阅读说明：本技术 一种机器人取纸装置及系统 (Robot paper taking device and system ) 是由 邱宇祥 崔家雄 赵兵 杨彪 李本宪 朱恩康 陆德元 于 2021-09-17 设计创作，主要内容包括：本发明公开了一种机器人取纸装置及系统,该取纸装置包括工作台、第一气缸以及第二气缸；所述第一气缸和第二气缸分别设置在所述工作台的左右两端,且所述第一气缸和所述第二气缸上分别设有第一夹板和第二夹板,所述第一夹板和所述第二夹板相向设置。所述工作台的左右两端还设有电磁阀,两个电磁阀通过压缩气管分别与所述第一气缸和所述第二气缸连接,两个电磁阀用于分别驱动所述第一气缸和所述第二气缸运行,所述第一气缸和所述第二气缸分别推动所述第一夹板和所述第二夹板相互靠近或远离。本发明可在KUKA机器人取纸箱过程中取下粘连的牛皮纸,防止牛皮纸造成纸箱折叠机及码垛机卡塞停机。(The invention discloses a robot paper taking device and a system, wherein the robot paper taking device comprises a workbench, a first air cylinder and a second air cylinder; the first cylinder and the second cylinder are respectively arranged at the left end and the right end of the workbench, the first cylinder and the second cylinder are respectively provided with a first clamping plate and a second clamping plate, and the first clamping plate and the second clamping plate are arranged in opposite directions. The left end and the right end of the workbench are further provided with electromagnetic valves, the two electromagnetic valves are respectively connected with the first air cylinder and the second air cylinder through compressed air pipes, the two electromagnetic valves are used for respectively driving the first air cylinder and the second air cylinder to operate, and the first air cylinder and the second air cylinder respectively push the first clamping plate and the second clamping plate to be close to or far away from each other. The invention can take off the adhered kraft paper in the process of taking out the carton by the KUKA robot, and prevent the jam stop of the carton folder and the stacker caused by the kraft paper.)

1. A robot paper taking device is characterized by comprising a workbench, a first air cylinder and a second air cylinder; the first cylinder and the second cylinder are respectively arranged at the left end and the right end of the workbench, a first clamping plate and a second clamping plate are respectively arranged on the first cylinder and the second cylinder, and the first clamping plate and the second clamping plate are oppositely arranged;

the left end and the right end of the workbench are also provided with electromagnetic valves, the two electromagnetic valves are respectively connected with the first air cylinder and the second air cylinder through compressed air pipes, the two electromagnetic valves are used for respectively driving the first air cylinder and the second air cylinder to operate, and the first air cylinder and the second air cylinder respectively push the first clamping plate and the second clamping plate to be close to or far away from each other; when the first clamping plate and the second clamping plate are close to each other, the first clamping plate and the second clamping plate clamp kraft paper.

2. The robotic paper extraction device of claim 1, wherein both ends of the first cylinder and the second cylinder are provided with a fixed seat, the fixed seats being disposed on the work table.

3. The robotic paper extraction device of claim 2, wherein the mounts of the first and second cylinders are offset such that the first and second jaws are capable of zero-distance contact.

4. The robotic paper extraction device of claim 2, further comprising position detection strips connected between the two holders of the first cylinder and between the two holders of the second cylinder, the position detection strips being configured to detect the positions of the first clamp plate and the second clamp plate.

5. The robotic paper extraction device of claim 4, wherein a retraction detector and an extension detector are respectively disposed at two ends of the position detection strip, the retraction detector is disposed at one end of the position detection strip near the outer fixed seat, and the extension detector is disposed at the other end of the position detection strip near the inner fixed seat.

6. The robotic paper extraction device of claim 1, wherein there are two compressed air tubes between the solenoid valve and the first and second cylinders, the two compressed air tubes being used for extension and retraction of the first and second cylinders, respectively.

7. The robotic paper picker according to claim 1 wherein support rods are provided below both ends of the table, and two solenoid valves are provided on the two support rods, respectively.

8. The robotic paper extraction device of claim 1, wherein the first and second cylinders each have a cylinder slide, and the first and second clamp plates are secured to the respective cylinder slides.

9. A robotic paper-fetching system comprising a robotic position detector, a PLC controller, and the robotic paper-fetching device of claim 5, the robotic position detector and the solenoid valve both being electrically connected to the PLC controller;

the robot position detector is used for detecting the position of a robot, the PLC can read and identify an output signal of the robot position detector, the PLC sends a paper taking signal to the electromagnetic valve, and the electromagnetic valve drives the first air cylinder and the second air cylinder to operate respectively.

