CN112589779B - Manipulator for grabbing and laying in mattress production - Google Patents
Manipulator for grabbing and laying in mattress production Download PDFInfo
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- CN112589779B CN112589779B CN202011619093.8A CN202011619093A CN112589779B CN 112589779 B CN112589779 B CN 112589779B CN 202011619093 A CN202011619093 A CN 202011619093A CN 112589779 B CN112589779 B CN 112589779B
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- mattress
- flexible cushion
- cushion block
- manipulator
- laying
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- 239000003292 glue Substances 0.000 claims description 44
- 238000004080 punching Methods 0.000 claims description 44
- 238000009434 installation Methods 0.000 claims description 31
- 238000005507 spraying Methods 0.000 claims description 19
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C27/00—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas
- A47C27/14—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas with foamed material inlays
- A47C27/142—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas with foamed material inlays with projections, depressions or cavities
- A47C27/144—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas with foamed material inlays with projections, depressions or cavities inside the mattress or cushion
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C27/00—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas
- A47C27/14—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas with foamed material inlays
- A47C27/15—Spring, stuffed or fluid mattresses or cushions specially adapted for chairs, beds or sofas with foamed material inlays consisting of two or more layers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C31/00—Details or accessories for chairs, beds, or the like, not provided for in other groups of this subclass, e.g. upholstery fasteners, mattress protectors, stretching devices for mattress nets
- A47C31/003—Magnets
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Treatment Of Fiber Materials (AREA)
Abstract
The invention relates to the technical field of mattress production, in particular to a manipulator for grabbing and laying in mattress production, which comprises a movable support flat-laying frame connected with a robot, wherein an insertion needle capable of moving up and down is arranged at the peripheral position of the movable support flat-laying frame, and the insertion needle is arranged on a floatable device, so that the grabbing effect is better.
Description
Technical Field
The invention relates to the technical field of mattress production, in particular to a manipulator for grabbing and laying in mattress production.
Background
The existing mattress production process is more automatic, and a plurality of cushion block structures at all levels in the mattress can be grasped and placed by adopting robots or manipulators, so that the manpower is greatly reduced, for example, a compound robot device comprising a stereoscopic vision device is disclosed in China patent No. 201921063198.2, and comprises a machine body and a grabbing device arranged on the machine body, wherein the grabbing device comprises a connecting frame and a plurality of cotton needling devices connected to the connecting frame, and the cotton needling devices comprise driving rods and needles which are punched under the driving of the driving rods; the machine body comprises a machine body rotating seat and a multi-joint mechanical arm which can rotate in the horizontal direction under the drive of the machine body rotating seat, wherein the tail end of the multi-joint mechanical arm is connected with a grabbing device, and the machine body further comprises a visual capturing device for capturing an image picture.
Although the existing equipment can grasp cushion blocks such as sponge and the like, the control of the flatness of the cushion blocks is deficient.
Disclosure of Invention
The invention aims to provide a manipulator for grabbing and laying in mattress production with a better grabbing effect.
The technical aim of the invention is realized by the following technical scheme: the utility model provides a manipulator that is arranged in grabbing and lays in mattress production, is kept flat including the movable support that is used for being connected with the robot and puts the frame, the periphery position that the movable support kept flat the frame is provided with the insertion needle that can reciprocate, the insertion needle sets up on floatable unit.
Preferably, the insertion needles are provided in a plurality and are disposed obliquely to the horizontal direction.
As a preferable mode of the invention, the side edge part of the movable supporting flat frame is provided with a mounting guide seat for the insertion needle to pass through for mounting.
Preferably, the floatable unit includes a floating plate for the installation guide seat to be installed and connected and capable of floating up and down.
Preferably, the movable support flat frame is provided with a support beam rod extending transversely.
As a preferable mode of the invention, the floating plate is provided with an up-and-down moving groove which is used for the supporting beam rod to transversely pass through and can move up and down.
As the preference of the invention, a floating plate is arranged on the inner side and the outer side of the side edge part of the movable supporting and flat-laying frame, and the bottoms of the two floating plates are simultaneously connected to a bottom connecting block.
As a preferred aspect of the present invention, a needle tip guide pressing plate which extends downward and through which a needle tip of an insertion needle passes is connected to the bottom of the bottom connection block.
A mattress production line comprises a manipulator.
As the preference of the invention, the invention further comprises a conveyer belt, a first glue spraying device, a mattress punching device, a hole glue dripping device, a mattress magnetic particle conveying device, a second glue spraying device and a drying device, wherein the first glue spraying device, the mattress punching device is used for punching the flexible cushion block, the hole glue dripping device is used for gluing a flexible cushion block hole formed after the flexible cushion block is punched, the mattress magnetic particle conveying device is used for filling magnetic particles into the flexible cushion block hole, and the mattress cutting assembly is arranged at the front end of the conveyer belt.
The invention has the beneficial effects that: 1. the grabbing effect is better, and the cushion block can be flattened better;
2. The flatness of the cushion block is paved on the mattress;
3. improving the quality of the mattress.
