CN113145422B - Efficient automatic dispensing process for paper cores and complete equipment thereof - Google Patents
Efficient automatic dispensing process for paper cores and complete equipment thereof Download PDFInfo
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- CN113145422B CN113145422B CN202110431809.XA CN202110431809A CN113145422B CN 113145422 B CN113145422 B CN 113145422B CN 202110431809 A CN202110431809 A CN 202110431809A CN 113145422 B CN113145422 B CN 113145422B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000008569 process Effects 0.000 title claims abstract description 18
- 239000003292 glue Substances 0.000 claims abstract description 79
- 230000007246 mechanism Effects 0.000 claims abstract description 67
- 238000004026 adhesive bonding Methods 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000005192 partition Methods 0.000 claims description 49
- 238000002156 mixing Methods 0.000 claims description 18
- 238000003756 stirring Methods 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 14
- 239000000758 substrate Substances 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 6
- 238000004519 manufacturing process Methods 0.000 abstract description 11
- 229920000297 Rayon Polymers 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000036541 health Effects 0.000 abstract description 3
- 238000003912 environmental pollution Methods 0.000 abstract description 2
- 239000000853 adhesive Substances 0.000 description 3
- 230000001070 adhesive effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/26—Processes for applying liquids or other fluent materials performed by applying the liquid or other fluent material from an outlet device in contact with, or almost in contact with, the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C11/00—Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00
- B05C11/10—Storage, supply or control of liquid or other fluent material; Recovery of excess liquid or other fluent material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B11/00—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding
- F16B11/006—Connecting constructional elements or machine parts by sticking or pressing them together, e.g. cold pressure welding by gluing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Coating Apparatus (AREA)
Abstract
The invention belongs to the technical field of mechanical and electrical control, and discloses a high-efficiency automatic paper core dispensing process and complete equipment thereof, wherein the process comprises the following steps: determining a core loading station, a dispensing station, a gluing station, a working station and an output station; filling paper cores on a core filling station, and pushing the filled paper cores into a working station; inputting an end cover on a glue dispensing station, uniformly dispensing glue on the end cover, and conveying the glue to a glue dispensing station; grabbing the paper core on a working station, and conveying the grabbed paper core to a gluing station to bond the paper core with the end cover; and simultaneously grabbing the mutually bonded paper core and the end cover on the gluing station, and conveying the paper core and the end cover to an output station. The complete equipment comprises a dispenser, a transmission device, a core filling clamp, a walking manipulator mechanism, a finished product conveying device and the like. The invention can realize the automatic bonding between the paper core and the end cover, improve the production efficiency and the automation degree of the paper core and the end cover viscose glue, reduce the contact between workers and AB glue, and is beneficial to protecting the health of the workers and reducing the environmental pollution.
Description
Technical Field
The invention belongs to the technical field of mechanical and electrical control, and particularly relates to an efficient automatic paper core gluing process and complete equipment thereof, which are used for realizing automatic gluing of a cylindrical paper core and an end cover.
Background
The corrugated core assumes a cylindrical shape after being pinched and gathered, while its outer dimensions are not constant in the loose state. The plastic end cover is disc-shaped, the middle of the end cover is provided with a through hole, one end surface of the end cover is smooth, and the other end surface of the end cover is provided with an annular groove. At present, after the paper core in a wrinkled state is clamped and folded, one end of the paper core is placed in the annular groove of the end cover and fixed, and the axis of the paper core is vertical to the surface of the end cover. The common way of fixing is to glue the paper core to the end cap with an AB glue. However, due to the small size of the annular slot in the end cap, manual handling is difficult to achieve with loose cores accurately placed in the slot. Therefore, a clamping structure (namely a mechanical arm) with determined size and good consistency needs to be designed, so that the diameter of the folded paper core is just matched with the annular groove of the end cover; in addition, in order to be smoothly put in the paper core, the contact ratio of the axes of the paper core and the paper core is required to be ensured, so that the paper core is not inclined when being put in the paper core adhesive, and the positioning precision is ensured by a servo motor. Meanwhile, the AB glue needing to be mixed on the annular groove of the end cover is uniformly distributed. When needing some glue promptly, the glue that drops distributes along the ring line of end cover annular to after the conveying waited for with the bonding of certain time, glue realizes evenly distributed through the flow in the annular. To realize this circular motion, not only two-directional servo motion is required, but also interpolation control can be realized.
Disclosure of Invention
In view of this, the invention aims to provide an efficient automatic dispensing process for paper cores and complete equipment thereof, which have high automation degree and high production efficiency, and aims to solve the problem of automatic bonding of cylindrical paper cores and end covers.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-efficiency automatic dispensing process for paper cores comprises the following steps: determining a core loading station, a dispensing station, a gluing station, a working station and an output station; filling paper cores on a core filling station, and pushing the filled paper cores into a working station; inputting an end cover on a glue dispensing station, uniformly dispensing glue on the end cover, and conveying the glue to a glue dispensing station; grabbing the paper core on a working station, and conveying the grabbed paper core to a gluing station to bond the paper core with the end cover; and simultaneously grabbing the mutually bonded paper core and the end cover at the gluing station, and conveying the paper core and the end cover to the output station.
