CN214294705U

CN214294705U - Automatic gluing and assembling equipment for paper box sticker and paper box

Info

Publication number: CN214294705U
Application number: CN202022420451.4U
Authority: CN
Inventors: 张良安; 陈立辛; 陈勇; 杨森; 张成鑫
Original assignee: Anhui Hiseed Robot Co ltd
Current assignee: Anhui Hiseed Robot Co ltd
Priority date: 2020-10-27
Filing date: 2020-10-27
Publication date: 2021-09-28
Anticipated expiration: 2030-10-27

Abstract

The utility model discloses a carton sticker and automatic gluing assembly equipment for a carton, which belongs to the technical field of automatic production equipment for a wine box, and comprises a carton tray and a first carrying robot, wherein the carton is neatly stacked on the carton tray, the turnover mechanism is arranged on one side of the carton tray, the first carrying robot is used for carrying a single-row carton from the carton tray and placing the single-row carton on the turnover mechanism, and the turnover mechanism is used for driving the carton to turn over for 180 degrees and then placing the carton on a carton conveying line; glue rolling machine, visual detection mechanism, second transfer robot set gradually along the direction of motion of carton sticker transfer chain, and glue rolling machine carries out the rubber coating to the surface of carton sticker, and visual detection mechanism is used for detecting the crease position of carton sticker, and second transfer robot carries the carton from the carton transfer chain and places on the carton sticker of rubber coating on the carton sticker transfer chain. The equipment identifies the crease area of the paper box sticker through the visual detection mechanism, and realizes automatic bonding of the paper box sticker and the paper box.

Description

Automatic gluing and assembling equipment for paper box sticker and paper box

Technical Field

The utility model belongs to the technical field of wine box automated production equipment, concretely relates to automatic rubber coating equipment of carton sticker and carton.

Background

Modern white spirit wine box types are various, generally adopt the rubber coating to assemble the carton between carton sticker and the stereoplasm carton body, in the adhesive process of carton sticker and stereoplasm carton body rubber coating, still adopt the manual work at present to bond the carton sticker and the carton body after the rubber coating, the carton sticker needs to bond with a plurality of surfaces of carton body, relative position requirement between carton sticker and the stereoplasm carton body is higher, bonding mistake between certain surface and the corresponding face of carton body, will lead to this carton to scrap.

Disclosure of Invention

Aiming at the technical problem, the invention provides a paper box sticker and automatic paper box gluing and assembling device which identifies the position of a paper box sticker and the position of a paper box bottom surface relative to a gluing area through a visual detection mechanism and realizes the automatic gluing of the paper box sticker and a paper box by accurately placing the paper box at the corresponding position of the paper box sticker through a carrying robot.

The technical scheme adopted by the invention is as follows: a carton sticker and automatic carton gluing assembly device comprises a carton tray and a first carrying robot, wherein cartons are neatly stacked on the carton tray, the first carrying robot is arranged right above the carton tray, a turnover mechanism is arranged on one side of the carton tray and is positioned right below the first carrying robot, the first carrying robot is used for carrying single-row cartons from the carton tray and placing the single-row cartons onto the turnover mechanism, a carton conveying line is arranged on one side, away from the carton tray, of the turnover mechanism, a carton sticker conveying line is arranged on one side, away from the turnover mechanism, of the carton conveying line, and the turnover mechanism is used for driving the bottom surface of the carton to be turned over to a state that the bottom surface of the carton is down and placed on the carton conveying line; carton sticker transfer chain and carton transfer chain parallel arrangement, the rubber coating machine, visual inspection mechanism sets gradually above it along the direction of motion of carton sticker transfer chain, the rubber coating machine carries out the rubber coating to the surface of carton sticker, visual inspection mechanism is used for detecting the crease position of carton sticker, second transfer robot is located the one end that the rubber coating machine was kept away from to the carton sticker transfer chain, second transfer robot carries the carton from on the carton transfer chain and places on the carton sticker transfer chain on the rubber coated carton sticker.

Further, the axial between every layer of multiseriate carton on the carton tray is parallel to each other, carton ranks axis staggered arrangement between layer and layer, first transfer robot includes first robot frame and cartesian robot, the up end in first robot frame is installed to the cartesian robot, slewing mechanism installs the output at the cartesian robot, the cartesian robot can drive slewing mechanism along the X axle, the Y axle, the motion of Z axle direction, slewing mechanism's output is installed to first terminal tongs.

Further, slewing mechanism includes the housing, and the housing is installed at the output of cartesian robot, and the vertical installation of rotation motor is inside the housing, and the housing is stretched out to the output of rotation motor.

