CN220412241U - Robot claw device for feeding paperboard of die cutting machine - Google Patents
Robot claw device for feeding paperboard of die cutting machine Download PDFInfo
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- CN220412241U CN220412241U CN202321849421.2U CN202321849421U CN220412241U CN 220412241 U CN220412241 U CN 220412241U CN 202321849421 U CN202321849421 U CN 202321849421U CN 220412241 U CN220412241 U CN 220412241U
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- fork
- driving device
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- bracket
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- 238000005520 cutting process Methods 0.000 title claims abstract description 28
- 210000000078 claw Anatomy 0.000 title claims abstract description 8
- 239000011087 paperboard Substances 0.000 title claims description 45
- 238000003825 pressing Methods 0.000 claims abstract description 22
- 239000011111 cardboard Substances 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 27
- 239000000123 paper Substances 0.000 abstract description 11
- 239000000463 material Substances 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
A robot claw device for cross cutting machine cardboard material loading, includes a main part device, two closing device, a cardboard lift separator, main part device includes the main support, and the bottom fixedly connected with of main support holds in the palm the fork, holds in the palm the fork along the horizontal direction forward extension, and two closing device all include a first movable support of vertical setting respectively, all are provided with respectively on arbitrary first movable support and hold in the palm fork, last pressure fork down. The paper stack separating device provided by the utility model stably lifts the paper plates through the tooth-shaped grooves in a rotating and lifting manner, and then the paper plates are clamped and conveyed by the upper pressing fork and the lower supporting fork, so that manual conveying is replaced, the manual labor intensity is reduced, and the conveying efficiency is improved. Through adjusting the distance between two closing device, can be suitable for each specification cardboard below 2100mm width, the commonality is strong.
Description
Technical Field
The utility model relates to the field of machinery, in particular to corrugated paper production equipment, and particularly relates to a robot claw device for feeding a paperboard of a die cutting machine.
Background
The corrugated paper production line produces the cardboard that is the buttress, and the cardboard still needs to be through cross cutting machine processing before making the carton, before cross cutting machine processing, is put into the cross cutting machine by artifical transport cardboard and carries out the material loading, once need carry tens of paperboards, and the operation of this kind of material loading mode is loaded down with trivial details, wastes time and energy, and manual labor intensity is big, and conveying efficiency is lower.
Disclosure of Invention
The utility model aims to provide a robot claw device for feeding a paperboard of a die cutting machine, which aims to solve the technical problems that in the prior art, the manual paperboard conveying and feeding mode is complex in operation, time-consuming and labor-consuming, high in manual labor intensity and low in working efficiency.
The utility model relates to a robot claw device for feeding paperboards of a die cutting machine, which comprises a main body device, two pressing devices and a paperboard lifting and separating device,
the main body device comprises a main bracket, the bottom of the main bracket is fixedly connected with a main support fork, the main support fork extends forwards along the horizontal direction,
the two pressing devices respectively comprise a first movable bracket which is vertically arranged, the two first movable brackets are respectively arranged at the left side and the right side of the main bracket and form sliding pairs parallel to the width direction of the main bracket, the main bracket is provided with two first driving devices, the power output ends of the two first driving devices are respectively connected with the two first movable brackets, any one of the first movable brackets is respectively provided with a lower bracket fork, an upper pressing fork and a second driving device, the lower bracket fork is fixedly arranged at the bottom of the first movable bracket, the upper pressing fork and the first movable bracket form sliding pairs parallel to the length direction of the first movable bracket, the power output end of the second driving device is connected with the upper pressing fork,
the cardboard lifting and separating device comprises a second movable frame, the second movable frame and the main support fork form a sliding pair parallel to the length direction of the main support fork, a third driving device is arranged on the main support fork, the power output end of the third driving device is connected with the second movable frame, the upper side of the second movable frame is hinged with a rotating plate through a rotating shaft, a fourth driving device is arranged on the second movable frame, the power output end of the fourth driving device is connected with the rotating plate, the side surface of the rotating plate is provided with a lifting seat, the lifting seat and the rotating plate form a sliding pair parallel to the height direction of the rotating plate, a fifth driving device is fixedly arranged on the rotating plate, the power output end of the fifth driving device is connected with the lifting seat, and tooth grooves are formed in the side surface of the lifting seat at intervals along the height direction of the lifting seat.
Further, two parallel first guide rails are arranged on the main support, the first guide rails are parallel to the width direction of the main support fork, and the two first movable supports are respectively arranged on the first guide rails through sliding blocks.
Further, the first driving device is a first translation cylinder.
