CN114852415B - Automatic device of snatching and vanning of card - Google Patents
Automatic device of snatching and vanning of card Download PDFInfo
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- CN114852415B CN114852415B CN202210457085.0A CN202210457085A CN114852415B CN 114852415 B CN114852415 B CN 114852415B CN 202210457085 A CN202210457085 A CN 202210457085A CN 114852415 B CN114852415 B CN 114852415B
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- grabbing
- cards
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- 210000000078 claw Anatomy 0.000 claims abstract description 89
- 230000008859 change Effects 0.000 claims abstract description 4
- 230000000903 blocking effect Effects 0.000 claims description 36
- 229910000831 Steel Inorganic materials 0.000 claims description 23
- 239000010959 steel Substances 0.000 claims description 23
- 230000008878 coupling Effects 0.000 claims description 14
- 238000010168 coupling process Methods 0.000 claims description 14
- 238000005859 coupling reaction Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000005056 compaction Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 9
- 229910052782 aluminium Inorganic materials 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 7
- 230000009975 flexible effect Effects 0.000 description 4
- 230000002596 correlated effect Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
- B65B35/36—Arranging and feeding articles in groups by grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
- B65B35/30—Arranging and feeding articles in groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
- B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a device for automatically grabbing and boxing cards, which comprises: the grabbing device adopts a mechanical arm structure, and a mechanical claw is arranged at the end part of the grabbing device; the mechanical claw comprises two clamping plates which can be mutually close to or separated from each other and are arranged in parallel, a sliding rod which can change the position is arranged between the clamping plates, and the sliding rod can be transferred to the lower side part of the clamping plates to limit the clamping plates; the card boxing device is used for placing a card box; the card grabbing platform is used for arranging cards and transferring the cards to the card box through the grabbing device after grabbing the cards by the mechanical claws. The mechanical claw clamps the stacked cards through the two card clamping plates, supports the stacked cards through the sliding rod, prevents that the clamping force of the card clamping plates from being insufficient, and causes the cards in the middle position of the stacked cards to drop, so that the clamping force of the card clamping plates does not need to be set to be maximum, and the cards are prevented from flying out of the mechanical claw.
Description
Technical Field
The invention belongs to the field of automatic boxing, and particularly relates to a device for automatically grabbing and boxing cards.
Background
The printed cards are cut into single cards through a card arranging machine, and then the edges of the single cards are punched and trimmed to form finished cards with round corners. The cards move along the guide chute of the card arranging machine, and the piled cards are finally put into boxes by manpower for subsequent packaging and other procedures. Because the grabbing cards are a pair of work with very high requirements on hand strength, the wrists of workers can be damaged when the cards are grabbed for a long time.
At present, grabbing and transferring are usually completed through a mechanical claw, however, the surface of a card is smooth, the friction force between the card and the card is small, the existing mechanical claw is found to have some problems in the use process, a conventional mechanical claw is adopted to grab the piled card, if the clamping force is too small, the card can fall off from the mechanical claw, and if the clamping force is too large, the card can fly out of the mechanical claw under the pressure of the mechanical claw. The existing mechanical claw is large in size, when the clamping cards are grabbed and then boxed, large gaps are formed in the box, and the clamping cards shake to influence the progress of follow-up work.
Disclosure of Invention
The invention solves the defects that the existing mechanical claw is easy to cause card falling off or easy to fly out when the existing mechanical claw is used for grabbing cards, and a large gap is formed after the existing mechanical claw is installed in a box to influence the progress of manual work.
The specific technical scheme of the invention is as follows: an apparatus for automatically gripping and boxing cards, comprising:
the grabbing device adopts a mechanical arm structure, and a mechanical claw is arranged at the end part of the grabbing device;
the mechanical claw comprises two clamping plates which can be mutually close to or separated from each other and are arranged in parallel, a sliding rod which can change the position is arranged between the clamping plates, and the sliding rod can be transferred to the lower side part of the clamping plates to limit the clamping plates;
the card boxing device is used for placing a card box;
the card grabbing platform is used for arranging cards and transferring the cards to the card box through the grabbing device after grabbing the cards by the mechanical claws.
The mechanical claw comprises two card clamping plates, the two card clamping plates are close to each other to clamp the stacked cards, the two card clamping plates are separated from each other, and the stacked cards fall from the mechanical claw; the sliding rods are arranged between the card clamping plates, the positions of the sliding rods can be changed to indicate that the sliding rods can move along the periphery of the card clamping plates, the side edges of the stacked cards can be limited when the sliding rods are positioned at the side edge positions of the card clamping plates, the bottoms of the stacked cards are limited when the sliding rods move to the lower side positions of the card clamping plates, the sliding rods are arranged at the bottoms of the stacked cards to limit the bottoms of the stacked cards, the stacked cards can be supported, the clamping force of the card clamping plates is prevented from being insufficient, the cards in the middle positions of the stacked cards are prevented from falling, the clamping force of the card clamping plates is not required to be set to be maximum, and the cards are prevented from flying out of the mechanical claws; the mechanical claw adopts the card clamping plate to clamp the card stack, the whole external dimension is small, and the card stack is convenient to put into the card box; the card grabbing platform is used for arranging cards, and the cards are arranged on the card grabbing platform according to the number of cards grabbed each time; the grabbing device adopts a mechanical arm structure, so that flexible motion can be realized, the motion of the mechanical claws can cover a required range, and the mechanical claws can be accurately placed in the card box after grabbing the stacked cards.