Furthermore, first end tongs include the sucking disc connecting plate, and the upper end of sucking disc connecting plate links to each other with the output that rotates the motor, and the sucking disc equipartition is on the sucking disc connecting plate.

Furthermore, the sucking disc adopts a sponge sucking disc.

Further, tilting mechanism includes the upset frame, the upset frame includes underframe and both sides riser, the direction of motion setting of riser along the carton transfer chain is at the both ends of underframe, the both ends of pivot articulate respectively on the upper portion of both sides riser, the upset motor drives pivot and upper portion spare motion, the rotation platform passes through the linking arm with the suspension in one side of pivot, two side direction positioning mechanism set up in the rotation platform both sides relatively, two side direction positioning mechanism fix a position the both sides of single-row carton on the rotation platform respectively.

Furthermore, the lateral positioning mechanism comprises a positioning cylinder, the positioning cylinder is installed on the lower end face of the rotating platform, the positioning side plate is fixedly connected with a cylinder rod of the positioning cylinder, the width of the rotating platform is smaller than that of the paper box, and the length of the rotating platform is slightly smaller than that of the single-row paper box.

Further, still including the end to positioning mechanism, the end is including promoting cylinder and location push pedal to positioning mechanism, and the promotion cylinder setting is in the one end of rotating platform, and the output at the promotion cylinder is installed to the location push pedal.

Furthermore, the second transfer robot comprises a four-axis series robot body and a second terminal gripper, the second terminal gripper is fixed on a terminal flange of the four-axis series robot body, and the four-axis series robot body drives the second terminal gripper to move along an X axis, a Y axis and a Z axis and around the Z axis.

Furthermore, the two sides of the paper box tray are provided with positioning frames, the positioning frames are arranged into rectangles with single-side openings, the two ends of each positioning frame are provided with at least one bottom positioning mechanism, and the bottom positioning mechanisms are used for positioning the two ends of the bottom of the paper box tray.

The invention has the beneficial effects that: (1) the first end gripper is arranged at the output end of the rectangular coordinate robot through a rotating mechanism, the rotating mechanism comprises a rotating motor, the rotating motor is arranged in the housing, the actuating element of the first end gripper adopts a sucking disc,

the rectangular coordinate robot has three translational degrees of freedom, the sucker is connected with the output end of the rotating motor through the sucker connecting plate, and the sucker can rotate along an X axis, a Y axis, a Z axis and around the Z axis under the driving of the rectangular coordinate robot and the rotating mechanism, so that the rectangular coordinate robot is suitable for a stack shape with staggered axes; (2) two lateral positioning mechanisms are arranged on two sides of a rotating platform in the turnover mechanism, so that the paper box can be prevented from dropping in the turnover process, and the end face positioning mechanisms are arranged on the other hand, so that the single-row paper box can be accurately positioned in an end direction. (3) The device adopts vision mechanism and first transfer robot, second transfer robot to combine, can realize the automatic rubber coating equipment of carton sticker and carton, improves degree of automation and production efficiency.

Drawings

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

Fig. 2 is a schematic structural view of a first transfer robot in the apparatus according to the present invention.

FIG. 3 is a schematic view of the structure of the paper tray in the apparatus of the present invention.

FIG. 4 is a schematic view of another perspective of the cartridge tray of the apparatus of the present invention.

FIG. 5 is a schematic view of the turnover mechanism of the apparatus of the present invention.

Fig. 6 is a schematic structural view of fig. 5 from another view angle.

In the figure: 1. a carton tray; 2. a first transfer robot; 201. a first robot frame; 202. a cartesian robot; 231. a housing; 232. a sponge sucker; 3. a glue rolling machine; 4. a carton sticker conveyor line; 5. a visual detection mechanism; 6. a second transfer robot; 7. a carton conveying line; 8. a turnover mechanism; 801. positioning the side plate; 802. rotating the platform; 803. positioning a push plate; 804. a vertical plate; 805. a bottom frame; 806. turning over a motor; 807. positioning the air cylinder; 808. a push cylinder; 809. a rotating shaft; 9. a positioning frame; 901. an aluminum profile; 902. a bottom positioning mechanism.

