CN110884733A - Cotton equipment for packing of pearl - Google Patents
Cotton equipment for packing of pearl Download PDFInfo
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- CN110884733A CN110884733A CN201911002857.6A CN201911002857A CN110884733A CN 110884733 A CN110884733 A CN 110884733A CN 201911002857 A CN201911002857 A CN 201911002857A CN 110884733 A CN110884733 A CN 110884733A
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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
- B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes
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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
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/10—Feeding, e.g. conveying, single articles
- B65B35/16—Feeding, e.g. conveying, single articles by grippers
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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
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Wrapping Of Specific Fragile Articles (AREA)
- Auxiliary Devices For And Details Of Packaging Control (AREA)
Abstract
The invention relates to pearl wool packaging equipment, which belongs to the technical field of packaging, and comprises a rack, a three-axis manipulator mechanism, a jig, a stacker mechanism, a lifting mechanism, a secondary positioning mechanism, a guide mechanism, a packaging box positioning mechanism and a conveying mechanism, wherein the conveying mechanism is provided with the packaging box positioning mechanism, the front side of the packaging box positioning mechanism is provided with the guide mechanism, the rack is arranged on the front side of the guide mechanism, the secondary positioning mechanism is arranged on the rack on the front side of the guide mechanism, the rack is internally provided with the movable stacker mechanism, the stacker mechanism is connected with the lifting mechanism, the three-axis manipulator mechanism is arranged on the rack, and the jig is arranged on the three-axis manipulator mechanism. The invention adopts mechanical and automatic packaging of pearl cotton, can reduce personnel, increase efficiency and improve packaging quality, and the product of the invention can be suitable for products with different specifications.
Description
Technical Field
The invention belongs to the technical field of packaging, and particularly relates to pearl wool packaging equipment.
Background
At present, the process of assembling the pearl wool in the packaging box is mainly completed manually. Due to the particularity of the material and the process of the pearl cotton, the whole cut pearl cotton finished product has larger deformation and larger tolerance of the appearance dimension, so that the mechanized and automatic assembly ratio is difficult.
Disclosure of Invention
In order to overcome the problems in the background art, the invention provides pearl wool packaging equipment which replaces manual operation, reduces personnel, and enables the whole assembly line to operate mechanically and automatically through front and rear processes.
In order to realize the purpose, the invention is realized by the following technical scheme:
cotton equipment for packing of pearl include that frame 1, triaxial manipulator grab material mechanism 2, windrow car mechanism 4, lifting mechanism 5, secondary positioning mechanism 6, packing carton positioning mechanism 7, conveying mechanism 8 on be provided with packing carton positioning mechanism 7, the left side of packing carton positioning mechanism 7 is provided with frame 1, install the secondary positioning mechanism 6 that matches with packing carton positioning mechanism 7 in the frame 1, be provided with lifting mechanism 5 in the frame 1, be provided with windrow car mechanism 4 that can remove on the lifting mechanism 5, install on the frame 1 and grab material mechanism 2 by the triaxial manipulator that can snatch the interior material of windrow car mechanism 4.
Further, the packaging box positioning mechanism 7 comprises a fixing plate 7-1, a motor I7-2, a lead screw nut lifting mechanism I7-3, a moving plate 7-4, slide rails 7-5, slide blocks 7-6, a positioning seat 7-7, a length fixing type guide plate 7-8, a width fixing type guide plate 7-9, a length moving type guide plate 7-10, a length positioning cylinder 7-11, a width moving type guide plate 7-12, a width positioning cylinder 7-13, a baffle plate 7-14 and a belt wheel transmission mechanism I7-16, wherein the fixing plate 7-1 is fixedly arranged on a bracket of the conveying mechanism 8, two slide rails 7-5 are fixedly arranged on the fixing plate 7-1, a slide block 7-6 is arranged on each slide rail 7-5, the movable plate 7-4 is fixedly arranged on sliders 7-6 on two slide rails 7-5, the motor I7-2 is fixedly arranged on a fixed plate 7-1, a lead screw of a lead screw nut lifting mechanism I7-3 is arranged on the fixed plate 7-1 through a bearing seat, the lead screw of the lead screw nut lifting mechanism I7-3 is connected with an output shaft of the motor I7-2 through a belt wheel transmission mechanism, a nut of the lead screw nut lifting mechanism I7-3 is fixed on the movable plate 7-4, the top of the movable plate 7-4 is fixedly provided with a positioning seat 7-7, the middle part of the positioning seat 7-7 is provided with a square material hole, the front side of the positioning seat 7-7 is fixedly provided with a length-fixed guide plate 7-8, the rear side of the positioning seat 7-7 is fixedly provided with a length positioning, a piston rod of the length positioning cylinder 7-11 is provided with a length moving type guide plate 7-10, the left side of the positioning seat 7-7 is fixedly provided with a width fixed type guide plate 7-9, the right side of the positioning seat 7-7 is fixedly provided with a width positioning cylinder 7-13, a piston rod of the width positioning cylinder 7-13 is provided with a width moving type guide plate 7-12, and the bottom of the front side of the positioning seat 7-7 is fixedly provided with a baffle plate 7-14.
Further, the three-axis manipulator grabbing mechanism 2 comprises a linear module I2-1, a linear module II 2-2, an auxiliary supporting guide rail 2-3 and a grabbing manipulator 2-4, wherein the linear module II 2-2 and the auxiliary supporting guide rail 2-3 are parallelly installed on the rack 1, one end of the linear module I2-1 is installed on a sliding block of the linear module II 2-2, the other end of the linear module I2-1 is slidably installed on the auxiliary supporting guide rail 2-3, and the grabbing manipulator 2-4 is installed on a sliding block of the linear module I2-1.
Further, the material grabbing manipulator 2-4 comprises a screw nut lifting mechanism II 2-4-1 and a manipulator jig 2-4-2, the manipulator jig 2-4-2 is arranged on the screw nut lifting mechanism II 2-4-1, the manipulator jig 2-4-2 comprises a grabbing mechanism 2-4-3, a fixing plate 2-4-4 and a press-fitting mechanism 2-4-9, the screw nut lifting mechanism II 2-4-1 is arranged on a sliding block of the linear module I2-1, the fixing plate 2-4-4 is arranged on the screw nut lifting mechanism II 2-4-1, the grabbing mechanism 2-4-3 is arranged on the fixing plate 2-4-4, and the fixing plate 2-4-4 is provided with a press-mounting mechanism 2-4-9.
