CN212923261U

CN212923261U - Paperboard transfer device

Info

Publication number: CN212923261U
Application number: CN202021738976.6U
Authority: CN
Inventors: 刘辉; 尹传胜; 魏闪
Original assignee: Wuhan Deepsea Ai Technology Co ltd
Current assignee: Wuhan Deepsea Ai Technology Co ltd
Priority date: 2020-08-19
Filing date: 2020-08-19
Publication date: 2021-04-09
Anticipated expiration: 2030-08-19

Abstract

The utility model provides a paperboard transfer device, which comprises a mechanical arm device, a conveying device and an alignment portal device; the manipulator device comprises a claw seat, the claw seat is fixedly connected with the joint mechanical arm, the claw seat is provided with an upper arm and a lower arm which can move relatively, and a plate pushing and lifting device which reciprocates along the directions of the upper arm and the lower arm is also arranged between the upper arm and the lower arm; the conveying device comprises a first conveying belt and a second conveying belt which run in the same direction, a gap is formed between the head end of the first conveying belt and the tail end of the second conveying belt, and the alignment gantry device is positioned in the gap; the alignment gantry device comprises an openable and closable alignment door, the alignment door is opened to allow the workpieces to pass through, and the alignment door is closed to align the stacked workpieces and provide a reverse thrust for the stacked workpieces when the paperboard transfer device is used for grabbing the stacked workpieces. Through adopting conveyor and alignment portal device assistance-localization real-time, the cooperation manipulator device has realized efficient cardboard transportation.

Description

Paperboard transfer device

Technical Field

The utility model relates to a plate-like materials intelligent transportation field such as cardboard, especially a cardboard transfer device.

Background

In a production workshop, workpieces such as paperboards and the like to be processed are unloaded from a transfer trolley to each printing production device, and manual transfer is adopted at present, so that the efficiency is low, and the labor intensity is high. Chinese patent document CN 109051786 a describes an efficient paper-fetching smart robot arm, which uses a vacuum chuck structure to suck workpieces, but this solution can only suck one workpiece at a time, and the efficiency is still low. Chinese patent document CN 208413216U also describes a gripping device for corrugated cardboard conveying lines, which can grip a plurality of workpieces at a time by using an open-close gripping structure and a push plate structure, but this solution has the following problems, 1 is that the running speed is slow and the efficiency is low. When the clamping jaw is inserted into a workpiece, if the clamping jaw is inserted into workpieces of different layers, the workpiece is still easy to damage, and the damaged workpiece can cause production accidents of the next process, such as continuous paper jamming, equipment damage and the like. Chinese patent document CN 110328892 a describes a paper feeding control system, which controls the position of a manipulator through an image acquisition unit, and has the problems of insufficient acquisition precision, inaccurate positioning and insufficient corresponding parameters during the use process.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a cardboard transfer device is provided can realize transporting the cardboard with the manipulator, in the preferred scheme, can transport the cardboard in batches with the mode that does not hinder paper. And reliable automatic control can be realized.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a paperboard transfer device comprises a mechanical arm device, a conveying device and an alignment portal device;

the manipulator device comprises a claw seat, the claw seat is fixedly connected with the joint mechanical arm, the claw seat is provided with an upper arm and a lower arm which can move relatively, and a plate pushing and lifting device which reciprocates along the directions of the upper arm and the lower arm is also arranged between the upper arm and the lower arm;

the conveying device comprises a first conveying belt and a second conveying belt which run in the same direction, a gap is formed between the head end of the first conveying belt and the tail end of the second conveying belt, and the alignment gantry device is positioned in the gap;

the alignment gantry device comprises an openable and closable alignment door, the alignment door is opened to allow the workpieces to pass through, and the alignment door is closed to align the stacked workpieces and provide a reverse thrust for the stacked workpieces when the paperboard transfer device is used for grabbing the stacked workpieces.

In a preferred scheme, the lower arm is fixedly connected with the claw seat, the claw seat is provided with an upper arm slide rail approximately along the vertical direction and a chute approximately along the vertical direction, the back of the claw seat is provided with an arm lifting rod, one end of the upper arm penetrates through the chute and is fixedly connected with the arm lifting rod, and the upper arm is also slidably connected with the upper arm slide rail and driven by the arm lifting rod to slide along the upper arm slide rail;

the arm lifting rod adopts a screw rod nut mechanism or an air cylinder;

the upper arm and the lower arm are respectively two independent parts and are positioned at two sides of the claw seat, and the free ends of the upper arm and the lower arm are respectively provided with an upper clamping plate and a lower clamping plate which are approximately parallel;

the upper clamping plate and the lower clamping plate are positioned on one side of the upper arm opposite to the lower arm, so that the upper clamping plate and the lower clamping plate are in contact with a clamped material;

the upper clamping plate and the lower clamping plate are made of carbon fiber plates.

