CN110328892A - A kind of upper paper control system - Google Patents
A kind of upper paper control system Download PDFInfo
- Publication number
- CN110328892A CN110328892A CN201910526748.8A CN201910526748A CN110328892A CN 110328892 A CN110328892 A CN 110328892A CN 201910526748 A CN201910526748 A CN 201910526748A CN 110328892 A CN110328892 A CN 110328892A
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- CN
- China
- Prior art keywords
- plc unit
- manipulator
- unit
- hyoplastron
- plc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B31—MAKING ARTICLES OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER; WORKING PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B—MAKING CONTAINERS OF PAPER, CARDBOARD OR MATERIAL WORKED IN A MANNER ANALOGOUS TO PAPER
- B31B50/00—Making rigid or semi-rigid containers, e.g. boxes or cartons
- B31B50/02—Feeding or positioning sheets, blanks or webs
- B31B50/04—Feeding sheets or blanks
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- Manipulator (AREA)
Abstract
A kind of upper paper control system, it is characterised in that it includes first sensor unit, whether is placed into designated place for testing product；Image acquisition units for acquiring cardboard position to be processed, and generate image；Industrial personal computer unit receives the photographing signals of PLC unit, and the signal is transmitted to image acquisition units；Manipulator (10), receive the shift value data of PLC unit, and the position of crawl cardboard is adjusted to the deviant, execute PLC unit movement directive, the paper feeding mechanism moved with manipulator (10) is additionally provided on manipulator (10), the invention has the advantages that: it is carried by the cardboard that the present apparatus realizes automation, reduces manually, accelerate rhythm of production.
Description
Technical field
The present invention relates to control apparatus fields, and in particular to a kind of upper paper control system.
Background technique
Currently, more and more automated package apparatus for production line replace now with the fast development of industrial automation
People produces converted products, and speed significantly improves.But since upper and lower paper link work monotonous tasks are heavy and artificial
Chart speed degree leverages the production efficiency of automatic production line slowly in operation.And there are hyoplastrons to hurt paper not for existing similar product
Foot.
Summary of the invention
The purpose of the present invention is to deficiencies above-mentioned at present, and provide a kind of upper paper control system.
Whether first sensor unit of the present invention is placed into designated place for testing product；
Image acquisition units for acquiring cardboard position to be processed, and generate image；
Industrial personal computer unit receives the photographing signals of PLC unit, and the signal is transmitted to image acquisition units；
Manipulator receives the shift value data of PLC unit, and the position of crawl cardboard is adjusted to the deviant, executes PLC unit
Movement directive,
Paper feeding mechanism is additionally provided on manipulator comprising,
Hyoplastron servo motor is moved forward and backward for controlling hyoplastron, is received PLC unit and is issued position control instruction, hyoplastron servo
Motor will reach operating position and feed back to PLC unit；
Upper paper clip-board cylinder moves up and down for controlling the upper dynamic clamping plate of paper fork, receives the execution order of PLC unit, and will open
It opens or shutdown signal is sent to PLC unit；
Hyoplastron jacking cylinder is moved up and down for controlling hyoplastron, receives the instruction that rises or falls of PLC unit sending, and will
It reaches operating position and feeds back to PLC unit；
PLC unit sends photographing instruction to industrial personal computer unit, and receives first sensor cell signal and image acquisition units
Image, and compared by image and PLC unit shift value data, obtain shift value data.
PLC unit with reference picture for being compared described image to obtain the position deviation, wherein described with reference to figure
As being stored in the PLC unit.
PLC unit issues instruction and the motor-driven mode of hyoplastron is switched to torque mode and by program feedback signal to machinery
Hand.
The position deviation includes the departure at least two dimensions in plane coordinate system.
The invention has the advantages that: it is carried by the cardboard that the present apparatus realizes automation, reduces manually, accelerate rhythm of production.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention.
Fig. 2 paper feeding mechanism structural schematic diagram.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, claimed is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
The range of invention, but it is merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi are attached
It is defined in figure, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the embodiment of the present invention, it should be noted that if there are the instructions such as term " on ", "lower", "inner", "outside"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.This
Outside, it is only used for distinguishing description if occurring term " first ", " second " etc. in description of the invention, and should not be understood as instruction or dark
Show relative importance.
In the description of the embodiment of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, if there is term
" setting ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally connect
It connects；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also indirectly connected through an intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood with concrete condition
Concrete meaning in the present invention.
As shown, whether first sensor unit of the present invention, be placed into designated place for testing product；
Image acquisition units for acquiring cardboard position to be processed, and generate image；
Industrial personal computer unit receives the photographing signals of PLC unit, and the signal is transmitted to image acquisition units；
Manipulator 10 receives the shift value data of PLC unit, and the position of crawl cardboard is adjusted to the deviant, and it is mono- to execute PLC
First movement directive,
Paper feeding mechanism is additionally provided on manipulator 10 comprising,
Hyoplastron servo motor 11 is moved forward and backward for controlling hyoplastron 8, is received PLC unit and is issued position control instruction, hyoplastron is watched
It takes motor 11 and will reach operating position and feed back to PLC unit；
Upper paper clip-board cylinder 4 moves up and down for controlling the upper dynamic clamping plate 3 of paper fork, receives the execution order of PLC unit, and will
It opens or closes signal and is sent to PLC unit；
Hyoplastron jacking cylinder 9 is moved up and down for controlling hyoplastron 8, receives the instruction that rises or falls of PLC unit sending, and
Operating position will be reached and feed back to PLC unit；
PLC unit sends photographing instruction to industrial personal computer unit, and receives first sensor cell signal and image acquisition units
Image, and compared by image and PLC unit shift value data, obtain shift value data.
