CN103387152A - Automatic folding machine - Google Patents
Automatic folding machine Download PDFInfo
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- CN103387152A CN103387152A CN2013103431974A CN201310343197A CN103387152A CN 103387152 A CN103387152 A CN 103387152A CN 2013103431974 A CN2013103431974 A CN 2013103431974A CN 201310343197 A CN201310343197 A CN 201310343197A CN 103387152 A CN103387152 A CN 103387152A
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- drive motor
- driving mechanism
- manipulator support
- automatic layboy
- slide unit
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- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
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Abstract
The invention disclose an automatic folding machine, comprising a worktable, a feeding manipulator, a manipulator support, a microcomputer, a vacuum sucker, a camera and an electric driven folding board; the manipulator support and the microcomputer are fixed above the worktable; the camera is arranged above the manipulator support; the electric driven folding board is rotatably arranged on the worktable; the feeding manipulator is movably arranged on the manipulator support; the microcomputer is connected with the camera, the feeding manipulator and the electric driven folding board respectively; and the vacuum sucker is rotatably arranged at the lower end of the feeding manipulator. The automatic folding machine realizes the automatic operation of the folding process and improves the production efficiency and the equipment universality.
Description
Technical field
The present invention relates to a kind of automatic layboy.
Background technology
Spin in clothes, family, the industry such as printing need to fold processing to various flaky materials such as fabric, film, cardboards in a large number.
Existing market has several auto-folder equipment to fold towel, sheet, cardboard etc., and production automation degree is higher.These auto-folder equipment can only fold band shape or rectangle material at present basically, and fold line can only be orthogonal one group of broken line, and need to carry out hardware adjustment to equipment when needs change folding technology, thereby the commonality of equipment is poor.Present folding apparatus also needs to adopt manually sub-material, feeding piecewise when loose sheet is folded, production efficiency is lower; When the size of loose sheet material is large and folding technology when complicated present equipment also be difficult to.In a word, present folding apparatus exists the deficiencies such as folding style is dull, the technique change is inconvenient, equipment interoperability is poor, the automation folding apparatus that convenient, the folding style of a kind of technique change of market demand is abundant, commonality is good.
Summary of the invention
To the objective of the invention is the defect that exists in prior art in order solving, to provide a kind of folding style abundant automation folding apparatus.
In order to achieve the above object, the invention provides a kind of automatic layboy, comprise bench board, feeding mechanical hand, manipulator support, micro computer, vacuum cup, pick up camera and electric folding pressing plate; Manipulator support and micro computer are fixed on the bench board top; Pick up camera is located at the manipulator support top; The electric folding press plate rotary is located on bench board; Feeding mechanical hand is located on manipulator support movably; Micro computer is connected with pick up camera, feeding mechanical hand and electric folding pressing plate respectively; Vacuum cup is located at the feeding mechanical hand lower end rotationally.
Further improvement of the present invention is: feeding mechanical hand comprises transversal driving mechanism, slide unit, longitudinal driving mechanism and lifting arm; But slide unit by the transversal driving mechanism sway be located on manipulator support; Lifting arm can be located on slide unit movably forward and backward by longitudinal driving mechanism; Vacuum cup can be located at the longitudinal driving mechanism lower end up or down by lifting arm.
Wherein, transversal driving mechanism, by screw rod transmission, comprises horizontal drive motor and screw mandrel; Screw mandrel rotates and is located on manipulator support, and an end is connected with the horizontal drive motor output shaft; Slide unit is enclosed within on screw mandrel, and inboard is provided with the screw thread corresponding with screw mandrel, can move forward and backward along with the rotation of screw mandrel.
Or transversal driving mechanism comprises horizontal drive motor, guide rail and driving device by synchronizing wheel/synchronous belt drive mechanism transmission; Guide rail is fixed on manipulator support; Slide unit is placed on guide rail; Driving device comprises synchronizing wheel and Timing Belt; Slide unit is connected with the horizontal drive motor transmission by driving device; Horizontal drive motor is fixed on manipulator support one end, its mouth is connected with a synchronizing wheel transmission, the manipulator support other end is fixed with another synchronizing wheel, two synchronizing wheels are connected by toothed belt transmission, slide unit and Timing Belt are fixedly linked, and by horizontal drive motor, drive successively synchronizing wheel, Timing Belt, slide unit motion.
Above-mentioned automatic layboy also comprises rotary drive motor; Lifting arm is located at the longitudinal driving mechanism lower end by rotary drive motor.
Longitudinal driving mechanism is by screw rod transmission or gear/rack mechanism driving.
Lifting arm is by screw rod transmission, or the gear/rack mechanism driving.
The bench board upper surface is provided with the groove suitable with the electric folding pressing plate; The electric folding pressing plate is located in groove.