In the preferred scheme, a pushing and lifting guide rod and a pushing and lifting screw rod are arranged along a lower arm, a pushing and lifting motor is fixedly arranged on a claw seat, an output shaft of the pushing and lifting motor is fixedly connected with the pushing and lifting screw rod and drives the pushing and lifting screw rod to rotate, the tail part of a pushing and lifting plate sliding seat is in sliding connection with the pushing and lifting guide rod, and the tail part of the pushing and lifting plate sliding seat is in threaded connection with the pushing and lifting screw rod;

the push-and-lift plate is connected with the push-and-lift plate sliding seat in a sliding manner, the push-and-lift descending rod is fixedly connected with the push-and-lift plate sliding seat and is also connected with the push-and-lift plate, the push-and-lift descending rod adopts a screw rod and nut mechanism or an air cylinder to drive the push-and-lift plate to lift, and the push-and-lift plate extends out of the lower clamping plate at the limit position of the push-and-lift screw rod far away from the claw; the push-and-lift plate is obliquely arranged, the bottom of the push-and-lift plate is close to the free end of the lower arm, and the top of the push-and-lift plate is close to the claw seat.

In a preferable scheme, the upper arm and the lower arm adopt a double-arm structure, and a gap is arranged between the two arms;

the upper arm and the lower arm adopt a plurality of pipe fittings arranged in parallel, and one ends of the pipe fittings are fixedly connected with the claw seat or the sliding seat through the hoop; all the pipe fittings are fixedly connected through a transverse connecting piece;

the end heads of the two lower arms are respectively fixedly provided with an end head seat plate extending oppositely, the two pushing and lifting guide rods penetrate through the end head seat plates to be connected with a connecting plate, and the connecting plate is connected with the end heads of the pushing and lifting screw rods through bearings;

the included angle between the motion direction of the outer side surface of the push-lift plate and the vertical surface is 5-25 degrees;

the outer side surface of the pushing and lifting plate is provided with horizontal teeth;

the bottom of the outer side surface of the pushing and lifting plate is also provided with lifting teeth protruding out of the surface, the bottom of the pushing and lifting plate is not lower than the lower clamping plate, and the height of the lifting teeth away from the surface is not higher than the die cutting width of the paperboard.

In a preferred scheme, a workpiece sensor is arranged on the side surface of the conveying device and used for detecting the positions of the workpieces on the first conveying belt and the second conveying belt.

In a preferred scheme, the structure of the alignment portal device is as follows: the device comprises upright columns positioned on two sides, wherein the upright columns are fixedly arranged on the ground, and the two upright columns are fixedly connected through an upper sliding rail and a lower sliding rail;

the upper end and the lower extreme and last slide rail and lower slide rail sliding connection of aligning the door have still set firmly the cylinder that opens and shuts, and the one end and the ground fixed connection of cylinder that opens and shuts, the other end and the door that aligns are connected.

In a preferred scheme, the manipulator device is positioned close to the tail end of the first conveying belt, and a visual identification system is arranged near the first conveying belt;

or/and a camera is arranged on the manipulator device and used for identifying the workpiece or assisting positioning.

In a preferred scheme, a regulation table is further arranged on one side far away from the conveying device, and the structure of the regulation table is as follows: the top of the regulating platform support is provided with a plurality of guide rollers and a pushing plate driving belt along the conveying direction of the guide rollers, the pushing plate driving belt is fixedly connected with the pushing plate and used for pushing a workpiece, side clappers are further arranged on two sides of the regulating platform support and connected with clapper cylinders fixedly arranged on the top of the regulating platform support so as to drive the side clappers to clap oppositely and be used for flattening two sides of the stacked workpiece.

