WO2021109423A1 - Ticket card automatic packaging machine - Google Patents

Ticket card automatic packaging machine Download PDF

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Publication number
WO2021109423A1
WO2021109423A1 PCT/CN2020/086465 CN2020086465W WO2021109423A1 WO 2021109423 A1 WO2021109423 A1 WO 2021109423A1 CN 2020086465 W CN2020086465 W CN 2020086465W WO 2021109423 A1 WO2021109423 A1 WO 2021109423A1
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WO
WIPO (PCT)
Prior art keywords
ticket
box
receiving
card
manipulator
Prior art date
Application number
PCT/CN2020/086465
Other languages
French (fr)
Chinese (zh)
Inventor
孙斌
齐鸣
Original Assignee
昆山杰拓电子科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 昆山杰拓电子科技有限公司 filed Critical 昆山杰拓电子科技有限公司
Publication of WO2021109423A1 publication Critical patent/WO2021109423A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B65H31/3045—Arrangements for removing completed piles by gripping the pile on the outermost articles of the pile for clamping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
    • B65B27/08—Bundling paper sheets, envelopes, bags, newspapers, or other thin flat articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/04—Pile receivers with movable end support arranged to recede as pile accumulates
    • B65H31/08—Pile receivers with movable end support arranged to recede as pile accumulates the articles being piled one above another
    • B65H31/10—Pile receivers with movable end support arranged to recede as pile accumulates the articles being piled one above another and applied at the top of the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/04—Pile receivers with movable end support arranged to recede as pile accumulates
    • B65H31/12—Devices relieving the weight of the pile or permitting or effecting movement of the pile end support during piling
    • B65H31/18—Positively-acting mechanical devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/20—Pile receivers adjustable for different article sizes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/24—Pile receivers multiple or compartmented, e.d. for alternate, programmed, or selective filling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3054—Arrangements for removing completed piles by moving the surface supporting the lowermost article of the pile, e.g. by using belts or rollers
    • B65H31/3063—Arrangements for removing completed piles by moving the surface supporting the lowermost article of the pile, e.g. by using belts or rollers by special supports like carriages, containers, trays, compartments, plates or bars, e.g. moved in a closed loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/34—Apparatus for squaring-up piled articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/50—Gripping means
    • B65H2405/52—Gripping means reciprocating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1914—Cards, e.g. telephone, credit and identity cards

Definitions

  • the utility model belongs to the technical field of ticket and card equipment, and particularly relates to an automatic ticket and card packing machine.
  • Ticket card refers to a card-shaped label that serves as an identification, such as tags, cards, and woven labels used for RFID identification in the clothing retail field, such as RFID-enabled functional cards. Tickets and cards are generally packed and bundled after stacking. If processing/testing/code writing is required for them, they need to be input into the relevant detection and coding equipment in a single sheet, and then stacked and bundled after the equipment is output;
  • the detection code writing equipment usually adsorbs and transports the ticket card through a vacuum belt, and sets a single, two or more blanking positions on the transmission path to realize functions such as counting and sorting.
  • the ticket card falls on the receiving platform below or in the simple ticket receiving box at the blanking position. It is in an irregular stacking state. It needs to be picked up and sorted manually, and then tied by other equipment.
  • the manual operation is time-consuming and labor-intensive. High strength and uneven quality.
  • the Chinese utility model patent document with the patent number: ZL201620935949.5 discloses a "hard card stacking device", including: a base, a first side plate connected to the base, and a second Side panel; the side of the first side panel is connected with the side of the second side panel, and the inner side of the first side panel is perpendicular to the inner side of the second side panel; the top surface of the base faces the second side panel downward Tilt setting.
  • the device can only realize simple collection of tickets, and the collected tickets are still in a scattered state, requiring manual secondary operations.
  • the main technical problem solved by the utility model is to provide a ticket card automatic packing machine, which uses a ticket receiving box to collect the ticket cards.
  • the ticket card can be aligned in one direction through the first ejector rod;
  • the movement before fetching completes the alignment of the ticket in the other direction.
  • the manipulator grabs it and puts it into the strapping machine for strapping and packing, and finally puts it into the receiving bin.
  • the structure of the device is simplified, the action of the mechanism is simplified, and the cost can be effectively saved.
  • An automatic ticket-card packing machine including a ticket-receiving mechanism that collects the ticket-cards in a stacked state, a grabbing mechanism for grabbing the stacked ticket-cards, a strapping machine for binding the stacked-ticket cards, and a receiving bin;
  • the ticket receiving mechanism includes a ticket receiving box that can move and has a ticket receiving position and a grabbing position.
  • the grabbing position is provided with a first ejector rod.
  • the first ejector rod abuts against one side of the ticket card in the ticket box, so as to realize the alignment of the ticket card in one direction;
  • the grabbing mechanism includes a sliding platform module and a manipulator.
  • the manipulator is provided with a second ejector rod. Before the manipulator grabs the stacked ticket cards, the second ejector rod pushes the other of the ticket cards in the ticket receiving box. One side to achieve the alignment of the ticket in the other direction;
  • the manipulator is installed on the sliding table module, and the manipulator can be moved to the grasping position, the strapping machine and the receiving bin through the sliding table module.
  • the ticket receiving box includes a first box wall, a second box wall, a third box wall, and a box bottom enclosed by at least three sides, wherein the first box wall and the third box wall are arranged oppositely, so
  • the first box wall or the third box wall is provided with a floating wall, the floating wall can reciprocate in a direction perpendicular to its wall surface, and the first ejector pin presses against the floating wall, thereby pushing the stacked ticket cards against Alignment in one direction is achieved between the first box wall and the floating wall, the depth of the ticket receiving box is variable, and the bottom of the box can gradually drop with the increase of the stacking height of the ticket card, and after the ticket card is removed Rise to reset.
  • first box wall and the third box wall are connected to a two-way screw, and the distance between the first box wall and the third box wall is adjusted synchronously by the two-way screw to adapt to tickets of different sizes and specifications. card.
  • the fourth box wall has an opening for the manipulator to extend in, the box bottom is fork-shaped, and the fork-shaped notch is for the manipulator to extend in.
  • the sliding table module includes a horizontal sliding table and a vertical sliding table, and the manipulator is installed on the vertical sliding table.
  • the manipulator includes a first finger and a second finger, the first finger and the second finger can approach or move away from each other, and the second ejector rod is fixedly connected to the first finger or the second finger.
  • the manipulator can rotate, and the rotation axis of the rotation is parallel to the sliding direction of the horizontal sliding table.
  • the rotation angle range of the manipulator is 0°-90°.
  • the receiving bin includes a receiving conveyor belt and a bin body, one end of the receiving conveyor belt is connected to the bin body, and the bin body is located at the edge of the frame.
  • the strapping machine and the receiving bin are respectively located on both sides of the ticket receiving mechanism.
  • the alignment of the ticket card is completed by the first ejector rod and the second ejector rod.
  • the action of the first ejector rod is realized by the relative conflict with the first ejector rod when the ticket receiving box moves. Therefore, only one driving mechanism is needed, that is, this driving mechanism.
  • the displacement of the receiving box and the top alignment of the ticket in one direction are completed;
  • the action of the second ejector is completed by the robot, that is, the second ejector is used to complete the ticket before the robot moves to the receiving box to grab the ticket.
  • the other direction is aligned with the top, and then the grasping action is carried out. After grasping, it is put into the strapping machine for strapping and packaging, and finally put into the receiving bin.
  • the structure of the device is simplified, the action of the mechanism is simplified, and it can effectively save costs;
  • the ticket receiving box is provided with a first elastic member and a second elastic member, which can realize the buffering of the ticket card in two directions, and prevent the ticket card from being bent or crushed when it is topped; the strapping machine and the receiving bin are respectively located in the ticket receiving box On both sides of the mechanism, this design makes the strapping and unloading after the grabbing mechanism grabs the ticket card without turning over, simplifies the equipment grabbing action, and minimizes the volume of the equipment.
  • Figure 1 is a schematic diagram of the overall structure of the utility model of the automatic ticket and card packing machine
  • FIG 2 is a schematic diagram of the overall structure of the automatic ticket and card packing machine of the present invention (another angle);
  • Figure 3 is a schematic diagram of the overall structure of the utility model of the automatic ticket and card packing machine (hidden conveying device);
  • Figure 4 is a schematic structural diagram of the ticket receiving mechanism of the present utility model (the ticket receiving box is located at the ticket receiving position);
  • FIG 5 is a schematic diagram of the structure of the ticket receiving mechanism of the present invention (the ticket receiving box is located in the grasping position);
  • Figure 6 is a structural schematic diagram of the ticket receiving box of the present invention.
  • Figure 7 is a view from the A direction of Figure 6 (receiving ticket box);
  • Figure 8 is a schematic structural view of the third box wall of the present invention.
  • Figure 9 is a schematic view of the structure of the second box wall of the present invention.
  • Fig. 10 is an enlarged view of part B of Fig. 4 (first ejector rod);
  • Figure 11 is a schematic diagram of the structure of the base of the ticket receiving box in the present utility model (lifting mechanism);
  • Figure 12 is a schematic diagram of the structure of the manipulator of the present invention (manipulator 0° position);
  • Figure 13 is a schematic diagram of the structure of the manipulator of the present invention (manipulator 90° position);
  • Figure 14 is a schematic diagram of the structure of the manipulator of the present invention (the manipulator is at 0° position and no ticket card is grabbed);
  • Figure 15 is a schematic diagram of the present utility model when the manipulator transports the ticket cards and bundles;
  • Figure 16 is a schematic diagram of the structure of the receiving bin of the present invention.