Further preferably, the mechanical claw comprises a mechanical claw top plate, two card clamping plates are in sliding connection with the mechanical claw top plate, an air claw finger parallel cylinder is connected between the two card clamping plates, and the two card clamping plates are controlled to move by the air claw finger parallel cylinder. The two card clamping plates are connected through the air claw finger parallel air cylinders, and can be simultaneously close to or simultaneously separated under the action of the air claw finger parallel air cylinders.
Further preferably, the side of the card clamping plate is wound with a steel wire, the sliding rod is fixed at the outer side of the steel wire, two rotatable toothed groove wheels are arranged at the upper end of the card clamping plate, a sliding rod driving gear meshed with the two toothed grooved wheels is further arranged on the card clamping plate, two ends of the steel wire are fixed on the toothed grooved wheels, the sliding rod driving gear is driven by a sliding rod driving motor, and the toothed grooved wheels rotate and drive the steel wire to move along the side of the card clamping plate. The side edges of the card clamping plates are wound with steel wires, two ends of the steel wires are fixed on toothed sheaves, the steel wires are flexible, and synchronously rotate along with the toothed sheaves in the same direction, the steel wires move around the periphery of the card clamping plates, so that sliding rods fixed on the outer sides of the steel wires can move along the periphery of the card clamping plates, and the side edges of the stacked cards can be limited or the bottom of the stacked cards can be supported; the two toothed grooved wheels are meshed with the slide bar driving gear, and the slide bar driving gear drives the toothed grooved wheels to synchronously rotate in the same direction when rotating.
Further preferably, the number of the slide bars is multiple, two slide bars are arranged on each card clamping plate, namely a card side blocking slide bar and a card bottom blocking slide bar, a sleeve rod is sleeved between the opposite slide bars between the two card clamping plates, a card side blocking sleeve rod is sleeved between the opposite ends of the card side blocking slide bars, and a card bottom blocking sleeve rod is sleeved between the opposite ends of the card bottom blocking slide bars. The slide bar is located between two card splint, and two card splint can be close to each other or separate consequently the distance between two card splint can change, and the loop bar is put to cover between the relative slide bar, can stretch out and draw back each other between slide bar and the loop bar, and the loop bar can guarantee simultaneously that two relative slide bars are in same straight line again.
Further preferably, the mechanical claw further comprises a pressing device, wherein the pressing device comprises a card pressing plate driven by an electric push rod driven by a pressing plate, and card pressing side plates arranged on two sides of the card pressing plate; the card lower pressing plate is internally provided with a through hole, an internal spring is arranged in the through hole, the side face of the card lower pressing side plate is provided with a polished rod, and the polished rod is inserted into the through hole of the card lower pressing plate and is contacted with the internal spring, and the outer side edge of the card lower pressing side plate is abutted against the inner side face of the card clamping plate.
Further preferably, the card grabbing platform comprises a card grabbing platform support, a card conveying groove arranged on the card grabbing platform support, and a card sorting device arranged at one end of the card conveying groove, and the card grabbing platform further comprises a clamping mechanism for clamping cards and moving along the card conveying groove. Card finishing device can arrange the card in the card conveyer trough, keeps the card to arrange neatly, and the fixture centre gripping of being convenient for, for example to the flattening of the card top of packing into, carry out the quantity to the card of packing into and arrange the centre gripping of being convenient for. Because the cards are mutually arranged side by side in the card conveying groove, in order to avoid falling in the grabbing process of the mechanical claws, the stacked cards to be grabbed are preferably separated from the rest cards, and are clamped by the clamping mechanism and then move along the card conveying groove after being clamped, so that the cards are convenient to grab.
Further preferably, the card arranging device comprises a leveling cylinder arranged on the cylinder mounting frame, a forward pushing cylinder arranged on the cylinder mounting frame and a pressing cylinder arranged at the telescopic rod end of the forward pushing cylinder; the card grabbing platform further comprises a distance sensor arranged at the other end of the card conveying groove; the clamping mechanism comprises a moving device arranged below the card conveying groove and two card clamps arranged on the moving device, and the two card clamps are connected through an air claw finger parallel cylinder.
Still preferably, the card conveying groove is internally provided with a yielding mechanism, and the yielding mechanism comprises a yielding cylinder arranged at one side of the card conveying groove, and the expansion direction of the yielding cylinder is vertical to the length direction of the card conveying groove; the other side of the card conveying groove is provided with a compaction cylinder, the compaction cylinder is opposite to the abdication cylinder, and the expansion direction of the compaction cylinder is vertical to the length direction of the card conveying groove; the card conveying groove is also internally provided with a card pressing trolley capable of freely moving. In order to facilitate the gripper to grasp the cards, meanwhile, the clamping cards are supported by the sliding rod, a yielding mechanism is arranged in the clamping groove conveying groove, a gap is reserved between the piled cards and the side edge of the clamping card conveying groove through the yielding mechanism, the sliding rod enters from the gap, and meanwhile, the piled cards are pushed towards the direction of the sliding rod through the compacting mechanism, so that the piled cards are contacted with the sliding rod.
Further preferably, the card boxing device comprises a box frame, a plurality of sliding rails arranged on the box frame, and a card box tray matched with the sliding rails through sliding blocks, wherein a flange is arranged on the side edge of the card box tray, the card box is arranged on the card box tray and positioned by the flange, and a card box position sensor and a card box fixing cylinder for fixing the card box are further arranged on the box frame. The card box tray can move along the slide rail through the slide block, so that the card box can be replaced conveniently. The card box is kept stable in position in the boxing process through the card box fixing cylinder.
