CN102626694A - Intelligent stacking system and quality-rechecking and rejecting method of articles stacked by intelligent stacking system - Google Patents
Intelligent stacking system and quality-rechecking and rejecting method of articles stacked by intelligent stacking system Download PDFInfo
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- CN102626694A CN102626694A CN2012101016741A CN201210101674A CN102626694A CN 102626694 A CN102626694 A CN 102626694A CN 2012101016741 A CN2012101016741 A CN 2012101016741A CN 201210101674 A CN201210101674 A CN 201210101674A CN 102626694 A CN102626694 A CN 102626694A
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Abstract
The invention relates to an intelligent stacking system and a quality-rechecking and rejecting method of articles stacked by the intelligent stacking system. The intelligent stacking system comprises a belt conveyer, a metal detection conveyer, a dynamic rechecking scale, a main controller for controlling the metal detection conveyer and the dynamic rechecking scale to work, a bag-grabbing position raceway machine, a joint robot stacker, an upper qualified product conveying device and a lower qualified product conveying device, wherein the upper qualified product conveying device and the lower qualified product conveying device are respectively arranged at the front side of the joint robot stacker; an unqualified product stacking region is formed at the left side of a joint robot; the output port of the belt conveyer is connected with the metal detection conveyer; the output port of the metal detection conveyer is connected with the dynamic rechecking scale; and the output port of the dynamic rechecking scale is connected with the bag-grabbing position raceway machine. The intelligent stacking system disclosed by the invention has the advantages of detecting products in the stacking process and rejecting unqualified products.
Description
Technical field
The present invention relates to a kind of intelligent stacking system, particularly adopt intelligent switch joint robot palletizing apparatus in the piling process, product to be made the intelligent robot palletizing system of last quality detection, reinspection and rejecting thereof.
Background technology
Along with progress of science and technology, automaton is adopted by more and more users, adopts the intelligent switch joint robot that product is carried out palletizing operation and is able to use in all trades and professions.
In the game of the market of keen competition, how to guarantee that product quality is the problem that numerous enterprises is studied always.Come that the product that is about to dispatch from the factory is carried out quality and check on so many enterprises have increased relevant checkout equipment at finished product packing, conveying process; As adopt metal detection device to survey whether the metalloid article are arranged in the packaging product; Adopt and dynamically recheck the product of claiming in the on-line weighing dynamic transport; Whether detection exists the overproof product of weight on packed weight, these have all explained attention and to the consumer careful and responsible attitude of this enterprise to product quality.Grasp defective work but how to adopt in the intelligent switch joint robot palletizing apparatus with articulated robot, and the application of piling up assigned address just becomes a new problem.This also is user's a demand.Current correlation technique comprises the correlation technique that is provided abroad, and it uses proof can only satisfy the technical process under indivedual conditions.I repeatedly practise at the scientific and technical personnel of company process for this reason, develop effective widely device arrangement of the scope of application and control method finally.
Summary of the invention
The objective of the invention is to the problem that can not carry out quality inspection to the product of piling that exists to the existing intelligent stacking system described in the background technology, provide a kind of can address this problem have an intelligent robot palletizing system that article quality is rechecked removing function.
The technical scheme that realizes the object of the invention is following:
A kind of intelligent stacking system; It comprises belt conveyor, metal detection conveyer, dynamically reinspection is claimed, controls the metal detection conveyer and dynamically rechecked the master controller of title work, the following certified products transport of grabbing a bag position raceway machine, articulated robot stacking machine and being arranged at the last certified products transport of articulated robot stacking machine front side respectively and being arranged at articulated robot stacking machine rear side; Be provided with defective work in the left side of articulated robot and pile up the district; The delivery outlet of belt conveyor is connected with the metal detection conveyer; The delivery outlet of metal detection conveyer connects dynamically to recheck and claims, dynamically rechecks the delivery outlet of claiming and connects bag position raceway machine of grabbing.
