CN106477108B - Automatic boxing robot for opposite-inserting type carton partition plates - Google Patents
Automatic boxing robot for opposite-inserting type carton partition plates Download PDFInfo
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- CN106477108B CN106477108B CN201611254515.XA CN201611254515A CN106477108B CN 106477108 B CN106477108 B CN 106477108B CN 201611254515 A CN201611254515 A CN 201611254515A CN 106477108 B CN106477108 B CN 106477108B
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- 238000005192 partition Methods 0.000 title claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 221
- 230000001360 synchronised effect Effects 0.000 claims abstract description 69
- 238000012937 correction Methods 0.000 claims description 33
- 238000003825 pressing Methods 0.000 claims description 28
- 210000000078 claw Anatomy 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 21
- 239000011087 paperboard Substances 0.000 claims description 16
- 239000000123 paper Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000000443 aerosol Substances 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000004806 packaging method and process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 14
- 241000628997 Flos Species 0.000 description 10
- 238000004891 communication Methods 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000011111 cardboard Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
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Abstract
The invention relates to a packaging robot, in particular to an automatic boxing robot for an opposite-plug type carton partition plate of an aerosol filling system, which comprises a feeding mechanism, an unfolding mechanism, a cross arm holding mechanism, a traveling mechanism, a position correcting mechanism, a press mounting mechanism, a conveying mechanism and a control system, wherein the automatic boxing of the opposite-plug type carton partition plate is realized through automatic feeding, friction unfolding of the partition plate, synchronous holding of the cross arm holding, aligning and press mounting of a box. The invention can manually adjust the interval between the two side plates of the feeding mechanism, is suitable for the opposite-plug type carton partition plates with various specifications, can realize batch feeding at one time, and meets the requirement of mass and automatic production of a filling system.
Description
Technical Field
The invention relates to a packaging robot, in particular to an automatic boxing robot for an opposite-inserting type carton partition plate of an aerosol filling system.
Background
The opposite-inserting type paper box partition board is a common packaging tool, and is composed of a group of longitudinally parallel paper boards and transversely parallel paper boards, grooves (the groove depth is 1/2 of the height of the paper boards) corresponding to each other are formed in the paper boards, the longitudinal paper boards and the transverse paper boards are correspondingly opposite-inserting type paper boards, the longitudinal paper boards and the transverse paper boards are crossed to form a plurality of cube partitions, articles are not contacted in the partitions, and the corrugated paper has good buffering performance. At present, the structure and the product are widely applied.
On an aerosol filling production line, after the filling of the tank body is completed, the tank body needs to be filled into a packing box, then a carton partition board (paperboard) is inserted into a gap between the tank bodies, the tank body is protected, friction, collision and the like of the tank body in the subsequent transportation process are avoided, no automatic equipment is available at present, a manual boxing mode is generally adopted, the labor intensity is high, the efficiency is low, and the large-batch and automatic production of a filling system cannot be met. Especially, the inserted carton partition board is easy to fall off a single sheet in the process of boxing, and the clamping is difficult.
Disclosure of Invention
The invention aims to solve the problem of boxing of opposite-plug type carton separators, and provides an automatic boxing robot for opposite-plug type carton separators, which realizes automatic boxing of opposite-plug type carton separators by automatic feeding, friction expansion of the separators, synchronous holding of cross holding arms, alignment of boxes in place and press fitting.