  • Ticket receiving organization 2 Ticket receiving box 21, ticket receiving position 21A, grabbing position 21B;
  • Grasping mechanism 3 manipulator 31, first finger 311, second finger 312, sliding seat 313, grasping cylinder 314, rotating shaft 315, gear 316, driving cylinder 317, rack 318, second top rod 32, horizontal sliding table 33.
  • Bundling machine 4 receiving bin 5, receiving conveyor belt 51, bin body 52; conveying device 6; frame 8; ticket card 9.
  • a ticket card automatic packing machine as shown in Figures 1 to 3: It includes a ticket receiving mechanism 2 for collecting the ticket cards 9 into a stacked state 2, a grabbing mechanism 3 for grabbing the stacked ticket cards, The strapping machine 4 and the receiving bin 5 are used to bind the stack of ticket cards.
  • the ticket receiving mechanism, grabbing mechanism, strapping machine and receiving bin are all installed in the frame 8.
  • the blanking position of the device 6 falls into the ticket receiving mechanism, and the ticket cards are arranged and aligned during the movement of the ticket receiving mechanism and the grasping mechanism, and then picked up by the grasping mechanism and placed in the strapping machine for packaging, and finally put into the receiving mechanism warehouse;
  • the ticket receiving mechanism includes a ticket receiving box 21, which is movable and has a ticket receiving position 21A and a grabbing position 21B;
  • the grabbing mechanism includes a sliding table module, the manipulator is installed on the sliding table module and can realize the X-axis (or Y-axis) and Z-axis biaxial movement through the sliding table module, the manipulator It can be moved to the grasping position, strapping machine and receiving bin through the sliding platform module;
  • the manipulator is installed on a vertical sliding table.
  • the strapping machine and the receiving bin are respectively located on both sides of the ticket receiving mechanism; the strapping machine (or strapping machine) in this embodiment is an existing equipment, and the product is placed on the strapping machine in the direction of the strapping (Position) is fixed, so the settings on both sides make the strapping and unloading after the grabbing mechanism grabs the ticket card without turning over, which simplifies the equipment grabbing action and minimizes the volume of the equipment.
  • the two groups work in turn, which can improve the efficiency of ticket collection.
  • the number of ticket-receiving agencies can be set to any group;
  • the ticket receiving mechanism has the function of sorting and aligning the ticket cards, and the ticket cards are aligned in two directions through the first ejector bar 22 and the second ejector bar 32 respectively.
  • the first ejector rod 22 is set in the grasping position.
  • the first ejector rod abuts against one side of the ticket card in the ticket box, so as to achieve one direction of the ticket card. Align
  • the gripping mechanism includes a manipulator 31, and the second ejector 32 is provided on the manipulator. Before the manipulator grabs the stacked tickets, the second ejector pushes the stacked tickets against the second ejector.
  • the other direction alignment of the stacked tickets is realized between the box wall and the second ejector rod; in short, the action of the second ejector rod is completed by the manipulator, that is, the manipulator moves to the ticket receiving box to grab the tickets first.
  • the second ejector rod completes the alignment of the ticket card in the other direction, and then performs the grasping action; the detailed structure of the first ejector rod and the second ejector rod is shown below.
  • the ticket receiving box includes a first box wall 211, a second box wall 212, a third box wall 213, and a box bottom 215 that are enclosed by at least three sides.
  • a box wall, a second box wall and a third box wall are connected to the ticket box base 2153;
  • the bottom of the first box wall and the bottom of the third box wall are both provided with adjusting sliders 231, and the two adjusting sliders are respectively screwed to the two ends of the two-way screw rod 232 through the two-way screw rod.
  • the left-hand thread and the right-hand thread at both ends can simultaneously adjust the distance between the first box wall and the third box wall to adapt to different sizes and specifications of ticket cards. Since the adjustment of the distance is not performed frequently, in this embodiment
  • the two-way screw is operated by manual rotation, and the equipment cost can be controlled, but it is not limited to this.
  • the first box wall or the third box wall is provided with a floating wall 2131, the The floating wall can reciprocate in a direction perpendicular to its wall surface.
  • the floating wall moves in the inner direction of the ticket receiving box, it abuts against the side of the stacked ticket cards in the ticket receiving box to align them, and the floating wall can be set A separate driver drives its movement;
  • the floating wall is provided on the third box wall, and its specific structure is shown in Figure 8: the floating wall is fixedly connected to one end of the floating guide column 2133, and is slidably connected to the fixed wall 2132 through the floating guide column.
  • the lower end of the fixed wall is fixedly connected with the adjusting slider 231, the floating wall is arranged parallel to the fixed wall, and the floating wall can reciprocate in a direction perpendicular to the wall surface.
  • the floating wall The other end of the guide post is fixedly connected to the thrust plate 2134, and a return spring 2135 is provided between the thrust plate and the fixed wall.
  • the grasping position is provided with a first ejector bar 22, when the ticket receiving box moves to the grasping position, the first ejector bar abuts the floating wall, thereby pushing the stack The ticket card of is pressed against the first box wall and the floating wall to achieve alignment in one direction;
  • the first ejector rod presses against the ejector push plate 2134, and the ejector push plate drives the floating wall to move.
  • the push plate is reset under the action of the return spring 2135, thereby driving the floating wall to reset, so as to align the ticket card next time.
  • the alignment of the action of the first ejector rod is completed when the ticket receiving box is moved to the grasping position.
  • the action of the first ejector rod is realized by the relative conflict between the ticket receiving box and the first ejector rod when the ticket receiving box moves. Therefore, only one driving mechanism is needed, namely This driving mechanism simultaneously completes the displacement of the ticket receiving box and the top alignment of the ticket card. It is conceivable that the top alignment of the ticket card can also be designed with the first ejector rod in both directions. At this time, the ticket is received.
  • the displacement of the box can be:
  • Multiple sets of slide rails are used to enable sliding in two directions, and a first ejector rod (not shown in the figure) is provided in both directions;
  • the ticket receiving box moves along its diagonal direction, and the first ejector rod is set in two directions. At this time, the top of the first ejector rod will have an angle with the box wall of the ticket receiving box ( Figure not shown).
  • This embodiment adopts the first ejector rod in one direction and another alignment method in the other direction, which can simplify the equipment mechanism and reduce the volume of the equipment;
  • the ticket receiving box is shown in FIG. 6: it further includes a fourth box wall 214, the fourth box wall has an opening 2141 for the robot to extend through, and the robot passes through the opening to grab the ticket card;
  • the opening is located in the middle position of the ticket receiving box.
  • the manipulator can grip the middle part of the ticket card when it reaches in and grabs, which improves the grabbing stability.
  • the second box wall 212 is provided with a first elastic member 2121, one end of the first elastic member abuts against the second box wall, so that the second box wall can follow its wall surface Elastic movement in the vertical direction, the first elastic member realizes the buffering effect when the ticket card is aligned in the direction of the second box wall, and prevents the ticket card from bending or crushing when the second ejector pin pushes the ticket card to align;
  • the specific structure is as follows: includes a second fixed wall 2122, the second box wall and the second fixed wall are arranged in parallel, and a buffer guide post 2124 is arranged between the two, and the other end of the elastic member abuts against the second The other end of the box wall is against the second fixed wall.
  • the second fixed wall is mounted on the ticket box base 2153 through the screw 2123, and the lower part of the second fixed wall is provided with a waist hole 21221. The screw can be loosened. The position of the second fixed wall is adjusted so that the ticket receiving box can adapt to ticket cards of different sizes.
  • the first jack 22 can slide along its axial direction, and the jack is provided with a second elastic member 221 for buffering in the sliding direction, and the first jack is mounted on the jack.
  • the rod seat 222, one end of the second elastic member abuts against the top rod seat, the other end against the first top rod, and the top of the first top rod is also provided with a cushion 223;
  • the buffer pad is a rubber pad
  • the second elastic member is a compression spring.
  • the second elastic member can buffer the ticket card in the direction of the first/third box wall. , To prevent the first ejector rod from bending or crushing the ticket card when it reaches the top.
  • the box bottom 215 is provided with a lifting mechanism through which the box bottom can be driven up and down, so that the depth of the ticket receiving box can be changed; the box bottom and the lifting mechanism of this embodiment are specifically shown in FIG. 11:
  • the box bottom is fork-shaped, and the fork-shaped notch can be extended by the manipulator.
  • the box bottom is fixedly connected to one end of the lifting rod 2151, and the other end of the lifting rod is connected to the servo motor 2152.
  • the lifting rod is controlled by a servo motor to drive the up and down displacement of the bottom of the box.
  • FIG. 6 the mouth of the ticket receiving box is provided with A photoelectric sensor 2155 that monitors the stacking position of the ticket and card;
  • the initial position of the bottom of the receiving box is very close to the blanking position of the ticket card.
  • the receiving box is very shallow, which is conducive to controlling the falling stack of ticket cards, and the bottom of the box can be oriented according to the thickness of the stack of tickets in the box.
  • the photoelectric sensor detects that there is material, and then gives a signal to control the bottom of the box to drop to the position where the photoelectric sensor cannot detect the ticket.
  • the bottom of the box drops a corresponding distance according to the actual increased stack height.
  • the method is more direct than calculating the drop height according to the thickness of the ticket and the number of cards received, and it is more adaptable to various stacking situations that occur during the production process.
  • the ticket receiving box is connected to the ticket box guide rail 24, the ticket receiving box can reciprocate along the ticket box guide rail, and the position change of the reciprocating motion constitutes the ticket receiving box Bit and the grab bit;
  • the ticket box guide rail is a linear guide rail driven by an air cylinder.
  • the ticket receiving position and the grabbing position are formed respectively. It only needs two working positions (receiving position and grabbing position), which can be fully satisfied by the cylinder, and the cylinder moves quickly, and the pneumatic components are clean and pollution-free.
  • the manipulator is shown in Figures 12 to 14: it includes a first finger 311 and a second finger 312.
