CN108466854B - Corrugated board turns over wrong heap system of board - Google Patents
Corrugated board turns over wrong heap system of board Download PDFInfo
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- CN108466854B CN108466854B CN201810504408.0A CN201810504408A CN108466854B CN 108466854 B CN108466854 B CN 108466854B CN 201810504408 A CN201810504408 A CN 201810504408A CN 108466854 B CN108466854 B CN 108466854B
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- screw rod
- pair
- frame
- baffle
- control arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H15/00—Overturning articles
- B65H15/02—Overturning piles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H31/00—Pile receivers
- B65H31/30—Arrangements for removing completed piles
- B65H31/3036—Arrangements for removing completed piles by gripping the pile
Abstract
The invention relates to a corrugated board turning plate staggered stacking system, which comprises a mesh belt conveyor (1) and a pair of turning plate staggered stacking robots (2), wherein the pair of turning plate staggered stacking robots (2) are respectively positioned at two sides of the mesh belt conveyor (1), each turning plate staggered stacking robot (2) comprises a two-shaft manipulator (5), a grabbing device (6) and a grabbing device control arm (7), each grabbing device (6) comprises a bottom supporting plate (13), a gripper frame (14), a baffle (9), a baffle telescopic assembly, a pair of pressing plates (11) and a pressing plate lifting assembly, each grabbing device control arm (7) comprises a control arm frame (20), three ball spline screw rods (21), a screw rod telescopic driving assembly and a screw rod rotary driving assembly, and the corrugated board turning plate staggered stacking system has the advantages that: the paper boards are automatically turned over and stacked by mistake through the pair of manipulators, so that the working efficiency is greatly improved, and meanwhile, the labor is saved.
Description
Technical Field
The invention relates to the technical field of corrugated board production, in particular to a corrugated board turning plate staggered stacking system.
Background
At present, after corrugated board is produced from the cardboard production line, often can produce bending deformation because of the temperature cooling, influence follow-up printing and shaping, therefore the cardboard factory needs special arrangement workman to turn over the board to stack to corrugated board, especially large-scale cardboard, and the manual work turns over the board and is hard while inefficiency, with high costs.
Disclosure of Invention
The invention aims at solving the defects that at present, after corrugated boards are produced from a board production line, bending deformation is often generated due to temperature cooling, subsequent printing and forming are affected, a board factory is required to specially arrange a worker to stack the corrugated boards, particularly large-specification boards, manual board turning is laborious, meanwhile, the efficiency is low and the cost is high, and the board turning staggered stacking system is provided.
The invention comprises a mesh belt conveyor and a pair of flap misplacement robots, wherein the pair of flap misplacement robots are respectively positioned at two sides of the mesh belt conveyor, each flap misplacement robot comprises a two-axis manipulator, a grabbing device and a grabbing device control arm, each grabbing device comprises a bottom supporting plate, a grabbing frame, a baffle plate telescopic assembly, a pair of pressing plates and a pressing plate lifting assembly, each grabbing frame is arranged on the bottom supporting plate, a pair of guide rails are arranged on the bottom supporting plate, the baffle plate is arranged on sliding blocks of the pair of guide rails, the baffle plate telescopic assembly is arranged on the grabbing frame and drives the baffle plate to slide on the pair of guide rails, guide rods are respectively arranged at two ends of the baffle plate, a pair of guide rod through holes are formed in the grabbing frame, springs are arranged on the guide rods, two ends of each spring are respectively connected with the baffle plate and the grabbing frame, and the pair of pressing plates are movably arranged on the grabbing frame through the pressing plate lifting assembly and are positioned above the baffle plate; the control arm of the grabbing device comprises a control arm frame, three ball spline screws, a screw rod telescopic driving assembly and a screw rod rotary driving assembly, wherein a connecting bracket is arranged on the control arm frame and is arranged on a two-axis manipulator through the connecting bracket; the screw rod rotation driving assembly comprises a screw rod rotation control motor and a screw rod far-end connection end cover, three spline sleeve gears matched with the ball spline screw rod are respectively arranged on the other end of the control arm frame and the screw rod far-end connection end cover, transmission gears matched with the spline sleeve gears are respectively arranged on the output end of the screw rod rotation control motor and the screw rod far-end connection end cover, an output flange is arranged on the transmission gears positioned on the screw rod far-end connection end cover, the screw rod rotation control motor is arranged on the control arm frame and drives the output flange to rotate through three ball spline screw rod transmission, and the gripper frame is arranged on the output flange through a connecting plate.