A control method for the above-mentioned board transfer device, comprising the steps of:

s1, placing the stacked workpieces onto a second conveyor belt, opening an alignment door of the alignment door frame device, and conveying the workpieces onto the first conveyor belt by the second conveyor belt;

s2, after the positioning, closing the alignment door, reversing the first conveying belt to enable the workpieces to touch the alignment door and align the workpieces with each other;

s3, enabling the claw seat to reach a preset height position according to the recognized height of the workpiece by the manipulator device, enabling the claw seat to extend obliquely, enabling the front end of the lower clamping plate to face downwards, enabling the plate pushing and lifting slide seat to move out of the lower clamping plate, and enabling the plate pushing and lifting slide seat to be in contact with the stacked workpiece;

s4, moving the push-and-lift plate upwards to lift part of the workpiece, enabling the lower clamping plate to extend into a gap of the workpiece, and enabling the slide seat of the push-and-lift plate to move towards the jaw seat until the lower clamping plate is inserted into the jaw seat to a sufficient depth;

s5, the upper clamping plate descends to clamp the workpiece, the joint mechanical arm acts, and the workpiece is transferred to the next procedure through the mechanical arm device;

s6, loosening the upper clamping plate, enabling the plate pushing and lifting slide seat to move forwards, and pushing the workpiece out of the upper clamping plate and the lower clamping plate;

the transfer operation of the paperboard is realized through the steps.

In a preferred scheme, the position of the workpiece is identified by a workpiece sensor arranged on one side of the first conveying belt and one side of the second conveying belt;

the stacking height, width and position of the workpieces are identified by a vision identification system disposed near the tail end of the first conveyor belt;

and the claw seat is also provided with an auxiliary recognition device for assisting in positioning the position of the claw seat.

The utility model provides a cardboard transfer device through adopting conveyor and the portal device assistance-localization real-time that aligns, cooperates the manipulator device to realize efficient cardboard transportation. When the automatic batch conveying device is used, a worker only needs to convey a paperboard to be processed to the conveying device, and the manipulator device can automatically convey workpieces to the next procedure in batches, such as a printing machine or a leveling table. Because the printing surface of the paperboard is usually positioned below, the mechanical arm device can conveniently turn over the workpiece in the transfer process, and the printing of the printing machine is convenient. The adopted alignment portal device has light structure, convenient operation and low energy consumption. The manipulator device who adopts can lift partial cardboard under the prerequisite that does not harm the cardboard work piece through the inclined push-and-lift board that sets up, avoids damaging the work piece, influences printing quality. The utility model discloses a control method can realize reliable automatic control, can correctly feed back the position of work piece, reduces the maloperation by a wide margin.

Drawings

The invention will be further explained with reference to the following figures and examples:

fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a perspective view of the grabbing claw of the present invention.

Fig. 3 is a schematic view of the overall structure of the mechanical arm of the present invention.

Fig. 4 is a front view of the grabbing claw of the present invention.

Fig. 5 is a bottom view of the grabbing claw of the present invention.

Fig. 6 is a perspective view of the other direction of the grasping claw of the present invention.

Fig. 7 is a schematic view of the grabbing claw of the present invention when lifting a part of a workpiece.

Fig. 8 is a schematic structural diagram of the alignment gantry apparatus of the present invention.

Fig. 9 is a bottom view of the alignment gantry apparatus of the present invention.

Fig. 10 is a perspective view of the alignment gantry apparatus of the present invention.

Fig. 11 is a perspective view of a leveling table according to the present invention.

In the figure: the gripper seat 1, the upper arm 2, the upper jaw 3, the lower arm 4, the lower jaw 5, the upper arm slide rail 6, the chute 7, the push-and-lift plate device 8, the push-and-lift plate 81, the push-and-lift lowering rod 82, the push-and-lift plate slide carriage 83, the lifting teeth 84, the end seat plate 9, the connecting plate 10, the push-and-lift guide rod 11, the push-and-lift screw 12, the push-and-lift motor 13, the arm lifting rod 14, the arm connecting seat 15, the cross connecting member 16, the hoop 17, the slide carriage 18, the paper stack 19, the gripping claw 100, the joint arm 200, the alignment gantry device 300, the alignment door 301, the upright post 302, the upper slide rail 303, the lower slide rail 304, the opening and closing cylinder 305, the first pair of hooks 306, the conveying device 400, the workpiece sensor 401, the first conveying belt 402, the second conveying belt 403, the door diagonal brace 404, the second pair of hooks 405, the platform alignment 500, the side flap plate 501, the material plate 502, the visual recognition system 600, and the included angle a with the vertical surface.

Detailed Description

Example 1:

a paperboard transfer apparatus includes a robot apparatus, a conveying apparatus 400, and an alignment gantry apparatus 300;

the manipulator device comprises a claw seat 1, the claw seat 1 is fixedly connected with a joint mechanical arm 200, an upper arm 2 and a lower arm 4 which can move relatively are arranged on the claw seat 1, and a plate pushing and lifting device 8 which moves in a reciprocating mode along the directions of the upper arm 2 and the lower arm 4 is further arranged between the upper arm 2 and the lower arm 4; with this structure, the push-and-lift plate device 8 can perform the lifting operation before the lower clamp plate 5 of the lower arm 4 is inserted into the stacked workpieces, so that the workpieces form a clearance for facilitating the insertion of the lower clamp plate 5. The work piece in this example is referred to as a stack of paper 19, and it is stated that the cardboard included in the name of the present invention is only for convenience of description, and the application scope of the present invention is not limited to cardboard, but can also be used for other light plate-like members, such as foam board, plastic board, rubber board, paper, etc.

