CN103387152B - A kind of automatic layboy - Google Patents

Abstract

The invention discloses an automatic folding machine, which comprises a working table, a feeding manipulator, a manipulator support, a microcomputer, a vacuum suction cup, a video camera and an electric folding plate; the manipulator support and the microcomputer are fixed above the workbench; the camera is arranged above the manipulator support; The pressure plate is rotatably set on the workbench; the feeding manipulator is movably set on the manipulator bracket; the microcomputer is respectively connected with the camera, the feeding manipulator and the electric folding plate; the vacuum suction cup is rotatably set at the lower end of the feeding manipulator. The automatic folding machine of the invention realizes the automatic operation of the folding process, improves the production efficiency and the universality of the equipment.

Description

an automatic folding machine

technical field

The invention relates to an automatic folding machine.

Background technique

In the clothing, home textile, printing and other industries, it is necessary to fold and process various sheet materials such as fabrics, films, and cardboards.

At present, there are several automatic folding machines on the market that can fold towels, bed sheets, cardboard, etc., and the production automation is relatively high. These automatic folding equipment can basically only fold strips or rectangular materials at present, and the folding line can only be a set of folding lines perpendicular to each other, and when the folding process needs to be changed, the hardware adjustment of the equipment is required, so the versatility of the equipment is relatively small. Difference. The current folding equipment still needs to manually separate and feed materials one by one when folding the loose sheets, and the production efficiency is low; when the size of the loose sheet materials is large and the folding process is complicated, the current equipment is also difficult to complete. In short, the current folding equipment has the disadvantages of monotonous folding patterns, inconvenient process changes, and poor equipment versatility. The market needs an automatic folding equipment that is convenient for process changes, rich in folding patterns, and good in versatility.

Contents of the invention

The object of the present invention is to solve the defects in the prior art and provide an automatic folding device with rich folding patterns.

In order to achieve the above object, the present invention provides an automatic folding machine, comprising a workbench, a feeding manipulator, a manipulator support, a microcomputer, a vacuum suction cup, a video camera and an electric folding plate; the manipulator support and the microcomputer are fixed above the workbench; the camera is located on the manipulator Above the bracket; the electric folding plate is rotatably set on the workbench; the feeding manipulator is movably set on the manipulator bracket; the microcomputer is respectively connected with the camera, the feeding manipulator and the electric folding plate; the vacuum suction cup is rotatably set at the lower end of the feeding manipulator.

A further improvement to the present invention is that: the feeding manipulator includes a transverse drive mechanism, a slide table, a longitudinal drive mechanism and a lifting rod; It is arranged on the slide table; the vacuum sucker is arranged at the lower end of the longitudinal driving mechanism so that it can move up and down through the lifting rod.

Among them, the horizontal drive mechanism is driven by a screw rod, including a horizontal drive motor and a screw rod; the screw rod is rotated on the manipulator bracket, and one end is connected with the output shaft of the horizontal drive motor; The thread corresponding to the screw rod can move back and forth along with the rotation of the screw rod.

Or the horizontal driving mechanism is driven by the synchronous wheel/synchronous belt transmission mechanism, including the horizontal driving motor, guide rail and transmission device; the guide rail is fixed on the manipulator bracket; the slide table is set on the guide rail; the transmission device includes a synchronous wheel and a synchronous belt; the slide table passes through The transmission device is connected with the transmission of the transverse drive motor; the transverse drive motor is fixed at one end of the manipulator bracket, and its output end is connected with a synchronous wheel transmission, and the other end of the manipulator support is fixed with another synchronous wheel, and the two synchronous wheels are connected through a synchronous belt transmission. The sliding table is fixedly connected with the synchronous belt, and the synchronous wheel, the synchronous belt, and the sliding table are sequentially driven by the horizontal drive motor.

The above-mentioned automatic folding machine also includes a rotary drive motor; the lifting rod is arranged at the lower end of the longitudinal drive mechanism through the rotary drive motor.

The longitudinal driving mechanism is driven by a screw rod or a gear/rack mechanism.

The lifting rod is driven by a screw rod or a gear/rack mechanism.

A groove matching the electric folding plate is provided on the upper end surface of the working table; the electric folding plate is arranged in the groove.

