CN101704421A - Robot automatic carton loading machine - Google Patents

Robot automatic carton loading machine Download PDF

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Publication number
CN101704421A
CN101704421A CN200910218231A CN200910218231A CN101704421A CN 101704421 A CN101704421 A CN 101704421A CN 200910218231 A CN200910218231 A CN 200910218231A CN 200910218231 A CN200910218231 A CN 200910218231A CN 101704421 A CN101704421 A CN 101704421A
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CN
China
Prior art keywords
carton
conveyer
robot
automatic
controller
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Granted
Application number
CN200910218231A
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Chinese (zh)
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CN101704421B (en
Inventor
唐启娴
邹建康
扬勇
沙应杰
郭跃
徐智勇
杨剑锋
毕昆义
郑森
王洪忠
李仲阳
冯义雁
游葵
陈刚
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Oriental Machine Manufacturing (kunming) Co Ltd
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Oriental Machine Manufacturing (kunming) Co Ltd
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Application filed by Oriental Machine Manufacturing (kunming) Co Ltd filed Critical Oriental Machine Manufacturing (kunming) Co Ltd
Priority to CN2009102182319A priority Critical patent/CN101704421B/en
Publication of CN101704421A publication Critical patent/CN101704421A/en
Application granted granted Critical
Publication of CN101704421B publication Critical patent/CN101704421B/en
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Abstract

The invention provides a robot automatic carton loading machine which comprises a carton conveyor and a carton packer, and also comprises a carton lifting conveyor positioned between the carton conveyor and the carton packer, and a robot positioned between the carton lifting conveyor and the carton packer. The robot automatic carton loading machine can completely realize automatic carton loading, fundamentally solves the defects of large labor intensity, low work efficiency and the like caused by manpower loading in the prior art, and has compact structure, reasonable arrangement, is capable of loading carton accurately and rapidly, and does not occupy more production space; according to different carton packer arrangement in the prior art, the suitable machine types of the robot automatic carton loading machine can be selected; and the robot automatic carton loading machine has wide application range, convenient installation and saved investment, and is capable of providing guarantee for cigarette packaging to realize full automatic operation.

Description

A kind of robot automatic carton loading machine
Technical field
The present invention relates to a kind of robot automatic carton loading machine, particularly a kind of robot automatic carton loading machine that is used on the case packer belongs to production of cigarettes design of plant and manufacturing technology field.
Background technology
In production of cigarettes especially cigarette package production operation, in the case of the cigarette of packing slivering need being packed into, and before vanning, carton to be placed on the carton storehouse of case packer earlier.Prior art is to stand up or lie on the carton storehouse of case packer by the carton on the pallet of manually the AGV dolly being sent here, and not only labour intensity is big, inefficiency, and be difficult to realize the full-automatic operation of cigarette package.Therefore, development and development machines people automatic box feeding machine have become the important step that realizes full-automatic cigarette package production process.
Summary of the invention
For reducing labor strength, enhance productivity, promote full-automatic cigarette package production, the invention provides a kind of robot automatic carton loading machine.