Furthermore, two pairs of grabbing mechanisms 2-4-3 are arranged, each grabbing mechanism 2-4-3 comprises a supporting frame 2-4-5, a grabbing cylinder 2-4-6 and a contact pin 2-4-7, the supporting frames 2-4-5 are fixedly installed on the side wall of the fixing plate 2-4-4, the grabbing cylinders 2-4-6 are fixedly installed on the supporting frames 2-4-5, the contact pins 2-4-7 are installed at the end parts of piston rods of the grabbing cylinders 2-4-6, and fixing holes 2-4-8 convenient for the contact pins 2-4-7 to move are formed in the fixing plate 2-4-4.
Furthermore, 2-4 press-fitting mechanisms 2-4-9 are arranged on the fixed plate 2-4-4, each press-fitting mechanism 2-4-9 comprises a fixed seat 2-4-10, a press-fitting cylinder 2-4-11 and a press-fitting plate 2-4-12, the fixed seats 2-4-10 are fixedly arranged on the fixed plate 2-4-4, the press-fitting cylinders 2-4-11 are arranged on the fixed seats 2-4-10, the end parts of piston rods of the press-fitting cylinders 2-4-11 are fixedly connected with the press-fitting plates 2-4-12 after penetrating through the fixed plate 2-4-4, two guide rods 2-4-13 are arranged on the fixed seats 2-4-10, the guide rods 2-4-13 are arranged on the fixed seats 2-4-10 through linear bearings, the lower ends of the two guide rods 2-4-13 are fixed on the press-mounting plate 2-4-12.
Further, the lifting mechanism 5 comprises a motor III 5-1, a belt wheel transmission mechanism III 5-2, a bottom plate 5-3, a screw nut lifting mechanism III 5-4, guide shafts 5-5, guide sleeves 5-6, lifting plates 5-7, a top plate 5-8 and a moving plate 5-9, wherein the bottom plate 5-3 and the top plate 5-8 are fixedly arranged on the frame 1, two ends of the two guide shafts 5-5 are respectively fixed on the bottom plate 5-3 and the top plate 5-8, each guide shaft 5-5 is provided with one guide sleeve 5-6, the two guide sleeves 5-6 are fixedly arranged on the moving plate 5-9, the moving plate 5-9 is provided with two guide sleeves for lifting the lifting plates 5-7, the motor III 5-1 is fixedly arranged on the bottom plate 5-3, the screw of the screw nut lifting mechanism III 5-4 is fixedly arranged on the bottom plate 5-3 and the top plate 5-8, the nut of the screw nut lifting mechanism III 5-4 is fixedly arranged on the moving plate 5-9, and the power output shaft of the motor III 5-1 is connected with the screw of the screw nut lifting mechanism III 5-4 through the belt wheel transmission mechanism III 5-2.
Further, the stacker mechanism 4 comprises a stacker support 4-1, casters with brakes 4-2, a movable handrail 4-3 and a stacker area 4-4, wherein the casters with brakes 4-2 are arranged at the bottom of the movable handrail 4-3, the stacker support 4-1 is arranged at the top of the underframe of the movable handrail 4-3, and the stacker area 4-4 is arranged on the stacker support 4-1 in a rectangular shape.
Further, the secondary positioning mechanism 6 comprises a large positioning mechanism and a small positioning mechanism, the large positioning mechanism comprises a large fixed bottom plate 6-1, a width fixed baffle I6-2, a length fixed baffle I6-3, a cylinder connection movable width baffle I6-4 and a cylinder connection movable length baffle I6-5, the large fixed bottom plate 6-1 is fixedly arranged on the rack 1, the right side and the front side of the large fixed bottom plate 6-1 are respectively provided with the large width fixed baffle I6-2 and the large length fixed baffle 6-3, and the left side and the rear side of the large fixed bottom plate 6-1 are respectively provided with the cylinder connection movable width baffle I6-4 and the cylinder connection movable length baffle I6-5; the small positioning mechanism comprises a small fixed bottom plate 6-6, a width fixed baffle II 6-7, a length fixed baffle II 6-8, a cylinder connected movable width baffle II 6-9 and a cylinder connected movable length baffle II 6-10, the small fixed bottom plate 6-6 is fixedly arranged on the frame 1 and is arranged side by side with the front and the back of the large fixed bottom plate 6-1, the width fixed baffle II 6-7 and the length fixed baffle II 6-8 are respectively arranged on the right side and the front side of the small fixed bottom plate 6-6, the cylinder connected movable width baffle II 6-9 and the cylinder connected movable length baffle II 6-10 are respectively arranged on the left side and the back side of the small fixed bottom plate 6-6.
Further, a secondary positioning photoelectric sensor I6-11 and a secondary positioning photoelectric sensor II 6-12 are respectively arranged on the large fixing bottom plate 6-1 and the small fixing bottom plate 6-6, the secondary positioning photoelectric sensor I6-11 and the secondary positioning photoelectric sensor II 6-12 are connected with a PLC II 9, the output end of the PLC II 9 is respectively connected with a secondary positioning cylinder of a cylinder connecting movable width baffle I6-4, a cylinder connecting movable length baffle I6-5, a cylinder connecting movable width baffle II 6-9 and a cylinder connecting movable length baffle II 6-10; the PLC II 9 is connected with the PLC I10, the PLC I10 is respectively connected with a driver of a linear module II 2-2 serving as an X axis, a driver of a linear module I2-1 serving as a Y axis, a driver of a lead screw nut lifting mechanism II 2-4-1 serving as a Z axis and a driver of a motor III 5-1 serving as a feeding axis, the PLC I10 is connected with a PLC III 11, a photoelectric switch 12 is installed on a fixing plate 2-4-4, the photoelectric switch 12 is connected with the PLC III 11, the PLC III 11 is connected with an electromagnetic valve of a grabbing cylinder 2-4-6 and an electromagnetic valve of a press-fitting cylinder 2-4-11, and the PLC III 11 is also connected with a driver of a lead screw nut lifting mechanism II 2-4-1 serving as a Z axis; the fixing plate 7-1 is provided with a packing box in-place photoelectric sensor 7-15, the packing box in-place photoelectric sensor 7-15 is connected with a PLC II 9, the PLC II 9 is connected with a motor I7-2 through a relay, and the PLC II 9 is connected with an electromagnetic valve of a width positioning cylinder 7-13 of a length positioning cylinder 7-11.
