CN203382296U - Automatic folding machine - Google Patents

Abstract

The utility model discloses an automatic folding machine, which comprises a worktable, a feeding manipulator, a manipulator support, a microcomputer, a vacuum suction cup, a video camera and an electric folding plate; the manipulator support and the microcomputer are fixed above the workbench; the camera is arranged above the manipulator support; The folding plate is rotatably set on the workbench; the feeding manipulator is movably set on the manipulator bracket; the microcomputer is respectively connected with the camera, the feeding manipulator and the electric folding plate; the vacuum suction cup is rotatably set at the lower end of the feeding manipulator. The automatic folding machine of the utility model realizes the automatic operation of the folding process, improves the production efficiency and the versatility of the equipment.

Description

an automatic folding machine

technical field

The utility model relates to an automatic folding machine.

Background technique

In the clothing, home textile, printing and other industries, it is necessary to fold and process various sheet materials such as fabrics, films, and cardboards.

At present, there are several automatic folding machines on the market that can fold towels, bed sheets, cardboard, etc., and the production automation is relatively high. These automatic folding equipment can basically only fold strips or rectangular materials at present, and the folding line can only be a set of folding lines perpendicular to each other, and when the folding process needs to be changed, the hardware adjustment of the equipment is required, so the versatility of the equipment is relatively small. Difference. The current folding equipment still needs to manually separate and feed materials one by one when folding the loose sheets, and the production efficiency is low; when the size of the loose sheet materials is large and the folding process is complicated, the current equipment is also difficult to complete. In short, the current folding equipment has the disadvantages of monotonous folding patterns, inconvenient process changes, and poor equipment versatility. The market needs an automatic folding equipment that is convenient for process changes, rich in folding patterns, and good in versatility.

Contents of the invention

The purpose of the utility model is to provide an automatic folding device with rich folding patterns in order to solve the defects in the prior art.

In order to achieve the above object, the utility model provides an automatic folding machine, including a workbench, a feeding manipulator, a manipulator bracket, a microcomputer, a vacuum suction cup, a video camera and an electric folding plate; the manipulator bracket and the microcomputer are fixed above the workbench; Above the manipulator bracket; the electric folding plate is rotatably set on the workbench; the feeding manipulator is movably set on the manipulator support; the microcomputer is respectively connected with the camera, the feeding manipulator and the electric folding plate; the vacuum suction cup is rotatably set at the lower end of the feeding manipulator.

The further improvement of the utility model is that: the feeding manipulator includes a transverse drive mechanism, a slide table, a longitudinal drive mechanism and a lifting rod; the slide table can be moved left and right through the horizontal drive mechanism and is arranged on the manipulator support; the lifting rod can move forward and backward through the longitudinal drive mechanism The ground is set on the slide table; the vacuum sucker is set at the lower end of the longitudinal driving mechanism so that it can move up and down through the lifting rod.

Among them, the horizontal drive mechanism is driven by a screw rod, including a horizontal drive motor and a screw rod; the screw rod is rotated on the manipulator bracket, and one end is connected with the output shaft of the horizontal drive motor; The thread corresponding to the screw rod can move back and forth along with the rotation of the screw rod.

Or the horizontal driving mechanism is driven by the synchronous wheel/synchronous belt transmission mechanism, including the horizontal driving motor, guide rail and transmission device; the guide rail is fixed on the manipulator bracket; the slide table is set on the guide rail; the transmission device includes a synchronous wheel and a synchronous belt; the slide table passes through The transmission device is connected with the transmission of the transverse drive motor; the transverse drive motor is fixed at one end of the manipulator bracket, and its output end is connected with a synchronous wheel transmission, and the other end of the manipulator support is fixed with another synchronous wheel, and the two synchronous wheels are connected through a synchronous belt transmission. The sliding table is fixedly connected with the synchronous belt, and the synchronous wheel, the synchronous belt, and the sliding table are sequentially driven by the horizontal drive motor.

The above-mentioned automatic folding machine also includes a rotary drive motor; the lifting rod is arranged at the lower end of the longitudinal drive mechanism through the rotary drive motor.

The longitudinal driving mechanism is driven by a screw rod or a gear/rack mechanism.

The lifting rod is driven by a screw rod or a gear/rack mechanism.

A groove matching the electric folding plate is provided on the upper end surface of the working table; the electric folding plate is arranged in the groove.

The electric folding plate is composed of a folding plate and a folding driving motor; the folding plate is connected with the main shaft of the folding driving motor.

A conveyor belt can be provided on the workbench.

