CN208249416U - A kind of corrugated board turnover panel mistake shut-down system - Google Patents
A kind of corrugated board turnover panel mistake shut-down system Download PDFInfo
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- CN208249416U CN208249416U CN201820776679.7U CN201820776679U CN208249416U CN 208249416 U CN208249416 U CN 208249416U CN 201820776679 U CN201820776679 U CN 201820776679U CN 208249416 U CN208249416 U CN 208249416U
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- screw rod
- pair
- frame
- turnover panel
- grabbing device
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- 230000007306 turnover Effects 0.000 title claims abstract description 39
- 238000003825 pressing Methods 0.000 claims abstract description 30
- 239000011111 cardboard Substances 0.000 claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 230000008602 contraction Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000010008 shearing Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 239000000123 paper Substances 0.000 description 2
- 239000011087 paperboard Substances 0.000 description 2
- 238000007639 printing Methods 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
A kind of corrugated board turnover panel mistake shut-down system, it includes wired belt conveyer (1) and a pair of of turnover panel mistake heap robot (2), a pair of of turnover panel mistake heap robot (2) is located at the two sides of wired belt conveyer (1), turnover panel mistake heap robot (2) includes two axis robots (5), grabbing device (6) and grabbing device control arm (7), grabbing device (6) includes backing board (13), handgrip frame (14), baffle (9), baffle telescopic component, a pair of of pressing plate (11) and pressing plate lifting assembly, grabbing device control arm (7) includes control arm frame (20), three ball spline screw rods (21), the flexible driving assembly of screw rod and screw rod rotary drive assembly, the utility model advantage is: carrying out automatic turnover to cardboard by a pair of of manipulator and wrong heap is piled up, greatly improve working efficiency, together Time less manpower.
Description
Technical field
The utility model relates to corrugated board production technical fields, and in particular to a kind of corrugated board turnover panel mistake shut-down system.
Background technique
Currently, corrugated board after board production output, often generates bending deformation because temperature is cooling, shadow
It rings and arrives subsequent printing and molding, therefore paperboard mill needs specially worker to be arranged to carry out turnover panel stacking to corrugated board, especially greatly
The cardboard of specification, the laborious low efficiency simultaneously of artificial turnover panel are at high cost.
Utility model content
The purpose of this utility model aiming at currently, corrugated board after board production output, often because temperature
Degree is cooling and generates bending deformation, influences subsequent printing and molding, therefore paperboard mill needs specially to arrange worker to corrugated paper
Plate carries out turnover panel stacking, the cardboard of especially big specification, artificial turnover panel laborious low efficiency, deficiency at high cost simultaneously, and provides
A kind of corrugated board turnover panel mistake shut-down system.
The utility model includes wired belt conveyer and a pair of of turnover panel mistake heap robot, and a pair of of turnover panel mistake heap robot distinguishes position
In the two sides of wired belt conveyer, turnover panel mistake heap robot includes two axis robots, grabbing device and grabbing device control arm, crawl
Device includes backing board, handgrip frame, baffle, baffle telescopic component, a pair of of pressing plate and pressing plate lifting assembly, the installation of handgrip frame
On backing board, backing board is equipped with a pair of guide rails, and baffle is mounted on the sliding block of a pair of guide rails, and baffle telescopic component is mounted on
On handgrip frame, and baffle is driven to slide in a pair of guide rails, the both ends of baffle are respectively equipped with guide rod, are provided with one on handgrip frame
To guide rod through hole, guide rod is equipped with spring, and the both ends of spring are connect with baffle and handgrip frame respectively, and a pair of of pressing plate passes through pressure
Plate lifting assembly is movably arranged on handgrip frame, and is located above baffle；Grabbing device control arm includes control arm frame, three
The flexible driving assembly of a ball spline screw rod, screw rod and screw rod rotary drive assembly, control arm frame are equipped with connecting bracket, and
It is mounted in two axis robots by connecting bracket, the flexible driving assembly of screw rod includes screw rod extension and contraction control motor and three nuts
Gear, three nut gears are movably arranged on control arm frame one end respectively, and the output shaft of screw rod extension and contraction control motor is equipped with
Gear, screw rod extension and contraction control motor is mounted on control arm frame one end, and respectively drives three nut gear rotations by gear,
Three ball spline screw rods are respectively by cooperating the synchronizing moving on control arm frame with corresponding nut gear；Screw rod rotation is driven
Dynamic component includes screw rod rotation control motor and screw rod Distal coupling end lid, and the other end and the screw rod distal end of control arm frame connect
Three spline sleeve gears being used cooperatively with ball spline screw rod, the output of screw rod rotation control motor are respectively equipped on end cap
End and screw rod Distal coupling end cover the transmission gear for being respectively equipped with and being used cooperatively with spline sleeve gear, are located at screw rod distal end and connect
The transmission gear of end cap is equipped with output flange, and screw rod rotation control motor is mounted on control arm frame, and passes through three rollings
Spline screw rod transmission drives output flange rotation, and handgrip frame is mounted on output flange by connecting plate.