The invention aims at realizing the following technical scheme:
the automatic boxing robot for the opposite-plug type carton partition plate comprises a feeding mechanism, an unfolding mechanism, a cross arm holding mechanism, a traveling mechanism, a position correcting mechanism, a press-fitting mechanism, a conveying mechanism and a control system, wherein the feeding mechanism adjusts the distance between a left side plate and a right side plate according to the specification and the size of the opposite-plug type carton partition plate so as to realize automatic feeding of the opposite-plug type carton partition plate; the unfolding mechanism pulls two paper boards at the forefront part in the middle of the paper box partition board through the clamping jaws, unfolds the paper box partition board, and clamps the paper box partition boards with different sizes through the positive and negative tooth linear modules; the cross arm holding mechanism realizes clamping of rectangular and square opposite-plug-in carton partition plates through two pairs of positive and negative tooth linear modules which independently run; the travelling mechanism drives the whole cross arm-holding mechanism to travel through the movement of the synchronous belt, so that the carton partition plate after being unfolded is transported; the position correction mechanism drives the synchronous belt wheel through the servo motor to adjust the angle position of the cross arm holding mechanism, and drives the electric cylinder through the servo motor to adjust the height of the cross arm holding mechanism; the press-fitting mechanism drives the electric cylinder to press the unfolded carton partition into the carton through the servo motor; the conveying mechanism limits the working position of the box body through the air cylinder, adjusts the limiting position through the hand wheel adjusting structure so as to adapt to different box bodies, and adjusts the limiting position through the adjustable limiting block so as to be suitable for the box bodies with different sizes; the control system comprises a boxing robot control module, a touch screen, an MC multi-axis motion controller, shafting servo motors of all mechanisms of the boxing robot and drivers of all mechanisms of the boxing robot, and a two-stage centralized control system;
the cross arm holding mechanism comprises an upper linear module, an upper positive and negative tooth linear module, an upper fixing plate, an upper support, an upper connecting plate, a lower fixing plate, a lower positive and negative tooth linear module and an arm holding claw clamp; the arm holding claw clamp comprises an arm holding claw I and an arm holding claw II; the cross arm holding mechanism is arranged on the position adjusting mechanism; the upper fixing plate and the lower fixing plate are connected with the upper connecting plate through an upper support, the upper positive and negative tooth linear module screw is fixed on the upper fixing plate, the lower positive and negative tooth linear module screw is fixed on the lower fixing plate, the upper positive and negative tooth linear module and the lower positive and negative tooth linear module are distributed up and down to form a cross, the arm holding claw first screw is fixed on two sliding tables of the upper positive and negative tooth linear module, and the arm holding claw second screw is fixed on two sliding tables of the lower positive and negative tooth linear module;
the travelling mechanism comprises a frame, a guide rail mounting plate, a synchronous belt mounting seat, a guide rail, a sliding block, a first synchronous wheel, a second synchronous wheel, a first synchronous wheel limiting seat, a second synchronous wheel limiting seat, a travelling mechanism servo motor mounting seat, a travelling mechanism servo motor, a synchronous belt and a position adjusting mechanism mounting plate; the frame foot pad plates are welded on four feet of the walking frame, the walking frame screws are fixed on the workbench, the second synchronous wheel is fixed on the guide rail mounting plate through the screw of the synchronous belt mounting seat, the second synchronous wheel limiting seat is arranged on the synchronous belt mounting seat to limit the second synchronous wheel, and the guide rail mounting plate is fixed on the frame through the screw; the guide rail is fixed on the guide rail mounting plate through a screw, the sliding block is mounted on the guide rail, and the position adjusting mechanism mounting plate is mounted on the sliding block; the running gear servo motor mounting seat is fixed on the guide rail mounting plate through screws, the running gear servo motor is mounted on the running gear servo motor mounting seat, the first synchronous wheel is mounted on the running gear servo motor, and the first synchronous wheel limiting seat is mounted on the running gear servo motor mounting seat to limit the first synchronous wheel; the travelling mechanism servo motor transmits power to the first synchronous wheel, and the first synchronous wheel and the second synchronous wheel are connected through the synchronous belt, so that the movement of the position adjusting mechanism mounting plate is synchronously driven;
the position correction mechanism comprises an angle adjustment mechanism and a height adjustment mechanism, and comprises a position correction mechanism servo motor base, a position correction mechanism servo motor I, a small synchronous wheel, a large synchronous wheel, a synchronous belt, a rotating shaft, a vertical shaft base, a position correction mechanism servo motor II, an electric cylinder base, an electric cylinder push rod and a guide shaft support; the first position correction mechanism servo motor is fixed on the position adjustment mechanism mounting plate through a base bolt of the first position correction mechanism servo motor, and the small synchronous wheel is arranged on the first position correction mechanism servo motor; the rotating shaft penetrates through the guide shaft support, one end of the rotating shaft is fixed on the vertical shaft base, the vertical shaft base is fixed on the lower fixing plate, the tail end of the electric cylinder push rod is fixed on the vertical shaft base, the guide shaft support is installed on the electric cylinder base, the electric cylinder is installed on the electric cylinder base, and the second servo motor of the position correction mechanism is installed on the electric cylinder.
Further, the feeding mechanism comprises a feeding frame, a feeding frame hanging lug, a lower pressing plate support, a sliding block, a cylindrical guide rail support seat, a feeding side plate, a side plate connecting piece, a photoelectric sensor and a side plate manual adjusting mechanism; the cylinder guide rail supporting seat is welded in the middle of the feeding frame, one cylinder guide rail is arranged on the cylinder guide rail supporting seat, two ends of the cylinder guide rail supporting seat are fixed by screws, the sliding block is arranged on the two cylinder guide rails, the lower pressing plate is fixed on the sliding block through the lower pressing plate supporting seat and the lower pressing plate connecting piece, the middle supporting plate is symmetrically welded in the middle of the feeding frame and on two sides of the cylinder guide rail, the side plate connecting piece is fixedly connected with the manual adjusting mechanism bolt of the side plate, and the photoelectric sensor is arranged at the tail of the side plate.
