Automatic waste removing die-cutting mechanical arm

Abstract

The application provides a front and back turnover type automatic waste cleaning die cutting mechanical hand, which comprises a feeding assembly, a turnover mechanical hand device, a material taking assembly and a material collecting assembly, and the feeding assembly, the turnover mechanical hand device, the material taking assembly and the material collecting assembly are sequentially arranged; the utility model has the advantages of high integration: the feeding assembly, the turnover mechanical hand device, the material taking assembly and the material collecting assembly are integrated, full-process automation is realized, and the problems of function dispersion and poor coordination in the prior art are solved; strong synchronous operation capability: synchronous encoders are respectively arranged in the feeding assembly, the turnover mechanical hand device, the material taking assembly and the material collecting assembly, real-time speed signals are provided for a control system, and each component can accurately and synchronously work; the application has compact structure, low investment cost, comprehensive functions and high cost performance, and is particularly suitable for upgrading and reforming existing equipment of small and medium-sized printing and packaging enterprises.

Description

Technical Field

[0001] This utility model relates to the field of die-cutting machines, specifically to a front-and-back flipping type automatic waste removal die-cutting robot. Background Technology

[0002] In the packaging and printing industry, creasing machines, creasing and cutting machines, and die-cutting machines are important post-processing equipment, mainly used for creasing and die-cutting materials such as cardboard and paper. Traditional creasing and die-cutting equipment often requires manual loading and unloading during production, which is not only labor-intensive and inefficient, but also requires additional manual intervention during the waste removal process (i.e., separating finished products from waste), leading to extended production cycles and inconsistent product quality.

[0003] While some automated feeding and unloading equipment has emerged in the market, these devices generally suffer from complex structures, limited functionality, and an inability to simultaneously perform multiple tasks such as paper feeding, paper picking, and waste removal. Especially during high-speed production, existing equipment struggles to achieve precise material positioning and rapid waste removal, resulting in high scrap rates and frequent downtime. Furthermore, traditional waste removal methods often require additional processes and equipment, increasing the complexity of the production line and investment costs. In the creasing and die-cutting process, issues such as inaccurate paper positioning, incomplete waste removal, and untimely waste disposal severely impact production efficiency and product quality. Utility Model Content

[0004] The purpose of this utility model is achieved through the following technical measures: a front-to-back flipping automatic waste removal die-cutting robot, including a feeding assembly, a flipping robot device, a picking assembly, and a receiving assembly. The feeding assembly, flipping robot device, picking assembly, and receiving assembly are arranged sequentially. The feeding assembly includes a housing, a paper feeding lifting platform, and a paper feeding robot. The paper feeding lifting platform is located inside the housing. The paper feeding robot is used to grab the paper on the paper feeding lifting platform and then transport it to the next process. The housing is provided with a paper placement platform.

[0005] As a preferred embodiment: the paper feeding robot includes a moving component and a gripping component, the moving component being used to drive the gripping component to perform reciprocating motion, and the gripping component being used to grip paper.

[0006] As a preferred embodiment: the moving component includes a drive motor and a transmission shaft, on which a first driven wheel and a second driven wheel are fixedly mounted. The drive motor is driven to the first driven wheel, and the second driven wheel is driven to a synchronous belt. The gripping component is fixedly mounted on the synchronous belt. The second driven wheel drives the gripping component to reciprocate through the synchronous belt. The second driven wheel is driven to a third driven wheel through the synchronous belt.

[0007] As a preferred embodiment: the gripping assembly includes a crossbeam, suction cups, a suction cup mounting plate, and a suction cup lifting drive device. The crossbeam is fixedly mounted on a synchronous belt, the suction cups are fixedly mounted on the suction cup mounting plate, and multiple suction cups are provided. The suction cup mounting plate is fixedly mounted on the telescopic end of the suction cup lifting drive device, and the suction cup lifting drive device is fixedly mounted on the crossbeam.

[0008] As a preferred embodiment: the two ends of the crossbeam are respectively connected to crossbeam sliders, the crossbeam sliders are slidably connected to slide rails, the slide rails are fixedly connected to the housing, and the third driven wheel is rotatably mounted on the end of the slide rail away from the second driven wheel.

