CN208394324U - A kind of paper machine people automatic charging work station - Google Patents
A kind of paper machine people automatic charging work station Download PDFInfo
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- CN208394324U CN208394324U CN201821001794.3U CN201821001794U CN208394324U CN 208394324 U CN208394324 U CN 208394324U CN 201821001794 U CN201821001794 U CN 201821001794U CN 208394324 U CN208394324 U CN 208394324U
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Abstract
The utility model relates to a kind of paper machine people automatic charging work stations, including control system and robot, it is detachably provided with feeding handgrip in the robot and feeding handgrip is driven to move, the side of the robot is provided with paper heap transmission line body, the adjacent other side is provided with printing machine, and the robot and control system communicate and grab paper heap under control of the control system and be put into printing machine；The utility model is automatically controlled by PLC, the robot pile AUTOMATIC ZONING crawl different to supplied materials height may be implemented, be suitable for a certain range of plurality of specifications size sheets, realize the automated production of paper printing, the quality for improving production efficiency and product, reduces production cost.
Description
Technical field
The utility model relates to industrial robot applied technical field more particularly to a kind of paper machine people automatic charging works
It stands.
Background technique
During carrying out printing impression processing to paper, to the crawl of paper, there are specifications not to unite in the prior art
One, it cannot produce in enormous quantities, replacement gripping tool trouble, simultaneously because the improper of gripping tool can be layered grabbing to paper
The damage to paper is brought in the process, and working efficiency is low, the degree of automation is low, high labor cost.
Based on this, a kind of waste that production efficiency can be improved, reduce paper and the paper that production cost is effectively reduced are needed
Robot automatic charging work station is opened to be devised.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and obtaining one kind can be improved production efficiency, subtracts
The waste of few paper and paper machine people's automatic charging work station that production cost is effectively reduced.
The utility model is achieved through the following technical solutions:
The first aspect that the utility model illustrates is related to a kind of paper machine people automatic charging work station, including control system
And robot, feeding handgrip is detachably provided in the robot and feeding handgrip is driven to move, the side of the robot
Be provided with paper heap transmission line body, the adjacent other side is provided with printing machine, the robot and control system communicate and
Paper heap is grabbed under the control of control system and is put into printing machine；
Wherein, the feeding handgrip includes:
Prong is clamped, for grabbing paper, including upper prong and lower prong, forms folder between the upper prong and lower prong
Chamber is held, the upper prong lower end sliding is provided with the lamination mechanism for paper heap to be layered, and the lamination mechanism is in holding chamber
Interior movement simultaneously cooperates the variation of holding chamber to realize corresponding movement posture；And
Driving device communicates with control system, for driving the clamping prong to fit to control the size of holding chamber
The variation for the paper stack height that should be grabbed.
On the basis of a kind of paper machine people automatic charging work station described in first aspect, what the utility model illustrated
Second aspect is that the control system is controlled using PLC system.
On the basis of a kind of paper machine people automatic charging work station described in first aspect, what the utility model illustrated
The third aspect is that the lower prong two sides are respectively arranged with material blocking rod.
On the basis of a kind of paper machine people automatic charging work station described in first aspect, what the utility model illustrated
Fourth aspect is that the driving device includes for driving the upper prong servo drive of upper prong, for driving lower prong
Lower prong servo drive and lamination mechanism servo drive for driving lamination mechanism, the upper prong servo drive
Dynamic device and lower prong servo drive are separately positioned on the side of guide rail mounting plate, and the other side of the guide rail mounting plate is set
It is equipped with the first guide rail corresponding with upper prong servo drive, lower prong servo drive, first guide upper is sliding
Dynamic to be provided with prong, the first guide rail lower slide is provided with lower prong, the lamination mechanism servo drive setting
Upper prong lower end and in upper prong close to the side of guide rail mounting plate.
On the basis of a kind of paper machine people automatic charging work station described in first or fourth aspect, the utility model
The 5th aspect illustrated is that the upper prong lower end is provided with the second guide rail, is slided and is arranged by slide unit on second guide rail
There is lamination mechanism, the lamination mechanism includes that the layering fixed plate to link together with slide unit and setting are another in layering fixed plate
The antiskid rubber at end.
On the basis of a kind of paper machine people automatic charging work station described in the 5th aspect, what the utility model illustrated
6th aspect is that the layering fixed plate includes first layer fixed plate and the second layering fixed plate, and the first layer is fixed
One end of plate is connected on slide unit, is rotatably connected together in the middle part of the second layering fixed plate with first layer fixed plate,
The other end of the second layering fixed plate is provided with antiskid rubber.
