CN206407650U - A kind of robot electric control system for tearing paper stack open - Google Patents
A kind of robot electric control system for tearing paper stack open Download PDFInfo
- Publication number
- CN206407650U CN206407650U CN201621305190.9U CN201621305190U CN206407650U CN 206407650 U CN206407650 U CN 206407650U CN 201621305190 U CN201621305190 U CN 201621305190U CN 206407650 U CN206407650 U CN 206407650U
- Authority
- CN
- China
- Prior art keywords
- open
- cardboard
- coordinate
- paper stack
- pile
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Controlling Sheets Or Webs (AREA)
Abstract
It is a kind of to tear the robot electric control system of paper stack open, including tear paper stack station open, unload plank station, unload tray station, wherein：The paper stack station of tearing open includes robot cell, de-stacking unit, plank collector unit, cardboard collector unit and collection tray unit, and the robot cell includes handgrip, coordinate photoelectricity and visits pile unit, positive and negative label detection unit.The utility model adapts to paper stack dismounting and provides all actions, realizes the automation of paper stack dismounting.Cardboard contour structures can be identified to select to capture direction；Judge to distinguish the positive and negative of cardboard by color, so as to choose whether to need to carry out turning operation to cardboard；Paper stack can be drawn and spread superincumbent plank and dividing plate in charging；Paper stack dismounting can be captured and finish remaining empty pallet, remove workman from and climb the action dismantled, greatly reduce the labor intensity of workman.
Description
Technical field
The present invention relates to tearing paper stack field open, particularly a kind of robot electric control system for tearing paper stack open.
Background technology
At present, in each chemical product packaging industry, such as beer, soy sauce etc. needs wrapping machine fast package, the feeding of cardboard
Artificial disassemble paper wrapper thing from top to bottom from a pallet cardboard is rested on to be put on conveyer belt for wrapping machine feeding
Present situation, the feeding of cardboard turns into the heavy process of baling line, adds the labor intensity of workman, is unfavorable for the automation hair of enterprise
Exhibition.
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, it is an object of the invention to provide removing workman to climb what is dismantled,
Greatly reduce a kind of robot electric control system for tearing paper stack open of labor strength.
The technical solution adopted for the present invention to solve the technical problems is：A kind of electrical control system of robot for tearing paper stack open
System, including tear paper stack station open, unload plank station, unload tray station, wherein：It is described tear open paper stack station include robot cell,
De-stacking unit, cardboard collector unit, the robot cell include handgrip, coordinate photoelectricity and visit pile unit, positive and negative label detection
Unit,
The handgrip, for capturing paper stack, including crawl and plank, cardboard, pallet in dismounting paper stack, the handgrip is
Multi-functional handgrip with four axle stackings, all actions are provided to adapt to paper stack dismounting, including movement, are captured, put etc. and act.
The coordinate photoelectricity visits pile unit, and the benchmark for tearing paper stack open is set up, the contour structures of cardboard are identified from
And select crawl direction and tear paper coordinate points open.
The positive and negative label detection unit, the colour code Photoelectric Detection in paper stack judges to distinguish cardboard by color
Positive and negative, so as to select to need whether to need to carry out turning operation to cardboard.
As a further improvement on the present invention：The coordinate photoelectricity, which visits pile unit, includes the photoelectricity spy of X-direction and Y-direction
Pile, the coordinate photoelectricity visits pile unit and determines to tear paper coordinate open by the photoelectricity spy pile of X-direction and Y-direction, described to tear paper coordinate bag open
Include and tear paper X-coordinate open and tear paper Y-coordinate open.
As a further improvement on the present invention：The handgrip is when paper order is torn in execution open, operation to sondage pile Y points, coordinate
Photoelectricity visits pile unit and performs the photoelectricity spy pile of Y-direction and drive handgrip to visit pile along Y-axis rectilinear movement 150mm-250mm, treats coordinate
Photoelectricity visits pile unit and detects trailing edge, and paper Y-coordinate is torn in calculating open.The handgrip is when paper order is torn in execution open, operation to sondage pile X
Point, coordinate photoelectricity visits pile unit and performs the photoelectricity spy pile of X-direction and drive handgrip to visit pile along X-axis rectilinear movement 150mm-250mm,
Treat that coordinate photoelectricity visits pile unit and detects trailing edge, paper X-coordinate is torn in calculating open.