Drawings
FIG. 1 is a schematic perspective view of a perforating bit structure;
FIG. 2 is a schematic perspective view of the apparatus above the conveyor belt in a mattress magnetic particle conveyor;
FIG. 3 is a schematic perspective view of the lower side view of FIG. 2;
FIG. 4 is a schematic perspective view of a mattress production line;
FIG. 5 is a schematic perspective view of a preferred conveyor belt;
FIG. 6 is a schematic perspective view of a cut-out assembly of a mattress;
Fig. 7 is a schematic perspective view of a manipulator for grasping and laying in mattress production.
Detailed Description
The following specific examples are intended to be illustrative of the invention and are not intended to be limiting, as modifications of the invention will be apparent to those skilled in the art upon reading the specification without inventive contribution thereto, and are intended to be protected by the patent law within the scope of the appended claims.
1-7, A mattress perforating tool bit comprises a mounting column a2 which is assembled with a motor shaft a10 of a perforating rotary motor a1 and extends in the up-down direction, the motor shaft a10 of the perforating rotary motor a1 also extends in the up-down direction, the mounting column a2 can be connected with a motor shaft a10 through a pin shaft, the tool bit is preferably made of carbon steel, of course, the tool bit can also be made of metal materials such as steel, the bottom of the mounting column a2 is fixed with a blade a3 which rotates along with the mounting column a2, the mounting column a2 is preferably in a cylindrical structure, the transverse width of the blade a3 is preferably larger than the diameter of the mounting column a2, the axle center of the mounting column a2 is preferably passing through the center position in the width direction of the blade a3, the blade a3 comprises a main body supporting cutting part a41 which is vertical, a pre-perforating drill bit a42 which can drill into a flexible cushion block in advance of the main body supporting cutting part a41 is integrally connected with the bottom of the main body supporting cutting part a41, the size of the pre-punching drill bit a42 is smaller than that of the main body supporting cutting part a41, the pre-punching drill bit a42 mainly aims at penetrating into a flexible cushion block and tearing a small opening by rotation, then continuing to tear the flexible cushion block downwards, simultaneously the main body supporting cutting part a41 acts on the flexible cushion block to cut a large flexible cushion block hole for placing magnetic particles, of course, the punching rotating motor a1 can be connected through a lifting motor or a lifting cylinder to enable the flexible cushion block hole to be lifted up and down, because in the punching process, the mounting column a2 motor shaft a10 drives rotation, simultaneously, the flexible cushion block hole for placing the magnetic particles can be formed by descending the drilling, in a manner of descending the rotating cutter head, the opening hole can be formed into a blind hole or a non-communicated hole, the advantage of this lies in mattress production in-process can greatly promote efficiency, like traditional punching press through-hole's equipment, need carry out the trompil to flexible cushion alone, can not install flexible cushion and open again after the foundation structure, so need collect flexible cushion trompil again in advance, then on installing the foundation structure, will have more time extravagant, cause the efficiency to reduce, the blind hole can be seted up to this embodiment tool bit, flexible cushion just can directly open the hole and get into the later process in the transportation process on the conveying line after installing the foundation structure like this, reduce the collection latency in the middle, can promote efficiency greatly. The mounting column a2 and the blade a3 can be integrally formed by connecting the same materials, so that the effect is good, and the mounting column can be realized by the existing forging, casting and other processes.
Preferably, the top of the main body supporting and cutting part a41 is integrally connected to the bottom of the mounting post a2, that is, the structure for realizing the connection mode of the mounting post a2 and the blade a 3.
In particular, the main body supporting cutting part a41 includes a main cutting plate a411 in the shape of an upstanding plate, and the main cutting plate a411 is in the shape of a flat, preferably rectangular in cross section, that is, four corners are right-angled cutting edges. The top of the pre-punching bit a42 is integrally connected with the bottom of the main cutting plate a411, the pre-punching bit a42 is in an upright plate-shaped structure, the pre-punching bit a42 is preferably arranged at the center of the bottom of the main cutting plate a411, the width of the pre-punching bit a42 is preferably controlled to be 1-2 mm, the width of the main cutting plate a411 is preferably ten times the width of the pre-punching bit a42 as little as 4mm, the height of the pre-punching bit a42 is about 3 mm, and the height of the main cutting plate a411 is about 4 times the height of the pre-punching bit a 42.
Further, the bottom of the pre-perforating bit a42 is provided with an upward V-shaped cutter opening, so that the capability of penetrating into the cushion block and the capability of tearing are improved.
The main cutting plate a411 is positioned at two sides of the pre-perforating drill bit a42 in the horizontal direction, and main cutting edges a4111 extending obliquely upwards are respectively formed to form a disconnected V-shaped structure. The ability of the main cutting plate a411 to rotate downward for cutting is also improved.
The auxiliary cutting plates a412 are integrally connected to both sides of the main cutting plate a411 in the plate surface direction. The auxiliary cutting plates a412 on the two plate surfaces are designed in a central symmetry mode, and the auxiliary cutting plates a412 extend from the main cutting plate a411 to the edge part transversely from the middle position. The auxiliary cutting plate a412 has an arc-shaped cutting edge a4120, and the arc-shaped cutting edge a4120 preferably extends from the peripheral portion of the mounting post a2 to the top position of the pre-perforating bit a42, and the shape of the edges of the auxiliary cutting plate a412 near the two sides of the width direction of the main cutting plate a411 should be kept consistent with the shape of the main cutting plate a411, so that the side cutting effect can be achieved. And the arc-shaped cutting edge a4120 can strengthen the tearing capability of the middle area and reduce the problem of too much burrs as much as possible.