The electric folding plate is composed of a folding plate and a folding driving motor; the folding plate is connected with the main shaft of the folding driving motor.

A conveyor belt can be provided on the workbench.

Compared with the prior art, the present invention has the following advantages: the movement of the vacuum suction cup is controlled by the feeding manipulator, thereby controlling the sheet material to move above the electric folding plate; at the same time, the rotating drive motor is used to control the sheet material to be positioned successively according to the prescribed folding process to align the folding line with the folding process. The rotation axis of the electric folding plate coincides, and the folding is completed by the electric folding plate, so as to complete the automatic folding of the sheet material. The invention uses a microcomputer to control the camera to take pictures of the sheet material, thereby calculating the orientation of the sheet material, using a vacuum suction cup to pick up the sheet material, and controlling the movement of the sheet material along the X-axis and Y-axis direction through the microcomputer, and controlling the rotation of the sheet material and connecting with the electric folding plate Cooperating with the action, the automatic operation of the folding process is realized, and the production efficiency and the versatility of the equipment are improved.

Description of drawings

Fig. 1 is the structural representation of automatic folding machine of the present invention;

Fig. 2 is a system control diagram of the automatic folding machine of the present invention.

In the figure, 1-working table, 2-feeding manipulator, 3-electric folding plate, 4-camera, 5-microcomputer, 6-manipulator support, 7-transverse drive motor, 8-transverse drive mechanism, 9-sliding table, 10 -Longitudinal drive motor, 11-Longitudinal drive mechanism, 12-Rotary drive motor, 13-Lift bar, 14-Vacuum suction cup, 15-Panel, 16-Folding drive motor, 17-Folding plate, 18-Sheet, 19- laminations.

Detailed ways

The automatic folding machine of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the automatic folding machine of the present invention includes a workbench 1 , a feeding manipulator 2 , an electric folding plate 3 , and a camera 4 . The camera 4 and the microcomputer 5 (the model is optional, China Taiwan Advantech ADVANTECHARK3400) are all products on the market. The manipulator support 6 is installed above the workbench 1. The camera 4 is installed above the manipulator support 6 . The microcomputer 5 is installed on the workbench 1 . The upper end surface of the workbench 1 is provided with a groove matching the electric folding plate 3, and the electric folding plate is arranged in the groove. The electric folding plate is made up of folding plate 17 and folding driving motor 16, and the rotating shaft of folding plate 17 links to each other with the output shaft of folding driving motor 16. The feeding manipulator includes a transverse drive mechanism 8 , a slide table 9 , a rotary drive motor 12 , a lifting rod 13 and a longitudinal drive mechanism 11 . The horizontal driving mechanism 8 can be made by screw drive, guide rail+synchronous belt/synchronous wheel and equipped with a motor; the longitudinal driving mechanism 10 can be made by using a screw drive, a rack and pinion mechanism and equipped with a driving motor. The transverse driving motor 7 is installed on the manipulator support 6 to control the movement of the transverse driving mechanism 8 along the X axis. The longitudinal drive motor 10 is installed on the slide table 9 to control the longitudinal drive mechanism 11 to move along the Y axis. Taking the horizontal driving mechanism 8 as an example, when the horizontal driving mechanism is driven by a screw, the horizontal driving mechanism 8 also includes a screw; 9 are sleeved on the screw mandrel, and the inner side is provided with the thread corresponding to the screw mandrel, which can move back and forth along with the rotation of the screw mandrel. When the lateral drive mechanism adopts guide rail + synchronous belt/synchronous wheel transmission, the lateral drive mechanism 8 also includes a guide rail and a transmission device (not shown); the sliding table 9 is set on the guide rail; the transmission device includes a synchronous wheel and a synchronous belt, and the sliding table 9 is connected to the horizontal drive motor 7 through a transmission device; the horizontal drive motor 7 is fixed on one end of the manipulator bracket 6, and its output end is connected to a synchronous wheel transmission, and the other end of the manipulator bracket 6 is fixedly provided with another synchronous wheel, two synchronous wheels The sliding table 9 is fixedly connected with the synchronous belt through the transmission of the synchronous belt, and the synchronous wheel, the synchronous belt and the sliding table 9 are driven to move in sequence by the transverse drive motor 7 . The gear/rack mechanism transmission takes the longitudinal driving mechanism 11 as an example: the longitudinal driving mechanism 11 includes a longitudinal driving motor 10, a gear and a rack; The bar is located in the chute; the output end of the longitudinal drive motor 10 is provided with a gear; the rack is meshed with the gear at the output end of the longitudinal drive motor 10, and the longitudinal drive motor 10 drives the gear to rotate, thereby driving the rack to move forward and backward (that is, along the Y axis movement). The outer end of the longitudinal drive mechanism 11 is provided with a rotary drive motor 12 . The upper end of the lifting rod 13 is connected with the output shaft of the rotary drive motor 12 , and the lower end is connected with the vacuum chuck 14 . The lifting rod 13 can be driven by a screw or a gear/rack mechanism together with a driving motor to control the movement of the vacuum chuck 14 along the Z axis. The vacuum suction cup 14 can be made of non-metallic sheet material and cut into a rectangle suitable for the sheet material, then wrapped with a flexible skirt (such as rubber), and then connected to the vacuum pipe valve. Driven by the rotary drive motor 12 and the lifting rod 13, the vacuum chuck 14 can rotate and move up and down along the Z axis. A conveyor belt can also be arranged on the workbench 1, and the conveyor belt can be assembled by using a flexible cloth belt or a belt+a roller.