As a further improvement on the present invention：The handgrip includes lancet, supporting plate, pressing plate, and the handgrip is tearing paper seat open
Put on and cardboard is lifted using lancet, the sky that supporting plate is injected under cylinder action between the cardboard lifted and the cardboard not lifted
Gap, lancet decentralization, then cardboard is pressed between supporting plate and pressing plate with pressing plate.
The cardboard it is split be discharged to the cardboard of last layer when, because cardboard bottom surface and plank are affixed, directly capture appearance
Plank is moved or is produced other nonstandard mistakes, be easily caused the entanglement of whole flow process, dismantle last layer
During cardboard, driving lever is additionally provided with the handgrip, the driving lever is moved downward under cylinder action, driving lever is provided with spring buffer,
Last layer paperboard is first dialled from taking away one by one again, it is to avoid subfloor is moved.
As a further improvement on the present invention：The positive and negative label detection unit includes what printing surface in paper stack was detected
Label detection instrument, the signal fed back according to label detection instrument is put into cardboard collector unit, and the cardboard collector unit includes front
Cardboard collector unit and reverse side cardboard collector unit, the reverse side cardboard collector unit include switching mechanism.
As a further improvement on the present invention：The plank station that unloads includes handgrip and plank collector unit, the handgrip
When detecting the dividing plate or the superiors and undermost plank between paper stack and paper stack, using the sucker on handgrip, wood
Plate surface carries out absorption and taken away, to plank collector unit.The plank collector unit is calculated after handgrip completes to place plank, is grabbed
Hand completes once to capture plank, and statistics plank heap product P=P+1, when plank heap product P is more than setting value, forbids handgrip to be grabbed
Take plank operation task, whether now detect people work area without plank accumulation, whole cribbing plate is delivered to people work area, reach people work area by
Forklift walks plank.
As a further improvement on the present invention：The tray station of unloading includes handgrip and collection tray unit, paper stack component
It is pallet, plank, some paper stacks, plank, pallet from top to bottom in the structure do not dismantled, therefore when needing to be dismantled
Beginning or end need to dismantle pallet.The handgrip is grabbed four sides provided with pallet hand, the pallet hand grab by
Rotation driving cylinder is installed, and when needing to carry out dismounting pallet, handgrip operates in the top of tray center, in rotation driving cylinder
In the presence of, timing belt is driven, pallet hand, which is grabbed, starts 180 ° of rotation, and pallet is embraced downwards, is taken away, to pallet mobile phone unit.Institute
State collection tray unit to calculate after handgrip completes placement tray, handgrip completes once to capture pallet, statistics pallet heap product T=T
+ 1, when pallet heap product T is more than setting value, forbid handgrip to carry out crawl pallet operation task, now detect people work area whether without
Pallet is accumulated, and whole tray is delivered to people work area, reaches that pallet is walked in people work area by forklift.
As a further improvement on the present invention：The de-stacking unit, plank collector unit, cardboard collector unit, pallet are received
Collect unit centered on robot cell around arrangement.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention adapts to paper stack dismounting and provides all actions, realizes the automation of paper stack dismounting.Can be to cardboard profile knot
Structure is identified to select to capture direction；Judge to distinguish the positive and negative of cardboard by color, so as to choose whether to need to paper
Plate carries out turning operation；Paper stack can be drawn and spread superincumbent plank and dividing plate in charging；Paper stack dismounting can be captured to finish
Remaining empty pallet, removes workman from and climbs the action dismantled, greatly reduce the labor intensity of workman.
Brief description of the drawings
Fig. 1 is schematic flow sheet schematic diagram of the invention.
Fig. 2 is that the coordinate photoelectricity for tearing paper stack station open visits pile schematic flow sheet.
Fig. 3 is the structural representation of handgrip.
Fig. 4 is the structural representation of handgrip.
Fig. 5 is the schematic flow sheet that cardboard positive and negative is detected.
Embodiment
In conjunction with brief description of the drawings, the present invention is further described with embodiment：
It is a kind of to tear the robot electric control system of paper stack open with reference to Fig. 1, including tear paper stack station open, unload plank station, unload support
Disk station, wherein：The paper stack station of tearing open includes robot cell, de-stacking unit, cardboard collector unit, the robot list
Member includes handgrip, coordinate photoelectricity and visits pile unit, positive and negative label detection unit,
The handgrip, for capturing paper stack, including crawl and plank, cardboard, pallet in dismounting paper stack, the handgrip is
Multi-functional handgrip with four axle stackings, all actions are provided to adapt to paper stack dismounting, including movement, are captured, put etc. and act.