Further preferably, the two sliding rails are a group, a card box tray is arranged above the two sliding rails of the same group in a matched mode, a magnetic coupling type rodless cylinder is arranged on the box frame, and a card box connecting cylinder which is fixedly connected with the card box tray is arranged on a sliding block of the magnetic coupling type rodless cylinder.
The beneficial effects of the invention are as follows: 1. the mechanical claw clamps the stacked cards through the two card clamping plates, and supports the stacked cards through the sliding rod, so that the phenomenon that the cards in the middle of the stacked cards fall due to insufficient clamping force of the card clamping plates is avoided, the clamping force of the card clamping plates is not required to be set to be maximum, and the cards are prevented from flying out of the mechanical claw;
2. the mechanical claw adopts the card clamping plate to clamp the stacked cards, the whole external dimension is small, the mechanical claw is convenient to put into the card box, and the cards are prevented from shaking in the card box;
3. the grabbing device adopts a mechanical arm structure, so that flexible action can be realized, the action of the mechanical claws can cover a required range, and the mechanical claws can be accurately placed in the card box after grabbing the stacked cards;
4. card vanning can realize automaticly, reduces the damage to the card simultaneously.
Drawings
FIG. 1 is a schematic view of a construction of the present invention;
FIG. 2 is a schematic view of a card boxing apparatus in accordance with the present invention;
FIG. 3 is a schematic view of a card grasping station according to the invention;
FIG. 4 is an exploded view of the card gripping station of FIG. 3 according to the present invention;
FIG. 5 is a schematic view of a gripping device according to the present invention;
FIG. 6 is a schematic view of the structure of a gripper according to the present invention;
FIG. 7 is a schematic view of the back of a gripper according to the present invention;
FIG. 8 is a schematic view of a card clamping plate according to the present invention;
FIG. 9 is a schematic view of a slide bar drive of the present invention;
in the figure: 1. card boxing device 1-1, a box frame, 1-2, an aluminum support optical axis slide rail A,1-3, an aluminum support optical axis slide rail B,1-4, an aluminum support optical axis slide rail C,1-5, an aluminum support optical axis slide rail D,1-6, a card box fixing cylinder A,1-7, a card box fixing cylinder B,1-8, a card box A,1-9, a card box B,1-10, a magnetic coupling type rodless cylinder, 1-11, a card box connecting cylinder A,1-12, a card box connecting cylinder B,1-13, a card box tray A,1-14, a card box tray B,1-15, a photoelectric sensor support A,1-15-1 and a laser correlation photoelectric switch sensor A,1-15-2, a laser correlation photoelectric switch sensor B,1-16, a photoelectric sensor support B,1-16-1, a laser correlation photoelectric switch sensor C,1-17, a photoelectric sensor support C,1-17-1, a laser correlation photoelectric switch sensor D,1-18, a photoelectric sensor support D,1-18-1, a laser correlation photoelectric switch sensor E,1-18-2, a laser correlation photoelectric switch sensor F,1-19, a photoelectric sensor support E,1-19-1, a laser correlation photoelectric switch sensor G,1-19-2 and a laser correlation photoelectric switch sensor H;
2. the card grabbing device comprises a card grabbing platform A,2-1, a card grabbing platform support, 2-2, a card conveying groove, 2-3, a distance sensor, 2-4, a yielding cylinder, 2-5, a compacting cylinder, 2-6, a cylinder mounting frame, 2-7, a leveling cylinder, 2-8, a forward pushing cylinder, 2-9, a downward pushing cylinder, 2-10, a card pressing trolley, 2-11, a card clamp A,2-12, a card clamp B,2-13, a driving motor, 2-14, a gas claw finger parallel cylinder, 2-15, a gas claw finger parallel cylinder mounting frame, 2-16, a mounting frame sliding block, 2-17, a mounting frame sliding rail, 2-18, a roller A,2-19, a roller B,2-20 and a belt;
3. card grabbing platform B;
4. a mechanical arm, 4-1, a mechanical claw rotating shaft;
5. the mechanical claw, 5-1, mechanical claw top plate, 5-2, gas claw finger parallel cylinder, 5-3, mechanical claw slide rail A,5-4, mechanical claw slide rail B,5-5, mechanical claw slide block A,5-6, mechanical claw slide block B,5-7, slide bar driving motor, 5-8, slide bar driving motor synchronous wheel, 5-9, slide bar driving synchronous belt, 5-10, slide bar driving shaft, 5-11, lower pressing plate driving electric push rod, 5-12, card lower pressing plate, 5-13, card lower pressing side plate A,5-14, card lower pressing side plate B,5-15, card side blocking sleeve rod, 5-16, card bottom blocking sleeve rod, 5-17, built-in springs A,5-18, built-in springs B,5-19, card clamping plate device A,5-19-1, card clamping plate A,5-19-2, toothed wheel A,5-19-3, toothed grooved wheel B,5-19-4, baffle ring A,5-19-5, baffle ring B,5-19-6, card side baffle slide bar A,5-19-7, card bottom baffle slide bar A,5-19-8, steel wire A,5-20, card clamping plate device B,5-21, slide bar driving gear assembly A,5-21-1, driving gear A,5-21-2, gear driving rod A,5-22, and slide bar driving gear assembly B.
Detailed Description
The invention will now be further described by way of specific examples with reference to the accompanying drawings.