The present invention finishes by following technical proposal: a kind of robot automatic carton loading machine, comprise carton conveyer and case packer, and it is characterized in that also comprising:
The carton lift and conveyer---between carton conveyer and case packer, pedestal by the bottom, the conveyer at top, and lifter and the actuator be located at therebetween constitute, its input end and carton conveyer mouth join, with when finishing the carton horizontal feed, finish the vertical lift of carton and carry;
Robot---between carton lift and conveyer and case packer, pedestal by the bottom, be located at the swivel on the pedestal, the rotating suction disc of being located at the swivel end constitutes, rotation and swing by swivel and sucker, carton on the carton lift and conveyer is drawn, is moved in the carton storehouse of case packer and deposit, be packaged into bar cigarette carton to provide to case packer;
Image identification system---be positioned at carton lift and conveyer top, be installed on the sucker disk seat of fixed support or robot swivel upper end, and electrically connect by ethernet and automatic box feeding control system, be transported to the placement location of the carton that the robot on the carton lift and conveyer will grasp with automatic identification, crooked and carton specification brand, and by the controller in the image identification system, the data of the image identification system photograph being gathered predefined carton tram in next signal and data and the controller compare, draw the correctness of the crooked deviant and the carton specification brand of cartons position, pass through Ethernet interface, import the automatic box feeding control system into, the PLC controller of automatic box feeding control system sends the crooked of cartons position to robot controller, the instruction of deviant and carton specification brand correctness, robot controller is according to instruction that image identification system sent, control robot is grasping, finish in the process of placement carton and move and rotation, thereby carton correctly is placed on the carton storehouse of case packer; For the carton of carton specification brand mistake, image identification system notice robot does not grasp the concurrent visual alarm of speaking;
Control system---comprise the PLC controller and the touch-screen display of automatic box feeding control system, the PLC controller and the robot controller of the case packer that electrically connects by PROFIBUS-DP bus and this controller, the controller of the image identification system that electrically connects by ethernet and this controller, be installed in that the motor switch, the Photoelectric Detection that electrically connect with this controller on carton conveyer, the carton lift and conveyer opened the light, sensor, to provide failure-free control signal and data, make each actuating unit reach required action request to each actuating unit; Simultaneously by the complete Chinese display equipment running condition of telltale, fault, carton quantity statistics.
Described control system is reserved the profinet bus interface, can with the Central Control Room communication.
The lifter of described carton lift and conveyer comprises the upper and lower guide rail that is separately positioned on bottom pedestal and the top conveyer, the cross link that on pedestal and the top conveyer and middle part is hinged by hinge bottom being installed in respectively, and the other end of cross link is arranged on bottom pedestal and the cooresponding upper and lower guide rail of top conveyer, wherein a connecting rod links to each other with actuator, so that under driver drives, two cross link, one end that is hinged is moved along guide rail, thereby make conveyer do vertical uplift or descending motion.
Described actuator is driving chain and drive motor, perhaps is driving oil cylinder.
Described conveyer is a belt conveyor, or conveyer chain, or conveying roller, and the driving reducing motor that is attached thereto.
Described robot swivel comprises four~six rotary joints and is located at swivel arm between the two diaxon rotary joints, so that one of them or several swivel arm are rotated around axle rotary joint cooresponding with it, with finish vertical direction on the swivel stretch or crooked.
Described swivel lower end links to each other with the pedestal of bottom by bearing rotating disk or gear turntable, and bearing rotating disk or gear turntable link to each other with drive motor, so that the driven in rotation body is finished 360 ° rotation on horizontal surface.
Described swivel upper end links to each other with sucker disk seat by the bearing rotating disk, the bearing rotating disk links to each other with drive motor, be interval with the sucker that is communicated with source of the gas on the sucker disk seat,, draw or put down carton by sucker again so that on horizontal surface, finish 360 ° rotation by the motor-driven sucker disk seat.
Described carton conveyer comprises frame, be located at upper and lower layer conveyer and feed drive reducing motor on the frame, wherein conveyer is load-transfer device or conveyer chain or conveying roller, so that send into the pallet of being with carton by the upper strata conveyer, sends empty pallet by lower floor's conveyer again.
The present invention has following advantage and effect: adopt such scheme, can be completely achieved automatic box feeding, it is big fundamentally to solve the labour intensity that brings with artificial top box in the prior art, deficiencies such as inefficiency, and compact conformation of the present invention, rationally distributed, automatic box feeding accurately, fast, do not take more production space, can select suitable robot automatic carton loading machine type according to case packer layouts different in the prior art, applicable area is wider, easy for installation, reduced investment can realize full-automatic operation for cigarette package and provide safeguard.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the plan structure scheme drawing of Fig. 1;
Fig. 3 is the left TV structure scheme drawing of Fig. 1;
Fig. 4 is a carton conveyor construction scheme drawing of the present invention;
Fig. 5 is a carton lift and conveyer structural representation of the present invention;
Fig. 6 is robot architecture's scheme drawing of the present invention.