The described certified products transport of going up includes piling position raceway machine, pallet raceway machine and terminal tray raceway machine with following certified products transport; The delivery outlet of piling position raceway machine connects pallet raceway machine, and the delivery outlet of pallet raceway machine connects terminal tray raceway machine.
Described input port of going up the piling position raceway machine of certified products transport connects the corner machine of going up; The input port of last corner machine connects pallet and sends chain making machine; The input port of following certified products transport connects corner machine down; The input port of following corner machine connects bag position raceway machine of grabbing, and the described corner machine of going up is provided with pallet transition raceway machine with grabbing to be with between the raceway machine of position.Pallet sends chain making machine from pallet and is sent to the corner machine; Pallet is delivered to the piling position raceway machine and the pallet transition raceway machine of certified products transport respectively; The pallet that gets into pallet transition raceway machine arrives corner machine down through grabbing a bag position raceway machine, is delivered to down the piling position raceway machine of certified products transport at last, through above setting; Can certified products be positioned in the pallet separately, be transported to corresponding terminal tray raceway machine.
In order to guarantee the continuous uninterrupted operation of whole production line, described dynamic reinspection is claimed and grabs to be provided with the slow conveyer that stops between bag position raceway machine.
A kind of reinspection elimination method of piling article quality, it comprises the steps:
1) start the intelligent stacking system, belt conveyor transfers to the metal detection conveyer with product, and product is detected; Detect and qualifiedly then product is sent to dynamic reinspection and claims; Send a signal to master controller, such certified products quantity is counted, detect the defective master controller that then sends a signal to; Metal detection substandard product quantity is counted, and product is sent to dynamic reinspection claims;
2) carry out weight detecting at the dynamic product that deserves to be called transmitting of rechecking from the metal detection conveyer; And product classified; The product that twice detection is all qualified is divided into one type, will only be that the underproof product of metal detection is divided into one type, will only be that the underproof product of weight detecting is divided into one type; Metal detection and all underproof product of weight detecting are divided into one type, and think highly of in main control various product is counted respectively;
3) start the articulated robot stacking machine, judge that product is which series products that belongs in the step 2, and it is piled up corresponding position, the counter through master controller counts down, judge this series products whether complete code be put into corresponding position;
4) when various product pile up respectively finish after, the counter of master controller resets, and restarts piling up of new product.
Intelligent robot palletizing system with article quality reinspection removing function of the present invention is when piling; The product of belt conveyor output is detected through the metal detection conveyer earlier; Claim to detect through dynamically rechecking then; After detect accomplishing certified products and defective work separately be delivered to and slowly stop conveyer, the certified products and the defective work of grabbing by the time after bag position raceway machine will detect when idle are delivered to bag position raceway machine of grabbing respectively, through the articulated robot stacking machine certified products are moved to the piling position raceway machine of certified products transport or following certified products transport then; Through corresponding pallet raceway machine, certified products are delivered to terminal tray raceway machine.Defective work directly is carried to substandard product through the articulated robot stacking machine and piles up.Through above setting, can when piling, product be carried out metal detection and dynamically recheck, defective work is kicked out of, and defective work sign indicating number antitheft defective work is piled up the district.Because under normal conditions, the possibility that weight issue occurs is far longer than the underproof possibility of metal detection, so will dynamically recheck apparatus arrangement after metal detection, can improve product detection speed and piling efficient.
Description of drawings
Fig. 1 is the sketch map of intelligent stacking system of the present invention;
Fig. 2 is the reinspection elimination method of piling article quality of the present invention;
Among the figure, 1 is belt conveyor, and 2 is the metal detection conveyer, and 3 is dynamically to recheck to claim; 4 for grabbing a bag position raceway machine, and 5 is the articulated robot stacking machine, and 6 pile up the district for defective work, and 7 is piling position raceway machine; 8 is pallet raceway machine, and 9 is terminal tray raceway machine, and 10 is last corner machine, and 11 are following corner machine; 12 is pallet transition raceway machine, and 13 for pallet sends chain making machine, and 14 are the slow conveyer that stops.