Further, a second guide rail is arranged on the first movable support, the second guide rail is parallel to the length direction of the first movable support, and the upper pressure fork is arranged on the second guide rail through a sliding block.
Further, the second driving device is a second translation cylinder.
Further, a third guide rail is arranged on the main support fork and is parallel to the length direction of the main support fork, and the second movable frame is arranged on the third guide rail through a sliding block.
Further, the third driving device is an annular synchronous belt driving device, the annular synchronous belt driving device comprises a motor and two synchronous pulleys, the motor is connected with one synchronous pulley, a synchronous belt is connected between the two synchronous pulleys, and the second movable frame is connected with the synchronous belt through a synchronous belt clamping device.
Further, the fourth driving device comprises a rotating cylinder, the tail part of the rotating cylinder is hinged with a support through a pin shaft, the support is fixed on the second moving frame, and a piston rod of the rotating cylinder is hinged with the rotating plate through a pin shaft.
Further, a fourth guide rail is arranged on the rotating plate, and the lifting seat is arranged on the fourth guide rail through a sliding block.
Further, the fifth driving device is a lifting cylinder.
Compared with the prior art, the utility model has positive and obvious effects. The paper stack separating device stably lifts the paper plates through the tooth-shaped grooves in a swinging and lifting mode, and then the paper plates are clamped and conveyed by the upper pressing fork and the lower supporting fork, so that manual conveying is replaced, the manual labor intensity is reduced, and the conveying efficiency is improved. Through adjusting the distance between two closing device, can be suitable for each specification cardboard below 2100mm width, the commonality is strong.
Drawings
Fig. 1 is a schematic view of a robot gripper apparatus for feeding a paperboard of a die cutting machine according to the present utility model.
Fig. 2 is a first schematic view of a body device in a robot gripper device for feeding paperboard of a die cutting machine according to the present utility model.
Fig. 3 is a second schematic view of a body device in a robotic gripper assembly for feeding paperboard of a die cutting machine according to the present utility model.
Fig. 4 is a schematic view of a pressing device in a robot gripper device for feeding paperboard of a die cutting machine.
Fig. 5 is a first schematic view of a board lifting and separating device in a robot gripper device for feeding a board of a die cutting machine according to the present utility model.
Fig. 6 is a second schematic view of a board lifting and separating device in a robot gripper device for feeding a board of a die cutting machine according to the present utility model.
Fig. 7 is an internal schematic view of a board lifting and separating device in a robot gripper device for feeding a board of a die-cutting machine according to the present utility model.
Detailed Description
The present utility model is further described below with reference to the drawings and examples, but the present utility model is not limited to the examples, and all the similar structures and similar variations using the present utility model should be included in the protection scope of the present utility model. The use of the directions of up, down, front, back, left, right, etc. in the present utility model is only for convenience of description, and is not a limitation of the technical scheme of the present utility model.
As shown in fig. 1 to 7, a robot claw device for feeding a paperboard of a die-cutting machine of the utility model comprises a main body device 1, two pressing devices 2 and a paperboard lifting and separating device 3,
the main body device 1 comprises a main bracket 4, a main bracket fork 5 is fixedly connected with the bottom of the main bracket 4, the main bracket fork 5 extends forwards along the horizontal direction,
the two pressing devices 2 respectively comprise a first movable bracket 6 which is vertically arranged, the two first movable brackets 6 are respectively arranged at the left side and the right side of the main bracket 4 and form sliding pairs parallel to the width direction of the main bracket fork 5 with the main bracket 4, the main bracket 4 is provided with two first driving devices, the power output ends of the two first driving devices are respectively connected with the two first movable brackets 6, any one of the first movable brackets 6 is respectively provided with a lower bracket fork 7, an upper pressure fork 8 and a second driving device, the lower bracket fork 7 is fixedly arranged at the bottom of the first movable bracket 6, the upper pressure fork 8 and the first movable bracket 6 form sliding pairs parallel to the length direction of the first movable bracket 6, the power output end of the second driving device is connected with the upper pressure fork 8,
the cardboard lifting and separating device 3 comprises a second movable frame 9, the second movable frame 9 and the main supporting fork 5 form a sliding pair parallel to the length direction of the main supporting fork 5, a third driving device is arranged on the main supporting fork 5, a power output end of the third driving device is connected with the second movable frame 9, a rotating plate 25 is hinged to the upper side of the second movable frame 9 through a rotating shaft 10, a fourth driving device is arranged on the second movable frame 9, the power output end of the fourth driving device is connected with the rotating plate 25, a lifting seat 11 is arranged on the side face of the rotating plate 25, the lifting seat 11 and the rotating plate 25 form a sliding pair parallel to the height direction of the rotating plate 25, a fifth driving device is fixedly arranged on the rotating plate 25, the power output end of the fifth driving device is connected with the lifting seat 11, and tooth grooves 12 are formed in the side face of the lifting seat 11 at intervals along the height direction.
