CN104875915A - Automatic bin-packing and stacking production line based on intelligent robot - Google Patents
Automatic bin-packing and stacking production line based on intelligent robot Download PDFInfo
- Publication number
- CN104875915A CN104875915A CN201510248171.0A CN201510248171A CN104875915A CN 104875915 A CN104875915 A CN 104875915A CN 201510248171 A CN201510248171 A CN 201510248171A CN 104875915 A CN104875915 A CN 104875915A
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- China
- Prior art keywords
- casing
- production line
- bin
- piling
- closing device
- Prior art date
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Classifications
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- 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
- B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
- B65B5/06—Packaging groups of articles, the groups being treated as single articles
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- 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
- B65B13/00—Bundling articles
- B65B13/02—Applying and securing binding material around articles or groups of articles, e.g. using strings, wires, strips, bands or tapes
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- 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
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- 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
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
- B65B43/265—Opening, erecting or setting-up boxes, cartons or carton blanks
-
- 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
- B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
- B65B51/04—Applying separate sealing or securing members, e.g. clips
- B65B51/06—Applying adhesive tape
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- 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
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/26—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for marking or coding completed packages
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- 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
- B65B7/00—Closing containers or receptacles after filling
- B65B7/16—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons
- B65B7/20—Closing semi-rigid or rigid containers or receptacles not deformed by, or not taking-up shape of, contents, e.g. boxes or cartons by folding-down preformed flaps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The invention discloses an automatic bin-packing and stacking production line based on an intelligent robot. The automatic bin-packing and stacking production line comprises a paper board silo, an article feeding device, a bin closing device, a bin sealing device, a binding device, a stacking zone, a bin packing manipulator, a bin opening manipulator and a stacking manipulator; the paper board silo and the article feeding device are located at the same one side of the bin closing device, and a conveying rail of the paper board silo and a feeding channel of the article feeding device are in parallel to the bin closing device; the bin opening manipulator is moveably arranged between the paper board silo and the bin closing device, and the bin packing manipulator is moveably arranged between the article feeding device and the bin closing device, the bin sealing device is abutted to the bin closing device, and the conveying rail of the bin sealing device is perpendicular to the conveying rail of the bin closing device; the binding device and the stacking zone are in parallel to the bin sealing device; the stacking manipulator is moved among the bin sealing device, the binding device and the stacking zone. The automatic bin-packing and stacking production line is compact in structure, diversified in function, intelligent in work, and so on.
Description
Technical field
The present invention relates to package packing machine field, particularly relate to a kind of vanning piling automatic production line based on intelligent robot.
Background technology
Along with the continuous propelling of China's industrial repositioning upgrading, the application of industrial robot in packaging, carrying etc. is more and more wider.Especially for article vanning, joint sealing, labeling stamp, tie, palletizing operation, industrial robot substitutes people and completes described operation, greatly can reduce the labour intensity of piling workman, improve operation quality.
Chinese patent CN201310066761.2 discloses a kind of robot palletizer and control method thereof, can realize accurate location and the control of equipment, mainly comprise jacking system, pendulous device, grabbing device, detecting device.But this robot palletizer range of movement is limited, and frame (support) is thin, makes its palletizing operation ability receive a definite limitation.Chinese patent CN201310692170.6 discloses a kind of multiple degree of freedom robot palletizer, the space motion of end-effector can be realized, end-effector movement inertia is little, mainly comprise the actuating unit main chain of multiple parallel institution closed loop actuating unit and a series connection, but the composition structure of complexity makes its cost higher, this receives a definite limitation to the application of robot palletizer.Meanwhile, above-mentioned robot manipulating task is single, and before piling, such as need the operations such as vanning, joint sealing, labeling stamp, tie, technique scheme is far from being enough.
So operating system is integrated form overall technology solution, make the new problem that robot palletizer is more intelligent, function diversification becomes industrial robot exploitation.