[0009] As a preferred embodiment: the flipping manipulator includes a back platform, a flipping fixed base, a flipping mechanism bracket, a flipping gripper assembly, and a flipping drive assembly. The flipping fixed base is fixedly installed on the top of the back platform, the flipping mechanism bracket is rotatably installed on the flipping fixed base, the flipping gripper assembly is correspondingly arranged with the flipping mechanism bracket, and the flipping drive assembly is used to drive the flipping mechanism bracket to work.

[0010] As a preferred embodiment: the flipping mechanism bracket includes a bracket and a bracket shaft, two brackets are provided, the bracket shaft is installed at the end of the bracket away from the back platform, and the bracket is rotatably connected to the back platform through a bearing seat.

[0011] As a preferred embodiment: the flip gripper assembly includes a drive cylinder, a support rod, and a gripper bracket. One end of the drive cylinder is movably connected to the flip fixed base, and the telescopic end of the drive cylinder is rotatably connected to a connecting seat plate. The connecting seat plate is fixedly connected to the support rod, and the end of the gripper bracket away from the drive cylinder is rotatably connected to the gripper bracket. Multiple flip suction cups are fixedly installed on the gripper bracket.

[0012] As a preferred embodiment: the flip drive assembly includes a flip drive motor and a rocker arm assembly. The flip drive motor drives the rocker arm assembly to work, and the rocker arm assembly drives the flip mechanism support to work. The flip drive motor is fixedly mounted on the flip fixed base. The rocker arm assembly includes a rocker arm, a slider, and a guide rail. One end of the rocker arm is fixedly connected to the output end of the flip drive motor. The slider is rotatably connected to the end of the rocker arm away from the flip drive motor. The slider and the guide rail are slidably connected. The guide rail is fixedly mounted on the support close to the flip drive motor.

[0013] As a preferred embodiment: the material handling unit includes a feeding platform, a side pusher assembly, and a material handling and conveying assembly. The side pusher assembly is installed on the feeding platform, the material handling and conveying assembly conveys the cardboard to the receiving assembly, and the receiving assembly collects and organizes the cardboard.

[0014] Due to the adoption of the above technical solution, the advantages of this utility model compared with the prior art are: I. High integration: This application integrates the feeding unit, the flipping robot, the picking unit, and the receiving unit, realizing full-process automation and solving the problems of functional dispersion and poor coordination in the prior art.

[0015] II. Strong Synchronous Operation Capability: Synchronous encoders are installed in the feeding section, the flipping robot, the picking section, and the receiving section to provide real-time speed signals to the control system, enabling each component to work precisely and synchronously.

[0016] Compared to the wide variety of automatic loading and unloading equipment on the market, this application has a compact structure, low investment cost, and comprehensive functions, making it extremely cost-effective and particularly suitable for small and medium-sized printing and packaging enterprises to upgrade and transform their existing equipment.

[0017] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0018] Appendix Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0019] Appendix Figure 2 This is a schematic diagram of the feeding section component structure of this utility model.

[0020] Appendix Figure 3 This is a schematic diagram of the moving component and gripping component of this utility model.

[0021] Appendix Figure 4 This is a schematic diagram of the structure of the mobile component of this utility model.

[0022] Appendix Figure 5 It is attached Figure 3 Enlarged diagram of point A in the middle.

[0023] Appendix Figure 6 This is a schematic diagram of the gripping component and related parts of this utility model.

[0024] Appendix Figure 7 This is a schematic diagram of the flipping manipulator device of this utility model.

[0025] Appendix Figure 8 This is a schematic diagram of the structure of the flipping mechanism bracket and related components of this utility model.

[0026] Appendix Figure 9 This is a side view of the flipping mechanism bracket and related components of this utility model.

[0027] Appendix Figure 10 This is a top view of the flipping mechanism support and related components of this utility model.

[0028] Appendix Figure 11 This is a schematic diagram of the material handling component of this utility model.

