CN108357143A - A kind of carton shaping equipment - Google Patents

Abstract

The present invention provides a kind of carton shaping equipments, including：Power unit cuts unit and heating and cooling unit, it further include three-dimensional deformation work sheet member, the power unit is used for transmission paper box cardboard to cutting unit, the plank to be processed that unit is cut for cutting size needed for the three-dimensional deformation work sheet member joint sealing, for being folded and being pasted plank to be processed, the heating and cooling unit are used to that the precalculated position of the plank to be processed by the three-dimensional deformation work sheet member processing to be heated or cooled to be allowed to generate specific arc the solid deformation work sheet member.

Description

A kind of carton shaping equipment

Technical field

The invention belongs to carton making technical fields, and in particular to a kind of carton shaping equipment.

Background technology

Current most common product external packaging is carton, and packing for various products can be carried out with it.So, strong Degree, moisture content have foreign, become whether carton is capable of the qualified important indicator dispatched from the factory whether there is or not damaged.And existing carton inspection Measurement equipment is mainly the bearing capacity detection device of carton, and bearing capacity further includes resisting other than including ultimate pressure capacity ability Static pressure ability.Existing carton needs to carry out its surface the printing of pattern and character after shaping, and existing equipment can not Production equipment and printing equipment is set to carry out automatic transportation.

Application No. is the Chinese invention patent applications of CN201410706077.0 to disclose a kind of carton shaping equipment, It is characterised in that it includes transmitting device, for carton to be moved along transmission direction；Feeding device is used for folded state carton Feeding one by one；Preliminary molding machine makes folded state carton become to open for drawing high a side of folded state carton State carton；Point glue equipment is folded, is used for the protecgulum of opening state carton, rear cover, upper cover and rear cover folding forming and dispensing Bonding forms molding carton；And rack and control device；The feeding device, preliminary molding machine and folding point glue equipment edge Transmission direction is successively set in rack；The control device respectively with feeding device, preliminary molding machine, fold point glue equipment It is connected with transmitting device signal.

However, the universalness degree with industrial robot is higher and higher, work can be utilized by being badly in need of one kind in actual production Industry robot, especially industrial machine arm are mobile, fold, pressing carton material is to improve the dress of carton automated production level It sets, it is often more important that must take into consideration influence of the mechanical oscillation to automated production.

Invention content

In view of the above analysis, the present invention provides a kind of carton shaping equipments, including：Including power unit, cut unit, Three-dimensional deformation work sheet member and heating and cooling unit, the power unit are used for transmission paper box cardboard to cutting unit, described Cut to be processed plank of the unit for cutting size needed for the three-dimensional deformation work sheet member joint sealing, the solid deformation processing For being folded and being pasted plank to be processed, the heating and cooling unit are used for adding by the three-dimensional deformation unit The precalculated position of the plank to be processed of work order member processing is heated or cooled to be allowed to generate specific arc.

Further, the power unit includes hydraulic cylinder and conveyer belt, the Driven by Hydraulic Cylinder conveyer belt, the transmission The band conveying plank to be processed, which passes sequentially through, cuts unit and three-dimensional deformation work sheet member.

Further, the three-dimensional deformation work sheet member includes first mechanical arm, second mechanical arm, third mechanical arm and the Four mechanical arms, the first mechanical arm and second mechanical arm are for fixing the plank to be processed, the third mechanical arm and the Four mechanical arms are used to carry out three-dimensional deformation processing to plank to be processed.

Further, the three-dimensional deformation work sheet member includes programmable controller, for controlling each mechanical arm Finger grip and pressing dynamics, the solid deformation processing refers to by the finger grip of mechanical arm and pressing plate to be processed Material.

Further, the three-dimensional deformation work sheet member further includes being set to the machinery of third mechanical arm and the 4th mechanical arm Arm finger applies stress mornitoring circuit and mechanical arm finger applies stress feedback unit, and the mechanical arm finger applies stress mornitoring The mechanical arm finger that circuit is used to detect between the third mechanical arm and the 4th mechanical arm and plank to be processed applies stress, institute It states mechanical arm finger and applies stress feedback unit for passing through the PLC technology according to above-mentioned mechanical arm finger application stress Device adjusts gripping and the pressing dynamics of the third mechanical arm and the 4th mechanical arm.

