CN218172884U

CN218172884U - Paper taking device

Info

Publication number: CN218172884U
Application number: CN202221521566.5U
Authority: CN
Inventors: 彭思源
Original assignee: Irico Hefei LCD Glass Co Ltd
Current assignee: Irico Hefei LCD Glass Co Ltd
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2022-12-30
Anticipated expiration: 2032-06-17

Abstract

The utility model discloses a paper taking device, which comprises a mechanical arm; a plurality of sucker components; a vacuum piping system; and a vacuum controller. The utility model discloses, will a plurality of sucking disc regions are divided into to a plurality of sucking disc regions to every sucking disc region all has independent vacuum pipe-line system, has effectively solved prior art and has leaded to the phenomenon that the paper drops because of the not enough broken vacuum of limit portion adsorption affinity getting the paper in-process.

Description

Paper taking device

Technical Field

The utility model relates to a machining technical field especially relates to a get paper device.

Background

In the field of machining, a mechanical arm is used for removing a packing material (a PE film or partition paper) on the surface of glass, and the packing material is easy to fall down due to the influence of the material, the size, the electrostatic state and the like of the packing material, so that the situation that the packing material is difficult to absorb or is easy to fall off after being absorbed is caused, production is interrupted, and the utilization rate is low.

In the prior art, a paper taking robot arm performs paper taking operation through a suction cup connected with an air flow channel, but all the suction cups are integrally controlled by a vacuum pipeline. This causes uneven vacuum, and particularly, when the suction force of the suction cups for sucking both sides of the sheet is not enough to break the vacuum, the sheet falls during the sheet taking process, and the fall of the sheet generally extends from the edge portion to the center.

Therefore, a paper taking device is needed to be designed, so that the phenomenon that paper falls down and drops in the paper taking process can be avoided, and the stability of the product input process is ensured.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a paper fetching device to solve the problems in the prior art.

In order to achieve the above objects and other related objects, the present invention provides a paper fetching device, including:

a robot arm;

the sucker components are arranged on the mechanical arm at intervals, and are sequentially divided into a plurality of sucker areas along the extending direction of the mechanical arm;

the vacuum pipeline system comprises a plurality of independent vacuum pipeline subsystems, and each vacuum pipeline subsystem is respectively connected with each sucker component in the sucker area;

and the vacuum controller is respectively connected with each vacuum pipeline subsystem, and is configured to independently control the vacuum degree in each vacuum pipeline subsystem, so that when the sucker component adsorbs paper, the vacuum degree of the vacuum pipeline subsystem connected with the sucker areas positioned on two sides is greater than that of the vacuum pipeline subsystem connected with the sucker area positioned in the middle.

In an optional embodiment, the sucker assembly comprises a sucker rod and a sucker matched with the sucker rod for use, one end of the sucker rod is communicated with the corresponding vacuum pipeline subsystem, and the other end of the sucker rod is communicated with the sucker.

In an optional embodiment, a pressure sensor is arranged on the sucker rod and used for sensing the contact condition of the sucker and the paper.

In an optional embodiment, the paper taking device further comprises a blowing assembly, the blowing assembly is arranged on the mechanical arm, and the blowing assembly is used for blowing air to the paper so as to separate the paper from the glass.

In an optional embodiment, the blowing assembly comprises a blowing pipeline system and a blowing nozzle, and the blowing nozzle is arranged on one side of the sucker assembly.

In an optional embodiment, the paper taking device further comprises a paper taking clamp, the paper taking clamp is arranged between two adjacent suction disc areas, and the paper taking clamp is configured to clamp the paper adsorbed by the suction disc assemblies.

In an optional embodiment, a control cylinder is arranged on the paper taking clamp and used for controlling the opening and closing of the paper taking clamp.

In an alternative embodiment, the central suction cup area comprises a plurality of central sub-suction cup areas.

In an alternative embodiment, the central suction cup area comprises three central sub-suction cup areas. The first middle sub-sucker area, the second middle sub-sucker area and the third middle sub-sucker area are sequentially arranged; the second sub-middle sucking disc area is positioned between the first sub-middle sucking disc area and the third sub-middle sucking disc area.