Preferably, the top of the main cutting plate a411 is integrally connected to a radial line of the mounting post a2, so as to optimize the structure. The mounting column a2 is formed with an inclined guide surface a20 inclined obliquely upward to optimize the structure and the stress distribution, and at the same time, the cut-off chips can be provided with an outer space and can be guided.
The embodiment also provides a mattress punching device, which comprises the mattress punching tool bit, and the mattress punching device can be applied to a mattress production line, and the mattress punching device and the mattress production line can adopt the structures in the later-described embodiments.
Embodiment 2, as shown in fig. 1-7, a mattress magnetic particle conveying device comprises a row of magnetic particle falling guide barrels b2 which are arranged at intervals in the left-right direction and are used for allowing magnetic particles to fall into a flexible cushion block hole, wherein the magnetic particle falling guide barrels b2 are vertical and are communicated with a magnetic particle transverse conveying channel c1 which extends forwards, the magnetic particle transverse conveying channel c1 is communicated with an inlet channel c2 which is vertical, magnetic particles can continuously enter the inlet channel c2 from above and can be stacked up and down, then the magnetic particles can horizontally and transversely conveyed through the magnetic particle transverse conveying channel c1, the magnetic particles can enter the magnetic particle falling guide barrels b2, and the magnetic particles can fall into the flexible cushion block hole through the magnetic particle falling guide barrels b2, so that an automatic conveying process of the magnetic particles is realized. The front-rear direction refers to the front-rear direction of the production line, the rear is the upstream end, the front is the downstream end, that is, the production line of the mattress production process is performed from the rear to the front, and the magnetic particles are preferably input from the front to the rear, because there are a plurality of front technological structures behind the magnetic particle falling guide cylinder b2, so that the space can be more reasonably utilized.
Preferably, all the magnetic particle falling guide cylinders b2 are mounted to an integrated mounting support plate 3. The integrated installation support plate 3 is an existing installation flat plate structure of a whole aluminum alloy, a plurality of hole structures can be formed, and the magnetic particle falling guide cylinder b2 can be installed on the integrated installation support plate 3.
Preferably, a magnetic particle conveying guide rail c3 is arranged above the entering channel c2, a soft communicating pipe c4 is connected between the entering channel c2 and the magnetic particle conveying guide rail c3, the magnetic particle conveying guide rail c3 can adopt an arc-shaped track, the soft communicating pipe c4 can adopt a plastic pipe, and the magnetic particle conveying guide rail c3 is provided with the existing electric push rod or pushing wheel and other structures, so that magnetic particles placed on the magnetic particle conveying guide rail can be pushed to be sent into the soft communicating pipe c4 and fall into the entering channel c2, and the entering channel c2 can adopt a channel structure formed by steel pipelines.
The magnetic particle falling guide cylinder b2 is internally provided with a lifting rod c5 which can lift up and down to press the magnetic particles against the flexible cushion block hole. The magnetic particle transverse conveying channel c1 is communicated to a position between the upper part and the lower part of the magnetic particle falling guide cylinder b2, so that the lifting rod c5 can conveniently press the magnetic particles into the flexible cushion block hole, the lifting rod c5 can adopt a piston rod structure of a pneumatic cylinder, but a pressing block structure similar to the shape of the magnetic particles is preferably fixed at the lower end of the piston rod, so that the magnetic particles can be better bonded in the flexible cushion block hole by pressing the lifting rod c5 after falling into the flexible cushion block hole, and the glue is required to be dropped into the flexible cushion block hole before the magnetic particles fall.
A pushing plate c6 for pushing the magnetic particles to be conveyed backwards is arranged in the magnetic particle transverse conveying channel c1, and the pushing plate c6 is connected with a transverse front-rear telescopic pneumatic cylinder c7. This design is to enable the magnetic particle that is located lowest after the accumulation of the magnetic particles entering the channel c2 and has been located in the magnetic particle lateral conveyance path c1 to be pushed back into the magnetic particle falling guide cylinder b 2.
The more important design, the periphery that magnetic particle drops guide cylinder b2 leaned on the bottom is connected with and shelters from guard plate c8, shelters from guard plate c8 and can adopt rectangular plate structure, and this effect lies in, can be with some semi-solidification glue silk that form after the coating of some leading glue too much cause the jam in magnetic particle drops guide cylinder b2 lower part mouth department, shelter from guard plate c 8's structure and can more remove these glue silk, in addition, the in-process that magnetic particle dropped, the position that the position is unusual to be bored outside the flexible cushion hole probably appears, and this structure makes magnetic particle drop back can not the drunkenness as far as possible.