Further, the unfolding mechanism comprises a workbench, an adjusting foot pad, a linear module supporting plate and an unfolding device; the adjusting foot pad is arranged on the foot pad plate through nuts, the unfolding device is fixed on the bottom surface of the table top through a linear module supporting plate screw, the unfolding device comprises a mounting seat, a positive and negative tooth linear module, a first unfolding mechanism servo motor, a second unfolding mechanism servo motor, a claw and a linear module, the positive and negative tooth linear module is connected with the linear module through the mounting seat through a bolt, the claw is arranged on the positive and negative tooth linear module, the first unfolding mechanism servo motor provides power for the positive and negative tooth linear module, and the second unfolding mechanism servo motor provides power for the linear module.
Further, the press-fitting mechanism comprises a press-fitting mechanism servo motor, an electric cylinder push rod and a pressing plate; the electric cylinder is fixed on the lower fixing plate, the servo motor of the pressing mechanism is arranged on the electric cylinder, and the pressing plate is fixed at the tail end of the push rod of the electric cylinder.
Further, the conveying mechanism comprises a conveying belt, a position adjusting block, a limiting block, a proximity sensor, a first cylinder, a pressing plate, a limiting plate, a screw rod mounting block, a screw rod nut, a second cylinder and a hand wheel; the limiting block is arranged on the position adjusting block, the position adjusting block is arranged on the conveyor belt, and the position of the limiting block can be adjusted by adjusting the fastening bolt of the position adjusting block so as to adapt to different box bodies; the first cylinder is arranged on the conveyor belt, the pressing plate is connected with the tail end of the first cylinder, and the working position of the box body is limited through the movement of the first cylinder; the screw rod installation block is installed on the conveyer belt, and the screw rod is installed on the screw rod installation block, and cylinder two is fixed on screw rod nut, and the limiting plate is installed at cylinder two ends, and the hand wheel is installed at the screw rod end, adjusts limiting plate position according to the box through rotating the hand wheel regulation, through the flexible restriction box position of cylinder two.
Further, the touch screen controller of the control system is used for realizing the issuing of various instructions and the on-line monitoring of the running state of the boxing robot control module; the MC multi-axis motion controller of the control system adopts a CANopen network to control the shafting motor driving system of each mechanism of the boxing robot; and a servo motor driving system of the control system receives a control instruction of the MC multi-axis motion controller and is used for driving mechanical loads of all the mechanical shafting of the robot.
The invention has the following beneficial effects:
1. the interval between the two side plates of the feeding mechanism can be manually adjusted, and the feeding mechanism is suitable for opposite-inserting type carton partition plates with various specifications.
2. The positions of two side plates of the feeding mechanism can be manually adjusted to ensure that the middle of the opposite-inserting type carton partition plate is the center shaft of the working station of the centering unfolding mechanism for the forefront two paperboards.
3. The material can be fed in batches once, and the rear partition boards are sequentially pushed after the forefront partition board is taken away.
4. The two pairs of holding actions of the cross arm holding mechanism are mutually independent and respectively controlled, so that the holding of the nxn (square) on the inserted carton partition plate can be performed, and the holding of the nxm (rectangular) on the inserted carton partition plate can be also performed.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic illustration of the structure of the inserted carton separator and the folding and unfolding thereof.
Fig. 3 is a schematic view of a feeding mechanism according to the present invention.
Fig. 4 is a schematic diagram of a feeding mechanism according to the present invention.
Fig. 5 is a schematic view of the deployment mechanism of the present invention.
FIG. 6 is a second schematic view of the deployment mechanism of the present invention.
Fig. 7 is a schematic view of a cross arm mechanism of the present invention.
Fig. 8 is a schematic view of the running gear of the present invention.
Fig. 9 is a schematic view of a position correction mechanism of the present invention.
Fig. 10 is a schematic view of a press-fitting mechanism of the present invention.
Fig. 11 is a schematic diagram of a transfer mechanism of the present invention.
Fig. 12 is a schematic diagram of a conveying mechanism according to the present invention.
Fig. 13 is a structural diagram of a control system of the present invention.
