CN118182947A - Paper printed matter packaging equipment with composite grabbing mechanism and method - Google Patents

Abstract

The invention belongs to the technical field of mechanical equipment for paper printing industry, and particularly relates to paper printed matter packaging equipment with a composite grabbing mechanism and a method. The device comprises a support, a detection camera, a distance detection sensor and a mechanical arm, wherein the bottom of the mechanical arm is fixed in a workshop through the support, a grabbing end of the mechanical arm is provided with a grabbing mechanism, the grabbing mechanism comprises a base, a long clamping jaw working unit and a short clamping jaw working unit, the detection camera is arranged on the mechanical arm, the central adsorption unit is arranged in the middle of the base, the distance detection sensor is arranged at the front end of the base, and the control system controls the grabbing mechanism to act. The invention has the functions of vision and distance detection, can be matched with a mechanical arm to automatically find and position the positions of the packing box and the box cover in the storage area, can realize grabbing of various objects, can cope with the boxing operation of various packing objects with relatively regular appearance, ensures the universality of adaptation, and can be applied to boxing occasions of various products.

Description

Paper printed matter packaging equipment with composite grabbing mechanism and method

Technical Field

The invention belongs to the technical field of mechanical equipment for paper printing industry, and particularly relates to paper printed matter packaging equipment with a composite grabbing mechanism and a method.

Background

When some securities are subjected to post-printing treatment, a checking and sealing process is set, the securities are packaged in the checking and sealing process and then subjected to plastic packaging, and then packaged and transported by a packaging box. Specifically, in the process of packaging small bags of securities in the packaging process, packaged small bags of paper printed matters are grabbed and put into a packaging box, and the box cover placing work is completed. At present, the work is completed by both machinery and manpower, the whole process of boxing is decomposed into a plurality of stations to operate sequentially, the production line is long, the intermediate control links are more, meanwhile, more manpower is occupied, various risks are brought, and the production efficiency is low.

Disclosure of Invention

The invention provides a paper printed matter packaging device with a composite grabbing mechanism and a method thereof, which can realize grabbing of various objects and can cope with boxing operation of various packages with relatively regular appearance.

The invention solves the technical problems by the following technical proposal,

The utility model provides a paper printed matter encapsulation equipment with compound mechanism of snatching, its characterized in that includes support, detection camera, distance detection sensor and arm, the bottom of arm is fixed in the workshop through the support, and the snatch end of arm is provided with snatchs the mechanism, snatch the mechanism and include base, long clamping jaw work unit and short clamping jaw work unit, the detection camera sets up on the arm, be equipped with long clamping jaw work unit and short clamping jaw work unit around the base, central adsorption unit sets up the middle part of base, distance detection sensor sets up the front end of base, detection camera and distance detection sensor's signal output part with the control system of arm is connected, control system control snatchs the mechanism action.

The short clamping jaw working unit comprises short clamping plates and transverse linear guide rail pairs, wherein the short clamping plates are arranged in pairs on the left side and the right side of the base, the short clamping plates are connected with the base through the transverse linear guide rail pairs, and the transverse linear guide rail pairs can drive the short clamping plates to open and close; the long clamping jaw working unit comprises long clamping plates and longitudinal linear guide rail pairs, the long clamping plates are arranged in pairs on the front side and the rear side of the base, the long clamping plates are connected with the base through the longitudinal linear guide rail pairs, and the longitudinal linear guide rail pairs can drive the long clamping plates to open and close; the servo motor is also arranged and provides power for the transverse linear guide rail pair and the longitudinal linear guide rail pair.

Above-mentioned paper printed matter encapsulation equipment with compound mechanism of snatching, central adsorption unit includes sponge sucking disc, round sucking disc and pneumatic elevating system, pneumatic elevating system's stiff end with pedestal connection, pneumatic elevating system's movable end is equipped with the mounting bracket, sponge sucking disc and round sucking disc are installed on the mounting bracket.

Above-mentioned paper printed matter encapsulation equipment with compound mechanism of snatching, sponge sucking disc and round sucking disc all are equipped with a plurality of, sponge sucking disc and round sucking disc are crisscross to be distributed on the mounting bracket.