The baffle telescopic assembly comprises a shear fork telescopic frame and a synchronous belt transmission mechanism, and the synchronous belt transmission mechanism is arranged on the bottom supporting plate and drives the baffle to slide on a pair of guide rails through the shear fork telescopic frame; the pressing plate lifting assembly comprises a screw rod and a screw rod driving motor, the screw rod and the screw rod driving motor are respectively installed on the gripper frame, a pair of pressing plates are installed on a sliding block of the screw rod through a connecting plate, and the screw rod driving motor drives the pair of pressing plates to move up and down on the gripper frame through the screw rod.
The automatic control device comprises a pair of infrared sensors and cameras, wherein the two ends of the mesh belt conveyor are respectively provided with a paperboard conveying roller way, and the pair of infrared sensors and the cameras are arranged above the paperboard conveying roller way at the feeding end of the mesh belt conveyor through a support frame and are respectively in communication connection with a control system of a pair of turnover plate misplacement robots through an input module; the gripper frame and one of the pressing plates of the gripping device are respectively provided with a proximity sensor, and the two pairs of proximity sensors are respectively in communication connection with a control system of the corresponding turning plate misplacement robot; the control systems of the pair of turnover plate misplacement robots control actions of the corresponding two-axis manipulators, the grabbing devices and the grabbing device control arms through the output modules respectively.
The invention has the advantages that: the paper boards are automatically turned over and stacked by mistake through the pair of manipulators, so that the working efficiency is greatly improved, and meanwhile, the labor is saved.
Description of the drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a first schematic view of the gripping device of the present invention.
Fig. 3 is a second schematic view of the gripping device of the present invention.
Fig. 4 is a schematic view of the control arm structure of the gripping device of the present invention.
Fig. 5 is a schematic diagram of the circuit connection of the present invention.
Detailed Description
As shown in the drawing, the invention comprises a mesh belt conveyor 1 and a pair of flap misplacement robots 2, wherein the pair of flap misplacement robots 2 are respectively positioned at two sides of the mesh belt conveyor 1, the flap misplacement robots 2 comprise two shafts of manipulators 5, a gripping device 6 and a gripping device control arm 7, the gripping device 6 comprises a bottom supporting plate 13, a gripper frame 14, a baffle 9, a baffle telescopic assembly, a pair of pressing plates 11 and a pressing plate lifting assembly, the gripper frame 14 is arranged on the bottom supporting plate 13, a pair of guide rails 15 are arranged on the bottom supporting plate 13, the baffle 9 is arranged on a sliding block of the pair of guide rails 15, the baffle telescopic assembly is arranged on the gripper frame 14 and drives the baffle 9 to slide on the pair of guide rails 15, guide rods 16 are respectively arranged at two ends of the baffle 9, a pair of guide rods 16 pass through holes are arranged on the gripper frame 14, two ends of the spring are respectively connected with the baffle 9 and the gripper frame 14, and the pair of pressing plates 11 are movably arranged on the gripper frame 14 through the pressing plate lifting assembly and are positioned above the baffle 9; the grabbing device control arm 7 comprises a control arm frame 20, three ball spline screws 21, a screw telescopic driving assembly and a screw rotary driving assembly, wherein a connecting bracket 25 is arranged on the control arm frame 20 and is arranged on the two-axis mechanical arm 5 through the connecting bracket 25, the screw telescopic driving assembly comprises a screw telescopic control motor 26 and three nut gears 27, the three nut gears 27 are respectively and movably arranged at one end of the control arm frame 20, a gear is arranged on an output shaft of the screw telescopic control motor 26, the screw telescopic control motor 26 is arranged at one end of the control arm frame 20 and respectively drives the three nut gears 27 to rotate through the gear, and the three ball spline screws 21 respectively and synchronously move on the control arm frame 20 through being matched with the corresponding nut gears 27; the screw rod rotation driving assembly comprises a screw rod rotation control motor 30 and a screw rod far-end connection end cover 31, three spline sleeve gears 32 matched with the ball spline screw rods 21 are respectively arranged on the other end of the control arm frame 20 and the screw rod far-end connection end cover 31, transmission gears matched with the spline sleeve gears 32 are respectively arranged on the output end of the screw rod rotation control motor 30 and the screw rod far-end connection end cover 31, an output flange 35 is arranged on the transmission gears of the screw rod far-end connection end cover 31, the screw rod rotation control motor 30 is arranged on the control arm frame 20 and drives the output flange 35 to rotate through transmission of the three ball spline screw rods 21, and the handle frame 14 is arranged on the output flange 35 through a connecting plate.