The invention has the beneficial effects that:
the invention adopts mechanical and automatic packaging of pearl cotton, can reduce personnel, increase efficiency and improve packaging quality, and the product of the invention can be suitable for products with different specifications.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the mounting structure of the positioning mechanism and the conveying mechanism of the packing box of the present invention;
FIG. 3 is a schematic structural view of the positioning mechanism of the packing box of the present invention;
FIG. 4 is a schematic structural view II of the positioning mechanism for packing box of the present invention;
FIG. 5 is a schematic structural view III of the positioning mechanism for a packing box according to the present invention;
FIG. 6 is a schematic structural view of a three-axis manipulator material grabbing mechanism of the present invention;
FIG. 7 is a schematic structural view of a material grabbing manipulator of the present invention;
FIG. 8 is a schematic structural diagram of a robot tool of the present invention;
FIG. 9 is a schematic structural view II of the robot tool of the present invention;
FIG. 10 is a schematic view of the grasping mechanism according to the present invention;
FIG. 11 is a schematic structural view of the press-fitting mechanism of the present invention;
FIG. 12 is a schematic structural diagram of a lifting mechanism of the present invention;
FIG. 13 is a schematic structural view of a secondary positioning mechanism of the present invention;
FIG. 14 is a schematic structural view of the stacker mechanism of the present invention;
FIG. 15 is a schematic view of the structure of PLC I of the present invention;
FIG. 16 is a schematic diagram of the PLC II of the present invention;
FIG. 17 is a schematic diagram of a PLC III of the present invention;
FIG. 18 is a power control circuit diagram of the present invention;
FIG. 19 is a wiring diagram of the X-axis drive of the present invention;
FIG. 20 is a wiring diagram of the Y-axis driver of the present invention;
FIG. 21 is a wiring diagram of the Z-axis drive of the present invention;
FIG. 22 is a wiring diagram of the loading shaft driver of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1, the pearl wool packaging device comprises a rack 1, a three-axis manipulator grabbing mechanism 2, a stacker crane mechanism 4, a lifting mechanism 5, a secondary positioning mechanism 6, a packaging box positioning mechanism 7 and a conveying mechanism 8. Conveying mechanism 8 on be provided with packing carton positioning mechanism 7, packing carton positioning mechanism 7's left side is provided with frame 1, installs the secondary positioning mechanism 6 that matches with packing carton positioning mechanism 7 in the frame 1, is provided with lifting mechanism 5 in the frame 1, is provided with the windrow car mechanism 4 that can remove on the lifting mechanism 5, installs the triaxial manipulator that can snatch the windrow car mechanism 4 in the frame 1 and grabs material mechanism 2.
As shown in fig. 2-5, the packing box positioning mechanism 7 comprises a fixed plate 7-1, a motor i 7-2, a screw nut lifting mechanism i 7-3, a moving plate 7-4, slide rails 7-5, slide blocks 7-6, a positioning seat 7-7, a fixed length guide plate 7-8, a fixed width guide plate 7-9, a movable length guide plate 7-10, a length positioning cylinder 7-11, a movable width guide plate 7-12, a width positioning cylinder 7-13, baffle plates 7-14 and a pulley transmission mechanism i 7-16, wherein the fixed plate 7-1 is fixedly arranged on a bracket of the conveying mechanism 8, two slide rails 7-5 are fixedly arranged on the fixed plate 7-1, and each slide rail 7-5 is provided with a slide block 7-6, the movable plate 7-4 is fixedly arranged on sliders 7-6 on two slide rails 7-5, the motor I7-2 is fixedly arranged on a fixed plate 7-1, a lead screw of a lead screw nut lifting mechanism I7-3 is arranged on the fixed plate 7-1 through a bearing seat, the lead screw of the lead screw nut lifting mechanism I7-3 is connected with an output shaft of the motor I7-2 through a belt wheel transmission mechanism 7-16, a nut of the lead screw nut lifting mechanism I7-3 is fixed on the movable plate 7-4, the top of the movable plate 7-4 is fixedly provided with a positioning seat 7-7, the middle part of the positioning seat 7-7 is provided with a square material hole, the front side of the positioning seat 7-7 is fixedly provided with a length-fixed guide plate 7-8, the rear side of the positioning seat 7-7 is fixedly provided with a length positioning, a piston rod of the length positioning cylinder 7-11 is provided with a length moving type guide plate 7-10, the left side of the positioning seat 7-7 is fixedly provided with a width fixed type guide plate 7-9, the right side of the positioning seat 7-7 is fixedly provided with a width positioning cylinder 7-13, a piston rod of the width positioning cylinder 7-13 is provided with a width moving type guide plate 7-12, and the bottom of the front side of the positioning seat 7-7 is fixedly provided with a baffle plate 7-14. The packaging box is conveyed forwards through the conveying mechanism 8, when the front side of the packaging box reaches the baffle 7-14, the baffle 7-14 stops the packaging box from being conveyed forwards, at the moment, the motor I7-2 is started, the motor I7-2 drives the screw rod of the screw nut lifting mechanism I7-3 to rotate forwards through the belt wheel transmission mechanism I7-16, so that the nut of the screw nut lifting mechanism I7-3 drives the moving plate 7-4 and a part arranged on the moving plate 7-4 to move downwards, the packaging box is positioned in a square material hole formed in the middle of the positioning seat 7-7, then the length positioning air cylinder 7-11 and the width positioning air cylinder 7-13 are started, and the length movable guide plate 7-10 and the width movable guide plate 7-12 are pushed respectively through the length positioning air cylinder 7-11 and the width positioning air cylinder 7-13 to position the packaging box, after the pearl cotton is placed in the packaging box, the length positioning air cylinders 7-11 and the width positioning air cylinders 7-13 respectively drive the length moving type guide plates 7-10 and the width moving type guide plates 7-12 to leave the packaging box, then the motor I7-2 drives the screw rod of the screw nut lifting mechanism I7-3 to rotate reversely through the belt wheel transmission mechanism I7-16, so that the nut of the screw nut lifting mechanism I7-3 drives the moving plate 7-4 and parts mounted on the moving plate 7-4 to move upwards, the baffle 7-14 completely leaves the front side of the packaging box, and then the packaging box filled with the pearl cotton is output under the operation of the conveying mechanism 8.