Examples:
as shown in fig. 1, a device for automatically grabbing and boxing cards comprises: adopt grabbing device of arm 4 structure, set up in arm tip position's gripper 5 and set up in arm rotation in-range card vanning device 1 and card snatch the platform, in this embodiment, the card snatch the platform and be two of symmetrical arrangement, be card snatch platform A2 and card snatch platform B3 respectively, the arm sets up between two cards snatch the platform, card vanning device sets up between two cards snatch the platform.
As shown in FIG. 2, the card boxing device comprises a box frame 1-1, a plurality of sliding rails arranged on the box frame, and a card box tray matched with the sliding rails through sliding blocks, wherein in the embodiment, the box frame is square, the upper part of the box frame is a flat supporting surface, four sliding rails parallel to each other are fixed on the supporting surface, the four sliding rails are respectively an aluminum support optical axis sliding rail A1-2, an aluminum support optical axis sliding rail B1-3, an aluminum support optical axis sliding rail C1-4 and an aluminum support optical axis sliding rail D1-5, two sliding rails are in a group, and the four aluminum support optical axis sliding rails form two groups. The two card box trays are respectively a card box tray A1-13 and a card box tray B1-14, and the two card box trays respectively correspond to a group of sliding rails. The side of card case tray is provided with the flange, and the flange is towards one side of arm, all places a card case on every card case tray, and card case A1-8 card case B1-9 are respectively blocked to card case A in this embodiment, and card case A places on card case tray A and is blocked by the flange, and card case B places on card case tray B and is blocked by the flange. The side of the box frame is also connected with card box fixing cylinders through support arms, the number of the card box fixing cylinders is two, namely card box fixing cylinders A1-6 corresponding to the card box A and card box fixing cylinders B1-7 corresponding to the card box B, the relative sliding rails of the card box fixing cylinders are inclined, the extending direction of the card box fixing cylinders is the direction for pushing the card box to abut against the flange, and the card box is fixed on the corresponding card box tray after the card box fixing cylinders extend.
The middle position of the supporting surface is also provided with a magnetic coupling type rodless cylinder 1-10, the magnetic coupling type rodless cylinder is positioned between the two groups of sliding rails and is provided with two sliding blocks, and card box connecting cylinders A1-11 used for being connected with a card box A, card box connecting cylinders B1-12 used for being connected with a card box B and photoelectric sensor supports A1-15 are respectively arranged on the two sliding blocks. The shaft end of the card box connecting air cylinder A faces the card box tray A, and when the shaft of the card box connecting air cylinder A extends, the card box tray A can be inserted. The shaft end of the card box connecting cylinder B faces the card box tray B, and when the shaft of the card box connecting cylinder B stretches, the card box tray B can be inserted. After the shaft ends of the card box connecting cylinders are inserted into the corresponding card box trays, the sliding blocks of the magnetic coupling rodless cylinders can drive the card box trays to move along the sliding rails.
The photoelectric sensor support A is fixedly provided with a laser correlation photoelectric switch sensor A1-15-1 and a laser correlation photoelectric switch sensor B1-15-2. The front position of the box frame is provided with a photoelectric sensor support B1-16 and a photoelectric sensor support C1-17, the photoelectric sensor support B is provided with a laser correlation photoelectric switch sensor C1-16-1, and the photoelectric sensor support C is provided with a laser correlation photoelectric switch sensor D1-17-1. The side position of the box frame is provided with a photoelectric sensor support D1-18 and a photoelectric sensor support E (which is not shown in the figure and is shielded by a card box B), the photoelectric sensor support D is provided with a laser correlation photoelectric switch sensor E1-18-1 and a laser correlation photoelectric switch sensor F1-18-2, and the photoelectric sensor support E is provided with a laser correlation photoelectric switch sensor G and a laser correlation photoelectric switch sensor H. The laser correlation photoelectric switch sensor E and the laser correlation photoelectric switch sensor A are correlation, the laser correlation photoelectric switch sensor F and the laser correlation photoelectric switch sensor C are correlation, the laser correlation photoelectric switch sensor G and the laser correlation photoelectric switch sensor B are correlation, and the laser correlation photoelectric switch sensor H and the laser correlation photoelectric switch sensor D are correlation.
The action of card loading will be described below by taking card box A as an example, and when card box A is filled with cards, the cylinder shaft of card box connecting cylinder A1-11 is extended and inserted into the corresponding hole of card box tray A1-13, at the same time, the cylinder rod of card box fixing cylinder A1-6 is retracted, and does not bear against card box A1-8. Then the sliding blocks of the magnetic coupling rodless cylinders 1-10 move backwards to drive the card box tray A to move. The replacement of the full card case is then accomplished, either manually or by other automated means, and the empty case is placed on card case trays A1-13. In this process, when the card-filled box is removed from the card box tray A, the laser correlation photoelectric switch sensor E1-18-1 just will be correlated with the laser correlation photoelectric switch sensor A1-15-1. When the empty box is placed on the card box tray A, the box can block the laser correlation photoelectric switch sensor E and the laser correlation photoelectric switch sensor A, and at the moment, the magnetic coupling type rodless cylinder starts to move to the initial position. When the card box tray A just blocks the laser correlation photoelectric switch sensor F1-18-2 and the laser correlation photoelectric switch sensor C1-16-1, the magnetic coupling type rodless cylinder stops moving, at the moment, the positioning work of the card box tray A is completed, and then the card box fixing cylinder A stretches to prop against the empty box, and at the moment, the positioning of the empty box is completed.
Card grasping table a and card grasping table B are symmetrical, and card grasping table a is taken as an example for explanation.