Further, the main support 4 is provided with two parallel first guide rails 13, the first guide rails 13 are parallel to the width direction of the main support fork 5, and the two first moving supports 6 are respectively arranged on the first guide rails 13 through sliding blocks.
Further, the first driving device is a first translation cylinder 14.
Further, the first moving bracket 6 is provided with a second guide rail 15, the second guide rail 15 is parallel to the length direction of the first moving bracket 6, and the upper pressing fork 8 is arranged on the second guide rail 15 through a sliding block 23.
Further, the second driving device is a second translation cylinder 16.
Further, a third guide rail 17 is disposed on the main bracket 5, the third guide rail 17 is parallel to the length direction of the main bracket 5, and the second moving frame 9 is disposed on the third guide rail 17 through a sliding block 24.
Further, the third driving device is an annular synchronous belt driving device 18, the annular synchronous belt driving device 18 comprises a motor and two synchronous pulleys, the motor is connected with one synchronous pulley, a synchronous belt 19 is connected between the two synchronous pulleys, and the second movable frame 9 is connected with the synchronous belt 19 through a synchronous belt clamping device 20.
Further, the fourth driving device includes a rotating cylinder 21, the tail of the rotating cylinder 21 is hinged to a support 22 through a pin, the support 22 is fixed on the second moving frame 9, and the piston rod of the rotating cylinder 21 is hinged to the rotating plate 25 through a pin.
Further, a fourth guide rail 26 is disposed on the rotating plate 25, and the lifting seat 11 is disposed on the fourth guide rail 26 through a slider.
Further, the fifth driving device is a lifting cylinder 27.
Specifically, the main supporting fork 5, the sliding pair, the driving device, the lower supporting fork 7, the upper pressing fork 8, the tooth-shaped groove 12, the guide rail, the sliding block, the air cylinder, the annular synchronous belt driving device 18 and the like in the embodiment all adopt the well-known schemes in the prior art, and those skilled in the art will understand that the description is omitted here.
In operation, the robot gripper device of the present utility model is connected to the power end of the robot via the body device 1.
The working procedure of this embodiment is:
process 1: the upper conveyor conveys the paperboard stack to the front side of a limiting device, and the limiting device stops the paperboard stack from moving. According to the size of the stack of cardboard, the two first translation cylinders 14 drive the two compacting devices 2 along the first guide 13, respectively, so that the distance between the two compacting devices 2 is suitable. The larger the size of the stack of pallets the larger the distance between the two compacting means 2.
Process 2: a robot moves to a corresponding position with a feeding paw device, a third driving device, namely an annular synchronous belt driving device 18, drives a paperboard lifting and separating device 3 to move forwards along a third guide rail 17, a tooth-shaped groove 12 of a lifting seat 11 clamps the side edge of a paperboard stack, a rotating cylinder 21 drives a rotating plate 25 to rotate around a rotating shaft 10, so that the lifting seat 11 is driven to rotate, and a lifting cylinder 27 drives the lifting seat 11 to lift along a fourth guide rail 26, a certain amount of paperboards are lifted through tooth-shaped grooves 12, and a gap is formed between the lifted paperboards and the paperboards below.
Process 3: the robot brings the main body device 1 to continue to approach the paperboard stack, the two lower supporting forks 7 are inserted into the gap for lifting the paperboard, and then the two upper pressing forks 8 are driven by the second translation air cylinders 16 to press the upper surface of the paperboard lifted above, so that the upper pressing forks 8 and the lower supporting forks 7 clamp the paperboard, and the lifting seat 11 of the paperboard lifting and separating device 3 returns to the original position. A stack of sheets is grasped several times, each time a certain number of sheets are lifted by the sheet lifting and separating device 3.
Process 4: the robot drives the feeding paw device to carry the paperboard to the feeding position of the die-cutting machine, then the robot withdraws backwards, and meanwhile, in order to prevent the main supporting fork 5 and the lower supporting fork 7 from taking the paperboard out, the annular synchronous belt driving device 18 drives the paperboard lifting separating device 3 to move forwards along the third guide rail 17, and the advancing speed of the paperboard lifting separating device 3 is basically consistent with the retreating speed of the robot, which is equivalent to that the paperboard lifting separating device 3 is stationary relative to the feeding device, so that the lifting seat 11 is propped against the side edge of the paperboard, thereby preventing the main supporting fork 5 and the lower supporting fork 7 from taking the paperboard out. After the main pallet fork 5 and the lower pallet fork 7 are completely withdrawn, the paper board falls into the feeding device.