The coordinate photoelectricity visits pile unit, and the benchmark for tearing paper stack open is set up, the contour structures of cardboard are identified from
And select crawl direction and tear paper coordinate points open.
The positive and negative label detection unit, the colour code Photoelectric Detection in paper stack judges to distinguish cardboard by color
Positive and negative, so as to select to need whether to need to carry out turning operation to cardboard.
Start, robot cell's initialization, handgrip is in zero point and ensures that fixture is opened, and runs to the highest of de-stacking unit
Point, now the de-stacking unit of de-stacking unit feedback signal whether allow de-stacking, robot unit detects judgement successively after allowing
Whether whether whether progress tear paper stack station open, carry out unloading plank station, carry out unloading tray station, performs and completes respective station task
Return to zero point.
The coordinate photoelectricity, which visits pile unit, includes the photoelectricity spy pile of X-direction and Y-direction, and the coordinate photoelectricity is visited pile unit and led to
Paper coordinate is torn in the photoelectricity spy pile determination for crossing X-direction and Y-direction open, and the paper coordinate of tearing open includes tearing paper X-coordinate open and tears paper Y-coordinate open.
The handgrip is when paper order is torn in execution open, and operation to sondage pile Y points, coordinate photoelectricity visits pile unit and performs Y-direction
Photoelectricity visits pile and drives handgrip to visit pile along Y-axis rectilinear movement 200mm, treats that coordinate photoelectricity visits pile unit and detects trailing edge, calculates
Tear paper Y-coordinate open.The handgrip is when paper order is torn in execution open, and operation to sondage pile X points, coordinate photoelectricity visits pile unit and performs X-direction
Photoelectricity visit pile and drive handgrip along X-axis rectilinear movement 200mm visit pile, treat coordinate photoelectricity visit pile unit detect trailing edge, count
Paper X-coordinate is torn in calculation open.
With reference to Fig. 2, the paper stack station of tearing open visits pile station including coordinate photoelectricity, when paper stack station is torn in entrance open, robot
Unit brings into operation to sondage pile Y points, visits pile along Y-axis rectilinear movement 200mm since sondage pile Y points, and carry out Y-coordinate photoelectricity
Pile is visited, when Y-coordinate photoelectricity visits pile and detects trailing edge, paper Y-coordinate is torn in calculating open, and sondage pile is returned when no detection trailing edge
Y points are repeated, and record recycle time i, when recycle time i is more than 3, start alarm shutdown processing, and remove return time
Number i=0, when detecting trailing edge, removing recycle time makes i=0, and calculates and tear paper Y-coordinate open, obtains tearing paper Y-coordinate open and continues to run with
To sondage pile X points, similarly run, obtain tearing paper X-coordinate open, robot cell, which goes to, tears paper coordinate progress next step de-stacking task open.
With reference to Fig. 3 and Fig. 4, the handgrip, which includes lancet 1, supporting plate 2, pressing plate 3, pallet hand, grabs 4, hand and grabs rotation driving gas
Cylinder 5, sucker 6, driving lever 7, the handgrip are being torn open on paper coordinate using lancet 1 needing mobile cardboard side to lift, and supporting plate 2 exists
The space injected under cylinder action between the cardboard lifted and the cardboard not lifted, lancet 1 is transferred, and cardboard falls on supporting plate 2,
Cardboard is pressed between supporting plate 2 and pressing plate 3 with pressing plate 3 again and fixed, cardboard collector unit is moved to.
The cardboard it is split be discharged to the cardboard of last layer when, because cardboard bottom surface and plank are affixed, directly capture appearance
Plank is moved or is produced other nonstandard mistakes, be easily caused the entanglement of whole flow process, dismantle last layer
During cardboard, driving lever 7 is additionally provided with the handgrip, the driving lever 7 is moved downward under cylinder action, driving lever 7 is provided with spring buffer,
Last layer paperboard is first dialled from taking away one by one again, it is to avoid subfloor is moved.
The positive and negative label detection unit includes the label detection instrument detected to printing surface in paper stack, according to label detection
The signal of instrument feedback is put into cardboard collector unit, and the cardboard collector unit includes front cardboard collector unit and reverse side cardboard is received
Collect unit, the reverse side cardboard collector unit includes switching mechanism.