Compared with the prior art, the utility model has the following advantages: the movement of the vacuum sucker is controlled by the feeding manipulator, thereby controlling the movement of the sheet material to the top of the electric folding plate; at the same time, the rotation driving motor is used to control the sheet material to be positioned successively according to the specified folding process to position the folding line It coincides with the rotation axis of the electric folding plate, and the folding is completed by the electric folding plate, so as to complete the automatic folding of the sheet material. The utility model uses a microcomputer to control the camera to take pictures of the sheet material, thereby calculating the orientation of the sheet material, using a vacuum suction cup to suck up the sheet material, and controlling the movement of the sheet material along the X-axis and Y-axis direction through the microcomputer, and controlling the rotation of the sheet material and connecting with the electric folding machine. The pressing plate cooperates with the action to realize the automatic operation of the folding process, which improves the production efficiency and the versatility of the equipment.

Description of drawings

Fig. 1 is the structural representation of automatic folding machine of the present utility model;

Fig. 2 is a system control diagram of the utility model automatic folding machine.

In the figure, 1-working table, 2-feeding manipulator, 3-electric folding plate, 4-camera, 5-microcomputer, 6-manipulator support, 7-transverse drive motor, 8-transverse drive mechanism, 9-sliding table, 10 -Longitudinal drive motor, 11-Longitudinal drive mechanism, 12-Rotary drive motor, 13-Lift bar, 14-Vacuum suction cup, 15-Panel, 16-Folding drive motor, 17-Folding plate, 18-Sheet, 19- laminations.

Detailed ways

Below in conjunction with accompanying drawing, the automatic folding machine of the present utility model is described in detail.

As shown in FIG. 1 , the automatic folding machine of the present invention includes a workbench 1 , a feeding manipulator 2 , an electric folding plate 3 , and a video camera 4 . The camera 4 and the microcomputer 5 (the model is optional, China Taiwan Advantech ARK3400) all adopt products on the market. The manipulator support 6 is installed above the workbench 1. The camera 4 is installed above the manipulator support 6 . The microcomputer 5 is installed on the workbench 1 . The upper end surface of the workbench 1 is provided with a groove matching the electric folding plate 3, and the electric folding plate is arranged in the groove. The electric folding plate is made up of folding plate 17 and folding driving motor 16, and the rotating shaft of folding plate 17 links to each other with the output shaft of folding driving motor 16. The feeding manipulator includes a transverse drive mechanism 8 , a slide table 9 , a rotary drive motor 12 , a lifting rod 13 and a longitudinal drive mechanism 11 . The horizontal driving mechanism 8 can be made by screw drive, guide rail+synchronous belt/synchronous wheel and equipped with a motor; the longitudinal driving mechanism 10 can be made by using a screw drive, a rack and pinion mechanism and equipped with a driving motor. The transverse driving motor 7 is installed on the manipulator support 6 to control the movement of the transverse driving mechanism 8 along the X axis. The longitudinal drive motor 10 is installed on the slide table 9 to control the longitudinal drive mechanism 11 to move along the Y axis. Taking the horizontal driving mechanism 8 as an example, when the horizontal driving mechanism is driven by a screw, the horizontal driving mechanism 8 also includes a screw; 9 are sleeved on the screw mandrel, and the inner side is provided with the thread corresponding to the screw mandrel, which can move back and forth along with the rotation of the screw mandrel. When the lateral drive mechanism adopts guide rail + synchronous belt/synchronous wheel transmission, the lateral drive mechanism 8 also includes a guide rail and a transmission device (not shown); the sliding table 9 is set on the guide rail; the transmission device includes a synchronous wheel and a synchronous belt, and the sliding table 9 is connected to the horizontal drive motor 7 through a transmission device; the horizontal drive motor 7 is fixed on one end of the manipulator bracket 6, and its output end is connected to a synchronous wheel transmission, and the other end of the manipulator bracket 6 is fixedly provided with another synchronous wheel, two synchronous wheels The sliding table 9 is fixedly connected with the synchronous belt through the transmission of the synchronous belt, and the synchronous wheel, the synchronous belt and the sliding table 9 are driven to move in sequence by the transverse drive motor 7 . The gear/rack mechanism transmission takes the longitudinal driving mechanism 11 as an example: the longitudinal driving mechanism 11 includes a longitudinal driving motor 10, a gear and a rack; The bar is located in the chute; the output end of the longitudinal drive motor 10 is provided with a gear; the rack is meshed with the gear at the output end of the longitudinal drive motor 10, and the gear is driven by the longitudinal drive motor 10 to rotate, thereby driving the rack to move forward and backward (that is, along the Y axis movement). The outer end of the longitudinal drive mechanism 11 is provided with a rotary drive motor 12 . The upper end of the lifting rod 13 is connected with the output shaft of the rotary drive motor 12 , and the lower end is connected with the vacuum chuck 14 . The lifting rod 13 can be driven by a screw or a gear/rack mechanism together with a driving motor to control the movement of the vacuum chuck 14 along the Z axis. The vacuum suction cup 14 can be made of non-metallic sheet material and cut into a rectangle suitable for the sheet material, then wrapped with a flexible skirt (such as rubber), and then connected with the vacuum pipe valve. Driven by the rotary drive motor 12 and the lifting rod 13, the vacuum chuck 14 can rotate and move up and down along the Z axis. A conveyor belt can also be arranged on the workbench 1, and the conveyor belt can be assembled by using a flexible cloth belt or a belt+a roller.