  • the first finger is fixedly connected to a sliding seat 313, and a sliding rail is provided on the sliding seat.
  • the second finger is installed on the slide rail and can reciprocate along the slide rail, and the second finger is provided with a grabbing cylinder 314 that drives it to move;
  • the second ejector rod 32 is fixedly connected to the middle part or the root of the first finger or the second finger.
  • the second ejector rod is fixedly connected to the middle part of the first finger, and the The middle of the second finger has a through hole for the second ejector rod to pass through, the second ejector rod is arranged along the stacking direction of the ticket card, and the second finger is driven by the grabbing cylinder toward the first One finger is close to or far away, the second ejector rod is fixed to the first finger and can pass through the opening of the second finger.
  • the manipulator After the ticket receiving box is moved to the grasping position, the manipulator also moves to the grasping position, passing first The side wall of the second ejector rod completely abuts one side of the stack of tickets to realize the alignment of the tickets, and there is no need to install other components on the second ejector to simultaneously push against one side of the stack of tickets;
  • the second ejector rods are provided with two, and the distances between the two second ejector rods arranged side by side and the fingertips of the first finger or the second finger are different.
  • This design can be based on the ticket The size of the card chooses which one to use.
  • the manipulator can rotate, and the rotation axis of the rotation is parallel to the sliding direction of the horizontal sliding table. Further, the rotation angle of the manipulator is in the range of 0°-90°;
  • the rotation of the manipulator only needs two angles, which are 0° and 90°, which define the angle when grabbing the ticket card as 0°, and the angle when binding it is 90°. This is because the ticket card is placed in the strapping machine for binding. At this time, one side of the ticket card must be against the surface of the strapping machine (as shown in Figure 15). After grabbing the ticket card, due to the interference of the manipulator, the side of the ticket card cannot touch the surface of the strapping machine. The ticket card is rotated by 90°. In fact, this is determined by the characteristics of the strapping machine. In the specific implementation, the strapping machine can also be modified, such as digging a vacant accommodating slot on the surface of the strapping machine to accommodate the manipulator. It can also satisfy the feature that the ticket card abuts against the surface of the strapping machine during strapping. In this embodiment, a rotating manipulator is adopted without customizing the strapping machine structure, which can effectively control the cost.
  • the mechanism for realizing the rotation of the manipulator includes a rotating shaft 315 fixedly connected to the sliding seat 313, the rotating shaft is provided with a gear 316, and further includes a driving cylinder 317, The piston rod of the driving cylinder is connected to the rack 318.
  • the rack is matched with the gear.
  • the cylinder drives the rack to perform linear motion.
  • the rotation of the manipulator is realized through the engagement of the rack and the gear.
  • the end values constitute the state of 0° and 90° respectively, which can move quickly and can better control the cost, but it is not limited to this.
  • Any other known rotary drive mechanism is included in the protection scope of the present invention, such as direct use of servo Motor, such as using a belt mechanism, etc.
  • the receiving silo 5 includes a receiving conveyor belt 51 and a silo body 52.
  • the receiving conveyor belt is provided with a driving member that drives its movement and transmission.
  • One end of the receiving conveyor belt is connected to the Said silo body, the silo body is located at the edge of the frame 8.
  • the silo body is arranged at the edge of the equipment frame through the cooperation of the receiving conveyor belt and the silo body to facilitate the removal of the bundled ticket cards .
  • the ticket card is an RFID electronic ticket card.
  • the ticket card After the ticket card completes other processes (such as reading and writing, testing, etc.), it is transferred to the top of the receiving box 21 through the conveyor 6 (for example, it is transferred to the top of the receiving box after being sucked by a vacuum conveyor belt), and then falls into the receiving box. At this time, the ticket receiving box is located at the ticket receiving station, and a number of ticket cards are stacked in the receiving box.
  • the signal can be obtained from the conveying device when the stack is full, or it can be in the receiving box It is equipped with sensor monitoring, which can also be calculated by the lowering height of the bottom of the box, etc., in any way
  • the ticket receiving box is moved to the grasping position, and the floating wall of the third box wall is pushed by the first ejector rod to realize the ticket
  • the card is aligned in one direction, and then the manipulator moves to the grasping position.
  • the manipulator reaches into the opening on the fourth box wall, and first pushes the second ejector rod on the manipulator to realize the alignment of the ticket card in the other direction.
  • the manipulator grabs (clamps) the ticket card, then the manipulator turns 90°, and places the ticket card on the strapping machine for packaging. After the packaging is completed, the manipulator places the ticket on the receiving conveyor belt, and transfers it to the receiving bin by the receiving conveyor belt. In the main body, the complete automatic alignment, binding and collection of tickets are now completed.
  • the terms “center”, “upper”, “lower”, “left”, “right”, “vertical”, “horizontal”, “inner”, “outer” The azimuth or positional relationship of other indications is based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship that the utility model is usually placed in use, only for the convenience of describing the utility model and simplifying the description, not It indicates or implies that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.
  • the terms “first”, “second”, “third”, etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

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Abstract

Provided is a ticket card automatic packaging machine, comprising a ticket-receiving mechanism (2) which gathers ticket cards (9) into a stacked state, a grasping mechanism used for grasping the stacked ticket cards (3), and a strapping machine (4) and material-receiving bin (5) used for strapping the stacked ticket cards; the ticket-receiving mechanism (2) comprises a ticket-receiving compartment (21); the ticket-receiving compartment (21) can be moved and has a ticket-collecting position (21A) and a grasping position (21B); the grasping position (21B) is provided with a first ejector rod (22); when the ticket-receiving compartment (21) moves to the grasping position (21B), the first ejector rod (22) abuts against one side of the ticket cards (9) in the ticket-receiving compartment (21) so as to achieve alignment of the ticket cards (9) in one direction; the grasping mechanism (3) comprises a slide platform module and a mechanical arm (31); the mechanical arm (31) is provided with a second ejector rod (32); the mechanical arm (31), before grasping the stacked ticket cards (9), pushes the other side of the ticket cards (9) in the ticket-receiving compartment (21) by means of the second ejector rod (32) so as to achieve alignment of the ticket cards (9) another direction; the mechanical arm (31) grasps, then places the ticket cards (9) into the strapping machine (4) for strapping and packaging, and finally places same into the material-receiving bin (5); the structure of the apparatus is simplified, the actions of the mechanism are streamlined, and costs are effectively reduced.

Description

票卡自动打包机Ticket card automatic packing machine 技术领域Technical field
本实用新型属于票卡设备技术领域，特别是涉及一种票卡自动打包机。The utility model belongs to the technical field of ticket and card equipment, and particularly relates to an automatic ticket and card packing machine.
背景技术Background technique
票卡，是指起标识作用的卡片形标签物，比如用于服装零售领域的RFID识别功能的吊牌、卡片和织唛等，比如具有RFID的功能卡片。票卡的包装形式一般是堆叠后捆扎，如需要对其进行加工/检测/写码等操作时，需要将其以单张形式输入相关检测写码设备，待设备输出后再进行堆叠捆扎；Ticket card refers to a card-shaped label that serves as an identification, such as tags, cards, and woven labels used for RFID identification in the clothing retail field, such as RFID-enabled functional cards. Tickets and cards are generally packed and bundled after stacking. If processing/testing/code writing is required for them, they need to be input into the relevant detection and coding equipment in a single sheet, and then stacked and bundled after the equipment is output;
现有技术中，检测写码设备通常将票卡通过真空皮带吸附传输，在传输路径上设置单个、两个或多个落料位置，以实现计数、分类等功能。票卡在落料位置落在下方的接料平台上或简易的接票盒内，呈不规则的堆叠状态，需要通过人工拾取并整理对齐，然后再通过其他设备捆扎，人工操作费时费力，劳动强度大且质量参差不齐，如专利号为：ZL201620935949.5的中国实用新型专利文献，公开了一种“硬质卡片码放装置”，包括：底座、连接于底座的第一侧板和第二侧板；第一侧板的侧边与第二侧板的侧边连接，且第一侧板的内侧面与第二侧板的内侧面垂直设置；底座的顶面朝向第二侧板向下倾斜设置。该装置只能实现票卡的简单收集，且收集的票卡还是呈散乱状态，需要人工二次操作。In the prior art, the detection code writing equipment usually adsorbs and transports the ticket card through a vacuum belt, and sets a single, two or more blanking positions on the transmission path to realize functions such as counting and sorting. The ticket card falls on the receiving platform below or in the simple ticket receiving box at the blanking position. It is in an irregular stacking state. It needs to be picked up and sorted manually, and then tied by other equipment. The manual operation is time-consuming and labor-intensive. High strength and uneven quality. For example, the Chinese utility model patent document with the patent number: ZL201620935949.5 discloses a "hard card stacking device", including: a base, a first side plate connected to the base, and a second Side panel; the side of the first side panel is connected with the side of the second side panel, and the inner side of the first side panel is perpendicular to the inner side of the second side panel; the top surface of the base faces the second side panel downward Tilt setting. The device can only realize simple collection of tickets, and the collected tickets are still in a scattered state, requiring manual secondary operations.
实用新型内容Utility model content
本实用新型主要解决的技术问题是提供一种票卡自动打包机，用接票盒收集票卡，接票盒在位移时能通过第一顶杆同步完成票卡一个方向的对齐；通过机械手抓取前的移动完成票卡另一个方向的对齐，机械手抓取后放入捆扎机进行捆扎打包，最后放入收料仓，装置的结构精简、机构的动作精简、且能够有效的节省成本。The main technical problem solved by the utility model is to provide a ticket card automatic packing machine, which uses a ticket receiving box to collect the ticket cards. When the ticket receiving box is displaced, the ticket card can be aligned in one direction through the first ejector rod; The movement before fetching completes the alignment of the ticket in the other direction. The manipulator grabs it and puts it into the strapping machine for strapping and packing, and finally puts it into the receiving bin. The structure of the device is simplified, the action of the mechanism is simplified, and the cost can be effectively saved.