With reference to Fig. 5, when being lifted away from paper stack after the handgrip crawl cardboard, positive and negative label detection unit is to detection cardboard
Whether it is printing surface towards face, if being printing surface towards face, cardboard is moved to reverse side cardboard collector unit, while receives reverse side cardboard
Whether collector unit can place the signal of cardboard, and cardboard is placed in switching mechanism, return to zero point；If towards face not being printing surface,
Cardboard is moved to front cardboard collector unit, while receiving front cardboard collector unit, cardboard is placed, returns to zero point.
Include the dividing plate between top layer or plank, cardboard and the cardboard of bottom in the paper stack, it is described to unload plank station
For taking plank away in unloading process, the dividing plate or most upper between paper stack and paper stack is being detected including the handgrip
When layer and undermost plank, using the sucker on handgrip, board surface carries out absorption and taken away, to plank collector unit.Institute
State plank collector unit to calculate after handgrip completes to place plank, handgrip completes once to capture plank, statistics plank heap product P=P
+ 1, when plank heap product P is more than setting value, forbid handgrip to carry out crawl plank operation task, now detect people work area whether without
Plank is accumulated, and whole cribbing plate is delivered to people work area, reaches that plank is walked in people work area by forklift.
The paper stack include up and down two pallets, it is described unload in the unloading process that tray station is used for take pallet away,
The handgrip is grabbed four sides provided with pallet hand, and the pallet hand is grabbed to be installed by rotation driving cylinder, is needing to be dismantled
During pallet, handgrip operates in the top of tray center, in the presence of rotation driving cylinder, drives timing belt, and pallet hand is grabbed out
Begin to rotate 180 °, pallet is embraced downwards, is taken away, to pallet mobile phone unit.The collection tray unit completes to place support in handgrip
Calculated after disk, handgrip completes once to capture pallet, statistics pallet heap product T=T+1, when pallet heap product T is more than setting value, prohibits
Only handgrip carries out crawl pallet operation task, now detects whether pallet-free is accumulated in people work area, and whole tray is delivered to people work area,
Reach that pallet is walked in people work area by forklift.
In summary, one of ordinary skill in the art is read after file of the present invention, technique according to the invention scheme with
Technical concept makes other various corresponding conversion schemes without creative mental labour, belongs to the model that the present invention is protected
Enclose.
Claims (6)
1. the robot electric control system of paper stack is torn open a kind of, including is torn paper stack station open, unloaded plank station, unload tray station, its
It is characterized in：The paper stack station of tearing open includes robot cell, de-stacking unit, plank collector unit, cardboard collector unit and support
Disk collector unit, the robot cell includes handgrip, coordinate photoelectricity and visits pile unit, positive and negative label detection unit,
The handgrip, for capturing paper stack, including crawl and plank, cardboard, pallet in dismounting paper stack；
The coordinate photoelectricity visits pile unit, and the benchmark for tearing paper stack open is set up；
The positive and negative label detection unit, the colour code Photoelectric Detection in paper stack.
2. a kind of robot electric control system for tearing paper stack open according to claim 1, it is characterized in that：The coordinate photoelectricity
Visiting pile unit includes the photoelectricity spy pile of X-direction and Y-direction, and the coordinate photoelectricity visits photoelectricity of the pile unit by X-direction and Y-direction
Visit pile to determine to tear paper coordinate open, the paper coordinate of tearing open includes tearing paper X-coordinate open and tears paper Y-coordinate open.
3. a kind of robot electric control system for tearing paper stack open according to claim 2, it is characterized in that：The handgrip is being held
When row tears paper order open, operation to sondage pile Y points, coordinate photoelectricity visits pile unit and performs the photoelectricity spy pile of Y-direction and drive handgrip along Y
Axle rectilinear movement 150mm-250mm visits pile, treats that coordinate photoelectricity visits pile unit and detects trailing edge, paper Y-coordinate is torn in calculating open.
4. a kind of robot electric control system for tearing paper stack open according to claim 2, it is characterized in that：The handgrip is being held
When row tears paper order open, operation to sondage pile X points, coordinate photoelectricity visits pile unit and performs the photoelectricity spy pile of X-direction and drive handgrip along X
Axle rectilinear movement 150mm-250mm visits pile, treats that coordinate photoelectricity visits pile unit and detects trailing edge, paper X-coordinate is torn in calculating open.