The conveying device 400 comprises a first conveying belt 402 and a second conveying belt 403 which run in the same direction, a gap is formed between the head end of the first conveying belt 402 and the tail end of the second conveying belt 403, and the alignment gantry device 300 is located in the gap; with the structure, the workpiece is conveyed to the position where the manipulator device can grab the workpiece before grabbing, and the stacked workpieces are aligned preliminarily.

The alignment gantry apparatus 300 includes an openable and closable alignment door 301, the alignment door 301 being opened for passage of the workpieces therethrough, and the alignment door 301 being closed for aligning the stacked workpieces and providing a counter thrust for the stacked workpieces when the carton transfer apparatus is engaged.

Preferably, as shown in fig. 2 to 6, the lower arm 4 is fixedly connected to the claw base 1, the claw base 1 is provided with an upper arm slide rail 6 substantially along the vertical direction, and is further provided with a chute 7 substantially along the vertical direction, the back of the claw base 1 is provided with an arm lifting rod 14, one end of the upper arm 2 passes through the chute 7 and is fixedly connected to the arm lifting rod 14, and the upper arm 2 is further slidably connected to the upper arm slide rail 6 and is driven by the arm lifting rod 14 to slide along the upper arm slide rail 6;

the arm lifting rod 14 adopts a screw rod nut mechanism or an air cylinder; although the upper arm 2 is exemplified as being defined in the present example, the same sliding structure is also possible for the lower arm 4, i.e., the upper arm 2 and the lower arm in this case are equivalent structures.

The upper arm 2 and the lower arm are respectively two independent parts and are positioned at two sides of the claw seat 1, and the free ends of the upper arm 2 and the lower arm are respectively provided with an upper clamping plate 3 and a lower clamping plate 5 which are approximately parallel;

the upper clamping plate 3 and the lower clamping plate 5 are positioned on the opposite side of the upper arm 2 from the lower arm, so that the upper clamping plate 3 and the lower clamping plate 5 are in contact with the clamped material;

the upper clamping plate 3 and the lower clamping plate 5 are made of carbon fiber plates. With the structure, the self weight of the whole manipulator is reduced, and the motion precision of the manipulator can be improved.

Further preferably, a plurality of holes are formed in the upper clamping plate 3 and the lower clamping plate 5, rubber bags are fixedly arranged in the holes and are communicated with the compressed air pipe through electromagnetic valves, and when the upper clamping plate 3 and the lower clamping plate 5 clamp a workpiece, the rubber bags are inflated and expanded to be in contact with the workpiece, so that the friction force of the upper clamping plate 3 and the lower clamping plate 5 to the workpiece is improved in the overturning process. So as to avoid the scattering of the workpiece caused by the excessively low friction force of the carbon fiber plate.

In a preferred scheme, as shown in fig. 2 to 6, a push-and-lift guide rod 11 and a push-and-lift screw rod 12 are arranged along a lower arm 4, a push-and-lift motor 13 is fixedly arranged on a claw seat 1, an output shaft of the push-and-lift motor 13 is fixedly connected with the push-and-lift screw rod 12 and drives the push-and-lift screw rod 12 to rotate, the tail part of a push-and-lift plate sliding seat 83 is in sliding connection with the push-and-lift guide rod 11, and the tail part of the push-and-lift plate;

the push-and-lift plate 81 is connected with the push-and-lift plate sliding seat 83 in a sliding manner, the push-and-lift lifting rod 82 is fixedly connected with the push-and-lift plate sliding seat 83, the push-and-lift lifting rod 82 is also connected with the push-and-lift plate 81, the push-and-lift lifting rod 82 adopts a screw rod nut mechanism or an air cylinder to drive the push-and-lift plate 81 to lift, and the push-and-lift plate 81 extends out of the lower clamping plate 5 at the limit position of the push-and-lift screw 12; the push-and-lift plate 81 is obliquely arranged, the bottom of the push-and-lift plate 81 is close to the free end of the lower arm 4, and the top of the push-and-lift plate 81 is close to the claw seat 1.

