CN217295178U - Booklet paging device - Google Patents
Booklet paging device Download PDFInfo
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- CN217295178U CN217295178U CN202220696170.8U CN202220696170U CN217295178U CN 217295178 U CN217295178 U CN 217295178U CN 202220696170 U CN202220696170 U CN 202220696170U CN 217295178 U CN217295178 U CN 217295178U
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- booklet
- paging
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- freedom robot
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Abstract
The utility model discloses a booklet paging device, including turning over page or leaf mechanism and multi freedom robot, turn over page or leaf mechanism and install at a supporting bench rear side, multi freedom robot installs on a supporting bench right side, and pneumatic finger is installed to multi freedom robot's execution end. The utility model discloses a page turning mechanism turns up single page booklet and is hunch-up or the state of turning up, adopts the booklet that the pneumatic finger grip of multi freedom robot cooperation arch-up or turned up to tear, puts into its after tearing and places case or conveyer belt with the product, accomplishes single page booklet's paging, labour saving and time saving, intensity of labour greatly reduced, efficient, the paging is accurate, avoids once many error problems that lead to.
Description
Technical Field
The utility model belongs to the technical field of equipment for packing, concretely relates to booklet paging device.
Background
In the fields of food and medicine and the like with strict requirements on product quality control, booklets (such as a certificate and a specification and the like) with one sealed end being required to be torn off and put into a medicine box in the product box packaging process, so that the quality control and management are facilitated by ensuring the serial number sequence of the certificate and the like. In the prior art, most of common methods are that the booklet is manually torn down one by one and placed, which wastes time and labor and has low efficiency, or a sucker type device is adopted, which easily causes the problem of placing a plurality of booklet papers by one-time adsorption, and has large error.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: a booklet paging device is provided to solve the problems existing in the prior art.
The technical scheme of the utility model: a booklet paging device comprises a page turning mechanism and a multi-degree-of-freedom robot, wherein the page turning mechanism is installed on the rear side of a supporting table, the multi-degree-of-freedom robot is installed on the right side of the supporting table, and a pneumatic finger is installed at an execution end of the multi-degree-of-freedom robot.
Preferably, the multi-degree-of-freedom robot has at least three degrees of freedom.
Preferably, above-mentioned page turning mechanism includes paging gyro wheel and paging motor, paging gyro wheel fixed connection is in the shaft, shaft and paging motor's motor shaft fixed connection, paging motor fixed connection is in vertical board one side, vertical board lower extreme fixed connection is in the support frame rear end, support frame fixed connection is on a supporting bench, electric lift mechanism is installed to vertical board front side, the last brochure standing groove of installing of electric lift mechanism, the paging gyro wheel just is just to the middle part of brochure standing groove width direction and be located the brochure standing groove top right side.
Preferably, the lifting mechanism comprises a guide rail, a slider, a lead screw and a nut, the guide rail is mounted on the mounting plate, a matching slider used with the guide rail is fixedly connected to the side surface of the booklet placing groove, two ends of the lead screw are fixedly connected to the upper portion and the lower portion of the mounting plate through a bearing seat, one end of the lead screw extends out of a motor shaft of the lifting motor, the lifting motor is fixedly mounted on the mounting plate, the nut used with the lead screw is fixedly connected to the slider, and the mounting plate is fixedly mounted on the vertical plate.
Preferably, the booklet placement groove comprises two L-shaped section plates, a plastic plate and a bottom plate, the plastic plate is placed in the notches of the two L-shaped section plates, the bottom plate is placed between the two L-shaped section plates which are oppositely placed, the booklet placement groove is formed by fixedly connecting the two L-shaped section plates through bolts, and one end of the bottom plate is provided with a limiting table and the limiting table is located at the other end of the paging roller.
Preferably, the support frame comprises two upright columns and a cross beam, the cross beam is fixedly connected to the support plate through the two upright columns and located on the left side of the multi-degree-of-freedom robot, and the vertical plate is installed at the rear end of the cross beam.
Preferably, the cylindrical surface of the paging roller is sleeved with a rubber layer.
The booklet paging device further includes a conveyor belt mounted on the support table and located on the left side of the multi-degree-of-freedom robot.
Preferably, the support frame is fixedly connected with a bending support frame, and the top end of the bending support frame is fixedly connected with a rubber strip for placing the free end of the manipulator.