As shown in fig. 3 and 4, the card grabbing stand A2 comprises a card grabbing stand support 2-1, one end of the card grabbing stand support is high, the other end of the card grabbing stand support is low, the high end faces the card boxing device, and a card conveying groove 2-2 is formed above the card grabbing stand support and is inclined. The bottom of the card grabbing table support is provided with a fixing frame sliding rail 2-17, a fixing frame sliding block 2-16 is matched and installed on the fixing frame sliding rail, an air claw finger parallel cylinder fixing frame 2-15 is fixed on the fixing frame sliding block, and an air claw finger parallel cylinder 2-14 is installed at the upper end of the air claw finger parallel cylinder fixing frame. The two ends of the inside of the card grabbing table support are provided with rollers A2-18 and rollers B2-19 in a decibel mode, the two rollers are sleeved with belts 2-20, the rollers A are connected with driving motors 2-13, and the driving motors drive the belts to rotate. The upper end of the air claw finger parallel air cylinder fixing frame is connected with the belt 2-20, and when the belt rotates, the air claw finger parallel air cylinder fixing frame moves under the pulling of the belt. The tail end of the card conveying groove is provided with an air cylinder mounting frame 2-6, the tail end of the card conveying groove is provided with a card sorting device, the card sorting device comprises a leveling air cylinder 2-7 and a front pushing air cylinder 2-8, the leveling air cylinder is perpendicular to the card conveying groove, and the front pushing air cylinder is parallel to the card conveying groove. The front end of the push rod of the front pushing cylinder is also provided with a pressing cylinder 2-9 which is vertical to the card conveying groove. Card clamps A2-11 and B2-12 are arranged at two ends of the parallel air cylinders of the air fingers, the card clamps A and B are positioned at two sides of the card conveying groove and extend to the upper end of the card conveying groove, the end parts of the card clamps A and B are provided with relatively raised clamping parts, the card clamps A and B can open and close along with the parallel air cylinders of the air fingers, and after the card clamps A and B clamp the stacked cards in the card conveying groove. In the card conveying groove, a card pressing trolley 2-10 is also arranged, and the card pressing trolley can roll in the card conveying groove at will. The other end of the card conveying groove is provided with a distance sensor 2-3, the distance sensor is positioned in the card conveying groove, and the detection direction faces the tail end of the card conveying groove. The card conveying groove is internally provided with a yielding mechanism, the yielding mechanism comprises a yielding cylinder 2-4 arranged on one side of the card conveying groove, the expansion direction of the yielding cylinder is perpendicular to the length direction of the card conveying groove, and the push plate of the yielding cylinder is a plane. The other side of card conveying groove is provided with compaction cylinder 2-5, compaction cylinder and cylinder of stepping down are relative, and the flexible direction of compaction cylinder is perpendicular card conveying groove's length direction, and compaction cylinder's push pedal is the cambered surface. The side of card conveyer trough is provided with the opening, and the push pedal of the cylinder of stepping down and the push pedal of compaction cylinder can follow the opening part and stretch into.
As shown in fig. 5, the gripper rotation shaft 4-1 is connected to the end of the arm, and the gripper 5 is connected to the gripper rotation shaft.
As shown in fig. 6 and 7, the gripper includes a gripper top plate 5-1, card clamping plate devices A5-19 and B5-20 provided on the gripper top plate, card pressing devices provided on the gripper top plate, and card protection devices provided on the card clamping plate devices a and B. The mechanical claw rotating shaft at the end part of the mechanical arm is connected with the middle position of the mechanical claw top plate.
The lower surface of the gripper roof is fixedly provided with a gripper slide rail A5-3 and a gripper slide rail B5-4, the gripper slide rail A is provided with a gripper slide block A5-5, the gripper slide rail B is provided with a gripper slide block B5-6, the gripper slide rail A and the gripper slide rail B are positioned on the same straight line and are positioned on the central line of the gripper roof, and an air gripper finger parallel cylinder 5-2 is arranged between the gripper slide rail A and the gripper slide rail B. The card clamping plate device A is matched with the mechanical claw sliding rail A through the mechanical claw sliding block A, and is fixed with one end of the air claw finger parallel air cylinder. The card clamping plate device B is matched and installed with the mechanical claw sliding rail B through the mechanical claw sliding block B, and the card clamping plate device B is fixed with the other end of the air claw finger parallel air cylinder. When the air claw finger parallel air cylinder executes the opening and closing action, the two card clamping plate devices can execute the opening and closing action for grabbing cards.
The card clamping plate device A and the card clamping plate device B adopt the same structure and are symmetrical to each other, and the card clamping plate device A is taken as an example for illustration. The card clamping plate device A comprises a card clamping plate A5-19-1 and a transverse plate A perpendicular to the card clamping plate A, wherein the transverse plate A is installed with the mechanical claw sliding block A and is fixed with the air claw finger parallel cylinder. The card clamping plate A is characterized in that notches are formed in two corners of the upper end of the card clamping plate A, a transverse bar A is fixed on the inner side of the upper end of the card clamping plate A, two ends of the transverse bar A correspond to the notches, and rotatable toothed groove wheels A5-19-2 and toothed groove wheels B5-19-3 are arranged at two ends of the transverse bar A. The side of card splint A is equipped with the recess, and the winding has steel wire A5-19-8 in the recess, and steel wire A's one end is fixed with toothed groove wheel A, and the other end is fixed with toothed groove wheel B, toothed groove wheel A and toothed groove wheel B's structure are the same, and two toothed groove wheels correspond card splint A periphery recess's position and are provided with the recess, and steel wire A's tip is fixed in toothed groove wheel's recess, and toothed groove wheel axial extension's top is equipped with the external tooth (as shown in FIG. 8 FIG. 9).