Further, the mechanical arm finger application stress mornitoring circuit includes：First clock unit CLK1, second clock Unit CLK2, third clock unit CLK3, mechanical arm finger apply strain gauge S, the first transistor T1, second transistor T2, third transistor T3, the 4th transistor T4, the 5th transistor T5, the 6th transistor T6, the 7th transistor T7, the 8th crystal Pipe T8, the 9th transistor T9, the tenth transistor T10, the 11st transistor T11, the tenth two-transistor T12, operational amplifier A, First capacitor C1, the second capacitor C2, third capacitor C3 and mechanical arm finger apply stress mornitoring and export end interface Vo, institute State mechanical arm finger application strain gauge S includes the first positive output end and the first negative output terminal, the operational amplifier A packet The second positive input terminal, the second negative input end, the first amplifier output end and the second amplifier output end are included, the mechanical arm finger applies Stress mornitoring output end interface Vo includes that first mechanical arm finger applies stress mornitoring output end and the application of second mechanical arm finger Stress mornitoring output end, first positive output end are separately connected the source electrode of the first transistor T1, the first capacitor C1 The source electrode of one end and the 5th transistor T5, first negative output terminal connect one end of the second capacitor C2, described The grid of seven transistor T7, the second fortune of the grid of the 6th transistor T6, the grid of the 8th transistor T8 and operational amplifier A Output end is put, the grid of the first transistor T1 is separately connected the grid and the first clock unit CLK1 of second transistor T2, The drain electrode of the first transistor T1 is separately connected the grid of the 5th transistor T5 and the source electrode of the tenth transistor T10, and described second The source electrode of transistor T2 is separately connected the drain electrode of the source electrode and the 11st transistor T11 of the 4th transistor T4, described The drain electrode of second transistor T2 is separately connected the drain electrode of the 8th transistor T8, the drain electrode of the 11st transistor T11 and operation and puts The second positive input terminal of big device A, the other end of the first capacitor C1 connect the source electrode of the tenth two-transistor T12, the 12nd crystal The second of the drain electrode connection operational amplifier A of grid connection third the clock unit CLK3, the tenth two-transistor T12 of pipe T12 is negative Input terminal, the first clock unit CLK1 are also connected with the grid of the 4th transistor T4, and the drain electrode of the 4th transistor T4 is separately connected The drain electrode of six transistor T6 and the drain electrode of the 7th transistor T7 and the first mechanical arm finger apply stress mornitoring output end, The grid of the 7th transistor T7 connects the grid of the 8th transistor T8 and connects third clock unit CLK3 simultaneously, the The drain electrode of the 11st transistor T11 of drain electrode connection of five transistor T5, the other end of the second capacitor C2 connect third transistor The grid of the source electrode of T3, the grid of third transistor T3 and the tenth transistor T10 are separately connected second clock unit CLK2, third The drain electrode of transistor T3 connects the source electrode of the 9th transistor T9, and the grid of the 9th transistor T9 connects third clock unit CLK3, the drain electrode of the 9th transistor T9 are separately connected the source electrode of one end and the 7th transistor T7 of third capacitor C3, and described The other end of three capacitor C3 connects the source electrode of the 11st transistor T11, the grid connection of the 11st transistor T11 Second clock unit CLK2, the first amplifier output end of the operational amplifier A connect the second mechanical arm finger application and answer Power detection output, the first mechanical arm finger applies stress mornitoring output end and second mechanical arm finger applies stress mornitoring The mechanical arm finger that output end applies stress mornitoring circuit as the mechanical arm finger together applies the output of stress mornitoring signal End.

Further, the first clock signal unit CLK1, second clock signal element CLK2 and third clock signal There are following relationships between frequency f1, f2 and f3 of unit CLK3：

Wherein f_1,0=f_1,1=13KHz, f_2,0=0.5 × f_2,1 =5KHz, f_3,0=0.5 × f_3,1=5KHz.

Further, the mechanical arm finger applies stress feedback unit using negative-feedback circuit.

The beneficial effects of the invention are as follows：It can bear using mechanical arm finger application stress mornitoring and according to testing result Feedback mechanism, during being effectively reduced mechanical arm control carton processing, conveyer belt, driving mechanism and sheet fabrication process The various mechanical oscillation that the operations such as extruding, overturning, the pressing of middle appearance are brought are for mechanical arm finger in mechanical arm process The influence for applying stress mornitoring accurately detects and controls the mechanical arm finger application stress for being applied to mechanical arm, to effectively Ground protects plank to be processed, improves machining accuracy, and the robot production line that can be easy to implement various complicated cartons is automatic Change manufacture.

