CN212606164U - Manipulator for folding paper box - Google Patents
Manipulator for folding paper box Download PDFInfo
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- CN212606164U CN212606164U CN202020498224.0U CN202020498224U CN212606164U CN 212606164 U CN212606164 U CN 212606164U CN 202020498224 U CN202020498224 U CN 202020498224U CN 212606164 U CN212606164 U CN 212606164U
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Abstract
The utility model discloses a manipulator for folding paper boxes, which comprises a mounting base plate, a grabbing mechanism for grabbing the paper boxes and an ejecting mechanism for opening the folding paper boxes, wherein the grabbing mechanism is arranged on one side of the mounting base plate, and the ejecting mechanism is arranged on the other side; the grabbing mechanism comprises a rotary cylinder, a sucker mounting plate and a plurality of suckers, the rotary cylinder is mounted on the mounting base plate, an output shaft of the rotary cylinder is connected with the sucker mounting plate, and each sucker is mounted at the lower part of the sucker mounting plate and used for grabbing the folding paper box; the ejection mechanism comprises a straight cylinder and a driven roller assembly, the straight cylinder is mounted on the mounting substrate, and an output shaft of the straight cylinder is connected with the roller assembly and used for driving the roller assembly to push forwards along the side face of the paper box so as to open the folded paper box. Snatch the mechanism and snatch folding carton accurately fast, open folding carton through ejection mechanism's gyro wheel after rotatory 90, the work is opened to the carton can be accomplished to a manipulator, and production efficiency is high.
Description
Technical Field
The utility model belongs to the technical field of industrial robot, especially, relate to a manipulator is used to carton is folding.
Background
As a packaging material, a paper box is widely used in various links of industrial production, but after the paper box or the paper box itself is produced, the paper box or the paper box is usually stored in a folding manner for easy transportation and storage, and the paper box in a folded state needs to be opened before being packed in the next step in production and use. As shown in fig. 2, the paper box comprises an upper cover plate 11, a left side plate 12, a right side plate 15, a front side plate 14, a rear side plate and a bottom plate 13, the left side plate 12, the right side plate 15, the front side plate 14 and the rear side plate enclose the side face of the paper box, the upper cover plate 11 and the bottom plate 13 are respectively arranged above and below the side face of the paper box, the paper box in a folded state is in a planar state, and the left side plate and the right side plate are unfolded to enable the paper box to be opened and then the bottom plate.
Currently, in automated manufacturing, cartons are typically opened using a specialized carton opening mechanism and then placed into the work area by manual or mechanical means. The operation has high space requirement, and a redundant independent conveying procedure is required to be added, so that the operation is time-consuming and labor-consuming.
In addition, the box opening mechanism is expensive, the use and maintenance cost is high, and medium-sized and small enterprises are difficult to bear the cost of using the machine.
Therefore, there is a need for a manipulator for folding cartons that can solve the above-mentioned technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a simple structure, easy operation, folding accurate, the carton that production efficiency is high is folding to be used manipulator.
The technical scheme of the utility model as follows:
a manipulator for folding a paper box comprises a mounting base plate, a grabbing mechanism and an ejection mechanism, wherein the mounting base plate is connected with an external robot;
the grabbing mechanism comprises a rotary cylinder, a sucker mounting plate and a plurality of suckers, the rotary cylinder is mounted on the mounting base plate, an output shaft of the rotary cylinder is connected with the sucker mounting plate, and each sucker is mounted at the lower part of the sucker mounting plate and used for grabbing the folding paper box;
the ejection mechanism comprises a straight cylinder and a roller assembly, the straight cylinder is mounted on the mounting base plate, and an output shaft of the straight cylinder is connected with the roller assembly and used for driving the roller assembly to be pushed forwards along the side face of the paper box so as to open the folded paper box.
In the technical scheme, the roller assembly comprises a roller frame, a roller shaft and rollers, the roller frame is fixedly mounted with an output shaft of the straight-moving cylinder, the roller shaft is vertically mounted on the roller frame, and the rollers are mounted on the roller shaft.