Fig. 7 is another structural representation of the present invention;
Fig. 8 is the plan structure scheme drawing of Fig. 7;
Fig. 9 is the left TV structure scheme drawing of Fig. 7;
Figure 10 is an another structural representation of the present invention;
Figure 11 is the plan structure scheme drawing of Figure 10;
Figure 12 is the left TV structure scheme drawing of Figure 10;
Figure 13 is the control block diagram of image identification system of the present invention and control system.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further, is not limited thereto but hold within the present invention.
Fig. 1~Fig. 6, Figure 13 constitute embodiments of the invention 1:
Robot automatic carton loading machine provided by the invention comprises carton conveyer (1) and case packer (3), also comprises simultaneously:
Carton lift and conveyer (2)---be positioned between carton conveyer (1) and the case packer (3), and its input end and carton conveyer (1) mouth join,, finish the vertical lift of carton and carry with when finishing the carton horizontal feed; Carton lift and conveyer (2) is by the pedestal (223) of bottom, the conveyer at top (21), and lifter and the actuator be located at therebetween constitute, wherein, lifter comprise be separately positioned on bottom pedestal (223) and the top conveyer (21) on, lower guideway (221), (224), and two cross link (222) that are hinged by hinge (226) in the middle part of it, one end of two connecting rods (222) is separately fixed on bottom pedestal (223) and the top conveyer (21), the other end by pulley be slidingly arranged in bottom pedestal (223) and top conveyer (21) cooresponding on, lower guideway (221), (224) on, wherein a connecting rod is provided with sprocket wheel (227), and link to each other with drive motor by chain 225, so that under drive motor drives, make two cross link (222) one ends that are hinged along guide rail (221), (224) move, thereby make conveyer (21) do vertical uplift or descending motion, conveyer (21) is conventional conveying roller, as Fig. 1, Fig. 2, Fig. 5;
Robot (4)---be positioned between carton lift and conveyer (2) and the case packer (3), the artificial commercial product of this machine, its pedestal (41) by the bottom, be located at the swivel (42) on the pedestal (41), the rotating suction disc (43) of being located at swivel (42) end constitutes, wherein, swivel (42) comprises four rotary joints (424) and is located at swivel arm (422) between the two diaxon rotary joints (424), so that one of them or several swivel arm (422) are rotated around axle rotary joint cooresponding with it (424), go up stretching of vertical direction or crooked to finish swivel (42); Swivel (42) lower end links to each other with the pedestal (41) of bottom by bearing rotating disk (421), and bearing rotating disk (421) links to each other with drive motor, so that driven in rotation body (42) is finished 360 ° rotation on horizontal surface; Swivel (42) upper end links to each other with sucker disk seat (431) by bearing rotating disk (423), bearing rotating disk (423) links to each other with drive motor, so that on horizontal surface, finish 360 ° rotation by motor-driven sucker disk seat (431), be interval with the sucker (432) that is communicated with source of the gas on the sucker disk seat (431), to draw or to put down carton by sucker (432); Rotation and swing by the horizontally rotating of this robot (4), vertical stretching or bending, swing and sucker, carton on the carton lift and conveyer (2) is drawn, is moved in the carton storehouse (31) of case packer (3) and deposit, be packaged into bar cigarette carton to provide, as Fig. 1, Fig. 2, Fig. 3, Fig. 6 to case packer (3);