In the invention, as an option, the conveying mechanism 8 is provided with a gate mechanism 3 which only allows one packing box to pass through; through setting up the gate mechanism 3 that only allows a packing carton to pass through, can avoid overlapping packing carton to carry packing carton positioning mechanism 7, lead to overlapping packing carton to be crushed and avoided two packing carton overlap to influence final cotton packing of pearl in packing carton positioning mechanism 7 course of operation.
As shown in fig. 12, the lifting mechanism 5 comprises a motor iii 5-1, a belt pulley transmission mechanism iii 5-2, a bottom plate 5-3, a screw nut lifting mechanism iii 5-4, guide shafts 5-5, guide sleeves 5-6, a lifting plate 5-7, a top plate 5-8, and a moving plate 5-9, wherein the bottom plate 5-3 and the top plate 5-8 are fixedly installed on the frame 1, two ends of the two guide shafts 5-5 are respectively fixed on the bottom plate 5-3 and the top plate 5-8, each guide shaft 5-5 is provided with one guide sleeve 5-6, the two guide sleeves 5-6 are fixedly installed on the moving plate 5-9, the moving plate 5-9 is provided with two guide sleeves for lifting the lifting plate iii 5-7, the motor 5-1 is fixedly installed on the bottom plate 5-3, the screw of the screw nut lifting mechanism III 5-4 is fixedly arranged on the bottom plate 5-3 and the top plate 5-8, the nut of the screw nut lifting mechanism III 5-4 is fixedly arranged on the moving plate 5-9, and the power output shaft of the motor III 5-1 is connected with the screw of the screw nut lifting mechanism III 5-4 through the belt wheel transmission mechanism III 5-2.
As shown in fig. 14, the stacker mechanism 4 includes a stacker support 4-1, casters with brakes 4-2, a walking frame 4-3, and a stacker area 4-4, wherein the casters with brakes 4-2 are disposed at the bottom of the walking frame 4-3, the stacker support 4-1 is disposed at the top of the underframe of the walking frame 4-3, and the stacker area 4-4 is disposed on the stacker support 4-1 in a rectangular arrangement. The rack 1 is provided with a three-axis manipulator grabbing mechanism 2 which can grab materials in the stacker mechanism 4.
The pearl cotton is orderly stacked and placed in a stacking area 4-4 of a stacking vehicle mechanism 4, the whole stacking vehicle mechanism 4 loaded with the pearl cotton is pushed to a lifting mechanism 5 by moving a handrail 4-3, the bottom of the stacking area 4-4 of the stacking vehicle mechanism 4 is lapped on a lifting plate 5-7, a motor III 5-1 drives a screw rod of a screw rod nut lifting mechanism III 5-4 to rotate through a belt wheel transmission mechanism III 5-2, finally, the lifting plate 5-7 is driven to ascend through a nut of the screw rod nut lifting mechanism III 5-4, so that the lifting plate 5-7 drives the whole stacking vehicle mechanism 4 to gradually ascend in the packaging process of the pearl cotton, the three-shaft manipulator grabbing mechanism 2 is used for feeding, after the pearl cotton in the stacking vehicle mechanism 4 is completely packaged, the screw rod nut lifting mechanism III 5-4 is driven by the motor III-1 to drive the lifting plate III 5-4 to descend, after the stacker mechanism 4 lands, the worker can take down the stacker mechanism 4 to load the pearl wool.
As shown in fig. 6, the three-axis manipulator material grabbing mechanism 2 comprises a linear module i 2-1, a linear module ii 2-2, an auxiliary support guide rail 2-3 and a material grabbing manipulator 2-4, wherein the linear module ii 2-2 and the auxiliary support guide rail 2-3 are parallelly installed on a rack 1, one end of the linear module i 2-1 is installed on a sliding block of the linear module ii 2-2, the other end of the linear module i 2-1 is slidably installed on the auxiliary support guide rail 2-3, and the material grabbing manipulator 2-4 is installed on a sliding block of the linear module i 2-1.
As shown in fig. 7-9, the material grabbing manipulator 2-4 comprises a screw nut lifting mechanism ii 2-4-1, a manipulator jig 2-4-2, and a press-fitting mechanism 2-4-9, the manipulator jig 2-4-2 is mounted on the screw nut lifting mechanism ii 2-4-1, the manipulator jig 2-4-2 comprises a grabbing mechanism 2-4-3 and a fixing plate 2-4-4, the screw nut lifting mechanism ii 2-4-1 is mounted on a slide block of the linear module i 2-1, the fixing plate 2-4-4 is mounted on the screw nut lifting mechanism ii 2-4-1, the grabbing mechanism 2-4-3 is mounted on the fixing plate 2-4-4, and the fixing plate 2-4-4 is provided with a press-mounting mechanism 2-4-9.
The conveying direction of the conveying mechanism 8 is taken as the front, the manipulator jig 2-4-2 capable of grabbing the manipulator 2-4 can move in the left-right direction perpendicular to the conveying direction of the conveying mechanism 8 and in the front-back direction parallel to the conveying direction of the conveying mechanism 8 under the action of the linear module I2-1 and the linear module II 2-2, and then the manipulator jig 2-4-2 is driven to move in the vertical direction under the action of the screw nut lifting mechanism II 2-4-1, so that the manipulator jig 2-4-2 can grab the pearl cotton at different positions in the stacker mechanism 4.
As shown in fig. 10, the two pairs of grabbing mechanisms 2-4-3 are provided, the grabbing mechanisms 2-4-3 comprise supporting frames 2-4-5, grabbing cylinders 2-4-6 and contact pins 2-4-7, the supporting frames 2-4-5 are fixedly mounted on the side walls of the fixing plates 2-4-4, the grabbing cylinders 2-4-6 are fixedly mounted on the supporting frames 2-4-5, the contact pins 2-4-7 are mounted at the end parts of piston rods of the grabbing cylinders 2-4-6, and fixing holes 2-4-8 convenient for the contact pins 2-4-7 to move are formed in the fixing plates 2-4-4. In the process of driving the manipulator jig 2-4-2 to move downwards or upwards under the action of the screw nut lifting mechanism II 2-4-1, when the manipulator jig 2-4-2 descends to a certain height, the grabbing cylinders 2-4-6 of the two pairs of grabbing mechanisms 2-4-3 are started, the grabbing cylinders 2-4-6 work to push out the contact pins 2-4-7 through piston rods of the grabbing cylinders, and the contact pins are inserted into the pearl cotton, so that the pearl cotton is grabbed. After the grabbing mechanism 2-4-3 grabs the pearl cotton, the screw nut lifting mechanism II 2-4-1 drives the grabbing mechanism 2-4-3 to move upwards for a certain height, and then under the action of the linear module I2-1 and the linear module II 2-2, the grabbing mechanism 2-4-3 which grabs the pearl cotton is moved to the position above the secondary positioning mechanism 6 for secondary positioning.