A method of packaging paper printed matter, comprising the steps of:

A. presetting the positions of the stations: in a control system of the mechanical arm, coordinates of a station of a storage area of a packing box, coordinates of a boxing station, coordinates of a grabbing station of a paper printed matter, coordinates of a grabbing position of a packing object and coordinates of a storage station of a box cover are preset and stored.

B. Determining the position of a packing box: the method comprises the steps that workers place stacked packing boxes in a fixed storage area, the storage area is located near a support, a detection camera shoots the storage area and transmits information to a control system of a mechanical arm, a distance detection sensor detects the position of the side wall of the packing boxes, the control system determines the coordinates of the accurate position of the packing boxes in the storage area, and according to the coordinates of a preset boxing station on a box sealing workbench, the control system calculates the movement path and the walking parameters of the mechanical arm and sends the mechanical arm instructions;

C. Grabbing and moving the packaging box: the mechanical arm is connected with the instruction and then moves to the upper part of the packing box in the storage area, the short clamping plate on the base moves outwards, the short clamping plate supports the inner side wall of the packing box outwards, then the mechanical arm picks up the packing box and sends the packing box to a boxing station positioned on the box sealing workbench, and then the short clamping plate contracts and leaves the packing box;

D. Grabbing the packaged objects and boxing: the mechanical arm continues to move to the upper part of the packing material, the long clamping jaw and the short clamping jaw are all opened to the maximum position, then the mechanical arm moves downwards to the packing material grabbing position, the long clamping jaw and the short clamping jaw shrink and clamp the packing material, then the mechanical arm clamps the packing material to be sent into the packing box, finally the packing material is released, the mechanical arm withdraws, and the above actions are repeated until the packing box is filled;

E. Grabbing a box cover and sealing the box cover: the mechanical arm moves to the upper part of the box cover storage station, the mechanical arm faces downwards, the round sucker sticks to the top surface of the box cover and sucks the box cover, then the mechanical arm moves the box cover to the top of the packing box, then the mechanical arm is pressed down to the packing box, the round sucker is released after the box sealing is completed, and the mechanical arm returns to the initial position to repeat operation.

In step D, after long clamping jaw and short clamping jaw are all opened to the biggest position, pneumatic displacement mechanism's drive mounting bracket moves down the packing article top with the sponge sucking disc, the sponge sucking disc attracts the packing article top surface, then long splint and short splint tighten up to central authorities, can realize the centre gripping to the packing article from front to back, left and right.

The invention has vision and distance detection functions, can automatically find and position the positions of the packing box and the box cover in the storage area by matching with the mechanical arm, judges the position state of the packing box and the box cover, and ensures the reliability and the stability of grabbing; the long clamping jaw, the short clamping jaw and the sucking disc work cooperatively, have flexible matching property, can realize grabbing of various articles, can cope with the boxing operation of various packages with relatively regular appearance, ensure the universality of adaptation, and can be applied to boxing occasions of various products; the grabbing mechanism and the mechanical arm are matched with each other, so that the automatic operation can be realized, a lengthy production line can be compressed to an operation point, and various resources such as space and time are saved greatly.

Compared with the prior art, the multifunctional grabbing mechanism is arranged at the execution end of the mechanical arm, and the functions of identifying, positioning and the like of various articles are realized through the detection camera, the distance detection sensor and the like which are arranged on the equipment. The grabbing mechanism grabs the packaging box, the packaging object and the box cover by utilizing the actions of external support, internal contraction, adsorption and the like. The central adsorption unit, the sponge suction disc and the round suction disc are distributed in a staggered manner, so that the problems of collapse, missing and the like of the grouped packages in the grabbing and conveying processes can be avoided. The same grabbing equipment is used for completing multiple composite operations of grabbing the packaging box, throwing in the packaging objects, placing the box cover and the like. The equipment is suitable for automatic grabbing and boxing scenes of packages with relatively regular appearance, avoids risks, optimizes the utilization of various resources, reduces labor intensity of workers, improves automation level of enterprises, and meets the requirements of high-quality development of the enterprises.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic top view of the gripping mechanism of the present invention;