Summary of the invention
The technical problem to be solved in the present invention overcomes the deficiencies in the prior art, provides the vanning piling automatic production line based on intelligent robot of a kind of compact conformation, function diversification, intelligent operation.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of vanning piling automatic production line based on intelligent robot, comprise cardboard storehouse, article feed arrangement, casing closing device, sealing device, bundling device, piling district, boxing manipulator, unpacking manipulator and palletizing mechanical arm, described cardboard storehouse and article feed arrangement are positioned at the same side of casing closing device, and the delivery track in cardboard storehouse is all parallel with casing closing device with the feeding-passage of article feed arrangement, described unpacking manipulator is active between cardboard storehouse and casing closing device, described boxing manipulator is active between article feed arrangement and casing closing device, described sealing device docks with casing closing device, and the delivery track of sealing device is mutually vertical with the delivery track of casing closing device, described bundling device, piling district is all parallel to sealing device, described palletizing mechanical arm is active in sealing device, between bundling device and piling district.
Further improvement as technique scheme:
Described automatic production line also comprises device for labeling, and described device for labeling is located at the top between sealing device and bundling device, is transferred on bundling device by the casing on sealing device by described palletizing mechanical arm.
Described sealing device, device for labeling, bundling device and piling district are parallel to each other, and described palletizing mechanical arm operational stroke, across sealing device, device for labeling, bundling device and piling district, carries out Switch of working position to casing transfer.
Described casing closing device comprises the corresponding two groups of upset assemblies arranged up and down, the upset assembly being positioned at upper strata closes casing upper surface, the upset assembly being positioned at lower floor closes casing lower surface, described upset assembly comprises the first returning face plate and the second returning face plate, and described first returning face plate and the second returning face plate are symmetrical arranged and direction of rotation.
Arrange before and after the delivery track of described article feed arrangement and the delivery track of casing closing device.
Described cardboard storehouse, casing closing device and sealing device are formed around described unpacking manipulator can for the U-shaped behaviour area of manipulator activity of unpacking.
Compared with prior art, the invention has the advantages that:
Vanning piling automatic production line based on intelligent robot of the present invention, cardboard in cardboard storehouse is taken out by manipulator of unpacking and delivers to casing closing device, carried out closed forming casing to the cardboard bottom after opening by casing closing device, article are inputted by article feed arrangement simultaneously, by boxing manipulator, casing is put in the article clamping on article feed arrangement, casing top closes by casing closing device, sealing device is delivered to through delivery track, closed for casing upper and lower end face place is closed, be transferred on bundling device by the casing after palletizing mechanical arm pinched shut again and carry out tie, finally carry out piling in piling district, unpacking by integrating, vanning, joint sealing, band, palletizing operation is in one, form vanning piling automatic production line, system layout is reasonable, compact conformation, each intelligent operation is integrated in one, function diversification, adopt intelligent robot to substitute and manually complete vanning, the operation of piling, greatly reduce the labour intensity of piling workman, improve operation quality.
Accompanying drawing explanation
Fig. 1 is casing vanning, piling diagram of circuit in automatic production line of the present invention.
Fig. 2 is the system architecture schematic diagram of automatic production line of the present invention.
Fig. 3 is the schematic diagram in piling district in automatic production line of the present invention.
Fig. 4 is the structural representation of casing closing device in automatic production line of the present invention.
Fig. 5 is the structural arrangement schematic diagram of automatic production line of the present invention.
In figure, each label represents:
1, cardboard storehouse; 2, article feed arrangement; 3, casing closing device; 31, assembly is overturn; 311, the first returning face plate; 312, the second returning face plate; 4, sealing device; 5, device for labeling; 6, bundling device; 7, piling district; 8, boxing manipulator; 9, unpacking manipulator; 10, palletizing mechanical arm.
Detailed description of the invention
Below in conjunction with Figure of description and specific embodiment, the present invention is described in further detail.
Fig. 1 is vanning, the signal of piling flow process of the present embodiment vanning piling automatic production line, comprise unpacking process 1., binning process 2., joint sealing process 3., poster process 4., band process 5. with palletization 6..Cardboard a launches to form casing A by prime minister, completes unpacking process 1., then closes the lower surface of casing A, and article B is loaded in casing A, fill the rear upper surface to casing A and close, complete binning process 2., the upper and lower end face place of closing of casing A is tamping, completing joint sealing process 3., by carrying out labeling to the casing A after joint sealing, completing poster process 4., band is carried out after casing A labeling, complete band process 5., after band, carry out piling, complete palletization 6..