[0029] Appendix Figure 12 This is a schematic diagram of the material handling component of this utility model from another perspective.

[0030] Appendix Figure 13 This is a schematic diagram of the material receiving component structure of this utility model.

[0031] Appendix Figure 14 This is a schematic diagram of the material receiving component structure from another perspective. Detailed Implementation

[0032] Example: As attached Figure 1 To be continued Figure 14 As shown, the automatic waste removal and die-cutting robot with a front-to-back flipping mechanism includes a feeding assembly 1, a flipping robot device 2, a picking assembly 3, and a receiving assembly 4. Synchronous encoders are installed in the feeding assembly 1, the flipping robot device 2, the picking assembly 3, and the receiving assembly 4 to provide real-time speed signals to the control system, enabling precise synchronous operation of each component. The feeding assembly 1, the flipping robot device 2, the picking assembly 3, and the receiving assembly 4 are arranged sequentially. The feeding assembly 1 includes a housing 11, a paper feeding lifting platform 12, and a paper feeding robot 13. The paper feeding lifting platform 12 is located inside the housing 11. The paper feeding robot 13 is used to grab the paper on the paper feeding lifting platform 12 and transport it to the next process. The paper feeding lifting platform 12 is existing technology, and its structure and working principle will not be described in detail. A paper placement platform 5 is provided inside the housing 11.

[0033] The paper feeding robot 13 includes a moving component 14 and a gripping component 15. The moving component 14 is used to drive the gripping component 15 to perform reciprocating motion, and the gripping component 15 is used to grip paper.

[0034] The moving component 14 includes a drive motor 141 and a transmission shaft 142. A first driven wheel 1421 and a second driven wheel 1422 are fixedly mounted on the transmission shaft 142. The drive motor 141 is driven by the first driven wheel 1421. The second driven wheel 1422 is driven by a synchronous belt 6. The gripping component 15 is fixedly mounted on the synchronous belt 6. The second driven wheel 1422 drives the gripping component 15 to reciprocate through the synchronous belt 6. The second driven wheel 1422 is driven by a third driven wheel 1423 through the synchronous belt 6.

[0035] The gripping assembly 15 includes a crossbeam 151, a suction cup 152, a suction cup mounting plate 153, and a suction cup lifting drive device 154. The crossbeam 151 is fixedly mounted on the synchronous belt 6, the suction cup 152 is fixedly mounted on the suction cup mounting plate 153, and multiple suction cups 152 are provided. The suction cup mounting plate 153 is fixedly mounted on the telescopic end of the suction cup lifting drive device 154, and the suction cup lifting drive device 154 is fixedly mounted on the crossbeam 151.

[0036] The two ends of the crossbeam 151 are respectively connected to the crossbeam slider 1511, the crossbeam slider 1511 is slidably connected to the slide rail 1512, the slide rail 1512 is fixedly connected to the housing 11, and the third driven wheel 1423 is rotatably installed at the end of the slide rail 1512 away from the second driven wheel 1422.

[0037] The flipping manipulator 2 includes a back platform 21, a flipping fixed base 22, a flipping mechanism bracket 23, a flipping gripper assembly 24, and a flipping drive assembly 25. The flipping fixed base 22 is fixedly installed on the top of the back platform 21, the flipping mechanism bracket 23 is rotatably installed on the flipping fixed base 22, the flipping gripper assembly 24 is correspondingly arranged with the flipping mechanism bracket 23, and the flipping drive assembly 25 is used to drive the flipping mechanism bracket 23 to work.

[0038] The flipping mechanism bracket 23 includes a bracket 231 and a bracket shaft 232. There are two brackets 231. The bracket shaft 232 is installed at the end of the bracket 231 away from the back platform 21. The bracket 231 is rotatably connected to the back platform 21 through a bearing seat.

[0039] The flip gripper assembly 24 includes a drive cylinder 241, a support rod 242, and a gripper bracket 243. One end of the drive cylinder 241 is movably connected to the flip fixed base 22. The telescopic end of the drive cylinder 241 is rotatably connected to a connecting seat plate 2411. The connecting seat plate 2411 is fixedly connected to the support rod 242. The end of the gripper bracket 243 away from the drive cylinder 241 is rotatably connected to the gripper bracket 243. Multiple flip suction cups 2431 are fixedly installed on the gripper bracket 243.