Detailed Description
The whole structure diagram of the automatic boxing robot for the inserted type carton partition plates is shown in fig. 1, and comprises a feeding mechanism A, a unfolding mechanism B, a cross arm-holding mechanism C, a traveling mechanism D, a position correcting mechanism E, a press-fitting mechanism F, a conveying mechanism G and a control system. The feeding mechanism A pushes batch feeding (carton separators) to the tail end of the mechanism, the photoelectric sensor transmits a separator in-place signal to the control system, the claw of the unfolding mechanism B grabs two paperboards at the forefront part in the middle of the carton separators and pulls the paperboards backwards, the separators are unfolded under the action of friction force, the cross arm holding mechanism C falls down and holds the separators, meanwhile, the opposite inserting type carton separators are subjected to rectangular correction, the cross arm holding mechanism C rises through the height adjustment of the position correction mechanism E, the separator is rotated and adjusted to the correct position under the action of the angle adjustment mechanism of the position correction mechanism E, the walking mechanism D drives the cross arm holding mechanism C to convey the separators to the upper part of the box, the cross arm holding mechanism C lowers the separators to the upper part of the box and loosens the separators, and the press-fitting mechanism F presses the separators into the box to finish automatic box-fitting of the opposite inserting type carton separators.
As shown in fig. 2, the structure diagram, the folding state, the unfolding principle and the unfolding state of the opposite-plug type carton partition board are shown, wherein the left side is a schematic structure diagram before opposite-plug, the middle is a schematic structure diagram after opposite-plug (folding), the right side is a schematic structure diagram after opposite-plug (unfolding), and the partition board is unfolded through a feeding mechanism A and an unfolding mechanism B.
As shown in fig. 3 and 4, a structure diagram of a feeding mechanism a is shown, and the feeding mechanism a comprises a feeding frame 2, a feeding frame hanging lug 14, a lower pressing plate 3, a lower pressing plate support 4, a sliding block 7, a cylindrical guide rail 15, a cylindrical guide rail support seat 16, a feeding side plate 1, a side plate connecting piece 5, a photoelectric sensor 17 and a side plate manual adjusting mechanism; the cylinder guide rail supporting seat 15 is welded in the middle of the feeding frame 2, one cylinder guide rail 14 is arranged at the front and rear of the feeding frame, the cylinder guide rail supporting seat 15 is provided with two ends fixed by screws, the sliding block 7 is arranged on the two cylinder guide rails 14, the lower pressing plate 3 is fixed on the sliding block through the lower pressing plate support 4, two sides of the cylinder guide rail 14 are fixedly connected with the side plate connecting piece 5 by bolts of the manual adjusting mechanism of the side plate, and the photoelectric sensor 17 is arranged at the tail part of the side plate. The separator is fed to the working position by the feeding mechanism a, and the photoelectric sensor 16 transmits a separator in-place signal to the deployment mechanism B. The manual side plate adjusting mechanism comprises a screw rod supporting seat 9, 30-degree trapezoidal screw rods 12, screw rod nuts 11, chain wheels 10, chains 13 and solid hand wheels 8, wherein the screw rod supporting seat 9 is fixed on the feeding frame 2 through bolts, two pairs of upper and lower trapezoidal screw rods are symmetrically distributed, and the 30-degree trapezoidal screw rods 12 are arranged on the screw rod supporting seat 9; the screw nut 11 is arranged on a 30-degree trapezoidal screw 12; the screw nut 11 is fixedly connected with the side plate connecting piece 5 through a bolt, and the chain wheel 10 is installed on the 30-degree trapezoidal screw 12 through a key connection; the solid hand wheel 8 is connected and installed at the tail end of the 30-degree trapezoidal screw rod 12 through a pin. The left side plate manual adjusting mechanism and the right side plate manual adjusting mechanism are symmetrically distributed, the distance between the two side plates can be adjusted according to different specification sizes of the opposite-plug type carton partition plates through the left side plate manual adjusting mechanism and the right side plate manual adjusting mechanism, and the forefront two paperboard positions in the middle of the carton partition plates are adjusted (so that clamping claws of the unfolding mechanism can be used for centering and grabbing).
As shown in fig. 5 and 6, the structure of the unfolding mechanism B is schematically shown, and the unfolding mechanism B comprises a workbench 11, an adjusting foot pad 10, a linear module supporting plate and a unfolding device 12; the adjusting foot pad 10 is arranged on the workbench 11 through nuts, and the unfolding device 12 is fixed on the bottom surface of the table top of the workbench 10 through a linear module supporting plate screw; the unfolding device 12 comprises a mounting seat 15, a positive and negative tooth linear module 16, an unfolding mechanism servo motor 17, an unfolding mechanism servo motor 18, a claw 14 and a linear module 13; the positive and negative tooth linear module 16 is connected with the linear module 13 through a mounting seat 15 through bolts; the clamping jaw 14 is arranged on the positive and negative tooth linear module 16, and the positive and negative tooth linear module 16 is driven by the servo motor 17 of the unfolding mechanism to realize the opening and closing of the clamping jaw 14; the unfolding mechanism servo motor 18 drives the linear module 16 to move in and out to enable the clamping jaw 14 to move in and out so as to enable the partition plate to be opened.