The middle position of the upper part of the card clamping plate A is provided with a slide bar driving gear component A5-21, and the middle of the upper part of the corresponding card clamping plate B is provided with a slide bar driving gear component B5-22. The slide bar driving gear assembly A comprises a driving gear A5-21-1 and a gear driving rod A5-21-2 (shown in fig. 7 and 8) connected with the center of the driving gear A, the driving gear A is meshed with the toothed groove wheel A and the toothed groove wheel B, and the driving gear A can drive the toothed groove wheel A and the toothed groove wheel B to synchronously rotate in the same direction. The top of the toothed wheel A is also provided with a baffle ring A5-19-4, and the top of the toothed grooved wheel B is provided with a baffle ring B5-19-5. The function of these two rings is to define an axial position when engaged with the drive gear a. The slide bar driving gear assembly B comprises a driving gear B and a gear driving rod B connected with the center of the driving gear B. The gear driving rod A penetrates through the card clamping plate A, the end part of the gear driving rod A is connected with the slide bar driving shaft 5-10, square grooves are formed in the end part of the gear driving rod A, square columns matched with the square grooves in an inserting mode are arranged at the two ends of the gear driving rod A, synchronous pulleys are arranged in the middle of the gear driving rod A, the square columns at one end of the gear driving rod A are matched with the square grooves of the gear driving rod A, and the square columns at the other end of the gear driving rod A are matched with the square grooves of the gear driving rod B. A slide bar driving motor 5-7 is arranged above a slide bar driving shaft, a slide bar driving motor synchronous wheel 5-8 is arranged at the shaft end of the motor, the slide bar driving motor synchronous wheel 5-8 is connected with a synchronous wheel on the slide bar driving shaft through a slide bar driving synchronous belt 5-9, and when the slide bar driving motor rotates, the slide bar driving shaft rotates, and at the moment, a slide bar driving gear assembly A5-21 and a slide bar driving gear assembly B5-22 are driven to rotate. The toothed groove wheel A and the toothed groove wheel B rotate in the same direction, so that the steel wire A can be driven to move in the groove of the card clamping plate A.
As shown in FIG. 8 and FIG. 9, card side guard slide bars A5-19-6 and card bottom guard slide bars A5-19-7 are fixedly arranged on the steel wires A5-19-8. The card side baffle slide bar A and the card bottom baffle slide bar A are parallel to each other and perpendicular to the steel wire A. The card clamping plate device B comprises a card side blocking slide bar B and a card bottom blocking slide bar B, wherein the card side blocking slide bar A is opposite to the card side blocking slide bar B, and the card bottom blocking slide bar A is opposite to the card bottom blocking slide bar B. A card side blocking sleeve rod 5-15 is connected between the card side blocking slide rod A and the card side blocking slide rod B of the two pairs, the card side blocking sleeve rod 5-15 is a hollow rod, one end of the hollow rod is sleeved on the card side blocking slide rod A, and the other end of the hollow rod is sleeved on the card side blocking slide rod B. A card bottom blocking sleeve rod 5-16 is connected between the two opposite card bottom blocking slide rods A and B, the card bottom blocking sleeve rod is a hollow rod, one end of the card bottom blocking sleeve rod is sleeved on the card bottom blocking slide rod A, and the other end of the card bottom blocking sleeve rod is sleeved on the card bottom blocking slide rod B.
The mechanical claw further comprises a pressing device, the pressing device comprises a card pressing plate 5-12 driven by a pressing plate driving electric push rod 5-11, card pressing side plates A5-13 and card pressing side plates B5-14, the card pressing side plates A5-13 are arranged on two sides of the card pressing plate, the pressing plate driving electric push rod is arranged on a top plate of the mechanical claw, two parallel through holes are formed in the card pressing plate, an internal spring A5-17 and an internal spring B5-18 are respectively arranged in the through holes, two polished rods are respectively arranged on the side faces of the two card pressing side plates towards one side of the card pressing plate, and four polished rods are respectively inserted into the two through holes of the card pressing plate from two sides and are in contact with the two internal springs in the through holes, and the outer side edges of the card pressing side plates are in butt joint with the inner side faces of the card clamping plates.
The working principle of the device is as follows: cutting is completed through the card arranging machine, the punched card piles enter the card conveying groove 2-2 and the card grabbing table B3, and the mechanical arm 4 drives the mechanical claw 5 to respectively grab cards in the conveying groove and place the cards in the card boxes A1-8 and B1-9.
Because the structures and the working principles of the card grabbing platform A2 and the card grabbing platform B3 are the same, the steps of placing cards into the card boxes A1-8 and the card boxes B1-9 are the same, and only the process of taking cards out of the card grabbing platform A2 and placing the cards into the card boxes A1-8 is described for the convenience of description of the working principles.