[0040] The flipping drive assembly 25 includes a flipping drive motor 251 and a rocker arm assembly 252. The flipping drive motor 251 drives the rocker arm assembly 252 to work, and the rocker arm assembly 252 drives the flipping mechanism bracket 23 to work. The flipping drive motor 251 is fixedly mounted on the flipping fixed base 22. The rocker arm assembly 252 includes a rocker arm 2521, a slider 2522, and a guide rail 2523. One end of the rocker arm 2521 is fixedly connected to the output end of the flipping drive motor 251. The slider 2522 is rotatably connected to the end of the rocker arm 2521 away from the flipping drive motor 251. The slider 2522 and the guide rail 2523 are slidably connected. The guide rail 2523 is fixedly mounted on the bracket 231 near the flipping drive motor 251.

[0041] The material handling component 3 includes a feeding platform 31, a side pusher assembly 32, and a material handling and transporting assembly. The side pusher assembly 32 is installed on the feeding platform 31. The material handling and transporting assembly 33 transports the cardboard to the receiving assembly 4. The receiving assembly 4 collects and organizes the cardboard.

[0042] The side push gauge assembly 32 is existing technology, and its structure and working principle will not be described in detail here. The material handling assembly includes a handling motor 331, a discharge rod 332, a discharge guide rail 333, a discharge slider 334, a material picking rod 335, and a material picking suction cup 336. The handling motor 331 is fixedly installed at one end of the discharge rod 332. The discharge guide rail 333 is fixedly installed on the discharge rod 332. The discharge slider 334 is slidably installed on the discharge guide rail 333. The handling motor 331 is connected to the discharge slider 334 through a pulley drive. The material picking rod 335 is fixedly installed on the discharge slider 334. Multiple material picking suction cups 336 are provided, and multiple material picking suction cups 336 are fixedly installed on the material picking rod 335.

[0043] The receiving assembly 4 includes a receiving rack 41, a waste rack 42, and a receiving component 43. The waste rack 42 is disposed between the receiving racks 41. The receiving component 43 is used to receive finished products. The receiving component 43 includes a lifting and picking assembly 431 and a transverse reciprocating drive assembly 432. The lifting and picking assembly 431 includes a lifting and picking rack 4311 and a lifting cylinder 4312. The telescopic end of the lifting cylinder 4312 is used to drive the lifting and picking rack 4311 to lift and lower. The lifting and picking rack 4311 is fixed with... Multiple suction cups are installed. The lifting cylinder 4312 is fixedly installed with a transport beam 7. The transverse reciprocating drive assembly 432 drives the transport beam 7 to reciprocate. The two ends of the transport beam 7 are fixedly connected to beam sliders. The beam sliders are slidably connected to beam guide rails. The beam guide rails are fixedly installed on the receiving rack 41. The transverse reciprocating drive assembly 432 includes a drive motor pulley device. The transport beam 7 is fixedly installed on the belt of the pulley device. The drive motor is used to drive the pulley device to move.

Claims

1. A forward and backward flipping type automatic waste removal die-cutting robot, characterized in that: The assembly includes a feeding unit (1), a flipping robot (2), a picking unit (3), and a receiving unit (4). The feeding unit (1), the flipping robot (2), the picking unit (3), and the receiving unit (4) are arranged in sequence. The feeding unit (1) includes a housing (11), a paper feeding lifting platform (12), and a paper feeding robot (13). The paper feeding lifting platform (12) is located inside the housing (11). The paper feeding robot (13) is used to grab the paper on the paper feeding lifting platform (12) and then transport it to the next process. The housing (11) is provided with a paper placement platform (5).

2. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 1, characterized in that: The paper feeding robot (13) includes a moving component (14) and a gripping component (15). The moving component (14) is used to drive the gripping component (15) to perform reciprocating motion, and the gripping component (15) is used to grip paper.

3. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 2, characterized in that: The moving component (14) includes a drive motor (141) and a transmission shaft (142). A first driven wheel (1421) and a second driven wheel (1422) are fixedly mounted on the transmission shaft (142). The drive motor (141) is driven by the first driven wheel (1421). The second driven wheel (1422) is driven by a synchronous belt (6). The gripping component (15) is fixedly mounted on the synchronous belt (6). The second driven wheel (1422) drives the gripping component (15) to reciprocate through the synchronous belt (6). The second driven wheel (1422) is driven by a third driven wheel (1423) through the synchronous belt (6).

4. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 3, characterized in that: The gripping component (15) includes a crossbeam (151), a suction cup (152), a suction cup mounting plate (153), and a suction cup lifting drive device (154). The crossbeam (151) is fixedly mounted on the synchronous belt (6). The suction cup (152) is fixedly mounted on the suction cup mounting plate (153). Multiple suction cups (152) are provided. The suction cup mounting plate (153) is fixedly mounted on the telescopic end of the suction cup lifting drive device (154). The suction cup lifting drive device (154) is fixedly mounted on the crossbeam (151).

5. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 4, characterized in that: The two ends of the crossbeam (151) are respectively connected to the crossbeam slider (1511), the crossbeam slider (1511) is slidably connected to the slide rail (1512), the slide rail (1512) is fixedly connected to the housing (11), and the third driven wheel (1423) is rotatably installed at the end of the slide rail (1512) away from the second driven wheel (1422).

6. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 5, characterized in that: The flipping manipulator (2) includes a back platform (21), a flipping fixed base (22), a flipping mechanism bracket (23), a flipping gripper assembly (24), and a flipping drive assembly (25). The flipping fixed base (22) is fixedly installed on the top of the back platform (21), the flipping mechanism bracket (23) is rotatably installed on the flipping fixed base (22), the flipping gripper assembly (24) is correspondingly arranged with the flipping mechanism bracket (23), and the flipping drive assembly (25) is used to drive the flipping mechanism bracket (23) to work.

7. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 6, characterized in that: The flipping mechanism bracket (23) includes a bracket (231) and a bracket shaft (232). There are two brackets (231). The bracket shaft (232) is installed at the end of the bracket (231) away from the back platform (21). The bracket (231) is rotatably connected to the back platform (21) through a bearing seat.

8. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 7, characterized in that: The flip gripper assembly (24) includes a drive cylinder (241), a support rod (242), and a gripper bracket (243). One end of the drive cylinder (241) is movably connected to the flip fixed base (22). The telescopic end of the drive cylinder (241) is rotatably connected to a connecting seat plate (2411). The connecting seat plate (2411) is fixedly connected to the support rod (242). The end of the gripper bracket (243) away from the drive cylinder (241) is rotatably connected to the gripper bracket (243). Multiple flip suction cups (2431) are fixedly installed on the gripper bracket (243).

9. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 8, characterized in that: The flip drive assembly (25) includes a flip drive motor (251) and a rocker arm assembly (252). The flip drive motor (251) is used to drive the rocker arm assembly (252) to work. The rocker arm assembly (252) is used to drive the flip mechanism bracket (23) to work. The flip drive motor (251) is fixedly installed on the flip fixed base (22). The rocker arm assembly (252) includes a rocker arm (2521), a slider (2522), and a guide rail (2523). One end of the rocker arm (2521) is fixedly connected to the output end of the flip drive motor (251). The slider (2522) is rotatably connected to the end of the rocker arm (2521) away from the flip drive motor (251). The slider (2522) and the guide rail (2523) are slidably connected. The guide rail (2523) is fixedly installed on the bracket (231) near the flip drive motor (251).

10. The automatic waste removal and die-cutting robot with forward and backward flipping mechanism according to claim 9, characterized in that: The material handling component (3) includes a feeding platform (31), a side pusher assembly (32), and a material handling assembly. The side pusher assembly (32) is installed on the feeding platform (31). The material handling assembly transports the cardboard to the receiving assembly (4). The receiving assembly (4) collects and organizes the cardboard.

Images