10. The robotic paper-fetching system of claim 9, wherein the position detection bar is electrically connected to the PLC controller;

when the first cylinder and the second cylinder run to the position of the extension detector, an indicator light of the extension detector is turned on, a signal for identifying the extension detector is read by the PLC, the PLC sends a contraction instruction to the electromagnetic valve, and the electromagnetic valve drives the first cylinder and the second cylinder to contract;

when the first air cylinder and the second air cylinder run to the position of the contraction detector, an indicator light of the contraction detector is turned on, a signal for identifying the contraction detector is read by the PLC, the PLC sends a stop instruction to the electromagnetic valve, and the electromagnetic valve drives the first air cylinder and the second air cylinder to stop.

Technical Field

The invention relates to the technical field of cigarette making machine equipment, in particular to a robot paper taking device and a robot paper taking system.

Background

Unpacking the packed stems is a starting section of stem feeding, the original stems are conveyed to a paper box taking station of a KUKA robot through a rail conveyor, the KUKA robot takes off the outer stem boxes under program control, the outer stem boxes are conveyed to a paper box stacking machine to be folded and stacked, then the paper boxes are manually stored, and at the moment, the original stems and the inner boxes enter the next step through a turnover machine. Because there is a kraft paper in outer stalk case and former stalk, get outer cigarette case in-process at KUKA robot, the kraft paper gets into the stalk case folding device with the adhesion of outer stalk case or directly gets into cigarette case pile up neatly device, leads to folding device and pile up neatly device frequent card paper to shut down.

In the stalk bale breaking equipment that uses at present, there is not the device of clearance smoke box adhesion kraft paper, but in production, the smoke box paper adhesion phenomenon is frequent, in case break down in the bale breaking section, leads to follow-up workshop section to appear the flow inhomogeneous very easily, shuts down the disconnected material even, and during folding device and pile up neatly device were just handled to the operative employee simultaneously, the potential safety hazard was big, and the maintenance degree of difficulty is also great.

Therefore, how to provide a paper fetching device and a system for effectively fetching the adhered kraft paper in the process of fetching the paper box by the KUKA robot becomes a technical problem to be solved in the field.

Disclosure of Invention

The invention aims to provide a robot paper taking device and a robot paper taking system, which can take down adhered kraft paper in the process of taking a paper box by a KUKA robot, and prevent the kraft paper from causing the jam stop of a paper box folding machine and a stacking machine.

According to an aspect of the present invention, there is provided a robot paper fetching device, including a table, a first cylinder, and a second cylinder; the first cylinder and the second cylinder are respectively arranged at the left end and the right end of the workbench, a first clamping plate and a second clamping plate are respectively arranged on the first cylinder and the second cylinder, and the first clamping plate and the second clamping plate are oppositely arranged;

the left end and the right end of the workbench are also provided with electromagnetic valves, the two electromagnetic valves are respectively connected with the first air cylinder and the second air cylinder through compressed air pipes, the two electromagnetic valves are used for respectively driving the first air cylinder and the second air cylinder to operate, and the first air cylinder and the second air cylinder respectively push the first clamping plate and the second clamping plate to be close to or far away from each other; when the first clamping plate and the second clamping plate are close to each other, the first clamping plate and the second clamping plate clamp kraft paper.

Optionally, according to the robot paper fetching device of the present invention, fixing seats are respectively disposed at two ends of the first cylinder and the second cylinder, and the fixing seats are disposed on the workbench.

Optionally, according to the robot paper fetching device of the present invention, the fixing seat of the first air cylinder and the fixing seat of the second air cylinder are disposed in a staggered manner, so that the first clamping plate and the second clamping plate can contact each other at a zero distance.

Optionally, the robot paper fetching device according to the present invention further includes position detection strips, where the position detection strips are connected between the two fixing seats of the first cylinder and between the two fixing seats of the second cylinder, and the position detection strips are used for detecting positions of the first clamping plate and the second clamping plate.

Optionally, according to the robot paper fetching device of the present invention, a retraction detector and an extension detector are respectively disposed at two ends of the position detection strip, the retraction detector is disposed at one end of the position detection strip close to the outer side fixing seat, and the extension detector is disposed at the other end of the position detection strip close to the inner side fixing seat.

Optionally, according to the robot paper fetching device of the present invention, two compressed air pipes are provided between the electromagnetic valve and the first air cylinder and between the electromagnetic valve and the second air cylinder, and the two compressed air pipes are respectively used for extension and contraction of the first air cylinder and the second air cylinder.

Optionally, according to the robot paper fetching device of the present invention, support rods are disposed below two ends of the workbench, and the two electromagnetic valves are disposed on the two support rods, respectively.