为解决上述技术问题，本实用新型的采用的一个技术方案如下：In order to solve the above technical problems, a technical solution adopted by the present utility model is as follows:
一种票卡自动打包机，包括将票卡收集成堆叠状态的接票机构、用于抓取堆叠票卡的抓取机构、用于捆扎堆叠票卡的捆扎机和收料仓；An automatic ticket-card packing machine, including a ticket-receiving mechanism that collects the ticket-cards in a stacked state, a grabbing mechanism for grabbing the stacked ticket-cards, a strapping machine for binding the stacked-ticket cards, and a receiving bin;
所述接票机构包括接票盒，所述接票盒能够移动且具有收票位和抓取位，所述抓取位设有第一顶杆，所述接票盒移动至抓取位时，所述第一顶杆抵顶接票盒内票卡的一侧，以实现票卡一个方向的对齐；The ticket receiving mechanism includes a ticket receiving box that can move and has a ticket receiving position and a grabbing position. The grabbing position is provided with a first ejector rod. When the ticket receiving box moves to the grabbing position , The first ejector rod abuts against one side of the ticket card in the ticket box, so as to realize the alignment of the ticket card in one direction;
所述抓取机构包括滑台模组和机械手，所述机械手设有第二顶杆，所述机械手抓取堆叠的票卡之前，通过所述第二顶杆推动接票盒内票卡的另一侧，以实现票卡另一方向的对齐；The grabbing mechanism includes a sliding platform module and a manipulator. The manipulator is provided with a second ejector rod. Before the manipulator grabs the stacked ticket cards, the second ejector rod pushes the other of the ticket cards in the ticket receiving box. One side to achieve the alignment of the ticket in the other direction;
所述机械手安装于所述滑台模组，所述机械手能够通过所述滑台模组移动至所述抓取位、捆扎机和收料仓。The manipulator is installed on the sliding table module, and the manipulator can be moved to the grasping position, the strapping machine and the receiving bin through the sliding table module.
进一步地说，所述接票盒包括至少三面合围的第一盒壁、第二盒壁、第三盒壁和盒底，其中，所述第一盒壁和第三盒壁为相对设置，所述第一盒壁或第三盒壁设有浮动壁，所述浮动壁能够沿垂直于其壁面的方向往复运动，所述第一顶杆抵顶所述浮动壁，从而推动堆叠的 票卡抵靠第一盒壁和浮动壁之间实现一个方向的对齐，所述接票盒的深浅可变，所述盒底能够随票卡堆叠高度的增加而逐渐下降，并在票卡被取走后上升复位。Furthermore, the ticket receiving box includes a first box wall, a second box wall, a third box wall, and a box bottom enclosed by at least three sides, wherein the first box wall and the third box wall are arranged oppositely, so The first box wall or the third box wall is provided with a floating wall, the floating wall can reciprocate in a direction perpendicular to its wall surface, and the first ejector pin presses against the floating wall, thereby pushing the stacked ticket cards against Alignment in one direction is achieved between the first box wall and the floating wall, the depth of the ticket receiving box is variable, and the bottom of the box can gradually drop with the increase of the stacking height of the ticket card, and after the ticket card is removed Rise to reset.
进一步地说，所述第一盒壁和第三盒壁连接于双向丝杠，通过所述双向丝杠同步调节所述第一盒壁和第三盒壁的间距，以适应不同大小规格的票卡。Furthermore, the first box wall and the third box wall are connected to a two-way screw, and the distance between the first box wall and the third box wall is adjusted synchronously by the two-way screw to adapt to tickets of different sizes and specifications. card.
进一步地说，包括第四盒壁，所述第四盒壁具有供所述机械手伸入的开口，所述盒底为叉状，所述叉状的缺口可供所述机械手伸入。Furthermore, it includes a fourth box wall, the fourth box wall has an opening for the manipulator to extend in, the box bottom is fork-shaped, and the fork-shaped notch is for the manipulator to extend in.
进一步地说，所述滑台模组包括水平滑台和垂直滑台，所述机械手安装于所述垂直滑台。Furthermore, the sliding table module includes a horizontal sliding table and a vertical sliding table, and the manipulator is installed on the vertical sliding table.
进一步地说，所述机械手包括第一指和第二指，所述第一指和所述第二指能够靠近或远离，所述第二顶杆固定连接于所述第一指或第二指。Furthermore, the manipulator includes a first finger and a second finger, the first finger and the second finger can approach or move away from each other, and the second ejector rod is fixedly connected to the first finger or the second finger. .
进一步地说，所述机械手能够旋转，且所述旋转的旋转轴与所述水平滑台的滑动方向平行。Furthermore, the manipulator can rotate, and the rotation axis of the rotation is parallel to the sliding direction of the horizontal sliding table.
进一步地说，所述机械手的旋转角度范围为0°-90°。Furthermore, the rotation angle range of the manipulator is 0°-90°.
进一步地说，所述收料仓包括收料输送带和料仓本体，所述收料输送带的一端连接所述料仓本体，所述料仓本***于机架的边缘处。Furthermore, the receiving bin includes a receiving conveyor belt and a bin body, one end of the receiving conveyor belt is connected to the bin body, and the bin body is located at the edge of the frame.
进一步地说，所述捆扎机和所述接料仓分别位于所述接票机构的两侧。Furthermore, the strapping machine and the receiving bin are respectively located on both sides of the ticket receiving mechanism.
本实用新型的有益效果：The beneficial effects of the utility model:
票卡的对齐通过第一顶杆和第二顶杆完成，第一顶杆的动作由接票盒移动时与第一顶杆产生的相对抵触实现，因此只需要一个驱动机构，即此驱动机构同时完成接票盒的位移以及票卡一个方向的抵顶对齐；第二顶杆的动作由机械手完成，即机械手移动到接票盒处抓取票卡前，先由第二顶杆完成票卡另一个方向的抵顶对齐，然后再进行抓取动作，抓取后放入捆扎机进行捆扎打包，最后放入收料仓，装置的结构精简、机构的动作精简、且能够有效的节省成本；The alignment of the ticket card is completed by the first ejector rod and the second ejector rod. The action of the first ejector rod is realized by the relative conflict with the first ejector rod when the ticket receiving box moves. Therefore, only one driving mechanism is needed, that is, this driving mechanism. At the same time, the displacement of the receiving box and the top alignment of the ticket in one direction are completed; the action of the second ejector is completed by the robot, that is, the second ejector is used to complete the ticket before the robot moves to the receiving box to grab the ticket. The other direction is aligned with the top, and then the grasping action is carried out. After grasping, it is put into the strapping machine for strapping and packaging, and finally put into the receiving bin. The structure of the device is simplified, the action of the mechanism is simplified, and it can effectively save costs;
接票盒设有第一弹性件和第二弹性件，能够实现票卡两个方向上的缓冲，防止抵顶时压弯或压坏票卡；捆扎机和接料仓分别位于所述接票机构的两侧，此设计使抓取机构抓取票卡后的捆扎和卸料无需翻转换向，简化了设备抓取动作，且最大限度的减小设备的体积。The ticket receiving box is provided with a first elastic member and a second elastic member, which can realize the buffering of the ticket card in two directions, and prevent the ticket card from being bent or crushed when it is topped; the strapping machine and the receiving bin are respectively located in the ticket receiving box On both sides of the mechanism, this design makes the strapping and unloading after the grabbing mechanism grabs the ticket card without turning over, simplifies the equipment grabbing action, and minimizes the volume of the equipment.
上述说明仅是本实用新型技术方案的概述，为了能够更清楚了解本实用新型的技术手段，并可依照说明书的内容予以实施，以下以本实用新型的较佳实施例并配合附图详细说明如后。The above description is only an overview of the technical solution of the present utility model. In order to have a clearer understanding of the technical means of the present utility model and can be implemented in accordance with the content of the specification, the following is a detailed description of the preferred embodiment of the present utility model with accompanying drawings. Rear.