Detailed Description

As shown in figures 1-6, a carton sticker and carton automatic gluing assembly device comprises a carton tray 1, a carton bottom surface is orderly stacked on the carton tray 1 upwards, a first transfer robot 2 is arranged right above the carton tray 1, a turnover mechanism 8 is arranged at one side of the carton tray 1 and is positioned right below the first transfer robot 2, the first transfer robot 2 transfers a single-row carton from the carton tray 1 and places the single-row carton on the turnover mechanism 8, a carton conveyor line 7 is arranged at one side of the turnover mechanism 8 far away from the carton tray 1, the carton sticker conveyor line 4 is arranged at one side of the carton conveyor line 7 far away from the turnover mechanism 8, the carton conveyor line 7 and the carton sticker conveyor line 4 are arranged in parallel, a glue rolling machine 3 and a visual detection mechanism 5 are sequentially arranged along the moving direction of the carton sticker conveyor line 4, a second transfer robot 6 is arranged at one end of the carton sticker 4 far away from the glue rolling machine 3 and is positioned at the downstream of the visual detection mechanism 5, the second transfer robot 6 transfers the paper boxes from the paper box transfer line 7 to place the paper boxes on the glued paper box stickers on the paper box sticker transfer line 4.

The glue rolling machine 3 is used for gluing the paper box paster, which is a plane drawing surface formed by unfolding a non-cover cuboid paster, on the upper surface of the paper box paster.

In the existing paper box stacking, for the stability of stack shape, each layer of paper box comprises a plurality of rows of paper boxes, the axial directions of the plurality of rows of paper boxes in each layer are mutually parallel, and the axes of the paper boxes between two adjacent layers are arranged in a staggered mode, for example, the axes of the single-layer and multi-row paper boxes in the uppermost layer of paper box are mutually perpendicular to the axes of the single-layer and multi-row paper boxes in the second-layer upper layer of paper box. For the adaptation buttress type, first transfer robot 2 includes first robot frame 201 and cartesian robot 202, and the cartesian robot has three degree of automation, can follow X axle, Y axle and Z axle and remove, and slewing mechanism installs the output at cartesian robot (202), and slewing mechanism's output is installed to first end tongs. Therefore, the relative direction of the first tail end gripper and the single-row paper boxes to be gripped can be adjusted to be consistent.

The rotating mechanism comprises a housing 231, the housing 231 is installed at the output end of the cartesian robot 202, the rotating motor is vertically installed inside the housing 231, and the output end of the rotating motor extends out of the housing (231). Thereby the rotation motor can drive first end tongs and rotate around the Z axle. The first terminal tongs comprise a sucker connecting plate, the upper end of the sucker connecting plate is connected with the output end of the rotating motor, and suckers are uniformly distributed on the sucker connecting plate. The sucking disc is preferably a sponge sucking disc 232, the sponge sucking disc 232 is installed on the lower end face of the sucking disc connecting rod, and the sponge sucking disc 232 is provided with a plurality of uniformly distributed sucking nozzles.

First transfer robot 2 drives first end tongs from the single-row carton of absorption of 1 the superiors of carton tray, and when the extending direction of sucking disc connecting rod was perpendicular with the axis of the single-row carton of waiting to absorb, the rotation motor drove the sucking disc connecting rod and rotates 90 degrees for the extending direction of sucking disc connecting rod is parallel with the axis of waiting to absorb the single-row carton, and the rotation motor drove the sucking disc connecting rod and absorbs the single-row carton then rotate 90 degrees after place tilting mechanism 8 with the single-row carton. When the extending direction of the sucker connecting rod is parallel to the axis of the single-row paper box to be sucked, the cartesian robot 202 drives the sucker connecting rod to suck the paper box and then place the paper box on the turnover mechanism 8, so that the condition of mutually vertical axes between adjacent stacking layers is adapted.

Tilting mechanism 8 includes the upset frame, the upset frame includes underframe 805 and both sides riser 804, riser 804 sets up the both ends at underframe 805 along the direction of motion of carton transfer chain 7, the both ends of pivot 809 articulate respectively on the upper portion of both sides riser 804, upset motor 806 is installed in the inboard that riser 804 is adjacent and is located the below of pivot 809, drive pulley and driven pulley set up the outside at a side riser, driven pulley is located drive pulley's top, upset motor 806 drives drive pulley and rotates, drive pulley and driven pulley are connected to the hold-in range, driven pulley drives pivot 809 and rotates. The two connecting arms are respectively embedded at two ends of the rotating shaft 809 and located between the vertical plates 804 at two sides, two ends of the rotating platform 802 are respectively installed at the other ends of the two connecting arms, the two lateral positioning mechanisms are oppositely arranged at two sides of the rotating platform 802, and the two lateral positioning mechanisms move relatively, so that two sides of a single-row paper box are positioned. The preferred width of the rotatable platform 802 is less than the length of the carton, thereby adding a positioning mechanism and a carton

The lateral positioning mechanism comprises a positioning air cylinder 807, the positioning air cylinder 807 is installed on the lower end face of the rotating platform 802, the positioning side plate 801 is fixedly connected with a cylinder rod of the positioning air cylinder 807, the width of the preferable rotating platform 802 is smaller than the length of the paper box, and therefore the positioning side plate 801 is arranged on the outer side of the rotating platform 802, and the contact area between the lateral positioning mechanism and the single-row paper box is increased.