The baffle telescopic assembly comprises a shear fork telescopic frame 50 and a synchronous belt transmission mechanism 51, wherein the synchronous belt transmission mechanism 51 is arranged on the bottom supporting plate 13 and drives the baffle 9 to slide on the pair of guide rails 15 through the shear fork telescopic frame 50; the pressing plate lifting assembly comprises a screw rod 53 and a screw rod driving motor 54, the screw rod 53 and the screw rod driving motor 54 are respectively installed on the gripper frame 14, a pair of pressing plates 11 are installed on a sliding block of the screw rod 53 through a connecting plate, and the screw rod driving motor 54 drives the pair of pressing plates 11 to move up and down on the gripper frame 14 through the screw rod 53.
The automatic control device comprises a pair of infrared sensors 40 and cameras 41, wherein two ends of the mesh belt conveyor 1 are respectively provided with a paperboard conveying roller way 43, and the pair of infrared sensors 40 and cameras 41 are arranged above the paperboard conveying roller way 43 at the feeding end of the mesh belt conveyor 1 through a supporting frame and are respectively in communication connection with a control system of a pair of turnover plate misplacement robots 2 through an input module; the gripper frame 14 and one of the pressing plates 11 of the gripping device 6 are respectively provided with a proximity sensor 45, and the two pairs of proximity sensors 45 are respectively in communication connection with a control system of the corresponding turning plate misplacement robot 2; the control system of the pair of turning plate misplacing robots 2 respectively controls the actions of the corresponding two-axis mechanical arm 5, the grabbing device 6 and the grabbing device control arm 7 through the output module.
The working mode and principle are as follows: the cardboard buttress passes through on the cardboard rollgang 43 of web conveyor 1 feed end, and a pair of infrared sensor 40 detects the height of cardboard buttress, and camera 41 detects the position of cardboard buttress to the control system of a pair of board pile that turns over mistake robot 2 is gone into to the detection data respectively, and a pair of diaxon manipulator 5 starts, adjusts the height and the interval of two grabbing device 6, and the height is controlled through diaxon manipulator 5, and interval and grabbing device 6's removal is controlled through grabbing device control arm 7, through grabbing device control arm 7 control, begins to turn over after the cardboard buttress enters into grabbing device 6 position on web conveyor 1.
The working steps of the turning plate staggered pile are as follows:
(1) preparing grabbing positions, and adjusting the heights and the distances between the two grabbing devices 6; the height is controlled by a two-axis mechanical arm 5, and the interval adjustment mode is as follows: the screw rod expansion control motor 26 is started, three nut gears 27 are driven to rotate through gear transmission, and the three nut gears 27 rotate to drive the three ball spline screws 21 to move forwards and backwards, namely an electric screw rod transmission mode;
(2) the left grabbing device 6 moves rightwards for a certain distance, the upper paperboard stack is pushed rightwards for a certain distance through the bottom supporting plate 13, one end of the right side of the paperboard stack enters between the pair of pressing plates 11 of the right grabbing device 6 and the bottom supporting plate 13, and the pair of pressing plates 11 of the right grabbing device 6 move downwards to clamp the stretched paperboard stack;
(3) the right two-axis manipulator 5 drives the right grabbing device 6 to move upwards for a certain distance to lift up the right paperboard stack;
(4) the left gripping device 6 is reset, the right gripping device 6 clamps the paperboard stack to move to the left, the paperboard stack at one end of the left side is fed between a pair of pressing plates 11 and a bottom supporting plate 13 of the left gripping device 6, and then the pair of pressing plates 11 of the left gripping device 6 move downwards to clamp the paperboard stack;
(5) the two-axis mechanical arms 5 on the left side and the right side lift, the paperboard stack is turned over by 180 degrees under the action of the control arm 7 of the grabbing device, and the turning operation mode is as follows: the screw rod rotation control motor 30 is started, the spline housing gear 32 is driven to rotate through gear transmission, the spline housing gear 32 is connected with the ball spline screw 21 through a spline, the ball spline screw 21 is used as a transmission shaft to drive the spline housing gear 32 on the screw rod far-end connection end cover 31 to rotate, the spline housing gear 32 drives the output flange 35 to rotate, and the grabbing device 6 rotates along with the output flange 35;
(6) the two-axis mechanical arms 5 on the left side and the right side are reset, then the pair of pressing plates 11 of the gripping devices 6 on the left side and the right side are reset, the paperboard stacks are loosened, the baffle plates 9 extend out, meanwhile, the gripping devices 6 on the left side and the right side move to the starting point under the action of the gripping device control arms 7, the paperboard stacks are placed on the paperboard conveying roller tables 43 positioned at the discharge ends of the mesh belt conveyor 1, the next paperboard stack turning plate stacking is carried out, and the second paperboard stacks are staggered left and right when stacked with the previous paperboard stacks.