The specific embodiment
With reference to shown in Figure 1 a kind of intelligent stacking system; It comprises belt conveyor 1, metal detection conveyer 2, dynamically reinspection is claimed 3, controls metal detection conveyer 2 and dynamically rechecked the master controller of title 3 work, the following certified products transport of grabbing a bag position raceway machine 4, articulated robot stacking machine 5 and being arranged at the last certified products transport of articulated robot stacking machine 5 front sides respectively and being arranged at articulated robot stacking machine 5 rear sides; Be provided with defective work in the left side of articulated robot and pile up district 6; The delivery outlet of belt conveyor 1 is connected with metal detection conveyer 2; The delivery outlet of metal detection conveyer 2 connects dynamically to recheck claims 3, dynamically rechecks and claims that 3 delivery outlet connects bag position raceway machine 4 of grabbing.
On the aforementioned schemes basis; Further; The described certified products transport of going up includes piling position raceway machine 7, pallet raceway machine 8 and terminal tray raceway machine 9 with following certified products transport; The delivery outlet of piling position raceway machine 7 connects pallet raceway machine 8, and the delivery outlet of pallet raceway machine 8 connects terminal tray raceway machine 9.
In aforementioned schemes; Described input port of going up the piling position raceway machine 7 of certified products transport connects the corner machine 10 of going up; The input port of last corner machine 10 connects pallet and sends chain making machine 13; The input port of following certified products transport connects corner machine 11 down, and the input port of following corner machine 11 connects bag position raceway machine 4 of grabbing, and the described corner machine 10 of going up is provided with pallet transition raceway machine 12 with grabbing to be with between the raceway machine of position.Pallet sends chain making machine 13 from pallet and is sent to corner machine 10; Pallet is delivered to the piling position raceway machine 7 and pallet transition raceway machine 12 of certified products transport respectively; The pallet that gets into pallet transition raceway machine 12 arrives corner machine 11 down through grabbing bag position raceway machine 4, is delivered to down the piling position raceway machine 7 of certified products transport at last, through above setting; Can certified products be positioned in the pallet separately, be transported to corresponding terminal tray raceway machine 9.
In order to guarantee the continuous uninterrupted operation of whole production line, described dynamic reinspection claims 3 and grab and be provided with the slow conveyer 14 that stops between bag position raceway machine 4.
With reference to the reinspection elimination method of a kind of piling article quality shown in Figure 2, it comprises the steps:
1) start the intelligent stacking system, belt conveyor 1 transfers to metal detection conveyer 2 with product, and product is detected; Detect and qualifiedly then product is sent to dynamic reinspection and claims 3; Send a signal to master controller, such certified products quantity is counted, detect the defective master controller that then sends a signal to; Metal detection substandard product quantity is counted, and product is sent to dynamic reinspection claims 3;
2) dynamically on the reinspection title 3 product that transmits from metal detection conveyer 2 is being carried out weight detecting; And product classified; The product that twice detection is all qualified is divided into one type, will only be that the underproof product of metal detection is divided into one type, will only be that the underproof product of weight detecting is divided into one type; Metal detection and all underproof product of weight detecting are divided into one type, and think highly of in main control various product is counted respectively;
3) start articulated robot stacking machine 5, judge that product is which series products that belongs in the step 2, and it is piled up corresponding position, the counter through master controller counts down, judge this series products whether complete code be put into corresponding position;
4) when various product pile up respectively finish after, the counter of master controller resets, and restarts piling up of new product.
Claims (5)
1. intelligent stacking system; It is characterized in that: it comprises belt conveyor, metal detection conveyer, dynamically reinspection is claimed, controls the metal detection conveyer and dynamically rechecked the master controller of title work, the following certified products transport of grabbing a bag position raceway machine, articulated robot stacking machine and being arranged at the last certified products transport of articulated robot stacking machine front side respectively and being arranged at articulated robot stacking machine rear side; Be provided with defective work in the left side of articulated robot and pile up the district; The delivery outlet of belt conveyor is connected with the metal detection conveyer; The delivery outlet of metal detection conveyer connects dynamically to recheck and claims, dynamically rechecks the delivery outlet of claiming and connects bag position raceway machine of grabbing.