In an optional embodiment, the vacuum pipeline subsystem connected to the chuck region located in the middle includes three middle vacuum pipeline subsystems respectively connected to three middle sub-chuck regions, the vacuum controller is respectively connected to each middle vacuum pipeline subsystem, and the vacuum controller is configured to independently control the vacuum degree in each middle vacuum pipeline subsystem.

The utility model discloses a paper taking device is through a plurality of the direction is put along robotic arm's extension to the sucking disc subassembly and is divided into a plurality of sucking disc regions and but each vacuum environment that sucks the region in the region can the independent control, has avoided because limit portion's absorption strength is not enough broken the vacuum and leads to the phenomenon that the paper drops easily in adsorption process.

The utility model discloses a get paper device, utilize it is right to get the paper clip the paper that the sucking disc has adsorbed is pressed from both sides and is got, has promoted the effect of getting paper.

Drawings

Fig. 1 is a schematic structural view of a paper fetching device according to a preferred embodiment of the present invention.

The reference numbers indicate: a robot arm 1; a left sucker area 2; a suction cup lever 21; a suction cup 22; a paper taking clamp 3; a control cylinder 4; a vacuum controller 5; a middle sucker area 6; a first middle sub-cup area 61; a second middle sub-sucker region 62; a third middle sub-cup area 63; a blowing nozzle 7; a right end sucker area 8; the paper taking device 100.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In the field of machining, a mechanical arm is used for removing a packing material (a PE film or partition paper) on the surface of glass, and the packing material is easy to fall down due to the influence of the material, the size, the electrostatic state and the like of the packing material, so that the situation that the packing material is difficult to absorb or is easy to fall off after being absorbed is caused, production is interrupted, and the utilization rate is low. In the prior art, the paper taking manipulator takes the paper through the suction cups connected with the airflow channel, but all the suction cups are integrally controlled by a vacuum pipeline. This causes uneven vacuum, and particularly, when the suction force of the suction cups for sucking both sides of the paper is not enough to break the vacuum, the paper may fall off during the paper taking process.

To this end, referring to fig. 1, the present embodiment discloses a paper fetching device 100, where the paper fetching device 100 includes a robot arm 1, a plurality of suction cup assemblies, a vacuum pipeline system, and a vacuum controller 5. The sucker components are arranged on the mechanical arm 1 at intervals, and are sequentially divided into a plurality of sucker areas along the extending direction of the mechanical arm 1; the vacuum pipeline system comprises a plurality of independent vacuum pipeline subsystems, and each vacuum pipeline subsystem is respectively connected with each sucker component in the sucker area; the vacuum controller 5 is respectively connected with each vacuum pipeline subsystem, and the vacuum controller 5 is configured to independently control the vacuum degree in each vacuum pipeline subsystem, so that when the sucker component adsorbs paper, the vacuum degree of the vacuum pipeline subsystem connected with the sucker areas positioned at two sides is greater than that of the vacuum pipeline subsystem connected with the sucker area positioned at the middle part.

Referring to fig. 1, in an embodiment, the plurality of chuck assemblies are divided into 3 chuck regions along the extending direction of the robot arm 1. 3 individual inhale the district of dividing, follow robotic arm's extending direction inhales the district 2 for the left side portion in proper order, and the middle part is inhaled the district 6 and the right side portion inhales the district 8 of dividing, 6 position in middle part sucking disc in the left side portion inhale the district 2 and the right side portion inhale between the district 8. As an example, the left sucker region 2 comprises 3 sucker components, and the right sucker region 8 comprises 3 sucker components. It can be understood that the number of the sucker components in the left sucker area 2 and the number of the sucker components in the right sucker area 8 can be adjusted according to actual needs.

Referring to fig. 1, in this embodiment, the suction cup assembly includes a suction cup rod 21 and a suction cup 22 used with the suction cup rod 21, one end of the suction cup rod 21 is communicated with the corresponding vacuum pipeline subsystem (not shown), and the other end of the suction cup rod 21 is communicated with the suction cup 22.