FIG. 3 is a schematic side view of the structure of FIG. 2 (with the front long cleat removed);

The reference symbols in the drawings indicate: 1. the device comprises a support, a detection camera, a distance detection sensor, a mechanical arm, a base, a long clamping jaw working unit, a short clamping jaw working unit, a central adsorption unit, a short clamping plate, a transverse linear guide rail pair, a long clamping plate, a longitudinal linear guide rail pair, a sponge clamping plate, a round clamping plate, a pneumatic lifting mechanism and a mounting frame.

Detailed Description

The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples serve to illustrate the invention.

Referring to fig. 1 to 3, the invention comprises a support 1, a detection camera 2, a distance detection sensor 3 and a mechanical arm 4, wherein the bottom of the mechanical arm 4 is fixed in a workshop through the support 1, the grabbing end of the mechanical arm 4 is provided with a grabbing mechanism, the grabbing mechanism comprises a base 5, a long clamping jaw working unit 6 and a short clamping jaw working unit 7, the detection camera 2 is arranged on the mechanical arm 4, the long clamping jaw working unit 6 and the short clamping jaw working unit 7 are arranged around the base 5, the central adsorption unit 8 is arranged in the middle of the base 5, the distance detection sensor 3 is arranged at the front end of the base 5, the signal output ends of the detection camera 2 and the distance detection sensor 3 are connected with a control system of the mechanical arm 4, and the control system controls the grabbing mechanism to act. The detection camera 2 provides a visual detection function for the walking position of the mechanical arm 4 and is responsible for collecting the information of the positions of the packaging box, the objects to be packaged and the box cover. The detection function is to combine the pre-stored position coordinate parameters of the mechanical arm 4. The distance detection sensor 3 assists the detection camera 2 to work and is used for detecting the actual distance from various objects to the operation part of the composite grabbing device and providing accurate parameters for determining position coordinates and walking positions of the mechanical arm 4. The functions of identifying and positioning the box body and the paper printed matter can be realized by matching the detection camera 2 and the distance detection sensor 3 with the mechanical arm 4, and the multiple compound operations of grabbing the packaging box, throwing the packaging material, placing the box cover and the like can be completed by one mechanical arm 4.

The long clamping jaw working unit 6 and the short clamping jaw working unit 7 are matched in an auxiliary mode, the short clamping jaw working unit 7 comprises short clamping plates 9 and transverse linear guide rail pairs 10 which are arranged in pairs, the short clamping plates 9 are arranged on the left side and the right side of the base 5 in pairs, the short clamping plates 9 are connected with the base 5 through the transverse linear guide rail pairs 10, and the transverse linear guide rail pairs 10 can drive the short clamping plates 9 to open and close; the paper printed matter can be grabbed by inward contraction of the short clamping plates 9, the two side walls of the packaging box can be outwards expanded, and then the packaging box can be lifted by lifting the mechanical arm 4. The long clamping jaw working unit 6 comprises long clamping plates 11 and longitudinal linear guide rail pairs 12 which are arranged in pairs, the long clamping plates 11 are arranged on the front side and the rear side of the base 5 in pairs, the long clamping plates 11 are connected with the base 5 through the longitudinal linear guide rail pairs 12, and the longitudinal linear guide rail pairs 12 can drive the long clamping plates 11 to open and close; a servo motor is also provided which powers the transverse linear guide pair 10 and the longitudinal linear guide pair 12. The long clamping plate 11 can be opened and closed to clamp the paper printed matter together with the short clamping plate 9.