Description of the drawings

Fig. 1 shows the composition frame chart of the carton shaping equipment of the present invention.

Fig. 2 shows the circuit connection diagrams that mechanical arm finger applies stress mornitoring circuit.

Specific implementation mode

As shown in Figure 1, the carton shaping equipment of the present invention includes：Including power unit, cut unit, three-dimensional deformation processing Unit and heating and cooling unit, the power unit are used for transmission paper box cardboard and are used for unit, the unit that cuts is cut The plank to be processed of size needed for the three-dimensional deformation work sheet member joint sealing is cut, the solid deformation work sheet member will be for that will wait for Processing plank is folded and is pasted, and the heating and cooling unit are used for by the three-dimensional deformation work sheet member processing The precalculated position of plank to be processed is heated or cooled to be allowed to generate specific arc.

Preferably, the power unit includes hydraulic cylinder and conveyer belt, the Driven by Hydraulic Cylinder conveyer belt, the conveyer belt It conveys the plank to be processed and passes sequentially through and cut unit and three-dimensional deformation work sheet member.

Preferably, the three-dimensional deformation work sheet member includes first mechanical arm, second mechanical arm, third mechanical arm and the 4th Mechanical arm, the first mechanical arm and second mechanical arm are for fixing the plank to be processed, the third mechanical arm and the 4th Mechanical arm is used to carry out three-dimensional deformation processing to plank to be processed.

Preferably, the three-dimensional deformation work sheet member includes programmable controller, for controlling each mechanical arm Finger grip and pressing dynamics, the solid deformation processing refer to the finger grip and pressing plank to be processed by mechanical arm.

Preferably, the three-dimensional deformation work sheet member further includes being set to the mechanical arm of third mechanical arm and the 4th mechanical arm Finger applies stress mornitoring circuit and mechanical arm finger applies stress feedback unit, and the mechanical arm finger applies stress mornitoring electricity Road is used to detect the mechanical arm finger between the third mechanical arm and the 4th mechanical arm and plank to be processed and applies stress, described Mechanical arm finger applies stress feedback unit and is used to pass through the programmable controller according to above-mentioned mechanical arm finger application stress Adjust gripping and the pressing dynamics of the third mechanical arm and the 4th mechanical arm.