In a preferred scheme, as shown in fig. 5 and 6, the upper arm 2 and the lower arm adopt a double-arm structure, and a gap is arranged between the two arms;

the upper arm 2 and the lower arm adopt a plurality of pipe fittings arranged in parallel, and one ends of the pipe fittings are fixedly connected with the claw seat 1 or the sliding seat 18 through the hoop 17; the pipe fittings are fixedly connected with each other through a transverse connecting piece 16. With this structure, the weight of the entire robot is further reduced.

As shown in fig. 2 and 5, end sockets 9 extending in opposite directions are fixedly arranged at the ends of the two lower arms 4, the two pushing and lifting guide rods 11 penetrate through the end sockets 9 to be connected with a connecting plate 10, and the connecting plate 10 is connected with the ends of the pushing and lifting screw rods 12 through bearings; with this structure, the push-and-lift plate slider 83 is driven to reciprocate along the push-and-lift guide rod 11.

The included angle a between the motion direction of the outer side surface of the push-lift plate 81 and the vertical surface is 5-25 degrees; preferably, the angle is 15-22 degrees, and the structure is used for facilitating operation in the process of lifting the workpiece. It is also convenient for the lower clamping plate 5 of the mechanical claw to be inserted into the layered gap of the workpiece at a specific angle. At this particular angle, the contacted workpiece is not damaged. The inclination angle also means that when the entire push-and-lift plate device 8 is retracted toward the claw bed 1, the lifted workpiece will fall onto the friction teeth of the push-and-lift plate 81 in the next position, and will not fall together with the other workpieces in the stack. So as to maintain the gap formed by the lifting.

The outer side surface of the push-lift plate 81 is provided with horizontal teeth; the arranged horizontal teeth can better hang the flat-plate-shaped workpiece.

The bottom of the outer side surface of the push-and-lift plate 81 is also provided with a lifting tooth 84 protruding out of the surface, the bottom of the push-and-lift plate 81 is not lower than the lower clamping plate 5, and the height of the lifting tooth from the surface is not higher than the die cutting width of the paperboard. The lifting teeth can play a role in supporting in the paper lifting process, so that the paper falling rate is greatly reduced. If a damaged edge condition occurs, the printer will cut the cardboard edge to the die width and the damaged location can be removed during production.

In a further preferred embodiment, as shown in fig. 6 and 7, the push-and-lift plate slide seat 83 has a trapezoidal cross section, a front end is higher to form a slide rail long enough, a rear end is lower, and a position where the push-and-lift plate slide seat 83 is connected with the push-and-lift guide rod 11 is located at the rear end of the push-and-lift plate slide seat 83, so that the push-and-lift plate slide seat 83 can extend out of the lower plate 5 to avoid interference when the push-and-lift plate 81 lifts the workpiece. The front end here refers to the end near the free end of the lower jaw 5.

Preferably, as shown in fig. 1, a workpiece sensor 401 is provided at a side of the conveyor 400 for detecting the position of the workpiece on the first conveyor 402 and the second conveyor 403. The work sensor 401 in this example is a photoelectric sensor, and the work sensor 401 is provided in plurality along the first conveyor belt 402 and the second conveyor belt 403. With this structure, it is convenient to control the positions of the stacked workpieces on the first conveyor belt 402 and the second conveyor belt 403.

In a preferred embodiment as shown in fig. 1, 8 to 10, the alignment gantry apparatus 300 has a structure: the device comprises upright posts 302 positioned on two sides, wherein the upright posts 302 are fixedly arranged on the ground, and the two upright posts 302 are fixedly connected through an upper slide rail 303 and a lower slide rail 304;

the upper end and the lower end of the alignment door 301 are connected with the upper sliding rail 303 and the lower sliding rail 304 in a sliding manner, an opening and closing cylinder 305 is further fixedly arranged, one end of the opening and closing cylinder 305 is fixedly connected with the ground, and the other end of the opening and closing cylinder 305 is connected with the alignment door 301. With the structure, the whole aligning portal frame device 300 is simple and light in structure and high in opening and closing speed.

In a preferred scheme, an auxiliary reinforcing device is further arranged on the alignment door 301 or the conveying device 400, and is used for improving the rigidity of the alignment door 301 when being pressed and reducing deformation so as to reduce the difficulty of grabbing by the automatic control manipulator device. The auxiliary reinforcement means comprises a door brace 404 fixed to the frame of the second conveyor belt 403, and when the two alignment doors 301 are closed, the ends of the brace 404 just abut against the alignment doors 301, thereby providing support for the alignment doors 301. Or a first pair of draw hooks 306 disposed on the alignment door 301 and a second pair of draw hooks 405 disposed on the first conveyor belt 402, wherein when the two alignment doors 301 are closed, the first pair of draw hooks 306 and the second pair of draw hooks 405 are connected to each other, thereby drawing the alignment doors 301 and providing additional support for the alignment doors 301.