As shown in fig. 7, the cross arm holding mechanism C is a schematic structural diagram, and includes an upper front and back floss linear module 22, an upper fixing plate 23, an upper support 25, an upper connecting plate 21, a lower fixing plate 20, a lower front and back floss linear module 26, and an arm holding jaw clamp; the arm holding jaw clamp comprises an arm holding jaw 24 and an arm holding jaw 27; the cross arm holding mechanism C is arranged on the position adjusting mechanism E; the upper fixing plate 23 and the lower fixing plate 20 are connected with an upper connecting plate through an upper support 25, an upper positive and negative dental floss linear module 22 is fixed on the upper fixing plate 23 through screws, a lower positive and negative dental floss linear module 26 is fixed on the lower fixing plate 20 through screws, the upper positive and negative dental floss linear module 22 and the lower positive and negative dental floss linear module 26 are distributed up and down to form a cross, an arm holding claw 24 is fixed on two sliding tables of the upper positive and negative dental floss linear module 22 through screws, and the upper positive and negative dental floss linear module 22 is driven by a cross arm holding mechanism servo motor 28 to realize opening and closing of the arm holding claw 24; the arm holding claw 27 is fixed on two sliding tables of the lower positive and negative dental floss linear module 26 through screws, and the opening and closing of the arm holding claw 27 is realized through driving the lower positive and negative dental floss linear module 26 by a servo motor 29 of a cross arm holding mechanism; simultaneously, synchronous opening and closing of arm holding claws of the cross arm holding mechanism are realized through synchronization of the servo motor 28 of the cross arm holding mechanism and the servo motor 29 of the cross arm holding mechanism.
As shown in fig. 8, the travelling mechanism D is a schematic structural diagram, and includes a frame 30, a rail mounting plate 31, a synchronous belt mounting seat 42, a rail 32, a slider 33, a synchronous wheel 37, a synchronous wheel 41, a synchronous wheel limiting seat 40, a synchronous wheel limiting seat 38, a travelling mechanism servo motor mounting seat 36, a travelling mechanism servo motor 35, a synchronous belt 39, and a position adjusting mechanism mounting plate 34; the frame foot pad plates are welded on four feet of the walking frame, the walking frame is fixed on the workbench 11 through screws, the synchronous wheels 41 are fixed on the guide rail mounting plate 31 through screws of the synchronous belt mounting seat 42, the synchronous wheel limiting seat 40 is arranged on the synchronous belt mounting seat 42 to limit the synchronous wheels 41, and the guide rail mounting plate 31 is fixed on the frame 30 through screws; the guide rail 32 is fixed on the guide rail mounting plate 31 by screws, the sliding block 33 is mounted on the guide rail 32, and the position adjusting mechanism mounting plate 34 is mounted on the sliding block 33; the running gear servo motor mounting seat 36 is fixed on the guide rail mounting plate 31 through screws, the running gear servo motor 35 is mounted on the running gear servo motor mounting seat 36, the synchronous wheel 37 is mounted on the running gear servo motor 35, and the synchronous wheel limiting seat 38 is mounted on the running gear servo motor mounting seat 36 to limit the synchronous wheel 37; the travelling mechanism servo motor 35 transmits power to the synchronizing wheel 37, and the synchronizing wheel 37 and the synchronizing wheel 41 are connected through the synchronizing belt 39, so that the synchronizing belt 39 drives the position adjusting mechanism mounting plate 34 to move, and the travelling of the cross arm holding mechanism C is realized.