The invention also provides a high-efficiency complete set of automatic dispensing equipment for paper cores, which is used for realizing the process and comprises the following steps: the automatic core-filling machine comprises a core-filling clamp, a clamp pushing mechanism, a first clamping mechanism, a glue dispenser, a second clamping mechanism, a transmission device, a traveling manipulator mechanism and a finished product conveying device, wherein the core-filling clamp is arranged on a core-filling station and used for filling a paper core, the clamp pushing mechanism is used for pushing the core-filling clamp to a working station, the first clamping mechanism is arranged on a glue dispensing station and used for clamping an end cover, the glue dispenser is used for dripping glue onto the end cover, the second clamping mechanism is arranged on a glue station and used for clamping the end cover, the transmission device is arranged between the glue dispensing station and used for transmitting the end cover, the traveling manipulator mechanism is arranged on the working station and used for grabbing the paper core, and the finished product conveying device is arranged on an output station and used for receiving the paper core and the end cover which are mutually bonded and released by the traveling manipulator mechanism; the gluing station and the output station are arranged on the same side or opposite sides of the working station in the transverse direction, the dispensing station and the core loading station are arranged side by side in the transverse direction, the dispensing station and the gluing station are arranged side by side in the longitudinal direction, and the core loading station and the working station correspond to each other in the longitudinal direction.
The working principle of the complete equipment is as follows: firstly, pushing a core filling clamp filled with paper cores into a working station to wait for grabbing by a walking manipulator mechanism; then the transmission device transmits the circular end cover to a glue dispensing station to stop, the glue dispenser uniformly sprays the mixed glue AB into the circular groove of the end cover, and the transmission device transmits the circular end cover to the glue dispensing station after glue dispensing is finished; when the number of the end covers which are arranged at the gluing station and are glued is equal to the number of the paper cores in a row of the core filling fixture, the end covers are positioned together; then the walking manipulator mechanism moves to the leftmost paper core row of the core filling fixture, picks the paper cores, conveys the paper cores to the upper part of the positioned end cover, and moves the paper cores downwards to the end cover after aligning the end cover, so that the lower end surface of the paper cores is contacted with the end surface groove of the end cover to be glued; then the walking manipulator mechanism loosens and moves downwards again, the end cover and the paper core are held together, and finally the bonded product is conveyed to a finished product conveying device to be conveyed away.
Furthermore, the glue station is provided with a corresponding glue station at one side or two sides in the longitudinal direction.
Furthermore, the working stations are provided with corresponding core loading stations at one side or two sides in the longitudinal direction.
And the worktable is provided with a Y-axis guide rail which is used for connecting the core loading station and the working station and is used for being in sliding fit with the core filling fixture.
Further, the first fixing and clamping mechanism consists of a positioning partition plate I, a photoelectric switch I, a fixed baffle plate I and a switching clamp plate I, the second fixing and clamping mechanism consists of a positioning partition plate II, a photoelectric switch II, a fixed baffle plate II and a switching clamp plate II, the positions between the fixed baffle plate I and the switching clamp plate I, the positions between the fixed baffle plate II and the switching clamp plate II are arranged in a different side manner relative to the transmission device, the fixed baffle plate I is provided with a plurality of positioning partition plates I, the fixed baffle plate II is provided with a plurality of positioning partition plates II, the single positioning partition plate I and the single positioning partition plate II are both provided with a partition plate pushing mechanism, and the switching clamp plate I and the switching clamp plate II are both provided with a clamp plate pushing mechanism; the clamp pushing mechanism, the partition plate pushing mechanism and the clamping plate pushing mechanism are one of air cylinders, hydraulic cylinders, electro-hydraulic push rods or linear motors; the front ends of the positioning partition plate I and the positioning partition plate II, which are in contact with the end cover, are respectively arranged into a V-shaped structure, and the bottom surface of the front end is an inclined surface.
Further, the transmission device consists of a conveyor belt and a driving motor, wherein the driving motor is used for driving the conveyor belt and adopts a direct current motor or a speed reducing motor.
The dispenser is further composed of a Y-axis servo motor, a Y-axis lead screw, a first X-axis servo motor, a first X-axis lead screw, an X-axis sliding table, a valve body up-and-down driving device, a dynamic stirring valve group and a supporting frame, wherein the bottom of the supporting frame is arranged on the Y-axis lead screw, the top of the supporting frame is provided with the first X-axis lead screw, the X-axis sliding table is arranged on the first X-axis lead screw, the dynamic stirring valve group is arranged on the X-axis sliding table in a lifting manner through the valve body up-and-down driving device, the Y-axis servo motor drives the Y-axis lead screw, and the first X-axis servo motor drives the first X-axis lead screw; the valve body up-down driving device is one of an air cylinder, a hydraulic cylinder, an electro-hydraulic push rod or a linear motor; dynamic mixing valves is glued mixing valve, nozzle by agitator motor, drive shaft, AB and is constituteed, and AB is glued to be equipped with A on the mixing valve and glues entry and B and glue the entry, and agitator motor passes through drive shaft connection AB and glues the mixing valve, and the nozzle is connected on AB glues the mixing valve.