On the basis of a kind of paper machine people automatic charging work station described in the 6th aspect, what the utility model illustrated
7th aspect be that arc-shaped limit hole is additionally provided in the first layer fixed plate, it is described second layering fixed plate on it is anti-skidding
The opposite one end of rubber mat is provided with the through-hole being adapted to arc-shaped limit hole, and the through-hole passes through bolt arrangement and arc-shaped limit hole card
It is connected together so that second is layered fixed plate arcuately limit hole rotation-limited.
On the basis of a kind of paper machine people automatic charging work station described in the 7th aspect, what the utility model illustrated
Eighth aspect is that the second layering fixed plate includes support plate and demixing plate, and the support plate and first layer fixed plate can
It is rotatably connected, the other end of the support plate is provided with and demixing plate, and the outer end of the demixing plate is provided with skid-proof rubber
It pads, guide rod has been uniformly arranged on the demixing plate, and the linear bearing by being arranged on guide rod is limited, the guide rod is worn
Cross demixing plate and be provided with layering two plate parallel with demixing plate in outer end, be provided between layering two plates and the demixing plate with
The corresponding spring of guide rod, the spring are set on guide rod, and the outer end of two plates of the layering is provided with antiskid rubber.
On the basis of a kind of paper machine people automatic charging work station described in the 5th aspect, what the utility model illustrated
9th aspect is that the layering fixed plate includes first layer fixed plate and the second layering fixed plate, and the first layer is fixed
One end of plate is connected on slide unit, and the other end of the first layer fixed plate is provided with cylinder, and the other end of the cylinder is set
It is equipped with the second layering fixed plate, the other end of the second layering fixed plate is provided with antiskid rubber, and the cylinder is electrically connected
Control system.
On the basis of a kind of paper machine people automatic charging work station described in first aspect, what the utility model illustrated
Tenth aspect is that the paper heap transmission line body end is provided with photoelectric sensor, is also set above the paper heap transmission line body
It is equipped with distance measuring sensor, the photoelectric sensor and distance measuring sensor communicate with control system respectively.
Compared with prior art, the beneficial effects of the utility model are:
The utility model is automatically controlled by PLC, and the robot pile AUTOMATIC ZONING different to supplied materials height may be implemented
Crawl, is suitable for a certain range of plurality of specifications size sheets, realizes the automated production of paper printing, improve production
The quality of efficiency and product, reduces production cost.
Detailed description of the invention
Fig. 1 is the integral layout schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of feeding handgrip 2 in the utility model；
Fig. 3 is the right view of Fig. 2；
Fig. 4 is the left view of Fig. 2；
Fig. 5 is the partial enlarged view that robot 1 and feeding handgrip 2 link together in the utility model；
Fig. 6 is the schematic perspective view of feeding handgrip 2 in the utility model；
Fig. 7 is that lamination mechanism 23 uses the schematic diagram of spring buffer structure in the utility model；
Fig. 8 is that lamination mechanism 23 uses the schematic diagram of cylinder control buffering in the utility model；
Fig. 9 is the structural schematic diagram of antiskid rubber 236 in the utility model；
Figure 10 is one embodiment structural schematic diagram of the second layering fixed plate in the utility model；
Figure 11 is one embodiment structural schematic diagram of first layer fixed plate 231 in the utility model.
Appended drawing reference is as follows:
1, robot, 2, feeding handgrip, 21, clamping prong, 211, upper prong, 212, lower prong, 22, driving device,
221, upper prong servo drive, 222, lower prong servo drive, 223, lamination mechanism servo drive, 23, point
Layer mechanism, 231, first layer fixed plate, 2311, arc-shaped limit hole, 232, support plate, 233, demixing plate, 234, guide rod, 235,
Linear bearing, 236, antiskid rubber, 237, two plates of layering, 238, cylinder, 24, guide rail mounting plate, 25, material blocking rod, 26, flange
Plate, 3, paper heap transmission line body, 4, printing machine.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Please refer to Fig. 1 to Figure 11, a kind of paper machine people automatic charging work station, including control system and robot 1, institute
It states and is detachably provided with feeding handgrip 2 in robot 1 and feeding handgrip 2 is driven to move, the side of the robot 1 is provided with paper
Heap transmission line body 3 is opened, the adjacent other side is provided with printing machine 4, and the robot 1 communicates with control system and is in control
Paper heap is grabbed under the control of system and is put into printing machine 4；
Wherein, the feeding handgrip 2 includes:
Prong 21 is clamped, for grabbing paper, including upper prong 211 and lower prong 212, the upper prong 211 and lower fork
Holding chamber is formed between tooth 212, upper 211 lower end of the prong sliding is provided with the lamination mechanism 23 for paper heap to be layered,
The lamination mechanism 23 acts in holding chamber and the variation of holding chamber is cooperated to realize corresponding movement posture；And
Driving device 22, communicates with control system, for driving the clamping prong 21 to control the size of holding chamber
To adapt to the variation of the paper stack height grabbed.