Baffle telescopic component includes shearing fork telescopic frame and synchronous belt drive mechanism, and synchronous belt drive mechanism is mounted on backing board
On, and drive baffle to slide in a pair of guide rails by shearing fork telescopic frame；Pressing plate lifting assembly includes screw rod and screw rod driving electricity
Machine, screw rod and screw drive motor are separately mounted on handgrip frame, and a pair of of pressing plate is mounted on the sliding block of screw rod by connecting plate
On, screw drive motor drives a pair of of pressing plate to move up and down on handgrip frame by screw rod.
, there are also automatic control device, automatic control device includes a pair of of infrared sensor and camera, wired belt conveyer for it
Both ends be respectively equipped with cardboard rollgang, a pair of of infrared sensor and camera by support frame be mounted on wired belt conveyer into
Expect above the cardboard rollgang at end, and passes through the control system communication link of input module and a pair of of turnover panel mistake heap robot respectively
It connects；Proximity sensor, two groups of proximity sensors point are respectively equipped on the handgrip frame and one of pressing plate of the grabbing device
It is not communicated to connect with the control system of corresponding turnover panel mistake heap robot；The control system of a pair of of turnover panel mistake heap robot is led to respectively
Cross the movement that output module controls corresponding two axis robots, grabbing device and grabbing device control arm.
The utility model advantage is: carrying out automatic turnover to cardboard by a pair of of manipulator and wrong heap is piled up, greatly mention
High working efficiency, while saving artificial.
Detailed description of the invention
Fig. 1 is the utility model structure diagram.
Fig. 2 is the utility model grabbing device first structure diagram.
Fig. 3 is the second structural schematic diagram of the utility model grabbing device.
Fig. 4 is the utility model grabbing device control arm structural schematic diagram.
Fig. 5 is the utility model circuit connection diagram.
Specific embodiment
As shown in the picture, the utility model includes wired belt conveyer 1 and a pair of of turnover panel mistake heap robot 2, and a pair of of turnover panel is wrong
Heap robot 2 is located at the two sides of wired belt conveyer 1, and turnover panel mistake heap robot 2 includes two axis robots 5,6 and of grabbing device
Grabbing device control arm 7, grabbing device 6 include backing board 13, handgrip frame 14, baffle 9, baffle telescopic component, a pair of of pressing plate
11 and pressing plate lifting assembly, handgrip frame 14 be mounted on backing board 13, backing board 13 be equipped with a pair of guide rails 15, baffle 9 pacify
On the sliding block of a pair of guide rails 15, baffle telescopic component is mounted on handgrip frame 14, and drives baffle 9 in a pair of guide rails 15
Upper sliding, the both ends of baffle 9 are respectively equipped with guide rod 16, and 16 through hole of a pair of guide rods is provided on handgrip frame 14, is set on guide rod 16
There is spring, the both ends of spring are connect with baffle 9 and handgrip frame 14 respectively, and a pair of of pressing plate 11 is pacified by the activity of pressing plate lifting assembly
On handgrip frame 14, and it is located at 9 top of baffle；Grabbing device control arm 7 includes 20, three ball splines of control arm frame
The flexible driving assembly of screw rod 21, screw rod and screw rod rotary drive assembly, control arm frame 20 is equipped with connecting bracket 25, and passes through
Connecting bracket 25 is mounted in two axis robots 5, and the flexible driving assembly of screw rod includes screw rod extension and contraction control motor 26 and three spiral shells