As shown in fig. 11, 2-4 press-fitting mechanisms 2-4-9 are mounted on the fixing plate 2-4-4, the press-fitting mechanisms 2-4-9 comprise fixing seats 2-4-10, press-fitting cylinders 2-4-11 and press-fitting plates 2-4-12, the fixing seats 2-4-10 are fixedly mounted on the fixing plate 2-4-4, the press-fitting cylinders 2-4-11 are mounted on the fixing seats 2-4-10, piston rods of the press-fitting cylinders 2-4-11 penetrate through the fixing plate 2-4-4 and then are fixedly connected with the press-fitting plates 2-4-12 at the end portions, two guide rods 2-4-13 are mounted on the fixing seats 2-4-10, the guide rods 2-4-13 are mounted on the fixing seats 2-4-10 through linear bearings, the lower ends of the two guide rods 2-4-13 are fixed on the press-mounting plate 2-4-12. After the pearl cotton is conveyed to the upper part of the secondary positioning mechanism 6, the pressing plate 2-4-12 is pressed downwards by starting the pressing air cylinder 2-4-11, the pearl cotton on the contact pin 2-4-7 of the grabbing mechanism 2-4-3 is pressed into the secondary positioning mechanism 6 by the pressing plate 2-4-12 for secondary positioning, the direction of the inner cavity of the packaging box of the pearl cotton finally entering the packaging box is ensured to be consistent, and the pearl cotton can be accurately placed into the packaging box for packaging.
As shown in fig. 13, the secondary positioning mechanism 6 comprises a large positioning mechanism and a small positioning mechanism, the large positioning mechanism comprises a large fixed bottom plate 6-1, a width fixed baffle plate i 6-2, a length fixed baffle plate i 6-3, a cylinder connecting movable width baffle plate i 6-4, and a cylinder connecting movable length baffle plate i 6-5, the large fixed bottom plate 6-1 is fixedly installed on the frame 1, the large width fixed baffle plate i 6-2 and the large length fixed baffle plate 6-3 are respectively installed on the right side and the front side of the large fixed bottom plate 6-1, and the cylinder connecting movable width baffle plate i 6-4 and the cylinder connecting movable length baffle plate i 6-5 are respectively installed on the left side and the rear side of the large fixed bottom plate 6-1; the small positioning mechanism comprises a small fixed bottom plate 6-6, a width fixed baffle II 6-7, a length fixed baffle II 6-8, a cylinder connected movable width baffle II 6-9 and a cylinder connected movable length baffle II 6-10, the small fixed bottom plate 6-6 is fixedly arranged on the frame 1 and is arranged side by side with the front and the back of the large fixed bottom plate 6-1, the width fixed baffle II 6-7 and the length fixed baffle II 6-8 are respectively arranged on the right side and the front side of the small fixed bottom plate 6-6, the cylinder connected movable width baffle II 6-9 and the cylinder connected movable length baffle II 6-10 are respectively arranged on the left side and the back side of the small fixed bottom plate 6-6. In the invention, the secondary positioning mechanism 6 comprises a large positioning mechanism and a small positioning mechanism, wherein the large positioning mechanism and the small positioning mechanism are respectively of a square structure and a long linear structure, and when the square pearl cotton and the long linear pearl cotton are packaged by adopting the packaging bag, the secondary positioning can be carried out by selecting the corresponding large positioning mechanism and the corresponding small positioning mechanism. When the three-axis manipulator grabbing mechanism 2 conveys the pearl cotton to the upper part of the large positioning mechanism, the pressing plates 2-4-12 are pressed downwards by starting the pressing cylinders 2-4-11, the pearl cotton on the contact pins 2-4-7 of the grabbing mechanism 2-4-3 is pressed onto the large fixed bottom plate 6-1 by the pressing plates 2-4-12, then the pearl cotton is accurately positioned in the length and width directions by starting the cylinders to be connected with the movable width baffle plates I6-4 and connecting the cylinders to be connected with the movable length baffle plates I6-5, after the pearl cotton is positioned, the grabbing cylinders 2-4-6 of the two pairs of grabbing mechanisms 2-4-3 work, the contact pins 2-4-7 are pushed out by the piston rods of the grabbing cylinders 2-4-6, the pearl cotton gripping device is inserted into pearl cotton to achieve gripping of the pearl cotton, then the air cylinder is connected with the movable width baffle I6-4, the air cylinder is connected with the movable length baffle I6-5 to release the pearl cotton, the pearl cotton is conveyed to the position above a packing box fixed by the packing box positioning mechanism 7 under the action of the whole three-axis manipulator gripping mechanism 2, then the press-fitting air cylinder 2-4-11 is started to press the press-fitting plate 2-4-12 downwards, and the pearl cotton on the contact pin 2-4-7 of the gripping mechanism 2-4-3 is pressed into the packing box by the press-fitting plate 2-4-12 to be packed. The working principle of the cylinder connected with the movable width baffle I6-4, the cylinder connected with the movable length baffle I6-5, the cylinder connected with the movable width baffle II 6-9 and the cylinder connected with the movable length baffle II 6-10 is consistent with the working principle of the combination of the length positioning cylinder 7-11 and the width movable guide plate 7-12. The working principle of the small positioning mechanism is consistent with that of the large positioning mechanism.