Image identification system (6)---be positioned at carton lift and conveyer (2) top, specifically be mounted on the fixed support (5), it is commercial product, so that automatically identification is transported to the placement location of the carton that the robot (4) on the carton lift and conveyer (2) will grasp, crooked and carton specification brand, PLC controller system by image identification system (6), image identification system (6) photograph is gathered the interior predefined carton tram of controller of next signal and data and image identification system (6), the data of carton specification brand compare, draw the crooked of cartons position, the data of deviant and carton specification brand correctness, and with the PROFIBUS-DP interface of these data by the PLC controller of image identification system (6), import the PROFIBUS-DP of automatic box feeding system bus into, send the correctness instruction of the crooked deviant and the carton specification brand of cartons position to the PLC controller of robot (4), the PLC controller of robot (4) is according to image identification system (6) instruction of sending, control robot (4) is grasping, place to finish in the carton process and move and rotation, carton can correctly be placed in the carton storehouse (31) of case packer (3); When carton specification brand mistake, image identification system (6) then notifies robot (4) not grasp wrong carton, and the concurrent visual alarm of speaking is as Fig. 1, Fig. 2, Fig. 3, Figure 13;
Control system---comprise the conventional PLC controller and the conventional touch-screen display (72) of the automatic box feeding control system that is installed in the electrical control cubicles (71), the PLC controller and the commercial robot PLC controller of the case packer that electrically connects by PROFIBUS-DP bus and described controller, the controller of the image identification system that electrically connects by ethernet and described controller, be installed in carton conveyer (1), the motor switch that electrically connects with described controller on the carton lift and conveyer (2), Photoelectric Detection is opened the light, sensor, to provide failure-free control signal and data, make each actuating unit reach required action request to each actuating unit; Simultaneously by the complete Chinese display equipment running condition of telltale (72), fault, carton quantity statistics, described control system is reserved with Central Control Room, in the profinet bus interface of AGV dolly communication, as Fig. 1, Fig. 2, Fig. 3, Figure 13.
Described carton conveyer (1) is conventional conveying roller, comprise frame (10), be located at upper strata conveying roller (11), lower floor's conveying roller (12) and feed drive reducing motor (13) on the frame (10), as Fig. 1, Fig. 4, so that send into the pallet of being with carton by upper strata conveyer (11), send empty pallet by lower floor's conveyer (12) again.
Fig. 7~Fig. 9, Figure 13 constitute embodiments of the invention 2:
Another robot automatic carton loading machine provided by the invention, comprise carton conveyer (1), the carton lift and conveyer (2) that is attached thereto, case packer (3), and be positioned at robot (4) between carton lift and conveyer (2) and the case packer (3), by Fig. 7~Fig. 9 as can be known, except that layout and embodiment 1 were different, all the other all structures were all identical with embodiment 1.
Figure 10~Figure 12, Figure 13 constitute embodiments of the invention 3:
Another robot automatic carton loading machine provided by the invention, comprise carton conveyer (1), the carton lift and conveyer (2) that is attached thereto, case packer (3), and be positioned at robot (4) between carton lift and conveyer (2) and the case packer (3), by Figure 10~Figure 12 as can be known, except that layout and embodiment 1 were different, all the other all structures were all identical with embodiment 1.