Female gear 27, three nut gears 27 are movably arranged on 20 one end of control arm frame respectively, screw rod extension and contraction control motor 26 it is defeated
Shaft is equipped with gear, and screw rod extension and contraction control motor 26 is mounted on 20 one end of control arm frame, and respectively drives three by gear
A nut gear 27 rotates, and three ball spline screw rods 21 with corresponding nut gear 27 respectively by cooperating in control arm frame
Synchronizing moving on 20；Screw rod rotary drive assembly includes screw rod rotation control motor 30 and screw rod Distal coupling end lid 31, control
Three are respectively equipped on the other end and screw rod Distal coupling end lid 31 of arm frame 20 to be used cooperatively with ball spline screw rod 21
Spline sleeve gear 32 is respectively equipped with and spline on the output end and screw rod Distal coupling end lid 31 of screw rod rotation control motor 30
The transmission gear that sleeve gear 32 is used cooperatively, the transmission gear positioned at screw rod Distal coupling end lid 31 are equipped with output flange 35,
Screw rod rotation control motor 30 is mounted on control arm frame 20, and passes through three transmission driving output methods of ball spline screw rod 21
Orchid 35 rotates, and handgrip frame 14 is mounted on output flange 35 by connecting plate.
Baffle telescopic component includes shearing fork telescopic frame 50 and synchronous belt drive mechanism 51, and synchronous belt drive mechanism 51 is mounted on
On backing board 13, and baffle 9 is driven to slide in a pair of guide rails 15 by shearing fork telescopic frame 50；Pressing plate lifting assembly includes screw rod
53 and screw drive motor 54, screw rod 53 and screw drive motor 54 be separately mounted on handgrip frame 14, a pair of of pressing plate 11 is logical
It crosses connecting plate to be mounted on the sliding block of screw rod 53, screw drive motor 54 drives a pair of of pressing plate 11 in handgrip frame by screw rod 53
It is moved up and down on 14.
It is there are also automatic control device, and automatic control device includes a pair of of infrared sensor 40 and camera 41, and mesh belt is defeated
The both ends of machine 1 are sent to be respectively equipped with cardboard rollgang 43, a pair of of infrared sensor 40 and camera 41 are mounted on by support frame
43 top of cardboard rollgang of 1 feed end of wired belt conveyer, and pass through input module and a pair of of turnover panel mistake heap robot 2 respectively
Control system communication connection；It is respectively equipped on the handgrip frame 14 and one of pressing plate 11 of the grabbing device 6 close to biography
Sensor 45, two groups of proximity sensors 45 are communicated to connect with the control system of corresponding turnover panel mistake heap robot 2 respectively；A pair of of turnover panel
The control system of wrong heap robot 2 passes through output module respectively and controls corresponding two axis robot 5, grabbing device 6 and crawl dress
Set the movement of control arm 7.
Working method and principle: cardboard pile passes through on the cardboard rollgang 43 of 1 feed end of wired belt conveyer, Yi Duihong
Outer sensor 40 detects the height of cardboard pile, and camera 41 detects the position of cardboard pile, and detection data is conveyed to one respectively
To the control system of turnover panel mistake heap robot 2, a pair of two axis robots 5 starting, adjust two grabbing devices 6 height and
Away from highly by the control of two axis robots 5, the movement of spacing and grabbing device 6 is controlled by grabbing device control arm 7, led to
The control of grabbing device control arm 7 is crossed, starts to carry out turnover panel behind 6 position of grabbing device that cardboard pile enters on wired belt conveyer 1.