Process 5: and (5) circulating.
The paper stack separating device stably lifts the paper plates through the tooth-shaped grooves 12 in a rotating and lifting mode, and then the upper pressing fork 8 and the lower supporting fork 7 clamp and convey the paper plates, so that manual conveying is replaced, the manual labor intensity is reduced, and the conveying efficiency is improved. By adjusting the distance between the two pressing devices 2, the paper board with the width of 2100mm or less can be applied to various specifications, and the universality is strong.
Claims (10)
1. A robot hand claw device for feeding of cross cutting machine cardboard, its characterized in that: comprises a main body device, two pressing devices and a paperboard lifting and separating device,
the main body device comprises a main bracket, the bottom of the main bracket is fixedly connected with a main support fork, the main support fork extends forwards along the horizontal direction,
the two pressing devices respectively comprise a first movable bracket which is vertically arranged, the two first movable brackets are respectively arranged at the left side and the right side of the main bracket and form sliding pairs parallel to the width direction of the main bracket, the main bracket is provided with two first driving devices, the power output ends of the two first driving devices are respectively connected with the two first movable brackets, any one of the first movable brackets is respectively provided with a lower bracket fork, an upper pressing fork and a second driving device, the lower bracket fork is fixedly arranged at the bottom of the first movable bracket, the upper pressing fork and the first movable bracket form sliding pairs parallel to the length direction of the first movable bracket, the power output end of the second driving device is connected with the upper pressing fork,
the cardboard lifting and separating device comprises a second movable frame, the second movable frame and the main support fork form a sliding pair parallel to the length direction of the main support fork, a third driving device is arranged on the main support fork, the power output end of the third driving device is connected with the second movable frame, the upper side of the second movable frame is hinged with a rotating plate through a rotating shaft, a fourth driving device is arranged on the second movable frame, the power output end of the fourth driving device is connected with the rotating plate, the side surface of the rotating plate is provided with a lifting seat, the lifting seat and the rotating plate form a sliding pair parallel to the height direction of the rotating plate, a fifth driving device is fixedly arranged on the rotating plate, the power output end of the fifth driving device is connected with the lifting seat, and tooth grooves are formed in the side surface of the lifting seat at intervals along the height direction of the lifting seat.
2. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the main support is provided with two parallel first guide rails at intervals, the first guide rails are parallel to the width direction of the main support fork, and the two first movable supports are respectively arranged on the first guide rails through sliding blocks.
3. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the first driving device is a first translation cylinder.
4. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the first movable support is provided with a second guide rail, the second guide rail is parallel to the length direction of the first movable support, and the upper pressing fork is arranged on the second guide rail through a sliding block.
5. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the second driving device is a second translation cylinder.
6. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the main support fork is provided with a third guide rail, the third guide rail is parallel to the length direction of the main support fork, and the second movable frame is arranged on the third guide rail through a sliding block.
7. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the third driving device is an annular synchronous belt driving device, the annular synchronous belt driving device comprises a motor and two synchronous pulleys, the motor is connected with one synchronous pulley, a synchronous belt is connected between the two synchronous pulleys, and the second movable frame is connected with the synchronous belt through a synchronous belt clamping device.
8. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the fourth driving device comprises a rotating cylinder, the tail part of the rotating cylinder is hinged with a support through a pin shaft, the support is fixed on the second moving frame, and a piston rod of the rotating cylinder is hinged with the rotating plate through a pin shaft.
9. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the rotating plate is provided with a fourth guide rail, and the lifting seat is arranged on the fourth guide rail through a sliding block.
10. A robotic gripper assembly for feeding paperboard of a die cutting machine according to claim 1, wherein: the fifth driving device is a lifting cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321849421.2U CN220412241U (en) | 2023-07-14 | 2023-07-14 | Robot claw device for feeding paperboard of die cutting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321849421.2U CN220412241U (en) | 2023-07-14 | 2023-07-14 | Robot claw device for feeding paperboard of die cutting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220412241U true CN220412241U (en) | 2024-01-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321849421.2U Active CN220412241U (en) | 2023-07-14 | 2023-07-14 | Robot claw device for feeding paperboard of die cutting machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220412241U (en) |
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2023
- 2023-07-14 CN CN202321849421.2U patent/CN220412241U/en active Active
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