The embodiment also provides mattress magnetic particle installation equipment, which comprises the mattress magnetic particle conveying device. The mattress punching device for punching the flexible cushion block and the hole glue dripping device for gluing the flexible cushion block hole formed after the flexible cushion block is punched are sequentially arranged on the conveying path of the conveying belt 1 from back to front. The mattress punching device and the hole dispensing device can adopt the structures mentioned in the following embodiments.
The embodiment also provides a mattress production line, which comprises the mattress magnetic particle installation equipment. Various structures on the pipeline may be used in connection with other embodiments.
Embodiment 3, as shown in fig. 1-7, a mattress magnetic particle installation device, including conveyer belt 1 and the mattress perforating device that is used for punching flexible cushion, the hole that is used for gluing the flexible cushion hole that forms after punching the flexible cushion that has set gradually from the back to the front on the conveying path of conveyer belt drop the gluer and be used for filling the mattress magnetic particle conveyor that goes in the flexible cushion hole with magnetic particle, mattress perforating device has a row of left and right direction interval arrangement and rotates the mattress cutter head that punches with the flexible cushion, hole drop the gluer and have a row of left and right direction interval arrangement and be used for dropping the glue to flexible cushion hole drop the glue barrel b1, mattress magnetic particle conveyor has a row of left and right direction interval arrangement and is used for the magnetic particle to fall into the magnetic particle whereabouts guide cylinder b2 in the flexible cushion hole.
Preferably, a dust suction device for cleaning the mattress is arranged at the back position of the mattress punching device. The dust collection device comprises a dust collection cover 2 which extends in the left-right direction and is provided with a downward opening. The upper part of the dust hood 2 is communicated with air extraction equipment such as a dust collector and the like, and mainly can timely treat punched and torn flexible cushion block scraps, so that the flexible cushion block is tidy, and a mattress with high quality is produced.
Further, the glue dropping cylinder can be lifted. The mattress punching tool bit can be lifted. They can be installed on the lifting motor or the lifting cylinder which can be lifted and lowered. The mattress punching cutter head is arranged on the punching rotary motor a1, the punching rotary motor a1 can be further connected with a lifting structure to realize lifting, and the glue dropping barrel can be directly connected with the lifting structure to be lifted.
Preferably, the mattress punching cutter head, the glue dripping barrel and the magnetic particle falling guide barrel are all arranged on the same integrated installation support plate 3 above the conveying belt 1. The lifting structures can be arranged on the integrated installation support plate 3, so that mattress punching tool bits and glue dropping drums are correspondingly arranged, the non-lifting structures such as the magnetic particle falling guide drums can be directly erected on the integrated installation support plate 3, or the magnetic particle transverse conveying channel c1 can be arranged on the integrated installation support plate 3, and the magnetic particle falling guide drums pass through the integrated installation support plate 3 vertically. The three functional modules are integrated together, so that three processes of punching the flexible cushion block hole, dripping glue in the flexible cushion block hole and fixing magnetic particles in the flexible cushion block hole can be continuously completed in the conveying process, and the process is fast and effective.
Other specific configurations of mattress magnetic particle delivery devices, mattress perforation devices, kong Di glue devices may also be used in combination with the configurations involved in other embodiments.
The embodiment also provides a mattress production line, which comprises the mattress magnetic particle installation equipment. Other structures involved in the pipeline may also employ structures of other embodiments.
Example 4 as shown in fig. 1-7, a mattress production conveyor belt comprises an endless belt body d1, said belt body d1 having tensioning and driving rollers d2 on both front and rear sides, said belt body d1 having a roughened inner side. For the mattress production line with high automation degree, the advancing speed of the conveying belt needs to be accurately controlled, otherwise the time sequence of each station can be influenced, a certain link is caused to have a problem, the conveying belt must be well synchronously operated along with the roller, the problem of skidding is avoided as much as possible, short pause is caused, the production process time is caused to have unbiased, the problems of inaccurate position of a mattress structural layer, inaccurate magnetic particles, deviation of punching and the like are caused, and the inner side surface of the belt d1 must be rough.
Preferably, the connection direction of the head-tail connection part of the belt body is inclined to the left-right direction. The belt body d1 is usually a flat conveyor belt which is usually connected for use because of its long line, which is usually a lightweight conveyor belt structure. The inclined design may reduce the risk of slippage at the bowl at the connection. Specifically, the end-to-end connection part of the belt body forms an inclined detour connection part d3 which is inclined to the left-right direction and sewn back and forth by a sewing thread. Since the sewing thread is usually smooth, the roughness of the joint is weakened, and in this case, the inclined manner can make the joint always have a part of the left and right directions without sewing thread, so that the joint of the belt d1 is not easy to slip when passing through the roller, because if a left and right straighter sewing structure is adopted, more sewing thread is contacted with the roller at a shorter time point to cause short slip, thereby affecting the effectiveness of high-precision production, and the structural design of the embodiment is more suitable for the purpose of precise conveying.
Preferably, the inclined detour connection portion d3 forms a V-shaped connection section which is continuous from left to right and alternately faces front and back, and the structure is optimized.
The outside of the belt body is a plastic surface or a plastic surface, such as nylon material, and the belt body is light and has better structural strength. The outer side of the belt body is provided with a plurality of block-shaped bulges d4, so that the friction force of the surface on the conveying belt is ensured.