Further, the walking manipulator mechanism consists of an X-axis guide rail, a second X-axis servo motor, a second X-axis lead screw, a horizontal support sliding table, an upright post, a Z-axis servo motor, a Z-axis lead screw, a Z-axis guide rail, a vertical mounting plate, a Z-axis sliding table and finger clamping devices, wherein the horizontal support sliding table is installed on the upright post through the X-axis guide rail and the second X-axis lead screw which are arranged in parallel, the second X-axis servo motor drives the second X-axis lead screw, the vertical mounting plate and the Z-axis servo motor are arranged on the horizontal support sliding table, the Z-axis sliding table is installed on the vertical mounting plate through the Z-axis guide rail and is also connected with the Z-axis servo motor through the Z-axis lead screw, and a plurality of finger clamping devices are installed on the Z-axis sliding table through a substrate; the finger clamping device consists of a finger driving device, an extension finger and a circular clamping jaw, and the finger driving device is connected with the circular clamping jaw through the extension finger; the finger driving device is one of an air cylinder, a hydraulic cylinder, an electro-hydraulic push rod or a linear motor.
The positioning module is also connected with a Y-axis servo motor through a Y-axis servo driver and connected with a first X-axis servo motor through a first X-axis servo driver respectively, and the program controller is also connected with a second X-axis servo motor through a second shaft servo driver and connected with a Z-axis servo motor through a Z-axis servo driver respectively; the program controller is also electrically connected with the driving motor.
The invention has the beneficial effects that: the efficient automatic dispensing process for the paper cores and the complete equipment thereof can avoid environmental pollution and harm to the health of workers caused by manual glue participation, can realize simultaneous grabbing and gluing of the paper cores in batches, and have the advantages of high production efficiency, uniform gluing, firm combination of the paper cores and the end covers, effective improvement of production quality and reduction of production cost.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
FIG. 1 is a schematic top view of the efficient automatic dispensing package of paper cores of the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 taken in elevation A;
FIG. 3 is a schematic view of the structure of FIG. 1 in elevation B;
FIG. 4 is a schematic diagram illustrating the control principle of the efficient automatic dispensing process for paper cores according to the present invention;
FIG. 5 is a schematic diagram of a process station arrangement structure of the high-efficiency automatic core dispensing process of the present invention;
reference numerals: the automatic feeding device comprises an end cover 1, a Y-axis servo motor 2, a conveying belt 3, a Y-axis screw rod 4, a positioning partition plate I5, a photoelectric switch I6, a fixed baffle plate I7, a switching clamp plate I8, a first X-axis servo motor 9, a first X-axis screw rod 10, an X-axis guide rail 11, a positioning partition plate II 12, a photoelectric switch II 13, a fixed baffle plate II 14, a switching clamp plate II 15, a driving motor 16, a second X-axis servo motor 17, a second X-axis screw rod 18, a horizontal supporting sliding table 19, a core filling clamp 20, a finished product conveying device 21, a Y-axis guide rail 22, an X-axis sliding table 23, a valve body up-and-down driving device 24, a dynamic stirring valve group 25, a clamp pushing mechanism 26, a paper core 27, a supporting frame 28, a partition plate pushing mechanism 29, a clamp plate pushing mechanism 30, an upright column 31, a Z-axis servo motor 32, a Z-axis screw rod 33, a Z-axis guide rail 34, a vertical mounting plate 35, a Z-axis sliding table 36, a base plate 37 and a finger driving device 38, an extending finger 39, a circular clamping jaw 40, a workbench 41, a positioning module 42, a Y-axis servo driver 43, a first X-axis servo driver 44, a program controller 45, a second X-axis servo driver 46 and a Z-axis servo driver 47; stirring motor 251, drive shaft 252, AB glue mixing valve 253, A glue inlet 254, B glue inlet 255, nozzle 256.
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and embodiments may be combined with each other without conflict.
Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the invention, shown in the drawings are schematic representations and not in the form of actual drawings; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
As shown in fig. 1 and 5, the efficient complete set of automatic dispensing equipment for paper cores is used in a production process of automatically gluing cylindrical paper cores 27 and plastic circular end caps 1, the production process requires high production efficiency, and the contact between workers and AB glue is reduced, which is beneficial to protecting the health of workers and protecting the environment. Mainly relates to a core loading station, a dispensing station, a gluing station, a working station and an output station; the core filling machine comprises a core filling station, a core filling clamp 20, a clamp pushing mechanism 26, a gluing station, a second fixing and clamping mechanism, a transmission device, a walking manipulator mechanism and a finished product conveying device 21, wherein the core filling clamp 20 is used for filling a paper core 27, the clamp pushing mechanism 26 is used for pushing the core filling clamp 20 into the working station, the first fixing and clamping mechanism is used for clamping and placing an end cover 1, the glue dispensing station is provided with a glue dispenser for dispensing glue onto the end cover 1, the second fixing and clamping mechanism is used for clamping and placing the end cover 1, the transmission device is arranged between the glue dispensing station and the gluing station, the working station is provided with the walking manipulator mechanism for grabbing the paper core 27, and the output station is provided with the finished product conveying device 21 for receiving the paper core 27 and the end cover 1 which are mutually bonded and released by the walking manipulator mechanism; meanwhile, the viscose station and the output station are arranged on the opposite sides of the working station in the transverse direction, the dispensing station and the core loading station are arranged side by side in the transverse direction, the dispensing station and the viscose station are arranged side by side in the longitudinal direction, and the core loading station and the working station correspond to each other in the longitudinal direction. Thus, the complete equipment comprises a batch of paper cores which are automatically fed to a specified working station by a core filling clamp, an end cover is automatically conveyed to a dispensing station by a conveying device, and AB glue is mixed by a dispenser and then injected into a circular groove of the end cover through circular motion; then the adhesive is conveyed to an adhesive adhering station by the conveying device to wait for adhering. When a plurality of end covers which are glued with glue reach a gluing station, the walking manipulator mechanism moves to the core filling fixture, simultaneously picks a row of paper cores with equal quantity, and conveys the paper cores to the gluing station, and after the paper cores are aligned to the end covers, the paper cores are vertically placed on the end covers, so that the end surfaces of the paper cores are bonded with the surfaces of the circular grooves of the end covers; and then the bonded finished product is grabbed and conveyed to a finished product conveying device to loosen a clamping jaw of the mechanical arm, the finished product is put down and finally conveyed away by the finished product conveying device, and the automation degree of the whole production process is high.
Specifically, the first clamping mechanism and the second clamping mechanism have the same structure, namely the first clamping mechanism (or the second clamping mechanism) consists of a positioning partition plate I5 (or a positioning partition plate II 12), a photoelectric switch I6 (or a photoelectric switch II 13), a fixing partition plate I7 (or a fixing partition plate II 14) and a switching partition plate I8 (or a switching partition plate II 15), wherein the fixing partition plate I7 and the switching partition plate I8, the fixing partition plate II 14 and the switching partition plate II 15 are arranged in a different side manner relative to the transmission device, the fixing partition plate I7 is provided with a plurality of positioning partition plates I5, the fixing partition plate II 14 is provided with a plurality of positioning partition plates II 12, the single positioning partition plate I5 or the single positioning partition plate II 12 is provided with a partition plate pushing mechanism 29, and the switching partition plate I8 and the switching partition plate II 15 are provided with a partition plate pushing mechanism 30; the positioning partition plate I or II is used for separating and positioning the circular end cover. If the number of the positioning partition plates I5 of the first fixing and clamping mechanism at the gluing station is four, the three end covers 1 are positioned and separated, and the number of the positioning partition plates II 12 of the second fixing and clamping mechanism at the gluing station is one more than that of the holes of the core filling clamp 20; the switching clamp plate I or II is provided with an air cylinder for adjusting two positions, so that the width between the switching clamp plate I or II and the fixed baffle plate I or II is adjusted, and the switching clamp plate I or II can be used for circular end cover 1 products with various sizes; the photoelectric switch I or II is used for detecting whether the end cover 1 element is in place. Like this, the during operation is glued to the point, I5 location baffle that leans on back is advanced to the operating position by the cylinder earlier, when first end cover 1 transported this location baffle I5 department and is blocked, photoelectric switch I6 on the corresponding position produces a switching signal, second location baffle I5 is advanced the operating position by the cylinder again, from this on, until there is three end cover 1 to target in place, I5 all advance the operating position in four location baffles, it is just glued to begin the point by I7 of fixed stop and the centre gripping of switching splint I8 simultaneously, make the point process continuity good. And during the bonding work, the last positioning partition plate II 12 is pushed by the cylinder to move forwards firstly for blocking the end cover 1 which enters the gluing station firstly, after the end cover 1 which enters the gluing station firstly is in place, the second positioning partition plate II 12 is pushed by the cylinder to move forwards, on one hand, the first end cover 1 is positioned, on the other hand, the second end cover 1 is separated, and when the end cover 1 enters one end cover, the next positioning partition plate II 12 moves forwards under the pushing of the cylinder and is clamped by the fixed baffle plate II 14 and the switching clamp plate II 15, the bonding is started, so that the continuity of the gluing process is good.