Example 2
On the basis of the embodiment 1, as shown in fig. 15 to 22, a secondary positioning photoelectric sensor i 6-11 and a secondary positioning photoelectric sensor ii 6-12 are respectively installed on the large fixed bottom plate 6-1 and the small fixed bottom plate 6-6, the secondary positioning photoelectric sensor i 6-11 and the secondary positioning photoelectric sensor ii 6-12 are connected with a PLC ii 9, an output end of the PLC ii 9 is respectively connected with a secondary positioning cylinder of a cylinder connecting movable width baffle i 6-4, a cylinder connecting movable length baffle i 6-5, a cylinder connecting movable width baffle ii 6-9 and a cylinder connecting movable length baffle ii 6-10; the PLC II 9 is connected with the PLC I10, the PLC I10 is respectively connected with a driver of a linear module II 2-2 serving as an X axis, a driver of a linear module I2-1 serving as a Y axis, a driver of a lead screw nut lifting mechanism II 2-4-1 serving as a Z axis and a driver of a motor III 5-1 serving as a feeding axis, the PLC I10 is connected with a PLC III 11, a photoelectric switch 12 is installed on a fixing plate 2-4-4, the photoelectric switch 12 is connected with the PLC III 11, the PLC III 11 is connected with an electromagnetic valve of a grabbing cylinder 2-4-6 and an electromagnetic valve of a press-fitting cylinder 2-4-11, and the PLC III 11 is also connected with a driver of a lead screw nut lifting mechanism II 2-4-1 serving as a Z axis; the fixing plate 7-1 is provided with a packing box in-place photoelectric sensor 7-15, the packing box in-place photoelectric sensor 7-15 is connected with a PLC II 9, the PLC II 9 is connected with a motor I7-2 through a relay, and the PLC II 9 is connected with an electromagnetic valve of a width positioning cylinder 7-13 of a length positioning cylinder 7-11.
The pearl cotton is orderly stacked in a stacking area 4-4 of a stacking vehicle mechanism 4, the whole stacking vehicle mechanism 4 loaded with the pearl cotton is pushed to a lifting mechanism 5 by moving a handrail 4-3, the bottom of the stacking area 4-4 of the stacking vehicle mechanism 4 is lapped on a lifting plate 5-7, a PLC I10 controls a driver of a motor III 5-1 to start the motor III 5-1, the motor III 5-1 drives a lead screw of a lead screw nut lifting mechanism III 5-4 to rotate through a belt wheel transmission mechanism III 5-2, and finally a nut of the lead screw nut lifting mechanism III 5-4 drives the lifting plate 5-7 to lift, so that the lifting plate 5-7 drives the whole stacking vehicle mechanism 4 to gradually lift in the packaging process of the pearl cotton through the PLC I10 to supply materials for a three-axis manipulator gripping mechanism 2, and the PLC I10 respectively starts a linear module II 2-2 and a linear module II as an X axis through a driver, The linear module I2-1 used as a Y axis and the screw nut lifting mechanism II 2-4-1 used as a Z axis grab the pearl cotton in the stacker mechanism 4.
When pearl cotton is grabbed, in the process that the PLC I10 controls the screw nut lifting mechanism II 2-4-1 to drive the manipulator jig 2-4-2 to move downwards or upwards, when the PLC I10 drives the manipulator jig 2-4-2 to descend to a certain height by controlling the screw nut lifting mechanism II 2-4-1, the PLC III 11 controls and starts the grabbing cylinders 2-4-6 of the two pairs of grabbing mechanisms 2-4-3, the grabbing cylinders 2-4-6 work to push out the inserting pins 2-4-7 through piston rods of the grabbing cylinders to insert the inserting pins into the pearl cotton, and therefore grabbing of the pearl cotton is achieved. After the grabbing mechanism 2-4-3 grabs the pearl cotton, the PLC III 11 controls the screw nut lifting mechanism II 2-4-1 to drive the grabbing mechanism 2-4-3 to move upwards for a certain height, then the grabbing mechanism 2-4-3 for grabbing the pearl cotton is moved to the upper part of the secondary positioning mechanism 6 under the action of the PLC I10 controlling the linear module I2-1 and the linear module II 2-2 to move, after the pearl cotton is conveyed to the upper part of the secondary positioning mechanism 6, the PLC III 11 controls the pressing cylinder 2-4-11 to be started to press the pressing plate 2-4-12 downwards, and the pressing plate 2-4-12 presses the pearl cotton on the contact pin 2-4-7 of the grabbing mechanism 2-4-3 into the secondary positioning mechanism 6 to perform secondary positioning. A large positioning mechanism is adopted to explain the positioning principle, a PLC III 11 controls and starts a press-mounting air cylinder 2-4-11 to press a press-mounting plate 2-4-12 downwards, pearl cotton on a contact pin 2-4-7 of a grabbing mechanism 2-4-3 is pressed onto a large fixing bottom plate 6-1 by the press-mounting plate 2-4-12, a secondary positioning photoelectric sensor I6-11 senses the pearl cotton and transmits signals to a PLC II 9, the PLC II 9 controls an air cylinder to be connected with a movable width baffle I6-4, a secondary positioning air cylinder of an air cylinder connected with a movable length baffle I6-5 to start, and the air cylinder is connected with the movable width baffle I6-4 and the air cylinder to be connected with the movable length baffle I6-5 to accurately position the pearl cotton in the length and width directions.
Meanwhile, the packaging box is conveyed forwards through the conveying mechanism 8, when the front side of the packaging box reaches the baffle 7-14, the baffle 7-14 stops the packaging box from being conveyed forwards, at the moment, the photoelectric sensor 7-15 detects the packaging box and transmits a signal to the PLC II 9, the PLC II 9 starts the motor I7-2 through a relay, the motor I7-2 drives a screw rod of the screw nut lifting mechanism I7-3 to rotate forwards through the belt wheel transmission mechanism I7-16, so that the moving plate 7-4 and a part arranged on the moving plate 7-4 are driven to move downwards through a nut of the screw nut lifting mechanism I7-3, the packaging box is positioned in a square material hole formed in the middle of the positioning seat 7-7, after the moving plate 7-4 moves downwards to a limited position, the moving plate 7-4 controls to start the length positioning cylinder 7-11 and the width positioning cylinder 7-13, the length positioning air cylinders 7-11 and the width positioning air cylinders 7-13 respectively push the length movable guide plates 7-10 and the width movable guide plates 7-12 to position the packing boxes.
After the packaging box and the pearl cotton are secondarily positioned, the PLC III 11 controls the grabbing cylinders 2-4-6 of the two pairs of grabbing mechanisms 2-4-3 to work, the grabbing cylinders 2-4-6 push out the contact pins 2-4-7 through piston rods of the grabbing cylinders 2-4-6 to be inserted into the pearl cotton to grab the pearl cotton, the PLC II 9 controls the cylinders to be connected with the movable width baffle I6-4 and the cylinders to be connected with the movable length baffle I6-5 to release the pearl cotton, the PLC I10 controls the whole three-axis manipulator grabbing mechanism 2 to work to convey the pearl cotton to the upper portion of the packaging box fixed by the packaging box positioning mechanism 7, the PLC III 11 controls the press-loading cylinders 2-4-11 to press the press-loading plates 2-4-12 downwards, and the press-loading plates 2-4-12 press the pearl cotton on the contact pins 2-4-7 of the grabbing mechanisms 2-4-3 Packaging in a packaging box, after the pearl wool is assembled, the PLC I10 controls the three-axis manipulator grabbing mechanism 2 to reset to prepare for grabbing the pearl wool again.