Fig. 2 to Fig. 5 shows a kind of embodiment of the vanning piling automatic production line that the present invention is based on intelligent robot, cardboard storehouse 1 should be comprised based on the vanning piling automatic production line of intelligent robot, article feed arrangement 2, casing closing device 3, sealing device 4, bundling device 6, piling district 7, boxing manipulator 8, unpacking manipulator 9 and palletizing mechanical arm 10, cardboard storehouse 1 and article feed arrangement 2 are positioned at the same side of casing closing device 3, and the delivery track in cardboard storehouse 1 is all parallel with casing closing device 3 with the feeding-passage of article feed arrangement 2, manipulator 9 of unpacking is active between cardboard storehouse 1 and casing closing device 3, boxing manipulator 8 is active between article feed arrangement 2 and casing closing device 3, sealing device 4 docks with casing closing device 3, and the delivery track of sealing device 4 is mutually vertical with the delivery track of casing closing device 3, bundling device 6, piling district 7 is all parallel to sealing device 4, palletizing mechanical arm 10 is active in sealing device 4, between bundling device 6 and piling district 7.Cardboard storehouse 1 provides the cardboard a that can form casing A, in good orderly deposit and be delivered to CD outlet by cardboard storehouse 1 delivery track, manipulator 9 of unpacking fetches casing A, and be transferred on casing closing device 3, carry out closing and locating bottom casing closing device 3 couples of casing A, article feed arrangement 2 inputs article B to be packaged, boxing manipulator 8 fetches article B and cases, carry out casing A top after filling to close, through sealing device 4, the casing A place of closing after closed is tamping, band is carried out again by bundling device 6 couples of casing A, the last heap in order that carries out in piling district 7 builds piling.The vanning piling automatic production line of the present embodiment is unpacked by integrating, vanning, joint sealing, band, palletizing operation is in integrally, form vanning piling automatic production line, system layout is reasonable, compact conformation, each intelligent operation is integrated in one, function diversification, adopts intelligent robot to substitute the operation manually completing vanning, piling, greatly reduce the labour intensity of piling workman, improve operation quality.
In the present embodiment, automatic production line also comprises device for labeling 5, device for labeling 5 is located at the top between sealing device 4 and bundling device 6, by palletizing mechanical arm 10, the casing on sealing device 4 is transferred on bundling device 6, article B builds between piling and carries out Switch of working position transfer at device for labeling 5, bundling device 6, piling district 7 heap by palletizing mechanical arm 10 couples of casing A, sealing device 4, device for labeling 5, bundling device 6 and piling district 7 are arranged in order, and are parallel to each other.
In the present embodiment, casing closing device 3 comprises the corresponding two groups of upset assemblies 31 arranged up and down, the upset assembly 31 pairs of casing upper surfaces being positioned at upper strata close, the upset assembly 31 pairs of casing lower surfaces being positioned at lower floor close, upset assembly 31 comprises the first returning face plate 311 and the second returning face plate 312, first returning face plate 311 and the second returning face plate 312 are symmetrical arranged and direction of rotation, when casing A transfers to closed station, first closed by lower floor first returning face plate 311 and the second returning face plate 312 pairs of casing A lower surfaces, after vanning, closed by upper strata first returning face plate 311 and the second returning face plate 312 pairs of casing A upper surfaces.
Fig. 5 illustrates based on the structural arrangement of the vanning piling automatic production line of intelligent robot in the present embodiment, arrange before and after the delivery track in cardboard storehouse 1 and the delivery track of casing closing device 3, cardboard storehouse 1 is parallel with article feed arrangement 2, casing closing device 3 and sealing device 4 are formed around unpacking manipulator 9 can for the U-shaped behaviour area of manipulator 9 activity of unpacking, sealing device 4, device for labeling 5, bundling device 6 and piling district 7 longitudinal arrangement successively, be parallel to each other, palletizing mechanical arm 10 operational stroke is across sealing device 4, device for labeling 5, bundling device 6 and piling district 7, Switch of working position is carried out to casing transfer, this system layout is reasonable, compact conformation.