The cards enter the card conveying groove 2-2, the patting cylinder 2-7 stretches and contracts, and the tops of the piled cards are patted, so that the tops of the cards are smooth. The card pressing trolley 2-10 is always contacted with the first card under the action of gravity, so that the first card is prevented from falling down in the moving process. The distance sensor 2-3 at the high end of the card conveying slot detects the distance from the first card to the sensor in real time. When the distance from the first card to the sensor reaches a preset value, the pressing cylinder 2-9 is extended to press the top of the card, and the pushing cylinder 2-8 is extended to separate the card pressed by the pressing cylinder from the card not pressed behind the pressing cylinder. Then, the card clamp A2-11 and the card clamp B2-12 clamp the card pressed by the pressing cylinder under the action of the air jaw finger parallel cylinder 2-14, at the moment, the driving motor 2-13 rotates, and the belt 2-20 drives the air jaw finger parallel cylinder fixing frame 2-15 to move, so that the card clamped by the card clamp A and the card clamp B is pushed between the yielding cylinder and the compacting cylinder. And then the abdication cylinder 2-4 is extended to enable the side surface of the card and the side surface of the card conveying groove abdication cylinder to form a gap, so that the card side retaining sleeve rod 5-15 and the card bottom retaining sleeve rod 5-16 can be abducted.
At this time, the 4 mechanical arm drives the 5 mechanical claw to move to the upper part in the card conveying groove and to be positioned right above the card clamped by the card clamp A and the card clamp B, the mechanical claw starts to fall, the card side retaining sleeve rod 5-15 and the card bottom retaining sleeve rod 5-16 pass through gaps formed between the side surfaces of the card and the side surfaces of the card conveying groove, the card clamping plate device A and the card clamping plate device B are respectively positioned on the front side and the rear side of the piled card, at this time, the fingers of the air claw retract in parallel with the air cylinder, the card clamping plate device A and the card clamping plate device B clamp the piled card, then the mechanical arm drives the mechanical claw to slowly rise, and in the rising process, the slide bar driving motor rotates clockwise and drives the slide bar driving gear A and the slide bar driving gear B to rotate clockwise. Because the card clamping plate device A and the card clamping plate device B have the same structure, and the card clamping plate device A is taken as an example for description, when the driving gear A rotates, the toothed groove wheel A and the toothed groove wheel B rotate clockwise together, and at the moment, the steel wire A fixed on the toothed grooved wheel A starts to rotate around the toothed groove wheel A, and at the same time, the steel wire A originally wound on the toothed grooved wheel B starts to be loosened. Therefore, the steel wire A moves clockwise in the groove in the card clamping plate A, so that the card side-blocking slide rod A and the card bottom-blocking slide rod A are driven to move clockwise, and when the card bottom-blocking slide rod A moves to the lower end of the card clamping plate A, the slide rod driving motor stops rotating. At the moment, the card bottom baffle slide bar A can clamp the bottom of the piled cards by the card clamping plate device A and the card clamping plate device B to support the bottoms of the cards, and the cards are prevented from sliding out of the mechanical claws. Meanwhile, the card side blocking slide bar A can block the side face of the stacked cards, so that the cards are prevented from falling in the process of grabbing and moving by the mechanical claws.
Because the built-in spring A and the built-in spring B are arranged in the card lower pressing plate, the card lower pressing side plate A is always clung to the card clamping plate device A, and the card lower pressing side plate B is always clung to the card clamping plate device B in the opening and closing process of the card clamping plate device A and the card clamping plate device B.
When the mechanical claw moves to the upper part of the card box A, the mechanical claw continuously descends, and when the mechanical claw reaches the card placing position, the slide bar driving motor rotates anticlockwise, and the card side blocking sleeve rod and the card bottom blocking sleeve rod return to the initial positions. At this time, the card clamping plate device A and the card clamping plate device B are slowly opened, but not completely opened, the stacked cards are still attached to the card clamping plate device A and the card clamping plate device B under the elasticity of the stacked cards, the cards positioned at the middle position slide down and contact with the bottom of the card box A, at this time, the lower pressing plate drives the electric push rod to start to extend, the lower pressing plate of the cards is pushed to move downwards, and meanwhile, the mechanical arm drives the whole mechanical claw to move upwards at the same speed. The card pressing plate, the card pressing side plate A and the card pressing side plate B push the piled cards to leave the card clamping plate device A and the card clamping plate device B, and finally all cards are separated from the card clamping plate device A and the card clamping plate device B, so that the work of putting the piled cards in the card box A is completed.
The device will repeatedly execute the above-mentioned actions until the card box A is filled with cards. When the card box A with 1-8 cards is full, the cylinder shaft of the card box connecting cylinder A is extended and inserted into the corresponding hole of the card box tray A, and at the same time, the cylinder rod of the card box fixing cylinder A is retracted and does not prop against the card box A. And then the sliding block of the magnetic coupling type rodless cylinder moves backwards to drive the card box tray A to move.