The embodiment also provides mattress production equipment, namely a mattress production line, comprising the mattress production conveyor belt. Still include the mattress perforating device that is used for punching flexible cushion, the hole that is used for carrying out the rubber coating to flexible cushion hole that forms after punching flexible cushion that has set gradually from the back on the delivery path of conveyer belt drips the gluey device and is used for filling the mattress magnetic particle conveyor who goes into in the flexible cushion hole with the magnetic particle, mattress perforating device has a row of left and right direction interval arrangement and rotates the mattress cutter head that punches to flexible cushion, hole drips the gluey device and has a row of left and right direction interval arrangement and be used for carrying out the glue dropping to flexible cushion hole and drip the glue bowl, mattress magnetic particle conveyor has a row of left and right direction interval arrangement and is used for the magnetic particle to fall into the magnetic particle whereabouts guiding cylinder that goes in the flexible cushion hole.
And the conveying belt is provided with a manipulator at the side of the conveying path. The mattress cutting assembly also comprises a mattress cutting assembly at the front end of the conveying belt.
Other arrangements than the conveyor belt described above may be used.
Embodiment 5, as shown in fig. 1-7, a mattress cutting table comprises a supporting table e1, wherein the supporting table is provided with at least two supporting plates e2 which can be lifted up and down and are used for supporting a mattress, a cutting knife e3 is arranged on the side of the supporting table, and the supporting table is provided with a cutting positioning device which can downwards press the mattress for cutting. The mattress initial product also needs to be trimmed to reach the expected size, the cutting and positioning device can better adjust and press the mattress, the cutting knife e3 can cut at the side, the cut-off part at the side can be collected at the side, the supporting plate e2 has the function that the final finished product after cutting can be lifted, and the mattress finished product can be conveniently carried away.
Preferably, the supporting table e1 is provided with a first embedded groove channel e4 for the supporting plate e2 to lift up and down, so that the table top is still relatively complete before carrying the mattress finished product, and the effectiveness of cutting operation is ensured. The support plate e2 corresponds to a part of the structure of the support table e1 that can be lifted and lowered.
The cutting knife e3 is a plane blade which is vertical, namely the knife edge is used for cutting along the horizontal direction. The cutter e3 is movable in the horizontal direction. The cutter e3 may be mounted on some existing mobile devices. The table top of the supporting table e1 is a steel smooth surface, so that mattress products can be conveniently fed from the conveying belt.
The embodiment also provides a mattress cutting assembly, including aforesaid a mattress cutting platform and mobile robot, cutting positioner includes the cutting manipulator that mobile robot is connected with, the cutting manipulator is including being the flattening braced frame f1 of rectangle shape of keeping flat, the below installation of flattening braced frame f1 is connected with a plurality of intervals setting and is used for directly pushing down mattress and can go up and down the flattening board f2, wear to be equipped with on the flattening board f2 to be used for inserting the insertion needle f3 in the mattress. The insertion needle f3 is fixedly arranged at the side part of the flattening supporting frame f 1. The pressing plate f2 is fixedly provided with pressing balancing weights f7 at the positions close to two ends, the insertion needle f3 also vertically penetrates through the pressing balancing weights f7, and the pressing balancing weights f7 are installed on the side parts of the pressing supporting frame f1 through lifting connecting columns f4 capable of lifting. In the following embodiments, the specific development of the technical content of this section will not be repeated here, and the main purpose is to press the mattress for cutting, and to pull the mattress for steering, carrying, etc.
The embodiment also provides a mattress production line, including the conveyer belt and set gradually on the conveyer belt first spouts gluey device, be used for to flexible cushion block punch the mattress perforating device, be used for to flexible cushion block hole that forms after punching the flexible cushion block carry out the hole glue dripping device of rubber coating and be used for with the magnetic particle packing into mattress magnetic particle conveyor, second spouts gluey device, drying device and the conveyer belt front end like the aforesaid mattress cutting assembly. Various device-like structures may also be used in connection with other embodiments.
Embodiment 6, as shown in fig. 1-7, a mattress production line, including conveyer belt and conveyer belt top from the back forward set gradually first spouts mucilage binding put g1, be used for punching flexible cushion block's mattress perforating device, be used for carrying out the hole glue dripping device of rubber coating to flexible cushion block hole that forms after the flexible cushion block punches and be used for filling the mattress magnetism granule conveyor that goes in flexible cushion block hole with magnetism granule, second spouts mucilage binding and put g2, drying device h, still include the mattress cutting assembly that conveyer belt front end exit was provided with. The device structure can adopt the specific construction in other embodiments, and the production process flow is also described later. The drying device h can adopt the existing drying equipment.
Preferably, the first glue spraying device comprises glue spraying guns g which are arranged at left and right intervals. The second glue spraying device comprises glue spraying guns g which are arranged at left and right intervals. The glue spraying gun can be arranged on a plurality of support frames, the gun head sprays downwards, the spraying time and the spraying quantity can be controlled through automatic control equipment, the gun head sprays downwards as much as possible, and the gun head is preferably a scattering hole, so that the spraying can be more uniform, the surface energy of a sprayed cushion block is mainly used for being more uniformly and effectively coated with water, and the waste is reduced.