Although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention.Any those of ordinary skill in the art, when not departing from technical solution of the present invention scope, can utilize the technology contents of above-mentioned announcement to make many possible variations and modification to technical solution of the present invention, or being revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to the technology of the present invention essence to any simple modification made for any of the above embodiments, equivalent variations and modification, all should drop in the scope of technical solution of the present invention protection.
Claims (6)
1. the vanning piling automatic production line based on intelligent robot, it is characterized in that: comprise cardboard storehouse (1), article feed arrangement (2), casing closing device (3), sealing device (4), bundling device (6), piling district (7), boxing manipulator (8), unpacking manipulator (9) and palletizing mechanical arm (10), described cardboard storehouse (1) and article feed arrangement (2) are positioned at the same side of casing closing device (3), and the delivery track of cardboard storehouse (1) is all parallel with casing closing device (3) with the feeding-passage of article feed arrangement (2), described unpacking manipulator (9) is active between cardboard storehouse (1) and casing closing device (3), described boxing manipulator (8) is active between article feed arrangement (2) and casing closing device (3), described sealing device (4) docks with casing closing device (3), and the delivery track of sealing device (4) is mutually vertical with the delivery track of casing closing device (3), described bundling device (6), piling district (7) is all parallel to sealing device (4), described palletizing mechanical arm (10) is active in sealing device (4), between bundling device (6) and piling district (7).
2. the vanning piling automatic production line based on intelligent robot according to claim 1, it is characterized in that: described automatic production line also comprises device for labeling (5), described device for labeling (5) is located at the top between sealing device (4) and bundling device (6), is transferred on bundling device (6) by the casing on sealing device (4) by described palletizing mechanical arm (10).
3. the vanning piling automatic production line based on intelligent robot according to claim 2, it is characterized in that: described sealing device (4), device for labeling (5), bundling device (6) and piling district (7) are parallel to each other, described palletizing mechanical arm (10) operational stroke, across sealing device (4), device for labeling (5), bundling device (6) and piling district (7), carries out Switch of working position to casing transfer.
4. the vanning piling automatic production line based on intelligent robot according to any one of claim 1 to 3, it is characterized in that: described casing closing device (3) comprises corresponding two groups of upsets assembly (31) of arranging up and down, the upset assembly (31) being positioned at upper strata closes casing upper surface, the upset assembly (31) being positioned at lower floor closes casing lower surface, described upset assembly (31) comprises the first returning face plate (311) and the second returning face plate (312), described first returning face plate (311) and the second returning face plate (312) are symmetrical arranged and direction of rotation.
5. the vanning piling automatic production line based on intelligent robot according to any one of claim 1 to 3, is characterized in that: arrange before and after the delivery track of described article feed arrangement (2) and the delivery track of casing closing device (3).
6. the vanning piling automatic production line based on intelligent robot according to any one of claim 1 to 3, is characterized in that: described cardboard storehouse (1), casing closing device (3) and sealing device (4) can for the U-shaped behaviour areas of manipulator (9) activity of unpacking around described unpacking manipulator (9) formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510248171.0A CN104875915B (en) | 2015-05-15 | 2015-05-15 | A kind of vanning stacking automatic production line based on intelligent robot |