附图说明Description of the drawings
图1是本实用新型的票卡自动打包机的整体结构示意图；Figure 1 is a schematic diagram of the overall structure of the utility model of the automatic ticket and card packing machine;
图2是本实用新型的票卡自动打包机的整体结构示意图(另一个角度)；Figure 2 is a schematic diagram of the overall structure of the automatic ticket and card packing machine of the present invention (another angle);
图3是本实用新型的票卡自动打包机的整体结构示意图(隐藏传送装置)；Figure 3 is a schematic diagram of the overall structure of the utility model of the automatic ticket and card packing machine (hidden conveying device);
图4是本实用新型的接票机构的结构示意图(接票盒位于收票位)；Figure 4 is a schematic structural diagram of the ticket receiving mechanism of the present utility model (the ticket receiving box is located at the ticket receiving position);
图5是本实用新型的接票机构的结构示意图(接票盒位于抓取位)；Figure 5 is a schematic diagram of the structure of the ticket receiving mechanism of the present invention (the ticket receiving box is located in the grasping position);
图6是本实用新型的接票盒的结构示意图；Figure 6 is a structural schematic diagram of the ticket receiving box of the present invention;
图7是图6的A向视图(接票盒)；Figure 7 is a view from the A direction of Figure 6 (receiving ticket box);
图8是本实用新型的第三盒壁的结构示意图；Figure 8 is a schematic structural view of the third box wall of the present invention;
图9是本实用新型的第二盒壁的结构示意图；Figure 9 is a schematic view of the structure of the second box wall of the present invention;
图10是图4的B部放大图(第一顶杆)；Fig. 10 is an enlarged view of part B of Fig. 4 (first ejector rod);
图11是本实用新型中接票盒的底座的结构示意图(抬升机构)；Figure 11 is a schematic diagram of the structure of the base of the ticket receiving box in the present utility model (lifting mechanism);
图12是本实用新型的机械手的结构示意图(机械手0°位置)；Figure 12 is a schematic diagram of the structure of the manipulator of the present invention (manipulator 0° position);
图13是本实用新型的机械手的结构示意图(机械手90°位置)；Figure 13 is a schematic diagram of the structure of the manipulator of the present invention (manipulator 90° position);
图14是本实用新型的机械手的结构示意图(机械手0°位置且无票卡抓取)；Figure 14 is a schematic diagram of the structure of the manipulator of the present invention (the manipulator is at 0° position and no ticket card is grabbed);
图15是本实用新型的机械手搬运票卡捆扎时的示意图；Figure 15 is a schematic diagram of the present utility model when the manipulator transports the ticket cards and bundles;
图16是本实用新型的收料仓的结构示意图；Figure 16 is a schematic diagram of the structure of the receiving bin of the present invention;
附图中各部分标记如下：The parts in the drawings are marked as follows:
接票机构2、接票盒21、收票位21A、抓取位21B； Ticket receiving organization 2. Ticket receiving box 21, ticket receiving position 21A, grabbing position 21B;
第一盒壁211、第二盒壁212、第一弹性件2121、第二固定壁2122、腰孔21221、螺杆2123、缓冲导柱2124、第三盒壁213、浮动壁2131、固定壁2132、浮动导柱2133、抵顶推板2134、复位弹簧2135、第四盒壁214、开口2141、盒底215、抬升杆2151、伺服电机2152、票盒底座2153、直线导轨2154、光电传感器2155、第一顶杆22、第二弹性件221、顶杆座222、缓冲垫223、调节滑块231、双向丝杠232、票盒导轨24； First box wall 211, second box wall 212, first elastic member 2121, second fixed wall 2122, waist hole 21221, screw 2123, buffer guide post 2124, third box wall 213, floating wall 2131, fixed wall 2132 Floating guide post 2133, push plate 2134, return spring 2135, fourth box wall 214, opening 2141, box bottom 215, lifting rod 2151, servo motor 2152, ticket box base 2153, linear guide 2154, photoelectric sensor 2155, A jack 22, a second elastic member 221, a jack seat 222, a cushion 223, an adjustment slider 231, a two-way screw 232, and a ticket box guide rail 24;
抓取机构3、机械手31、第一指311、第二指312、滑动座313、抓取气缸314、旋转轴315、齿轮316、驱动气缸317、齿条318第二顶杆32、水平滑台33、垂直滑台34； Grasping mechanism 3, manipulator 31, first finger 311, second finger 312, sliding seat 313, grasping cylinder 314, rotating shaft 315, gear 316, driving cylinder 317, rack 318, second top rod 32, horizontal sliding table 33. Vertical sliding table 34;
捆扎机4；收料仓5、收料输送带51、料仓本体52；传送装置6；机架8；票卡9。Bundling machine 4; receiving bin 5, receiving conveyor belt 51, bin body 52; conveying device 6; frame 8; ticket card 9.
具体实施方式Detailed ways
下面结合附图对本实用新型的较佳实施例进行详细阐述，以使本实用新型的优点和特征能更易于被本领域技术人员理解，从而对本实用新型的保护范围做出更为清楚明确的界定。The preferred embodiments of the utility model will be described in detail below in conjunction with the accompanying drawings, so that the advantages and features of the utility model can be more easily understood by those skilled in the art, so as to make a clearer and clearer definition of the scope of protection of the utility model. .
实施例：一种票卡自动打包机，如图1至图3所示：包括用于将票卡9收集成堆叠状态的接票机构2、用于抓取堆叠票卡的抓取机构3、用于捆扎堆叠票卡的捆扎机4和收料仓5，所述接票机构、抓取机构、捆扎机和收料仓皆安装于机架8，票卡经过其他设备的工序之后，从传送装置6的落料位置落入接票机构，在接票机构和抓取机构的运动中完成票卡的整理对齐，再由抓取机构抓取后置于捆扎机打包，最后再放入收料仓；Embodiment: A ticket card automatic packing machine, as shown in Figures 1 to 3: It includes a ticket receiving mechanism 2 for collecting the ticket cards 9 into a stacked state 2, a grabbing mechanism 3 for grabbing the stacked ticket cards, The strapping machine 4 and the receiving bin 5 are used to bind the stack of ticket cards. The ticket receiving mechanism, grabbing mechanism, strapping machine and receiving bin are all installed in the frame 8. The blanking position of the device 6 falls into the ticket receiving mechanism, and the ticket cards are arranged and aligned during the movement of the ticket receiving mechanism and the grasping mechanism, and then picked up by the grasping mechanism and placed in the strapping machine for packaging, and finally put into the receiving mechanism warehouse;
所述接票机构包括接票盒21，所述接票盒能够移动且具有收票位21A和抓取位21B；The ticket receiving mechanism includes a ticket receiving box 21, which is movable and has a ticket receiving position 21A and a grabbing position 21B;
所述抓取机构包括滑台模组，所述机械手安装于所述滑台模组并能通过所述滑台模组实现X轴(或Y轴)和Z轴的双轴移动，所述机械手能够通过所述滑台模组移动至所述抓取位、捆扎机和收料仓；The grabbing mechanism includes a sliding table module, the manipulator is installed on the sliding table module and can realize the X-axis (or Y-axis) and Z-axis biaxial movement through the sliding table module, the manipulator It can be moved to the grasping position, strapping machine and receiving bin through the sliding platform module;
本实施例中，所述机械手安装于垂直滑台。In this embodiment, the manipulator is installed on a vertical sliding table.
所述捆扎机和所述接料仓分别位于所述接票机构的两侧；本实施例中的捆扎机(或者叫束带机)是现有的设备，产品置于捆扎机上捆扎的放置方向(位置)是固定的，所以两侧的设置使抓取机构抓取票卡后的捆扎和卸料无需翻转换向，简化了设备抓取动作，且最大限度的减小设备的体积。The strapping machine and the receiving bin are respectively located on both sides of the ticket receiving mechanism; the strapping machine (or strapping machine) in this embodiment is an existing equipment, and the product is placed on the strapping machine in the direction of the strapping (Position) is fixed, so the settings on both sides make the strapping and unloading after the grabbing mechanism grabs the ticket card without turning over, which simplifies the equipment grabbing action and minimizes the volume of the equipment.
本实施例中的接票机构设有两组，两组轮流工作，可以提高收票效率，当然接票机构的数量可以设置为任意组；In this embodiment, there are two groups of ticket-receiving agencies, and the two groups work in turn, which can improve the efficiency of ticket collection. Of course, the number of ticket-receiving agencies can be set to any group;
所述接票机构具有整理对齐票卡的功能，分别通过第一顶杆22和第二顶杆32完成票卡两个方向的对齐。The ticket receiving mechanism has the function of sorting and aligning the ticket cards, and the ticket cards are aligned in two directions through the first ejector bar 22 and the second ejector bar 32 respectively.
所述第一顶杆22设于抓取位，所述接票盒移动至抓取位时，所述第一顶杆抵顶接票盒内 票卡的一侧，以实现票卡一个方向的对齐；The first ejector rod 22 is set in the grasping position. When the ticket receiving box moves to the grasping position, the first ejector rod abuts against one side of the ticket card in the ticket box, so as to achieve one direction of the ticket card. Align
所述抓取机构包括机械手31，所述第二顶杆32设于机械手，所述机械手抓取堆叠的票卡之前，通过所述第二顶杆推动堆叠的票卡，使其抵靠第二盒壁和第二顶杆之间实现堆叠的票卡另一方向的对齐；简单的说就是第二顶杆的动作由机械手完成，即机械手移动到接票盒处抓取票卡前，先由第二顶杆完成票卡另一个方向的抵顶对齐，然后再进行抓取动作；第一顶杆和第二顶杆的详细结构见下文。The gripping mechanism includes a manipulator 31, and the second ejector 32 is provided on the manipulator. Before the manipulator grabs the stacked tickets, the second ejector pushes the stacked tickets against the second ejector. The other direction alignment of the stacked tickets is realized between the box wall and the second ejector rod; in short, the action of the second ejector rod is completed by the manipulator, that is, the manipulator moves to the ticket receiving box to grab the tickets first. The second ejector rod completes the alignment of the ticket card in the other direction, and then performs the grasping action; the detailed structure of the first ejector rod and the second ejector rod is shown below.
接票盒的具体结构如图4至图7所示：所述接票盒包括至少三面合围的第一盒壁211、第二盒壁212、第三盒壁213和盒底215，所述第一盒壁、第二盒壁和第三盒壁连接于票盒底座2153；The specific structure of the ticket receiving box is shown in Figures 4 to 7: the ticket receiving box includes a first box wall 211, a second box wall 212, a third box wall 213, and a box bottom 215 that are enclosed by at least three sides. A box wall, a second box wall and a third box wall are connected to the ticket box base 2153;
如图7所示：所述第一盒壁和第三盒壁的底部皆设有调节滑块231，两个所述调节滑块分别螺纹连接于双向丝杠232的两端，通过双向丝杆两端的左旋螺纹和右旋螺纹，能够同步调节所述第一盒壁和第三盒壁的间距，以适应不同大小规格的票卡，由于所述间距的调整不是频繁操作，所以本实施例中的双向丝杠是通过人工旋转操作的，并且可以控制设备成本，但是不限于此。As shown in Figure 7: the bottom of the first box wall and the bottom of the third box wall are both provided with adjusting sliders 231, and the two adjusting sliders are respectively screwed to the two ends of the two-way screw rod 232 through the two-way screw rod. The left-hand thread and the right-hand thread at both ends can simultaneously adjust the distance between the first box wall and the third box wall to adapt to different sizes and specifications of ticket cards. Since the adjustment of the distance is not performed frequently, in this embodiment The two-way screw is operated by manual rotation, and the equipment cost can be controlled, but it is not limited to this.