Claims (3)
1. The utility model provides a corrugated board turns over wrong heap system, characterized by that it includes guipure conveyer (1) and a pair of wrong heap robot (2) of turning over the wrong heap of board, a pair of wrong heap robot (2) of turning over are located the both sides of guipure conveyer (1) respectively, turn over wrong heap robot (2) of board include diaxon manipulator (5), grabbing device (6) and grabbing device control arm (7), grabbing device (6) are including collet (13), tongs frame (14), baffle (9), baffle telescopic assembly, a pair of clamp plate (11) and clamp plate lifting assembly, tongs frame (14) are installed on collet (13), be equipped with a pair of guide rail (15) on collet frame (13), baffle (9) are installed on the slider of a pair of guide rail (15), baffle telescopic assembly is installed on tongs frame (14) to drive baffle (9) to slide on a pair of guide rail (15), both ends of baffle (9) are equipped with guide arm (16) respectively, a pair of guide arm (16) are opened on tongs frame (14) and are passed through the hole, be equipped with spring (16) on guide arm frame (16) respectively, the both ends of baffle frame (14) are located on the upper end of the upper clamp plate (14) through the movable clamp plate (14); the grabbing device control arm (7) comprises a control arm frame (20), three ball spline screws (21), a screw rod telescopic driving assembly and a screw rod rotary driving assembly, wherein a connecting bracket (25) is arranged on the control arm frame (20), the connecting bracket (25) is arranged on a two-axis manipulator (5), the screw rod telescopic driving assembly comprises a screw rod telescopic control motor (26) and three nut gears (27), the three nut gears (27) are movably arranged at one end of the control arm frame (20), a gear is arranged on an output shaft of the screw rod telescopic control motor (26), the screw rod telescopic control motor (26) is arranged at one end of the control arm frame (20), the three nut gears (27) are respectively driven to rotate through the gears, and the three ball spline screws (21) are respectively matched with the corresponding nut gears (27) to synchronously move on the control arm frame (20); the screw rod rotation driving assembly comprises a screw rod rotation control motor (30) and a screw rod far-end connection end cover (31), three spline sleeve gears (32) matched with the ball spline screw rods (21) are respectively arranged on the other end of the control arm frame (20) and the screw rod far-end connection end cover (31), transmission gears matched with the spline sleeve gears (32) are respectively arranged on the output end of the screw rod rotation control motor (30) and the screw rod far-end connection end cover (31), an output flange (35) is arranged on the transmission gears of the screw rod far-end connection end cover (31), the screw rod rotation control motor (30) is arranged on the control arm frame (20), the transmission output flange (35) is driven to rotate through three ball spline screw rods (21), and the gripper frame (14) is arranged on the output flange (35) through a connecting plate.
2. A corrugated board turning plate misplacement stacking system as claimed in claim 1, wherein the baffle telescopic assembly comprises a scissors telescopic frame (50) and a synchronous belt transmission mechanism (51), the synchronous belt transmission mechanism (51) is arranged on the bottom supporting plate (13) and drives the baffle (9) to slide on the pair of guide rails (15) through the scissors telescopic frame (50); the pressing plate lifting assembly comprises a screw rod (53) and a screw rod driving motor (54), the screw rod (53) and the screw rod driving motor (54) are respectively arranged on the gripper frame (14), a pair of pressing plates (11) are arranged on a sliding block of the screw rod (53) through a connecting plate, and the screw rod driving motor (54) drives the pair of pressing plates (11) to move up and down on the gripper frame (14) through the screw rod (53).