The electric folding pressing plate is comprised of crimping plate and crimping drive motor; The crimping plate is connected with the main shaft of crimping drive motor.
Can be provided with belt conveyor on bench board.
The present invention has the following advantages compared to existing technology: move by feeding mechanical hand shift vacuum cup, thereby control sheet stock, move to electric folding pressing plate top; Utilize simultaneously rotary drive motor to control sheet stock folding technology according to the rules and successively locate the crimping line is overlapped with the shaft axis of electric folding pressing plate, and completed by the electric folding pressing plate folding, thereby complete the auto-folder of sheet stock.The present invention utilizes the microcomputerized control pick up camera to take the sheet stock image, thereby calculate the sheet stock orientation, utilize vacuum cup to pick up sheet stock, and by the microcomputerized control sheet stock, along X-axis, Y direction, move, and control that sheet stock rotates and with electric folding pressing plate interoperation, realize the automation mechanized operation of folding technology, improved the commonality of production efficiency and equipment.
Description of drawings
Fig. 1 is the structural representation of automatic layboy of the present invention;
Fig. 2 is the system control chart of automatic layboy of the present invention.
In figure, 1-bench board, 2-feeding mechanical hand, 3-electric folding pressing plate, the 4-pick up camera, 5-micro computer, 6-manipulator support, 7-horizontal drive motor, the 8-transversal driving mechanism, 9-slide unit, 10-vertical drive motor, the 11-longitudinal driving mechanism, 12-rotary drive motor, 13-lifting arm, the 14-vacuum cup, 15-panel, 16-crimping drive motor, 17-crimping plate, 18-sheet stock, 19-lamination.
The specific embodiment
Below in conjunction with accompanying drawing, automatic layboy of the present invention is elaborated.
As shown in Figure 1, automatic layboy of the present invention comprises bench board 1, feeding mechanical hand 2, electric folding pressing plate 3, pick up camera 4.Pick up camera 4 and the optional TaiWan, China of micro computer 5(model grind magnificent ADVANTECH ARK3400) all adopt the product on market.Manipulator support 6 is arranged on bench board 1 top.Pick up camera 4 is arranged on manipulator support 6 tops.Micro computer 5 is arranged on bench board 1.Bench board 1 upper surface is provided with the groove suitable with electric folding pressing plate 3, and the electric folding pressing plate is located in groove.The electric folding pressing plate is comprised of crimping plate 17 and crimping drive motor 16, and the rotating shaft of crimping plate 17 is connected with the output shaft of crimping drive motor 16.Feeding mechanical hand comprises transversal driving mechanism 8, slide unit 9, rotary drive motor 12, lifting arm 13 and longitudinal driving mechanism 11.Transversal driving mechanism 8 can adopt screw mandrel driving, guide rail+Timing Belt/synchronizing wheel and be equipped with motor and make; Longitudinal driving mechanism 10 can adopt leading screw driving, pinion and rack and be equipped with drive motor and make.Horizontal drive motor 7 is installed on manipulator support 6, controls transversal driving mechanism 8 and moves along X-axis.Vertical drive motor 10 is installed on slide unit 9, controls longitudinal driving mechanism 11 and moves along Y-axis.Take transversal driving mechanism 8 as example, when transversal driving mechanism adopted screw mandrel to drive, transversal driving mechanism 8 also comprised screw mandrel; Screw mandrel rotates and is located on manipulator support 6, and an end is connected with horizontal drive motor 7 output shafts; Slide unit 9 is enclosed within on screw mandrel, and inboard is provided with the screw thread corresponding with screw mandrel, can move forward and backward along with the rotation of screw mandrel.When transversal driving mechanism adopted guide rail+Timing Belt/synchronizing wheel transmission, transversal driving mechanism 8 also comprised guide rail and driving device (not shown); Slide unit 9 is placed on guide rail; Driving device comprises synchronizing wheel and Timing Belt, and slide unit 9 is connected with horizontal drive motor 7 transmissions by driving device; Horizontal drive motor 7 is fixed on manipulator support 6 one ends, its mouth is connected with a synchronizing wheel transmission, manipulator support 6 other ends are fixed with another synchronizing wheel, two synchronizing wheels are connected by toothed belt transmission, slide unit 9 is fixedly linked with Timing Belt, by horizontal drive motor 7, drives successively synchronizing wheel, Timing Belt, slide unit 9 motions.The gear/rack mechanism driving is take longitudinal driving mechanism 11 as example: longitudinal driving mechanism 11 comprises vertical drive motor 10, gear and tooth bar; Vertical drive motor 10 is fixed on slide unit 9, and slide unit 9 is provided with chute, and tooth bar is located in chute; The mouth of vertical drive motor 10 is provided with gear; Tooth bar is meshed with the gear of vertical drive motor 10 mouths, rotates by vertical drive motor 10 driven gears, thereby the band carry-over bar seesaws (namely along Y-axis, moving).The outer end of longitudinal driving mechanism 11 is provided with rotary drive motor 12.Lifting arm 13 upper ends are connected with the output shaft of rotary drive motor 12, and lower end is connected with vacuum cup 14.Lifting arm 13 can adopt leading screw driving or gear/rack mechanism and be equipped with drive motor and make, and controls vacuum cup 14 and moves along Z axis.Vacuum cup 14 can adopt nonmetal plate and be cut to the rectangle that adapts with sheet stock and hold flexible skirt (as rubber) again, then with vacuum tube valve, is connected and gets final product.Vacuum cup 14 is under the drive of rotary drive motor 12 and lifting arm 13, and is rotatable and can be along the Z axis up-and-down movement.Also belt conveyor can be set on bench board 1, belt conveyor can adopt flexible strap or belt+roller assembly production to form.