所述接票盒中，所述第一盒壁和第三盒壁为相对设置，如图6或图7所示：所述第一盒壁或第三盒壁设有浮动壁2131，所述浮动壁能够沿垂直于其壁面的方向往复运动，所述浮动壁向接票盒的内部方向移动时，抵顶接票盒内堆叠的票卡的一侧，能够使其对齐，浮动壁可以设置单独的驱动件驱动其运动；In the ticket receiving box, the first box wall and the third box wall are opposed to each other, as shown in FIG. 6 or FIG. 7: the first box wall or the third box wall is provided with a floating wall 2131, the The floating wall can reciprocate in a direction perpendicular to its wall surface. When the floating wall moves in the inner direction of the ticket receiving box, it abuts against the side of the stacked ticket cards in the ticket receiving box to align them, and the floating wall can be set A separate driver drives its movement;
本实施例中浮动壁设于第三盒壁，其具体结构如图8所示：所述浮动壁固定连接于浮动导柱2133的一端，并通过所述浮动导柱滑动连接于固定壁2132，所述固定壁的下端固定连接有所述调节滑块231，所述浮动壁与所述固定壁平行设置，且所述浮动壁能够沿垂直于其壁面的方向往复运动，进一步的，所述浮动导柱的另一端固定连接抵顶推板2134，且所述抵顶推板与所述固定壁之间设有复位弹簧2135，当所述浮动壁的抵顶动力撤销之后，所述浮动壁能够恢复原位；In this embodiment, the floating wall is provided on the third box wall, and its specific structure is shown in Figure 8: the floating wall is fixedly connected to one end of the floating guide column 2133, and is slidably connected to the fixed wall 2132 through the floating guide column. The lower end of the fixed wall is fixedly connected with the adjusting slider 231, the floating wall is arranged parallel to the fixed wall, and the floating wall can reciprocate in a direction perpendicular to the wall surface. Further, the floating wall The other end of the guide post is fixedly connected to the thrust plate 2134, and a return spring 2135 is provided between the thrust plate and the fixed wall. When the thrust force of the floating wall is removed, the floating wall can Return to the original position
如图4到图8所示：所述抓取位设有第一顶杆22，所述接票盒移动至抓取位时，所述第一顶杆抵顶所述浮动壁，从而推动堆叠的票卡抵靠第一盒壁和浮动壁之间实现一个方向的对齐；As shown in Figures 4 to 8: the grasping position is provided with a first ejector bar 22, when the ticket receiving box moves to the grasping position, the first ejector bar abuts the floating wall, thereby pushing the stack The ticket card of is pressed against the first box wall and the floating wall to achieve alignment in one direction;
更具体的，本实施例的所述接票盒移动至抓取位时，所述第一顶杆抵顶所述抵顶推板2134，抵顶推板带动所述浮动壁运动，当抵顶状态取消后，所述抵顶推板在复位弹簧2135的作用下复位，从而带动所述浮动壁复位，以便下一次对票卡的抵顶对齐。More specifically, when the ticket receiving box of this embodiment moves to the grasping position, the first ejector rod presses against the ejector push plate 2134, and the ejector push plate drives the floating wall to move. After the state is cancelled, the push plate is reset under the action of the return spring 2135, thereby driving the floating wall to reset, so as to align the ticket card next time.
第一顶杆作用对齐是在接票盒移至抓取位时完成，第一顶杆的动作由接票盒移动时与第一顶杆产生的相对抵触实现，因此只需要一个驱动机构，即此驱动机构同时完成接票盒的位移以及票卡的抵顶对齐，可以想到的是，票卡的抵顶对齐也可以在两个方向上皆采用第一顶杆的机构设计，此时接票盒的位移可以采用：The alignment of the action of the first ejector rod is completed when the ticket receiving box is moved to the grasping position. The action of the first ejector rod is realized by the relative conflict between the ticket receiving box and the first ejector rod when the ticket receiving box moves. Therefore, only one driving mechanism is needed, namely This driving mechanism simultaneously completes the displacement of the ticket receiving box and the top alignment of the ticket card. It is conceivable that the top alignment of the ticket card can also be designed with the first ejector rod in both directions. At this time, the ticket is received. The displacement of the box can be:
使用多组滑轨，使其能够具有两个方向的滑动，在两个方向上设置第一顶杆(图未示出)；Multiple sets of slide rails are used to enable sliding in two directions, and a first ejector rod (not shown in the figure) is provided in both directions;
采用斜滑轨设计，接票盒是沿其对角线方向移动，在两个方向上设置第一顶杆，此时第一顶杆的抵顶会与接票盒的盒壁具有夹角(图未示出)。Adopting the inclined slide rail design, the ticket receiving box moves along its diagonal direction, and the first ejector rod is set in two directions. At this time, the top of the first ejector rod will have an angle with the box wall of the ticket receiving box ( Figure not shown).
本实施例采用一个方向的第一顶杆，另一个方向采用另外的对齐方式，能够精简设备机构，减小设备的体积；This embodiment adopts the first ejector rod in one direction and another alignment method in the other direction, which can simplify the equipment mechanism and reduce the volume of the equipment;
但不管顶杆数量及轨道如何设置，只要其采用移动接票盒配合第一顶杆的机构，都视为本实用新型的等效结构变换，都包括在本实用新型的专利保护范围内。However, no matter how the number of ejector rods and the track are set, as long as it adopts the mechanism of moving the ticket receiving box to cooperate with the first ejector rod, it is regarded as the equivalent structural transformation of the present invention, and is included in the scope of patent protection of the present invention.
所述接票盒如图6所示：还包括第四盒壁214，所述第四盒壁具有供所述机械手伸入的开口2141，机械手穿过所述开口抓取票卡；The ticket receiving box is shown in FIG. 6: it further includes a fourth box wall 214, the fourth box wall has an opening 2141 for the robot to extend through, and the robot passes through the opening to grab the ticket card;
本实施例中，所述开口位于所述接票盒的中间位置，此时机械手伸入抓取时能够夹取票卡的中间部位，提高抓取稳定性。In this embodiment, the opening is located in the middle position of the ticket receiving box. At this time, the manipulator can grip the middle part of the ticket card when it reaches in and grabs, which improves the grabbing stability.
如图9所示：所述第二盒壁212设有第一弹性件2121，所述第一弹性件的一端抵顶所述第二盒壁，使所述第二盒壁能够沿其壁面的垂直方向弹性运动，通过第一弹性件实现票卡在第二盒壁的方向上对齐时具有缓冲作用，防止第二顶杆推动票卡对齐时压弯或压坏票卡；As shown in Figure 9: the second box wall 212 is provided with a first elastic member 2121, one end of the first elastic member abuts against the second box wall, so that the second box wall can follow its wall surface Elastic movement in the vertical direction, the first elastic member realizes the buffering effect when the ticket card is aligned in the direction of the second box wall, and prevents the ticket card from bending or crushing when the second ejector pin pushes the ticket card to align;
具体结构为：包括第二固定壁2122，所述第二盒壁与所述第二固定壁平行设置，且两者之间设有缓冲导柱2124，所述弹性件的另一端抵顶第二盒壁，另一端抵顶第二固定壁，所述第二固定壁通过螺杆2123安装于票盒底座2153，且所述第二固定壁的下部设有腰孔21221，松开所述螺杆，能够调节所述第二固定壁的位置，以使所述接票盒能够适应不同大小规格的票卡。The specific structure is as follows: includes a second fixed wall 2122, the second box wall and the second fixed wall are arranged in parallel, and a buffer guide post 2124 is arranged between the two, and the other end of the elastic member abuts against the second The other end of the box wall is against the second fixed wall. The second fixed wall is mounted on the ticket box base 2153 through the screw 2123, and the lower part of the second fixed wall is provided with a waist hole 21221. The screw can be loosened. The position of the second fixed wall is adjusted so that the ticket receiving box can adapt to ticket cards of different sizes.
如图10所示：所述第一顶杆22能够沿其轴向滑动，且所述顶杆于所述滑动方向设有用于缓冲的第二弹性件221，所述第一顶杆安装于顶杆座222，所述第二弹性件的一端抵顶所述顶杆座，另一端抵顶所述第一顶杆，第一顶杆的抵顶端还设有缓冲垫223；As shown in Figure 10: the first jack 22 can slide along its axial direction, and the jack is provided with a second elastic member 221 for buffering in the sliding direction, and the first jack is mounted on the jack. The rod seat 222, one end of the second elastic member abuts against the top rod seat, the other end against the first top rod, and the top of the first top rod is also provided with a cushion 223;
本实施例中，所述缓冲垫为橡胶垫，所述第二弹性件为压缩弹簧，同第一弹性件一样，第二弹性件能够实现票卡在第一/第三盒壁方向上的缓冲，防止第一顶杆抵顶时压弯或压坏票卡。In this embodiment, the buffer pad is a rubber pad, and the second elastic member is a compression spring. Like the first elastic member, the second elastic member can buffer the ticket card in the direction of the first/third box wall. , To prevent the first ejector rod from bending or crushing the ticket card when it reaches the top.