The structure diagram of the position correction mechanism E shown in fig. 9 includes a position correction mechanism servo motor base 57, a position correction mechanism servo motor 62, a small synchronizing wheel 56, a large synchronizing wheel 54, a synchronous belt 55, a rotating shaft 53, a vertical shaft base 59, a position correction mechanism servo motor 61, an electric cylinder 60, an electric cylinder base 51, an electric cylinder push rod 58, and a guide shaft support 52; the position correction mechanism servo motor 62 is fixed on the position adjustment mechanism mounting plate 34 through a position correction mechanism servo motor base 57 by bolts, and the small synchronous wheel 56 is mounted on the position correction mechanism servo motor 62; the rotating shaft 53 passes through the guide shaft support 52, one end of the rotating shaft 53 is fixed on the vertical shaft base 59, the vertical shaft base 59 is fixed on the lower fixed plate 20, the tail end of the electric cylinder push rod 58 is fixed on the vertical shaft base 59, the guide shaft support 52 is arranged on the electric cylinder base 51, the electric cylinder 60 is arranged on the electric cylinder base 51, and the position correction mechanism servo motor 61 is arranged on the electric cylinder 60; the position correction mechanism comprises an angle adjustment mechanism and a height adjustment mechanism, wherein the angle adjustment mechanism is realized by the following modes: the large synchronizing wheel 54 is arranged on the electric cylinder push rod 58, the synchronous belt 55 is connected with the small synchronizing wheel 56 and the large synchronizing wheel 54, and the servo motor 62 transmits power to the large synchronizing wheel 54 through the small synchronizing wheel 56 and the synchronous belt 55, so that the torque of the large synchronizing wheel 54 drives the angle adjustment of the cross arm holding mechanism C, and the rotating shaft 53 and the position adjusting mechanism mounting plate 34 limit the angle adjustment range; the height adjusting mechanism is realized by the following modes: the position correction mechanism servo motor 61 transmits power to the electric cylinder 60, and the electric cylinder 60 pushes out or contracts the electric cylinder push rod 58, thereby realizing the adjustment of the height of the cross arm holding mechanism C.
As shown in fig. 10, the press-fitting mechanism F is schematically shown, and includes a press-fitting mechanism servo motor 70, an electric cylinder 71, an electric cylinder pushrod 73, and a pressing plate 72; the electric cylinder 71 is fixed on the lower fixed plate 20, the servo motor 70 of the pressing mechanism is arranged on the electric cylinder 71, and the pressing plate 72 is fixed at the tail end of the push rod 73 of the electric cylinder; when the press-fitting mechanism servo motor 70 transmits power to the electric cylinder 71, the electric cylinder push rod 73 of the electric cylinder 71 pushes out the separator to press the separator into the cardboard box.
Fig. 11 and 12 show a schematic structural diagram of a conveying mechanism G, which comprises a conveying belt 94, a position adjusting block 95, a limiting block 96, a proximity sensor 97, an air cylinder 98, a pressing plate 99, a limiting plate 80, a screw rod mounting block 81, a screw rod 82, a screw rod nut 83, an air cylinder 84 and a hand wheel 85; the limiting block 96 is arranged on the position adjusting block 95, the position adjusting block 95 is arranged on the conveyor belt 94, and the position of the limiting block 96 can be adjusted by adjusting the fastening bolt of the position adjusting block 95 so as to adapt to different box bodies; the air cylinder 98 is arranged on the conveyor belt 94, the pressing plate 99 is connected with the tail end of the air cylinder 98, and the working position of the box body is limited by the movement of the air cylinder 98; the screw rod installation block 81 is installed on the conveyor belt 94, the screw rod 82 is installed on the screw rod installation block 81, the air cylinder 84 is fixed on the screw rod nut 83, the limiting plate 80 is installed at the tail end of the air cylinder 84, the hand wheel 85 is installed at the tail end of the screw rod 82, the position of the limiting plate is adjusted according to the box body through rotating the hand wheel, and the box body position is limited through the expansion and contraction of the air cylinder 84.
As shown in FIG. 13, the boxing robot control system comprises a boxing robot control module, a touch screen, an MC multi-axis motion controller, shafting servo motors of all mechanisms of the boxing robot and drivers thereof. And the boxing robot control module is respectively communicated with the touch screen and the MC multi-axis motion controller through an RS232 interface and an Ethernet interface. The touch screen is used for realizing the issuing of various instructions of the boxing robot control module and the on-line monitoring of the running state, and realizing data communication with the MC multi-axis motion controller through the RS485 communication interface. The MC multi-axis motion controller internally comprises a PLC module and a motion control module, wherein the PLC module is used for receiving a touch screen control instruction and a field switching value signal through an RS485 communication interface and an input/output digital module and sending out a control instruction according to the working flow of each mechanism of the robot; the motion control module acquires a control instruction sent by the PLC module by utilizing a special data exchange register in the MC multi-axis motion controller, and controls 8 motor servo driving systems in total of a boxing robot unfolding mechanism B, a cross arm holding mechanism C, a traveling mechanism D, a position correction mechanism E and a press mounting mechanism F through a CANopen field bus network; the servo motor driving system respectively configured by the boxing robot unfolding mechanism, the cross arm holding mechanism, the travelling mechanism, the position correcting mechanism and the pressing mechanism comprises a driver and a servo motor, wherein the servo drivers of the mechanisms receive position control pulse instructions issued by the motion control module through a CANopen field bus by utilizing RJ45 connectors, so that the driving control of the servo motors of the shafting of the mechanisms and mechanical loads is realized, and corresponding actions of the mechanisms are realized.