Specifically, the transmission device is composed of a conveyor belt 3 and a driving motor 16, the driving motor 16 is used for driving the conveyor belt to drive the end cover 1 on the conveyor belt to transmit, and a direct current motor or a speed reduction motor is adopted. Therefore, the conveyor belt 3 can convey the circular plastic end cover 1 to the glue dispensing station from the material placing position on the circular plastic end cover, and then convey the circular plastic end cover to the glue dispensing station, and the direct current motor realizes speed regulation through the direct current driver, so that high-efficiency conveying is realized.
Specifically, as shown in fig. 2, the dispenser comprises a Y-axis servo motor 2, a Y-axis screw rod 4, a first X-axis servo motor 9, a first X-axis screw rod 10, an X-axis sliding table 23, a valve body up-and-down driving device 24, a dynamic stirring valve set 25, and a supporting frame 28, wherein the bottom of the supporting frame 28 is arranged on the Y-axis screw rod 4, the top of the supporting frame is provided with the first X-axis screw rod 10, the X-axis sliding table 23 is arranged on the first X-axis screw rod 10, the dynamic stirring valve set 25 is arranged on the X-axis sliding table 23 through the valve body up-and-down driving device 24 in a lifting manner, the Y-axis servo motor 2 drives the Y-axis screw rod 4, and the first X-axis servo motor 9 drives the first X-axis screw rod 10; thus, the supporting frame 28 is driven by the Y-axis servo motor 2 through a sliding seat (not marked) to move the Y-axis lead screw 4; the dynamic stirring valve group 25 is connected with the valve body up-and-down driving device 24, the valve body up-and-down driving device 24 is installed on the X-axis sliding table 23, the valve body up-and-down driving device 24 pushes the dynamic stirring valve group 25 to move up and down during dispensing, the dispensing moves down, the valve body up-and-down driving device 24 and the dynamic stirring valve group 25 are driven by the X-axis sliding table 23 to move, and the X-axis sliding table 23 is driven by the first X-axis servo motor 9 to drive the first X-axis lead screw 10 to move in the X-axis direction. The dynamic mixing valve set 25 is composed of a mixing motor 251, a driving shaft 252, an AB glue mixing valve 253 and a nozzle 256, the AB glue mixing valve 253 is provided with an A glue inlet 254 and a B glue inlet 255, the mixing motor 251 is connected with the AB glue mixing valve 253 through the driving shaft 252, and the nozzle 256 is connected with the AB glue mixing valve 253.
Specifically, as shown in fig. 3, the walking manipulator mechanism is composed of an X-axis guide rail 11, a second X-axis servo motor 17, a second X-axis lead screw 18, a horizontal support sliding table 19, an upright column 31, a Z-axis servo motor 32, a Z-axis lead screw 33, a Z-axis guide rail 34, a vertical mounting plate 35, a Z-axis sliding table 36 and a finger clamping device, wherein the horizontal support sliding table 19 is installed on the upright column 31 through the X-axis guide rail 11 and the second X-axis lead screw 18 which are arranged in parallel, the second X-axis servo motor 17 drives the second X-axis lead screw 18, the vertical mounting plate 35 and the Z-axis servo motor 32 are arranged on the horizontal support sliding table 19, the Z-axis sliding table 36 is installed on the vertical mounting plate 35 through the Z-axis guide rail 34, and the Z-axis sliding table 36 is further connected with the Z-axis servo motor 32 through the Z-axis lead screw 33; thus, the walking manipulator mechanism moves left and right under the driving of a second X-axis screw rod 18 driven by a second X-axis servo motor 17; the Z-axis servo motor 32 drives the Z-axis screw rod 33 to move up and down. A plurality of finger clamping devices are arranged on the Z-axis sliding table 36 through a base plate 37; the finger clamping device consists of a finger driving device 38, an extension finger 39 and a circular clamping jaw 40, wherein the finger driving device 38 is connected with the circular clamping jaw 40 through the extension finger 39; the finger driving device 38 is provided with two extending fingers 39, namely one end of each extending finger 39 is connected with the finger driving device 38, the other end of each extending finger 39 is connected with the circular clamping jaw 40, the extending fingers 39 on the finger driving device 38 can be folded and unfolded, and the cylindrical paper core 27 is clamped and loosened by driving the circular clamping jaws 40; the finger driving device is one of an air cylinder, a hydraulic cylinder, an electro-hydraulic push rod or a linear motor; the Z-axis guide rail 34 adopts two parallel double-rail structures.
In this embodiment, the fixture pushing mechanism 26, the partition pushing mechanism 29, the clamping plate pushing mechanism 30, the valve body up-down driving device 24, and the finger driving device 38 all use air cylinders, and have the advantages of high response speed and easy automation control. Of course, in different examples, one of a hydraulic cylinder, an electro-hydraulic push rod or a linear motor may be used.
The positioning partition plate I5 or the positioning partition plate II 12 in the embodiment is provided with a V-shaped structure at the front end contacted with the end cover 1, and the bottom surface of the front end is an inclined surface.