PLC unit with reference picture for being compared described image to obtain the position deviation, wherein described with reference to figure
As being stored in the PLC unit.
PLC unit issues instruction and the motor-driven mode of hyoplastron 8 is switched to torque mode and by program feedback signal to machine
Tool hand 10.
The position deviation includes the departure at least two dimensions in plane coordinate system.
Embodiment, when paper station sensor detects the self-navigation logistic car of front end production line on the paper-feeding system
After the cardboard to be processed brought leaves into 10 feeding station of manipulator and logistic car for having cylinder baffle, system passes through biography
Sensor determine station without trolley and product in place, and give industrial personal computer one photographing instruction by PLC, be connected to industry control above station
The camera image detection system of machine can take pictures to cardboard to be processed, and software provides the center position offsets of cardboard to be processed simultaneously
It is communicated with logical PLC controller and manipulator 10, manipulator 10 can accurately calculate the deviant according to program and adjust crawl
The position of cardboard starts the upper material position that cardboard to be processed is accurately sent to next section of production line.
Upper paper manipulator 10 receives the electricity connected after paper instruction by included expansion I/O module in PLC controller in origin
Magnet valve closes upper paper baffle, opens simultaneously paper clip-board cylinder 4, the upper dynamic opening of clamping plate 3 of paper fork, which completes signal, can pass through sensor
PLC unit, manipulator 10 and plc communication are fed back to, PLC issues position control instruction to hyoplastron servo motor 11, hyoplastron servo
Motor 11 drives hyoplastron 8 to reach operating position and feed back to PLC, and PLC provides instruction and cuts the mode of hyoplastron servo motor 11
It is changed to torque mode and by program feedback signal to manipulator 10, the solenoid valve that manipulator 10 controls hyoplastron jacking cylinder 9 is beaten
It opens hyoplastron jacking cylinder 9 and completes the downwardly extending movement of hyoplastron 8, manipulator 10 continues to move to cardboard direction, and hyoplastron 8 touches cardboard
And manipulator 10 after the torque of setting is kept to halt, hyoplastron 8, which is upwards collected through, licks paper fork height on manipulator 10 for cardboard,
Manipulator 10 continues to fast forward through while instruct to PLC, and hyoplastron servo motor 11 is switched to opposing torque scheme control tongue by PLC
8 fast fallback of plate is to home and provides feedback signal, and manipulator 10 continues Forward until cardboard pitches quiet plate 2 by upper paper completely
It is inserted into, manipulator 10 controls upper 4 solenoid valve of paper clip-board cylinder and the dynamic closing of clamping plate 3 of upper paper fork is driven to clamp cardboard, upper paper clip-board
The press detection sensor of cylinder 4 provides holding paper pressure and reaches completion signal and return to PLC unit, and PLC unit passes through logical again
Pressure detecting, signal feeds back to manipulator Unit 10 to news mode in place, at this point, cardboard is clamped to position.Lower paper manipulator 10 passes through
Upper 4 solenoid valve of paper clip-board cylinder of opening is dynamic by upper paper fork after track runs the upper paper station that cardboard is grabbed to automatic production line
Clamping plate 3 is opened and is received to PLC signal after feedback signal, and hyoplastron servo motor 11 is switched to positive torque mode, tongue by PLC
Cardboard is released dynamic and static upper paper with certain torque under the driving of hyoplastron servo motor 11 and pitched by plate 8, and cardboard enters on production line
Paper station, manipulator 10 return to origin, and all cylinder solenoid valves return to original state, 8 servo-driver of hyoplastron of PLC control
And servo motor returns to original state, upper 10 one-off of paper manipulator is completed.The number of paper is depending on being on manipulator 10
The crawl thickness of cardboard stack height and default in system in order information.Up to system after the completion of paper on an order
It can return to original state, upper paper baffle is opened, until next record order is sent to.
Claims (4)
1. a kind of upper paper control system, it is characterised in that it includes
Whether first sensor unit is placed into designated place for testing product；
Image acquisition units for acquiring cardboard position to be processed, and generate image；
Industrial personal computer unit receives the photographing signals of PLC unit, and the signal is transmitted to image acquisition units；
Manipulator (10) receives the shift value data of PLC unit, and the position of crawl cardboard is adjusted to the deviant, executes PLC
Unit movement directive,
The paper feeding mechanism moved with manipulator (10) is additionally provided on manipulator (10) comprising,
Hyoplastron servo motor (11) is moved forward and backward for controlling hyoplastron (8), is received PLC unit and is issued position control instruction, tongue
Plate servo motor (11) will reach operating position and feed back to PLC unit；
Upper paper clip-board cylinder (4) moves up and down for controlling upper paper fork dynamic clamping plate (3), receives the execution order of PLC unit,
And signal will be opened or closed and be sent to PLC unit；
Hyoplastron jacking cylinder (9) is moved up and down for controlling hyoplastron (8), and receive PLC unit sending rises or falls finger
It enables, and operating position will be reached and feed back to PLC unit；
PLC unit sends photographing instruction to industrial personal computer unit, and receives first sensor cell signal and image acquisition units
Image, and compared by image and PLC unit shift value data, obtain shift value data.
