic arm in this embodiment can be a six-degree-of-freedom industrial robotic arm. The robotic arm includes an end effector gripper used for grasping and stacking aluminum foil. A scanning sensor 1 is located on the end effector gripper and is used to scan below the end effector gripper to determine whether aluminum foil is present below it. The scanning sensor 1 is connected to the control component via wired or wireless means, and the control component receives the information acquired by the scanning sensor 1. A positioning sensor is also located on the end effector gripper and is connected to the control component via wired or wireless means. The control component controls the operation of the positioning sensor based on the information acquired by the scanning sensor 1. Specifically, if the scanning sensor 1 detects the presence of aluminum foil below the end effector gripper, the control component controls the positioning sensor to acquire the core position of the aluminum foil. The positioning sensor transmits the acquired position signal to the control component, and the control component, based on the position signal acquired by the positioning sensor, controls the end effector gripper to grasp the aluminum foil, move the aluminum foil to the target position, and then place it down. If there is no aluminum foil below the end effector gripper, the control component does not need to send an operation signal to the positioning sensor.

[0026] It should be noted that the control component includes an input unit and an output unit. Scanning sensor 1 is communicatively connected to the input unit and is used to scan for the presence of aluminum foil paper beneath the end effector. The positioning sensor is also communicatively connected to the input unit and is used to determine the position of the aluminum foil core. The end effector is communicatively connected to the output unit.

[0027] The automatic aluminum foil feeding device for packaging machines provided in this embodiment of the utility model accurately determines the core position of the aluminum foil through scanning sensor 1 and positioning sensor. The end gripper can accurately grab and stack the aluminum foil, realizing accurate and efficient automatic supply, improving packaging operation efficiency; it has high safety, reduces the number of downtime due to failure, and reduces maintenance burden.

[0028] To improve the accuracy of the aluminum foil core's position, this embodiment of the invention uses four positioning sensors: a first positioning sensor 2, a second positioning sensor 3, a third positioning sensor 4, and a fourth positioning sensor 5. These sensors are spaced apart circumferentially along the end gripper and are used to acquire position information at four positions of the aluminum foil core. In one embodiment, the distance between adjacent positioning sensors is equal, and they are used to acquire position information at the top, bottom, left, and right positions of the aluminum foil core.

[0029] like Figure 1As shown, the input unit of the control component has a tenth input terminal, an eleventh input terminal, a twelfth input terminal, a thirteenth input terminal and a fourteenth input terminal. The tenth input terminal is connected to the scanning sensor 1, the eleventh input terminal is connected to the first positioning sensor 2, the twelfth input terminal is connected to the second positioning sensor 3, the thirteenth input terminal is connected to the third positioning sensor 4, and the fourteenth input terminal is connected to the fourth positioning sensor 5.

[0030] The positioning sensor and scanning sensor in this embodiment of the invention can be photoelectric sensors. A photoelectric sensor is a sensor device that operates based on the photoelectric effect. Its application principle refers to the fundamental transformation of the internal electronic signals of an object after it is exposed to light radiation, due to differences in the degree of energy absorption. The photoelectric sensor converts light signals into electronic signals by detecting changes in the amplitude or intensity of light, thereby obtaining relevant accurate data parameters. A photoelectric sensor device typically consists of three main parts: a light source transmitter, a data receiver, and a detection circuit. In this embodiment of the invention, the positioning sensor can be a BANNER QS30FF400 photoelectric sensor, and the scanning sensor 1 is a Panasonic CX-442-P photoelectric sensor. The QS30FF400 photoelectric sensor uses a red LED light beam, has a maximum detection distance of 400mm, an input voltage of 10-30VDC, and an output response time of 2ms. The CX-442-P photoelectric sensor uses a red LED light as its sensing beam, has a detection distance of 20-300mm, an input voltage of 12-24VDC, an output response time of less than or equal to 1ms, and includes an automatic anti-interference function to ensure accurate identification of aluminum foil.

[0031] This utility model embodiment mainly provides aluminum foil for a packaging machine. The packaging machine is equipped with a material feeding switch 6. When aluminum foil is needed, the material feeding switch 6 is opened, meaning that there is not enough aluminum foil in the packaging machine and material needs to be added; the material feeding switch 6 is closed, meaning that the packaging machine does not need to add aluminum foil.

[0032] Furthermore, to achieve automated feeding, the material request switch 6 is communicatively connected to the control component. Specifically, the input unit of the control component also has a fifteenth input terminal, to which the material request switch 6 is connected. The input unit receives the material request signal from the material request switch 6 and, based on the material request signal, controls the end gripper to pick up and stack aluminum foil. The material request switch 6 can be an OMRON WLCA2-2 limit switch, with a pre-travel of 25±5°, a total travel of 90°, an operating force of 13.34N, a restoring force of 2.34N, and four mounting directions for the head, allowing for bi-lateral operation.

[0033] like Figure 3As shown in the figure, the automatic aluminum foil feeding device for packaging machines provided in this embodiment of the present invention also includes a protective cover 10, which covers the outer periphery of the robotic arm to protect it. It should be noted that the protective cover 10 is made of transparent material, allowing users to easily observe the operation of the robotic arm. In one embodiment, the protective cover 10 includes a frame and transparent glass, with the transparent glass embedded within the frame.