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| CN201510248171.0A CN104875915B (en) | 2015-05-15 | 2015-05-15 | A kind of vanning stacking automatic production line based on intelligent robot |
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| CN104875915A true CN104875915A (en) | 2015-09-02 |
| CN104875915B CN104875915B (en) | 2017-10-13 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043828A (en) * | 2016-08-15 | 2016-10-26 | 安徽翼迈科技股份有限公司 | Water meter box sealing machine |
| CN106586090A (en) * | 2016-12-29 | 2017-04-26 | 广州宝德凯智能装备有限公司 | Multifunctional high-speed packaging machine |
| CN107179203A (en) * | 2017-03-30 | 2017-09-19 | 奥克斯空调股份有限公司 | Air conditioner tests the method for work of production line |
| CN107738789A (en) * | 2017-11-13 | 2018-02-27 | 广东宏大增化民爆有限责任公司 | A kind of carton is packed labeling device and automatic labeling method automatically |
| CN108372950A (en) * | 2018-03-27 | 2018-08-07 | 拓浦精工智能制造（邵阳）有限公司 | Electric cooker cartonning station system and electric cooker intelligent automation assembling line |
| CN108584040A (en) * | 2018-01-29 | 2018-09-28 | 湖北西控同创石墨烯应用科技有限公司 | A kind of graphene Far infrared electric floor heating packaging line |
| CN109747879A (en) * | 2019-01-30 | 2019-05-14 | 赛摩电气股份有限公司 | A kind of fire extinguisher finished product vanning palletizing system |
| CN111038792A (en) * | 2019-12-23 | 2020-04-21 | 珠海格力智能装备有限公司 | Weighing control method and device for incoming materials of enameled wire |
| CN112109946A (en) * | 2020-08-18 | 2020-12-22 | 南京硕升网络科技有限公司 | Server packaging system, box sealing and stacking device for packaging system and box sealing and stacking method of box sealing and stacking device |
| CN112340108A (en) * | 2020-12-18 | 2021-02-09 | 江东科技有限公司 | Automatic fiber reel boxing device |
| CN112849466A (en) * | 2021-04-09 | 2021-05-28 | 珠海格力智能装备有限公司 | Packaging processing method and device for bobbin |
| CN113353346A (en) * | 2021-06-24 | 2021-09-07 | 无锡众创自动化科技有限公司 | Integrated process for automatically opening, packaging, labeling and monitoring code management |
| CN113753326A (en) * | 2021-08-18 | 2021-12-07 | 浙江给力智能科技股份有限公司 | Syringe packing assembly line |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043828A (en) * | 2016-08-15 | 2016-10-26 | 安徽翼迈科技股份有限公司 | Water meter box sealing machine |
| CN106586090B (en) * | 2016-12-29 | 2022-03-15 | 广州宝德凯智能装备有限公司 | Multifunctional high-speed packaging machine |
| CN106586090A (en) * | 2016-12-29 | 2017-04-26 | 广州宝德凯智能装备有限公司 | Multifunctional high-speed packaging machine |
| CN107179203A (en) * | 2017-03-30 | 2017-09-19 | 奥克斯空调股份有限公司 | Air conditioner tests the method for work of production line |
| CN107738789A (en) * | 2017-11-13 | 2018-02-27 | 广东宏大增化民爆有限责任公司 | A kind of carton is packed labeling device and automatic labeling method automatically |
| CN107738789B (en) * | 2017-11-13 | 2019-12-06 | 广东宏大民爆集团有限公司 | Automatic carton packing and label pasting device and automatic label pasting method |
| CN108584040A (en) * | 2018-01-29 | 2018-09-28 | 湖北西控同创石墨烯应用科技有限公司 | A kind of graphene Far infrared electric floor heating packaging line |
| CN108372950A (en) * | 2018-03-27 | 2018-08-07 | 拓浦精工智能制造（邵阳）有限公司 | Electric cooker cartonning station system and electric cooker intelligent automation assembling line |
| CN109747879A (en) * | 2019-01-30 | 2019-05-14 | 赛摩电气股份有限公司 | A kind of fire extinguisher finished product vanning palletizing system |
| CN111038792A (en) * | 2019-12-23 | 2020-04-21 | 珠海格力智能装备有限公司 | Weighing control method and device for incoming materials of enameled wire |
| CN112109946A (en) * | 2020-08-18 | 2020-12-22 | 南京硕升网络科技有限公司 | Server packaging system, box sealing and stacking device for packaging system and box sealing and stacking method of box sealing and stacking device |
| CN112340108A (en) * | 2020-12-18 | 2021-02-09 | 江东科技有限公司 | Automatic fiber reel boxing device |
| CN112849466A (en) * | 2021-04-09 | 2021-05-28 | 珠海格力智能装备有限公司 | Packaging processing method and device for bobbin |
| CN113353346A (en) * | 2021-06-24 | 2021-09-07 | 无锡众创自动化科技有限公司 | Integrated process for automatically opening, packaging, labeling and monitoring code management |
| CN113753326A (en) * | 2021-08-18 | 2021-12-07 | 浙江给力智能科技股份有限公司 | Syringe packing assembly line |
| CN113753326B (en) * | 2021-08-18 | 2022-09-27 | 浙江给力智能科技股份有限公司 | Syringe packing assembly line |
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|---|---|
| CN104875915B (en) | 2017-10-13 |
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