Claims (8)

1. a robot automatic carton loading machine comprises carton conveyer and case packer, it is characterized in that also comprising:
The carton lift and conveyer---between carton conveyer and case packer, pedestal by the bottom, the conveyer at top, and lifter and the actuator be located at therebetween constitute, its input end and carton conveyer mouth join, with when finishing the carton horizontal feed, finish the vertical lift of carton and carry;
Robot---between carton lift and conveyer and case packer, pedestal by the bottom, be located at the swivel on the pedestal, the rotating suction disc of being located at the swivel end constitutes, rotation and swing by swivel and sucker, carton on the carton lift and conveyer is drawn, is moved in the carton storehouse of case packer and deposit, be packaged into bar cigarette carton to provide to case packer;
Image identification system---be positioned at carton lift and conveyer top, be installed on the sucker disk seat of fixed support or robot swivel upper end, and electrically connect by ethernet and automatic box feeding control system, be transported to the placement location of the carton that the robot on the carton lift and conveyer will grasp with automatic identification, crooked and carton specification brand, and by the controller in the image identification system, the data of the image identification system photograph being gathered predefined carton tram in next signal and data and the controller compare, draw the correctness of the crooked deviant and the carton specification brand of cartons position, pass through Ethernet interface, import the automatic box feeding control system into, the PLC controller of automatic box feeding control system sends the crooked of cartons position to robot controller, the instruction of deviant and carton specification brand correctness, robot controller is according to instruction that image identification system sent, control robot is grasping, finish in the process of placement carton and move and rotation, thereby carton correctly is placed on the carton storehouse of case packer; For the carton of carton specification brand mistake, image identification system notice robot does not grasp the concurrent visual alarm of speaking;
Control system---comprise the PLC controller and the touch-screen display of automatic box feeding control system, the PLC controller and the robot controller of the case packer that electrically connects by PROFIBUS-DP bus and this controller, the controller of the image identification system that electrically connects by ethernet and this controller, be installed in that the motor switch, the Photoelectric Detection that electrically connect with this controller on carton conveyer, the carton lift and conveyer opened the light, sensor, to provide failure-free control signal and data, make each actuating unit reach required action request to each actuating unit; Simultaneously by the complete Chinese display equipment running condition of telltale, fault, carton quantity statistics.
2. robot automatic carton loading machine as claimed in claim 1, the lifter that it is characterized in that described carton lift and conveyer comprise be separately positioned on bottom pedestal and the top conveyer on, lower guideway, the cross link that on pedestal and the top conveyer and middle part is hinged by hinge bottom being installed in respectively, and the other end of cross link be arranged on bottom pedestal and top conveyer cooresponding on, on the lower guideway, wherein a connecting rod links to each other with actuator, so that under driver drives, two cross link, one end that is hinged is moved along guide rail, thereby make conveyer do vertical uplift or descending motion.
3. robot automatic carton loading machine as claimed in claim 2 is characterized in that described actuator is driving chain and drive motor, perhaps is driving oil cylinder.
4. robot automatic carton loading machine as claimed in claim 2 is characterized in that described conveyer is a belt conveyor, or conveyer chain, or conveying roller, and the driving reducing motor that is attached thereto.
5. robot automatic carton loading machine as claimed in claim 1, it is characterized in that described robot swivel comprises 4~6 rotary joints and is located at swivel arm between the two diaxon rotary joints, so that one of them or several swivel arm are rotated around axle rotary joint cooresponding with it, with finish vertical direction on the swivel stretch or crooked.
6. robot automatic carton loading machine as claimed in claim 5, it is characterized in that described swivel lower end links to each other with the pedestal of bottom by bearing rotating disk or gear turntable, bearing rotating disk or gear turntable link to each other with drive motor, so that the driven in rotation body is finished 360 ° rotation on horizontal surface.
7. robot automatic carton loading machine as claimed in claim 5, it is characterized in that described swivel upper end links to each other with sucker disk seat by the bearing rotating disk, the bearing rotating disk links to each other with drive motor, be interval with the sucker that is communicated with source of the gas on the sucker disk seat, so that on horizontal surface, finish 360 ° rotation, draw or put down carton by sucker again by the motor-driven sucker disk seat.
8. robot automatic carton loading machine as claimed in claim 1, it is characterized in that described carton conveyer comprises frame, be located at upper and lower layer conveyer and feed drive reducing motor on the frame, wherein conveyer is load-transfer device or conveyer chain or conveying roller, so that send into the pallet of being with carton by the upper strata conveyer, send empty pallet by lower floor's conveyer again.