[0034] Furthermore, the protective cover 10 has an opening to facilitate user access for maintenance of the robotic arm. A protective switch 11 is located at the opening. This switch detects a protective signal; if someone passes through, the protective switch 11 activates, stopping the robotic arm. The protective switch 11 is communicatively connected to the control component. Specifically, the control component's input unit has a third input terminal, to which the protective switch 11 is connected to input a protective signal, causing the control component to stop the end effector gripper.

[0035] In one embodiment, the protective switch 11 is a safety light curtain with an optical axis spacing of 40mm, a detection range (protection height) of 1200mm, a beam distance of 2000mm, 30 optical axes, and an input voltage of 24VDC. It has a short response time, good safety, and can provide better protection.

[0036] like Figure 3 As shown, a safety light curtain transmitter is provided on the first side of the opening for emitting light; a safety light curtain receiver is provided on the second side of the opening. The safety light curtain receiver determines whether an arm or human body has entered the protective cover 10 through the opening based on the amount of light received. The safety light curtain receiver is communicatively connected to the control component (the safety light curtain receiver is communicatively connected to the input unit of the control component), and controls the end effector to stop operating by sending signals to the control component. In this embodiment, the first and second sides are arranged opposite each other, which can be opposite sides in the width direction of the opening or opposite sides in the height direction of the opening.

[0037] Furthermore, the automatic aluminum foil feeding device for the packaging machine also includes an alarm, which is located on the outer wall of the protective cover 10 (not shown in the figure) and is communicatively connected to the control component. Specifically, the alarm is communicatively connected to the output unit of the control component, and the wiring method is as follows: Figure 2 As shown, the control component controls the alarm device to issue alarm information based on the protection signal from the protective switch and the fault signal from the program. Specifically, when the control component receives a protection signal from the protective switch and a fault signal from the program, the control component controls the end gripper to stop operating; when the control component receives no protection signal from the protective switch and no fault signal from the program, the control component can control the end gripper to operate based on the actual situation.

[0038] In one embodiment, the alarm 7 is an audible and visual alarm that can emit both sound and light to alert the user. The alarm 7 can be a rotary alarm, such as a rotary audible and visual alarm.

[0039] The end effector provided in this embodiment of the utility model is equipped with a solenoid valve 8 and a drive cylinder 9. The drive cylinder 9 is a pneumatic actuator that converts the pressure energy of compressed gas into mechanical energy in pneumatic transmission. The drive cylinder 9 is mainly of two types: reciprocating linear motion and reciprocating oscillating motion. The reciprocating linear motion cylinder can be further divided into four types: single-acting cylinder, double-acting cylinder, diaphragm cylinder, and impact cylinder. Considering the internal space of the end effector, the convenience and accuracy of the control method, and the overall load capacity of the end effector, the drive cylinder 9 is selected from the AirTAC SDA50X20 ultra-thin single-acting cylinder, with an operating pressure range of 1.5-10 bar, an operating speed range of 30-500 mm / s, and a standard stroke of 20 mm. Solenoid valve 8 is connected to drive cylinder 9 via a pipeline. One side of solenoid valve 8 is connected to a compressed air source, and the other side is connected to the air port of drive cylinder 9 via a pipeline. Solenoid valve 8 is communicatively connected to the control component, that is, to the output unit of the control unit. When the input unit receives the position information obtained by the positioning sensor, the control component controls solenoid valve 8 to open, and the piston of drive cylinder 9 moves back and forth under the action of gas pressure to take out and stack aluminum foil. After completion, the control component controls solenoid valve 8 to close, the gas flow in drive cylinder 9 stops, and the piston remains in the current position.

[0040] The automatic aluminum foil feeding device for packaging machines provided in this embodiment of the utility model also includes a teach pendant. The teach pendant is connected to the control components via wired or wireless means. The teach pendant is used to input the position and posture information of the robotic arm and to replay the program through online programming. Specifically, the teach pendant can record the position coordinates and posture parameters of key positions of the robotic arm's end effector gripper, thereby planning the motion trajectory of the end effector gripper. During playback, the taught action can be reproduced using these recorded parameters. To ensure the smoothness of the end effector gripper's motion trajectory, the following teaching points are recorded: P1 (origin position), P2 (detection position), P3 (above the gripping position), P4 (gripping position), P5 (in front of the stacking position), and P6 (stacking position). After completing the teaching of the industrial robotic arm's actions, the teaching program needs to be run to confirm the motion trajectory of the end effector gripper. If the motion trajectory does not meet the requirements, the position and speed of the teaching points need to be adjusted.

[0041] The teach pendant is the medium through which the control components interact with the user. The user can manually teach the robotic arm to achieve different poses, record the coordinates and attitudes of each pose point, and replay the program through online programming, so that the robotic arm can execute the trajectory movement required by the program.