2. intelligent stacking according to claim 1 system; It is characterized in that: the described certified products transport of going up includes piling position raceway machine, pallet raceway machine and terminal tray raceway machine with following certified products transport; The delivery outlet of piling position raceway machine connects pallet raceway machine, and the delivery outlet of pallet raceway machine connects terminal tray raceway machine.
3. intelligent stacking according to claim 2 system; It is characterized in that: described input port of going up the piling position raceway machine of certified products transport connects the corner machine of going up; The input port of last corner machine connects pallet and sends chain making machine; The input port of following certified products transport connects corner machine down, and the input port of following corner machine connects bag position raceway machine of grabbing, and the described corner machine of going up is provided with pallet transition raceway machine with grabbing to be with between the raceway machine of position.
4. intelligent stacking according to claim 1 system is characterized in that: described dynamic reinspection is claimed and grabs to be provided with the slow conveyer that stops between bag position raceway machine.
5. the reinspection elimination method of a piling article quality is characterized in that it comprises the steps:
1) start the intelligent stacking system, belt conveyor transfers to the metal detection conveyer with product, and product is detected; Detect and qualifiedly then product is sent to dynamic reinspection and claims; Send a signal to master controller, such certified products quantity is counted, detect the defective master controller that then sends a signal to; Metal detection substandard product quantity is counted, and product is sent to dynamic reinspection claims;
2) carry out weight detecting at the dynamic product that deserves to be called transmitting of rechecking from the metal detection conveyer; And product classified; The product that twice detection is all qualified is divided into one type, will only be that the underproof product of metal detection is divided into one type, will only be that the underproof product of weight detecting is divided into one type; Metal detection and all underproof product of weight detecting are divided into one type, and think highly of in main control various product is counted respectively;
3) start the articulated robot stacking machine, judge that product is which series products that belongs in the step 2, and it is piled up corresponding position, the counter through master controller counts down, judge this series products whether complete code be put into corresponding position;
4) when various product pile up respectively finish after, the counter of master controller resets, and restarts piling up of new product.
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| CN2012101016741A CN102626694A (en) | 2012-04-01 | 2012-04-01 | Intelligent stacking system and quality-rechecking and rejecting method of articles stacked by intelligent stacking system |
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| CN2012101016741A CN102626694A (en) | 2012-04-01 | 2012-04-01 | Intelligent stacking system and quality-rechecking and rejecting method of articles stacked by intelligent stacking system |
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Cited By (7)
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| CN102837971A (en) * | 2012-09-18 | 2012-12-26 | 海南英利新能源有限公司 | Method and system for photovoltaic subassembly sorting and stacking |
| CN103754407A (en) * | 2013-12-05 | 2014-04-30 | 国家电网公司 | Automatic boxing device for electric energy meters |
| CN103863831A (en) * | 2014-03-18 | 2014-06-18 | 无锡大东机械制造有限公司 | Hybrid stacking production line device and stacking system |
| CN105705257A (en) * | 2013-09-06 | 2016-06-22 | 克瑞斯普兰股份有限公司 | Method for inducting and singulating items to a sorter |
| CN107640603A (en) * | 2016-07-22 | 2018-01-30 | 发那科株式会社 | For the palletizing system in tray loading article |
| CN109047022A (en) * | 2018-06-27 | 2018-12-21 | 东台市新杰科机械有限公司 | A kind of waste discharge full-automatic food Packaging Detection System |
| CN114029969A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Robot is checked to stack based on weight detects |
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| CN109047022A (en) * | 2018-06-27 | 2018-12-21 | 东台市新杰科机械有限公司 | A kind of waste discharge full-automatic food Packaging Detection System |
| CN114029969A (en) * | 2021-10-09 | 2022-02-11 | 安徽集萃智造机器人科技有限公司 | Robot is checked to stack based on weight detects |
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Application publication date: 20120808 |