In conjunction with Fig. 2, in the actual working process, the operator only needs to place the sheet material 18 on the workbench 1 or transfer it to the workbench 1 through the conveyor belt, the microcomputer 5 takes the image of the sheet material 18 through the camera 4, and calculates The orientation of each piece of material, and then control the feeding manipulator 2 to move the vacuum suction cup 14 to the top of each piece of material 18, and control the reference line of the vacuum suction cup 14 (can be set manually, such as the center line) and the current demand of the piece of material 18 Align the folded folding lines, put down the lifting rod 13 to suck up the sheet material 18, and then send the sheet material 18 above the folding plate 17 (at this time, the reference line of the vacuum suction cup 14 coincides with the current folding line on the sheet material 18), Then, under the control of the microcomputer 5, the feeding manipulator 2 is driven to move the sheet material 18 according to the determined trajectory until the reference line of the vacuum chuck 14 coincides with the axis of rotation of the folding plate 17, and then the folding plate 17 rotates 180 degrees around its axis of rotation to complete the sheet material. The current folding is repeated until all the folding processes are completed, and finally the feeding manipulator 2 pushes the folded laminations 19 to a predetermined position and releases the laminations.

Claims (7)

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 above described bench board; Described pick up camera is located at above described manipulator support; 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 electric folding pressing plate with described pick up camera, feeding mechanical hand respectively; Described vacuum cup is located at described feeding mechanical hand lower end rotationally; Described feeding mechanical hand comprises transversal driving mechanism, slide unit, longitudinal driving mechanism and lifting arm; Described slide unit can be movably located on described manipulator support by transversal driving mechanism; Described lifting arm can be located on slide unit by longitudinal driving mechanism movably forward and backward; Described vacuum cup can be located at described longitudinal driving mechanism lower end up or down by lifting arm; 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; Described automatic layboy also comprises rotary drive motor; Described lifting arm is located at described longitudinal driving mechanism lower end by rotary drive motor.

2. automatic layboy according to claim 1, 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 one end is connected with described horizontal drive motor output shaft; Described slide unit is enclosed within described screw mandrel, and inner side is provided with the screw thread corresponding with screw mandrel.

3. automatic layboy according to claim 1, is characterized in that: described longitudinal driving mechanism is by screw rod transmission or gear/rack mechanism driving.

4. automatic layboy according to claim 1, is characterized in that: described lifting arm is by screw rod transmission, or gear/rack mechanism driving.

5. automatic layboy according to claim 1, 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.

6. automatic layboy according to claim 1, is characterized in that: described electric folding pressing plate is made up of crimping plate and crimping drive motor; Described crimping plate is connected with the main shaft of described crimping drive motor.

7. automatic layboy according to claim 1, is characterized in that: described bench board is provided with belt conveyor.