In this embodiment, the core filling machine further includes a workbench 41 for arranging a core filling station, a dispensing station, a gluing station, a working station and an output station, a Y-axis guide rail 22 connected to the core filling station and the working station and used for sliding fit with the core filling fixture 20 is disposed on the workbench 41, and the Y-axis guide rail 22 adopts two parallel double-rail structures, so that the core filling fixture 20 can move stably. And the core filling clamp 20 is provided with seventy round holes for installing the paper cores 27 in ten rows and seven lines, so that the one-time filling amount of the paper cores can be ensured, and the working efficiency on the working station is improved.
In another embodiment, the gluing station and the output station are arranged on the same side of the working station in the transverse direction; or the glue station is provided with a corresponding glue dispensing station at one side or two sides in the longitudinal direction; or the working stations are provided with corresponding core loading stations at one side or two sides in the longitudinal direction. The working efficiency of the complete equipment can be improved.
As shown in fig. 4, in the present embodiment, the present invention further includes a program controller 45 and a positioning module 42 electrically connected to the program controller 45 and having an interpolation function, the positioning module is further connected to the upper Y-axis servo motor 2 through a Y-axis servo driver 43, and the first X-axis servo driver 44 is connected to the upper first X-axis servo motor 9, the program controller 45 is further connected to the upper second X-axis servo motor 17 through a second axis servo driver 46, and the upper Z-axis servo motor 32 through a Z-axis servo driver 47; the program controller 45 is also electrically connected to the driving motor 16 of the transmission device. Thus, the automatic operation of the device is mainly completed by the programmable program controller 45 and the positioning module 42, wherein the main function of the positioning module 42 is to control the Y-axis servo driver 43 and the first X-axis servo driver 44, the Y-axis servo driver 43 drives the Y-axis servo motor 2, the first X-axis servo driver 44 drives the first X-axis servo motor 9, the Y-axis servo motor 2 drives the nozzle 256 to move in the Y-direction, the first X-axis servo motor 9 drives the nozzle 256 to move in the X-direction, and finally the nozzle 256 moves circumferentially due to the circular interpolation function of the positioning module 42. The program controller 45 mainly receives information of elements such as a button switch, a photoelectric switch, a travel switch and the like, and can drive each cylinder and each motor to act according to the requirements of the processing technology to realize corresponding movement. The program controller 45 controls the second X-axis servo driver 46 to drive the second X-axis servo motor 17 to rotate, so as to drive the walking manipulator mechanism to move in the X-axis direction, the program controller 45 controls the Z-axis servo driver 47 to drive the Z-axis servo motor 32 to rotate, so as to drive the walking manipulator mechanism to move in the Z-axis direction, and the two motions are independent. In addition, the program controller 45 also exchanges information with the positioning module 42 to ensure that the dispensing time of the nozzle 256 is accurate, so as to realize the continuous action required by the equipment.
The high-efficiency automatic dispensing process for the paper core comprises the following steps: determining a core loading station, a dispensing station, a gluing station, a working station and an output station; filling paper cores on a core filling station, and pushing the filled paper cores into a working station; inputting an end cover on a glue dispensing station, uniformly dispensing glue on the end cover, and conveying the glue to a glue dispensing station; grabbing the paper core on a working station, and conveying the grabbed paper core to a gluing station to bond the paper core with the end cover; and simultaneously grabbing the mutually bonded paper core and the end cover on the gluing station, and conveying the paper core and the end cover to an output station.
The following process and the working flow of the complete equipment thereof are explained in detail:
when an operator places a paper stack, the clamp pushing mechanism 26 firstly pushes the core filling clamp 20 to return to the core filling station, the operator puts the paper core 27 into the circular hole of the core filling clamp 20, and after putting the paper core 27 into all the circular holes, the core filling clamp 20 is pushed to the working station through the clamp pushing mechanism 26. When the core filling clamp 20 reaches a working position, the travel switch is pressed down, the driving motor 16 starts to rotate, the conveying belt 3 is driven to move, and the circular end cover 1 starts to be conveyed. When the three circular end covers 1 are in place, the dispensing motion control dynamic stirring valve group 25 moves to the first circular end cover 1, the valve body up-and-down driving device 24 drives the dynamic stirring valve group 25 to move downwards, after the dynamic stirring valve group moves downwards to the place, the stirring motor 251 starts to rotate to drive the driving shaft 252 to rotate, the screw shaft in the AB glue nozzle 256 is further driven to rotate the A glue valve, the A glue flows in from the A glue inlet 254, the B glue valve is opened, the B glue flows in from the B glue inlet 255, flows into the nozzle 256 after passing through the AB glue mixing valve 253, and is sprayed into the circular end cover 1 through the nozzle 256. The nozzle 256 is moved along the circular end cap 1 in a circular motion while spraying the AB-mix glue. When the nozzle 256 completes the circular dispensing motion of the first end cap 1, the first positioning partition plate i 5 retracts, the end cap 1 that is completed with dispensing is released, and when the photoelectric switch i 6 at the position detects that the end cap 1 has been released, the first