When it is implemented, the control system is controlled using PLC system.
When it is implemented, 212 two sides of lower prong are respectively arranged with material blocking rod 25.
When it is implemented, the driving device 22 includes the upper prong servo drive for driving upper prong 211
221, for driving the lower prong servo drive 222 of lower prong 212 and for driving the lamination mechanism of lamination mechanism 23 to watch
Driving device 223 is taken, the upper prong servo drive 221 and lower prong servo drive 222 are separately positioned on guide rail
The side of mounting plate 24, the other side of the guide rail mounting plate 24 is provided with to be watched with upper prong servo drive 221, lower prong
Corresponding first guide rail of driving device 222 is taken, the first guide upper sliding is provided with prong 211, first guide rail
234 lower slides are provided with lower prong 212, the driving of upper prong servo drive 221 and lower prong servo drive 222
Track is consistent, and the tracks of upper prong 211 and lower prong 212 are all on the first guide rail, the consistency of the clamping of guarantee
With stability, the lower end of upper prong 211 is arranged in and in upper prong 211 close to leading in the lamination mechanism servo drive 223
The side of rail mounting plate 24.Further, the outside of guide rail mounting plate 24 is additionally provided with flanged plate 26, removable by flanged plate 26
It unloads and is mounted in robot 1, the device of corresponding driving flange plate 26 is provided in robot 1, can be realized to feeding handgrip 2
180 ° of overturning blowings.
When it is implemented, 211 lower end of upper prong is provided with the second guide rail, slided on second guide rail by slide unit
It is provided with lamination mechanism 23, the lamination mechanism 23 includes that the layering fixed plate to link together with slide unit and setting are solid in layering
The antiskid rubber 236 of the fixed board other end.Further, as shown in figure 9, being uniformly arranged on the antiskid rubber 236 several convex
Point, to increase frictional force, square structure, rectangular array arrangement, further to increase has been can be set in the salient point
Frictional force and preferably layering.
It is described as shown in Fig. 7, Figure 10 and Figure 11 as the one embodiment buffered in the utility model using spring
Layering fixed plate includes first layer fixed plate 231 and the second layering fixed plate, and one end of the first layer fixed plate 231 connects
It connects on slide unit, is rotatably connected together in the middle part of the second layering fixed plate with first layer fixed plate 231, described second
The other end of layering fixed plate is provided with antiskid rubber 236, is additionally provided with arc-shaped limit hole in the first layer fixed plate 231
2311, one end opposite with antiskid rubber 236 is provided in the second layering fixed plate is adapted to arc-shaped limit hole 2311
Through-hole, the through-hole is connected together by bolt arrangement with arc-shaped limit hole 2311 so that the second layering fixed plate arcuately limits
2311 rotation-limited of position hole, prevents the excessive overturning of lamination mechanism 23, and the second layering fixed plate includes support plate 232 and divides
Laminate 233, the support plate 232 are rotatably connected together with first layer fixed plate 231, further, the support plate
232 other end, which is provided with, is provided with antiskid rubber 236, the demixing plate with demixing plate 233, the outer end of the demixing plate 233
Guide rod 234 is uniformly arranged on 233, and the linear bearing 235 by being arranged on guide rod 234 is limited, the guide rod 234
Layering two plate 237 parallel with demixing plate 233, two plate 237 of layering and layering are provided with across demixing plate 233 and in outer end
Spring (diagram is not drawn into) corresponding with guide rod 234 is provided between plate 233, the spring is set on guide rod 234, and described point
The outer end of two plate 237 of layer is provided with antiskid rubber 236.Further, the linear bearing 235 and guide rod 234 can be set to
Four.The setting of spring, realize pooling feature, improve stability, replace rigid contact using flexible contact, avoid for
The damage of paper.
As the one embodiment buffered in the utility model using cylinder 238, as shown in figure 8, implementing with upper one
Unlike example, the layering fixed plate includes first layer fixed plate 231 and the second layering fixed plate, and the first layer is solid
One end of fixed board 231 is connected on slide unit, and the other end of the first layer fixed plate 231 is provided with cylinder 238, the cylinder
238 other end is provided with the second layering fixed plate, and the other end of the second layering fixed plate is provided with antiskid rubber 236,
The cylinder 238 is electrically connected control system.It realizes pooling feature, improves stability, rigidity is replaced to connect using flexible contact
Touching, avoids the damage for paper.