The embodiment provides a mattress production process, which comprises the following steps: 1. placing the substrate supporting block on a conveying belt, and spraying glue on the surface of the substrate supporting block through a first glue spraying device; 2. paving a middle flexible cushion block; 3. punching, glue dripping and magnetic particle placement are carried out on the flexible cushion block; 4. carrying out surface glue spraying on the surface of the flexible cushion block through a second glue spraying device; 5. paving a surface cushion block on the flexible cushion block; 6. drying; 7. cutting.
The substrate supporting block is usually a hard polyethylene or polypropylene foaming bridge, the substrate supporting block can be automatically placed on a conveying belt through a grabbing manipulator, then glue is sprayed on the upper surface, a grabbing manipulator can be adopted to lay a flexible cushion block on the upper surface of the glue-sprayed substrate supporting block to complete a preliminary mounting process, and the flexible cushion block can be a sponge block; then, punching, glue dripping and magnetic particle placement are carried out on the flexible cushion block, and the production line is provided with a corresponding device structure so as to process the flexible cushion block and complete the installation of the magnetic particles; then, spraying glue on the upper surface of the flexible cushion block, grabbing the surface cushion block by a grabbing manipulator, and paving the surface cushion block on the upper surface of the flexible cushion block, so that the whole mattress structure is basically molded, and the surface cushion block can adopt a latex block; and then drying and solidifying glue for shaping, and then conveying the shaped glue to a mattress cutting assembly at the front end for cutting and carrying.
The whole process is more efficient than the prior process. The grabbing manipulators of the substrate supporting block, the flexible cushion block and the surface cushion block can adopt the existing grabbing manipulators, and can also adopt the manipulator structure in the embodiment 8. In addition, it is important that the flexible cushion block is perforated into half holes in the step 3. In addition, the motor structure, the telescopic structure or the lifting structure and the like can be automatically controlled through an automatic control system, so that efficient automatic production is realized.
In the embodiment 7, as shown in fig. 1-7, a manipulator for cutting in mattress production, that is, a cutting manipulator, the manipulator can be connected to a mobile robot, so that the manipulator can conveniently adjust the positions of all directions, while the cutting manipulator of the embodiment comprises a rectangular flat-shaped flattening support frame f1, the upper part of the flattening support frame f1 can be connected to the robot, the robot adopts the existing movable arm capable of walking, the mobile arm can be connected to the flattening support frame f1, the movable arm can be unfolded in detail, the structure is easy to realize, a plurality of flattening plates f2 which are arranged at intervals and are used for directly pressing a mattress and can be lifted are installed below the flattening plates f1, the upper and lower parts of the flattening plates f2 are provided with inserting needles f3 for being inserted into the mattress in a penetrating manner, the upper surfaces of the flattening plates f2 are fixed with pressing balancing weights f7 on the positions of both ends, the inserting needles f3 can also penetrate through the pressing balancing weights f7 up and down, and the pressing weights f7 and the corresponding upper and lower punching holes f2 can be provided with inserting needles f 3. The pressing plate f2 adopts a rectangular plate structure, the pressing balancing weight f7 and the pressing plate f2 can be of steel structures, when the pressing plate f2 and the balancing weight move downwards along with the pressing supporting frame f1 to press the mattress to be compact along with the weight, meanwhile, the inserting needle f3 is gradually inserted into the mattress downwards, the pressing balancing weight f7 and the pressing plate f2 can be lifted freely, when the pressing balancing weight f7 and the pressing plate f2 are pressed to a certain extent, the inserting needle f3 can be inserted into a section, the stability of inserting connection is ensured, at the moment, the pressing supporting frame f1 can be used for position adjustment, such as rotation and the like, and after the pressing supporting frame f1 is adjusted to the corresponding position, the pressing plate f2 can be cut through the cutting knife. The pressing balancing weight f7 needs larger balancing weight, and is generally preferably more than 1 kg and less than 5 kg, when the pressing balancing weight f is used for pressing the mattress to cut, the mattress is flat, after the mattress is cut, the pressing supporting frame f1 is lifted up, the pressing balancing weight f7 has enough weight to ensure that the mattress and the inserting needle f3 are separated up and down, and the inserting needle f3 of the manipulator is arranged in the vertical direction from top to bottom and is not used for grabbing like an oblique arrangement. In addition, the compression balancing weight f7 can be filled with wool felt, and lubricating oil is coated on the wool felt, so that the insertion needle f3 is kept lubricated, and the mattress is convenient to penetrate and cannot be damaged.
In some specific optimization, the pressing balancing weight f7 is in a shape of a cake. The insertion needle f3 is fixedly arranged at the side part of the flattening supporting frame f 1.