After the pearl cotton is assembled in the packaging box, the PLC II 9 controls the length positioning air cylinder 7-11 and the width positioning air cylinder 7-13 to respectively drive the length moving type guide plate 7-10 and the width moving type guide plate 7-12 to leave the packaging box, then the PLC II 9 controls the motor I7-2 to start, the belt wheel transmission mechanism I7-16 drives the screw rod of the screw nut lifting mechanism I7-3 to rotate reversely, so that the nut of the screw nut lifting mechanism I7-3 drives the moving plate 7-4 and parts installed on the moving plate 7-4 to move upwards, the baffle 7-14 completely leaves the front side of the packaging box, and then the packaging box filled with the pearl cotton is output under the work of the conveying mechanism 8.
The invention adopts mechanical and automatic packaging of pearl cotton, can reduce personnel, increase efficiency and improve packaging quality, and the product of the invention can be suitable for products with different specifications.
Finally, it is noted that the above-mentioned embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (10)
1. The pearl wool packaging equipment is characterized in that: cotton equipment for packing of pearl include frame (1), triaxial manipulator grab material mechanism (2), windrow car mechanism (4), lifting mechanism (5), secondary positioning mechanism (6), packing carton positioning mechanism (7), conveying mechanism (8) on be provided with packing carton positioning mechanism (7), the left side of packing carton positioning mechanism (7) is provided with frame (1), install secondary positioning mechanism (6) that match with packing carton positioning mechanism (7) on frame (1), be provided with lifting mechanism (5) in frame (1), be provided with windrow car mechanism (4) that can remove on lifting mechanism (5), install the triaxial manipulator that can snatch windrow car mechanism (4) on frame (1) and grab material mechanism (2).
2. The pearl wool packaging apparatus according to claim 1, wherein: the packaging box positioning mechanism (7) comprises a fixing plate (7-1), a motor I (7-2), a screw nut lifting mechanism I (7-3), a moving plate (7-4), slide rails (7-5), a slide block (7-6), a positioning seat (7-7), a fixed length guide plate (7-8), a fixed width guide plate (7-9), a movable length guide plate (7-10), a length positioning cylinder (7-11), a movable width guide plate (7-12), a width positioning cylinder (7-13), a baffle plate (7-14) and a belt wheel transmission mechanism I (7-16), wherein the fixing plate (7-1) is fixedly arranged on a support of the conveying mechanism (8), the fixing plate (7-1) is fixedly provided with two slide rails (7-5), each sliding rail (7-5) is provided with a sliding block (7-6), a moving plate (7-4) is fixedly arranged on the sliding blocks (7-6) on the two sliding rails (7-5), a motor I (7-2) is fixedly arranged on a fixed plate (7-1), a screw rod of a screw nut lifting mechanism I (7-3) is arranged on the fixed plate (7-1) through a bearing seat, the screw rod of the screw nut lifting mechanism I (7-3) is connected with an output shaft of the motor I (7-2) through a belt wheel transmission mechanism, a nut of the screw nut lifting mechanism I (7-3) is fixed on the moving plate (7-4), the top of the moving plate (7-4) is fixedly provided with a positioning seat (7-7), the middle part of the positioning seat (7-7) is provided with a square material hole, the front side of the positioning seat (7-7) is fixedly provided with a fixed length type guide plate (7-8), the rear side of the positioning seat (7-7) is fixedly provided with a length positioning cylinder (7-11), a piston rod of the length positioning cylinder (7-11) is provided with a movable length type guide plate (7-10), the left side of the positioning seat (7-7) is fixedly provided with a fixed width type guide plate (7-9), the right side of the positioning seat (7-7) is fixedly provided with a width positioning cylinder (7-13), the piston rod of the width positioning cylinder (7-13) is provided with a movable width type guide plate (7-12), and the bottom of the front side of the positioning seat (7-7) is fixedly provided with a baffle plate (7-14).
3. The pearl wool packing apparatus according to claim 1 or 2, wherein: three-axis manipulator grabs material mechanism (2) includes linear module I (2-1), linear module II (2-2), auxiliary stay guide rail (2-3), grabs material manipulator (2-4), linear module II (2-2), auxiliary stay guide rail (2-3) parallel mount on frame (1), the one end of linear module I (2-1) is installed on the slider of linear module II (2-2), but the other end slidable mounting is on auxiliary stay guide rail (2-3), grabs material manipulator (2-4) and installs on the slider of linear module I (2-1).
4. The pearl wool packaging apparatus according to claim 3, wherein: the material grabbing manipulator (2-4) comprises a screw nut lifting mechanism II (2-4-1) and a manipulator jig (2-4-2), the manipulator jig (2-4-2) is installed on the screw nut lifting mechanism II (2-4-1), the manipulator jig (2-4-2) comprises a grabbing mechanism (2-4-3), a fixing plate (2-4-4) and a press-fitting mechanism (2-4-9), the screw nut lifting mechanism II (2-4-1) is installed on a sliding block of the linear module I (2-1), the fixing plate (2-4-4) is installed on the screw nut lifting mechanism II (2-4-1), and the grabbing mechanism (2-4-3) is installed on the fixing plate (2-4-4), the fixing plate (2-4-4) is provided with a press-mounting mechanism (2-4-9).
5. The pearl wool packaging apparatus according to claim 3, wherein: the grabbing mechanism (2-4-3) is provided with two pairs, the grabbing mechanism (2-4-3) comprises a support frame (2-4-5), a grabbing cylinder (2-4-6) and a contact pin (2-4-7), the support frame (2-4-5) is fixedly installed on the side wall of the fixing plate (2-4-4), the grabbing cylinder (2-4-6) is fixedly installed on the support frame (2-4-5), the contact pin (2-4-7) is installed at the end part of a piston rod of the grabbing cylinder (2-4-6), and a fixing hole (2-4-8) convenient for the contact pin (2-4-7) to move is formed in the fixing plate (2-4-4).