In the technical scheme, the roller shaft mounting roller frame is arranged on one side, close to the mounting base plate, of the roller shaft mounting roller frame and is used for driving the rollers to move forwards along the side face of the paper box to open the paper box under the driving of the straight-moving air cylinder.
In the technical scheme, the sucker mounting plate is L-shaped, the vertical section of the L-shaped sucker mounting plate is mounted with the output shaft of the rotating cylinder, a plurality of sucker mounting holes matched with the suckers are formed in the horizontal section of the L-shaped sucker mounting plate, and the tops of the suckers penetrate through the sucker mounting holes and are fixedly mounted on the L-shaped sucker mounting plate.
In the technical scheme, the middle of the sucker mounting plate is provided with the L-shaped reinforcing rib for enhancing the strength of the sucker mounting plate.
In the technical scheme, the horizontal section of the sucker mounting plate is provided with a strip-shaped groove for reducing the dead weight of the manipulator.
In the above technical solution, the number of the suction cups is at least 4.
In the above technical scheme, a connecting plate horizontally arranged is installed at the top of the mounting substrate, the mounting substrate is perpendicular to the connecting plate, and the connecting plate is located above the ejection mechanism.
In the technical scheme, the center of the connecting plate is provided with a positioning pin hole for connecting with an external robot.
In the above technical solution, a first groove is formed on the rotary cylinder, a magnetic switch is installed in the first groove for feeding back the execution state of the rotary cylinder in real time, a second groove is formed on the straight cylinder, and a magnetic switch is installed in the second groove for feeding back the execution state of the straight cylinder in real time.
The utility model has the advantages and positive effects that:
1. the manipulator is connected with the robot, snatchs folding carton through snatching the mechanism accuracy fast, and the gyro wheel through ejection mechanism opens folding carton after rotatory 90, is accomplished by a manipulator and complex robot in step, has improved production efficiency greatly, has reduced manufacturing cost.
2. The space between the suckers can be adjusted according to the requirements of carton products, and the process of grabbing by the suckers can not generate stacking of the raw material cartons along with the working procedures of grabbing, opening and placing, so that the utilization rate of the operation space is effectively improved, and the operation space is reduced.
3. The contact between the roller of the ejection mechanism and the paper box is changed from line contact to surface contact, and the friction force is changed from plane friction to rolling friction, so that the surface of the paper box can be well protected, scratches are avoided, and the yield of the opened paper box is improved.
Drawings
Fig. 1 is a schematic structural view of a manipulator for folding cartons according to the present invention;
fig. 2 is a schematic structural diagram of the paper box of the present invention (initial state of the paper box);
fig. 3 is a schematic structural view of the paper box of the present invention (the left and right side panels of the paper box are in an open state);
fig. 4 is a schematic view of the connection structure between the robot and the present invention.
In the figure:
1. sucking disc 2, sucking disc mounting panel 3, location pinhole
4. Connecting plate 5, mounting substrate 6, straight cylinder
7. Roller carrier 8, roller 9, rotary cylinder
10. Reinforcing rib 11, upper cover plate 12 and left side plate
13. Bottom plate 14, front side plate 15 and right side plate
16. Strip-shaped groove
Detailed Description
The present invention will be described in further detail with reference to specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the present disclosure, as defined by the following claims.
Example 1
As shown in the figures, the manipulator for folding the paper box of the utility model comprises a mounting substrate 5 connected with an external robot, a grabbing mechanism for grabbing the paper box and an ejecting mechanism for opening the folding paper box, wherein the top of the mounting substrate 5 is connected with a horizontally arranged connecting plate 4, the connecting plate 4 is perpendicular to the mounting substrate 5, the grabbing mechanism is arranged at one side of the mounting substrate 5, the ejecting mechanism is arranged at the other side of the mounting substrate 5, and the connecting plate 4 is positioned above the ejecting mechanism;
the grabbing mechanism comprises a rotary cylinder 9, a sucker mounting plate 2 and 4 suckers 1, wherein the rotary cylinder 9 is mounted on a mounting substrate 5, an output shaft of the rotary cylinder 9 is connected with the sucker mounting plate 2, each sucker 1 (organ type sucker) is mounted at the lower part of the sucker mounting plate 2 and used for grabbing a folding carton, and the 4 suckers 1 are respectively positioned at four corners of the sucker mounting plate 2 and used for stably grabbing the folding carton (the folding carton in an initial horizontal state);
the ejection mechanism comprises a straight cylinder 6 and a driven roller assembly, the straight cylinder 6 is mounted on the mounting substrate 5, and an output shaft of the straight cylinder 6 is connected with the roller assembly and used for driving the roller assembly to push forwards along the side face of the paper box so as to open the folded paper box.