in conjunction with Fig. 2, in practical work process, the operator only needs sheet stock 18 is placed on bench board 1 or by belt conveyor and is sent on bench board 1, micro computer 5 is taken the image of sheet stock 18 by pick up camera 4, and calculate the orientation of every sheet stock, then control feeding mechanical hand 2 and vacuum cup 14 is moved to the top of each sheet stock 18, and the datum line of controlling vacuum cup 14 (can artificially be set, as line of centers) align with the fold line that the current need of sheet stock 18 fold, putting down lifting arm 13 picks up sheet stock 18, again sheet stock 18 is delivered to crimping plate 17 tops (this moment, the datum line of vacuum cup 14 overlapped with the fold line that sheet stock 18 is taken in last time), then driving feeding mechanical hand 2 under the control of micro computer 5 overlaps according to the datum line of the orbiting motion of determining to vacuum cup 14 sheet stock 18 with the shaft axis of crimping plate 17, then crimping plate 17 rotates 180 degree around its rotating shaft and completes ought last time folding of sheet stock, so repeat until all whole folding technologies are completed, the lamination 19 that last feeding mechanical hand 2 will fold is pushed to preposition and discharges lamination.
Claims (10)
1. an automatic layboy, is characterized in that: comprise bench board, feeding mechanical hand, manipulator support, micro computer, vacuum cup, pick up camera and electric folding pressing plate; Described manipulator support and micro computer are fixed on described bench board top; Described pick up camera is located at described manipulator support top; Described electric folding press plate rotary is located on described bench board; Described feeding mechanical hand is located on described manipulator support movably; Described micro computer is connected with described pick up camera, feeding mechanical hand and electric folding pressing plate respectively; Described vacuum cup is located at described feeding mechanical hand lower end rotationally.
2. automatic layboy according to claim 1, it is characterized in that: described feeding mechanical hand comprises transversal driving mechanism, slide unit, longitudinal driving mechanism and lifting arm; But described slide unit by the transversal driving mechanism sway be located on described manipulator support; Described lifting arm can be located on slide unit movably forward and backward by longitudinal driving mechanism; Described vacuum cup can be located at described longitudinal driving mechanism lower end up or down by lifting arm.
3. automatic layboy according to claim 2, it is characterized in that: described transversal driving mechanism comprises horizontal drive motor and screw mandrel; Described screw mandrel rotates and is located on described manipulator support, and an end is connected with described horizontal drive motor output shaft; Described slide unit is enclosed within on described screw mandrel, and inboard is provided with the screw thread corresponding with screw mandrel.
4. automatic layboy according to claim 2, it is characterized in that: described transversal driving mechanism comprises horizontal drive motor, guide rail and driving device; Described guide rail is fixed on described manipulator support; Described slide unit is placed on guide rail; Described driving device comprises synchronizing wheel and Timing Belt; Described horizontal drive motor is fixed on described manipulator support one end, its mouth is connected with a synchronizing wheel transmission, the manipulator support other end is fixed with another synchronizing wheel, and two synchronizing wheels are connected by toothed belt transmission, and described slide unit and Timing Belt are fixedly linked.
5. automatic layboy according to claim 2, it is characterized in that: described automatic layboy also comprises rotary drive motor; Described lifting arm is located at described longitudinal driving mechanism lower end by rotary drive motor.
6. automatic layboy according to claim 2 is characterized in that: described longitudinal driving mechanism is by screw rod transmission or gear/rack mechanism driving.
7. automatic layboy according to claim 2 is characterized in that: described lifting arm is by screw rod transmission, or the gear/rack mechanism driving.
8. automatic layboy according to claim 1, it is characterized in that: described bench board upper surface is provided with the groove suitable with described electric folding pressing plate; Described electric folding pressing plate is located in described groove.