Turnover panel mistake heap work step is as follows:
1. preparing crawl position, the height and spacing of two grabbing devices 6 are adjusted；Height is controlled by two axis robots 5,
Spacing adjustment mode are as follows: screw rod extension and contraction control motor 26 starts, and drives three nut gears 27 to rotate by gear drive, and three
27 rotate driving of nut gear, three ball spline screw rods 21 are moved forward and backward, i.e., electronic screw rod transmission mode；
The cardboard pile on upper layer, is pushed to the right one by backing board 13 by a distance 2. left side grabbing device 6 moves right
Section distance enters one end on the right side of cardboard pile between a pair of of the pressing plate 11 and backing board 13 of right side grabbing device 6, right side crawl
A pair of of pressing plate 11 of device 6 moves down the cardboard pile for clamping and stretching out；
3. two axis robots 5 of right side drive the grabbing device 6 on right side to move up a distance, the cardboard pile on right side is lifted
It rises；
4. left side grabbing device 6 resets, right side grabbing device 6 clips cardboard pile and moves to the left, the paper of left side one end
Straight sheet pile is sent between a pair of of the pressing plate 11 and backing board 13 of left side grabbing device 6, then a pair of of pressing plate of left side grabbing device 6
11 move down clamping cardboard pile；
5. two axis robots 5 lifting of the left and right sides, overturns cardboard pile under the action of grabbing device control arm 7
180 °, overturning working method are as follows: screw rod rotation control motor 30 starts, and drives spline sleeve gear 32 to rotate by gear drive,
Spline sleeve gear 32 is connected with ball spline screw rod 21 by spline, and ball spline screw rod 21 is as transmission shaft driving screw rod distal end
Spline sleeve gear 32 in connection end cap 31 rotates, and spline sleeve gear 32 drives output flange 35 to rotate, and grabbing device 6 follows defeated
Flange 35 is rotated out；
6. two axis robots 5 of the left and right sides reset, then a pair of of pressing plate 11 of left and right sides grabbing device 6 resets, pine
Cardboard pile is opened, baffle 9 stretches out, while left and right sides grabbing device 6 is moved to starting under the action of grabbing device control arm 7
Point is in place cardboard pile on the cardboard rollgang 43 of 1 discharge end of wired belt conveyer, carrying out next cardboard pile turnover panel code
It puts, is staggered when second batch cardboard pile is piled up with preceding a collection of cardboard pile or so.
Claims (3)
1. a kind of corrugated board turnover panel mistake shut-down system, it is characterised in that it includes wired belt conveyer (1) and a pair of of turnover panel mistake heap machine
Tool people (2), a pair of of turnover panel mistake heap robot (2) are located at the two sides of wired belt conveyer (1), turnover panel mistake heap robot (2) packet
Two axis robots (5), grabbing device (6) and grabbing device control arm (7) are included, grabbing device (6) includes backing board (13), handgrip
Frame (14), baffle (9), baffle telescopic component, a pair of of pressing plate (11) and pressing plate lifting assembly, handgrip frame (14) are mounted on bottom
On supporting plate (13), backing board (13) is equipped with a pair of guide rails (15), and baffle (9) is mounted on the sliding block of a pair of guide rails (15), keeps off
Plate telescopic component is mounted on handgrip frame (14), and baffle (9) is driven to slide on a pair of guide rails (15), and the two of baffle (9)
End is respectively equipped with guide rod (16), and a pair of guide rods (16) through hole is provided on handgrip frame (14), and guide rod (16) is equipped with spring, bullet
The both ends of spring are connect with baffle (9) and handgrip frame (14) respectively, and a pair of of pressing plate (11) is installed by the activity of pressing plate lifting assembly
On handgrip frame (14), and it is located above baffle (9)；Grabbing device control arm (7) includes control arm frame (20), three rollings
The flexible driving assembly of spline screw rod (21), screw rod and screw rod rotary drive assembly, control arm frame (20) are equipped with connection support
Frame (25), and be mounted on two axis robots (5) by connecting bracket (25), the flexible driving assembly of screw rod includes the flexible control of screw rod
Motor (26) processed and three nut gears (27), three nut gears (27) are movably arranged on control arm frame (20) one respectively
The output shaft at end, screw rod extension and contraction control motor (26) is equipped with gear, and screw rod extension and contraction control motor (26) is mounted on control arm frame
Frame (20) one end, and three nut gear (27) rotations are respectively driven by gear, three ball spline screw rods (21) are led to respectively
It crosses and corresponding nut gear (27) cooperation synchronizing moving on control arm frame (20)；Screw rod rotary drive assembly includes screw rod
Rotation control motor (30) and screw rod Distal coupling end lid (31), the other end and screw rod Distal coupling end of control arm frame (20)
Three spline sleeve gears (32) being used cooperatively with ball spline screw rod (21), screw rod rotation control are respectively equipped on lid (31)
The biography being used cooperatively with spline sleeve gear (32) is respectively equipped on the output end and screw rod Distal coupling end lid (31) of motor (30)
Moving gear, the transmission gear for being located at screw rod Distal coupling end lid (31) are equipped with output flange (35), screw rod rotation control motor
(30) it is mounted on control arm frame (20), and is turned by three ball spline screw rod (21) transmission drivings output flange (35)
Dynamic, handgrip frame (14) is mounted on output flange (35) by connecting plate.