所述盒底215设有抬升机构，通过所述抬升机构能够驱动所述盒底升降，从而能够改变所述接票盒的深浅；本实施例的盒底及抬升机构具体如图11所示：所述盒底为叉状，所述叉状的缺口可供所述机械手伸入，所述盒底固定连接于抬升杆2151的一端，所述抬升杆的另一端连接于伺服电机2152，且所述抬升杆与票盒底座2153之间还设有直线导轨2154，通过伺服电机控制所述抬升杆，从而带动盒底的上下位移，本实施例如图6所示：接票盒的口部设有监控所述票卡堆叠位置的光电传感器2155；The box bottom 215 is provided with a lifting mechanism through which the box bottom can be driven up and down, so that the depth of the ticket receiving box can be changed; the box bottom and the lifting mechanism of this embodiment are specifically shown in FIG. 11: The box bottom is fork-shaped, and the fork-shaped notch can be extended by the manipulator. The box bottom is fixedly connected to one end of the lifting rod 2151, and the other end of the lifting rod is connected to the servo motor 2152. There is also a linear guide rail 2154 between the lifting rod and the ticket box base 2153. The lifting rod is controlled by a servo motor to drive the up and down displacement of the bottom of the box. This embodiment is shown in Figure 6: the mouth of the ticket receiving box is provided with A photoelectric sensor 2155 that monitors the stacking position of the ticket and card;
接票盒盒底的初始位置离票卡的落料位置很近，此时接票盒很浅，这有利于控制票卡下落堆叠的形态，并且盒底能够根据盒内票卡堆叠的厚度向下移动，以保持票卡下落的高度基本不变，提高接料的稳定性。当票卡落入接票盒后，光电传感器检测到有料，然后给出信号控制盒底下降至光电传感器检测不到票卡的位置，盒底根据实际增加的堆叠高度下降相应的距离，这种方法比按照票卡厚度和接卡数量计算出下降高度更直接，更能适应生产过程中发生的各种不同的堆叠情况。The initial position of the bottom of the receiving box is very close to the blanking position of the ticket card. At this time, the receiving box is very shallow, which is conducive to controlling the falling stack of ticket cards, and the bottom of the box can be oriented according to the thickness of the stack of tickets in the box. Move down to keep the falling height of the ticket card basically unchanged and improve the stability of receiving materials. When the ticket card is dropped into the receiving box, the photoelectric sensor detects that there is material, and then gives a signal to control the bottom of the box to drop to the position where the photoelectric sensor cannot detect the ticket. The bottom of the box drops a corresponding distance according to the actual increased stack height. The method is more direct than calculating the drop height according to the thickness of the ticket and the number of cards received, and it is more adaptable to various stacking situations that occur during the production process.
如图4和图5所示：所述接票盒连接于票盒导轨24，所述接票盒能够沿所述票盒导轨往复运动，且通过所述往复运动的位置改变构成所述收票位和所述抓取位；As shown in Figures 4 and 5: the ticket receiving box is connected to the ticket box guide rail 24, the ticket receiving box can reciprocate along the ticket box guide rail, and the position change of the reciprocating motion constitutes the ticket receiving box Bit and the grab bit;
本实施例中，所述票盒导轨为气缸驱动的直线导轨，所述接票盒位于所述票盒导轨的两端时，分别构成所述收票位和所述抓取位，接票盒本身只需要两个工作位置(收票位和抓取位)，气缸完全能够满足，且气缸动作迅速，气动元件干净无污染。In this embodiment, the ticket box guide rail is a linear guide rail driven by an air cylinder. When the ticket receiving box is located at both ends of the ticket box guide rail, the ticket receiving position and the grabbing position are formed respectively. It only needs two working positions (receiving position and grabbing position), which can be fully satisfied by the cylinder, and the cylinder moves quickly, and the pneumatic components are clean and pollution-free.
所述机械手如图12到图14所示：包括第一指311和第二指312，本实施例中，所述第一指固定连接于滑动座313，所述滑动座上设有滑轨，所述第二指安装于所述滑轨，且能沿所述滑轨往复运动，所述第二指设有驱动其运动的抓取气缸314；The manipulator is shown in Figures 12 to 14: it includes a first finger 311 and a second finger 312. In this embodiment, the first finger is fixedly connected to a sliding seat 313, and a sliding rail is provided on the sliding seat. The second finger is installed on the slide rail and can reciprocate along the slide rail, and the second finger is provided with a grabbing cylinder 314 that drives it to move;
所述第二顶杆32固定连接于所述第一指或第二指的中部或指根处，本实施例中所述第二 顶杆固定连接于所述第一指的中部，且所述第二指的中部具有可供所述第二顶杆穿过的穿口，所述第二顶杆沿所述票卡的堆叠方向设置，所述第二指由所述抓取气缸驱动朝第一指靠近或远离，第二顶杆固定于第一指且能在第二指的所述穿口内穿过，在接票盒移至抓取位后，机械手也移动到抓取位，先通过第二顶杆的侧壁整个抵顶住堆叠票卡的一侧以实现票卡的对齐，无需在第二顶杆上加装其他部件用于同时抵顶堆叠票卡的一侧；The second ejector rod 32 is fixedly connected to the middle part or the root of the first finger or the second finger. In this embodiment, the second ejector rod is fixedly connected to the middle part of the first finger, and the The middle of the second finger has a through hole for the second ejector rod to pass through, the second ejector rod is arranged along the stacking direction of the ticket card, and the second finger is driven by the grabbing cylinder toward the first One finger is close to or far away, the second ejector rod is fixed to the first finger and can pass through the opening of the second finger. After the ticket receiving box is moved to the grasping position, the manipulator also moves to the grasping position, passing first The side wall of the second ejector rod completely abuts one side of the stack of tickets to realize the alignment of the tickets, and there is no need to install other components on the second ejector to simultaneously push against one side of the stack of tickets;
本实施例如图14所示：所述第二顶杆设有2根，并排设置的2根所述第二顶杆与第一指或第二指的指尖的距离不同，此设计可以根据票卡的大小规格选择使用哪一根。This embodiment is shown in Fig. 14: the second ejector rods are provided with two, and the distances between the two second ejector rods arranged side by side and the fingertips of the first finger or the second finger are different. This design can be based on the ticket The size of the card chooses which one to use.
如图12和图13所示：所述机械手能够旋转，且所述旋转的旋转轴与所述水平滑台的滑动方向平行，进一步的，所述机械手的旋转角度范围为0°-90°；As shown in Figures 12 and 13: the manipulator can rotate, and the rotation axis of the rotation is parallel to the sliding direction of the horizontal sliding table. Further, the rotation angle of the manipulator is in the range of 0°-90°;
实际上，所述机械手的旋转只需要两个角度，分别是0°和90°，定义抓取票卡时的角度为0°，捆扎时就是90°，这是由于票卡置于捆扎机捆扎时，票卡的一侧必须抵靠于捆扎机的表面(如图15所示)，抓取票卡后由于机械手的干涉，票卡的一侧是无法接触捆扎机的表面的，所以需要将票卡旋转90°，其实这是由捆扎机的特性决定的，具体实施时，也可以对捆扎机做改动，比如在捆扎机的表面挖一个让位的容纳槽，容纳能够容置机械手，这样也能够满足捆扎时票卡抵靠捆扎机表面这个特征，本实施例采用旋转机械手的方式，不去定制捆扎机结构，能够有效的控制成本。In fact, the rotation of the manipulator only needs two angles, which are 0° and 90°, which define the angle when grabbing the ticket card as 0°, and the angle when binding it is 90°. This is because the ticket card is placed in the strapping machine for binding. At this time, one side of the ticket card must be against the surface of the strapping machine (as shown in Figure 15). After grabbing the ticket card, due to the interference of the manipulator, the side of the ticket card cannot touch the surface of the strapping machine. The ticket card is rotated by 90°. In fact, this is determined by the characteristics of the strapping machine. In the specific implementation, the strapping machine can also be modified, such as digging a vacant accommodating slot on the surface of the strapping machine to accommodate the manipulator. It can also satisfy the feature that the ticket card abuts against the surface of the strapping machine during strapping. In this embodiment, a rotating manipulator is adopted without customizing the strapping machine structure, which can effectively control the cost.
如图12和图13所示：所以本实施例中，实现所述机械手旋转的机构包括固定连接于滑动座313的旋转轴315，所述旋转轴上设有齿轮316，还包括驱动气缸317，所述驱动气缸的活塞杆连接齿条318，所述齿条与齿轮相匹配，气缸驱动齿条进行线性运动，通过齿条和齿轮的啮合从而实现机械手的旋转，此时通过气缸行程的两个端值分别构成0°和90°的状态，动作迅速且能较好的控制成本，但是不限于此，其他已知的任何旋转驱动机构都包括在本实用新型的保护范围内，比如直接使用伺服电机，比如使用皮带机构等。As shown in Figures 12 and 13: Therefore, in this embodiment, the mechanism for realizing the rotation of the manipulator includes a rotating shaft 315 fixedly connected to the sliding seat 313, the rotating shaft is provided with a gear 316, and further includes a driving cylinder 317, The piston rod of the driving cylinder is connected to the rack 318. The rack is matched with the gear. The cylinder drives the rack to perform linear motion. The rotation of the manipulator is realized through the engagement of the rack and the gear. The end values constitute the state of 0° and 90° respectively, which can move quickly and can better control the cost, but it is not limited to this. Any other known rotary drive mechanism is included in the protection scope of the present invention, such as direct use of servo Motor, such as using a belt mechanism, etc.
如图16所示：所述收料仓5包括收料输送带51和料仓本体52，所述收料输送带设有驱动其运动传输的驱动件，所述收料输送带的一端连接所述料仓本体，所述料仓本***于机架8的边缘处，通过收料输送带和料仓本体的配合，将料仓本体设于设备机架的边缘处以便于取走捆扎好的票卡。As shown in Figure 16, the receiving silo 5 includes a receiving conveyor belt 51 and a silo body 52. The receiving conveyor belt is provided with a driving member that drives its movement and transmission. One end of the receiving conveyor belt is connected to the Said silo body, the silo body is located at the edge of the frame 8. The silo body is arranged at the edge of the equipment frame through the cooperation of the receiving conveyor belt and the silo body to facilitate the removal of the bundled ticket cards .