Claims (6)
1. The automatic boxing robot for the opposite-plug type carton partition plates is characterized by comprising a feeding mechanism, an unfolding mechanism, a cross arm holding mechanism, a travelling mechanism, a position correcting mechanism, a press-fitting mechanism, a conveying mechanism and a control system, wherein the feeding mechanism adjusts the distance between a left side plate and a right side plate according to the specification and the size of the opposite-plug type carton partition plates so as to realize automatic feeding of the opposite-plug type carton partition plates; the unfolding mechanism pulls two paper boards at the forefront part in the middle of the paper box partition board through the clamping jaws, unfolds the paper box partition board, and clamps the paper box partition boards with different sizes through the positive and negative tooth linear modules; the cross arm holding mechanism realizes clamping of rectangular and square opposite-plug-in carton partition plates through two pairs of positive and negative tooth linear modules which independently run; the travelling mechanism drives the whole cross arm-holding mechanism to travel through the movement of the synchronous belt, so that the carton partition plate after being unfolded is transported; the position correction mechanism drives the synchronous belt wheel through the servo motor to adjust the angle position of the cross arm holding mechanism, and drives the electric cylinder through the servo motor to adjust the height of the cross arm holding mechanism; the press-fitting mechanism drives the electric cylinder to press the unfolded carton partition into the carton through the servo motor; the conveying mechanism limits the working position of the box body through the air cylinder, adjusts the limiting position through the hand wheel adjusting structure so as to adapt to different box bodies, and adjusts the limiting position through the adjustable limiting block so as to be suitable for the box bodies with different sizes; the control system comprises a boxing robot control module, a touch screen, an MC multi-axis motion controller, shafting servo motors of all mechanisms of the boxing robot and drivers of all mechanisms of the boxing robot, and a two-stage centralized control system;
the cross arm holding mechanism comprises an upper linear module, an upper positive and negative tooth linear module, an upper fixing plate, an upper support, an upper connecting plate, a lower fixing plate, a lower positive and negative tooth linear module and an arm holding claw clamp; the arm holding claw clamp comprises an arm holding claw I and an arm holding claw II; the cross arm holding mechanism is arranged on the position adjusting mechanism; the upper fixing plate and the lower fixing plate are connected with the upper connecting plate through an upper support, the upper positive and negative tooth linear module screw is fixed on the upper fixing plate, the lower positive and negative tooth linear module screw is fixed on the lower fixing plate, the upper positive and negative tooth linear module and the lower positive and negative tooth linear module are distributed up and down to form a cross, the arm holding claw first screw is fixed on two sliding tables of the upper positive and negative tooth linear module, and the arm holding claw second screw is fixed on two sliding tables of the lower positive and negative tooth linear module;
the travelling mechanism comprises a frame, a guide rail mounting plate, a synchronous belt mounting seat, a guide rail, a sliding block, a first synchronous wheel, a second synchronous wheel, a first synchronous wheel limiting seat, a second synchronous wheel limiting seat, a travelling mechanism servo motor mounting seat, a travelling mechanism servo motor, a synchronous belt and a position adjusting mechanism mounting plate; the frame foot pad plates are welded on four feet of the walking frame, the walking frame screws are fixed on the workbench, the second synchronous wheel is fixed on the guide rail mounting plate through the screw of the synchronous belt mounting seat, the second synchronous wheel limiting seat is arranged on the synchronous belt mounting seat to limit the second synchronous wheel, and the guide rail mounting plate is fixed on the frame through the screw; the guide rail is fixed on the guide rail mounting plate through a screw, the sliding block is mounted on the guide rail, and the position adjusting mechanism mounting plate is mounted on the sliding block; the running gear servo motor mounting seat is fixed on the guide rail mounting plate through screws, the running gear servo motor is mounted on the running gear servo motor mounting seat, the first synchronous wheel is mounted on the running gear servo motor, and the first synchronous wheel limiting seat is mounted on the running gear servo motor mounting seat to limit the first synchronous wheel; the travelling mechanism servo motor transmits power to the first synchronous wheel, and the first synchronous wheel and the second synchronous wheel are connected through the synchronous belt, so that the movement of the position adjusting mechanism mounting plate is synchronously driven;
the position correction mechanism comprises an angle adjustment mechanism and a height adjustment mechanism, and comprises a position correction mechanism servo motor base, a position correction mechanism servo motor I, a small synchronous wheel, a large synchronous wheel, a synchronous belt, a rotating shaft, a vertical shaft base, a position correction mechanism servo motor II, an electric cylinder base, an electric cylinder push rod and a guide shaft support; the first position correction mechanism servo motor is fixed on the position adjustment mechanism mounting plate through a base bolt of the first position correction mechanism servo motor, and the small synchronous wheel is arranged on the first position correction mechanism servo motor; the rotating shaft penetrates through the guide shaft support, one end of the rotating shaft is fixed on the vertical shaft base, the vertical shaft base is fixed on the lower fixing plate, the tail end of the electric cylinder push rod is fixed on the vertical shaft base, the guide shaft support is installed on the electric cylinder base, the electric cylinder is installed on the electric cylinder base, and the second servo motor of the position correction mechanism is installed on the electric cylinder.