Preferably, as shown in fig. 1, the robot device is located near the trailing end of the first conveyor belt 402, and a vision recognition system 600 is provided near the first conveyor belt 402; the vision recognition system 600 in this example is a monocular or binocular vision recognition system based on the vision recognition of camera image acquisition. The vision recognition system 600 placed at this position is capable of recognizing the width, height, number of stacked layers of workpieces, and position of the workpieces on the first conveyor belt 402 to provide guidance for the action of the robot apparatus.

In a preferred embodiment, or/and the manipulator device is further provided with a camera for identifying the workpiece or assisting positioning. With the structure, the workpiece can be conveniently positioned through visual identification.

As shown in fig. 1 and 11, a regulation table 500 is further provided on a side away from the conveying device 400, and has a structure that: the top of the regulating platform support 504 is provided with a plurality of guide rollers 503, and is also provided with a pushing plate driving belt 506 along the conveying direction of the guide rollers 503, the pushing plate driving belt 506 is fixedly connected with the pushing plate 502 for pushing the workpiece, two sides of the regulating platform support 504 are also provided with side clappers 501, and the side clappers 501 are connected with clapper cylinders 505 fixedly arranged at the top of the regulating platform support 504 so as to drive the side clappers 501 to oppositely clap for clapping two sides of the stacked workpieces. By the structure, stacked paperboards conveyed to the printing machine are ensured to be stacked neatly, and accurate feeding is facilitated, so that the printing quality is ensured.

Example 2:

the main control system in this example preferably adopts a structure of a single chip microcomputer + a PLC + an industrial personal computer, wherein the single chip microcomputer is used for controlling the motor, the PLC controls the actions of the electromagnetic valve and the motor, and the industrial personal computer is used for sending an action instruction. The communication between the various parts employs a CAN or other high speed bus. The image recognition can adopt AI chips with artificial intelligence, such as Haisi series, cambrian series artificial intelligence chips, or send to an industrial personal computer for recognition.

As shown in fig. 1, a control method for the above-mentioned board transfer device comprises the following steps:

s1, placing the stacked workpieces such as the paper stack 19 on the second conveyor belt 403 by the carriage, the alignment door 301 of the alignment gantry apparatus 300 is opened, and the second conveyor belt 403 conveys the workpieces onto the first conveyor belt 402;

in a preferred embodiment, the position of the workpiece is identified by a plurality of workpiece sensors 401 provided on one side of the first conveyor belt 402 and the second conveyor belt 403; sending the identified signal to a PLC, and controlling the first conveying belt 402 to stop by the PLC;

the stacking height, width and position of the workpiece are identified by a visual identification system 600 arranged near the tail end of the first conveyor belt 402, and an identified signal is sent to a PLC (programmable logic controller) or an industrial personal computer, and the PLC or the industrial personal computer sets the action of a manipulator device according to the parameters of the workpiece;

s2, after the workpieces are in place, the alignment door 301 is closed, the first conveying belt 402 is reversed to enable the workpieces to touch the alignment door 301, and the workpieces are blocked by the alignment door 301, so that the workpieces are aligned with each other;

s3, the manipulator device calculates the number of the paper boards transferred each time according to the recognized height of the workpiece and the grabbing weight of the manipulator each time, and then recognizes the height position corresponding to the corresponding number of the paper boards from top to bottom according to the visual recognition system 600. The claw seat 1 obliquely extends, the front end of the lower clamping plate 5 faces downwards, the push-and-lift plate sliding seat 83 runs out of the lower clamping plate 5, the push-and-lift plate 81 is in contact with the stacked workpieces, and the stacked workpieces are pushed to be in contact with the alignment door 301; the push-lift motor 13 is controlled by adopting torque control, when the push-lift plate 81 is in contact with stacked workpieces and touches the alignment door 301, on one hand, the workpieces are orderly in front and back, on the other hand, the torque of the push-lift motor 13 is increased, and when the preset value is reached, the push-lift motor 13 stops acting. In this state, the push-up plate 81 and the workpiece are pressed against each other.