Wherein, the definition: the forward direction of travel of the ejector mechanism is toward the front panel 14 of the carton.
Further, the roller assembly comprises a roller frame 7, a roller shaft and a roller 8, the roller frame 7 is fixedly mounted with an output shaft of the straight cylinder 6, the roller shaft is vertically mounted on the roller frame 7, and the plurality of rollers 8 are uniformly sleeved on the roller shaft.
Further, the roller shaft is provided with a roller frame 7 on one side close to the mounting base plate 5, a plurality of rollers 8 are arranged on the roller shaft, the rollers 8 arranged on the roller frame 7 are driven by the straight cylinder 6 to move forwards along the side surface (left side plate 12) of the paper box to open the paper box, the contact between the rollers 8 and the paper box is changed from line contact to surface contact, the friction force is changed from plane friction to rolling friction, the paper box in a folded state is opened under the action of the rolling friction, and the rollers 8 can protect the surface of the paper box from being scratched.
Furthermore, the center of the connecting plate 4 is provided with a positioning pin hole 3 for connecting with an external robot.
Further, revolving cylinder 9 drives sucking disc mounting panel 2 and can rotate 90, and sucking disc mounting panel 2 is rotatory to vertical position by horizontal position to the folding carton of the horizontal position that makes sucking disc 1 snatch rotates, places by the level and becomes vertical placing.
Further, the outer part of the roller comprises a rubber layer for increasing the friction force between the paper box and the roller.
Example 2
On the basis of the embodiment 1, the sucker mounting plate 2 is L-shaped, the vertical section of the L-shaped sucker mounting plate is mounted with the output shaft of the rotating cylinder 9, 4 sucker mounting holes matched with the suckers 1 are formed in the horizontal section of the L-shaped sucker mounting plate 2, the tops of the suckers 1 penetrate through the sucker mounting holes and are fixedly mounted on the L-shaped sucker mounting plate 2, and the tops of the suckers 1 are fixedly mounted with the sucker mounting plate 2 through nuts.
Further, the suction cup mounting holes are long holes, and the distance between the suction cups 1 can be adjusted according to the size of a product.
Further, an L-shaped reinforcing rib 10 is installed in the middle of the suction cup mounting plate 2 to reinforce the strength of the suction cup mounting plate 2.
Further, a strip-shaped groove 16 is formed in the horizontal section of the suction cup mounting plate 2 and used for reducing the self weight of the manipulator.
The working method of the utility model is as follows:
with the utility model discloses the robot of being connected moves, the drive snatchs the folding carton (being in initial horizontality) on the material loading station of sucking disc 1 of mechanism, 4 individual sucking disc 1 snatchs the posterior lateral plate of carton respectively, as shown in fig. 2, revolving cylinder 9 drives sucking disc 1 and rotates 90, make the carton of horizontality rotatory to vertical state, left side board 12 is in vertical state this moment with the right side board, then the straight-going cylinder 6 moves and drives gyro wheel frame 7 and move forward, gyro wheel 8 moves forward so that the carton opens along the left side board 12 of carton (as shown in fig. 3, wherein the left side board and the right side board of carton strut, the lateral wall of carton is opened, accomplish the process that the carton was opened.
Example 3
On the basis of embodiment 1, a first groove is formed on the rotary cylinder 9, and a magnetic switch is installed in the first groove for feeding back the execution state of the rotary cylinder 9 in real time.
Further, a second groove is formed on the straight cylinder 6, and a magnetic switch is installed in the second groove for feeding back the operation state of the straight cylinder 6 in real time. The straight-line cylinder 6 reciprocates in a straight line to drive the roller assembly to reciprocate in a straight line direction.