[0042] The automatic aluminum foil feeding device for packaging machines provided by this utility model also includes a drive component, which is communicatively connected to the robotic arm and to the control component. The control component adjusts the position and posture of the robotic arm based on the position and posture information input by the teach pendant, so that it is located at the target position. Furthermore, the control component controls the end gripper to grasp and stack aluminum foil.

[0043] The following is combined Figure 4 This invention describes the operation of the automatic aluminum foil feeding device for a packaging machine according to an embodiment of the present invention. Initially, the aluminum foil layer height is 5, the number of rows is 1, and the number of columns is 1, with the robotic arm at its origin. If the protective switch 11 is not triggered, it waits for a material request signal from the material request switch 6. When the material request switch 6 issues a material request signal, the control component controls the end effector to move to the position of the first row and first column of the fifth layer. The scanning sensor 1 scans below the end effector to check for aluminum foil. If no aluminum foil is detected, the control component controls the robotic arm to move, and the scanning sensor 1 performs a cyclical scan row by row and column by column. If no inner aluminum foil is found at the position of the second row and second column of the first layer, the robotic arm returns to its origin, and simultaneously, the control component activates an audible and visual alarm to prompt the operator to replace the aluminum foil tray in a timely manner. If scanning sensor 1 detects aluminum foil, the end effector will use four positioning sensors to determine the core of the aluminum foil. If the core is not found, the control unit will activate an audible and visual alarm to indicate that the core has not been found. If it is found, the control unit will lower the end effector to a certain height (enough to grab the aluminum foil), open solenoid valve 8, and drive cylinder 9 will remove the aluminum foil and place it in the conveyor channel. The control unit will then close solenoid valve 8, thus shutting down drive cylinder 9. After completion, the control unit will return the robotic arm to its original position and initialize the layer height, column height, and number of columns of the aluminum foil.

[0044] It should be noted that, to ensure the safety of personnel and equipment, the robotic arm will immediately stop moving if the safety switch is triggered during the aluminum foil gripping and stacking process. Once the safety switch is no longer triggered and has reset, the robotic arm will resume its previous actions. Since the aluminum foil feeding process does not require high real-time performance, to avoid malfunctions caused by non-full stacks of aluminum foil or manual addition of foil, the program is designed to return to the original position after each stacking and begin a cyclic scan starting from the first row, first column of the fifth layer.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic aluminum foil feeding device for a packaging machine, characterized in that, include: A robotic arm, the robotic arm including an end effector gripper; A scanning sensor, which is disposed on the end gripper, is used to scan and determine whether aluminum foil is present below the end gripper; A positioning sensor is provided on the end gripper to determine the position of the paper core of the aluminum foil. The control component is communicatively connected to the scanning sensor, the positioning sensor, and the end effector. The control component controls the operation of the positioning sensor based on the signal acquired by the scanning sensor, and controls the end effector to grasp the aluminum foil based on the position signal acquired by the positioning sensor.

2. The automatic aluminum foil feeding device for packaging machines according to claim 1, characterized in that, The positioning sensor includes a first positioning sensor, a second positioning sensor, a third positioning sensor, and a fourth positioning sensor, which are arranged at intervals along the circumference of the end gripper.

3. The automatic aluminum foil feeding device for packaging machines according to claim 1, characterized in that, The packaging machine is equipped with a material request switch, which is communicatively connected to the control component and is used to input a material request signal to the control component.

4. The automatic aluminum foil feeding device for packaging machines according to claim 1, characterized in that, It also includes a protective cover, which is disposed on the outer periphery of the robotic arm; the protective cover has an opening, and a protective switch is provided at the opening; the protective switch is communicatively connected to the control component.

5. The automatic aluminum foil feeding device for packaging machines according to claim 4, characterized in that, The protective switch includes a safety light curtain. A safety light curtain transmitter is provided on the first side of the opening, and a safety light curtain receiver is provided on the second side of the opening. The safety light curtain transmitter is used to emit the light curtain, and the safety light curtain receiver is used to receive the light curtain and emit signals. The safety light curtain receiver is communicatively connected to the control component.

6. The automatic aluminum foil feeding device for packaging machines according to claim 4, characterized in that, It also includes an alarm device, which is disposed on the outer wall of the protective cover. The alarm device is communicatively connected to the control component, which is used to control the alarm device to issue alarm information.

7. The automatic aluminum foil feeding device for packaging machines according to claim 6, characterized in that, The warning device includes an audible and visual alarm.

8. The automatic aluminum foil feeding device for packaging machines according to claim 1, characterized in that, The end effector is equipped with a solenoid valve and a drive cylinder. The solenoid valve is connected to the drive cylinder through a pipeline and is communicatively connected to the control component. The solenoid valve is used to control the movement of the drive cylinder.

9. The automatic aluminum foil feeding device for packaging machines according to claim 1, characterized in that, It also includes a teach pendant, which is communicatively connected to the control component. The teach pendant is used to input the position and attitude information of the robotic arm and to replay the program through online programming.

10. The automatic aluminum foil feeding device for packaging machines according to claim 9, characterized in that, It also includes a drive component that is communicatively connected to the robotic arm and a control component that is communicatively connected to the control component. The control component adjusts the position and attitude of the robotic arm based on the target position and attitude information input by the teach pendant.

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