Further, the pressing balancing weight f7 is installed in the side portion of the pressing supporting frame f1 through a lifting connecting column f4 capable of lifting, the lower end of the lifting connecting column f4 is fixed to the pressing balancing weight f7, an installation block f0 is fixed to the side portion of the pressing supporting frame f1, a lifting channel f01 which is used for the lifting connecting column f4 to pass through up and down and capable of passing up and down is formed in the installation block f0, a limiting head f40 which is used for preventing the lifting connecting column f4 from falling down is fixed to the upper end of the lifting connecting column f4, the limiting head f40 is located above the lifting channel f01, and the size of the limiting head f40 is larger than the caliber of the lifting channel f01, so that the lifting connecting column f4 cannot fall down. Preferably, the insertion needle f3 is directly fixed to the lower side of the mounting block f 0.
Preferably, a conveying roller f5 and a motor f6 for conveying the mattress are arranged at the side edge part of the flattening supporting frame f1, the motor f6 is fixed on the flattening supporting frame f1, the axial direction of the conveying roller f5 is along the horizontal direction, the conveying roller f5 is arranged and connected on the shaft of the motor f6, and the wheel surface of the conveying roller f5 serves as a supporting surface. Further, the top of the conveying roller f5 is higher than the flattening supporting frame f1. The manipulator can be used for cutting, the mattress is lifted by the supporting plate e2, then the flattening supporting frame f1 is stretched to the bottom of the mattress, and then the mattress can be lifted to be carried, and due to the design of the conveying roller f5, the mattress carried by the flattening supporting frame f1 can be supported and rotated by the conveying roller f5 and then conveyed to corresponding containers and other places for storage. In addition, if two support plates e2 are used, the lateral separation distance between the two support plates e2 is preferably large enough to allow the manipulator to be more placed under the mattress to better ship the mattress.
Further preferably, the conveying roller f5 comprises a cylindrical wheel body f51 and supporting thorns f52 which are fixed on the peripheral part of the wheel body f51 and distributed in a circumferential array, so that the effectiveness of carrying the mattress can be further ensured.
The embodiment also provides a mattress production line, which comprises the manipulator. Still including the conveyer belt and on the conveyer belt set gradually first spouts gluey device, be used for to flexible cushion block punch the mattress perforating device, be used for to flexible cushion block hole that forms after punching the flexible cushion block carry out the hole glue dripping device of rubber coating and be used for filling the mattress magnetic particle conveyor, second spouts gluey device, the drying device that go in the flexible cushion block hole with the magnetic particle, still include mattress cutting assembly of conveyer belt front end department, mattress cutting assembly is close to conveyer belt front end exit as far as possible, conveniently receives the mattress. These device-like structures can also be referred to the previous embodiments.
Embodiment 8 as shown in fig. 1-7, a manipulator for grasping and laying in mattress production includes a movable support flat frame k1 for connection with a robot, the movable support flat frame k1 is a rectangular frame and is moved by the robot, an insertion needle f3 capable of moving up and down is provided at a peripheral position of the movable support flat frame k1, and the insertion needle f3 is provided on a floatable unit. The uneven cushion block can be grabbed with certain flattening capacity, and the movable support flat frame k1 can be lowered a little more.
Preferably, the insertion needles f3 are provided in a plurality and are disposed to intersect at an angle to the horizontal direction, and are disposed to intersect at the inner and outer side of the edge of the movable support flat frame k 1.
The side edge part of the movable support flat-laying frame k1 is provided with an installation guide seat k2 for the insertion needle to pass through for installation, and of course, the upper position of the installation guide seat k2 is provided with a telescopic structure such as a small cylinder which is connected with the top of the insertion needle and is used for the oblique extension of the insertion needle. The floatable device comprises a floating plate k3 which is used for the installation connection of the installation guide seat k2 and can float up and down, the floating plate k3 is vertical and can be abutted against the side edge position of the movable support flat-laying frame k1, the installation guide seat k2 keeps the extending direction of an insertion needle installed on the installation guide seat as consistent as possible, so that the installation guide seat k2 is inclined, the part of the floating plate k3, which is close to the bottom, can be fixedly connected with a fixed connecting plate k8 in a welding or screwing mode and the like with the installation guide seat k2, and the fixed connecting plate k8 connects the floating plate k3 with the installation guide seat k 2. Specifically, the movable support flat-laying frame is provided with a support beam k4 extending transversely, and the floating plate k3 is provided with an up-and-down movement groove k5 through which the support beam k4 transversely passes and can move up and down, so that the floating plate k3 has enough up-and-down free movement capability.
Further, a floating plate k3 is arranged on the inner side and the outer side of the side edge part of the movable supporting flat frame k1, and the bottoms of the two floating plates k3 are simultaneously connected to a bottom connecting block k 6. The bottom of the bottom connecting block k6 is connected with a needle point guiding lower pressing plate k7 which extends downwards and is passed by the needle point of the insertion needle f 3. The bottom surface of the needle point guiding and pressing plate k7 is in a horizontal plane shape, the needle point guiding and pressing plate k7 can be a rectangular section which is fixedly connected to the bottom of the bottom connecting block k6 and extends straight up and down, and an isosceles trapezoid section which is fixedly connected to the bottom of the rectangular section, and the inserting needles f3 on two sides can cross through the waist surface of the isosceles trapezoid section, so that in the continuous downward moving process of the movable supporting and flat-lying frame k1, the inserting needles f3 can be effectively inserted into the cushion blocks, meanwhile, the balance weight of the needle point guiding and pressing plate k7 can be utilized to flatten uneven cushion blocks, and the floating plate structure can be utilized to better and adaptively flatten.