Optionally, according to the robot paper fetching device of the present invention, each of the first cylinder and the second cylinder is provided with a cylinder slider, and the first clamping plate and the second clamping plate are respectively fixed to the corresponding cylinder sliders.

According to another aspect of the present invention, there is also provided a robotic paper fetching system comprising a robotic position detector, a PLC controller, and the robotic paper fetching device of claim 5, the robotic position detector and the solenoid valve both being electrically connected to the PLC controller;

the robot position detector is used for detecting the position of a robot, the PLC can read and identify an output signal of the robot position detector, the PLC sends a paper taking signal to the electromagnetic valve, and the electromagnetic valve drives the first air cylinder and the second air cylinder to operate respectively.

Optionally, according to the robot paper fetching system of the present invention, the position detection bar is electrically connected to the PLC controller;

when the first cylinder and the second cylinder run to the position of the extension detector, an indicator light of the extension detector is turned on, a signal for identifying the extension detector is read by the PLC, the PLC sends a contraction instruction to the electromagnetic valve, and the electromagnetic valve drives the first cylinder and the second cylinder to contract;

when the first air cylinder and the second air cylinder run to the position of the contraction detector, an indicator light of the contraction detector is turned on, a signal for identifying the contraction detector is read by the PLC, the PLC sends a stop instruction to the electromagnetic valve, and the electromagnetic valve drives the first air cylinder and the second air cylinder to stop.

The robot paper taking device and the robot paper taking system can take off the adhered kraft paper in the process of taking the paper box by the KUKA robot, and prevent the jam stop of a paper box folding machine and a stacking machine caused by the kraft paper. The first cylinder and the second cylinder are driven to operate through the electromagnetic valve, so that the first clamping plate and the second clamping plate are close to each other, after kraft paper clamped on a carton which is embraced by the KUKA robot is clamped, the KUKA robot embraces the carton to perform the next process, and the kraft paper is torn off under the action of the first clamping plate and the second clamping plate.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic structural diagram of a robotic paper picker according to the present disclosure;

FIG. 2 is a partial schematic view of a robotic paper picker according to the present disclosure;

fig. 3 is a working schematic diagram of the robot paper fetching system disclosed by the invention.

Description of reference numerals: 1-a workbench; 2-a first cylinder; 3-a second cylinder; 4-cylinder slide block; 5-a first splint; 6-a second splint; 7-a fixed seat; 8-a support bar; 9-an electromagnetic valve; 10-position detection strip; 11-a shrinkage detector; 12-compressed air pipe.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

According to fig. 1 and 2, the invention provides a robot paper taking device, which comprises a workbench 1, a first air cylinder 2 and a second air cylinder 3; the first cylinder 2 and the second cylinder 3 are respectively arranged at the left end and the right end of the workbench 1, the first cylinder 2 and the second cylinder 3 are respectively provided with a first clamping plate 5 and a second clamping plate 6, and the first clamping plate 5 and the second clamping plate 6 are oppositely arranged.

The left end and the right end of the workbench 1 are also provided with electromagnetic valves 9, the two electromagnetic valves 9 are respectively connected with the first air cylinder 2 and the second air cylinder 3 through compressed air pipes 12, the two electromagnetic valves 9 are used for respectively driving the first air cylinder 2 and the second air cylinder 3 to operate, and the first air cylinder 2 and the second air cylinder 3 respectively push the first clamping plate 5 and the second clamping plate 6 to be close to or far away from each other; when the first and second jaws 5 and 6 are brought close to each other, the first and second jaws 5 and 6 grip the kraft paper.

The robot paper taking device and the robot paper taking system can take off the adhered kraft paper in the process of taking the paper box by the KUKA robot, and prevent the jam stop of a paper box folding machine and a stacking machine caused by the kraft paper. The first cylinder 2 and the second cylinder 3 are driven to operate through the electromagnetic valve 9, so that the first clamping plate 5 and the second clamping plate 6 are close to each other, after kraft paper on a paper box embraced by the KUKA robot is clamped, the KUKA robot embraces the paper box to perform the next process, and the kraft paper is torn off under the action of the first clamping plate 5 and the second clamping plate 6.

Further, the both ends of first cylinder 2 and second cylinder 3 all are equipped with fixing base 7, and fixing base 7 sets up on workstation 1. The distance between the fixed seats 7 is the stroke distance of the first cylinder 2 and the second cylinder 3, so that the positions of the first clamping plate 5 and the second clamping plate 6 are effectively limited.

Further, the fixing seat 7 of the first cylinder 2 and the fixing seat 7 of the second cylinder 3 are arranged in a staggered mode, so that the first clamping plate 5 and the second clamping plate 6 can be in zero-distance contact.