In the above-mentioned technical solutions, 3 end of paper heap transmission line body is provided with photoelectric sensor, and the paper heap is defeated
Distance measuring sensor is additionally provided with above line sending body 3, the photoelectric sensor and distance measuring sensor communicate with control system respectively,
Control system makes corresponding control instruction after collecting signal.
In the above-mentioned technical solutions, lamination mechanism 23 can be moved forward and backward under the driving of driving device 22, can be according to need
Thickness is wanted to be layered pile, upper prong 211 is operated alone by servo, moves downward, clamp the paper tightly afterwards in place forking paper,
Lower prong 212 is operated alone by servo, is completed to link when paper forks with upper prong 211 in robot 1, be clamped upwards, overturning
When 180 ° of blowings, lower prong 212 is located above paper, and prong 212 is descended to move upwards release paper at this time, completes paper feeding.
Material blocking rod 25 is mounted on lower prong 212, and robot 1 is when forking 180 ° of large format paper turning, since paper is heavier, directly
The clamping force levels overturning of top lower prong 212 needs larger chucking power, and paper may be damaged because transition is squeezed and deformed；Thus
Needed when overturning by 1 posture changing of robot by 1 hand of robot grab upwards it is perpendicular to the ground, allow sheet side to fall in material blocking rod
The neat completion rotary movement of paper is kept on 25.25 position of material blocking rod can be manually adjusted according to paper size, can also use servo
Driving is adjusted.
Meanwhile the lamination mechanism 23 that 1 hand of paper feeding robot is grabbed is mounted on prong 211, be located at upper prong 211 with
Among lower prong 212, such structure is conducive to the overturning feeding of paper.Mechanism carries out paper layering using frictional force, more has
Conducive to the integrality of protection paper.When forking to pile, layered structure is moved to 211 front end of prong, machine for robot 1
1 band of people starts to grab continuation forward, and layered structure antiskid rubber 236 is contacted with pile side, when the contact pressure of the two reaches one
When determining degree, spring is compressed backward, and 1 hand of robot grabs lift, and pile is separated, and gap occurs in side, at this time layered structure
It retreating, hand is grabbed forward, and lower prong 212 is pitched in pile gap, and certain position is arrived forward in handgrip continuation, and upper prong 211 clamps,
It completes paper and forks movement.Such structure effectively prevents prong and is inserted directly into pile side or hard extruding layering bring paper
Damage.
The workflow of the utility model are as follows: body paper pile is delivered to wire body end machine by front end paper heap transmission line body 3
Material position on device people 1 guarantees that paper heap rests on same position every time by the photoelectric sensor of wire body end, by above wire body
Distance measuring sensor, transfer data to PLC control system, pile is divided into several suitable machines by calculating by PLC control system
Pile is carried out layering crawl according to specified altitude assignment by the height equal portions that device people 1 grabs, robot 1, and robot 1 can be directly by crawl
Paper be put into printing machine 4 or ancillary equipment, can also by 180 ° of paper turning of crawl, then be placed on printing machine 4 or auxiliary set
Standby upper material position, so recycles.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of paper machine people automatic charging work station, which is characterized in that including control system and robot (1), the machine
It is detachably provided with feeding handgrip (2) on device people (1) and feeding handgrip (2) is driven to move, the side setting of the robot (1)
There is paper heap transmission line body (3), the adjacent other side is provided with printing machine (4), and the robot (1) communicates with control system
And paper heap is grabbed under control of the control system and is put into printing machine (4)；
Wherein, the feeding handgrip (2) includes:
Clamp prong (21), for grabbing paper, including upper prong (211) and lower prong (212), the upper prong (211) and
Holding chamber is formed between lower prong (212), upper prong (211) the lower end sliding is provided with the layering for paper heap to be layered
Mechanism (23), the lamination mechanism (23) act in holding chamber and the variation of holding chamber are cooperated to realize corresponding movement posture；
And
Driving device (22), communicates with control system, for driving clamping prong (21) to control the size of holding chamber
To adapt to the variation of the paper stack height grabbed.
2. a kind of paper machine people automatic charging work station according to claim 1, it is characterised in that: the control system
It is controlled using PLC system.
3. a kind of paper machine people automatic charging work station according to claim 1, it is characterised in that: the lower prong
(212) two sides are respectively arranged with material blocking rod (25).