S4, controlling the action of a solenoid valve by a PLC or a single chip microcomputer to extend a push-lift lifting rod 82, wherein the push-lift lifting rod 82 adopts an air cylinder to drive a push-lift plate 81 to move upwards to lift part of the workpiece, and a joint mechanical arm 200 acts to enable a lower clamping plate 5 to extend into a gap of the workpiece, and simultaneously, a push-lift motor 13 acts to enable a push-lift plate sliding seat 83 to move towards the direction of the claw seat 1 until the lower clamping plate 5 is inserted into the paper stack 19 to a sufficient depth; in the retreating process of the push-and-lift plate sliding seat 83, the structure of the lift teeth 84 is matched with the structure that the bottom of the push-and-lift plate 81 is not lower than that of the lower clamping plate 5, the lift teeth can play a role in supporting in the paper lifting process, the paper falling rate is greatly reduced, and the transfer precision is improved.

And S5, retracting the arm lifting rod 14, wherein the arm lifting rod 14 adopts an air cylinder, the upper clamping plate 3 descends to clamp the workpiece, and preferably, the rubber bag is inflated at the same time to prevent the workpiece from falling off in the process of overturning. The joint mechanical arm 200 acts to turn over the clamped paper and transfer the workpiece to the next process through the mechanical arm device;

s6, loosening the upper clamping plate 3, and enabling the plate pushing and lifting slide seat 83 to move forwards to push the workpiece out of the upper clamping plate 3 and the lower clamping plate 5;

in this example, the robot apparatus transports the workpieces to the organizer 500 to align the stacked sheets. The manipulator device clamps the cardboard and crosses the stripper plate 502 to carry out the unloading, because the lower plate 5 of the manipulator device is the separation structure of both arms, when the unloading, the stripper plate 502 is located between two lower plates 5 to be convenient for the unloading. After the paper board is put down, the pushing motor 507 drives the pushing plate driving belt 506 to rotate, the pushing plate 502 is driven to push the workpiece to the position between the side clappers 501, the clapper cylinder 505 acts to clap the stacked workpieces in order, and then the workpieces are conveyed to the printing machine for printing.

The transfer operation of the paperboard is realized through the steps.

In a preferred embodiment, an auxiliary recognition device is further provided on the claw holder 1 for assisting in positioning the claw holder 1. With this structure, it is possible to assist in positioning during movement to accommodate less-regular stacked sheets.

The above embodiments are merely preferred technical solutions of the present invention, and should not be considered as limitations of the present invention, and the features in the embodiments and the examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be defined by the claims and the technical solutions described in the claims, including the technical features of the equivalent alternatives as the protection scope. Namely, equivalent alterations and modifications within the scope of the invention are also within the scope of the invention.

Claims

1. The utility model provides a cardboard transfer device which characterized by: the automatic aligning device comprises a mechanical arm device, a conveying device (400) and an aligning gantry device (300);

the manipulator device comprises a claw seat (1), the claw seat (1) is fixedly connected with a joint mechanical arm (200), an upper arm (2) and a lower arm (4) which can move relatively are arranged on the claw seat (1), and a push-and-lift plate device (8) which reciprocates along the directions of the upper arm (2) and the lower arm (4) is also arranged between the upper arm (2) and the lower arm (4);

the conveying device (400) comprises a first conveying belt (402) and a second conveying belt (403) which run in the same direction, a gap is formed between the head end of the first conveying belt (402) and the tail end of the second conveying belt (403), and the alignment gantry device (300) is located in the gap;

the alignment gantry device (300) comprises an openable alignment door (301), the alignment door (301) is opened to allow the workpieces to pass through, and the alignment door (301) is closed to align the stacked workpieces and provide a reverse thrust for the stacked workpieces when the paperboard transfer device is gripping.

2. A board transfer device according to claim 1, wherein: the lower arm (4) is fixedly connected with the claw seat (1), an upper arm sliding rail (6) approximately along the vertical direction is arranged on the claw seat (1), a sliding chute (7) approximately along the vertical direction is further arranged, an arm lifting rod (14) is arranged on the back face of the claw seat (1), one end of the upper arm (2) penetrates through the sliding chute (7) to be fixedly connected with the arm lifting rod (14), and the upper arm (2) is also connected with the upper arm sliding rail (6) in a sliding mode and driven by the arm lifting rod (14) to slide along the upper arm sliding rail (6);

the arm lifting rod (14) adopts a screw and nut mechanism or an air cylinder;

the upper arm (2) and the lower arm are respectively two independent parts and are positioned on two sides of the claw seat (1), and the free ends of the upper arm (2) and the lower arm are respectively provided with an upper clamping plate (3) and a lower clamping plate (5) which are approximately parallel;

the upper clamping plate (3) and the lower clamping plate (5) are positioned on one side of the upper arm (2) opposite to the lower arm, so that the upper clamping plate (3) and the lower clamping plate (5) are in contact with a clamped material;

the upper clamping plate (3) and the lower clamping plate (5) are made of carbon fiber plates.