Correspondingly, the vacuum pipeline system comprises a plurality of independent vacuum pipeline subsystems, and each vacuum pipeline subsystem is respectively connected with each sucker component in the sucker area. The plurality of independent vacuum line subsystems specifically includes a left vacuum line subsystem (not shown), a middle vacuum line subsystem (not shown), and a right vacuum line subsystem (not shown). The end of the sucker rod 21 in the left sucker area 2, which is not provided with the sucker 22, is connected with the left vacuum pipeline subsystem; one end of the sucker rod 21 of the middle sucker area 6, which is not provided with a sucker, is connected with the middle vacuum pipeline subsystem; the end of the sucker rod 21 of the right side sucker area 8, which is not provided with the sucker 22, is connected with a right side vacuum pipeline subsystem.

In the left-side vacuum pipeline subsystem, the middle vacuum pipeline subsystem and the right-side vacuum pipeline subsystem, each vacuum pipeline subsystem can be independently controlled and adjusted in vacuum size through the vacuum controller 4. Since the falling and falling of the paper sheet generally extends from the edge portion to the middle portion, it is necessary to ensure that the vacuum degree of the middle vacuum line subsystem is greater than the vacuum degrees of the left and right vacuum line subsystems.

Referring to fig. 1, in another embodiment, the middle sucking disc area 6 may be further divided into a first middle sub sucking disc area 61, a second middle sub sucking disc area 62 and a third middle sub sucking disc area 63, and the second middle sub sucking disc area 62 is located between the first middle sub sucking disc area 61 and the third middle sub sucking disc area 63. The vacuum degree in the first middle sub-absorbing plate area 61, the second middle sub-absorbing plate area 62 and the third middle sub-absorbing plate area 63 can be controlled independently, for example, the glass is uneven, and the vacuum degree of the concave piece is strengthened independently. By way of example, the first central sucker region 61 contains 4 of the sucker assemblies; the second central chuck zone comprises 4 of the chuck assemblies; the third central chuck zone comprises 4 of the chuck assemblies. It can be understood that the number of the sucker components in each sub-sucker region of the middle sucker region 6 can be adjusted according to actual needs.

Correspondingly, the central vacuum line subsystem may further include a first central vacuum line subsystem (not shown), a second central vacuum line subsystem (not shown), and a third central vacuum line subsystem (not shown). Specifically, the first middle vacuum pipeline subsystem is connected with the first middle sub-sucker region 61; the second middle vacuum pipeline subsystem is connected with the second middle sub-absorbing area 62, the third middle pipeline subsystem is connected with the third middle sub-absorbing area 63, and the first middle vacuum pipeline subsystem, the second middle vacuum pipeline subsystem and the third middle pipeline subsystem can be independently controlled and adjusted in vacuum through the vacuum controller 5.

It should be noted that, in other embodiments, the left side sucker region 2 and/or the right side sucker region 8 may be further divided into a plurality of sub-regions similarly to the middle sucker region 6.

In this embodiment, the suction cup lever 21 is provided with a pressure sensor (not shown) which determines the contact condition of the suction cup 22 and the sheet by sensing the pressure generated when the suction cup 22 contacts the sheet. The pressure sensor may be a strain gauge pressure sensor, a capacitive pressure sensor, a piezoresistive pressure sensor, or the like.

Referring to fig. 1, in the present embodiment, in order to better separate the paper from the glass, the paper fetching device 100 further includes a blowing assembly. The blowing assembly is arranged on the mechanical arm and used for blowing air to the paper and separating the paper from the glass.

The blowing assembly comprises a blowing vacuum pipeline system (not shown) and a blowing nozzle 7, and the blowing nozzle 7 is arranged on one side of the sucker assembly. The blowing nozzle is used for blowing air to the paper when the mechanical arm integrally moves to the upper portion of the glass A-shaped clamp so as to separate the paper to be taken from the glass, and when the pressure sensor senses that the sucking disc is in contact with the paper to be taken, the blowing nozzle stops blowing air to the paper.