4. a kind of paper machine people automatic charging work station according to claim 1, it is characterised in that: the driving device
It (22) include for driving the upper prong servo drive (221) of upper prong (211), for driving under lower prong (212)
Prong servo drive (222) and lamination mechanism servo drive (223) for driving lamination mechanism (23), it is described on
Prong servo drive (221) and lower prong servo drive (222) are separately positioned on the side of guide rail mounting plate (24),
The other side of the guide rail mounting plate (24) is provided with and upper prong servo drive (221), lower prong servo drive
(222) corresponding first guide rail, the first guide upper sliding are provided with prong (211), and first guide rail lower part is sliding
It is dynamic to be provided with lower prong (212), lamination mechanism servo drive (223) setting upper prong (211) lower end and
Side of the upper prong (211) close to guide rail mounting plate (24).
5. a kind of paper machine people automatic charging work station according to claim 1 or 4, it is characterised in that: the upper fork
Tooth (211) lower end is provided with the second guide rail, is provided with lamination mechanism (23) on second guide rail by slide unit sliding, described point
Layer mechanism (23) includes the layering fixed plate to link together with slide unit and the antiskid rubber that the layering fixed plate other end is arranged in
(236)。
6. a kind of paper machine people automatic charging work station according to claim 5, it is characterised in that: the layering is fixed
Plate includes first layer fixed plate (231) and the second layering fixed plate, and one end of the first layer fixed plate (231) is connected to
On slide unit, it is rotatably connected together in the middle part of the second layering fixed plate with first layer fixed plate (231), described second point
The other end of layer fixed plate is provided with antiskid rubber (236).
7. a kind of paper machine people automatic charging work station according to claim 6, it is characterised in that: the first layer
It is additionally provided in fixed plate (231) arc-shaped limit hole (2331), it is opposite with antiskid rubber (236) in the second layering fixed plate
One end be provided with the through-hole being adapted to arc-shaped limit hole (2331), the through-hole passes through bolt arrangement and arc-shaped limit hole
(2331) it is connected together so that second is layered fixed plate arcuately limit hole (2331) rotation-limited.
8. a kind of paper machine people automatic charging work station according to claim 7, it is characterised in that: second layering
Fixed plate includes support plate (232) and demixing plate (233), and the support plate (232) and first layer fixed plate (231) can be rotated
It links together, the other end of the support plate (232) is provided with and demixing plate (233), and the outer end of the demixing plate (233) is set
It is equipped with antiskid rubber (236), has been uniformly arranged guide rod (234) on the demixing plate (233), and by being arranged in guide rod (234)
On linear bearing (235) limited, the guide rod (234) passes through demixing plate (233) and is provided with and demixing plate in outer end
(233) parallel two plate of layering (237) is provided with and guide rod (234) between two plates of the layering (237) and demixing plate (233)
Corresponding spring, the spring are set on guide rod (234), and the outer end of the layering two plates (237) is provided with antiskid rubber
(236)。
9. a kind of paper machine people automatic charging work station according to claim 5, it is characterised in that: the layering is fixed
Plate includes first layer fixed plate (231) and the second layering fixed plate, and one end of the first layer fixed plate (231) is connected to
On slide unit, the other end of the first layer fixed plate (231) is provided with cylinder (238), and the other end of the cylinder (238) is set
It is equipped with the second layering fixed plate, the other end of the second layering fixed plate is provided with antiskid rubber (236), the cylinder
(238) it is electrically connected control system.
10. a kind of paper machine people automatic charging work station according to claim 1, it is characterised in that: the paper heap
Transmission line body (3) end is provided with photoelectric sensor, is additionally provided with distance measuring sensor above the paper heap transmission line body (3),
The photoelectric sensor and distance measuring sensor communicate with control system respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821001794.3U CN208394324U (en) | 2018-06-27 | 2018-06-27 | A kind of paper machine people automatic charging work station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821001794.3U CN208394324U (en) | 2018-06-27 | 2018-06-27 | A kind of paper machine people automatic charging work station |
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| Publication Number | Publication Date |
|---|---|
| CN208394324U true CN208394324U (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821001794.3U Active CN208394324U (en) | 2018-06-27 | 2018-06-27 | A kind of paper machine people automatic charging work station |
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| CN (1) | CN208394324U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557463A (en) * | 2018-06-27 | 2018-09-21 | 埃斯顿（湖北）机器人工程有限公司 | A kind of paper machine people automatic charging work station |
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2018
- 2018-06-27 CN CN201821001794.3U patent/CN208394324U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108557463A (en) * | 2018-06-27 | 2018-09-21 | 埃斯顿（湖北）机器人工程有限公司 | A kind of paper machine people automatic charging work station |
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