Because the printed paper products are mainly packed through the contracted plastic film, the upper surface of the packed printed paper products is not a hard plane, and therefore, the sponge sucker 13 is arranged, the central adsorption unit 8 comprises the sponge sucker 13, the round sucker 14 and the pneumatic lifting mechanism 16, the fixed end of the pneumatic lifting mechanism 16 is connected with the base 5, the movable end of the pneumatic lifting mechanism 16 is provided with the mounting frame 16, the sponge sucker 13 and the round sucker 14 are mounted on the mounting frame 16, and the sponge sucker 13 can assist the long clamping jaw and the short clamping jaw to stably and fixedly grasp the packed printed paper products. The grabbing stability is guaranteed, and falling is avoided in the transferring process.

In order to ensure the stability of grabbing, the sponge sucker 13 and the round sucker 14 are provided with a plurality of sponge suckers 13 and round suckers 14, the sponge sucker 13 and the round sucker 14 are uniformly distributed, and the sponge sucker 13 and the round sucker 14 are distributed on the mounting frame 16 in a staggered manner.

The packaging box can be packaged by the paper printed matter packaging equipment according to the following steps:

A. Presetting the position of a station: in the control system of the mechanical arm 4, coordinates of the station of the storage area of the packing box, coordinates of the station of the boxing, coordinates of the station of grabbing the paper printed matter, coordinates of the grabbing position of the packing matter and coordinates of the station of storing the box cover are preset and stored.

B. determining the position of a packing box: the staff puts the piled packing boxes in a fixed storage area, the storage area is positioned near the support 1, then the detection camera 2 shoots the storage area and transmits information to the control system of the mechanical arm 4, then the distance detection sensor 3 detects the position of the side wall of the packing boxes, the control system determines the coordinate of the accurate position of the packing boxes in the storage area, and according to the coordinate of a preset boxing station on a box sealing workbench, the control system calculates the moving path and the walking position parameters of the mechanical arm 4 and sends an instruction to the mechanical arm 4;

C. Grabbing and moving the packaging box: the mechanical arm 4 receives the instruction and then moves to the upper part of the packing box in the storage area, the short clamping plate 9 on the base 5 moves outwards, the short clamping plate 9 supports the inner side wall of the packing box outwards, then the mechanical arm 4 picks up the packing box and sends the packing box to a boxing station positioned on a box sealing workbench, and then the short clamping plate 9 contracts and leaves the packing box;

D. grabbing the packaged objects and boxing: the mechanical arm 4 continues to move to the upper part of the package, the long clamping jaw and the short clamping jaw are all opened to the maximum position, then the mechanical arm 4 moves downwards to the package grabbing position, the long clamping jaw and the short clamping jaw shrink and clamp the package, then the mechanical arm 4 clamps the package to be sent into the package box, finally the package is released, the mechanical arm 4 withdraws, and the above actions are repeated until the package box is filled; in order to guarantee that the packing material can not drop at the in-process that arm 4 removed, after long clamping jaw and short clamping jaw all opened to the biggest position, the pneumatic displacement mechanism of central adsorption unit 8 drives down with sponge sucking disc 13 and moves the packing material top, then long splint 11 and short splint 9 tighten up to the central authorities, can realize the centre gripping to the packing material from front to back, control, and the packing material top surface is sucked to the sponge sucking disc 13 of central adsorption unit 8, and the packing material is sucked tightly from the top, prevents to drop.

E. grabbing a box cover and sealing the box cover: the mechanical arm 4 moves to the upper part of the box cover storage station, the mechanical arm 4 faces downwards, the round sucker 14 sticks to the top surface of the box cover and sucks the box cover, then the mechanical arm 4 moves the box cover to the top of the packing box, then presses down on the packing box, the round sucker 14 is released after the box sealing is completed, and the mechanical arm 4 returns to the initial position to repeat operation.

The grabbing mechanism is arranged at the tail end of the execution part of the mechanical arm 4, and when the mechanical arm is in work, the mechanical arm needs to be dragged to each operation station by a robot, so that all operation flows of grabbing the packing box, throwing the packing objects and placing the box cover are completed. The working principle is as follows:

The original coordinate parameters of the packing box, the box cover and the storage area of the object to be packed are set by a robot control program, and the coordinates provide the starting positions of all working areas for the robot. On the basis of this starting position, relatively accurate target position parameters can be obtained by detection of the detection camera 2, the distance detection sensor 3.