9. automatic layboy according to claim 1, it is characterized in that: described electric folding pressing plate is comprised of crimping plate and crimping drive motor; Described crimping plate is connected with the main shaft of described crimping drive motor.
10. automatic layboy according to claim 1, it is characterized in that: described bench board is provided with belt conveyor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310343197.4A CN103387152B (en) | 2013-08-08 | 2013-08-08 | A kind of automatic layboy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310343197.4A CN103387152B (en) | 2013-08-08 | 2013-08-08 | A kind of automatic layboy |
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| CN103387152A true CN103387152A (en) | 2013-11-13 |
| CN103387152B CN103387152B (en) | 2015-12-02 |
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| CN201310343197.4A Active CN103387152B (en) | 2013-08-08 | 2013-08-08 | A kind of automatic layboy |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738551A (en) * | 2014-01-06 | 2014-04-23 | 济南大学 | Folding method, folding mechanism and automatic continuous folding device of air pressure absorption of flexibility object |
| CN104118746A (en) * | 2014-07-23 | 2014-10-29 | 彩虹（莆田）涂料色卡有限公司 | Automatic paper putting and taking device of jet printing machine |
| CN104972694A (en) * | 2014-04-01 | 2015-10-14 | 平阳县凯达包装机械厂 | Opening pressing machine for ash-spraying-prevention valve cement bag |
| CN104118746B (en) * | 2014-07-23 | 2016-11-30 | 彩虹（莆田）涂料色卡有限公司 | A kind of jet printer automatically put paper and paper extraction unit |
| CN106180293A (en) * | 2016-08-30 | 2016-12-07 | 洛阳润信机械制造有限公司 | A kind of full-automatic bending machine of panel beating |
| CN106742340A (en) * | 2017-03-24 | 2017-05-31 | 成都力鑫科技有限公司 | A kind of novel conveying device with turnover function |
| CN106829617A (en) * | 2017-03-30 | 2017-06-13 | 南京工业职业技术学院 | A kind of rolling-type automatic layboy |
| CN107399105A (en) * | 2017-08-02 | 2017-11-28 | 龚林晖 | A kind of full-automatic plastic film multilayer folding machine and method |
| CN113697582A (en) * | 2021-08-02 | 2021-11-26 | 江汉大学 | Intelligent cooperation system and cooperation method thereof |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738551A (en) * | 2014-01-06 | 2014-04-23 | 济南大学 | Folding method, folding mechanism and automatic continuous folding device of air pressure absorption of flexibility object |
| CN103738551B (en) * | 2014-01-06 | 2015-06-03 | 济南大学 | Folding method, folding mechanism and automatic continuous folding device of air pressure absorption of flexibility object |
| CN104972694A (en) * | 2014-04-01 | 2015-10-14 | 平阳县凯达包装机械厂 | Opening pressing machine for ash-spraying-prevention valve cement bag |
| CN104118746A (en) * | 2014-07-23 | 2014-10-29 | 彩虹（莆田）涂料色卡有限公司 | Automatic paper putting and taking device of jet printing machine |
| CN104118746B (en) * | 2014-07-23 | 2016-11-30 | 彩虹（莆田）涂料色卡有限公司 | A kind of jet printer automatically put paper and paper extraction unit |
| CN106180293A (en) * | 2016-08-30 | 2016-12-07 | 洛阳润信机械制造有限公司 | A kind of full-automatic bending machine of panel beating |
| CN106742340A (en) * | 2017-03-24 | 2017-05-31 | 成都力鑫科技有限公司 | A kind of novel conveying device with turnover function |
| CN106742340B (en) * | 2017-03-24 | 2019-01-29 | 广州智创知识产权运营有限公司 | A kind of novel conveying device with fold function |
| CN106829617A (en) * | 2017-03-30 | 2017-06-13 | 南京工业职业技术学院 | A kind of rolling-type automatic layboy |
| CN106829617B (en) * | 2017-03-30 | 2018-09-21 | 南京工业职业技术学院 | A kind of rolling-type automatic layboy |
| CN107399105A (en) * | 2017-08-02 | 2017-11-28 | 龚林晖 | A kind of full-automatic plastic film multilayer folding machine and method |
| CN113697582A (en) * | 2021-08-02 | 2021-11-26 | 江汉大学 | Intelligent cooperation system and cooperation method thereof |
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| CN103387152B (en) | 2015-12-02 |
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Effective date of registration: 20201215 Address after: 239500 Yangqiao Industrial Concentration Zone, Xianghe Town, Quanjiao County, Chuzhou City, Anhui Province Patentee after: ANHUI QUANCHAI JINTIAN MACHINERY Co.,Ltd. Address before: 210016 No. 1 Yangshan North Road, Xianlin University City, Nanjing, Jiangsu Province Patentee before: NANJING INSTITUTE OF INDUSTRY TECHNOLOGY |