And magnetic switches are arranged on the rotary cylinder 9 and the straight-moving cylinder 6, so that the states of the two cylinders are fed back in real time, the operation of the manipulator is adjusted and controlled better, and the execution precision of the manipulator is improved.
Further, a rectangular slot is formed in the middle of the mounting substrate 5, so that the self weight is reduced under the condition of ensuring the structural rigidity.
Furthermore, the connecting plate 4 is connected with a flange of the left arm of the robot to form a triangular structure, so that interference generated during rotation is effectively avoided.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. The utility model provides a manipulator is used in carton folding which characterized in that: the automatic paper box opening and closing device comprises a mounting base plate connected with an external robot, a grabbing mechanism used for grabbing a paper box and an ejecting mechanism used for opening the folded paper box, wherein the grabbing mechanism is mounted on one side of the mounting base plate, and the ejecting mechanism is mounted on the other side of the mounting base plate;
the grabbing mechanism comprises a rotary cylinder, a sucker mounting plate and a plurality of suckers, the rotary cylinder is mounted on the mounting base plate, an output shaft of the rotary cylinder is connected with the sucker mounting plate, and each sucker is mounted at the lower part of the sucker mounting plate and used for grabbing the folding paper box;
the ejection mechanism comprises a straight cylinder and a roller assembly, the straight cylinder is mounted on the mounting substrate, and an output shaft of the straight cylinder is connected with the roller assembly.
2. The manipulator for folding cartons as claimed in claim 1, wherein: the roller assembly comprises a roller frame, roller shafts and rollers, the roller frame is fixedly mounted with an output shaft of the straight-moving cylinder, the roller shafts are vertically mounted on the roller frame, and the rollers are mounted on the roller shafts.
3. The manipulator for folding cartons as claimed in claim 2, wherein: and the roller shaft mounting roller frame is arranged on one side of the mounting base plate and used for driving the lower roller to move forwards along the side surface of the paper box to open the paper box under the driving of the straight-moving air cylinder.
4. The manipulator for folding cartons as claimed in claim 3, wherein: the sucking disc mounting panel is the L type, and the vertical section of L type and revolving cylinder's output shaft installation are formed with a plurality of sucking disc mounting holes with sucking disc matched with on the horizontal segment of L type sucking disc mounting panel, the top of sucking disc passes this sucking disc mounting hole and adorns admittedly on the sucking disc mounting panel of L type.
5. The manipulator for folding cartons as claimed in claim 4, wherein: the middle of the sucker mounting plate is provided with an L-shaped reinforcing rib for enhancing the strength of the sucker mounting plate.
6. The manipulator for folding cartons as claimed in claim 5, wherein: and a horizontal section of the sucker mounting plate is provided with a strip-shaped groove for reducing the dead weight of the manipulator.
7. The manipulator for folding cartons as claimed in claim 6, wherein: the number of the suckers is at least 4.
8. The manipulator for folding cartons as claimed in claim 7, wherein: the top of the mounting base plate is provided with a connecting plate which is horizontally arranged, the mounting base plate is perpendicular to the connecting plate, and the connecting plate is positioned above the ejection mechanism.
9. The manipulator for folding cartons as claimed in claim 8, wherein: and a positioning pin hole is formed in the center of the connecting plate and is used for being connected with an external robot.
10. The manipulator for folding cartons as claimed in claim 9, wherein: the rotary air cylinder is provided with a first groove, a magnetic switch is installed in the first groove and used for feeding back the execution state of the rotary air cylinder in real time, a second groove is formed in the straight air cylinder, and the magnetic switch is installed in the second groove and used for feeding back the execution state of the straight air cylinder in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020498224.0U CN212606164U (en) | 2020-04-07 | 2020-04-07 | Manipulator for folding paper box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020498224.0U CN212606164U (en) | 2020-04-07 | 2020-04-07 | Manipulator for folding paper box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212606164U true CN212606164U (en) | 2021-02-26 |
Family
ID=74703460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020498224.0U Active CN212606164U (en) | 2020-04-07 | 2020-04-07 | Manipulator for folding paper box |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212606164U (en) |
-
2020
- 2020-04-07 CN CN202020498224.0U patent/CN212606164U/en active Active
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