When grabbing the packing box, this equipment removes to the packing box and deposits the district, gathers packing box form of putting like putting direction, position etc. by detecting camera 2, detects the actual distance of packing box from this equipment and its gradient for the horizontal plane by distance detection sensor 3 after determining the position for set up this equipment and grab direction, angle and the distance of packing box. The grabbing work of the packing box is completed by the short clamping jaw, and the width of the working part of the short clamping jaw is longer. After the equipment automatically completes parameter adjustment, the short clamping jaw is driven by the servo moving mechanism to retract towards the center of the package along the transverse linear guide rail pair 10 and enters the opening position of the package under the dragging of the robot, then the short clamping jaw is spread from the center to two sides, the long part can be spread on the inner wall of the package, and after the spreading force is stable, the robot drags the equipment and the package to move. After reaching the boxing station, the short clamping jaw is retracted towards the center, and the packaging box is placed on the boxing station.

When the packing material is grabbed, the equipment moves to the position above the packing material stacking station, and the long clamping jaw and the short clamping jaw are all opened to the maximum position under the drive of the servo moving mechanism. The central adsorption unit 8 is driven by the pneumatic displacement mechanism to move downwards to the grabbing position of the package. After the preparation work is finished, the robot drags the equipment to move downwards to a packing material grabbing position, the long clamping jaw and the short clamping jaw are sequentially tightened towards the center under the driving of the servo displacement mechanisms, the sponge sucker 13 of the central adsorption unit 8 starts to work, the three parties cooperate to clamp the packing material, and the robot drives the equipment to move stably to the position above the packing box. The packing material on the packing box descends to the box mouth under the centre gripping of this equipment, and the sponge sucking disc 13 of central adsorption unit 8 stops adsorbing the packing material, and long clamping jaw, short clamping jaw open simultaneously under the drive of servo displacement mechanism respectively, and the packing material is accurately thrown into the packing box.

When the box cover is placed, the equipment moves to a box cover storage area, the placement mode of the box cover is collected by the detection camera 2, the actual distance and the inclination of the box cover are detected by the two distance detection sensors 3 after the position is determined, and the direction, the angle and the distance of the equipment in the process of grabbing the box cover are set. The grabbing work of the box cover is completed by matching the sponge sucker 13 and the round sucker 14 of the central adsorption unit 8. After the equipment completes parameter adjustment, the central adsorption unit 8 is driven by the starting displacement mechanism to extend downwards, and the extending length of the central adsorption unit exceeds the short clamping jaw. Then the robot is dragged to move to the highest box cover according to the automatic setting parameters, and the sucking disc is pressed down to suck the box cover. And then the robot drags the equipment and the box cover to move, and the box cover is placed at the opening of the packing box to finish packaging after reaching the boxing station.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.

Claims (6)

1. The utility model provides a paper printed matter encapsulation equipment with compound mechanism of snatching, its characterized in that includes support (1), detection camera (2), distance detection sensor (3) and arm (4), the bottom of arm (4) is fixed in the workshop through support (1), and the snatch end of arm (4) is provided with snatchs the mechanism, snatch the mechanism and include base (5), long clamping jaw work unit (6) and short clamping jaw work unit (7), detection camera (2) set up on the arm, set up around base (5) long clamping jaw work unit (6) with short clamping jaw work unit (7), central adsorption unit (8) set up the middle part of base (5), distance detection sensor (3) set up the front end of base (5), the signal output part of detection camera (2) and distance detection sensor (3) with the control system of arm (4) is connected, control system controls the action of snatching the mechanism.