The embodiment also provides a mattress production line, including aforementioned such manipulator, still including conveyer belt and conveyer belt top right back forward have set gradually first spouting the gluey device, be used for to flexible cushion fenestrate mattress perforating device, be used for to flexible cushion hole that forms after the flexible cushion fenestrate carry out the rubber coating the hole glue dripping device and be used for filling the mattress magnetic particle conveyor, second spouting gluey device, the drying device that go in the flexible cushion hole with magnetic particle, still including setting up the mattress cutting assembly of conveyer belt front end. Reference may be made to the foregoing embodiments for specific structure.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (5)
1. The manipulator for grabbing and laying in mattress production is characterized by comprising a movable support flat-laying frame (k 1) connected with a robot, wherein an insertion needle (f 3) capable of moving up and down is arranged at the peripheral position of the movable support flat-laying frame (k 1), and the insertion needle (f 3) is arranged on a floatable device;
The side edge part of the movable supporting flat frame (k 1) is provided with an installation guide seat (k 2) for the insertion needle to pass through for installation;
The floatable device comprises a floating plate (k 3) which is used for the installation connection of the installation guide seat (k 2) and can float up and down;
A supporting beam rod (k 4) extending transversely is arranged on the movable supporting flat-laying frame;
an up-and-down moving groove (k 5) which is used for a supporting beam rod (k 4) to transversely pass through and can move up and down is formed in the floating plate (k 3);
the movable support flat frame (k 1) is characterized in that a floating plate (k 3) is arranged on the inner side and the outer side of the side edge of the movable support flat frame near the frame, and the bottoms of the two floating plates (k 3) are simultaneously connected to a bottom connecting block (k 6).
2. A manipulator for grasping and laying in mattress production according to claim 1, characterized in that the insertion needles (f 3) are provided in several and crosswise arranged obliquely to the horizontal direction.
3. A manipulator for grasping and laying in mattress production according to claim 1, characterized in that the bottom of the bottom connecting block (k 6) is connected with a needle tip guiding lower pressure plate (k 7) extending downwards and through which the needle tip of the insertion needle (f 3) passes.
4. A mattress production line comprising a manipulator according to any one of claims 1-3.
5. The mattress production line of claim 4, further comprising a conveyor belt, a first glue spraying device, a mattress punching device, a hole glue dripping device, a mattress magnetic particle conveying device, a second glue spraying device and a drying device, wherein the first glue spraying device, the mattress punching device is used for punching the flexible cushion block, the hole glue dripping device is used for gluing a flexible cushion block hole formed after the flexible cushion block is punched, the mattress magnetic particle conveying device is used for filling magnetic particles into the flexible cushion block hole, and the mattress cutting assembly is arranged at the front end of the conveyor belt.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011619093.8A CN112589779B (en) | 2020-12-31 | 2020-12-31 | Manipulator for grabbing and laying in mattress production |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011619093.8A CN112589779B (en) | 2020-12-31 | 2020-12-31 | Manipulator for grabbing and laying in mattress production |
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| CN112589779B true CN112589779B (en) | 2024-05-03 |
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| CN104377502A (en) * | 2014-10-27 | 2015-02-25 | 中汽昌兴（洛阳）机电设备工程有限公司 | Automatic inserting and pulling out device |
| CN106369026A (en) * | 2016-08-31 | 2017-02-01 | 浙江和也健康科技有限公司 | Magnetic particle mounting device |
| CN111037591A (en) * | 2019-12-23 | 2020-04-21 | 杭州电子科技大学 | Soft material and micro-curved surface hard material gripping device |
| CN211073627U (en) * | 2019-08-19 | 2020-07-24 | 圣基恒信（十堰）工业装备技术有限公司 | Fiber composite's frock clamp |
| CN214724195U (en) * | 2020-12-31 | 2021-11-16 | 和也健康科技有限公司 | Manipulator for grabbing and laying in mattress production and mattress production line |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NO321277B1 (en) * | 2004-04-21 | 2006-04-18 | Sinvent As | Apparatus and method for gripping penetrable objects |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104377502A (en) * | 2014-10-27 | 2015-02-25 | 中汽昌兴（洛阳）机电设备工程有限公司 | Automatic inserting and pulling out device |
| CN106369026A (en) * | 2016-08-31 | 2017-02-01 | 浙江和也健康科技有限公司 | Magnetic particle mounting device |
| CN211073627U (en) * | 2019-08-19 | 2020-07-24 | 圣基恒信（十堰）工业装备技术有限公司 | Fiber composite's frock clamp |
| CN111037591A (en) * | 2019-12-23 | 2020-04-21 | 杭州电子科技大学 | Soft material and micro-curved surface hard material gripping device |
| CN214724195U (en) * | 2020-12-31 | 2021-11-16 | 和也健康科技有限公司 | Manipulator for grabbing and laying in mattress production and mattress production line |
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