positioning partition plate i 5 moves forward again, the second positioning partition plate i 5 moves back, the next end cap 1 is placed, and the nozzle 256 continues to perform the circular dispensing motion under the driving of the positioning module 42. When the end cover 1 subjected to glue dispensing is conveyed to a gluing station, the end cover 1 is sequentially blocked and positioned by the positioning partition plate II 12, and whether the end cover is in place is detected by the photoelectric switch II 13. When the seven end covers 1 are in place, the switching clamp plate II 15 of the gluing station moves forwards under the driving of the cylinder, so that the seven end cover 1 parts are clamped. After the seven end cover 1 parts are clamped, the walking manipulator mechanism moves to the position of the leftmost column of the core filling clamp 20 with the paper core 27 under the driving of the second X-axis servo motor 17 and the Z-axis servo motor 32, grabs the column of paper core, moves to the position above the seven positioned end covers 1 and aligns with the end covers 1, and at this time, the conveying belt 3 stops conveying. And then the walking manipulator mechanism moves downwards to contact the lower end face of the paper core 27 with the surface of the circular end cover 1, then the walking manipulator mechanism loosens the paper core 27 and moves downwards continuously so as to clamp the end cover 1 and the paper core 27 together, when seven products are clamped in place, the walking manipulator mechanism moves upwards firstly under the driving of a second X-axis servo motor 17 and a Z-axis servo motor 32 and then moves leftwards or rightwards, and finally the paper core 27 and the end cover 1 which are glued are placed on a finished product conveying device 21 of an output station to be conveyed away, namely the whole glue dispensing process is completed.
In the above-mentioned scheme, single refill snatchs the viscose production efficiency very low, in order to improve production efficiency, need once only snatch a plurality of refills, the refill that will snatch simultaneously bonds with a plurality of end covers. The auxiliary time of the reciprocating motion of the manipulator is reduced, and the efficiency is improved. The program controller is a programmable logic controller (PLC for short) and is widely applied to process control equipment, the switching value can be controlled, a plurality of high-speed pulse output ports are arranged, a servo driver can be directly driven to work, the accurate positioning of servo motion is realized, and the servo motion required by a manipulator can be controlled. The positioning module is a controller which can control a servo system to realize linear interpolation and circular interpolation. Can control the circular motion realized when the point is glued, in addition still have input and output port.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a complete sets is glued from moving point to high-efficient refill which characterized in that includes: the automatic core-filling machine comprises a core-filling clamp (20) arranged on a core-filling station and used for filling a paper core (27), a clamp pushing mechanism (26) used for pushing the core-filling clamp (20) into a working station, a first clamping mechanism arranged on a glue-dispensing station and used for clamping an end cover (1), a glue dispenser used for dispensing glue on the end cover (1), a second clamping mechanism arranged on the glue-dispensing station and used for clamping the end cover (1), a transmission device arranged between the glue-dispensing station and used for transmitting the end cover, a walking manipulator mechanism arranged on the working station and used for grabbing the paper core (27), and a finished product conveying device (21) arranged on an output station and used for receiving the paper core (27) and the end cover (1) which are mutually bonded and released by the walking manipulator mechanism; the gluing station and the output station are arranged on the same side or opposite sides of the working station in the transverse direction, the dispensing station and the core loading station are arranged side by side in the transverse direction, the dispensing station and the gluing station are arranged side by side in the longitudinal direction, and the core loading station and the working station correspond to each other in the longitudinal direction; first fixation clamp mechanism is by location baffle I (5), photoelectric switch I (6), solid fixed stop I (7), switch splint I (8) and constitute, second fixation clamp mechanism is by location baffle II (12), photoelectric switch II (13), solid fixed stop II (14), switch splint II (15) are constituteed, between solid fixed stop I (7) and switch splint I (8), between solid fixed stop II (14) and the switch splint II (15) the homogeneous phase is the heteropleural arrangement for transmission device, be equipped with a plurality of location baffles I (5) on solid fixed stop I (7), be equipped with a plurality of location baffles II (12) on solid fixed stop II (14), and single location baffle I (5), location baffle II (12) all are provided with baffle propelling movement mechanism (29), switch splint I (8), The switching clamp plates II (15) are provided with clamp plate pushing mechanisms (30).
2. The efficient automatic dispensing complete equipment for the paper cores according to claim 1, wherein the corresponding dispensing stations are arranged on one side or two sides of the longitudinal direction of the gluing station.
3. The efficient automatic dispensing complete equipment for paper cores as claimed in claim 1, wherein the working stations are provided with corresponding core loading stations at one side or two sides in the longitudinal direction.
4. The automatic dispensing complete equipment for the paper cores as claimed in claim 1, further comprising a workbench (41) for arranging the core loading station, the dispensing station, the gluing station, the working station and the output station, wherein a Y-axis guide rail (22) for connecting the core loading station and the working station and for sliding fit with the core filling fixture (20) is arranged on the workbench.