The replacement of the full card box is then accomplished, either manually or by other automated means, and the empty box is placed on card box tray a. In this process, when the card-filled box is removed from the card box tray A, the laser correlation photoelectric switch sensor E just will be correlated with the laser correlation photoelectric switch sensor A1-15-1. When an empty box is placed on the card box tray A, the box can block the laser correlation photoelectric switch sensor E1-18-1 and the laser correlation photoelectric switch sensor A1-15-1, and at the moment, the magnetic coupling rodless cylinder starts to move to the initial position. When the card box tray A just blocks the laser correlation photoelectric switch sensor F1-18-2 and the laser correlation photoelectric switch sensor C1-16-1, the magnetic coupling type rodless cylinder stops moving, at the moment, the positioning work of the card box tray A is completed, and then the card box fixing cylinder A stretches to prop against the empty box, and at the moment, the positioning of the empty box is completed. So far, the mechanical arm can wait for the card box B to be filled with cards and then load cards into a new empty box.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent transformation of the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (9)
1. The utility model provides a card automatic grabbing and vanning device which characterized in that includes:
the grabbing device adopts a mechanical arm (4) structure, and a mechanical claw (5) is arranged at the end part of the grabbing device;
the mechanical claw comprises two clamping plates which can be mutually close to or separated from each other and are arranged in parallel, a sliding rod which can change the position is arranged between the clamping plates, and the sliding rod can be transferred to the lower side part of the clamping plates to limit the clamping plates; the side of the card clamping plate is wound with a steel wire, the outer side of the steel wire is fixed with the sliding rod, the upper end of the card clamping plate is provided with two rotatable toothed groove wheels, the card clamping plate is also provided with a sliding rod driving gear meshed with the two toothed grooved wheels, the two ends of the steel wire are fixed on the toothed grooved wheels, the sliding rod driving gear is driven by a sliding rod driving motor, the toothed grooved wheels rotate and drive the steel wire to move along the side of the card clamping plate, the number of the sliding rods is multiple, and each card clamping plate is provided with two sliding rods which are respectively a card side blocking sliding rod and a card bottom blocking sliding rod;
the card boxing device (1) is used for placing a card box;
the card grabbing platform is used for arranging cards and transferring the cards to the card box through the grabbing device after grabbing the cards by the mechanical claws.
2. The automatic card grabbing and boxing device according to claim 1, wherein the mechanical claw comprises a mechanical claw top plate (5-1), two card clamping plates are connected with the mechanical claw top plate in a sliding mode, a gas claw finger parallel cylinder (5-2) is connected between the two card clamping plates, and the gas claw finger parallel cylinder controls the two card clamping plates to move.
3. The automatic card gripping and boxing device according to claim 1 or 2, wherein a sleeve rod is sleeved between the opposite sliding rods between the two card clamping plates, a card side blocking sleeve rod is sleeved between the opposite ends of the card side blocking sliding rods, and a card bottom blocking sleeve rod is sleeved between the opposite ends of the card bottom blocking sliding rods.
4. The automatic card grabbing and boxing device according to claim 1 or 2, wherein the mechanical claw further comprises a pressing device, the pressing device comprises a card lower pressing plate (5-12) driven by a lower pressing plate driving electric push rod (5-11), and card lower pressing side plates arranged on two sides of the card lower pressing plate; the card lower pressing plate is internally provided with a through hole, an internal spring is arranged in the through hole, the side face of the card lower pressing side plate is provided with a polished rod, and the polished rod is inserted into the through hole of the card lower pressing plate and is contacted with the internal spring, and the outer side edge of the card lower pressing side plate is abutted against the inner side face of the card clamping plate.
5. The automatic card gripping and boxing device according to claim 1 or 2, wherein the card gripping platform comprises a card gripping platform support, a card conveying groove arranged on the card gripping platform support, and a card collating device arranged at one end of the card conveying groove, and the card gripping platform further comprises a clamping mechanism for clamping the card and moving along the card conveying groove.
6. The automatic card grabbing and boxing device according to claim 5, wherein the card arranging device comprises a leveling cylinder (2-7) arranged on a cylinder mounting frame, a forward pushing cylinder (2-8) arranged on the cylinder mounting frame and a downward pressing cylinder (2-9) arranged on a telescopic rod end of the forward pushing cylinder; the card grabbing platform also comprises a distance sensor (2-3) arranged at the other end of the card conveying groove; the clamping mechanism comprises a moving device arranged below the card conveying groove and two card clamps arranged on the moving device, and the two card clamps are connected through an air claw finger parallel cylinder.
7. The automatic card grabbing and boxing device according to claim 5, wherein a yielding mechanism is further arranged in the card conveying groove, the yielding mechanism comprises a yielding cylinder (2-4) arranged on one side of the card conveying groove, and the expansion direction of the yielding cylinder is perpendicular to the length direction of the card conveying groove; the other side of the card conveying groove is provided with a compaction air cylinder (2-5), the compaction air cylinder is opposite to the abdication air cylinder, and the expansion direction of the compaction air cylinder is vertical to the length direction of the card conveying groove; the card conveying groove is also internally provided with a card pressing trolley (2-10) which can move freely.
8. The automatic card grabbing and boxing device according to claim 1 or 2, wherein the card boxing device comprises a box frame (1-1), a plurality of sliding rails arranged on the box frame, and a card box tray matched with the sliding rails through sliding blocks, wherein a flange is arranged on the side edge of the card box tray, and the card box is arranged on the card box tray and positioned by the flange, and a card box position sensor and a card box fixing cylinder for fixing the card box are further arranged on the box frame.
9. The automatic card grabbing and boxing device according to claim 8, wherein two sliding rails are a group, a card box tray is arranged above the two sliding rails of the same group in a matched mode, magnetic coupling type rodless cylinders (1-10) are arranged on the box frame, and card box connecting cylinders which are fixedly connected with the card box tray are arranged on sliding blocks of the magnetic coupling type rodless cylinders.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210457085.0A CN114852415B (en) | 2022-04-28 | 2022-04-28 | Automatic device of snatching and vanning of card |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210457085.0A CN114852415B (en) | 2022-04-28 | 2022-04-28 | Automatic device of snatching and vanning of card |
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| CN114852415A CN114852415A (en) | 2022-08-05 |
| CN114852415B true CN114852415B (en) | 2024-04-16 |
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| CN202210457085.0A Active CN114852415B (en) | 2022-04-28 | 2022-04-28 | Automatic device of snatching and vanning of card |
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| CN114852415A (en) | 2022-08-05 |
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