3. A board transfer device according to claim 2, wherein: a push-and-lift guide rod (11) and a push-and-lift screw rod (12) are arranged along the lower arm (4), a push-and-lift motor (13) is fixedly arranged on the claw seat (1), an output shaft of the push-and-lift motor (13) is fixedly connected with the push-and-lift screw rod (12) and drives the push-and-lift screw rod (12) to rotate, the tail part of the push-and-lift plate sliding seat (83) is in sliding connection with the push-and-lift guide rod (11), and the tail part of the push-and-lift plate sliding seat (83) is in threaded connection with;

the push-and-lift plate (81) is in sliding connection with a push-and-lift plate sliding seat (83), the push-and-lift descending rod (82) is fixedly connected with the push-and-lift plate sliding seat (83), the push-and-lift descending rod (82) is also connected with the push-and-lift plate (81), the push-and-lift descending rod (82) adopts a screw rod and nut mechanism or an air cylinder to drive the push-and-lift plate (81) to lift, and the push-and-lift plate (81) extends out of the lower clamping plate (5) at the limit position where the push-and-lift screw rod (12) is far away from the claw; push and lift board (81) for the slope arrange, push and lift board (81) bottom and be close to the free end of underarm (4), push and lift board (81) top and be close to claw seat (1).

4. A board transfer device according to claim 2, wherein: the upper arm (2) and the lower arm adopt double-arm structures, and a gap is formed between the two arms;

the upper arm (2) and the lower arm adopt a plurality of pipe fittings which are arranged in parallel, and one ends of the pipe fittings are fixedly connected with the claw seat (1) or the sliding seat (18) through the hoop (17); all the pipe fittings are fixedly connected through a transverse connecting piece (16);

the end heads of the two lower arms (4) are respectively and fixedly provided with an end head seat plate (9) extending oppositely, the two pushing and lifting guide rods (11) penetrate through the end head seat plates (9) to be connected with a connecting plate (10), and the connecting plate (10) is connected with the end heads of the pushing and lifting screw rods (12) through bearings.

5. A board transfer device according to claim 3, wherein: the included angle (a) between the motion direction of the outer side surface of the push-and-lift plate (81) and the vertical surface is 5-25 degrees;

the outer side surface of the push-lift plate (81) is provided with horizontal teeth.

6. A board transfer device according to claim 3, wherein: and the bottom of the outer side surface of the push-and-lift plate (81) is also provided with a lifting tooth (84) protruding out of the surface, the bottom of the push-and-lift plate (81) is not lower than the lower clamping plate (5), and the height of the lifting tooth from the surface is not higher than the die-cutting width of the paperboard.

7. A board transfer device according to claim 1, wherein: the side of the conveyor (400) is provided with a workpiece sensor (401) for detecting the position of the workpiece on the first conveyor belt (402) and the second conveyor belt (403).

8. A board transfer device according to claim 1, wherein: the structure of the alignment portal device (300) is as follows: the device comprises upright posts (302) positioned on two sides, wherein the upright posts (302) are fixedly arranged on the ground, and the two upright posts (302) are fixedly connected through an upper slide rail (303) and a lower slide rail (304);

the upper end and the lower end of the aligning door (301) are connected with the upper sliding rail (303) and the lower sliding rail (304) in a sliding manner, an opening and closing cylinder (305) is further fixedly arranged, one end of the opening and closing cylinder (305) is fixedly connected with the ground, and the other end of the opening and closing cylinder is connected with the aligning door (301).

9. A board transfer device according to claim 1, wherein: the manipulator device is positioned close to the tail end of the first conveyor belt (402), and a visual recognition system (600) is arranged near the first conveyor belt (402);

10. A board transfer device according to claim 1, wherein: a regulation platform (500) is arranged on one side far away from the conveying device (400), and the structure is as follows: the top of the regulating platform support (504) is provided with a plurality of guide rollers (503), the regulating platform support is further provided with a material pushing plate driving belt (506) along the conveying direction of the guide rollers (503), the material pushing plate driving belt (506) is fixedly connected with a material pushing plate (502) and used for pushing a workpiece, two sides of the regulating platform support (504) are further provided with side clappers (501), and the side clappers (501) are connected with clapper cylinders (505) fixedly arranged at the top of the regulating platform support (504) so as to drive the side clappers (501) to oppositely clap and be used for flattening two sides of the stacked workpiece.