2. a kind of corrugated board turnover panel mistake shut-down system according to claim 1, it is characterised in that baffle telescopic component includes
Shearing fork telescopic frame (50) and synchronous belt drive mechanism (51), synchronous belt drive mechanism (51) is mounted on backing board (13), and is led to
Shearing fork telescopic frame (50) driving baffle (9) is crossed to slide on a pair of guide rails (15)；Pressing plate lifting assembly includes screw rod (53) and silk
Bar driving motor (54), screw rod (53) and screw drive motor (54) are separately mounted on handgrip frame (14), a pair of of pressing plate
(11) it is mounted on by connecting plate on the sliding block of screw rod (53), screw drive motor (54) drives a pair of of pressing plate by screw rod (53)
(11) it is moved up and down on handgrip frame (14).
3. a kind of corrugated board turnover panel mistake shut-down system according to claim 1, it is characterised in that there are also automatically control dress for it
It sets, automatic control device includes that a pair of of infrared sensor (40) and camera (41), the both ends of wired belt conveyer (1) are respectively equipped with
Cardboard rollgang (43), a pair of of infrared sensor (40) and camera (41) are mounted on wired belt conveyer (1) by support frame
Above the cardboard rollgang (43) of feed end, and pass through the control of input module and a pair of of turnover panel mistake heap robot (2) respectively
System communication connection；It is respectively equipped on the handgrip frame (14) and one of pressing plate (11) of the grabbing device (6) close to biography
Sensor (45), two groups of proximity sensors (45) communicate to connect with the control system of corresponding turnover panel mistake heap robot (2) respectively；One
Output module is passed through to the control system of turnover panel mistake heap robot (2) respectively and controls corresponding two axis robot (5), grabbing device
(6) and the movement of grabbing device control arm (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820776679.7U CN208249416U (en) | 2018-05-24 | 2018-05-24 | A kind of corrugated board turnover panel mistake shut-down system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820776679.7U CN208249416U (en) | 2018-05-24 | 2018-05-24 | A kind of corrugated board turnover panel mistake shut-down system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208249416U true CN208249416U (en) | 2018-12-18 |
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ID=66481135
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820776679.7U Withdrawn - After Issue CN208249416U (en) | 2018-05-24 | 2018-05-24 | A kind of corrugated board turnover panel mistake shut-down system |
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| Country | Link |
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| CN (1) | CN208249416U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466854A (en) * | 2018-05-24 | 2018-08-31 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
-
2018
- 2018-05-24 CN CN201820776679.7U patent/CN208249416U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466854A (en) * | 2018-05-24 | 2018-08-31 | 武汉京山轻机智能装备有限公司 | A kind of corrugated board turnover panel mistake shut-down system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 430040 High-tech Avenue 999, Donghu New Technology Development Zone, Jiangxia District, Wuhan City, Hubei Province Patentee after: WUHAN JINGSHAN LIGHT MACHINE INTELLIGENT EQUIPMENT CO.,LTD. Address before: 430040 High-tech Avenue 999, Donghu New Technology Development Zone, East-West Lake District, Jingmen City, Hubei Province Patentee before: WUHAN JINGSHAN LIGHT MACHINE INTELLIGENT EQUIPMENT CO.,LTD. |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181218 Effective date of abandoning: 20230502 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181218 Effective date of abandoning: 20230502 |