本实施例中，所述票卡为RFID电子票卡。In this embodiment, the ticket card is an RFID electronic ticket card.
本实用新型的工作过程和工作原理如下：The working process and working principle of the utility model are as follows:
票卡完成其他工序(比如读写、测试等)后，通过传送装置6传送到接票盒21的上方(比如通过真空传送带吸附之后传送到接票盒的上方)，再落入所述接票盒，此时接票盒位于收票位，若干票卡堆叠置于所述接票盒内，当票卡堆满之后(堆满可以从所述传送装置处得到信号，也可以在接票盒本身设置传感器监控，也可以通过盒底的下降高度计算得到等等，方式不限)，接票盒移动到抓取位，同时通过第一顶杆推动第三盒壁的浮动壁，从而实现票卡在一个方向的对齐，然后机械手移动到抓取位，机械手伸入第四盒壁上的开口，先通过机械手上的第二顶杆的推动实现票卡在另一个方向的抵顶对齐，完成对齐后机械手抓取(夹取)票卡，然后机械手翻转90°，将票卡放置于捆扎机打包，打包完成后再由机械手放置收料输送带上，由收料输送带传送到收料仓本体内，至此完成完整的票卡自动对齐、捆扎和收取的动作。After the ticket card completes other processes (such as reading and writing, testing, etc.), it is transferred to the top of the receiving box 21 through the conveyor 6 (for example, it is transferred to the top of the receiving box after being sucked by a vacuum conveyor belt), and then falls into the receiving box. At this time, the ticket receiving box is located at the ticket receiving station, and a number of ticket cards are stacked in the receiving box. When the ticket cards are full (the signal can be obtained from the conveying device when the stack is full, or it can be in the receiving box It is equipped with sensor monitoring, which can also be calculated by the lowering height of the bottom of the box, etc., in any way), the ticket receiving box is moved to the grasping position, and the floating wall of the third box wall is pushed by the first ejector rod to realize the ticket The card is aligned in one direction, and then the manipulator moves to the grasping position. The manipulator reaches into the opening on the fourth box wall, and first pushes the second ejector rod on the manipulator to realize the alignment of the ticket card in the other direction. After alignment, the manipulator grabs (clamps) the ticket card, then the manipulator turns 90°, and places the ticket card on the strapping machine for packaging. After the packaging is completed, the manipulator places the ticket on the receiving conveyor belt, and transfers it to the receiving bin by the receiving conveyor belt. In the main body, the complete automatic alignment, binding and collection of tickets are now completed.
在本实用新型的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或 者是该实用新型产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本实用新型和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本实用新型的限制。此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" The azimuth or positional relationship of other indications is based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship that the utility model is usually placed in use, only for the convenience of describing the utility model and simplifying the description, not It indicates or implies that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.
以上所述仅为本实用新型的实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构变换，或直接或间接运用在其他相关的技术领域，均同理包括在本实用新型的专利保护范围内。The above are only the embodiments of the present utility model, and do not therefore limit the scope of the present utility model. Any equivalent structural transformation made using the content of the utility model description and drawings, or directly or indirectly applied to other related technical fields , The same reason is included in the scope of patent protection of this utility model.

Claims (10)

  1. 一种票卡自动打包机，其特征在于：包括将票卡(9)收集成堆叠状态的接票机构(2)、用于抓取堆叠票卡的抓取机构(3)、用于捆扎堆叠票卡的捆扎机(4)和收料仓(5)；A ticket card automatic packing machine, which is characterized in that it includes a ticket receiving mechanism (2) that collects the ticket cards (9) into a stacked state, a grabbing mechanism (3) for grabbing the stacked tickets, and a binding and stacking mechanism (3). Ticket binding machine (4) and receiving bin (5);
    所述接票机构包括接票盒(21)，所述接票盒能够移动且具有收票位(21A)和抓取位(21B)，所述抓取位设有第一顶杆(22)，所述接票盒移动至抓取位时，所述第一顶杆抵顶接票盒内票卡的一侧，以实现票卡一个方向的对齐；The ticket receiving mechanism includes a ticket receiving box (21), which is movable and has a ticket receiving position (21A) and a grabbing position (21B), and the grabbing position is provided with a first jack (22) , When the ticket receiving box moves to the grasping position, the first ejector rod abuts one side of the ticket card in the ticket receiving box, so as to realize the alignment of the ticket card in one direction;
    所述抓取机构包括滑台模组和机械手(31)，所述机械手设有第二顶杆(32)，所述机械手抓取堆叠的票卡之前，通过所述第二顶杆推动接票盒内票卡的另一侧，以实现票卡另一方向的对齐；The gripping mechanism includes a sliding platform module and a manipulator (31). The manipulator is provided with a second ejector rod (32). Before the manipulator grabs the stacked ticket cards, the second ejector rod pushes the ticket receiving The other side of the ticket card in the box to realize the alignment of the ticket card in the other direction;
    所述机械手安装于所述滑台模组，所述机械手能够通过所述滑台模组移动至所述抓取位、捆扎机和收料仓。The manipulator is installed on the sliding table module, and the manipulator can be moved to the grasping position, the strapping machine and the receiving bin through the sliding table module.
  2. 根据权利要求1所述的票卡自动打包机，其特征在于：所述接票盒包括至少三面合围的第一盒壁(211)、第二盒壁(212)、第三盒壁(213)和盒底(215)，其中，所述第一盒壁和第三盒壁为相对设置，所述第一盒壁或第三盒壁设有浮动壁(2131)，所述浮动壁能够沿垂直于其壁面的方向往复运动，所述第一顶杆抵顶所述浮动壁，从而推动堆叠的票卡抵靠第一盒壁和浮动壁之间实现一个方向的对齐，所述接票盒的深浅可变，所述盒底能够随票卡堆叠高度的增加而逐渐下降，并在票卡被取走后上升复位。The ticket card automatic packing machine according to claim 1, characterized in that: the ticket receiving box comprises a first box wall (211), a second box wall (212), and a third box wall (213) enclosed by at least three sides. And the bottom of the box (215), wherein the first box wall and the third box wall are opposed to each other, the first box wall or the third box wall is provided with a floating wall (2131), the floating wall can be along the vertical Reciprocating in the direction of its wall surface, the first ejector rod abuts against the floating wall, thereby pushing the stacked ticket cards against the first box wall and the floating wall to achieve alignment in one direction. The depth is variable, and the bottom of the box can be gradually lowered with the increase of the stacking height of the ticket card, and will rise and reset after the ticket card is taken away.
  3. 根据权利要求2所述的票卡自动打包机，其特征在于：所述第一盒壁和第三盒壁连接于双向丝杠，通过所述双向丝杠同步调节所述第一盒壁和第三盒壁的间距，以适应不同大小规格的票卡。The automatic ticket and card packing machine according to claim 2, wherein the first box wall and the third box wall are connected to a two-way screw, and the first box wall and the first box wall are adjusted synchronously by the two-way screw. The spacing between the walls of the three boxes is suitable for tickets of different sizes.
  4. 根据权利要求2所述的票卡自动打包机，其特征在于：包括第四盒壁(214)，所述第四盒壁具有供所述机械手伸入的开口(2141)，所述盒底为叉状，所述叉状的缺口可供所述机械手伸入。The automatic ticket and card packing machine according to claim 2, characterized in that it comprises a fourth box wall (214), the fourth box wall has an opening (2141) for the manipulator to extend into, and the bottom of the box is Fork-shaped, the fork-shaped notch can be extended by the manipulator.
  5. 根据权利要求1所述的票卡自动打包机，其特征在于：所述滑台模组包括水平滑台(33)和垂直滑台(34)，所述机械手安装于所述垂直滑台。The automatic ticket and card packing machine according to claim 1, wherein the sliding platform module includes a horizontal sliding platform (33) and a vertical sliding platform (34), and the manipulator is installed on the vertical sliding platform.
  6. 根据权利要求1或5所述的票卡自动打包机，其特征在于：所述机械手包括第一指(311)和第二指(312)，所述第一指和所述第二指能够靠近或远离，所述第二顶杆固定连接于所述第一指或第二指。The ticket card automatic packing machine according to claim 1 or 5, characterized in that: the manipulator includes a first finger (311) and a second finger (312), and the first finger and the second finger can approach Or far away, the second ejector rod is fixedly connected to the first finger or the second finger.
  7. 根据权利要求5所述的票卡自动打包机，其特征在于：所述机械手能够旋转，且所述旋转的旋转轴与所述水平滑台的滑动方向平行。The automatic ticket and card packing machine according to claim 5, wherein the manipulator can rotate, and the rotation axis of the rotation is parallel to the sliding direction of the horizontal sliding table.
  8. 根据权利要求7所述的票卡自动打包机，其特征在于：所述机械手的旋转角度范围为0°-90°。The automatic ticket and card packing machine according to claim 7, wherein the rotation angle of the manipulator is in the range of 0°-90°.
  9. 根据权利要求1中任一所述的票卡自动打包机，其特征在于：所述收料仓包括收料输送带(51)和料仓本体(52)，所述收料输送带的一端连接所述料仓本体，所述料仓本***于机架(8)的边缘处。The automatic ticket and card packing machine according to any one of claim 1, wherein the receiving bin comprises a receiving conveyor belt (51) and a bin body (52), one end of the receiving conveyor belt is connected The silo body, the silo body is located at the edge of the frame (8).
  10. 根据权利要求1中任一所述的票卡自动打包机，其特征在于：所述捆扎机和所述接料仓分别位于所述接票机构的两侧。The automatic ticket card packing machine according to any one of claim 1, wherein the strapping machine and the receiving bin are respectively located on both sides of the ticket receiving mechanism.
PCT/CN2020/086465 2019-12-02 2020-04-23 Ticket card automatic packaging machine WO2021109423A1 (en)

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