2. a kind of upper paper control system according to claim 1, which is characterized in that PLC unit be used for by described image with
Reference picture is compared to obtain the position deviation, wherein the reference pictures store is in the PLC unit.
3. a kind of upper paper control system according to claim 1, which is characterized in that PLC unit issues instruction for hyoplastron (8)
Motor-driven mode is switched to torque mode and gives manipulator (10) by program feedback signal.
4. a kind of upper paper control system according to claim 1, which is characterized in that the position deviation includes plane coordinates
The departure at least two dimensions in system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526748.8A CN110328892A (en) | 2019-06-18 | 2019-06-18 | A kind of upper paper control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526748.8A CN110328892A (en) | 2019-06-18 | 2019-06-18 | A kind of upper paper control system |
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| Publication Number | Publication Date |
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| CN110328892A true CN110328892A (en) | 2019-10-15 |
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|---|---|---|---|
| CN201910526748.8A Pending CN110328892A (en) | 2019-06-18 | 2019-06-18 | A kind of upper paper control system |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4173428A (en) * | 1977-10-31 | 1979-11-06 | Bethany Fellowship, Inc. | Printer's paper pile inverter |
| EP0096398A1 (en) * | 1982-06-05 | 1983-12-21 | Icoma Packtechnik GmbH | Device for transporting piles of paper bags |
| EP1201579A2 (en) * | 2000-10-26 | 2002-05-02 | Innopack S.r.l. | Method and device for picking up reams of sheets |
| CN105759720A (en) * | 2016-04-29 | 2016-07-13 | 中南大学 | Mechanical arm tracking and positioning on-line identification and correction method based on computer vision |
| CN205990066U (en) * | 2016-08-26 | 2017-03-01 | 河南省新斗彩印刷有限公司 | The full-automatic pile of offset press arranges and changes trigger |
| CN108483028A (en) * | 2018-03-29 | 2018-09-04 | 中建材凯盛机器人（上海）有限公司 | Realize that manipulator flies to grab the method for control in robot stacking system |
| CN207888667U (en) * | 2018-01-25 | 2018-09-21 | Abb瑞士股份有限公司 | Sheet member de-stacking device and arm-and-hand system |
| CN108792683A (en) * | 2018-08-21 | 2018-11-13 | 武汉京山轻机智能装备有限公司 | A kind of grip device for paper manipulator on track |
| CN108821181A (en) * | 2018-06-13 | 2018-11-16 | 嘉善缔嘉装饰材料有限公司 | A kind of cardboard promotion conveying device |
| CN109775382A (en) * | 2019-03-17 | 2019-05-21 | 长沙长泰智能装备有限公司 | Unpiler positioning system and control method |
-
2019
- 2019-06-18 CN CN201910526748.8A patent/CN110328892A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4173428A (en) * | 1977-10-31 | 1979-11-06 | Bethany Fellowship, Inc. | Printer's paper pile inverter |
| EP0096398A1 (en) * | 1982-06-05 | 1983-12-21 | Icoma Packtechnik GmbH | Device for transporting piles of paper bags |
| EP1201579A2 (en) * | 2000-10-26 | 2002-05-02 | Innopack S.r.l. | Method and device for picking up reams of sheets |
| CN105759720A (en) * | 2016-04-29 | 2016-07-13 | 中南大学 | Mechanical arm tracking and positioning on-line identification and correction method based on computer vision |
| CN205990066U (en) * | 2016-08-26 | 2017-03-01 | 河南省新斗彩印刷有限公司 | The full-automatic pile of offset press arranges and changes trigger |
| CN207888667U (en) * | 2018-01-25 | 2018-09-21 | Abb瑞士股份有限公司 | Sheet member de-stacking device and arm-and-hand system |
| CN108483028A (en) * | 2018-03-29 | 2018-09-04 | 中建材凯盛机器人（上海）有限公司 | Realize that manipulator flies to grab the method for control in robot stacking system |
| CN108821181A (en) * | 2018-06-13 | 2018-11-16 | 嘉善缔嘉装饰材料有限公司 | A kind of cardboard promotion conveying device |
| CN108792683A (en) * | 2018-08-21 | 2018-11-13 | 武汉京山轻机智能装备有限公司 | A kind of grip device for paper manipulator on track |
| CN109775382A (en) * | 2019-03-17 | 2019-05-21 | 长沙长泰智能装备有限公司 | Unpiler positioning system and control method |
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Application publication date: 20191015 |