In conjunction with Fig. 2, in the actual working process, the operator only needs to place the sheet material 18 on the workbench 1 or transfer it to the workbench 1 through the conveyor belt, the microcomputer 5 takes the image of the sheet material 18 through the camera 4, and calculates The orientation of each piece of material, and then control the feeding manipulator 2 to move the vacuum suction cup 14 to the top of each piece of material 18, and control the reference line of the vacuum suction cup 14 (can be set manually, such as the center line) and the current demand of the piece of material 18 Align the folded folding lines, put down the lifting rod 13 to suck up the sheet material 18, and then send the sheet material 18 above the folding plate 17 (at this time, the reference line of the vacuum suction cup 14 coincides with the current folding line on the sheet material 18), Then, under the control of the microcomputer 5, the feeding manipulator 2 is driven to move the sheet material 18 according to the determined trajectory until the reference line of the vacuum chuck 14 coincides with the axis of rotation of the folding plate 17, and then the folding plate 17 rotates 180 degrees around its axis of rotation to complete the sheet material. The current folding is repeated until all the folding processes are completed, and finally the feeding manipulator 2 pushes the folded laminations 19 to a predetermined position and releases the laminations.

Claims (10)

1. A kind of automatic folding machine, it is characterized in that: comprise workbench, feeding manipulator, manipulator support, microcomputer, vacuum sucker, video camera and electric folding plate; Described manipulator support and microcomputer are fixed above described workbench; Described video camera Set above the manipulator bracket; the electric folding plate is rotated and set on the workbench; the feeding manipulator is movably set on the manipulator support; the microcomputer is connected with the camera, feeding manipulator and electric motor respectively. The folding plates are connected; the vacuum suction cup is rotatably arranged at the lower end of the feeding manipulator. 2. The automatic folding machine according to claim 1, characterized in that: the feeding manipulator includes a transverse drive mechanism, a slide table, a longitudinal drive mechanism and a lifting rod; the slide table can be moved left and right by the transverse drive mechanism On the support of the manipulator; the lifting rod is set on the sliding platform so that it can move back and forth through the longitudinal driving mechanism; the vacuum suction cup is set at the lower end of the longitudinal driving mechanism so that it can move up and down through the lifting rod. 3. The automatic folding machine according to claim 2, characterized in that: the transverse drive mechanism comprises a transverse drive motor and a screw; The output shaft of the motor is connected; the sliding table is sleeved on the screw rod, and the inner side is provided with a thread corresponding to the screw rod. 4. The automatic folding machine according to claim 2, characterized in that: the transverse drive mechanism comprises a transverse drive motor, a guide rail and a transmission device; the guide rail is fixed on the manipulator support; the sliding table is sleeved on the guide rail above; the transmission device includes a synchronous wheel and a synchronous belt; the horizontal drive motor is fixed at one end of the manipulator bracket, and its output end is connected with a synchronous wheel transmission, and the other end of the manipulator bracket is fixedly provided with another synchronous wheel, two The synchronous wheel is connected through a synchronous belt transmission, and the slide table is fixedly connected with the synchronous belt. 5. The automatic folding machine according to claim 2, characterized in that: the automatic folding machine further comprises a rotary drive motor; the lifting rod is arranged at the lower end of the longitudinal drive mechanism through the rotary drive motor. 6. The automatic folding machine according to claim 2, wherein the longitudinal driving mechanism is driven by a screw drive or a gear/rack mechanism. 7. The automatic folding machine according to claim 2, characterized in that: the lifting rod is driven by a screw or a gear/rack mechanism. 8. The automatic folding machine according to claim 1, characterized in that: the upper end surface of the workbench is provided with a groove matching the electric folding plate; the electric folding plate is arranged in the groove . 9. The automatic folding machine according to claim 1, characterized in that: the electric folding plate is composed of a folding plate and a folding driving motor; the folding plate is connected to the main shaft of the folding driving motor. 10. The automatic folding machine according to claim 1, wherein a conveyor belt is provided on the workbench.

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