Preferably, a first detection sensor for detecting a turned-up state of the booklet is mounted above the sorting roller, and a second detection sensor for detecting whether the booklet is used up is mounted at the bottom of the booklet storage slot.
Preferably, the support frame is provided with a blowing nozzle right facing the conveying belt, and the conveying belt is provided with a third detection sensor for detecting whether the paper falls into the conveying belt by the mechanical hand.
A paging method of a booklet paging device, the method comprising the steps of:
(1) before starting the machine, placing a booklet with one end glued into the booklet placing groove, positioning one end of the glued booklet towards the booklet placing groove, manually adjusting the distance between the paging roller and the booklet, and ensuring that the sheets of the booklet can be turned up by friction in the rolling process of the roller;
(2) when the paging roller is adjusted to press the upper end face of the booklet, starting up the booklet, starting paging of the paging motor, starting the paging roller to rotate, detecting whether the qualification certificate exists by the second detection sensor, entering the next step if the qualification certificate exists, and otherwise, alarming and reminding;
(3) the paging roller enables single-page booklets to be paged to arch until the single-page booklets are lapped on the paging roller, the first detection sensor detects whether the sheets are turned up, if the sheets are turned up, the next step is carried out, otherwise, the electric drive lifting mechanism is controlled to lift, and the next step is carried out until the sheets are turned up;
(4) the multi-degree-of-freedom robot walks according to a set planned path, a pneumatic finger clamps and fixes the turned-up booklet, then the rotary arm of the multi-degree-of-freedom robot is controlled to act to tear the booklet, the booklet swings above the conveying belt or the medicine placing box, the pneumatic finger is loosened, and the single-page booklet falls;
(5) if the detection sensor III is not in place, alarming and reminding are carried out, otherwise, the next step is carried out;
(6 electrically driving the lifting mechanism to drive the booklet placing groove to move upwards by the thickness of one booklet, and repeating the process to tear the next booklet and place the booklet in a conveying belt or a medicine placing box.
The utility model has the advantages that: compared with the prior art, the utility model discloses there is following effect:
(1) the utility model discloses a page turning mechanism turns up single page booklet and is hunch-up or the state of turning up, adopts multi freedom robot cooperation pneumatic finger grip to hunch-up or the booklet of turning up (for example the certification of one end glue) to tear, puts it into on medicine placing box or conveyer belt after tearing, accomplishes single page booklet's paging, labour saving and time saving, intensity of labour greatly reduced, efficient, the paging is accurate, avoids the error problem that once more lead to;
(2) the utility model adopts the electrically-lifting booklet placing groove to match with the paging roller and the paging motor, the page turning is accurate and stable, and the page turning is rapid;
(3) by adopting the structure of the screw rod nut and the slide block guide rail, the accurate adjustment of the height of the booklet placing groove can be realized, the contact force between the paging roller and the booklet can be conveniently and accurately controlled, and the lifting adjustment is stable and reliable;
(4) the rubber layer is sleeved, so that friction is increased, and paging is more stable and reliable;
(5) the conveyor belt is arranged to facilitate conveying of booklets to packing cases in a range which cannot be covered by the robot execution end;
(6) the clamped paper is kept in a flat state by the air flow of the air blowing nozzle, so that the paper clamped by the robot can be placed on the conveying belt in a flat manner, and inaccurate detection caused by deflection is avoided;
(7) the first detection sensor, the second detection sensor and the third detection sensor are arranged, so that the turning-up state of the paper, the in-place state of the booklet and the falling state of the paper onto the conveying belt can be detected respectively.
Drawings
FIG. 1 is a schematic diagram of a paging device;
FIG. 2 is a schematic top view of a paging device;
FIG. 3 is a schematic structural view of a page turning mechanism;
fig. 4 is a schematic view of a structure of a booklet placement slot.
Detailed Description
The invention will now be further explained with reference to the following examples.
Example 1: as shown in fig. 1 to 4, a booklet paging device comprises a page turning mechanism 1 and a multi-degree-of-freedom robot 2, wherein the page turning mechanism 1 is installed at the rear side of a support table 3, the multi-degree-of-freedom robot 2 is installed at the right side of the support table 3, a pneumatic finger 4 is installed at an execution end of the multi-degree-of-freedom robot 2, a single-page booklet 6 is turned up by the page turning mechanism to be in an arched state or a turned-up state (namely, the single-page booklet is overlapped on the page turning mechanism), the multi-degree-of-freedom robot is matched with the pneumatic finger to clamp the arched or turned-up booklet to be torn, and the torn booklet is placed on a medicine placing box or a conveying belt to complete paging of the single-page booklet.