6. The pearl wool packing apparatus as claimed in claim 4 or 5, wherein: the fixed plate (2-4-4) is provided with 2-4 press-fitting mechanisms (2-4-9), each press-fitting mechanism (2-4-9) comprises a fixed seat (2-4-10), a press-fitting cylinder (2-4-11) and a press-fitting plate (2-4-12), the fixed seats (2-4-10) are fixedly arranged on the fixed plate (2-4-4), the press-fitting cylinders (2-4-11) are arranged on the fixed seats (2-4-10), the end parts of piston rods of the press-fitting cylinders (2-4-11) are fixedly connected with the press-fitting plates (2-4-12) after penetrating through the fixed plates (2-4-4), the fixed seats (2-4-10) are provided with two guide rods (2-4-13), the guide rods (2-4-13) are arranged on the fixed seats (2-4-10) through linear bearings, and the lower ends of the two guide rods (2-4-13) are fixed on the press-mounting plates (2-4-12).
7. The pearl wool packaging apparatus according to claim 6, wherein: the lifting mechanism (5) comprises a motor III (5-1), a belt wheel transmission mechanism III (5-2), a bottom plate (5-3), a screw nut lifting mechanism III (5-4), guide shafts (5-5), guide sleeves (5-6), lifting plates (5-7), a top plate (5-8) and a moving plate (5-9), wherein the bottom plate (5-3) and the top plate (5-8) are fixedly arranged on the frame (1), two ends of the two guide shafts (5-5) are respectively fixed on the bottom plate (5-3) and the top plate (5-8), each guide shaft (5-5) is provided with one guide sleeve (5-6), the two guide sleeves (5-6) are fixedly arranged on the moving plate (5-9), the two guide sleeves (5-9) are provided with two lifting plates (5-7), the motor III (5-1) is fixedly arranged on the bottom plate (5-3), a lead screw of the lead screw nut lifting mechanism III (5-4) is fixedly arranged on the bottom plate (5-3) and the top plate (5-8), a nut of the lead screw nut lifting mechanism III (5-4) is fixedly arranged on the moving plate (5-9), and a power output shaft of the motor III (5-1) is connected with a lead screw of the lead screw nut lifting mechanism III (5-4) through the belt wheel transmission mechanism III (5-2).
8. The pearl wool packaging apparatus according to claim 7, wherein: the stacker mechanism (4) comprises a stacker support (4-1), casters with brakes (4-2), a movable handrail (4-3) and a stacker area (4-4), wherein the casters with brakes (4-2) are arranged at the bottom of the movable handrail (4-3), the stacker support (4-1) is arranged at the top of the underframe of the movable handrail (4-3), and the stacker area (4-4) which is arranged in a rectangular shape is arranged on the stacker support (4-1).
9. The pearl wool packing apparatus as claimed in claim 7 or 8, wherein: the secondary positioning mechanism (6) comprises a large positioning mechanism and a small positioning mechanism, the large positioning mechanism comprises a large fixed bottom plate (6-1), a width fixed baffle I (6-2), a length fixed baffle I (6-3), a cylinder connection movable width baffle I (6-4) and a cylinder connection movable length baffle I (6-5), the large fixed bottom plate (6-1) is fixedly arranged on the rack (1), the right side and the front side of the large fixed bottom plate (6-1) are respectively provided with a large-width fixed baffle I (6-2) and a large-length fixed baffle (6-3), and the left side and the rear side of the large fixed bottom plate (6-1) are respectively provided with a cylinder connecting movable width baffle I (6-4) and a cylinder connecting movable length baffle I (6-5); the small positioning mechanism comprises a small fixed bottom plate (6-6), a fixed width baffle II (6-7), a fixed length baffle II (6-8), a movable width baffle II (6-9) connected with an air cylinder, and a movable length baffle II (6-10) connected with the air cylinder, the small fixed bottom plate (6-6) is fixedly arranged on the frame (1), and the front and the back of the large fixed bottom plate (6-1) are arranged side by side, the right side and the front side of the small fixed bottom plate (6-6) are respectively provided with a width fixed baffle II (6-7) and a length fixed baffle II (6-8), and the left side and the back side of the small fixed bottom plate (6-6) are respectively provided with a cylinder connection movable width baffle II (6-9) and a cylinder connection movable length baffle II (6-10).
10. The pearl wool packaging apparatus according to claim 9, wherein: the large fixed bottom plate (6-1) and the small fixed bottom plate (6-6) are respectively provided with a secondary positioning photoelectric sensor I (6-11) and a secondary positioning photoelectric sensor II (6-12), the secondary positioning photoelectric sensor I (6-11) and the secondary positioning photoelectric sensor II (6-12) are connected with a PLC II (9), and the output end of the PLC II (9) is respectively connected with a secondary positioning cylinder of a cylinder connecting movable width baffle I (6-4), a cylinder connecting movable length baffle I (6-5), a cylinder connecting movable width baffle II (6-9) and a cylinder connecting movable length baffle II (6-10); the PLC II (9) is connected with the PLC I (10), the PLC I (10) is respectively connected with a driver of the linear module II (2-2) as an X axis, a driver of the linear module I (2-1) as a Y axis and a driver of the lead screw nut lifting mechanism II (2-4-1) as a Z axis, a driver of a screw nut lifting mechanism III (5-4) serving as a feeding shaft is connected, a PLC I (10) is connected with a PLC III (11), a photoelectric switch (12) is installed on a fixing plate (2-4-4), the photoelectric switch (12) is connected with the PLC III (11), the PLC III (11) is connected with an electromagnetic valve of a grabbing cylinder (2-4-6) and an electromagnetic valve of a press-fitting cylinder (2-4-11), and the PLC III (11) is also connected with a driver of a screw nut lifting mechanism II (2-4-1) serving as a Z shaft; the fixing plate (7-1) is provided with a packing box in-place photoelectric sensor (7-15), the packing box in-place photoelectric sensor (7-15) is connected with a PLC II (9), the PLC II (9) is connected with a motor I (7-2) through a relay, and the PLC II (9) is connected with an electromagnetic valve of a width positioning cylinder (7-13) of a length positioning cylinder (7-11).
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| CN114148587A (en) * | 2022-02-10 | 2022-03-08 | 徐州益和木业有限公司 | Plate processing material packaging device |
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