Preferably, as shown in Fig. 2, mechanical arm finger application stress mornitoring circuit includes：First clock unit CLK1, Second clock unit CLK2, third clock unit CLK3, mechanical arm finger apply strain gauge S, the first transistor T1, second Transistor T2, third transistor T3, the 4th transistor T4, the 5th transistor T5, the 6th transistor T6, the 7th transistor T7, Eight transistor T8, the 9th transistor T9, the tenth transistor T10, the 11st transistor T11, the tenth two-transistor T12, operation are put Big device A, the first capacitor C1, the second capacitor C2, third capacitor C3 and mechanical arm finger apply stress mornitoring output termination Mouth Vo, what the mechanical arm finger applied strain gauge S includes the first positive output end and the first negative output terminal, and the operation is put Big device A includes the second positive input terminal, the second negative input end, the first amplifier output end and the second amplifier output end, the mechanical arm It includes that first mechanical arm finger applies stress mornitoring output end and second mechanical arm that finger, which applies stress mornitoring output end interface Vo, Finger applies stress mornitoring output end, and first positive output end is separately connected the source electrode of the first transistor T1, the first electricity The source electrode of one end of container C1 and the 5th transistor T5, first negative output terminal connect the one of the second capacitor C2 It holds, the grid and operational amplifier of the grid of the 7th transistor T7, the grid of the 6th transistor T6, the 8th transistor T8 The grid of the second amplifier output end of A, the first transistor T1 is separately connected the grid and the first clock of second transistor T2 The drain electrode of unit CLK1, the first transistor T1 are separately connected the grid of the 5th transistor T5 and the source electrode of the tenth transistor T10, The source electrode of the second transistor T2 is separately connected the leakage of the source electrode and the 11st transistor T11 of the 4th transistor T4 Pole, the drain electrode of the second transistor T2 be separately connected the drain electrode of the 8th transistor T8, the drain electrode of the 11st transistor T11 and Second positive input terminal of operational amplifier A, the source electrode of the tenth two-transistor T12 of other end connection of the first capacitor C1, the tenth The drain electrode connection operational amplifier A of grid connection third the clock unit CLK3, the tenth two-transistor T12 of two-transistor T12 Second negative input end, the first clock unit CLK1 are also connected with the grid of the 4th transistor T4, the drain electrode difference of the 4th transistor T4 It connects the drain electrode of the 6th transistor T6 and the drain electrode of the 7th transistor T7 and the first mechanical arm finger applies stress mornitoring The grid of output end, the 7th transistor T7 connects the grid of the 8th transistor T8 and connects third clock unit simultaneously The drain electrode of the 11st transistor T11 of drain electrode connection of CLK3, the 5th transistor T5, the other end of the second capacitor C2 connect third The grid of the source electrode of transistor T3, the grid of third transistor T3 and the tenth transistor T10 are separately connected second clock unit The drain electrode of CLK2, third transistor T3 connect the source electrode of the 9th transistor T9, and the grid of the 9th transistor T9 connects third Clock unit CLK3, the drain electrode of the 9th transistor T9 are separately connected the source of one end and the 7th transistor T7 of third capacitor C3 The other end of pole, the third capacitor C3 connects the source electrode of the 11st transistor T11, the 11st transistor T11 Grid connect second clock unit CLK2, the first amplifier output end of the operational amplifier A connects the second mechanical arm Finger applies stress mornitoring output end, and the first mechanical arm finger applies stress mornitoring output end and second mechanical arm finger is applied The mechanical arm finger that stress mornitoring output end applies stress mornitoring circuit as the mechanical arm finger together is added to apply stress inspection Survey signal output end.

Preferably, the first clock signal unit CLK1, second clock signal element CLK2 and third clock signal list There are following relationships between frequency f1, f2 and f3 of first CLK3：

Wherein f_1,0=f_1,1=13KHz, f_2,0=0.5 × f_2,1 =5KHz, f_3,0=0.5 × f_3,1=5KHz.

Preferably, the mechanical arm finger applies stress feedback unit using negative-feedback circuit.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.

Claims (8)

1. a kind of carton shaping equipment, including：Power unit cuts unit and heating and cooling unit, which is characterized in that also wraps Three-dimensional deformation work sheet member is included, the power unit is used for transmission paper box cardboard to unit is cut, and the unit that cuts is for cutting out The plank to be processed of size needed for the three-dimensional deformation work sheet member joint sealing is cut, the solid deformation work sheet member is used for will be to be added Work plank is folded and is pasted, and the heating and cooling unit are used for being waited for by the three-dimensional deformation work sheet member processing The precalculated position of processing plank is heated or cooled to be allowed to generate specific arc.

2. the apparatus according to claim 1, which is characterized in that the power unit includes hydraulic cylinder and conveyer belt, described Driven by Hydraulic Cylinder conveyer belt, the conveyer belt conveying plank to be processed, which passes sequentially through, cuts unit and three-dimensional deformation work sheet Member.

3. the apparatus according to claim 1, which is characterized in that it is described solid deformation work sheet member include first mechanical arm, Second mechanical arm, third mechanical arm and the 4th mechanical arm, the first mechanical arm and second mechanical arm are described to be added for fixing Work plank, the third mechanical arm and the 4th mechanical arm are used to carry out three-dimensional deformation processing to plank to be processed.

4. device according to claim 3, which is characterized in that the solid deformation work sheet member includes PLC technology Device, finger grip and pressing dynamics for controlling each mechanical arm, the solid deformation processing refers to passing through mechanical arm Finger grip and press plank to be processed.

5. device according to claim 4, which is characterized in that the solid deformation work sheet member further includes being set to third The mechanical arm finger of mechanical arm and the 4th mechanical arm applies stress mornitoring circuit and mechanical arm finger applies stress feedback unit, institute State mechanical arm finger apply stress mornitoring circuit for detect the third mechanical arm and the 4th mechanical arm and plank to be processed it Between mechanical arm finger apply stress, the mechanical arm finger applies stress feedback unit for being applied according to above-mentioned mechanical arm finger Stress is added to adjust gripping and the pressing dynamics of the third mechanical arm and the 4th mechanical arm by the programmable controller.