Preferably, the multi-degree-of-freedom robot 2 is provided with at least three degrees of freedom, and adopts a 3-axis mechanical arm industrial robot on a lifting table top of the Foshan science and technology company, and comprises a rotating base, a first pitching arm and a second pitching arm, wherein the first pitching arm is installed on the rotating base, the second pitching arm is hinged to the first pitching arm, and a pneumatic finger is installed at the tail end of the second pitching arm.
Preferably, the page turning mechanism 1 includes a paging roller 101 and a paging motor 102, the paging motor 102 is a stepping motor, the paging roller 101 is fixedly connected to a wheel shaft 103 through a nut, the wheel shaft 103 is fixedly connected to a motor shaft of the paging motor 102 through a coupling 121, the paging motor 102 is fixedly connected to a motor mounting plate 120, the motor mounting plate 120 is welded to one side of the upper portion of the vertical plate 104, the lower end of the vertical plate 104 is fixedly connected to the rear end of a supporting frame 105, the supporting frame 105 is fixedly connected to the supporting frame 3, an electric lifting mechanism is installed on the front side of the vertical plate 104, a booklet placement groove 106 is installed on the electric lifting mechanism, the paging roller 101 is over the middle portion of the booklet placement groove 106 in the width direction and is located on the right side above the booklet placement groove 106, the paging roller 101 contacts a position (approximately three-quarter position) between the free end and the middle portion of the booklet in the length direction, the booklet placement groove adopting the electric lifting cooperates with the paging roller and the paging motor, the page turning is accurate and stable, and the page turning is rapid.
Preferably, the lifting mechanism includes a guide rail 107, a slider 108, a lead screw 109 and a nut 110, the guide rail 107 is mounted on a mounting plate 111, a matching slider 108 used with the guide rail 107 is fixedly connected to the side of the booklet placement slot 106, two ends of the lead screw 109 are fixedly connected to the upper and lower parts of the mounting plate 111 through bearing seats, and one end of the lead screw 109 extends out and then is fixedly connected with a motor shaft of a lifting motor 112, the lifting motor 112 is fixedly mounted on the mounting plate 111, the nut 110 matched with the lead screw 109 is fixedly connected to the slider 108, the mounting plate 111 is fixedly mounted on the vertical plate 104, the lifting motor 112 adopts a stepping motor, and a lead screw nut and slider guide rail structure is adopted, so that the precise adjustment of the height of the booklet placement slot can be realized, the contact force between the paging roller and the booklet can be precisely controlled, and the lifting adjustment is stable and reliable.
Preferably, the booklet placement slot 106 comprises two L-shaped section plates 113 made of metal materials, a plastic plate 114 and a bottom plate 115, the plastic plate 114 is placed on a notch of the two L-shaped section plates 113, the bottom plate 115 is placed between the two L-shaped section plates 113 which are placed oppositely and is fixedly connected through a bolt 116 to form a booklet placement groove, one end of the bottom plate 115 is provided with a limiting table 117, the limiting table 117 is located at the other end of the paging roller 101, the booklet placement slot is simple in structure, the detachable structure of the bolt connection is adopted, the adaptive groove size adjustment is convenient for booklets of different sizes, and the limiting table is arranged to facilitate rapid placement of sealed booklets.
Preferably, the support frame 105 comprises an upright post 118 made of a square tube and a cross beam 119 made of a square tube, the cross beam 119 is fixedly connected to the support plate 3 through the two upright posts 118 and is located on the left side of the multi-degree-of-freedom robot 2, the vertical plate 104 is installed at the rear end of the cross beam 119, the structure is simple, the support is stable and reliable, when the multi-degree-of-freedom robot is not used, a mechanical arm of the robot is placed on the cross beam, a rubber layer can be prevented above the cross beam, a buffer protection effect is achieved, and damage to the mechanical arm is avoided.
Preferably, the cylindrical surface of the paging roller 101 is sleeved with a rubber layer, so that friction is increased, and paging is more stable and reliable.
A booklet paging device further comprises a conveyor belt 5 mounted on a support table 3 and positioned on the left side of a multi-degree-of-freedom robot 2 so as to convey booklets to a packing box in a range which cannot be covered by a robot execution end.