On first transfer robot 2 absorbs the bottom of list carton and places rotation platform 802, the location curb plate 801 that is located rotation platform 802 both sides was close to each other under the drive of location cylinder 807, and the adjacent surface of location curb plate 801 contacts with the carton both ends respectively, fixes a position the both sides of list carton, thereby on the other hand prevents that the upset in-process carton from dropping from rotation platform 802. In the initial state, the bottom of a single-row paper box on the paper box tray is arranged at the top, the first transfer robot 2 absorbs the bottom of the single-row paper box and places the bottom of the single-row paper box on the rotating platform 802, the rotating platform 802 is driven to turn by the turning mechanism 8, and the bottom of the paper box is turned to the state that the bottom of the paper box is arranged at the top. The positioning cylinder 807 in the lateral positioning mechanism returns, and the single-row cartons fall on the carton conveying line and move along with the carton conveying line in a state that the bottoms of the cartons are at the bottom.

In order to prevent the rotation process, the carton shifts along the length direction of the rotating platform 802, and place the carton on the carton conveying line 7 accurately, end-to-positioning mechanism is arranged at one end of the rotating platform 802, the end-to-positioning mechanism comprises a pushing cylinder 808 and a positioning push plate 803, the pushing cylinder 808 passes through a support plate to be installed on the lower end face of the rotating platform 802, the positioning push plate 803 is installed at the output end of the pushing cylinder 808, a vertical through groove is formed in the rotating platform 802, the pushing cylinder 808 drives a positioning end plate to pass through the through groove to move vertically, and the pushing cylinder 808 drives the positioning end plate to move upwards to contact with the end face of the carton on the rotating platform 802.

The visual detection mechanism 5 detects the crease position where the bottom of the cuboid is unfolded in the carton sticker, namely detects the boundary line between the bottom surface and the side surface after the cuboid is unfolded, determines the area where the bottom surface of the carton is pasted on the carton sticker, the visual processing system calculates the included angle between the axis of the crease position and the axis of the carton on the carton conveying line 7, and the second transfer robot 6 drives the carton to rotate by a corresponding angle and then places the corresponding crease position of the carton sticker.

Second transfer robot 6 carries the carton from carton transfer chain 7 and places corresponding position on the carton sticker, second transfer robot 6 is preferred four-axis series robot body and the terminal tongs of second, the terminal tongs of second is fixed on the terminal flange of four-axis series robot body, four-axis series robot body drives the terminal tongs of second along the X axle, the Y axle, the Z axle and around Z axle motion, the preferred sucking disc that adopts of the terminal tongs of second, the terminal tongs of preferred second sets up 4 sucking discs, 4 sucking discs are square arrangement, thereby increase the area of contact with the carton, guarantee suction.

As shown in fig. 3 and 4, two sides of the carton tray 1 are provided with positioning frames 9, the positioning frames 9 are arranged in a rectangle with a single-side opening, the rectangle is far away from one side opening of the carton conveying line, the positioning frames 9 are formed by three aluminum profiles 901 in an overlapping mode, the carton tray and the carton on the carton tray are manually conveyed into the positioning frames 9 from the rectangle opening, two ends of each positioning frame 9 are respectively provided with at least one bottom positioning mechanism 902, preferably, two bottom positioning mechanisms 902 are respectively arranged at two ends of each positioning frame 9, and the bottom positioning mechanisms 902 position two ends of the bottom of the carton tray 1.

The present invention has been described above with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above-mentioned manner, and various insubstantial improvements can be made without modification to the method and technical solution of the present invention, or the present invention can be directly applied to other occasions without modification, all within the scope of the present invention.