5. The efficient automatic dispensing complete equipment for the paper cores as claimed in claim 1, wherein the clamp pushing mechanism (26), the partition pushing mechanism (29) and the clamping plate pushing mechanism (30) are one of a cylinder, a hydraulic cylinder, an electro-hydraulic push rod or a linear motor; the front ends of the positioning partition plates I (5) and the positioning partition plates II (12) which are in contact with the end covers are respectively arranged to be V-shaped structures, and the bottom surfaces of the front ends are inclined planes.
6. A high-efficiency automatic dispensing complete equipment for paper cores according to any one of claims 1-5, characterized in that the transmission device is composed of a conveyor belt (3) and a driving motor (16), the driving motor (16) is used for driving the conveyor belt (3) and adopts a direct current motor or a speed reducing motor.
7. The high-efficiency automatic dispensing complete equipment for paper cores as claimed in claim 6, wherein the dispenser is composed of a Y-axis servo motor (2), a Y-axis screw rod (4), a first X-axis servo motor (9), a first X-axis screw rod (10), an X-axis sliding table 23, a valve body up-and-down driving device (24), a dynamic stirring valve set (25) and a supporting frame (28), the bottom of the supporting frame (28) is arranged on the Y-axis screw rod (4), the top of the supporting frame is provided with the first X-axis screw rod (10), the X-axis sliding table (23) is arranged on the first X-axis screw rod (10), the dynamic stirring valve set (25) is arranged on the X-axis sliding table (24) in a lifting manner through the valve body up-and-down driving device (24), the Y-axis servo motor (2) drives the Y-axis screw rod (4), a first X-axis servo motor (9) drives a first X-axis screw rod (10); the valve body up-down driving device (24) is one of an air cylinder, a hydraulic cylinder, an electro-hydraulic push rod or a linear motor; dynamic stirring valves (25) are glued mixing valve (253), nozzle (256) by agitator motor (251), drive shaft (252), AB and are constituteed, and it glues entry (254) and B and glues entry (255) to be equipped with A on the AB glue mixing valve, and agitator motor (251) are connected AB through drive shaft (252) and are glued mixing valve (253), and nozzle (256) are connected on AB glues mixing valve (253).
8. The efficient automatic dispensing complete equipment for paper cores as claimed in claim 7, wherein the walking manipulator mechanism is composed of an X-axis guide rail (11), a second X-axis servo motor (17), a second X-axis screw rod (18), a horizontal supporting sliding table (19), a stand column (31), a Z-axis servo motor (32), a Z-axis screw rod (33), a Z-axis guide rail (34), a vertical mounting plate (35), a Z-axis sliding table (36) and a finger clamping device, the horizontal supporting sliding table (19) is installed on the stand column through the X-axis guide rail (11) and the second X-axis screw rod (18) which are arranged in parallel, the second X-axis servo motor (17) drives the second X-axis screw rod (18), the vertical mounting plate (35) and the Z-axis servo motor (32) are arranged on the horizontal supporting sliding table (19), the Z-axis sliding table (36) is installed on the vertical mounting plate (35) through the Z-axis guide rail (34), the Z-axis sliding table (36) is also connected with a Z-axis servo motor (32) through a Z-axis lead screw (33), and a plurality of finger clamping devices are arranged on the Z-axis sliding table (36) through a substrate (37); the finger clamping device consists of a finger driving device (38), an extending finger (39) and a circular clamping jaw (40), wherein the finger driving device (38) is connected with the circular clamping jaw (40) through the extending finger (39); the finger driving device (38) is one of an air cylinder, a hydraulic cylinder, an electro-hydraulic push rod or a linear motor.
9. The automatic dispensing complete equipment for the high-efficiency paper cores of claim 8, further comprising a program controller (45) and a positioning module (42) electrically connected with the program controller (45) and having an interpolation function, wherein the positioning module is further connected with the Y-axis servo motor (2) through a Y-axis servo driver (43) and connected with the first X-axis servo motor (9) through a first X-axis servo driver (44), the program controller (45) is further connected with the second X-axis servo motor (9) through a second X-axis servo driver (46) and connected with the Z-axis servo motor (32) through a Z-axis servo driver (47); the program controller (45) is also electrically connected with the driving motor (16).
10. The dispensing process of the high-efficiency automatic dispensing complete equipment for paper cores as claimed in any one of claims 1 to 9, is characterized by comprising the following steps:
determining a core loading station, a dispensing station, a gluing station, a working station and an output station;
filling paper cores on a core filling station, and pushing the filled paper cores into a working station;
inputting an end cover on a glue dispensing station, uniformly dispensing glue on the end cover, and conveying the glue to a glue dispensing station;
grabbing the paper core on a working station, and conveying the grabbed paper core to a gluing station to bond the paper core with the end cover;
and simultaneously grabbing the mutually bonded paper core and the end cover at the gluing station, and conveying the paper core and the end cover to the output station.
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| CN202110431809.XA CN113145422B (en) | 2021-04-21 | 2021-04-21 | Efficient automatic dispensing process for paper cores and complete equipment thereof |
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