Preferably, the bending support frame 122 is fixedly connected to the support frame 105, and the rubber strip 123 for placing the free end of the manipulator is fixedly connected to the top end of the bending support frame 122, so that the placing height can be increased, the lifting distance of the robot is reduced, and the placing is stable and reliable.
Preferably, a first detection sensor 126 for detecting the turned-up state of the booklet is mounted above the paging roller 101, the first detection sensor 126 is fixedly connected to the horizontal plate 128, a sleeve is arranged at the right end of the horizontal plate 128 and fixedly connected to the vertical rod 129 through a double nut, a sleeve is arranged at the lower end of the vertical rod 129 and fixedly connected to the end portion of the transverse rod 130 through a double nut, a sleeve is arranged at the rear end of the transverse rod 130 and fixedly connected to the end portion of the longitudinal rod 131 through a double nut, the longitudinal rod 131 is fixedly connected to the rear side face of the vertical plate, a through hole is formed in the bottom of the booklet placement groove 106, a second detection sensor 127 for detecting whether the booklet is used up is mounted at the bottom of the through hole through a connecting and mounting plate, and a probe of the booklet is opposite to the through hole, so that the booklet can be turned-up state and whether the booklet is placed in place.
Preferably, the support frame 105 is provided with an air blowing nozzle 124 right opposite to the conveyor belt 5, the air flow of the air blowing nozzle keeps the clamped paper in a flat state, the paper clamped by the robot can be placed on the conveyor belt in a flat manner, the detection inaccuracy caused by the deflection is avoided, the conveyor belt 3 is provided with a third detection sensor 125 for detecting whether the paper falls into the conveyor belt by a mechanical hand, the third detection sensor 125 is fixedly connected to a vertical plate, the vertical plate is fixedly connected to a transverse horizontal rod 132, the rear end of the transverse horizontal rod 132 is provided with a sleeve, the sleeve is fixedly connected to a vertical rod 133 at the belt through a double nut, the vertical rod 133 at the belt is fixedly connected to a rack of the conveyor belt, an inverted V-shaped falling plate is arranged on the rack near the rear side of the conveyor belt, the paper clamped by the robot automatically falls into the conveyor belt after falling onto the falling plate, a baffle is arranged on the opposite side of the falling plate, the conveyer belt is prevented from falling out, the blowing nozzle is connected to the electromagnetic valve, and the electromagnetic valve is connected to the air pump or the air source.
Paging motor, elevator motor and robot are connected to control terminal, and control terminal still is connected to the solenoid valve that detection sensor one, detection sensor two, detection sensor three, man-machine interaction module (digital display and button), alarm and the nozzle of blowing are connected, can realize the automatic control of whole device.
Example 2: a method of sorting booklet sorting devices, the method comprising the steps of:
(1) before starting the machine, placing a booklet with one end glued into the booklet placing groove, positioning one end of the glued booklet towards the booklet placing groove, manually adjusting the distance between the paging roller and the booklet, and ensuring that the sheets of the booklet can be turned up by friction in the rolling process of the roller;
(2) when the paging roller is adjusted to press the upper end face of the booklet, starting up the booklet, starting paging of the paging motor, starting the paging roller to rotate, detecting whether the qualification certificate exists by the second detection sensor, entering the next step if the qualification certificate exists, and otherwise, alarming and reminding;
(3) the paging roller enables a single-page booklet to be paged to arch until the single-page booklet is overlapped on the paging roller, the first detection sensor detects whether the paper is turned up, if so, the next step is carried out, otherwise, the electric drive lifting mechanism is controlled to lift, and the next step is carried out until the paper is turned up;
(4) the multi-degree-of-freedom robot walks according to a set planned path (set by adopting an automatic memory function of the robot or establishing a mathematical model (the terminal coordinate of an execution end is known)) and then clamps and fixes a turned-up booklet by a pneumatic finger (the free end part of the turned-up booklet can be lapped on a paging roller so as to form a clamping gap of the pneumatic finger between the rollers when the booklet is sealed by glue) and then controls a rotating arm of the multi-degree-of-freedom robot to tear the booklet, the booklet swings above a conveying belt or above a medicine placing box to release the pneumatic finger, and the single-page booklet falls (the conveying belt is conveyed to a medicine packing box or directly falls into the packing box);
(5) if the belt falls onto the conveying belt, the detection sensor III detects whether the belt is in place or not, the belt conveyor is controlled to travel and is conveyed into the medicine box, if the belt is not in place, an alarm is given, otherwise, the next step is carried out;
(6) and (3) electrically driving the lifting mechanism to drive the booklet placement groove to move upwards by the thickness of one booklet, repeating the process to tear the next booklet and place the booklet into a conveying belt or a medicine placement box, stopping the machine if the booklet is paged, and repeating the steps according to the step 1-6.