Claims

1. An automatic gluing and assembling device for paper box stickers and paper boxes comprises a paper box tray (1) and a first carrying robot (2), the paper boxes are orderly stacked on the paper box tray (1), the first carrying robot (2) is arranged right above the paper box tray (1), the turnover mechanism (8) is arranged at one side of the paper box tray (1) and is positioned right below the first carrying robot (2), the first carrying robot (2) is used for carrying single-row cartons from the carton tray (1) and placing the single-row cartons on the turnover mechanism (8), the carton conveying line (7) is arranged on one side of the turnover mechanism (8) far away from the carton tray (1), the carton sticker conveying line (4) is arranged on one side of the carton conveying line (7) far away from the turnover mechanism (8), the turnover mechanism (8) is used for driving the bottom surface of the paper box to turn over from the state of being on the upper side to the state of being on the lower side and being placed on the paper box conveying line (7); carton sticker transfer chain (4) with carton transfer chain (7) parallel arrangement, glue rolling machine (3), visual inspection mechanism (5) set gradually above that along the direction of motion of carton sticker transfer chain (4), and glue coating is carried out to the surface of carton sticker in glue rolling machine (3), visual inspection mechanism (5) are used for detecting the crease position of carton sticker, and second transfer robot (6) are located the one end that glue rolling machine (3) were kept away from in carton sticker transfer chain (4), second transfer robot (6) are from carton transfer chain (7) on the transport carton is placed on the carton sticker transfer chain (4) gummed carton sticker.

2. The automatic gluing and assembling equipment for the carton stickers and the cartons as claimed in claim 1, wherein the axial directions of each layer of the plurality of layers of the cartons on the carton tray are parallel to each other, the axes of rows and columns of the cartons are staggered from layer to layer, the first transfer robot (2) comprises a first robot frame (201) and a rectangular coordinate robot (202), the rectangular coordinate robot (202) is installed on the upper end face of the first robot frame (201), the rotating mechanism is installed on the output end of the rectangular coordinate robot (202), the rectangular coordinate robot (202) can drive the rotating mechanism to move along the directions of the X axis, the Y axis and the Z axis, and the first end hand grip is installed on the output end of the rotating mechanism.

3. The automatic glue applicator assembly apparatus for carton stickers and cartons as claimed in claim 2, wherein said rotation mechanism comprises a housing (231), said housing (231) is mounted at the output of the cartesian robot (202), a rotating motor is mounted vertically inside the housing (231), and the output of the rotating motor extends out of the housing (231).

4. The automatic gluing and assembling equipment for paper boxes and stickers according to claim 3, wherein said first end gripper comprises a suction cup connection plate, the upper end of which is connected with the output end of the rotating motor, and the suction cups are uniformly distributed on the suction cup connection plate.

5. The automatic carton sticker and carton gluing assembly apparatus of claim 4, wherein said suction cup is a sponge suction cup (232).

6. The automatic gluing and assembling equipment for the paper box paster and the paper box as claimed in claim 1, wherein the turnover mechanism (8) comprises a turnover frame, the turnover frame comprises a bottom frame (805) and two side vertical plates (804), the vertical plates (804) are arranged at two ends of the bottom frame (805) along the moving direction of the paper box conveying line (7), two ends of a rotating shaft (809) are respectively hinged to the upper parts of the two side vertical plates (804), a turnover motor (806) drives the rotating shaft (809) and upper parts thereof to move, the rotating platform (802) is suspended at one side of the rotating shaft (809) through a connecting arm, two lateral positioning mechanisms are oppositely arranged at two sides of the rotating platform (802), and the two lateral positioning mechanisms are respectively used for positioning two sides of a single row of paper boxes on the rotating platform (802).

7. The automatic gluing and assembling equipment for the paper box paster and the paper box as claimed in claim 6, wherein the lateral positioning mechanism comprises a positioning cylinder (807), the positioning cylinder (807) is installed on the lower end face of the rotating platform (802), a positioning side plate (801) is fixedly connected with a cylinder rod of the positioning cylinder (807), the width of the rotating platform (802) is smaller than the length of the paper box, and the length of the rotating platform (802) is slightly smaller than the length of the single-row paper box.

8. The automatic gluing and assembling equipment for the paper box paster and the paper box as claimed in claim 7, further comprising an end-direction positioning mechanism, wherein the end-direction positioning mechanism comprises a pushing cylinder (808) and a positioning push plate (803), the pushing cylinder (808) is arranged at one end of the rotating platform (802), and the positioning push plate (803) is arranged at the output end of the pushing cylinder (808).

9. The automatic gluing and assembling machine for carton stickers and cartons as claimed in claim 1, wherein said second transfer robot (6) comprises a four-axis in-line robot body and a second end gripper fixed to an end flange of the four-axis in-line robot body, the four-axis in-line robot body driving the second end gripper along the X-axis, Y-axis, Z-axis and around the Z-axis.

10. The automatic gluing and assembling equipment for the carton sticker and the carton as claimed in claim 1, wherein positioning frames (9) are arranged on two sides of the carton tray (1), the positioning frames (9) are arranged in a rectangle with a single side opening, at least one bottom positioning mechanism (902) is arranged on two ends of each positioning frame (9), and the bottom positioning mechanisms (902) are used for positioning two ends of the bottom of the carton tray (1).