2. The automatic boxing robot for the opposite-inserted type carton partition plates, as claimed in claim 1, wherein the feeding mechanism comprises a feeding frame, feeding frame hangers, a lower pressing plate support, a sliding block, a cylindrical guide rail support seat, a feeding side plate, a side plate connecting piece, a photoelectric sensor and a side plate manual adjusting mechanism; the cylinder guide rail supporting seat is welded in the middle of the feeding frame, one cylinder guide rail is arranged on the cylinder guide rail supporting seat, two ends of the cylinder guide rail supporting seat are fixed by screws, the sliding block is arranged on the two cylinder guide rails, the lower pressing plate is fixed on the sliding block through the lower pressing plate supporting seat and the lower pressing plate connecting piece, the middle supporting plate is symmetrically welded in the middle of the feeding frame and on two sides of the cylinder guide rail, the side plate connecting piece is fixedly connected with the manual adjusting mechanism bolt of the side plate, and the photoelectric sensor is arranged at the tail of the side plate.
3. The automatic boxing robot for the opposite-inserted type carton partition plates according to claim 1, wherein the unfolding mechanism comprises a workbench, an adjusting foot pad, a linear module supporting plate and an unfolding device; the adjusting foot pad is arranged on the foot pad plate through nuts, the unfolding device is fixed on the bottom surface of the table top through a linear module supporting plate screw, the unfolding device comprises a mounting seat, a positive and negative tooth linear module, a first unfolding mechanism servo motor, a second unfolding mechanism servo motor, a claw and a linear module, the positive and negative tooth linear module is connected with the linear module through the mounting seat through a bolt, the claw is arranged on the positive and negative tooth linear module, the first unfolding mechanism servo motor provides power for the positive and negative tooth linear module, and the second unfolding mechanism servo motor provides power for the linear module.
4. The automatic boxing robot for the opposite-inserted carton separators according to claim 1, wherein the press-fitting mechanism comprises a press-fitting mechanism servo motor, an electric cylinder push rod and a pressing plate; the electric cylinder is fixed on the lower fixing plate, the servo motor of the pressing mechanism is arranged on the electric cylinder, and the pressing plate is fixed at the tail end of the push rod of the electric cylinder.
5. The automatic boxing robot for the opposite-inserted type carton partition plates, as claimed in claim 1, wherein the conveying mechanism comprises a conveying belt, a position adjusting block, a limiting block, a proximity sensor, a first cylinder, a pressing plate, a limiting plate, a screw rod mounting block, a screw rod nut, a second cylinder and a hand wheel; the limiting block is arranged on the position adjusting block, the position adjusting block is arranged on the conveyor belt, and the position of the limiting block can be adjusted by adjusting the fastening bolt of the position adjusting block so as to adapt to different box bodies; the first cylinder is arranged on the conveyor belt, the pressing plate is connected with the tail end of the first cylinder, and the working position of the box body is limited through the movement of the first cylinder; the screw rod installation block is installed on the conveyer belt, and the screw rod is installed on the screw rod installation block, and cylinder two is fixed on screw rod nut, and the limiting plate is installed at cylinder two ends, and the hand wheel is installed at the screw rod end, adjusts limiting plate position according to the box through rotating the hand wheel regulation, through the flexible restriction box position of cylinder two.
6. The automatic boxing robot for the opposite-inserted carton separators according to claim 1, wherein a touch screen controller of the control system is used for realizing the issuing of various instructions of a boxing robot control module and the on-line monitoring of the running state; the MC multi-axis motion controller of the control system adopts a CANopen network to control the shafting motor driving system of each mechanism of the boxing robot; and a servo motor driving system of the control system receives a control instruction of the MC multi-axis motion controller and is used for driving mechanical loads of all the mechanical shafting of the robot.
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| CN201611254515.XA CN106477108B (en) | 2016-12-30 | 2016-12-30 | Automatic boxing robot for opposite-inserting type carton partition plates |
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| CN201611254515.XA CN106477108B (en) | 2016-12-30 | 2016-12-30 | Automatic boxing robot for opposite-inserting type carton partition plates |
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