3. The corrugated board turning and stacking system according to claim 1, characterized by further comprising an automatic control device, wherein the automatic control device comprises a pair of infrared sensors (40) and cameras (41), two ends of the mesh belt conveyor (1) are respectively provided with a board conveying roller way (43), and the pair of infrared sensors (40) and the cameras (41) are arranged above the board conveying roller way (43) at the feeding end of the mesh belt conveyor (1) through a supporting frame and are respectively in communication connection with the control system of the pair of turning and stacking robots (2) through an input module; the gripper frame (14) and one of the pressing plates (11) of the gripping device (6) are respectively provided with a proximity sensor (45), and the two pairs of proximity sensors (45) are respectively in communication connection with a control system of the corresponding turning plate misplacement robot (2); the control system of the pair of turning plate misplacement robots (2) respectively controls actions of the corresponding two-axis manipulators (5), the grabbing device (6) and the grabbing device control arm (7) through the output module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810504408.0A CN108466854B (en) | 2018-05-24 | 2018-05-24 | Corrugated board turns over wrong heap system of board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810504408.0A CN108466854B (en) | 2018-05-24 | 2018-05-24 | Corrugated board turns over wrong heap system of board |
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| Publication Number | Publication Date |
|---|---|
| CN108466854A CN108466854A (en) | 2018-08-31 |
| CN108466854B true CN108466854B (en) | 2023-05-02 |
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| CN201810504408.0A Active CN108466854B (en) | 2018-05-24 | 2018-05-24 | Corrugated board turns over wrong heap system of board |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109080225A (en) * | 2018-10-23 | 2018-12-25 | 东莞市厚威包装科技股份有限公司 | A kind of the paper foot pier automatic impaction equipment and compressing method of paper templet |
| DE102019116301A1 (en) | 2019-06-14 | 2020-12-17 | Koenig & Bauer Ag | Substrate handling system and method of operating a substrate handling system |
| CN112193874B (en) * | 2020-09-18 | 2023-05-09 | 中钞印制技术研究院有限公司 | Paper processing method and paper processing system |
| CN114354348A (en) * | 2021-12-21 | 2022-04-15 | 浙江美浓世纪集团有限公司 | Full-automatic paperboard crease stiffness testing device |
| CN114570646B (en) * | 2022-05-07 | 2022-07-08 | 潍坊中维美瑞机械有限公司 | Construction waste screening device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05238557A (en) * | 1992-02-27 | 1993-09-17 | Kyodo Kumiai Techno Ueebu | Automatic lining device for deformed blank material |
| JP2001122437A (en) * | 1999-10-26 | 2001-05-08 | Sankyu Inc | Pallet/corrugated board charging equipment |
| CN102583072B (en) * | 2011-12-02 | 2014-12-17 | 河南远航包装机械有限公司 | Full-automatic counting board-turning stack aligner |
| CN102718090B (en) * | 2012-06-20 | 2015-04-22 | 贺凌崑 | Gantry-type double-arm palletizing robot and corrugated paper palletizing device with gantry-type palletizing robot |
| CN203427031U (en) * | 2013-07-05 | 2014-02-12 | 江苏缘亿自动化科技有限公司 | Automatic transporter |
| CN105565017B (en) * | 2016-02-02 | 2017-10-10 | 边继庆 | Cardboard palletizing apparatus and cardboard stacking machine |
| CN208249416U (en) * | 2018-05-24 | 2018-12-18 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
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Address after: 430040 High-tech Avenue 999, Donghu New Technology Development Zone, Jiangxia District, Wuhan City, Hubei Province Applicant after: WUHAN JINGSHAN LIGHT MACHINE INTELLIGENT EQUIPMENT CO.,LTD. Address before: 430040 High-tech Avenue 999, Donghu New Technology Development Zone, Donghu District, Wuhan City, Hubei Province Applicant before: WUHAN JINGSHAN LIGHT MACHINE INTELLIGENT EQUIPMENT CO.,LTD. |
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Inventor after: He Jie Inventor after: Xu Quanjun Inventor after: Wang Wei Inventor after: Guo Aonan Inventor after: Qiu Jianjun Inventor after: Xiong Zhiping Inventor after: Qin Longfei Inventor after: Yuan Pan Inventor before: Xu Quanjun Inventor before: Guo Aonan Inventor before: Xiong Zhiping Inventor before: Qin Feilong Inventor before: Yuan Pan |
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Effective date of registration: 20190307 Address after: 430040 High-tech Avenue 999, Donghu New Technology Development Zone, Jiangxia District, Wuhan City, Hubei Province Applicant after: HUBEI YINGTEBO INTELLIGENT MACHINE CO.,LTD. Address before: 430040 High-tech Avenue 999, Donghu New Technology Development Zone, Jiangxia District, Wuhan City, Hubei Province Applicant before: WUHAN JINGSHAN LIGHT MACHINE INTELLIGENT EQUIPMENT CO.,LTD. |
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