Further, the device comprises a position detection strip 10, the position detection strip 10 is connected between the two fixing seats 7 of the first air cylinder 2 and between the two fixing seats 7 of the second air cylinder 3, and when the first clamping plate 5 and the second clamping plate 6 move on the first air cylinder 2 and the second air cylinder 3 respectively, the position detection strip 10 is used for detecting the positions of the first clamping plate 5 and the second clamping plate 6, so that the position information of the first clamping plate 5 and the second clamping plate 6 is transmitted to a background control system through the position detection strip 10, and a box taking process of the KUKA robot is facilitated.

Further, both ends of position detection strip 10 are equipped with shrink detector 11 respectively and stretch out the detector, and shrink detector 11 sets up in the one end that position detection strip 10 is close to outside fixing base 7, stretches out the detector and sets up in the other end that position detection strip 10 is close to inboard fixing base 7. The distance between the first clamping plate 5 and the second clamping plate 6 is maximum when the first clamping plate 5 and the second clamping plate 6 are located at the position of the two contraction detectors 11, respectively; when the first clamping plate 5 and the second clamping plate 6 are located at two positions of the protruding detector, respectively, the distance between the first clamping plate 5 and the second clamping plate 6 is minimized, thereby allowing the clamping of the adhered kraft paper on the carton.

Further, two compressed air pipes 12 are arranged between the electromagnetic valve 9 and the first cylinder 2 and the second cylinder 3, and the two compressed air pipes 12 are used for extending and contracting the first cylinder 2 and the second cylinder 3 respectively.

Furthermore, support rods 8 are arranged below two ends of the workbench 1, and two electromagnetic valves 9 are respectively arranged on the two support rods 8. When the device is arranged, the two support rods 8 are of a hollow structure, so that the lines of the electromagnetic valve 9, the compressed air pipe 12 and other structures are hidden in the support rods 8.

Further, cylinder sliding blocks 4 are arranged on the first cylinder 2 and the second cylinder 3, and the first clamping plate 5 and the second clamping plate 6 are respectively fixed on the corresponding cylinder sliding blocks 4.

As shown in fig. 3, the present invention further provides a robot paper fetching system, which includes a robot position detector, a PLC controller, and the robot paper fetching apparatus of the above embodiment, wherein the robot position detector and the electromagnetic valve 9 are both electrically connected to the PLC controller;

the robot position detector is used for detecting the position of the robot, the PLC can read and identify the output signal of the robot position detector, the PLC sends a paper taking signal to the electromagnetic valve 9, and the electromagnetic valve 9 drives the first air cylinder 2 and the second air cylinder 3 to operate respectively.

Further, the position detection strip 10 is electrically connected with the PLC controller; when the first cylinder 2 and the second cylinder 3 run to the position of the extending detector, the indicating lamp of the extending detector is turned on and the PLC controller reads and identifies the signal of the extending detector, the PLC controller sends a contraction instruction to the electromagnetic valve 9, and the electromagnetic valve 9 drives the first cylinder 2 and the second cylinder 3 to contract.

When the first cylinder 2 and the second cylinder 3 run to the position of the contraction detector 11, the indicator light of the contraction detector 11 is turned on and the signal identifying the contraction detector 11 is read by the PLC controller, the PLC controller sends a stop instruction to the electromagnetic valve 9, and the electromagnetic valve 9 drives the first cylinder 2 and the second cylinder 3 to stop.

The working principle of the invention is as follows:

the KUKA robot begins to work, and first splint 5 and second splint 6 are respectively at the initial position of first cylinder 2 and second cylinder 3, reach the station of getting the paper device after the KUKA robot gets the smoke box, and the signal that the KUKA robot target in place can be detected to the robot detector, reads the discernment through the PLC controller, sends out and gets paper piece instruction to actuating mechanism, two solenoid valves 9 promptly. The two electromagnetic valves 9 start to act, one of the compressed air pipes 12 connected with the first air cylinder 2 and the second air cylinder 3 controls the connection of the extending air passage, and the first air cylinder 2 and the second air cylinder 3 respectively drive the first clamping plate 5 and the second clamping plate 6 to extend out synchronously. When first splint 5 and second splint 6 displacement respectively to two positions of stretching out the detector, the pilot lamp that corresponds lights, it accomplishes to get paper, the robot presss from both sides and gets the smoke box and gets into next process and carry out the carton folding, it is about to resume initial position to get the paper device, first splint 5 and second splint 6 retract to initial position, shrink detector 11's position promptly, the pilot lamp that corresponds lights, the kraft paper drops to the containing box at first splint 5 and the detached in-process of second splint 6, it ends to get the paper process, reach the paper device station of getting after waiting for the KUKA robot to get the smoke box, it is triggered once more to get the paper process.

Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.