Since the suction force of the suction cup 22 to the paper is limited, the suction of the suction cup 22 to the paper may be less secure. In order to solve the problem, in this embodiment, the paper fetching device 100 further includes a paper fetching clamp 3 and a control cylinder 4 for controlling the working state of the paper fetching clamp, the paper fetching clamp 3 is disposed between two adjacent suction disc regions, the paper fetching clamp 3 is configured to be capable of clamping the paper absorbed by the suction disc assembly, and the paper fetching clamp 3 has two working states of clamping and opening.

After the sucking disc 22 sucks the paper, the mechanical arm 1 moves to completely separate the paper to be taken from the glass and generate a certain gap, and at the moment, the air cylinder 4 is controlled to enable the paper taking clamp 3 to be in a clamping state so as to clamp the paper to be taken; when the mechanical arm 1 conveys the paper to be taken to a bearing table, the cylinder 4 is controlled to enable the paper taking clamp 3 to be in an open state, the paper to be taken is released, and the paper can fall onto the bearing table.

The working process of the paper fetching device 100 of the embodiment is as follows: the mechanical arm 1 integrally moves above the glass A-shaped frame, and meanwhile, air is blown to the extending paper through the blowing nozzle 7, so that the paper to be taken is separated from the glass; when the pressure sensor senses that the suction cup 22 is just contacted with the paper to be taken, the suction cup 22 establishes vacuum through a vacuum pipeline, and the blowing nozzle 7 stops blowing air; the sucking disc absorbs the paper and will wait to get paper and glass complete separation and produce certain clearance through the arm removal, and control cylinder 4 starts, gets paper clip 3 closure and cliies the paper, will get paper through the removal of robotic arm 1 and send to the plummer.

The paper fetching device 100 of the embodiment divides the vacuum pipeline system into a plurality of vacuum pipeline subsystems, and each vacuum pipeline subsystem controls the corresponding sucking disc area independently, so that the phenomenon that paper is easy to fall off in the paper fetching process is effectively solved, and meanwhile, the interference between the pipelines can be avoided.

The above description of illustrated embodiments of the invention, including what is described in the abstract, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As noted, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the invention and are to be included within the spirit and scope of the present invention.

The system and method have been described herein in general terms as providing details to facilitate the understanding of the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some instances some features of the present invention will be employed without a corresponding use of other features without departing from the scope and spirit of the present invention as set forth. Accordingly, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.

Claims

1. A paper extraction device, characterized in that, the paper extraction device includes:

a robot arm;

2. The paper extraction device of claim 1, wherein the suction cup assembly comprises a suction cup rod and a suction cup used with the suction cup rod, one end of the suction cup rod is communicated with the corresponding vacuum pipeline subsystem, and the other end of the suction cup rod is communicated with the suction cup.

3. The paper fetching device of claim 2, wherein the sucker rod is provided with a pressure sensor for sensing the contact condition of the sucker and the paper.

4. The paper taking device according to claim 1, further comprising a blowing assembly disposed on the robot arm, the blowing assembly configured to blow air onto the paper to separate the paper from the glass.

5. The paper taking device according to claim 4, wherein the blowing assembly comprises a blowing pipeline system and a blowing nozzle, and the blowing nozzle is arranged on one side of the sucker assembly.

6. The paper taking device according to claim 1, further comprising a paper taking clip disposed between two adjacent suction cup regions, wherein the paper taking clip is configured to be capable of clamping the paper sucked by the suction cup assembly.

7. The paper taking device according to claim 6, wherein a control cylinder is arranged on the paper taking clamp and is used for controlling the opening and closing of the paper taking clamp.

8. The paper extraction apparatus of claim 1, wherein the central suction cup zone comprises a plurality of central sub-suction cup zones.

9. The paper fetching device of claim 8, wherein the central sucker area comprises 3 sucker areas, which are a first central sub sucker area, a second central sub sucker area and a third central sub sucker area, and the second central sub sucker area is located between the first central sub sucker area and the third central sub sucker area.

10. The paper extraction apparatus of claim 1, wherein the vacuum line subsystem coupled to the central chuck region comprises three middle vacuum line subsystems coupled to three middle sub-chuck regions, respectively, and wherein the vacuum controller is coupled to each of the middle vacuum line subsystems, the vacuum controller configured to independently control a vacuum level in each of the middle vacuum line subsystems.