5. a kind of robot electric control system for tearing paper stack open according to claim 1, it is characterized in that：The handgrip includes
There are lancet, supporting plate, a pressing plate, the handgrip lifts cardboard using lancet on paper coordinate tearing open, and supporting plate is injected under cylinder action
Space between the cardboard lifted and the cardboard not lifted, lancet decentralization, then with pressing plate cardboard be pressed on supporting plate and pressing plate it
Between.
6. a kind of robot electric control system for tearing paper stack open according to claim 1, it is characterized in that：The positive and negative mark
Know the label detection instrument that detection unit includes detecting printing surface in paper stack, cardboard is put into according to the signal that label detection instrument feeds back
Collector unit, the cardboard collector unit includes front cardboard collector unit and reverse side cardboard collector unit, the reverse side cardboard
Collector unit includes switching mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305190.9U CN206407650U (en) | 2016-12-01 | 2016-12-01 | A kind of robot electric control system for tearing paper stack open |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305190.9U CN206407650U (en) | 2016-12-01 | 2016-12-01 | A kind of robot electric control system for tearing paper stack open |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206407650U true CN206407650U (en) | 2017-08-15 |
Family
ID=59549562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621305190.9U Active CN206407650U (en) | 2016-12-01 | 2016-12-01 | A kind of robot electric control system for tearing paper stack open |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206407650U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817089A (en) * | 2017-11-09 | 2018-03-20 | 湖南三德科技股份有限公司 | A kind of bottle cap positive and negative detection means, method and capping device |
-
2016
- 2016-12-01 CN CN201621305190.9U patent/CN206407650U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107817089A (en) * | 2017-11-09 | 2018-03-20 | 湖南三德科技股份有限公司 | A kind of bottle cap positive and negative detection means, method and capping device |
| CN107817089B (en) * | 2017-11-09 | 2024-03-01 | 湖南三德科技股份有限公司 | Bottle cap positive and negative detection device and method and capping equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106743708B (en) | Plate moves device and method | |
| CN104828564B (en) | Stacking streamline | |
| CN206050164U (en) | Ceramic tile automated packaging equipment | |
| CN103552871B (en) | A kind of off-line automatic counting panel turnover machine for cardboard stacking and stacking method | |
| CN207329025U (en) | A kind of fully automatic high-speed destacking bale breaker | |
| CN109051692A (en) | The positive and negative pile pile of corrugated board automatically sorts delivery device | |
| CN206407650U (en) | A kind of robot electric control system for tearing paper stack open | |
| CN111361993A (en) | AOI automatic plate collecting and releasing machine | |
| CN1911765A (en) | Automatic loading-unloading method of pallet type lifting machine and its device | |
| CN106406363A (en) | Electric robot control system for paper pile dismounting | |
| CN104266623B (en) | Cargo size detection device | |
| CN211337754U (en) | Positioning mechanism for AOI automatic plate collecting and releasing machine | |
| CN106742298A (en) | A kind of multi-function robot tears the dismounting technique of paper stack open | |
| CN205771839U (en) | Paper currency sorting streamline and paper money thereof are lifting device | |
| CN206142461U (en) | Baling press of copper -clad plate | |
| CN207433919U (en) | A kind of paper money palletizing apparatus | |
| CN207524587U (en) | A kind of carrying mechanism for being integrated with cover board grasping mechanism | |
| CN206172631U (en) | Automatic song buji | |
| CN214934675U (en) | Paper collecting device of printing machine | |
| CN213833427U (en) | A prevent putty switch structure for lifting machine base | |
| CN210437869U (en) | Stacking robot | |
| CN210392403U (en) | Stacking system | |
| CN207738181U (en) | The useless card collection device of the electronics Hongkong and Macro pass | |
| CN113909159A (en) | Automatic garbage sorting system and sorting method with multi-target adsorption and grabbing | |
| CN208631664U (en) | A kind of efficient stacking machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180515 Address after: 528000 Dongjiang Industrial Park, Gaoming District, Foshan, Guangdong Co-patentee after: Foshan Haitian Flavoring & Food Co., Ltd. Patentee after: Foshan Haitian (Gaoming) Seasoning Co., Ltd. Co-patentee after: Foshan Haitian (Jiangsu) seasoning Food Co., Ltd. Address before: 510000 Dongjiang Industrial Park, Gaoming District, Foshan, Guangdong Co-patentee before: FOSHAN VANTA ROBOT TECHNOLOGY CO., LTD. Patentee before: Foshan Haitian (Gaoming) Seasoning Co., Ltd. |
|
| TR01 | Transfer of patent right |