6. device according to claim 5, which is characterized in that the mechanical arm finger applies stress mornitoring circuit and includes： First clock unit CLK1, second clock unit CLK2, third clock unit CLK3, mechanical arm finger apply strain gauge S, The first transistor T1, second transistor T2, third transistor T3, the 4th transistor T4, the 5th transistor T5, the 6th transistor T6, the 7th transistor T7, the 8th transistor T8, the 9th transistor T9, the tenth transistor T10, the 11st transistor T11, the tenth Two-transistor T12, operational amplifier A, the first capacitor C1, the second capacitor C2, third capacitor C3 and mechanical arm finger are applied Add stress mornitoring output end interface Vo, what the mechanical arm finger applied strain gauge S includes the first positive output end and first Negative output terminal, the operational amplifier A include the second positive input terminal, the second negative input end, the first amplifier output end and the second fortune Output end is put, it includes that first mechanical arm finger applies stress mornitoring that the mechanical arm finger, which applies stress mornitoring output end interface Vo, Output end and second mechanical arm finger apply stress mornitoring output end, and first positive output end is separately connected the first crystal The source electrode of the source electrode of pipe T1, one end of the first capacitor C1 and the 5th transistor T5, described in first negative output terminal connection One end of second capacitor C2, the grid of the 7th transistor T7, the grid of the 6th transistor T6, the 8th transistor T8 grid Second amplifier output end of pole and operational amplifier A, the grid of the first transistor T1 are separately connected second transistor T2 The drain electrode of grid and the first clock unit CLK1, the first transistor T1 be separately connected the grid and the tenth of the 5th transistor T5 The source electrode of the source electrode of transistor T10, the second transistor T2 is separately connected the source electrode and described of the 4th transistor T4 The drain electrode of the drain electrode of 11 transistor T11, the second transistor T2 is separately connected the drain electrode of the 8th transistor T8, the 11st crystalline substance The other end of the drain electrode of body pipe T11 and the second positive input terminal of operational amplifier A, the first capacitor C1 connects the 12nd crystal The drain electrode of the source electrode of pipe T12, grid connection third the clock unit CLK3, the tenth two-transistor T12 of the tenth two-transistor T12 connects The second negative input end of operational amplifier A is connect, the first clock unit CLK1 is also connected with the grid of the 4th transistor T4, the 4th crystal The drain electrode of pipe T4 is separately connected the drain electrode of the 6th transistor T6 and drain electrode and the first mechanical arm hand of the 7th transistor T7 Refer to and apply stress mornitoring output end, the grid of the 7th transistor T7 connects the grid of the 8th transistor T8 and connects simultaneously The drain electrode of the 11st transistor T11 of drain electrode connection of third clock unit CLK3, the 5th transistor T5 are connect, the second capacitor C2's The grid of the source electrode of other end connection third transistor T3, the grid of third transistor T3 and the tenth transistor T10 are separately connected The drain electrode of second clock unit CLK2, third transistor T3 connect the source electrode of the 9th transistor T9, the 9th transistor T9's The drain electrode of grid connection third clock unit CLK3, the 9th transistor T9 are separately connected one end and the 7th crystalline substance of third capacitor C3 The source electrode of body pipe T7, the other end of the third capacitor C3 connect the source electrode of the 11st transistor T11, and the described 11st The grid of transistor T11 connects second clock unit CLK2, the first amplifier output end connection of the operational amplifier A described the Two mechanical arm fingers apply stress mornitoring output end, and the first mechanical arm finger applies stress mornitoring output end and the second machinery Arm finger, which applies mechanical arm finger of the stress mornitoring output end together as mechanical arm finger application stress mornitoring circuit, to be applied Add stress mornitoring signal output end.

7. device according to claim 6, which is characterized in that the first clock signal unit CLK1, second clock letter Number there are following relationships between unit CLK2 and frequency f1, f2 and f3 of third clock signal unit CLK3：

Wherein f_1,0=f_1,1=13KHz, f_2,0=0.5 × f_2,1= 5KHz, f_3,0=0.5 × f_3,1=5KHz.

8. device according to claim 5, which is characterized in that the mechanical arm finger applies stress feedback unit using negative Feedback circuit.