CN2009102182319A 2009-11-20 2009-11-20 Robot automatic carton loading machine Active CN101704421B (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390573A (en) * 2011-10-30 2012-03-28 颐中(青岛)烟草机械有限公司 Automatic box blank feeding device for case packer
CN102941945A (en) * 2012-11-14 2013-02-27 东莞市三润田自动化设备有限公司 Box fetching device used for sealed box production line
CN103223665A (en) * 2013-04-28 2013-07-31 哈尔滨工业大学 Full-automatic transport robot for physical files
CN103640845A (en) * 2013-12-05 2014-03-19 昆山永邦自动化设备有限公司 Pneumatic arrangement machine
CN105573286A (en) * 2016-03-08 2016-05-11 四川共悦智能科技有限公司 Tobacco redrying intelligent automatic tobacco taking and placing system
CN105599931A (en) * 2016-03-04 2016-05-25 无锡中阳包装技术有限公司 Dye packing machine
CN105856272A (en) * 2016-05-24 2016-08-17 马鞍山市博宇智能装备有限公司 Manufacturing and assembling system for six-axis robot
CN108609239A (en) * 2018-05-04 2018-10-02 陕西保利华英包装有限公司 A kind of intelligence packed in cases system and method
CN108861537A (en) * 2018-05-17 2018-11-23 中源智人科技(深圳)股份有限公司 A kind of intelligent recognition robot carried for ceramic tile
CN110834923A (en) * 2019-11-28 2020-02-25 苏州威兹泰克软件科技有限公司 Carton feeding equipment and method
CN111846376A (en) * 2020-07-22 2020-10-30 丘坤城 Automatic boxing and packaging machine based on Internet of things

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JP2000128357A (en) * 1998-10-21 2000-05-09 Fuji Yusoki Kogyo Co Ltd Row unit cargo loading device
DE20303962U1 (en) * 2003-03-13 2003-05-08 Maschb U Konstruktion Gmbh Elm Palletising assembly for flat carton packs surrenders packs to robotic stacing unit
CN2803998Y (en) * 2005-07-11 2006-08-09 天津市源峰科技发展公司 Logistic work training system
CN101492104B (en) * 2009-03-06 2011-05-18 东方机器制造(昆明)有限公司 Automatic box feeding machine

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102390573A (en) * 2011-10-30 2012-03-28 颐中(青岛)烟草机械有限公司 Automatic box blank feeding device for case packer
CN102941945A (en) * 2012-11-14 2013-02-27 东莞市三润田自动化设备有限公司 Box fetching device used for sealed box production line
CN102941945B (en) * 2012-11-14 2015-08-26 东莞市三润田自动化设备有限公司 Case apparatus is got for joint sealing manufacturing line
CN103223665A (en) * 2013-04-28 2013-07-31 哈尔滨工业大学 Full-automatic transport robot for physical files
CN103640845A (en) * 2013-12-05 2014-03-19 昆山永邦自动化设备有限公司 Pneumatic arrangement machine
CN105599931A (en) * 2016-03-04 2016-05-25 无锡中阳包装技术有限公司 Dye packing machine
CN105573286A (en) * 2016-03-08 2016-05-11 四川共悦智能科技有限公司 Tobacco redrying intelligent automatic tobacco taking and placing system
CN105573286B (en) * 2016-03-08 2018-06-15 四川共悦智能科技有限公司 A kind of intelligent automatic stem-butts laying system of tobacco redrying
CN105856272A (en) * 2016-05-24 2016-08-17 马鞍山市博宇智能装备有限公司 Manufacturing and assembling system for six-axis robot
CN108609239A (en) * 2018-05-04 2018-10-02 陕西保利华英包装有限公司 A kind of intelligence packed in cases system and method
CN108861537A (en) * 2018-05-17 2018-11-23 中源智人科技(深圳)股份有限公司 A kind of intelligent recognition robot carried for ceramic tile
CN110834923A (en) * 2019-11-28 2020-02-25 苏州威兹泰克软件科技有限公司 Carton feeding equipment and method
CN111846376A (en) * 2020-07-22 2020-10-30 丘坤城 Automatic boxing and packaging machine based on Internet of things

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