Claims (9)
1. A booklet paging device characterized by: the page turning mechanism (1) is installed on the rear side of the supporting platform (3), the multi-degree-of-freedom robot (2) is installed on the right side of the supporting platform (3), and a pneumatic finger (4) is installed at an executing end of the multi-degree-of-freedom robot (2).
2. The booklet paging device according to claim 1, characterized in that: the multi-degree-of-freedom robot (2) is provided with at least three degrees of freedom.
3. The booklet paging device according to claim 1, characterized in that: page-turning mechanism (1) includes paging gyro wheel (101) and paging motor (102), paging gyro wheel (101) fixed connection is on shaft (103), shaft (103) and the motor shaft fixed connection of paging motor (102), paging motor (102) fixed connection is in vertical board (104) one side, vertical board (104) lower extreme fixed connection is in support frame (105) rear end, support frame (105) fixed connection is on brace table (3), electric lift mechanism is installed to vertical board (104) front side, install booklet standing groove (106) on the electric lift mechanism, paging gyro wheel (101) just to booklet standing groove (106) width direction middle part and be located booklet standing groove (106) top right side.
4. The booklet paging device according to claim 3, characterized in that: elevating system includes guide rail (107), slider (108), lead screw (109) and screw (110), install on mounting panel (111) guide rail (107), cooperation slider (108) fixed connection who uses with guide rail (107) is in booklet standing groove (106) side, the motor shaft of back fixedly connected with elevator motor (112) is stretched out to lead screw (109) both ends through bearing frame fixed connection lower part and one end on mounting panel (111), elevator motor (112) fixed mounting is on mounting panel (111), screw (110) fixed connection who uses with lead screw (109) cooperation is on slider (108), mounting panel (111) fixed mounting is on vertical board (104).
5. The booklet paging device according to claim 3, characterized in that: the booklet placing groove (106) comprises two L-shaped section plates (113), plastic plates (114) and a bottom plate (115), the plastic plates (114) are placed in notches of the two L-shaped section plates (113), the bottom plate (115) is placed between the two L-shaped section plates (113) which are placed oppositely and is fixedly connected through bolts (116) to form a booklet placing groove, and one end of the bottom plate (115) is provided with a limiting table (117) and the limiting table (117) is located at the other end of the paging roller (101).
6. The booklet paging device according to claim 3, wherein: the support frame (105) is fixedly connected with a bending support frame (122), and the top end of the bending support frame (122) is fixedly connected with a rubber strip (123) for placing the free end of the manipulator.
7. The booklet paging device according to claim 2, wherein: a first detection sensor (126) for detecting the turned-up state of the paging roller (101) is arranged above the paging roller, and a second detection sensor (127) for detecting whether the booklet runs out is arranged at the bottom of the booklet placing groove (106).
8. The booklet paging device according to claim 3, characterized in that: the robot further comprises a conveying belt (5) arranged on the supporting table (3) and located on the left side of the multi-degree-of-freedom robot (2).
9. The booklet paging device according to claim 7, wherein: the support frame (105) is provided with a blowing nozzle (124) opposite to the conveyor belt (5), and the conveyor belt (5) is provided with a third detection sensor (125) for detecting whether the mechanical hand falls the paper into the conveyor belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220696170.8U CN217295178U (en) | 2022-03-28 | 2022-03-28 | Booklet paging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220696170.8U CN217295178U (en) | 2022-03-28 | 2022-03-28 | Booklet paging device |
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| Publication Number | Publication Date |
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| CN217295178U true CN217295178U (en) | 2022-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220696170.8U Active CN217295178U (en) | 2022-03-28 | 2022-03-28 | Booklet paging device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537804A (en) * | 2022-03-28 | 2022-05-27 | 国药集团同济堂（贵州）制药有限公司 | Booklet paging device and method |
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2022
- 2022-03-28 CN CN202220696170.8U patent/CN217295178U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114537804A (en) * | 2022-03-28 | 2022-05-27 | 国药集团同济堂（贵州）制药有限公司 | Booklet paging device and method |
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