2. The paper printed matter packaging equipment with the composite grabbing mechanism as claimed in claim 1, wherein the short clamping jaw working unit (7) comprises short clamping plates (9) and transverse linear guide rail pairs (10) which are arranged in pairs, the short clamping plates (9) are arranged on the left side and the right side of the base (5) in pairs, the short clamping plates (9) are connected with the base (5) through the transverse linear guide rail pairs (10), and the transverse linear guide rail pairs (10) can drive the short clamping plates (9) to open and close; the long clamping jaw working unit (6) comprises long clamping plates (11) and longitudinal linear guide rail pairs (12) which are arranged in pairs, the long clamping plates (11) are arranged on the front side and the rear side of the base (5) in pairs, the long clamping plates (11) are connected with the base (5) through the longitudinal linear guide rail pairs (12), and the longitudinal linear guide rail pairs (12) can drive the long clamping plates (11) to open and close; and a servo motor is also arranged and provides power for the transverse linear guide rail pair (10) and the longitudinal linear guide rail pair (12).

3. The paper printed matter packaging equipment with the composite grabbing mechanism as claimed in claim 2, wherein the central adsorption unit (8) comprises a sponge sucker (13), a round sucker (14) and a pneumatic lifting mechanism (16), a fixed end of the pneumatic lifting mechanism (16) is connected with the base (5), a mounting frame (16) is arranged at a movable end of the pneumatic lifting mechanism (16), and the sponge sucker (13) and the round sucker (14) are mounted on the mounting frame (16).

4. A paper printed matter packaging device with a composite grabbing mechanism as claimed in claim 3, wherein the sponge sucking discs (13) and the round sucking discs (14) are provided with a plurality of sponge sucking discs (13) and round sucking discs (14) which are distributed in a staggered manner on the mounting frame (16).

5. A method of packaging paper printed matter, comprising the steps of:

A. Presetting the positions of the stations: in a control system of the mechanical arm (4), coordinates of a station of a storage area of a packing box, coordinates of a boxing station, coordinates of a grabbing station of a paper printed matter, coordinates of a grabbing position of a packing object and coordinates of a storage station of a box cover are preset and stored;

B. Determining the position of a packing box: the method comprises the steps that workers place stacked packing boxes in a fixed storage area, the storage area is located near a support (1), a detection camera (2) shoots the storage area and transmits information to a control system of a mechanical arm (4), a distance detection sensor (3) detects the position of the side wall of the packing boxes, the control system determines the coordinates of the accurate position of the packing boxes in the storage area, and according to the coordinates of a preset boxing station on a box sealing workbench, the control system calculates the moving path and the running position parameters of the mechanical arm (4) and sends instructions to the mechanical arm (4);

C. Grabbing and moving the packaging box: the mechanical arm (4) receives the instruction and then moves to the upper part of the packing box in the storage area, the short clamping plate (9) on the base (5) moves outwards, the short clamping plate (9) supports the inner side wall of the packing box outwards, then the mechanical arm (4) grabs the packing box and sends the packing box to a boxing station positioned on a box sealing workbench, and then the short clamping plate (9) contracts and leaves the packing box;

D. Grabbing the packaged objects and boxing: the mechanical arm (4) continues to move to the upper part of the package, the long clamping jaw and the short clamping jaw are all opened to the maximum position, then the mechanical arm (4) moves downwards to the package grabbing position, the long clamping jaw and the short clamping jaw shrink and clamp the package, then the mechanical arm (4) clamps the package to be sent into the package box, finally the package box is released, the mechanical arm (4) withdraws, and the above actions are repeated until the package box is filled;

E. Grabbing a box cover and sealing the box cover: the mechanical arm (4) moves to the upper portion of the box cover storage station, the mechanical arm (4) faces downwards, the round sucker (14) sticks to the top surface of the box cover and sucks the box cover, then the mechanical arm (4) moves the box cover to the top of the packing box, then the mechanical arm is pressed down onto the packing box, the round sucker (14) is released after the box sealing is completed, and the mechanical arm (4) returns to the initial position to repeat operation.

6. The packaging method of paper printed matter according to claim 5, wherein in the step D, after the long clamping jaw and the short clamping jaw are all opened to the maximum positions, the pneumatic displacement mechanism drives the mounting frame (16) to move the sponge sucker (13) downwards to the top of the package, the sponge sucker (13) sucks the top surface of the package, and then the long clamping plate (11) and the short clamping plate (9) are tightened towards the center, so that the front, back, left and right clamping of the package can be realized.